# BEHAVIOR in Habitat 2.0: Simulator-Independent Logical Task Description for Benchmarking Embodied AI Agents

arXiv: https://arxiv.org/abs/2206.06489 · HTML: https://mlsanity.com/paper/2206.06489/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 15 references that are in the map.
- First posted on arXiv 13 Jun 2022.

## Builds on (most cited first, 12 of 12)

- [GLUE: A Multi-Task Benchmark and Analysis Platform for Natural Language Understanding](https://mlsanity.com/paper/1804.07461/) (2018)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [robosuite: A Modular Simulation Framework and Benchmark for Robot Learning](https://mlsanity.com/paper/2009.12293/) (2020)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation](https://mlsanity.com/paper/2007.04954/) (2020)
- [iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks](https://mlsanity.com/paper/2108.03272/) (2021)
- [BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments](https://mlsanity.com/paper/2108.03332/) (2021)
- [Rearrangement: A Challenge for Embodied AI](https://mlsanity.com/paper/2011.01975/) (2020)
- [Visual Room Rearrangement](https://mlsanity.com/paper/2103.16544/) (2021)

## Built on by (most cited first, 2 of 2)

- [ChronoPhyBench: Do MLLMs Truly Understand the World or Merely Exploit Language Priors?](https://mlsanity.com/paper/2606.07962/) (2026)
- [AI Sandboxes: A Threat Model, Taxonomy, and Measurement Framework](https://mlsanity.com/paper/2606.18532/) (2026)

## Abstract (arXiv)

Robots excel in performing repetitive and precision-sensitive tasks in controlled environments such as warehouses and factories, but have not been yet extended to embodied AI agents providing assistance in household tasks. Inspired by the catalyzing effect that benchmarks have played in the AI fields such as computer vision and natural language processing, the community is looking for new benchmarks for embodied AI. Prior work in embodied AI benchmark defines tasks using a different formalism, often specific to one environment, simulator or domain, making it hard to develop general and comparable solutions. In this work, we bring a subset of BEHAVIOR activities into Habitat 2.0 to benefit from its fast simulation speed, as a first step towards demonstrating the ease of adapting activities defined in the logic space into different simulators.