arXiv：cs.AI· Haoran Wang, Jingwei Huang, Anqing Duan, Ho Seok Ahn, Bruce Macdonald·· 6 小时前
HelpMeOut：面向家庭任务执行错误感知监测的神经心理学基准
HelpMeOut: A Neuropsychology-Grounded Benchmark for Error-Aware Monitoring of Household Task Execution
AI 导读
HelpMeOut 是一个面向家庭任务执行错误感知监测的具身 AI 基准，将日常动作错误研究转化为 20000 个配对活动片段，覆盖九类神经心理学错误类别。智能体需观察流式人类活动轨迹，判断执行是否正确并尽早诊断结构化错误。论文评测了学习型监测器、符号方法、变化点检测和前沿 LLM 提示等基线，结果显示这些方法作为错误监测器表现不佳，常漏检执行出错。
正文
Abstract:We introduce HelpMeOut, an embodied AI benchmark for error-aware monitoring of household task execution. Existing embodied household benchmarks typically assume that humans execute tasks correctly, but this assumption does not hold for cognitively impaired persons or older adults whose everyday activities produce structured execution errors. To address this gap, HelpMeOut operationalizes research on everyday action errors into 20000 paired activity episodes, covering nine neuropsychologically motivated error categories. In each episode, agents observe a streaming human activity trajectory and must monitor whether the execution is unfolding correctly, diagnosing any structured errors as early as possible. We evaluate learned-monitor, symbolic, change-point, and frontier LLM prompting baselines. Results show that these methods perform poorly as error monitors, often missing when execution goes wrong. These results suggest a gap left by standard goal-inference and task-completion benchmarks, making HelpMeOut a testbed for error-aware assistive agents.
| Comments: | Accepted to the 10th Conference on Robot Learning (CoRL 2026). 30 pages (9-page main text), 8 figures, 18 tables. Project page: this https URL |
| Subjects: | Robotics (cs.RO); Artificial Intelligence (cs.AI); Symbolic Computation (cs.SC) |
| Cite as: | arXiv:2610.17694 [cs.RO] |
| (or arXiv:2610.17694v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2610.17694 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Haoran Wang [view email]
[v1]
Tue, 13 Oct 2026 04:20:13 UTC (6,992 KB)
来源：arXiv：cs.AI · arxiv.org