| --- |
| pretty_name: BEHAVIOR ESI-Bench |
| license: cc-by-4.0 |
| size_categories: |
| - 1K<n<10K |
| tags: |
| - json |
| - text |
| - croissant |
| - pandas |
| - polars |
| - region:us |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/questions.jsonl |
| --- |
| |
| # BEHAVIOR ESI-Bench |
|
|
| BEHAVIOR ESI-Bench is a question dataset for evaluating embodied spatial intelligence across indoor scenes, object arrangements, physical reasoning, temporal understanding, and active exploration tasks. |
|
|
| Each row is one question instance. The table is intentionally flattened for Hugging Face Dataset Viewer and Croissant compatibility. |
|
|
| ## Dataset Metadata |
|
|
| - Creator: [ESI-Bench](https://huggingface.co/ESI-Bench) |
| - Dataset URL: <https://huggingface.co/datasets/ESI-Bench/esi-bench> |
| - Version: `1.0.0` |
| - Published: `2026-05-05` |
| - License: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) |
|
|
| ## Schema |
|
|
| ```text |
| id |
| big_task |
| small_task |
| runner_task |
| scene |
| room |
| question |
| answer |
| answer_type |
| options_json |
| image_paths_json |
| metadata_json |
| ``` |
|
|
| `options_json`, `image_paths_json`, and `metadata_json` are JSON-encoded strings. They can be decoded by downstream users when structured fields are needed. |
|
|
| ## Task Taxonomy |
|
|
| The dataset follows the ESI-Bench table hierarchy: |
|
|
| ```text |
| Action Sequencing |
| Cognitive Mapping |
| Enumerative Perception |
| Metric Comparison |
| Perceptual Grounding |
| Physical Dynamics |
| Physical Structure |
| Spatial Relations |
| Specular Reflection |
| Temporal Understanding |
| ``` |
|
|
| The `small_task` column stores the corresponding subtask, and `runner_task` stores the internal task module name used by the original BEHAVIOR active-exploration code. |
|
|
| ## Citation |
|
|
| Use the following citation string when referencing this dataset: |
|
|
| ```text |
| ESI-Bench: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop. ESI-Bench dataset, 2026. https://huggingface.co/datasets/ESI-Bench/esi-bench |
| ``` |
|
|
| ## Croissant |
|
|
| Hugging Face automatically generates Croissant metadata from the Dataset Viewer once this dataset is processed. The Croissant JSON-LD endpoint is: |
|
|
| ```text |
| https://huggingface.co/api/datasets/ESI-Bench/esi-bench/croissant |
| ``` |
|
|
