Extending Embodied Question Answering from Perception to Decision

• URL: http://arxiv.org/abs/2605.25813v1
• Date: Mon, 25 May 2026 13:08:20 GMT
• Title: Extending Embodied Question Answering from Perception to Decision
• Abstract summary: Embodied Question Answering (EQA) connects perception, reasoning, and interaction within embodied environments.<n>We present EQA-Decision, a large-scale embodied QA dataset that systematically covers four complementary dimensions of embodied reasoning.
• Score: 43.564086466241186
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Embodied Question Answering (EQA) connects perception, reasoning, and interaction within embodied environments. However, existing datasets and benchmarks remain fragmented, each focusing on a limited subset of reasoning skills such as spatial understanding or procedural reasoning, without offering a unified large-scale framework for comprehensive evaluation. We present EQA-Decision, a large-scale embodied QA dataset that systematically covers four complementary dimensions of embodied reasoning: static scene construction, spatial understanding, task dynamics reasoning, and instant decision. The dataset contains over four million question-answer pairs with hierarchical annotations across diverse embodied scenarios. In addition, we develop RoboDecision, a strong baseline model aligned with the EQA-Decision Benchmark, providing a unified framework that jointly evaluates perception, reasoning, and action-level decision-making in embodied environments. Results demonstrate that EQA-Decision effectively benchmarks and enhances VLM capabilities in spatial and interaction reasoning, providing a solid foundation for advancing embodied intelligence research.

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