mlsanityData to 7 Oct 2026

Alexa Arena: A User-Centric Interactive Platform for Embodied AI

arXiv 2303.01586 ↗First posted 2 Mar 2023cs.HC cs.AI cs.ROcited by 18

On the map: World models → World models for navigation

Abstract (arXiv)

We introduce Alexa Arena, a user-centric simulation platform for Embodied AI (EAI) research. Alexa Arena provides a variety of multi-room layouts and interactable objects, for the creation of human-robot interaction (HRI) missions. With user-friendly graphics and control mechanisms, Alexa Arena supports the development of gamified robotic tasks readily accessible to general human users, thus opening a new venue for high-efficiency HRI data collection and EAI system evaluation. Along with the platform, we introduce a dialog-enabled instruction-following benchmark and provide baseline results for it. We make Alexa Arena publicly available to facilitate research in building generalizable and assistive embodied agents.

Key facts. Cited by 18 papers in the map (data through 7 Oct 2026). Placed in World models for navigation, one of 11 directions in World models. Builds on 38 of its 58 references that are in the map. First posted on arXiv 2 Mar 2023.

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38 of 58 references.

Closest ancestors · 1

Same direction, newest first

  1. 2019Habitat: A Platform for Embodied AI Research2 Apr

Other references · 37

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
  3. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  4. 2017Mask R-CNNcited by 7,259
  5. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,302
  6. 2021Per-Pixel Classification is Not All You Need for Semantic Segmentationcited by 1,148
  7. 2022Inner Monologue: Embodied Reasoning through Planning with Language Modelscited by 1,057
  8. 2022Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agentscited by 1,029
  9. 2017Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environmentscited by 1,013
  10. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850
  11. 2019ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Taskscited by 773
  12. 2022ProgPrompt: Generating Situated Robot Task Plans using Large Language Modelscited by 598
25 more
  1. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 584
  2. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  3. 2018Gibson Env: Real-World Perception for Embodied Agentscited by 477
  4. 2018VirtualHome: Simulating Household Activities via Programscited by 411
  5. 2023Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agentscited by 396
  6. 2021CRIS: CLIP-Driven Referring Image Segmentationcited by 353
  7. 2019On the Utility of Learning about Humans for Human-AI Coordinationcited by 345
  8. 2020ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulationcited by 249
  9. 2018RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitationcited by 202
  10. 2021TEACh: Task-driven Embodied Agents that Chatcited by 194
  11. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  12. 2021Episodic Transformer for Vision-and-Language Navigationcited by 155
  13. 2021FILM: Following Instructions in Language with Modular Methodscited by 119
  14. 2018Mapping Instructions to Actions in 3D Environments with Visual Goal Predictioncited by 101
  15. 2019Help, Anna! Visual Navigation with Natural Multimodal Assistance via Retrospective Curiosity-Encouraging Imitation Learningcited by 100
  16. 2019Executing Instructions in Situated Collaborative Interactionscited by 68
  17. 2022DialFRED: Dialogue-Enabled Agents for Embodied Instruction Followingcited by 63
  18. 2019Just Ask:An Interactive Learning Framework for Vision and Language Navigationcited by 53
  19. 2019EvalAI: Towards Better Evaluation Systems for AI Agentscited by 34
  20. 2022Prompter: Utilizing Large Language Model Prompting for a Data Efficient Embodied Instruction Followingcited by 33
  21. 2020RMM: A Recursive Mental Model for Dialog Navigationcited by 32
  22. 2019VRKitchen: an Interactive 3D Virtual Environment for Task-oriented Learningcited by 29
  23. 2022Avalon: A Benchmark for RL Generalization Using Procedurally Generated Worldscited by 17
  24. 2017ELF: An Extensive, Lightweight and Flexible Research Platform for Real-time Strategy Gamescited by 16
  25. 2020Joint Mind Modeling for Explanation Generation in Complex Human-Robot Collaborative Taskscited by 15

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 4; 2024: 10; 2025: 3; 2026: 1.

18 papers.

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  1. 2024Understanding World or Predicting Future? A Comprehensive Survey of World Modelscited by 161
  2. 2024VLM Agents Generate Their Own Memories: Distilling Experience into Embodied Programs of Thoughtcited by 55
  3. 2023Interactive Natural Language Processingcited by 31
  4. 2024TeamCraft: A Benchmark for Multi-Modal Multi-Agent Systems in Minecraftcited by 20
  5. 2023Multitask Multimodal Prompted Training for Interactive Embodied Task Completioncited by 9
  6. 2025Towards Understanding Visual Grounding in Visual Language Modelscited by 9
  7. 2023Planning as In-Painting: A Diffusion-Based Embodied Task Planning Framework for Environments under Uncertaintycited by 8
  8. 2024HELPER-X: A Unified Instructable Embodied Agent to Tackle Four Interactive Vision-Language Domains with Memory-Augmented Language Modelscited by 8
  9. 2024SIGMA: An Open-Source Interactive System for Mixed-Reality Task Assistance Researchcited by 8
  10. 2024Investigating the Role of Instruction Variety and Task Difficulty in Robotic Manipulation Taskscited by 8
  11. 2024Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialoguescited by 7
  12. 2025Hephaestus: Improving Fundamental Agent Capabilities of Large Language Models through Continual Pre-Trainingcited by 6
6 more
  1. 2023Alexa, play with robot: Introducing the First Alexa Prize SimBot Challenge on Embodied AIcited by 5
  2. 2024Repairs in a Block World: A New Benchmark for Handling User Corrections with Multi-Modal Language Modelscited by 3
  3. 2024The Future of Intelligent Healthcare: A Systematic Analysis and Discussion on the Integration and Impact of Robots Using Large Language Models for Healthcarecited by 2
  4. 2025Mixed-Initiative Dialog for Human-Robot Collaborative Manipulationcited by 1
  5. 2024Dialogue with Robots: Proposals for Broadening Participation and Research in the SLIVAR Communitycited by 0
  6. 2026Do World Models Make Better Robots? A Survey of Evaluation Benchmarks for Predictive Embodied Intelligencecited by 0

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  2. 2024EmbodiedCity: A Benchmark Platform for Embodied Agent in Real-world City Environment
  3. 2026MagicSim: A Unified Infrastructure for Executable Embodied Interaction
  4. 2026VirtualEnv: A Platform for Embodied AI Research
  5. 2026ETA: A New Agentic Paradigm for Embodied Tasks
  6. 2024Simulating User Agents for Embodied Conversational-AI
  7. 2025TongSIM: A General Platform for Simulating Intelligent Machines
  8. 2025Generative AI in Embodied Systems: System-Level Analysis of Performance, Efficiency and Scalability