BEHAVIOR-1K

简介

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

指标

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

Task YAML

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

Primary

• success_rate

环境准备

运行环境

• Conda 环境： worldfoundry-unified-cu128。
• 单独配置： 需要 benchmark 专用 conda 环境，不要与统一 runtime 混用。
• WorldFoundry provides the native contract, result normalizer, and in-tree simulator wrapper; full rollout execution still depends on the upstream OmniGibson runtime.

测评数据

• 待测模型输出目录：设置 WORLDFOUNDRY_BEHAVIOR1K_RESULTS_PATH 指向生成视频或 rollout artifact 根目录。
• ${WORLDFOUNDRY_DATA_DIR}/datasets/behavior1k
• ${WORLDFOUNDRY_CACHE_DIR}/repos/StanfordVL--OmniGibson

Checkpoint 与资产

• 该 benchmark 以官方结果归一化或仿真 rollout 为主；policy / simulator checkpoint 见 catalog requires 与 task YAML。

关键环境变量

• WORLDFOUNDRY_BEHAVIOR1K_ROOT
• WORLDFOUNDRY_BEHAVIOR1K_RESULTS_PATH

运行评测

准备好该 benchmark 页面列出的资产和候选产物后，使用下面的公开运行入口。

设置候选产物目录

export WORLDFOUNDRY_GENERATED_ARTIFACT_DIR=/path/to/generated/artifacts

导入已有官方结果

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

从生成产物重新打分

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

直接调用仓内 runner

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

依赖与产物

Inputs

• Official simulator runtime
• benchmark assets
• policy checkpoint
• official result dump

Environment

• WORLDFOUNDRY_BEHAVIOR1K_RESULTS_PATH

Outputs

• scorecard.json
• raw_results.jsonl
• evaluation/summary.json

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