Pith Number

pith:NQNPZRSW

pith:2024:NQNPZRSWFUEXTPBX6MDYX2IEQO

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BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation

Alan Lou, Arman Aydin, Ayano Hiranaka, Benjamin Martinez, Caleb R Matthews, Cem Gokmen, Chengshu Li, Chen Wang, C. Karen Liu, Claire Tang, Dhruva Bansal, Fei Xia, Gabrael Levine, Hang Yin, Hyowon Gweon, Ivan Villa-Renteria, Jerry Huayang Tang, Jiajun Wu, Jiankai Sun, Josiah Wong, Kyu-Young Kim, Li Fei-Fei, Manasi Sharma, Michael Lingelbach, Minjune Hwang, Mona Anvari, Roberto Mart\'in-Mart\'in, Ruohan Zhang, Samuel Hunter, Sanjana Srivastava, Sharon Lee, Silvio Savarese, Sujay Garlanka, Wensi Ai, Yunzhu Li

BEHAVIOR-1K benchmark defines 1,000 human survey-based everyday activities in realistic physics simulation to test embodied AI.

arxiv:2403.09227 v1 · 2024-03-14 · cs.RO · cs.AI

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4 Citations open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The activities in BEHAVIOR-1K are long-horizon and dependent on complex manipulation skills, both of which remain a challenge for even state-of-the-art robot learning solutions.

C2weakest assumption

That the 1,000 activities derived from the human survey accurately represent the tasks people actually want robots to perform and that the OMNIGIBSON physics simulation is sufficiently realistic for meaningful sim-to-real transfer.

C3one line summary

BEHAVIOR-1K introduces a benchmark of 1,000 human everyday activities in realistic simulated scenes together with the OMNIGIBSON physics simulator to evaluate embodied AI.

References

87 extracted · 87 resolved · 9 Pith anchors

[1] J. Deng, W. Dong, R. Socher, L.-J. Li, K. Li, and L. Fei-Fei. Imagenet: A large-scale hierarchical image database. In IEEE Conference on Computer Vision and Pattern Recognition , pages 248–255, 2009. 2009

[2] T.-Y . Lin, M. Maire, S. Belongie, J. Hays, P. Perona, D. Ramanan, P. Dollár, and C. L. Zitnick. Microsoft coco: Common objects in context. In European Conference on Computer Vision, pages 740–755. Sp 2014

[3] M. Everingham, L. Van Gool, C. K. Williams, J. Winn, and A. Zisserman. The pascal visual object classes (voc) challenge. International Journal of Computer Vision, 88(2):303–338, 2010 2010

[4] R. Krishna, Y . Zhu, O. Groth, J. Johnson, K. Hata, J. Kravitz, S. Chen, Y . Kalantidis, L.-J. Li, D. A. Shamma, et al. Visual genome: Connecting language and vision using crowdsourced dense image ann 2017

[5] A. Geiger, P. Lenz, and R. Urtasun. Are we ready for autonomous driving? the kitti vision benchmark suite. In IEEE Conference on Computer Vision and Pattern Recognition , pages 3354–3361. IEEE, 2012 2012

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Cited by

23 papers in Pith

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RISE: Self-Improving Robot Policy with Compositional World Model

Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation

Receipt and verification

First computed	2026-05-17T23:38:46.216537Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6c1afcc6562d0979bc37f3078be904839a3ffc0af951e2716d08aba21610d9ee

Aliases

arxiv: 2403.09227 · arxiv_version: 2403.09227v1 · doi: 10.48550/arxiv.2403.09227 · pith_short_12: NQNPZRSWFUEX · pith_short_16: NQNPZRSWFUEXTPBX · pith_short_8: NQNPZRSW

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/NQNPZRSWFUEXTPBX6MDYX2IEQO \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 6c1afcc6562d0979bc37f3078be904839a3ffc0af951e2716d08aba21610d9ee

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9c2ae75ecc26a48cab61199f06aebf67df5150691b1ef43c48c23f4c9c978879",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-03-14T09:48:36Z",
    "title_canon_sha256": "6fb9adff23cc18ea87eedaa97dee5b7a88f65369a2176a2c896e0fd55113df9e"
  },
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  "source": {
    "id": "2403.09227",
    "kind": "arxiv",
    "version": 1
  }
}