  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.
