README.md

metadata

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.

HomeSafeBench is a benchmark for free-exploration home safety inspection with embodied vision-language models, built on 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.

Citation

@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.