# NutriBench-Kitchen: Benchmarking Embodied AI for Nutrition Management

arXiv: https://arxiv.org/abs/2609.07135 · HTML: https://mlsanity.com/paper/2609.07135/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 20 of its 28 references that are in the map.
- First posted on arXiv 7 Sep 2026.

## Builds on (most cited first, 20 of 20)

- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [InternVL3.5: Advancing Open-Source Multimodal Models in Versatility, Reasoning, and Efficiency](https://mlsanity.com/paper/2508.18265/) (2025)
- [Scaling Egocentric Vision: The EPIC-KITCHENS Dataset](https://mlsanity.com/paper/1804.02748/) (2018)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [GLM-4.5V and GLM-4.1V-Thinking: Towards Versatile Multimodal Reasoning with Scalable Reinforcement Learning](https://mlsanity.com/paper/2507.01006/) (2025)
- [The EPIC-KITCHENS Dataset: Collection, Challenges and Baselines](https://mlsanity.com/paper/2005.00343/) (2020)
- [Recipe1M+: A Dataset for Learning Cross-Modal Embeddings for Cooking Recipes and Food Images](https://mlsanity.com/paper/1810.06553/) (2018)
- [HD-EPIC: A Highly-Detailed Egocentric Video Dataset](https://mlsanity.com/paper/2502.04144/) (2025)
- [Nutrition5k: Towards Automatic Nutritional Understanding of Generic Food](https://mlsanity.com/paper/2103.03375/) (2021)
- [WorldCuisines: A Massive-Scale Benchmark for Multilingual and Multicultural Visual Question Answering on Global Cuisines](https://mlsanity.com/paper/2410.12705/) (2024)
- [Visual Embodied Brain: Let Multimodal Large Language Models See, Think, and Control in Spaces](https://mlsanity.com/paper/2506.00123/) (2025)
- [Vgent: Graph-based Retrieval-Reasoning-Augmented Generation For Long Video Understanding](https://mlsanity.com/paper/2510.14032/) (2025)
- [FoodieQA: A Multimodal Dataset for Fine-Grained Understanding of Chinese Food Culture](https://mlsanity.com/paper/2406.11030/) (2024)
- [ET-Plan-Bench: Embodied Task-level Planning Benchmark Towards Spatial-Temporal Cognition with Foundation Models](https://mlsanity.com/paper/2410.14682/) (2024)
- [CookBench: A Long-Horizon Embodied Planning Benchmark for Complex Cooking Scenarios](https://mlsanity.com/paper/2508.03232/) (2025)
- [Food-500 Cap: A Fine-Grained Food Caption Benchmark for Evaluating Vision-Language Models](https://mlsanity.com/paper/2308.03151/) (2023)
- [Advancing Food Nutrition Estimation via Visual-Ingredient Feature Fusion](https://mlsanity.com/paper/2505.08747/) (2025)
- [Comprehensive Evaluation of Large Multimodal Models for Nutrition Analysis: A New Benchmark Enriched with Contextual Metadata](https://mlsanity.com/paper/2507.07048/) (2025)
- [SFOOD: A Multimodal Benchmark for Comprehensive Food Attribute Analysis Beyond RGB with Spectral Insights](https://mlsanity.com/paper/2507.04412/) (2025)

## Abstract (arXiv)

An embodied kitchen assistant must do more than recognize food in isolated frames. It must track ingredient states over time and integrate visual observations with recipe and nutritional knowledge to support constraint-aware decision-making. We formalize this capability as Embodied Nutrition Management: perceiving nutrition-relevant events, maintaining a persistent food state, and using it for knowledge-grounded planning. Existing benchmarks evaluate static food understanding or embodied cooking actions, but do not measure whether an agent can continuously update and use nutrition-relevant states in dynamic kitchens. To fill this gap, we introduce NutriBench-Kitchen, a benchmark containing 1,500 manually verified question--answer pairs from 160 cooking videos. It covers five task families: Ingredient Entry, Memory Management, Recipe Query, Long-Term Planning, and Short-Term Planning, spanning food-state construction, maintenance, knowledge retrieval, and decision-making across different planning horizons. Evaluations of proprietary and open-source large vision-language models reveal a substantial gap from human performance, particularly in quantitative ingredient estimation, long-term state tracking, and reasoning under interacting constraints. We further introduce Nutri-Vgent, a diagnostic long-video agent with separate episodic, food-state, and recipe memories. Its consistent improvements demonstrate the value of explicit state representations and structured memory for nutrition management. Together, NutriBench-Kitchen and Nutri-Vgent provide a testbed for studying persistent state tracking and knowledge-grounded reasoning in dynamic kitchens. Code is available at https://github.com/V1ol1n/NutriBench-Kitchen.