Datasets:
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license: cc-by-4.0
language:
- en
pretty_name: HomeSafeBench
tags:
- embodied-ai
- vision-language
- home-safety
- virtualhome
configs:
- config_name: benchmark
default: true
data_files:
- split: train
path: data/train/*.json
- split: test
path: data/test/*.json
- config_name: sft_action
data_files:
- split: train
path: cueback/sft_action.jsonl
- config_name: sft_both
data_files:
- split: train
path: cueback/sft_both.jsonl
- config_name: cueback
data_files:
- split: train
path: cueback/cueback.jsonl
---
# HomeSafeBench
This repository contains the official data release for the paper
[HomeSafeBench: Benchmarking Embodied Vision-Language Models in Free-Exploration Home Safety Inspection](https://arxiv.org/abs/2509.23690).
HomeSafeBench is a benchmark for free-exploration home safety inspection with
embodied vision-language models, built on
[VirtualHome](https://github.com/xavierpuigf/virtualhome).
## Dataset Contents
- `data/train/`: 3,400 training tasks.
- `data/test/`: 1,000 human-validated evaluation tasks.
The CueBack data contains 3,158 aligned trajectories in three variants. They
share the same first-person observations, tool calls, and tool feedback, but
differ in the supervision text preceding each action:
- `cueback/sft_action.jsonl`: executable actions without reasoning.
- `cueback/sft_both.jsonl`: the same actions with rationales generated directly
from the trajectory prefix, current observation, and action.
- `cueback/cueback.jsonl`: the same actions with clue-based reasoning
constructed by CueBack.
- `cueback/images/`: the referenced first-person observations.
The benchmark format, setup instructions, and evaluation code are documented
in the [HomeSafeBench code repository](https://github.com/BITHLP/HomeSafeBench).
## Citation
```bibtex
@misc{yao2026homesafebenchbenchmarkembodiedvisionlanguage,
title={HomeSafeBench: Benchmarking Embodied Vision-Language Models in Free-Exploration Home Safety Inspection},
author={Jiashu Yao and Haoyu Wen and Siyuan Gao and Yuhang Guo and Zeming Liu and Heyan Huang},
year={2026},
eprint={2509.23690},
archivePrefix={arXiv},
primaryClass={cs.CV},
url={https://arxiv.org/abs/2509.23690},
}
```
## License
The HomeSafeBench dataset is released under the
[Creative Commons Attribution 4.0 International License](https://creativecommons.org/licenses/by/4.0/).
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