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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/kuc7gdg24etzb0vicpb74b4pm
- Original: https://arxiv.org/abs/2610.30043

## Summary

TARSphere is a robot-oriented full-stack framework for long-horizon embodied agents operating under continuously changing physical and social environments. It includes TARSphere-Infra, which runs robot policies in physics simulation; TARSphere-Harness, which lets a frozen multimodal large language model make decisions through multi-level executable skills; and TARSphere-Bench, an evaluation benchmark comprising 360 episodes across 30 indoor scenes.