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arXiv · 2610.13534

MAGMA-Bench: Evaluating Long-Horizon Embodied Agents under Dynamic Tasks and Execution Failures

Loan Bernat·Matthieu Grard·Ariane Herbulot·Florent Lamiraux
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Abstract

Long-horizon embodied agents must maintain task-relevant information, coordinate heterogeneous robots, and adapt their decisions as execution unfolds. Existing benchmarks investigate dynamic task execution and embodied multi-agent coordination, but provide limited evaluation of their intersection. We introduce MAGMA-Bench, an architecture-agnostic benchmark for persistent task reasoning in dynamic multi-robot environments. MAGMA-Bench evaluates agents across increasing task horizons and controlled online perturbations, including execution failures, task interruptions, and mission updates, with scenarios requiring coordination across robots with heterogeneous capabilities. It uses a structured skill-level interface to separate task-level reasoning from perception and low-level control. We evaluate locally deployable open-weight planners, multi-agent state-tracking strategies, and frontier models. Even the strongest evaluated models fail on a substantial fraction of clean episodes, and their success rates decrease further under online perturbations. Supervised adaptation greatly improves a small model, but performance remains substantially lower on longer and multi-robot missions. We release the benchmark, 261,646 task-level training examples, and an architecture-agnostic expert-trace generation pipeline.

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Loan Bernat, Matthieu Grard, Ariane Herbulot, Florent Lamiraux. 2026-10-09. MAGMA-Bench: Evaluating Long-Horizon Embodied Agents under Dynamic Tasks and Execution Failures. https://arxiv.org/abs/2610.13534

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