EmbodiedEval: Evaluate Multimodal LLMs as Embodied Agents
Authors: name: Zhili Cheng; name: Yuge Tu; name: Ran Li; name: Shiqi Dai; name: Jinyi Hu; name: Shengding Hu; name: Jiahao Li; name: Yang Shi; name: Tianyu Yu; name: Weize Chen; name: Lei Shi; name: Maosong Sun
Published: 2025-01-21 03:22:10

Abstract: Multimodal Large Language Models (MLLMs) have shown significant advancements,
providing a promising future for embodied agents. Existing benchmarks for
evaluating MLLMs primarily utilize static images or videos, limiting
assessments to non-interactive scenarios. Meanwhile, existing embodied AI
benchmarks are task-specific and not diverse enough, which do not adequately
evaluate the embodied capabilities of MLLMs. To address this, we propose
EmbodiedEval, a comprehensive and interactive evaluation benchmark for MLLMs
with embodied tasks. EmbodiedEval features 328 distinct tasks within 125 varied
3D scenes, each of which is rigorously selected and annotated. It covers a
broad spectrum of existing embodied AI tasks with significantly enhanced
diversity, all within a unified simulation and evaluation framework tailored
for MLLMs. The tasks are organized into five categories: navigation, object
interaction, social interaction, attribute question answering, and spatial
question answering to assess different capabilities of the agents. We evaluated
the state-of-the-art MLLMs on EmbodiedEval and found that they have a
significant shortfall compared to human level on embodied tasks. Our analysis
demonstrates the limitations of existing MLLMs in embodied capabilities,
providing insights for their future development. We open-source all evaluation
data and simulation framework at https://github.com/thunlp/EmbodiedEval.