ESI-Bench: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop

Understand

Spatial intelligence unfolds through a perception-action loop: agents act to acquire observations, and reason about how observations vary as a function of action.

• Rather than passively processing what is seen, they actively uncover what is unseen - occluded structure, dynamics, containment, and functionality that cannot be resolved from passive sensing alone.
• We move beyond prior formulations of spatial intelligence that assume oracle observations by recasting the observer as an actor.
• We introduce ESI-BENCH, a comprehensive benchmark for embodied spatial intelligence spanning 10 task categories and 29 subcategories built on OmniGibson, grounded in Spelke's core knowledge systems.