# EmpathyAgent: Can Embodied Agents Conduct Empathetic Actions?

arXiv: https://arxiv.org/abs/2503.16545 · HTML: https://mlsanity.com/paper/2503.16545/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 52 references that are in the map.
- First posted on arXiv 19 Mar 2025.

## Builds on (most cited first, 26 of 26)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Retrieval-Augmented Generation for Knowledge-Intensive NLP Tasks](https://mlsanity.com/paper/2005.11401/) (2020)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [BERTScore: Evaluating Text Generation with BERT](https://mlsanity.com/paper/1904.09675/) (2019)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [FlashAttention: Fast and Memory-Efficient Exact Attention with IO-Awareness](https://mlsanity.com/paper/2205.14135/) (2022)
- [Generative Agents: Interactive Simulacra of Human Behavior](https://mlsanity.com/paper/2304.03442/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [CAMEL: Communicative Agents for "Mind" Exploration of Large Language Model Society](https://mlsanity.com/paper/2303.17760/) (2023)
- [SPICE: Semantic Propositional Image Caption Evaluation](https://mlsanity.com/paper/1607.08822/) (2016)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [SOTOPIA: Interactive Evaluation for Social Intelligence in Language Agents](https://mlsanity.com/paper/2310.11667/) (2023)
- [Symbolic Knowledge Distillation: from General Language Models to Commonsense Models](https://mlsanity.com/paper/2110.07178/) (2021)
- [Building Cooperative Embodied Agents Modularly with Large Language Models](https://mlsanity.com/paper/2307.02485/) (2023)
- [ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation](https://mlsanity.com/paper/2312.16217/) (2023)
- [Watch-And-Help: A Challenge for Social Perception and Human-AI Collaboration](https://mlsanity.com/paper/2010.09890/) (2020)
- [Evaluating and Inducing Personality in Pre-trained Language Models](https://mlsanity.com/paper/2206.07550/) (2022)
- [Could a Large Language Model be Conscious?](https://mlsanity.com/paper/2303.07103/) (2023)
- [Find What You Want: Learning Demand-conditioned Object Attribute Space for Demand-driven Navigation](https://mlsanity.com/paper/2309.08138/) (2023)
- [Evaluating Empathy in Artificial Agents](https://mlsanity.com/paper/1908.05341/) (2019)

## Built on by (most cited first, 2 of 2)

- [Towards High-Level Semantic Intelligence](https://mlsanity.com/paper/2607.24082/) (2026)
- [Cognitive Action Reasoning for Proactive Robots from Human-Centered Multimodal Observations](https://mlsanity.com/paper/2609.23486/) (2026)

## Abstract (arXiv)

Empathy is fundamental to human interactions, yet it remains unclear whether embodied agents can provide human-like empathetic support. Existing works have studied agents' tasks solving and social interactions abilities, but whether agents can understand empathetic needs and conduct empathetic behaviors remains overlooked. To address this, we introduce EmpathyAgent, the first benchmark to evaluate and enhance agents' empathetic actions across diverse scenarios. EmpathyAgent contains 10,000 multimodal samples with corresponding empathetic task plans and three different challenges. To systematically evaluate the agents' empathetic actions, we propose an empathy-specific evaluation suite that evaluates the agents' empathy process. We benchmark current models and found that exhibiting empathetic actions remains a significant challenge. Meanwhile, we train Llama3-8B using EmpathyAgent and find it can potentially enhance empathetic behavior. By establishing a standard benchmark for evaluating empathetic actions, we hope to advance research in empathetic embodied agents. Our code and data are publicly available at https://github.com/xinyan-cxy/EmpathyAgent.