WorldLines: Benchmarking and Modeling Long-Horizon Stateful Embodied Agents
Authors: name: Yehang Zhang, name: Jianchong Su, name: Haojian Huang, name: Yifan Chang, name: Tianhao Zhou, name: Xinli Xu, name: Yingjie Xu, name: Yinchuan Li, name: Zexi Li, name: Ying-Cong Chen

To assist humans over extended periods in real homes, embodied agents must remember user routines, world states, and past interactions. Existing long-term memory benchmarks mainly evaluate language-centric retrieval and question answering, while embodied benchmarks often focus on short-horizon task execution without testing long-term memory use in dynamic environments. We introduce WorldLines, a project-driven benchmark for long-horizon embodied household assistance. It constructs temporally extended household traces with dialogues, actions, execution feedback, object and device state changes, and converts them into evidence-linked samples for Memory QA and Embodied Task Planning. We further propose ObsMem, an observer-grounded memory framework that maintains visibility-aware memories and action-native state trails for state-aware decisions. Experiments reveal persistent challenges in partial observability, overwritten world states, and translating long-term memory into embodied plans, while ObsMem offers a stronger reference architecture for this setting.