IliaLarchenko/behavior_submission

This repo contains model checkpoints of the 1st place solution of the 2025 BEHAVIOR challenge

Refer to this repo to use the models.

Our tech report.

This model achieved ~26% final score on both Public and Private eval datasets.

The repo contains 4 checkpoints that are supposed to be used for different tasks:

Checkpoint	Task Count	Task IDs
Checkpoint 1	20 tasks	2, 3, 5, 6, 10, 11, 13, 14, 15, 19, 23, 24, 25, 28, 29, 34, 42, 44, 47, 48
Checkpoint 2	16 tasks	0, 1, 7, 8, 9, 12, 16, 17, 18, 20, 21, 22, 26, 30, 43, 45
Checkpoint 3	13 tasks	4, 27, 31, 32, 33, 35, 36, 37, 38, 39, 41, 46, 49
Checkpoint 4	1 task	40

Citation

If you find this work useful, please cite:

@misc{larchenko2025behavior,
      title={Task adaptation of Vision-Language-Action model: 1st Place Solution for the 2025 BEHAVIOR Challenge}, 
      author={Ilia Larchenko and Gleb Zarin and Akash Karnatak},
      year={2025},
      eprint={2512.06951},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2512.06951}, 
}