Title: EgoPlan-Bench: Benchmarking Egocentric Embodied Planning with Multimodal Large Language Models

Abstract: Multimodal Large Language Models, combining the remarkable reasoning and generalization capabilities of Large Language Models (LLMs) with the ability to comprehend visual inputs, have opened up new avenues for embodied task planning. Given diverse environmental inputs, including real-time task progress, visual observations, and open-form language instructions, a proficient task planner is expected to predict feasible actions, which is a feat inherently achievable by Multimodal Large Language Models (MLLMs). In this paper, we aim to quantitatively investigate the potential of MLLMs as embodied task planners in real-world scenarios by introducing a benchmark with human annotations named EgoPlan-Bench. Our benchmark is distinguished by realistic tasks derived from real-world videos, a diverse set of actions involving interactions with hundreds of different objects, and complex visual observations from varied scenes. We evaluate a wide range of MLLMs, revealing that these models have not yet evolved into embodied planning generalists (even GPT-4V). We further construct an instruction-tuning dataset EgoPlan-IT from videos with human-object interactions, to facilitate the learning of high-level task planning in intricate real-world situations. The experiment results demonstrate that the model tuned on EgoPlan-IT not only significantly improves performance on our benchmark, but can also be applied as a task planner for guiding embodied agents in simulations.