README.md

---
language:
- en
license: mit
task_categories:
- robotics
pretty_name: BRS Data
tags:
- robot-manipulation
- imitation-learning
- real-world-data
---

# Dataset Card for BEHAVIOR Robot Suite (BRS) Data

This dataset provides robotic trajectories for five real-world household tasks. These tasks are:

1. Clean house after a wild party;
2. Clean the toilet;
3. Take trash outside;
4. Put items onto shelves;
5. Lay clothes out.

These data are first collected and used in the paper [BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities
](https://huggingface.co/papers/2503.05652).

## Dataset Details

### Dataset Description

- **Curated by:** [Yunfan Jiang](https://yunfanj.com/)
- **License:** [MIT](LICENSE)

### Dataset Sources

- **Repository:** https://github.com/behavior-robot-suite/brs-algo
- **Paper:** https://arxiv.org/abs/2503.05652
- **Project page:** https://behavior-robot-suite.github.io/

## Uses

For usage instructions, see our doc [here](https://behavior-robot-suite.github.io/docs/sections/wbvima/overview.html).

## Sample Usage

To train a WB-VIMA policy, simply run the following command as described in the [official documentation](https://behavior-robot-suite.github.io/docs/sections/wbvima/overview.html):

```bash
python3 main/train/train.py data_dir=<HDF5_PATH> \
    bs=<BS> \
    arch=wbvima \
    task=<TASK_NAME> \
    exp_root_dir=<EXP_ROOT_DIR> \
    gpus=<NUM_GPUS> \
    use_wandb=<USE_WANDB> \
    wandb_project=<WANDB_PROJECT>
```

To deploy a WB-VIMA policy on the real robot, simply run the following command:

```bash
python3 main/rollout/<TASK_NAME>/rollout_async.py --ckpt_path <CKPT_PATH> --action_execute_start_idx <IDX>
```

## Citation

**BibTeX:**

```
@article{jiang2025brs,
title = {BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities},
author = {Yunfan Jiang and Ruohan Zhang and Josiah Wong and Chen Wang and Yanjie Ze and Hang Yin and Cem Gokmen and Shuran Song and Jiajun Wu and Li Fei-Fei},
year = {2025},
journal = {arXiv preprint arXiv: 2503.05652}
}
```

## Dataset Card Author and Contact

[Yunfan Jiang](https://yunfanj.com/)