BEHAVIOR ROBOT SUITE: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities

Rich · March 21, 2025, 6:02pm

BEHAVIOR ROBOT SUITE: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities

Abstract— Real-world household tasks present significant challenges for mobile manipulation robots. An analysis of existing robotics benchmarks reveals that successful task performance hinges on three key whole-body control capabilities: bimanual coordination, stable and precise navigation, and extensive end-effector reachability. Achieving these capabilities requires arXiv:2503.05652v1 [cs.RO] 7 Mar 2025 careful hardware design, but the resulting system complexity further complicates visuomotor policy learning. To address these challenges, we introduce the BEHAVIOR ROBOT SUITE (BRS), a comprehensive framework for whole-body manipulation in diverse household tasks. Built on a bimanual, wheeled robot with a 4-DoF torso, BRS integrates a cost-effective wholebody teleoperation interface for data collection and a novel algorithm for learning whole-body visuomotor policies. We evaluate BRS on five challenging household tasks that not only emphasize the three core capabilities but also introduce additional complexities, such as long-range navigation, interaction with articulated and deformable objects, and manipulation in confined spaces. We believe that BRS’s integrated robotic
embodiment, data collection interface, and learning framework mark a significant step toward enabling real-world whole-body manipulation for everyday household tasks. BRS is open-sourced at behavior-robot-suite.github.io.