BEHAVIOR-1K (OmniGibson)

Software
Simulators
Simulator

BEHAVIOR-1K is a simulation benchmark for testing embodied AI agents on 1,000 everyday household activities such as cleaning, cooking, and organizing.

Closed core

Made by Stanford Vision and Learning Lab, United States (checked on github.com/StanfordVL (opens in a new tab)).

Source on GitHub: github.com/StanfordVL/BEHAVIOR-1K (opens in a new tab). Facts read at commit 7d6718c (opens in a new tab).

Licenses

Code: MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 7d6718c (opens in a new tab), on 16 Oct 2026.
Commercial use: Unknown

It needs closed parts under their own terms: read them before any commercial use.

One part it needs is closed

Needs NVIDIA Isaac Sim: OmniGibson, the simulator in this repository, runs on NVIDIA Isaac Sim, whose Omniverse components are under NVIDIA's own terms.

Labels

Closed coreIt needs closed parts: NVIDIA Isaac Sim.

What it does

Provides a monolithic repository with everything needed to train and evaluate agents on human-centered household tasks.
Activities were selected from real human time-use surveys and preference studies.
Includes an installation script that handles all dependencies and supports installing only selected components.
Detailed installation instructions are available in the project's installation guide.

Written by Robotheca from the project's README (opens in a new tab) at commit 7d6718c.

Getting started

Difficulty: Advanced
How to start: The project's website (opens in a new tab)

Maintenance

Status: Active: a commit in the last 90 days
Newest commit: 15 Oct 2026 on main
Latest release: BEHAVIOR-1K v3.9.3 post 2 (7 Oct 2026)

Checked on GitHub on 16 Oct 2026.

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.