Paper
EXPLORE-Bench: Egocentric Scene Prediction with Long-Horizon Reasoning
Authors
Chengjun Yu, Xuhan Zhu, Chaoqun Du, Pengfei Yu, Wei Zhai, Yang Cao, Zheng-Jun Zha
Abstract
Multimodal large language models (MLLMs) are increasingly considered as a foundation for embodied agents, yet it remains unclear whether they can reliably reason about the long-term physical consequences of actions from an egocentric viewpoint. We study this gap through a new task, Egocentric Scene Prediction with LOng-horizon REasoning: given an initial-scene image and a sequence of atomic action descriptions, a model is asked to predict the final scene after all actions are executed. To enable systematic evaluation, we introduce EXPLORE-Bench, a benchmark curated from real first-person videos spanning diverse scenarios. Each instance pairs long action sequences with structured final-scene annotations, including object categories, visual attributes, and inter-object relations, which supports fine-grained, quantitative assessment. Experiments on a range of proprietary and open-source MLLMs reveal a significant performance gap to humans, indicating that long-horizon egocentric reasoning remains a major challenge. We further analyze test-time scaling via stepwise reasoning and show that decomposing long action sequences can improve performance to some extent, while incurring non-trivial computational overhead. Overall, EXPLORE-Bench provides a principled testbed for measuring and advancing long-horizon reasoning for egocentric embodied perception.
Metadata
Related papers
Cosmic Shear in Effective Field Theory at Two-Loop Order: Revisiting $S_8$ in Dark Energy Survey Data
Shi-Fan Chen, Joseph DeRose, Mikhail M. Ivanov, Oliver H. E. Philcox • 2026-03-30
Stop Probing, Start Coding: Why Linear Probes and Sparse Autoencoders Fail at Compositional Generalisation
Vitória Barin Pacela, Shruti Joshi, Isabela Camacho, Simon Lacoste-Julien, Da... • 2026-03-30
SNID-SAGE: A Modern Framework for Interactive Supernova Classification and Spectral Analysis
Fiorenzo Stoppa, Stephen J. Smartt • 2026-03-30
Acoustic-to-articulatory Inversion of the Complete Vocal Tract from RT-MRI with Various Audio Embeddings and Dataset Sizes
Sofiane Azzouz, Pierre-André Vuissoz, Yves Laprie • 2026-03-30
Rotating black hole shadows in metric-affine bumblebee gravity
Jose R. Nascimento, Ana R. M. Oliveira, Albert Yu. Petrov, Paulo J. Porfírio,... • 2026-03-30
Raw Data (Debug)
{
"raw_xml": "<entry>\n <id>http://arxiv.org/abs/2603.09731v1</id>\n <title>EXPLORE-Bench: Egocentric Scene Prediction with Long-Horizon Reasoning</title>\n <updated>2026-03-10T14:33:44Z</updated>\n <link href='https://arxiv.org/abs/2603.09731v1' rel='alternate' type='text/html'/>\n <link href='https://arxiv.org/pdf/2603.09731v1' rel='related' title='pdf' type='application/pdf'/>\n <summary>Multimodal large language models (MLLMs) are increasingly considered as a foundation for embodied agents, yet it remains unclear whether they can reliably reason about the long-term physical consequences of actions from an egocentric viewpoint. We study this gap through a new task, Egocentric Scene Prediction with LOng-horizon REasoning: given an initial-scene image and a sequence of atomic action descriptions, a model is asked to predict the final scene after all actions are executed. To enable systematic evaluation, we introduce EXPLORE-Bench, a benchmark curated from real first-person videos spanning diverse scenarios. Each instance pairs long action sequences with structured final-scene annotations, including object categories, visual attributes, and inter-object relations, which supports fine-grained, quantitative assessment. Experiments on a range of proprietary and open-source MLLMs reveal a significant performance gap to humans, indicating that long-horizon egocentric reasoning remains a major challenge. We further analyze test-time scaling via stepwise reasoning and show that decomposing long action sequences can improve performance to some extent, while incurring non-trivial computational overhead. Overall, EXPLORE-Bench provides a principled testbed for measuring and advancing long-horizon reasoning for egocentric embodied perception.</summary>\n <category scheme='http://arxiv.org/schemas/atom' term='cs.CV'/>\n <category scheme='http://arxiv.org/schemas/atom' term='cs.AI'/>\n <category scheme='http://arxiv.org/schemas/atom' term='cs.CL'/>\n <published>2026-03-10T14:33:44Z</published>\n <arxiv:primary_category term='cs.CV'/>\n <author>\n <name>Chengjun Yu</name>\n </author>\n <author>\n <name>Xuhan Zhu</name>\n </author>\n <author>\n <name>Chaoqun Du</name>\n </author>\n <author>\n <name>Pengfei Yu</name>\n </author>\n <author>\n <name>Wei Zhai</name>\n </author>\n <author>\n <name>Yang Cao</name>\n </author>\n <author>\n <name>Zheng-Jun Zha</name>\n </author>\n </entry>"
}