mlsanityData to 13 Oct 2026

Mini-BEHAVIOR: A Procedurally Generated Benchmark for Long-horizon Decision-Making in Embodied AI

arXiv 2310.01824 ↗First posted 3 Oct 2023cs.AI cs.LG cs.ROcited by 23

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Abstract (arXiv)

We present Mini-BEHAVIOR, a novel benchmark for embodied AI that challenges agents to use reasoning and decision-making skills to solve complex activities that resemble everyday human challenges. The Mini-BEHAVIOR environment is a fast, realistic Gridworld environment that offers the benefits of rapid prototyping and ease of use while preserving a symbolic level of physical realism and complexity found in complex embodied AI benchmarks. We introduce key features such as procedural generation, to enable the creation of countless task variations and support open-ended learning. Mini-BEHAVIOR provides implementations of various household tasks from the original BEHAVIOR benchmark, along with starter code for data collection and reinforcement learning agent training. In essence, Mini-BEHAVIOR offers a fast, open-ended benchmark for evaluating decision-making and planning solutions in embodied AI. It serves as a user-friendly entry point for research and facilitates the evaluation and development of solutions, simplifying their assessment and development while advancing the field of embodied AI. Code is publicly available at https://github.com/StanfordVL/mini_behavior.

Key facts. Cited by 23 papers in the map (data through 13 Oct 2026). Builds on 19 of its 32 references that are in the map. First posted on arXiv 3 Oct 2023.

Builds on

19 of 32 references.

References · 19

  1. 2017Proximal Policy Optimization Algorithmscited by 14,592
  2. 2019Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learningcited by 1,175
  3. 2019ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Taskscited by 775
  4. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 687
  5. 2018VirtualHome: Simulating Household Activities via Programscited by 414
  6. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 371
  7. 2016Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learningcited by 353
  8. 2019On the Utility of Learning about Humans for Human-AI Coordinationcited by 346
  9. 2023Minigrid & Miniworld: Modular & Customizable Reinforcement Learning Environments for Goal-Oriented Taskscited by 322
  10. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 192
  11. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 163
  12. 2020Rearrangement: A Challenge for Embodied AIcited by 154
7 more
  1. 2018Sim-to-Real Reinforcement Learning for Deformable Object Manipulationcited by 124
  2. 2021The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AIcited by 65
  3. 2019HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulatorscited by 52
  4. 2020Griddly: A platform for AI research in gamescited by 31
  5. 2023Causal Policy Gradient for Whole-Body Mobile Manipulationcited by 18
  6. 2023Modeling Dynamic Environments with Scene Graph Memorycited by 18
  7. 2015MazeBase: A Sandbox for Learning from Gamescited by 4

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Cited by year (2026 to 13 Oct)

Citing papers per year: 2023: 2; 2024: 8; 2025: 7; 2026: 6.

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  1. 2025Visual Planning: Let's Think Only with Imagescited by 85
  2. 2024FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale Reinforcement Learning Fine-Tuningcited by 54
  3. 2025Are Video Models Ready as Zero-Shot Reasoners? An Empirical Study with the MME-CoF Benchmarkcited by 41
  4. 2023MCU: An Evaluation Framework for Open-Ended Game Agentscited by 33
  5. 2024P-RAG: Progressive Retrieval Augmented Generation For Planning on Embodied Everyday Taskcited by 14
  6. 2024ET-Plan-Bench: Embodied Task-level Planning Benchmark Towards Spatial-Temporal Cognition with Foundation Modelscited by 12
  7. 2024SkiLD: Unsupervised Skill Discovery Guided by Factor Interactionscited by 9
  8. 2023ELDEN: Exploration via Local Dependenciescited by 8
  9. 2024MARPLE: A Benchmark for Long-Horizon Inferencecited by 5
  10. 2026MME-CoF-Pro: Evaluating Reasoning Coherence in Video Generative Models with Text and Visual Hintscited by 5
  11. 2024WorldAPIs: The World Is Worth How Many APIs? A Thought Experimentcited by 4
  12. 2025Framing the Game: How Context Shapes LLM Decision-Makingcited by 4
11 more
  1. 2025ManiTaskGen: A Comprehensive Task Generator for Benchmarking and Improving Vision-Language Agents on Embodied Decision-Makingcited by 4
  2. 2025Simulation to Rules: A Dual-VLM Framework for Formal Visual Planningcited by 4
  3. 2024Preference Goal Tuning: Post-Training as Latent Control for Frozen Policiescited by 3
  4. 2024Learning for Long-Horizon Planning via Neuro-Symbolic Abductive Imitationcited by 2
  5. 2026Learning Visual Spatial Planning from Symbolic State via Modality-Gap-Aware Self-Distillationcited by 2
  6. 2025Mixed-Initiative Dialog for Human-Robot Collaborative Manipulationcited by 1
  7. 2026Mini-BEHAVIOR-Gran: Revealing U-Shaped Effects of Instruction Granularity on Language-Guided Embodied Agentscited by 1
  8. 2026Scalable Environments Drive Generalizable Agentscited by 1
  9. 2026Spectral-Progressive Thought Flow for Lightweight Multimodal Reasoningcited by 1
  10. 2025VIVA+: Human-Centered Situational Decision-Makingcited by 0
  11. 2026Resolving State-Representation Mismatch: State-Space Visual Reasoning for Open-Loop VLA Planningcited by 0