Semantic & material ready Embodied / Robotics Mixed (check per asset) Sign-up / registration

OmniGibson / BEHAVIOR-1K Scene Assets

Provider：Stanford et al.

OmniGibson / BEHAVIOR-1K offers 1,000 everyday activities and large interactive scene sets with articulated furniture, suited to long-horizon household tasks.

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At a glance

Readiness
L2 · Semantic & material ready
Rationale
OmniGibson scenes and object assets with articulated furniture and state changes, fairly complete physics and semantics; some assets require accepting terms, hence L2.
Scale
1,000 activities / thousands of interactive objects (BEHAVIOR-1K is known for 1,000 everyday activities and large interactive scene sets; exact asset counts change with releases. Checked 2026-10-24.)
License
Mixed (check per asset) — The framework is open source but assets (including some third-party scenes) require accepting terms; verify each before commercial use.
Access
Sign-up / registration
Formats
usd · obj
Runtimes
isaac-sim · omniverse
Physics properties
Collision geometryMass / inertiaFrictionJoint structureSemantic labelsMDL material
Domain
Solid / Structure
Published
2026-10-24
Updated
2026-10-24

Why it is listed

BEHAVIOR-1K targets realistic household activities, and OmniGibson is the simulator that hosts its scenes and objects.

Readiness assessment

Scene assets emphasise interaction semantics: articulated containers, stateful appliances and physically plausible layouts.

Practical notes

Some assets require accepting usage terms, so access is gated rather than fully open.

Disclaimer: license and usage terms follow the official source — verify them yourself before use. This site indexes and links only; it does not host or mirror any asset file.

License and usage terms are those of the official source — verify before use. No asset file is hosted or mirrored on this site.