Robot learning dataset
BEHAVIOR-1K 2025 Challenge Demos
Simulated household demonstrations from the BEHAVIOR-1K 2025 challenge: 10,000 episodes recorded with the R1Pro embodiment, 9 cameras at 30 fps, in LeRobot v2.1 format. The dataset card is tagged MIT.
Records last verified Oct 13, 2026 · Send a correction
Licence & use
MIT
Commercial use allowed
Licence text ↗Terms apply to the checked release. Read publisher conditions for mixed collections, converted formats and gated access.
- Publisher
- BEHAVIOR-1K team (Stanford)
- Released
- Not dated
- Published size
- 10,000 episodes · 1.95 TB
- Modalities
- rgb, proprioception
- Formats
- LeRobot, Parquet, MP4
- Real / simulated
- Sim
- Includes humanoid recordings
- Yes
Size & release notes
10,000 episodes, 119,094,660 frames and 90,000 video files across 50 tasks; 30 fps. Wrist videos are 480x480 and other camera views are 720x720; the preview header only reports 720x720. Hugging Face lists 1.95 TB total repository files. This is the 2025 simulated R1 Pro configuration. Organizer advertises 1,200+ hours for the broader demonstration release; that lower bound is not stored as an exact duration for this conversion.
Recorded embodiments
Models disclosing this training dataset
More robot learning datasets
Evidence
Sources
- [s1] BEHAVIOR-1K project page ↗
Stanford · official · accessed Oct 13, 2026
- [s2] behavior-1k/2025-challenge-demos dataset card ↗
BEHAVIOR-1K · official · accessed Oct 13, 2026
- [s3] BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation ↗
arXiv · paper · published Mar 14, 2024 · accessed Oct 13, 2026
- [s4] 2025 BEHAVIOR Challenge official dataset description ↗
Stanford Vision and Learning Lab · official · accessed Oct 13, 2026
- [s5] Galaxea official announcement: R1 and R1 Pro in the 2025 BEHAVIOR Challenge ↗
Galaxea · official · accessed Oct 13, 2026
- [s6] The MIT License ↗
Open Source Initiative · official · accessed Oct 13, 2026