HomeLoop: A Robot-IoT Collaborative Simulation Framework and Benchmark for Home Assistance and Safety

The authors propose HomeLoop, a simulation framework and benchmark built on Isaac Sim that integrates robot bodies, networked devices and wearables, simulated residents, faulty sensors, and hazards that evolve over time within a single environment. The benchmark contains 20 tasks across 5 categories, where the same alert can have different causes. A runtime monitor uses temporal logic to score both the final outcome and process actions, and each action has a preset cost.