# LIVIN: Benchmarking Spatial and Embodied Intelligence in Digital Twins of Lived-In Homes

arXiv: https://arxiv.org/abs/2610.12069 · HTML: https://mlsanity.com/paper/2610.12069/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 57 references that are in the map.
- First posted on arXiv 8 Oct 2026.

## Builds on (most cited first, 16 of 16)

- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation](https://mlsanity.com/paper/2403.10506/) (2024)
- [HomeRobot: Open-Vocabulary Mobile Manipulation](https://mlsanity.com/paper/2306.11565/) (2023)
- [DeepSeek-V4.1-Flash: Pushing the Limits of KV Cache Compression](https://mlsanity.com/paper/2609.19969/) (2026)
- [GRUtopia: Dream General Robots in a City at Scale](https://mlsanity.com/paper/2407.10943/) (2024)
- [SAGE: Scalable Agentic 3D Scene Generation for Embodied AI](https://mlsanity.com/paper/2602.10116/) (2026)
- [BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark](https://mlsanity.com/paper/2407.07788/) (2024)
- [Articraft: An Agentic System for Scalable Articulated 3D Asset Generation](https://mlsanity.com/paper/2605.15187/) (2026)
- [Psi0: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation](https://mlsanity.com/paper/2603.12263/) (2026)
- [EFM3D: A Benchmark for Measuring Progress Towards 3D Egocentric Foundation Models](https://mlsanity.com/paper/2406.10224/) (2024)
- [ArtLLM: Generating Articulated Assets via 3D LLM](https://mlsanity.com/paper/2603.01142/) (2026)
- [SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation](https://mlsanity.com/paper/2606.08278/) (2026)
- [Engine-Native Editable 3D World Reconstruction with Objects and Lighting](https://mlsanity.com/paper/2607.20889/) (2026)
- [FIRE3D: Feed-forward Interactive 3D Scene Reconstruction Within A Minute](https://mlsanity.com/paper/2609.08848/) (2026)
- [Lucida: Parse, Generate, and Place for Composable Real-to-Sim Scene Modeling](https://mlsanity.com/paper/2608.30821/) (2026)
- [HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments](https://mlsanity.com/paper/2608.12860/) (2026)

## Abstract (arXiv)

Realistic household simulation must capture not only diverse environments but also the lived-in object arrangements and spatial constraints that shape robot motion and interaction. Existing resources often trade off scale, real-world correspondence, and interaction readiness, leaving a gap in faithful, interactive replicas of how real homes are actually arranged. To this end, we introduce LIVIN, a benchmark for spatial and embodied intelligence built on digital twins of 30 diverse lived-in homes. These replicas preserve observed room layouts, furniture configurations, and everyday belongings. To construct them, we design a human-in-the-loop workflow comprising instance recognition, architectural reconstruction, and object generation and placement, with intermediate results reviewed and corrected by humans against the source observations at each stage. We evaluate four tasks in LIVIN: 3D detection, 3D reconstruction, navigation, and loco-manipulation. Our evaluations show that current methods remain challenged by the dense object arrangements, occlusions, limited free space, and constrained interaction regions found in realistic lived-in homes. We hope LIVIN will help advance embodied AI in real-world homes, from spatial understanding to robotic interaction, and ultimately bring embodied intelligence into everyday home environments.