mlsanityData to 7 Oct 2026

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

arXiv 2403.09227 ↗First posted 14 Mar 2024cs.RO cs.AIcited by 140

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Cited by 22 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an extensive survey on "what do you want robots to do for you?". The first is the definition of 1,000 everyday activities, grounded in 50 scenes (houses, gardens, restaurants, offices, etc.) with more than 9,000 objects annotated with rich physical and semantic properties. The second is OMNIGIBSON, a novel simulation environment that supports these activities via realistic physics simulation and rendering of rigid bodies, deformable bodies, and liquids. Our experiments indicate that 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. To calibrate the simulation-to-reality gap of BEHAVIOR-1K, we provide an initial study on transferring solutions learned with a mobile manipulator in a simulated apartment to its real-world counterpart. We hope that BEHAVIOR-1K's human-grounded nature, diversity, and realism make it valuable for embodied AI and robot learning research. Project website: https://behavior.stanford.edu.

Key facts. Cited by 140 papers in the map (data through 7 Oct 2026). Builds on 42 of its 84 references that are in the map. First posted on arXiv 14 Mar 2024.

Builds on

42 of 84 references.

References · 42

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30 more
  1. 2018DeepMind Control Suitecited by 935
  2. 2018VizWiz Grand Challenge: Answering Visual Questions from Blind Peoplecited by 852
  3. 2019ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Taskscited by 773
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  11. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 193
  12. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 191
  13. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
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  19. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 101
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  21. 2021The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AIcited by 64
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 16; 2025: 49; 2026: 75.

140 papers.

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  1. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  2. 2025Perception, Reason, Think, and Plan: A Survey on Large Multimodal Reasoning Modelscited by 89
  3. 2025STI-Bench: Are MLLMs Ready for Precise Spatial-Temporal World Understanding?cited by 74
  4. 2026PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulationcited by 74
  5. 2026CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulationcited by 72
  6. 2024SINGAPO: Single Image Controlled Generation of Articulated Parts in Objectscited by 66
  7. 2024Towards Long-Horizon Vision-Language Navigation: Platform, Benchmark and Methodcited by 66
  8. 2025Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Surveycited by 66
  9. 2025Move to Understand a 3D Scene: Bridging Visual Grounding and Exploration for Efficient and Versatile Embodied Navigationcited by 50
  10. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 46
  11. 2026World Action Models: The Next Frontier in Embodied AIcited by 46
  12. 2026ASPIRE: Agentic /Skills Discovery for Roboticscited by 44
38 more
  1. 2024Towards Generalist Robot Learning from Internet Video: A Surveycited by 40
  2. 2026RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Designcited by 40
  3. 2025Large Language Models for Planning: A Comprehensive and Systematic Surveycited by 38
  4. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  5. 2025Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learningcited by 34
  6. 2026DynamicVLA: A Vision-Language-Action Model for Dynamic Object Manipulationcited by 33
  7. 2024How Far Are We From AGI: Are LLMs All We Need?cited by 31
  8. 2025PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policiescited by 29
  9. 2026ABot-M0.5: Unified Mobility-and-Manipulation World Action Modelcited by 28
  10. 2025A Framework for Benchmarking and Aligning Task-Planning Safety in LLM-Based Embodied Agentscited by 27
  11. 2025Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactionscited by 27
  12. 2025Toward Generalizable Evaluation in the LLM Era: A Survey Beyond Benchmarkscited by 26
  13. 2025RLinf-VLA: A Unified and Efficient Framework for Reinforcement Learning of Vision-Language-Action Modelscited by 26
  14. 2024ImageNet3D: Towards General-Purpose Object-Level 3D Understandingcited by 25
  15. 20253DLLM-Mem: Long-Term Spatial-Temporal Memory for Embodied 3D Large Language Modelcited by 25
  16. 2025ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulationcited by 24
  17. 2025Rethinking the Embodied Gap in Vision-and-Language Navigation: A Holistic Study of Physical and Visual Disparitiescited by 24
  18. 2025Dream2Flow: Bridging Video Generation and Open-World Manipulation with 3D Object Flowcited by 21
  19. 2025Particulate: Feed-Forward 3D Object Articulationcited by 20
  20. 2026VGGT-Omegacited by 20
  21. 2024MetaUrban: An Embodied AI Simulation Platform for Urban Micromobilitycited by 19
  22. 2026RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policiescited by 19
  23. 2025VLNVerse: A Benchmark for Vision-Language Navigation with Versatile, Embodied, Realistic Simulation and Evaluationcited by 17
  24. 2025Towards Autonomous Micromobility through Scalable Urban Simulationcited by 16
  25. 2025RobotArena ∞: Scalable Robot Benchmarking via Real-to-Sim Translationcited by 15
  26. 2025EchoVLA: Robotic Vision-Language-Action Model with Synergistic Declarative Memory for Mobile Manipulationcited by 15
  27. 2024Survey on Modeling of Human-made Articulated Objectscited by 14
  28. 2024P-RAG: Progressive Retrieval Augmented Generation For Planning on Embodied Everyday Taskcited by 14
  29. 2025ENACT: Evaluating Embodied Cognition with World Modeling of Egocentric Interactioncited by 14
  30. 2026OAT: Ordered Action Tokenizationcited by 14
  31. 2025Virtual Community: An Open World for Humans, Robots, and Societycited by 13
  32. 2025SafeMind: Benchmarking and Mitigating Safety Risks in Embodied LLM Agentscited by 13
  33. 2025Task adaptation of Vision-Language-Action model: 1st Place Solution for the 2025 BEHAVIOR Challengecited by 13
  34. 2026CycleVLA: Proactive Self-Correcting Vision-Language-Action Models via Subtask Backtracking and Minimum Bayes Risk Decodingcited by 13
  35. 2026SimWorld Studio: Automatic Environment Generation with Evolving Coding Agent for Embodied Agent Learningcited by 13
  36. 2025AirSim360: A Panoramic Simulation Platform within Drone Viewcited by 12
  37. 2025REALM: A Real-to-Sim Validated Benchmark for Generalization in Robotic Manipulationcited by 12
  38. 2025IAAO: Interactive Affordance Learning for Articulated Objects in 3D Environmentscited by 11

50 most cited of 140 All 140 (JSON)