BEHAVIOR-1K

Normalizer

BEHAVIOR-1K — metrics, requirements, and run commands.

Last updated: Jul 11, 2026

On this page

About Metrics Task YAML Primary Environment setup Runtime environment Evaluation data Checkpoints & assets Key environment variables Run Evaluation Set Candidate Artifacts Import Official Results Score Generated Artifacts Direct In-Tree Runner Requirements Inputs Environment Outputs

About

BEHAVIOR-1K external benchmark manifest for household embodied policy rollouts.

Metrics

BEHAVIOR-1K external benchmark manifest for household embodied policy rollouts.

Task YAML

worldfoundry/data/benchmarks/tasks/external/behavior1k.yaml

Primary

success_rate

Metric	Focus
`success_rate`	Share of episodes or tasks that complete successfully.
`task_success`	Share of episodes or tasks that complete successfully.
`episode_success`	Share of episodes or tasks that complete successfully.
`subgoal_success`	Share of episodes or tasks that complete successfully.

Environment setup

Runtime environment

Conda env: worldfoundry-unified-cu128.
Separate setup: this benchmark expects a dedicated conda env rather than the unified runtime.
WorldFoundry provides the native contract, result normalizer, and in-tree simulator wrapper; full rollout execution still depends on the upstream OmniGibson runtime.

Evaluation data

Candidate model outputs: set WORLDFOUNDRY_BEHAVIOR1K_RESULTS_PATH to the generated-video or rollout artifact root.
${WORLDFOUNDRY_DATA_DIR}/datasets/behavior1k
${WORLDFOUNDRY_CACHE_DIR}/repos/StanfordVL--OmniGibson

Checkpoints & assets

This benchmark is primarily rollout- or official-result-driven; see catalog requires and the task YAML for policy/simulator checkpoints.

Key environment variables

WORLDFOUNDRY_BEHAVIOR1K_ROOT
WORLDFOUNDRY_BEHAVIOR1K_RESULTS_PATH

Run Evaluation

After preparing the assets and candidate artifacts listed on this page, use the public run entry points below.

Set Candidate Artifacts

export WORLDFOUNDRY_GENERATED_ARTIFACT_DIR=/path/to/generated/artifacts

Import Official Results

worldfoundry-eval zoo benchmark-run \
  --benchmark-id behavior1k \
  --mode normalizer \
  --official-results-path /path/to/official/results-or-report \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/behavior1k/normalizer \
  --json

Score Generated Artifacts

worldfoundry-eval zoo benchmark-run \
  --benchmark-id behavior1k \
  --mode official-run \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/behavior1k/official-run \
  --json

Direct In-Tree Runner

worldfoundry-eval zoo benchmark-run --benchmark-id behavior1k --mode official-validation --official-results-path <official_results.json> --output-dir <out> --json