title: BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation
    for Everyday Household Activities
summary: 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/
paper_authors._id: 67ce524ee969bc5fd69c9388
paper_authors.name: Yunfan Jiang
paper_authors.status: claimed_verified
paper_authors.statusLastChangedAt: 2025-03-10T08:01:07.901Z
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paper_authors.fullname: Yunfan Jiang
paper_authors.type: user
paper_authors.user: yunfanj
paper_authors._id: 67ce524ee969bc5fd69c9389
paper_authors.name: Ruohan Zhang
paper_authors._id: 67ce524ee969bc5fd69c938a
paper_authors.name: Josiah Wong
paper_authors._id: 67ce524ee969bc5fd69c938b
paper_authors.name: Chen Wang
paper_authors._id: 67ce524ee969bc5fd69c938c
paper_authors.name: Yanjie Ze
paper_authors.status: claimed_verified
paper_authors.statusLastChangedAt: 2025-03-10T08:01:05.242Z
paper_authors._id: 63509bc859bfa9a85d4220aa
paper_authors.avatarUrl: /avatars/ca2cc9b87f5ca5cd51606b2f9edf89d0.svg
paper_authors.fullname: Yanjie Ze
paper_authors.type: user
paper_authors.user: yjze
paper_authors._id: 67ce524ee969bc5fd69c938d
paper_authors.name: Hang Yin
paper_authors._id: 67ce524ee969bc5fd69c938e
paper_authors.name: Cem Gokmen
paper_authors.status: admin_assigned
paper_authors.statusLastChangedAt: 2025-03-10T10:11:18.669Z
paper_authors._id: 6487a3ccaa6b952c784eab16
paper_authors.avatarUrl: /avatars/6d543110f169fbc0142b8485e2919f5f.svg
paper_authors.fullname: Cem Gokmen
paper_authors.type: user
paper_authors.user: cgokmen
paper_authors._id: 67ce524ee969bc5fd69c938f
paper_authors.name: Shuran Song
paper_authors._id: 67ce524ee969bc5fd69c9390
paper_authors.name: Jiajun Wu
paper_authors.status: admin_assigned
paper_authors.statusLastChangedAt: 2025-03-10T10:11:41.722Z
paper_authors._id: 647b7b8345616c3de3627863
paper_authors.avatarUrl: /avatars/8196364bffed71086ba9a0a4a62027d3.svg
paper_authors.fullname: Jiajun Wu
paper_authors.type: user
paper_authors.user: jiajunwu
paper_authors._id: 67ce524ee969bc5fd69c9391
paper_authors.name: Li Fei-Fei
paper_title: BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation
    for Everyday Household Activities
paper_summary: 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/
paper_ai_keywords: bimanual coordination stable and precise navigation extensive end-effector reachability visuomotor policy learning whole-body teleoperation interface whole-body visuomotor policies long-range navigation articulated objects deformable objects confined spaces