# PIFR: A Benchmark for Preemptive Instruction Following and Task Resumption in Long-Horizon Embodied Navigation

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/hbxibb64tqi4a0drekcxjy5us
- Original: https://arxiv.org/abs/2610.35576

## Summary

The authors propose the PIFR benchmark to evaluate preemption and resumption capabilities in long-horizon embodied navigation when a higher-priority instruction interrupts the current task sequence. PIFR includes single, repeated, and nested interruption settings, with stage-specific metrics for inserted-task completion, resumption of the original task, and completion of the full sequence. The authors also propose a lightweight candidate-ranking baseline to improve target re-grounding after interruption.