LIVIN: Benchmarking Spatial and Embodied Intelligence in Digital Twins of Lived-In Homes

arXiv:2610.12069 · cs.CV · Submitted 2026-10-08 · Read on arXiv

cs.CV

Submitted: 2026-10-08

Updated: 2026-10-08

Code: https://github.com/NVlabs/GR00T-WholeBodyControl

Terminology

• Benchmark — 22× in this paper · explained in 2 episodes
• Computer Vision and Pattern Recognition — 9× in this paper
• Digital Twin — 8× in this paper · explained in 5 episodes
• Fidelity — 7× in this paper · explained in 2 episodes
• Verification — 6× in this paper · explained in 2 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Consistency — 4× in this paper · explained in 3 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Human-in-the-Loop — 4× in this paper · explained in 3 episodes
• Iterative Refinement — 4× in this paper · explained in 3 episodes
• Benchmarking — 3× in this paper · explained in 3 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• ACM Transactions on Graphics — 2× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Agentic System — 2× in this paper · explained in 2 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Embodied AI — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• In European Conference on Computer Vision — 2× in this paper
• Point Clouds — 2× in this paper · explained in 2 episodes
• Agentic Reasoning — 1× in this paper · explained in 1 episode
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• KV cache — 1× in this paper · explained in 3 episodes
• Synthetic Data Generation — 1× in this paper · explained in 5 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Engine-Native Editable 3D World Reconstruction with Objects and Lighting
• BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
• DeepSeek-V4.1-Flash: Pushing the Limits of KV Cache Compression
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments
• Lucida: Parse, Generate, and Place for Composable Real-to-Sim Scene Modeling
• HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
• EFM3D: A Benchmark for Measuring Progress Towards 3D Egocentric Foundation Models
• GRUtopia: Dream General Robots in a City at Scale
• ArtLLM: Generating Articulated Assets via 3D LLM
• $\Psi_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
• SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation
• FIRE3D: Feed-forward Interactive 3D Scene Reconstruction Within A Minute
• SAGE: Scalable Agentic 3D Scene Generation for Embodied AI
• HomeRobot: Open-Vocabulary Mobile Manipulation
• Articraft: An Agentic System for Scalable Articulated 3D Asset Generation

Related papers

• Loss Knows Best: Detecting Annotation Errors in Videos via Loss Trajectories
• AnchorWeave: World-Consistent Video Generation with Retrieved Local Spatial Memories
• Benchmarking the Robustness of Foundation Models for Mammography under Domain Shift
• MambaX-Net: Dual-Input Mamba-Enhanced Cross-Attention Network for Longitudinal MRI Segmentation
• TeleOCR: Navigating Document Parsing Across Digital and Camera-Captured Documents
• A Survey on Efficient Vision-Language-Action Models