  We introduce BEHAVIOR, a benchmark for embodied AI with 100 activities in
simulation, spanning a range of everyday household chores such as cleaning,
maintenance, and food preparation. These activities are designed to be
realistic, diverse, and complex, aiming to reproduce the challenges that agents
must face in the real world. Building such a benchmark poses three fundamental
difficulties for each activity: definition (it can differ by time, place, or
person), instantiation in a simulator, and evaluation. BEHAVIOR addresses these
with three innovations. First, we propose an object-centric, predicate
logic-based description language for expressing an activity's initial and goal
conditions, enabling generation of diverse instances for any activity. Second,
we identify the simulator-agnostic features required by an underlying
environment to support BEHAVIOR, and demonstrate its realization in one such
simulator. Third, we introduce a set of metrics to measure task progress and
efficiency, absolute and relative to human demonstrators. We include 500 human
demonstrations in virtual reality (VR) to serve as the human ground truth. Our
experiments demonstrate that even state of the art embodied AI solutions
struggle with the level of realism, diversity, and complexity imposed by the
activities in our benchmark. We make BEHAVIOR publicly available at
behavior.stanford.edu to facilitate and calibrate the development of new
embodied AI solutions.
