stanfordvl/behavior-1k
Household activities from the 2026 BEHAVIOR Challenge on a Galaxea R1Pro.
robouse run-many \
--tasks tasks/behavior \
--harness oracle \
--out runs/behavior-oracleAbout this dataset
- Embodiment
- Galaxea R1Pro mobile manipulator
- Simulator
- BEHAVIOR-1K (OmniGibson on Isaac Sim 5.1)
- Requirements
- NVIDIA RTX GPU ·
bench>=0.7.4,<0.8 · runs from a Robo Use checkout - Licence
- Task packages Apache-2.0; adapted from BEHAVIOR-1K by Stanford Vision and Learning Lab, MIT
@misc{robouse_stanfordvl_behavior_1k_0_1,
title = {Robo Use stanfordvl/behavior-1k 0.1},
author = {{BenchFlow}},
year = {2026},
howpublished = {\url{https://robouse.ai/hub/stanfordvl/behavior-1k/}},
note = {BenchFlow dataset, tag stanfordvl/behavior-1k-v0.1, commit f4872875a63e; adapted from BEHAVIOR-1K (Stanford Vision and Learning Lab)}
}43 tasks
Task type
Outcome
Size
Step budget
behavior-bringing-in-woodBring the three plywood sheets from the garden into the corridor and put them on the corridor floor (floor.n.01_2).Bring the three plywood sheets from the garden into the corridor and put them on the corridor floor (floor.n.01_2).
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-bringing-waterRetrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the…Retrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the refrigerator is closed when you finish.
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-bringing-water-instance-1Retrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the…Retrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the refrigerator is closed when you finish.
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-bringing-water-instance-2Retrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the…Retrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the refrigerator is closed when you finish.
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-bringing-water-visionRetrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the…Retrieve the two bottles from the refrigerator in the kitchen, bring them to the living room, and place both on the coffee table. Make sure the refrigerator is closed when you finish.
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-carrying-in-groceriesThe sack of groceries is in the open car in the garage. Put the tomato and the carton of milk from it into the same refrigerator in the kitchen.…The sack of groceries is in the open car in the garage. Put the tomato and the carton of milk from it into the same refrigerator in the kitchen. At the end the car and the kitchen refrigerator electric_refrigerator.n.01_1 must both be closed.
Galaxea R1Pro mobile manipulator45 skill callsjudged on the final state
behavior-carrying-out-garden-furnitureCarry the lawn chair from the living room to the garden and put it on the garden floor (floor.n.01_2), and put the wheelbarrow on the lawn.Carry the lawn chair from the living room to the garden and put it on the garden floor (floor.n.01_2), and put the wheelbarrow on the lawn.
Galaxea R1Pro mobile manipulator35 skill callsjudged on the final state
behavior-clean-up-broken-glassPut all three pieces of broken glass from the dining room floor into the trash can.
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-cleaning-up-plates-and-foodFrom the breakfast table in the kitchen, move both pizzas, each still on its own plate, into the same refrigerator, put both bowls into one sink,…From the breakfast table in the kitchen, move both pizzas, each still on its own plate, into the same refrigerator, put both bowls into one sink, and make sure every refrigerator is closed at the end.
Galaxea R1Pro mobile manipulator55 skill callsjudged on the final state
behavior-collecting-aluminum-cansPut all six soda cans (three on the bed, three on the floor) into the bucket in the bedroom.
Galaxea R1Pro mobile manipulator65 skill callsjudged on the final state
behavior-collecting-childrens-toysPut the two dice from the bed, the two teddy bears from the floor, the two board games (one on the desk, one on the bed) and the train set on the…Put the two dice from the bed, the two teddy bears from the floor, the two board games (one on the desk, one on the bed) and the train set on the desk all inside the same bookcase in the child's room.
Galaxea R1Pro mobile manipulator75 skill callsjudged on the final state
behavior-dispose-of-glassPut the four water glasses from the bathroom sink into the trash can.
Galaxea R1Pro mobile manipulator50 skill callsjudged on the final state
behavior-freeze-fruitIn the kitchen, take the two tupperware containers out of the cabinet, put one apple and one strawberry into each container, then put both…In the kitchen, take the two tupperware containers out of the cabinet, put one apple and one strawberry into each container, then put both containers inside the refrigerator and make sure the refrigerator is closed at the end.
Galaxea R1Pro mobile manipulator95 skill callsjudged on the final state
behavior-freeze-fruit-visionIn the kitchen, take the two tupperware containers out of the cabinet, put one apple and one strawberry into each container, then put both…In the kitchen, take the two tupperware containers out of the cabinet, put one apple and one strawberry into each container, then put both containers inside the refrigerator and make sure the refrigerator is closed at the end.
Galaxea R1Pro mobile manipulator95 skill callsjudged on the final statevision-only
behavior-installing-a-fax-machinePut the fax machine from the floor on one of the cubicle desks (carrels) in the shared office and turn it on.
Galaxea R1Pro mobile manipulator25 skill callsjudged on the final state
behavior-loading-the-carPut the digital camera from the living room table into the container on the living room floor. Then put the container (with the camera in it) and…Put the digital camera from the living room table into the container on the living room floor. Then put the container (with the camera in it) and the tennis racket inside the car in the garage, and make sure the car is closed at the end.
Galaxea R1Pro mobile manipulator45 skill callsjudged on the final state
behavior-moving-boxes-to-storageMove the two storage containers from the living room to the garage: one on the garage floor (floor.n.01_2) and the other stacked on top of it…Move the two storage containers from the living room to the garage: one on the garage floor (floor.n.01_2) and the other stacked on top of it (either order).
Galaxea R1Pro mobile manipulator35 skill callsjudged on the final state
behavior-organizing-art-suppliesPut the marker, paintbrush, glue stick and rubber eraser into the tote bag (carryall), and leave the tote bag on the desk in the bedroom.Put the marker, paintbrush, glue stick and rubber eraser into the tote bag (carryall), and leave the tote bag on the desk in the bedroom.
Galaxea R1Pro mobile manipulator55 skill callsjudged on the final state
behavior-picking-up-toysPut all the toys in the child's room (the three board games, two on the bed and one on the table, the two jigsaw puzzles and the tennis ball on…Put all the toys in the child's room (the three board games, two on the bed and one on the table, the two jigsaw puzzles and the tennis ball on the table) inside the toy box on the table in the child's room.
Galaxea R1Pro mobile manipulator65 skill callsjudged on the final state
behavior-picking-up-trash
behavior-picking-up-trash-instance-1Put the three cans of soda from the living room inside the trash can in the kitchen.
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-picking-up-trash-visionPut the three cans of soda from the living room inside the trash can in the kitchen.
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final statevision-only
behavior-putting-away-toysPick up all eight toy figures from the floors of the living room and the dining room and put each of them inside one of the two toy boxes (either…Pick up all eight toy figures from the floors of the living room and the dining room and put each of them inside one of the two toy boxes (either box).
Galaxea R1Pro mobile manipulator80 skill callsjudged on the final state
behavior-putting-dirty-dishes-in-sinkPut both bowls and both plates from the booth in the dining room inside the kitchen sink.
Galaxea R1Pro mobile manipulator50 skill callsjudged on the final state
behavior-putting-dishes-away-after-cleaningIn the kitchen, gather all eight plates from the two countertops, place them all inside a single cabinet (either one), and make sure all cabinets…In the kitchen, gather all eight plates from the two countertops, place them all inside a single cabinet (either one), and make sure all cabinets are closed when you are done.
Galaxea R1Pro mobile manipulator90 skill callsjudged on the final state
behavior-putting-dishes-away-after-cleaning-visionIn the kitchen, gather all eight plates from the two countertops, place them all inside a single cabinet (either one), and make sure all cabinets…In the kitchen, gather all eight plates from the two countertops, place them all inside a single cabinet (either one), and make sure all cabinets are closed when you are done.
Galaxea R1Pro mobile manipulator85 skill callsjudged on the final state
behavior-re-shelving-library-booksPut the three books from the table in the living room inside the bookcases (any bookcase).
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-rearrange-your-roomPut the tissue dispenser on a nightstand, and put the two pillows from the floor on the two beds, one pillow per bed.Put the tissue dispenser on a nightstand, and put the two pillows from the floor on the two beds, one pillow per bed.
Galaxea R1Pro mobile manipulator40 skill callsjudged on the final state
behavior-rearranging-kitchen-furnitureMove the toaster, food processor, and French press from the kitchen countertop into the same kitchen cabinet, and make sure that cabinet is…Move the toaster, food processor, and French press from the kitchen countertop into the same kitchen cabinet, and make sure that cabinet is closed at the end.
Galaxea R1Pro mobile manipulator45 skill callsjudged on the final state
behavior-rearranging-kitchen-furniture-visionMove the toaster, food processor, and French press from the kitchen countertop into the same kitchen cabinet, and make sure that cabinet is…Move the toaster, food processor, and French press from the kitchen countertop into the same kitchen cabinet, and make sure that cabinet is closed at the end.
Galaxea R1Pro mobile manipulator45 skill callsjudged on the final state
behavior-sorting-books-on-shelfKeep every comic book, notebook and hardback inside the bookcase, and stack them by type: at least two comic books each on top of another comic…Keep every comic book, notebook and hardback inside the bookcase, and stack them by type: at least two comic books each on top of another comic book, one notebook on top of the other notebook, and one hardback on top of the other hardback.
Galaxea R1Pro mobile manipulator35 skill callsjudged on the final state
behavior-store-honeyPut the jar of honey from the kitchen countertop inside the cabinet in the entryway.
Galaxea R1Pro mobile manipulator30 skill callsjudged on the final state
behavior-store-produceTake both mangoes and both pomegranates out of the wicker basket and put all four inside the same refrigerator in the kitchen.Take both mangoes and both pomegranates out of the wicker basket and put all four inside the same refrigerator in the kitchen.
Galaxea R1Pro mobile manipulator55 skill callsjudged on the final state
behavior-store-produce-instance-1Take both mangoes and both pomegranates out of the wicker basket and put all four inside the same refrigerator in the kitchen.Take both mangoes and both pomegranates out of the wicker basket and put all four inside the same refrigerator in the kitchen.
Galaxea R1Pro mobile manipulator55 skill callsjudged on the final state
behavior-store-produce-visionTake both mangoes and both pomegranates out of the wicker basket and put all four inside the same refrigerator in the kitchen.Take both mangoes and both pomegranates out of the wicker basket and put all four inside the same refrigerator in the kitchen.
Galaxea R1Pro mobile manipulator55 skill callsjudged on the final statevision-only
behavior-storing-foodPut away the food on the kitchen countertop: every box of oatmeal, bag of chips, bottle of olive oil and jar of sugar (two of each) must end up…Put away the food on the kitchen countertop: every box of oatmeal, bag of chips, bottle of olive oil and jar of sugar (two of each) must end up inside a kitchen cabinet (any cabinet, items may be split).
Galaxea R1Pro mobile manipulator85 skill callsjudged on the final state
behavior-tidying-bathroomIn the bathroom: put the bar of soap on the soap dish, the tissue dispenser on the sink, the roll of toilet tissue on the toilet, and the cork…In the bathroom: put the bar of soap on the soap dish, the tissue dispenser on the sink, the roll of toilet tissue on the toilet, and the cork inside the trash can.
Galaxea R1Pro mobile manipulator50 skill callsjudged on the final state
behavior-tidying-bathroom-visionIn the bathroom: put the bar of soap on the soap dish, the tissue dispenser on the sink, the roll of toilet tissue on the toilet, and the cork…In the bathroom: put the bar of soap on the soap dish, the tissue dispenser on the sink, the roll of toilet tissue on the toilet, and the cork inside the trash can.
Galaxea R1Pro mobile manipulator50 skill callsjudged on the final statevision-only
behavior-tidying-living-roomIn the living room: put the potted plant and the newspaper on the coffee table, the hardback book inside a bookcase, and the notebook on the desk.In the living room: put the potted plant and the newspaper on the coffee table, the hardback book inside a bookcase, and the notebook on the desk.
Galaxea R1Pro mobile manipulator50 skill callsjudged on the final state
behavior-turning-on-radio
behavior-turning-out-all-lights-before-sleepTurn off all three light switches and both table lamps.
Galaxea R1Pro mobile manipulator35 skill callsjudged on the final state
behavior-turning-out-all-lights-before-sleep-instance-1Turn off all three light switches and both table lamps.
Galaxea R1Pro mobile manipulator35 skill callsjudged on the final state
behavior-turning-out-all-lights-before-sleep-visionTurn off all three light switches and both table lamps.
Galaxea R1Pro mobile manipulator35 skill callsjudged on the final statevision-only
↑ ↓ move between rows · Enter shows details · O opens the task
Each task is a package in the task format, pinned to robohub commit f4872875a63e. The verifier and the reference solution are not published.
Agent harnesses
| Rank# | Model · harness | Solve rate | Solved | Tasks run |
|---|---|---|---|---|
| 1 | GLM-5.3 · Claude Code | 100% | 5 of 5 | 5 of 43 |
| 2 | GLM-5.3 · Codex | 100% | 5 of 5 | 5 of 43 |
| 3 | GLM-5.3 · mini-swe-agent | 100% | 5 of 5 | 5 of 43 |
Per task
38 tasks with no trials yet not shown.
✓ solved ✗ not solved ! infrastructure failure · not run
| Task | GLM-5.3 · Claude Code | GLM-5.3 · Codex | GLM-5.3 · mini-swe-agent |
|---|---|---|---|
Retrieve the two bottles from the refrigerator in the kitchen, bring them to the living roombehavior-bringing-water | ✓ Solved | ✓ Solved | ✓ Solved |
Put the three cans of soda from the living room inside the trash can in the kitchenbehavior-picking-up-trash | ✓ Solved | ✓ Solved | ✓ Solved |
In the kitchen, gather all eight plates from the two countertops, place them all inside a single cabinetbehavior-putting-dishes-away-after-cleaning | ✓ Solved | ✓ Solved | ✓ Solved |
Move the toaster, food processor, and French press from the kitchen countertop into the same kitchen cabinetbehavior-rearranging-kitchen-furniture | ✓ Solved | ✓ Solved | ✓ Solved |
Turn on the radio receiver that's on the table in the living roombehavior-turning-on-radio | ✓ Solved | ✓ Solved | ✓ Solved |