Mini-BEHAVIOR: A Procedurally Generated Benchmark for Long-horizon Decision-Making in Embodied AI

TL;DR

Mini-BEHAVIOR is a fast, procedurally generated benchmark environment for embodied AI that enables rapid testing of decision-making and planning in complex, realistic household tasks.

Contribution

It introduces a new, efficient Gridworld-based benchmark with procedural generation for open-ended learning in embodied AI.

Findings

Supports rapid prototyping and evaluation of AI agents.

Includes diverse household task implementations.

Facilitates open-ended learning and decision-making research.

Abstract

We present Mini-BEHAVIOR, a novel benchmark for embodied AI that challenges agents to use reasoning and decision-making skills to solve complex activities that resemble everyday human challenges. The Mini-BEHAVIOR environment is a fast, realistic Gridworld environment that offers the benefits of rapid prototyping and ease of use while preserving a symbolic level of physical realism and complexity found in complex embodied AI benchmarks. We introduce key features such as procedural generation, to enable the creation of countless task variations and support open-ended learning. Mini-BEHAVIOR provides implementations of various household tasks from the original BEHAVIOR benchmark, along with starter code for data collection and reinforcement learning agent training. In essence, Mini-BEHAVIOR offers a fast, open-ended benchmark for evaluating decision-making and planning solutions in embodied AI. It serves as a user-friendly entry point for research and facilitates the evaluation and development of solutions, simplifying their assessment and development while advancing the field of embodied AI. Code is publicly available at https://github.com/StanfordVL/mini_behavior.