Openpi Comet：2025年BEHAVIOR挑战赛竞赛方案

摘要

2025年BEHAVIOR挑战赛旨在通过模拟环境中的物理智能体，系统性地追踪长周期任务解决的进展。BEHAVIOR-1K聚焦于人们最期望获得机器人协助的日常家务任务，这些任务在真实场景中引入了长周期移动操作挑战，弥合了当前研究与现实世界人本应用之间的鸿沟。本报告展示了我们在2025年BEHAVIOR挑战赛中获得亚军（与冠军成绩极为接近）且显著优于其他参赛方案的解决方案。基于π_{0.5}框架，我们通过系统研究训练技术与数据的影响来构建解决方案。经过精细的消融实验，我们证明了预训练与后训练阶段的扩展能力对竞技性能的提升作用。我们总结了实践心得与设计建议，希望为更广泛的具身智能社区在将强大基础模型适配复杂具身场景时提供可操作的洞见。

English

The 2025 BEHAVIOR Challenge is designed to rigorously track progress toward solving long-horizon tasks by physical agents in simulated environments. BEHAVIOR-1K focuses on everyday household tasks that people most want robots to assist with and these tasks introduce long-horizon mobile manipulation challenges in realistic settings, bridging the gap between current research and real-world, human-centric applications. This report presents our solution to the 2025 BEHAVIOR Challenge in a very close 2nd place and substantially outperforms the rest of the submissions. Building on π_{0.5}, we focus on systematically building our solution by studying the effects of training techniques and data. Through careful ablations, we show the scaling power in pre-training and post-training phases for competitive performance. We summarize our practical lessons and design recommendations that we hope will provide actionable insights for the broader embodied AI community when adapting powerful foundation models to complex embodied scenarios.

Openpi Comet：2025年BEHAVIOR挑战赛竞赛方案

Openpi Comet: Competition Solution For 2025 BEHAVIOR Challenge

摘要

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