Dataset Card for BEHAVIOR Robot Suite (BRS) Data

This dataset provides robotic trajectories for five real-world household tasks. These tasks are:

1. Clean house after a wild party;
2. Clean the toilet;
3. Take trash outside;
4. Put items onto shelves;
5. Lay clothes out.

These data are first collected and used in the paper BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities .

Dataset Details

Dataset Sources

• Repository: https://github.com/behavior-robot-suite/brs-algo
• Paper: https://arxiv.org/abs/2503.05652
• Project page: https://behavior-robot-suite.github.io/

Uses

For usage instructions, see our doc here.

Sample Usage

To train a WB-VIMA policy, simply run the following command as described in the official documentation:

python3 main/train/train.py data_dir=<HDF5_PATH> \
    bs=<BS> \
    arch=wbvima \
    task=<TASK_NAME> \
    exp_root_dir=<EXP_ROOT_DIR> \
    gpus=<NUM_GPUS> \
    use_wandb=<USE_WANDB> \
    wandb_project=<WANDB_PROJECT>

To deploy a WB-VIMA policy on the real robot, simply run the following command:

python3 main/rollout/<TASK_NAME>/rollout_async.py --ckpt_path <CKPT_PATH> --action_execute_start_idx <IDX>

Citation

BibTeX:

@article{jiang2025brs,
title = {BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities},
author = {Yunfan Jiang and Ruohan Zhang and Josiah Wong and Chen Wang and Yanjie Ze and Hang Yin and Cem Gokmen and Shuran Song and Jiajun Wu and Li Fei-Fei},
year = {2025},
journal = {arXiv preprint arXiv: 2503.05652}
}

Dataset Card Author and Contact

Yunfan Jiang