mlsanityData to 14 Oct 2026

Sari Sandbox: A Virtual Retail Store Environment for Embodied AI Agents

arXiv 2508.00400 ↗First posted 1 Aug 2025cs.CVcited by 4

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Abstract (arXiv)

We present Sari Sandbox, a high-fidelity, photorealistic 3D retail store simulation for benchmarking embodied agents against human performance in shopping tasks. Addressing a gap in retail-specific sim environments for embodied agent training, Sari Sandbox features over 250 interactive grocery items across three store configurations, controlled via an API. It supports both virtual reality (VR) for human interaction and a vision language model (VLM)-powered embodied agent. We also introduce SariBench, a dataset of annotated human demonstrations across varied task difficulties. Our sandbox enables embodied agents to navigate, inspect, and manipulate retail items, providing baselines against human performance. We conclude with benchmarks, performance analysis, and recommendations for enhancing realism and scalability. The source code can be accessed via https://github.com/upeee/sari-sandbox-env.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 25 of its 44 references that are in the map. First posted on arXiv 1 Aug 2025.

Builds on

25 of 44 references.

References · 25

  1. 2022ReAct: Synergizing Reasoning and Acting in Language Modelscited by 8,695
  2. 2023Voyager: An Open-Ended Embodied Agent with Large Language Modelscited by 2,191
  3. 2023MMMU: A Massive Multi-discipline Multimodal Understanding and Reasoning Benchmark for Expert AGIcited by 2,080
  4. 2024Depth Anything V2cited by 1,422
  5. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,376
  6. 2020ALFWorld: Aligning Text and Embodied Environments for Interactive Learningcited by 1,205
  7. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 869
  8. 2019ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Taskscited by 783
  9. 2024A Survey on the Memory Mechanism of Large Language Model based Agentscited by 634
  10. 2023MemoryBank: Enhancing Large Language Models with Long-Term Memorycited by 556
  11. 2022LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Actioncited by 439
  12. 2023Cognitive Architectures for Language Agentscited by 429
13 more
  1. 2020Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Groundingcited by 414
  2. 2022Visual Language Maps for Robot Navigationcited by 365
  3. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 261
  4. 2020ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulationcited by 250
  5. 2023Habitat 3.0: A Co-Habitat for Humans, Avatars and Robotscited by 228
  6. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 194
  7. 2020iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenescited by 155
  8. 2024Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Makingcited by 144
  9. 2025Advances and Challenges in Foundation Agents: From Brain-Inspired Intelligence to Evolutionary, Collaborative, and Safe Systemscited by 126
  10. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 112
  11. 2023RET-LLM: Towards a General Read-Write Memory for Large Language Modelscited by 64
  12. 2025A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AIcited by 16
  13. 2020A Study on the Challenges of Using Robotics Simulators for Testingcited by 10

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 1; 2026: 3.

4 papers.

  1. 2026Agentic Environment Engineering for Large Language Models: A Survey of Environment Modeling, Synthesis, Evaluation, and Applicationcited by 8
  2. 2025Read or Ignore? A Unified Benchmark for Typographic-Attack Robustness and Text Recognition in Vision-Language Modelscited by 2
  3. 2026PRISM: A Multi-View Multi-Capability Retail Video Dataset for Embodied Vision-Language Modelscited by 2
  4. 2026RetailSMV: Exocentric vs. Egocentric Adaptation of Foundation Video World Models in Retailcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026SABER: A Scalable Action-Based Embodied Dataset for Real-World VLA Adaptation
  2. 2026SAGE: Scalable Agentic 3D Scene Generation for Embodied AI
  3. 2025Embodied Web Agents: Bridging Physical-Digital Realms for Integrated Agent Intelligence
  4. 2019Habitat: A Platform for Embodied AI Research
  5. 2025RoboBenchMart: Benchmarking Robots in Retail Environment
  6. 2024Human-centered In-building Embodied Delivery Benchmark
  7. 2026SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes
  8. 2026Towards Faithful Simulation of Human Shopping Behavior ↗