BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation
  for Everyday Household Activities
Real-world household tasks present significant challenges for mobile
manipulation robots. An analysis of existing robotics benchmarks reveals that
successful task performance hinges on three key whole-body control
capabilities: bimanual coordination, stable and precise navigation, and
extensive end-effector reachability. Achieving these capabilities requires
careful hardware design, but the resulting system complexity further
complicates visuomotor policy learning. To address these challenges, we
introduce the BEHAVIOR Robot Suite (BRS), a comprehensive framework for
whole-body manipulation in diverse household tasks. Built on a bimanual,
wheeled robot with a 4-DoF torso, BRS integrates a cost-effective whole-body
teleoperation interface for data collection and a novel algorithm for learning
whole-body visuomotor policies. We evaluate BRS on five challenging household
tasks that not only emphasize the three core capabilities but also introduce
additional complexities, such as long-range navigation, interaction with
articulated and deformable objects, and manipulation in confined spaces. We
believe that BRS's integrated robotic embodiment, data collection interface,
and learning framework mark a significant step toward enabling real-world
whole-body manipulation for everyday household tasks. BRS is open-sourced at
https://behavior-robot-suite.github.io/
67ce524ee969bc5fd69c9388
Yunfan Jiang
claimed_verified
2025-03-10T08:01:07.901Z
61e9f5398c237a147a3f4ab5
/avatars/afd4ec17cb132b5ab56e50a678c4786d.svg
Yunfan Jiang
user
yunfanj
67ce524ee969bc5fd69c9389
Ruohan Zhang
67ce524ee969bc5fd69c938a
Josiah Wong
67ce524ee969bc5fd69c938b
Chen Wang
67ce524ee969bc5fd69c938c
Yanjie Ze
claimed_verified
2025-03-10T08:01:05.242Z
63509bc859bfa9a85d4220aa
/avatars/ca2cc9b87f5ca5cd51606b2f9edf89d0.svg
Yanjie Ze
user
yjze
67ce524ee969bc5fd69c938d
Hang Yin
67ce524ee969bc5fd69c938e
Cem Gokmen
admin_assigned
2025-03-10T10:11:18.669Z
6487a3ccaa6b952c784eab16
/avatars/6d543110f169fbc0142b8485e2919f5f.svg
Cem Gokmen
user
cgokmen
67ce524ee969bc5fd69c938f
Shuran Song
67ce524ee969bc5fd69c9390
Jiajun Wu
admin_assigned
2025-03-10T10:11:41.722Z
647b7b8345616c3de3627863
/avatars/8196364bffed71086ba9a0a4a62027d3.svg
Jiajun Wu
user
jiajunwu
67ce524ee969bc5fd69c9391
Li Fei-Fei
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation
  for Everyday Household Activities
Real-world household tasks present significant challenges for mobile
manipulation robots. An analysis of existing robotics benchmarks reveals that
successful task performance hinges on three key whole-body control
capabilities: bimanual coordination, stable and precise navigation, and
extensive end-effector reachability. Achieving these capabilities requires
careful hardware design, but the resulting system complexity further
complicates visuomotor policy learning. To address these challenges, we
introduce the BEHAVIOR Robot Suite (BRS), a comprehensive framework for
whole-body manipulation in diverse household tasks. Built on a bimanual,
wheeled robot with a 4-DoF torso, BRS integrates a cost-effective whole-body
teleoperation interface for data collection and a novel algorithm for learning
whole-body visuomotor policies. We evaluate BRS on five challenging household
tasks that not only emphasize the three core capabilities but also introduce
additional complexities, such as long-range navigation, interaction with
articulated and deformable objects, and manipulation in confined spaces. We
believe that BRS's integrated robotic embodiment, data collection interface,
and learning framework mark a significant step toward enabling real-world
whole-body manipulation for everyday household tasks. BRS is open-sourced at
https://behavior-robot-suite.github.io/
The BEHAVIOR Robot Suite (BRS) addresses challenges in mobile manipulation robots by integrating a teleoperation interface and a learning algorithm for whole-body manipulation in diverse household tasks.
bimanual coordination whole-body control teleoperation visuomotor policies articulated objects deformable objects confined spaces long-range navigation