@article{hong2026esibench,
      title={{ESI-Bench}: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop},
      author={Hong, Yining and Liu, Jiageng and Yin, Han and Li, Manling and Guibas, Leonidas and Li, Fei-Fei and Wu, Jiajun and Choi, Yejin},
      journal={arXiv preprint},
      year={2026},
      url={https://esi-bench.github.io/},
}