TARSphere: A Full-Stack Framework and Benchmark for Long-Horizon Embodied Agents

TARSphere proposes a full-stack framework for robots that evaluates long-horizon embodied agents under physical and social constraints. Its TARSphere-Infra runs robot policies in a physics simulator with embodied NPCs and constrained dialogue, and uses an event-driven finite-state machine to update task states based on completed actions and delivered information; TARSphere-Harness lets a frozen multimodal large language model revise its decisions through multi-level executable skills, observations, hierarchical memory, and execution feedback.