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StanfordVL/BEHAVIOR-1K
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🏆 2025 BEHAVIOR Challenge
🏆 2025 BEHAVIOR Challenge
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Demo Gallery
Task 0: Turning On Radio
Task 1: Picking Up Trash
Task 2: Putting Away Halloween Decorations
Task 3: Cleaning Up Plates and Food
Task 4: Can Meat
Task 5: Setting Mousetraps
Task 6: Hiding Easter Eggs
Task 7: Picking Up Toys
Task 8: Rearranging Kitchen Furniture
Task 9: Putting Up Christmas Decorations Inside
Task 10: Set Up A Coffee Station In Your Kitchen
Task 11: Putting Dishes Away After Cleaning
Task 12: Preparing Lunch Box
Task 13: Loading The Car
Task 14: Carrying in Groceries
Task 15: Bringing in Wood
Task 16: Moving Boxes To Storage
Task 17: Bringing Water
Task 18: Tidying Bedroom
Task 19: Outfit A Basic Toolbox
Task 20: Sorting Vegetables
Task 21: Collecting Children's Toys
Task 22: Putting Shoes On Rack
Task 23: Boxing Books Up for Storage
Task 24: Storing Food
Task 25: Clearing Food from Table into Fridge
Task 26: Assembling Gift Baskets
Task 27: Sorting Household Items
Task 28: Getting Organized For Work
Task 29: Clean Up Your Desk
Task 30: Setting The Fire
Task 31: Clean Boxing Gloves
Task 32: Wash A Baseball Cap
Task 33: Wash Dog Toys
Task 34: Hanging Pictures
Task 35: Attach a Camera to a Tripod
Task 36: Clean a Patio
Task 37: Clean a Trumpet
Task 38: Spraying For Bugs
Task 39: Spraying Fruit Trees
Task 40: Make Microwave Popcorn
Task 41: Cook Cabbage
Task 42: Chop an Onion
Task 43: Slicing Vegetables
Task 44: Chopping Wood
Task 45: Cook Hot Dogs
Task 46: Cook Bacon
Task 47: Freeze Pies
Task 48: Canning Food
Task 49: Make Pizza
Documentation
Documentation
Installation
Quickstart
Important Concepts
Examples
OmniGibson
OmniGibson
Overview
Prims
Objects
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Controllers
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Systems
Scenes
Transition Rules
Simulator
Tasks
Environments
Vector Environments
Setting Macros
Under the Hood - Isaac Sim
Tutorials
Tutorials
Demo Collection
Running on a Compute Cluster
Remote Streaming
Saving and Loading Simulation State
Customizing Robots
Custom Robot Import
Components
Components
BDDL
BDDL
Task Definitions
Noun Hierarchy
Knowledgebase
3D Assets
3D Assets
Scenes
Objects
Annotation process
Asset pipeline
Asset sources
Teleoperation
Teleoperation
JoyLo
VR
Other
Other
Speed Optimization
Roadmap
FAQ
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Contributing
API Reference
API Reference
lazy
macros
simulator
transition_rules
Action primitives
Action primitives
curobo
starter_semantic_action_primitives
symbolic_semantic_action_primitives
Controllers
Controllers
controller_base
dd_controller
holonomic_base_joint_controller
ik_controller
joint_controller
multi_finger_gripper_controller
null_joint_controller
osc_controller
Envs
Envs
data_wrapper
env_base
env_wrapper
metrics_wrapper
sb3_vec_env
vec_env_base
Examples
Examples
Action primitives
Action primitives
rs_int_example
solve_simple_task
wip_solve_behavior_task
Environments
Environments
behavior_env_demo
navigation_env_demo
vector_env_demo
Learning
Learning
navigation_policy_demo
Object states
Object states
attachment_demo
dicing_demo
folded_unfolded_state_demo
heat_source_or_sink_demo
heated_state_demo
object_state_texture_demo
onfire_demo
overlaid_demo
particle_applier_remover_demo
particle_source_sink_demo
sample_kinematics_demo
slicing_demo
temperature_demo
Objects
Objects
draw_bounding_box
highlight_objects
import_custom_object
load_object_selector
view_cloth_configurations
visualize_object
Robots
Robots
all_robots_visualizer
curobo_example
grasping_mode_example
import_custom_robot
robot_control_example
Scenes
Scenes
scene_selector
scene_tour_demo
traversability_map_example
Simulator
Simulator
sim_save_load_example
Teleoperation
Teleoperation
robot_teleoperate_demo
vr_robot_control_demo
vr_scene_tour_demo
Learning
Learning
eval
eval_with_jobqueue
policies
Datas
Datas
iterable_dataset
lerobot_dataset
Utils
Utils
array_tensor_utils
config_utils
dataset_utils
eval_utils
lerobot_utils
network_utils
obs_utils
score_utils
Wrappers
Wrappers
default_wrapper
heavy_robot_wrapper
rgb_low_res_wrapper
rich_obs_wrapper
Challenge submissions
Challenge submissions
submission_comet
submission_rapper
submission_robot_learning_collective
submission_simpleai_robot
submission_the_north_star
Maps
Maps
map_base
segmentation_map
traversable_map
Metrics
Metrics
agent_metric
metric_base
task_metric
Object states
Object states
aabb
adjacency
attached_to
burnt
cloth_mixin
contact_bodies
contact_particles
contact_subscribed_state_mixin
contains
cooked
covered
draped
factory
filled
folded
frozen
heat_source_or_sink
heated
inside
joint_break_subscribed_state_mixin
joint_state
kinematics_mixin
link_based_state_mixin
max_temperature
next_to
object_state_base
on_fire
on_top
open_state
overlaid
particle
particle_modifier
particle_source_or_sink
pose
robot_related_states
saturated
sliceable
slicer_active
temperature
tensorized_value_state
toggle
touching
under
update_state_mixin
Objects
Objects
controllable_object
dataset_object
light_object
object_base
primitive_object
stateful_object
usd_object
Prims
Prims
cloth_prim
entity_prim
geom_prim
joint_prim
material_prim
prim_base
rigid_dynamic_prim
rigid_kinematic_prim
rigid_prim
xform_prim
Reward functions
Reward functions
collision_reward
grasp_reward
point_goal_reward
potential_reward
reaching_goal_reward
reward_function_base
Robots
Robots
a1
active_camera_robot
articulated_trunk_robot
behavior_robot
fetch
franka
franka_mounted
freight
holonomic_base_robot
husky
kinova
locobot
locomotion_robot
manipulation_robot
mobile_manipulation_robot
r1
r1pro
robot_base
stretch
tiago
turtlebot
two_wheel_robot
untucked_arm_pose_robot
ur5e
vx300s
Sampling
Sampling
create_stable_scene
multiply_b1k_tasks
multiply_b1k_tasks
Table of contents
multiply_b1k_tasks
postprocess_sampled_task
sample_b1k_tasks
utils
Scene graphs
Scene graphs
graph_builder
Scenes
Scenes
interactive_traversable_scene
scene_base
static_traversable_scene
traversable_scene
Sensors
Sensors
dropout_sensor_noise
scan_sensor
sensor_base
sensor_noise_base
vision_sensor
Systems
Systems
macro_particle_system
micro_particle_system
system_base
Tasks
Tasks
behavior_task
dummy_task
grasp_task
point_navigation_task
point_reaching_task
task_base
Termination conditions
Termination conditions
falling
grasp_goal
max_collision
point_goal
predicate_goal
reaching_goal
termination_condition_base
timeout
Utils
Utils
asset_conversion_utils
asset_utils
backend_utils
bddl_utils
coacd_runner
config_utils
constants
control_utils
data_utils
deprecated_utils
geometry_utils
git_utils
grasping_planning_utils
gym_utils
lazy_import_utils
motion_planning_utils
numpy_utils
object_state_utils
object_utils
physx_utils
processing_utils
profiling_utils
pynvml_utils
python_utils
registry_utils
render_utils
sampling_utils
sim_utils
teleop_utils
transform_utils
transform_utils_np
ui_utils
urdfpy_utils
usd_utils
vision_utils
Changelog
Knowledgebase
Research
Workshops
Workshops
1st BEHAVIOR Workshop @ ICCV 2021
1st BEHAVIOR Tutorial @ ECCV 2022
BEHAVIOR-100
BEHAVIOR-100
VR Dataset
Demo Gallery
Support
multiply_b1k_tasks
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