mlsanityData to 7 Oct 2026

BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities

arXiv 2503.05652 ↗First posted 7 Mar 2025cs.RO cs.AI cs.CVcited by 29

Not on the map. Why?

Abstract (arXiv)

Real-world household tasks present significant challenges for mobile manipulation robots. An analysis of existing robotics benchmarks reveals that successful task performance hinges on three key whole-body control capabilities: bimanual coordination, stable and precise navigation, and extensive end-effector reachability. Achieving these capabilities requires careful hardware design, but the resulting system complexity further complicates visuomotor policy learning. To address these challenges, we introduce the BEHAVIOR Robot Suite (BRS), a comprehensive framework for whole-body manipulation in diverse household tasks. Built on a bimanual, wheeled robot with a 4-DoF torso, BRS integrates a cost-effective whole-body teleoperation interface for data collection and a novel algorithm for learning whole-body visuomotor policies. We evaluate BRS on five challenging household tasks that not only emphasize the three core capabilities but also introduce additional complexities, such as long-range navigation, interaction with articulated and deformable objects, and manipulation in confined spaces. We believe that BRS's integrated robotic embodiment, data collection interface, and learning framework mark a significant step toward enabling real-world whole-body manipulation for everyday household tasks. BRS is open-sourced at https://behavior-robot-suite.github.io/

Key facts. Cited by 29 papers in the map (data through 7 Oct 2026). Builds on 120 of its 196 references that are in the map. First posted on arXiv 7 Mar 2025.

Builds on

120 of 196 references.

References · 120

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  4. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  5. 2020Denoising Diffusion Implicit Modelscited by 9,655
  6. 2015Deep Unsupervised Learning using Nonequilibrium Thermodynamicscited by 7,005
  7. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  8. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  9. 2021Improved Denoising Diffusion Probabilistic Modelscited by 3,736
  10. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  11. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  12. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,730
38 more
  1. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,302
  2. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  3. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  4. 2020GLU Variants Improve Transformercited by 1,724
  5. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  6. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  7. 2020ALFWorld: Aligning Text and Embodied Environments for Interactive Learningcited by 1,143
  8. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850
  9. 2024DROID: A Large-Scale In-The-Wild Robot Manipulation Datasetcited by 801
  10. 2019ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Taskscited by 773
  11. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  12. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 634
  13. 2022Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learningcited by 543
  14. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  15. 2018VirtualHome: Simulating Household Activities via Programscited by 411
  16. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 403
  17. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
  18. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 377
  19. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 373
  20. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 308
  21. 2023TidyBot: Personalized Robot Assistance with Large Language Modelscited by 219
  22. 2023MimicPlay: Long-Horizon Imitation Learning by Watching Human Playcited by 214
  23. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 191
  24. 2023GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulatorscited by 180
  25. 2025FoundationStereo: Zero-Shot Stereo Matchingcited by 168
  26. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 167
  27. 2024HumanPlus: Humanoid Shadowing and Imitation from Humanscited by 164
  28. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  29. 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 160
  30. 2022Human-to-Robot Imitation in the Wildcited by 157
  31. 2023Open-World Object Manipulation using Pre-trained Vision-Language Modelscited by 155
  32. 2020Rearrangement: A Challenge for Embodied AIcited by 153
  33. 2021The Surprising Effectiveness of Representation Learning for Visual Imitationcited by 149
  34. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  35. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  36. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 136
  37. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 132
  38. 2024ALOHA Unleashed: A Simple Recipe for Robot Dexteritycited by 128

50 most cited of 120 All 120 (JSON)

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 17; 2026: 12.

29 papers.

Sort:

By area:

  1. 2025TWIST: Teleoperated Whole-Body Imitation Systemcited by 86
  2. 2025Vision-Language-Action (VLA) Models: Concepts, Progress, Applications and Challengescited by 72
  3. 20253D and 4D World Modeling: A Surveycited by 64
  4. 2025AC-DiT: Adaptive Coordination Diffusion Transformer for Mobile Manipulationcited by 21
  5. 2025EchoVLA: Robotic Vision-Language-Action Model with Synergistic Declarative Memory for Mobile Manipulationcited by 15
  6. 2025MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulationcited by 12
  7. 2025Towards Human-level Intelligence via Human-like Whole-Body Manipulationcited by 12
  8. 2026chi0: Resource-Aware Robust Manipulation via Taming Distributional Inconsistenciescited by 11
  9. 2025UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policiescited by 9
  10. 2026SG-VLA: Learning Spatially-Grounded Vision-Language-Action Models for Mobile Manipulationcited by 8
  11. 2025SLAC: Safe and Efficient Real-Robot Reinforcement Learning via Unsupervised Simulation Pre-Trainingcited by 7
  12. 2025MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulationcited by 7
17 more
  1. 2025Mind to Hand: Purposeful Robotic Control via Embodied Reasoningcited by 7
  2. 2025Scaling Laws in Scientific Discovery with AI and Robot Scientistscited by 5
  3. 20253D Equivariant Visuomotor Policy Learning via Spherical Projectioncited by 4
  4. 2026Spatial Memory for Out-of-Vision Manipulation in Vision-Language-Actioncited by 4
  5. 2026Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperationcited by 4
  6. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challengescited by 3
  7. 2026LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarioscited by 2
  8. 2025MoDeSuite: Robot Learning Task Suite for Benchmarking Mobile Manipulation with Deformable Objectscited by 1
  9. 2026StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perceptioncited by 1
  10. 2026Potential-Guided Flow Matching for Vision-Language-Action Policy Improvementcited by 1
  11. 2026Lights, Camera, Malfunction: When Illumination Robustness Leaves VLA Models Blind to Colorcited by 1
  12. 2026HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RLcited by 1
  13. 2025SPGrasp: Spatiotemporal Prompt-driven Grasp Synthesis in Dynamic Scenescited by 0
  14. 2025Hybrid Imitation Learning: Teleoperation Augmentation Primitives that Policies Learn to Triggercited by 0
  15. 2026YOR: Your Own Mobile Manipulator for Generalizable Roboticscited by 0
  16. 2026Scalable Trajectory Generation for Whole-Body Mobile Manipulationcited by 0
  17. 2026RobotValues: Evaluating Household Robots When Human Values Conflictcited by 0