Robot tasks require grounding spatial language in physical scenes, but task success alone cannot establish whether spatial instructions are followed. We present BEHAVIOR-Spatial, a benchmark built on BEHAVIOR-1K that measures spatial question answering, point-based target grounding, and robot action to examine how VLM spatial understanding relates to VLA behavior. It comprises 3,256 spatial questions across 49 activities, 1,240 grounding queries across 14 manipulation tasks, and action evaluations covering those 14 tasks and 10 navigation tasks. Our manipulation protocol evaluates held-out configurations and instruction following when the requested target changes within a fixed training layout. The baseline achieves 41.6% on held-out configurations but only 16.1% under changed instructions. VLM adaptation and robot-data pretraining provide limited improvements, whereas oracle visual target cues raise these rates to 60.3% and 38.0%, respectively. Perception evaluations reveal policy-dependent correlations between VLM question-answering and grounding accuracy and VLA manipulation performance. Together, these findings motivate evaluating spatial instruction following alongside task completion and examining when spatial perception performance translates into robot behavior. Project website: https://arielchen07.github.io/behavior-spatial/.
Tool-calling agents are increasingly deployed in real-world customer-facing workflows. Yet most studies on tool-calling agents focus on idealized settings with general, fixed, and well-specified tasks.In real-world applications, user requests are often (1) ambiguous, (2) changing over time, or (3) infeasible due to policy constraints, and training and evaluation data that cover these diverse, complex interaction patterns remain under-represented.To bridge the gap, we present Trajectory2Task a verifiable data generation pipeline for studying tool use at scale under three realistic user scenarios: ambiguous intent, changing intent, and infeasible intents.The pipeline first conducts multi-turn exploration to produce valid tool-call trajectories. It then converts these trajectories into user-facing tasks with controlled intent adaptations. This process yields verifiable task that support closed-loop evaluation and training. We benchmark several state-of-the-art LLMs on the generated complex user scenario tasks and observe frequent failures.Finally, using successful trajectories obtained from task rollouts, we fine-tune lightweight LLMs and find consistent improvements across all three conditions, along with better generalization to unseen tool-use domains, indicating stronger tool-calling ability.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表