mlsanityData to 7 Oct 2026

RoboTidy : A 3D Gaussian Splatting Household Tidying Benchmark for Embodied Navigation and Action

arXiv 2511.14161 ↗First posted 18 Nov 2025cs.RO cs.CVcited by 0

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Abstract (arXiv)

Household tidying is an important application area, yet current benchmarks neither model user preferences nor support mobility, and they generalize poorly, making it hard to comprehensively assess integrated language-to-action capabilities. To address this, we propose RoboTidy, a unified benchmark for language-guided household tidying that supports Vision-Language-Action (VLA) and Vision-Language-Navigation (VLN) training and evaluation. RoboTidy provides 500 photorealistic 3D Gaussian Splatting (3DGS) household scenes (covering 500 objects and containers) with collisions, formulates tidying as an "Action (Object, Container)" list, and supplies 6.4k high-quality manipulation demonstration trajectories and 1.5k naviagtion trajectories to support both few-shot and large-scale training. We also deploy RoboTidy in the real world for object tidying, establishing an end-to-end benchmark for household tidying. RoboTidy offers a scalable platform and bridges a key gap in embodied AI by enabling holistic and realistic evaluation of language-guided robots.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 37 of its 44 references that are in the map. First posted on arXiv 18 Nov 2025.

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37 of 44 references.

References · 37

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25 more
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  5. 2026RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
  6. 2024ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks
  7. 2025Task adaptation of Vision-Language-Action model: 1st Place Solution for the 2025 BEHAVIOR Challenge
  8. 2026TaskGround: Structured Executable Task Inference for Full-Scene Household Reasoning