BEHAVIOR, an in-home robot, benchmark

As my readers probably already know, I’m a long time benchmark geek. So when I recently read an article out of Stanford (AI Experts Establish the “North Star” for Domestic Robotics Field) where a research team there developed a new robotic benchmark, I was interested. The new robotics benchmark is called BEHAVIOR which was documented in an article (see: BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and ecOlogical enviRonments). It essentially uses real world data to identify domestic work activities that any robot would need to perform in a home.

The problems with robot benchmarks

The problem with benchmarks are multi-faceted:

  • How realistic are the workloads used to evaluate the systems being measured?
  • How accurate are the metrics used to rank and judge benchmark submissions?
  • How costly/complex is it to run a benchmark?
  • How are submissions audited and are they reproducible?.
  • Where are benchmark results reported and are they public?

And of course robotics brings in it’s own issues that makes benchmarking more difficult:

  • What sensors does the robot have to understand how to complete tasks?
  • What manipulators does the robot have to perform the tasks required of it?
  • Do the robots move in the environment and if so, how do the robots move?
  • Does the robot perform the task in the real world on in a simulated environment.

And of course, when using a simulated environment, how realistic is it.

BEHAVIOR with iGibson (see below) seem to answer many of these concerns for an in home robot benchmarking.


First, BEHAVIOR’s home making tasks were selected from an American Time Use Survey maintained by the USA Bureau of Labor Statistics which identifies tasks Americans perform in their homes. With BEHAVIOR 1.0 there are 100 tasks ranging from building a fruit basket to cleaning a toilet, and just about everything in between. I didn’t see any cooking or mixing drinks tasks but maybe those will be added.

Second, BEHAVIOR uses a predicate logic, called BDDL (BEHAVIOR Domain Definition Language) to define initial conditions for tasks such as tables, chairs, books, etc located in the room, where objects need to be placed, and successful completion goals or what task completion should look like.

BEHAVIOR uses 15 different rooms or scenes in their benchmark, such as a kitchen, garage, study, etc. Each of the 100 tasks are performed in a specific room.

BEHAVIOR incorporates 1217 different objects in 391 categories. Once initial conditions are defined for a task, BEHAVIOR essentially randomly selects different object for the task and randomly locates them throughout the room.

In order to run the benchmark, one could conceivably create a real room, with all the objects and have them placed according to BEHAVIOR BDDL’s randomly assigned locations with a robot physically present in the room and have it perform the assigned task OR one could use a simulation engine and have the robot run the task in the simulation environment, with simulated room, objects and robot.

It appears as if BEHAVIOR could operate in any robotics simulation environment but has been currently implemented in Stanford’s open source robotics simulation engine called iGibson 2.0 (see: iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks and iGibson 2.0 website). iGibson uses the Bullet real time physics engine for realistic physical environment simulation.

A robot operating within iGibson is provided a 3D rendering of the room and objects in images or LIDAR sensor scans. It can then identify the objects that it needs to manipulate to perform the tasks. One can define the robot simulated sensors and manipulators in iGibnot 2.0 and it’s written in Python, is open source (GitHub Repo) and can be installed to run on (Ubuntu 16.04) Linux, Windows (10) or Mac (10.15) systems.

Finally, BEHAVIOR uses a set of metrics to determine how well a robot has performed its assigned task. Their first metric is success score defined as the fraction of goal conditions satisfied by the robot performing the task. Such as the number of dishes properly cleaned and placed in the drying rack divided by the total number of dishes for a “washing dishes” task. And their second metric is a set of efficiency metrics, like time to complete a task, sum total of object distance moved during the task, how well objects are arranged at task completion (is the toilet seat down…), etc.

Another feature of iGibson 2.0 is that it offers the ability to record a human (in VR) doing a task in its simulated environment. So if your robotic system is able to learn by example, then iGibson could be used to provide training data for an activity.


A couple of additions to the BEHAVIOR benchmark/iGibson simulation environment that I would like to see:

  • There ought to be a way to construct a house/apartment where multiple rooms are arranged in a hierarchy, i.e., rooms associated with floors with connections using hallways, doors, stairs, etc. between them. This way one could conceivably have a define a set of homes/apartments (let’s say 5) that a robot would perform its tasks in.
  • They need a task list to drive robot activities. Assume that there’s some amount of time let’s say 8-12 hours that a robot is active and construct a series of tasks that need to be accomplished during that period.
  • Robots should be placed in the rooms/apartments/homes at random with random orientation and then they would have to navigate through rooms/passageways to the rooms to perform the tasks.
  • They need to add pet/human avatars in the rooms throughout a home. These would represent real time obstacles to task completion/navigation as well as add more tasks associated with caring for pets/humans.
  • They need the ability to add non-home rooms that could encompass factory floors, emergency response debris fields, grocery stores, etc. and their own unique set of tasks for each of these so that it could be used as a benchmark for more than just domestic robots.

Aside from the above additions to BEHAVIOR/iGibson 2.0, there’s the question of the organization that manages the benchmark and submissions. There needs to be a website/place to publish benchmark results for a robot AND a mechanism to audit results for accuracy to insure fair play.

Typically this would be associated with an organization responsible for publishing and auditing submissions as well as guide further development of BEHAVIOR/iGibson 2.0. BEHAVIOR 1.0 is not the end but it’s a great start at providing realistic tasks that any domestic robot would need to perform. 

Benchmarks have always aided the development and assessment of new technologies. Having a in home robot benchmark like BEHAVIOR makes getting domestic robots that do what we want them to do a more likely possibility someday.

There’s a new benchmark in town and it signals the dawning of the domestic robot age.

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