MAGMA-Bench: Evaluating Long-Horizon Embodied Agents under Dynamic Tasks and Execution Failures· MAGMA-Bench: 动态任务和执行失败下的长时实体代理评估
Long-horizon embodied agents must maintain task-relevant information, coordinate heterogeneous robots, and adapt their decisions as execution unfolds. Existing benchmarks investigate dynamic task execution and embodied multi-agent coordination, but provide limited evaluation of their intersection. We introduce MAGMA-Bench, an architecture-agnostic benchmark for persistent task reasoning in dynamic multi-robot environments. MAGMA-Bench evaluates agents across increasing task horizons and controlled online perturbations, including execution failures, task interruptions, and mission updates, with scenarios requiring coordination across robots with heterogeneous capabilities. It uses a structured skill-level interface to separate task-level reasoning from perception and low-level control. We e