MACE-THOR D
AI benchmark · Embodied
What is MACE-THOR?
In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and preliminary planning, they exhibit limitations in long-term reasoning and dynamic multi-robot coordination. We propose EmboTeam, a novel embodied multi-robot task planning framework that addresses these issues through a three-stage cascaded architecture: 1) It leverages an LLM to parse instructions and generate Planning Domain Definition Language (PDDL) problem descriptions, thereby transforming commands into formal planning problems; 2) It combines the semantic reasoning of LLMs with the search capabilities of a classical planner to produce optimized action sequences; 3) It compiles the resulting plan into behavior trees for reactive control. The framework supports dynamically sized heterogeneous robot teams via a shared blackboard mechanism for communication and state synchronization. To validate our approach, we introduce the MACE-THOR benchmark dataset, comprising 42 complex tasks across 8 distinct household layouts. Experiments show EmboTeam improves the task success rate from 12% to 55% and goal condition recall from 32% to 72% over the LaMMA-P baseline.
Tier D
Long tail: little or no usage data yet.
How much stands behind a tier: usage, who backs it, a confirmed line from its own site or paper, and a clear read on X. High with three of the four, medium with two, low otherwise.
- 3 models scored
- fewer than 5 models scored
- in curated RL directories (1 pt)
How we got to tier D
- Adoption: 3 models scored; fewer than 5 models scored. Tier D.
- Not yet read on X.
- In curated RL directories: 1 point, a floor of none.
- Not yet confirmed by a line from its own site or paper.
A clear view on X moves a tier one step up or down; most entries don't move. How tiers work.
Not on the map yet: no line from its own site or paper places it in a domain.
Next: browse all benchmarks. Entry from the RL Research daily scrape of public sources, 2026-10-11 snapshot.