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arXiv · 2508.06553

Static and Plugged: Make Embodied Evaluation Simple

Jiahao Xiao·Jianbo Zhang·BoWen Yan·Shengyu Guo·Tongrui Ye·Kaiwei Zhang·Zicheng Zhang·Xiaohong Liu·Zhengxue Cheng·Lei Fan·Chuyi Li·Guangtao Zhai
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Abstract

Embodied intelligence is advancing rapidly, driving the need for efficient evaluation. Current benchmarks typically rely on interactive simulated environments or real-world setups, which are costly, fragmented, and hard to scale. To address this, we introduce StaticEmbodiedBench, a plug-and-play benchmark that enables unified evaluation using static scene representations. Covering 42 diverse scenarios and 8 core dimensions, it supports scalable and comprehensive assessment through a simple interface. Furthermore, we evaluate 19 Vision-Language Models (VLMs) and 11 Vision-Language-Action models (VLAs), establishing the first unified static leaderboard for Embodied intelligence. Moreover, we release a subset of 200 samples from our benchmark to accelerate the development of embodied intelligence.

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Jiahao Xiao, Jianbo Zhang, BoWen Yan, Shengyu Guo, Tongrui Ye, Kaiwei Zhang, Zicheng Zhang, Xiaohong Liu, Zhengxue Cheng, Lei Fan, Chuyi Li, Guangtao Zhai. 2025-08-06. Static and Plugged: Make Embodied Evaluation Simple. https://arxiv.org/abs/2508.06553

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