WorldLines：基準測試與建模長時域有狀態的具身智能體

摘要

為了在真實家庭環境中長時間協助人類，具身代理必須記住使用者的日常生活規律、世界狀態以及過往互動。現有的長期記憶基準測試主要評估以語言為核心的檢索與問答能力，而具身基準則通常聚焦於短期任務執行，未能在動態環境中測試長期記憶的運用。我們提出「WorldLines」，一個以專案為導向的長期具身家庭協助基準測試。該基準會建構包含對話、動作、執行回饋、物件與裝置狀態變化的時間延伸家庭軌跡，並將其轉換為具有證據連結的樣本，用於記憶問答與具身任務規劃。我們進一步提出「ObsMem」，一種以觀察者為基礎的記憶框架，能維護具可視性感知的記憶與動作原生狀態軌跡，以支援具狀態感知的決策。實驗結果揭示了在部分可觀測性、被覆寫的世界狀態，以及將長期記憶轉化為具身規劃等方面的持續挑戰，而ObsMem則為此設定提供了更堅實的參考架構。

English

To assist humans over extended periods in real homes, embodied agents must remember user routines, world states, and past interactions. Existing long-term memory benchmarks mainly evaluate language-centric retrieval and question answering, while embodied benchmarks often focus on short-horizon task execution without testing long-term memory use in dynamic environments. We introduce WorldLines, a project-driven benchmark for long-horizon embodied household assistance. It constructs temporally extended household traces with dialogues, actions, execution feedback, object and device state changes, and converts them into evidence-linked samples for Memory QA and Embodied Task Planning. We further propose ObsMem, an observer-grounded memory framework that maintains visibility-aware memories and action-native state trails for state-aware decisions. Experiments reveal persistent challenges in partial observability, overwritten world states, and translating long-term memory into embodied plans, while ObsMem offers a stronger reference architecture for this setting.