@article{esibenchtowardsembodiedspatialintelligen,
  title = {ESI-Bench: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop},
  author = {Yining Hong and Jiageng Liu and Han Yin and Manling Li and Leonidas Guibas and Li Fei-Fei and Jiajun Wu and Yejin Choi},
  year = {2026},
  eprint = {2605.18746},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.18746},
}