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While explicit goals may render certain actions optimal, implicit social norms often impose hidden constraints. Existing evaluations typically focus on explicit goal achievement or direct norm knowledge, seldom assessing whether planners can infer and apply these hidden constraints within action sequences. We introduce NormAct, a benchmark for embodied social-norm interactions that evaluates plans on Goal Achievement, Norm Compliance, and overall Task Success. NormAct uniquely embeds hidden norms within ordinary tasks, testing whether models can realize them without explicit instruction. Experiments with state-of-the-art MLLMs (GPT-5.4, Claude Opus 4.7, Gemini 3 Pro) reveal a significant gap: models achieve explicit","title":"NormAct: A Benchmark for Hidden Social Norm Compliance in Embodied Planning","url":"https://arxiv.org/abs/2606.27826","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.27826v1 Announce Type: new \nAbstract: Multimodal large language models (MLLMs) are increasingly deployed as embodied planners in egocentric environments, where task success requires not only achieving instructed goals but also acting in socially appropriate ways. While explicit goals may render certain actions optimal, implicit social norms often impose hidden constraints. Existing evaluations typically focus on explicit goal achievement or direct norm knowledge, seldom assessing whether planners can infer and apply these hidden constraints within action sequences. We introduce NormAct, a benchmark for embodied social-norm interactions that evaluates plans on Goal Achievement, Norm Compliance, and overall Task Success. NormAct uniquely embeds hidden norms within ordinary tasks, testing whether models can realize them without explicit instruction. Experiments with state-of-the-art MLLMs (GPT-5.4, Claude Opus 4.7, Gemini 3 Pro) reveal a significant gap: models achieve explicit","title":"NormAct: A Benchmark for Hidden Social Norm Compliance in Embodied Planning","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-29T04:44:03Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.27826"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:beeae9dfd4c5cf12baa41dc93ad5cbe227cbfc1825048379e5738073fdb26d570909a291c6fba24b266e72ca77971078bd7a4082db92556823386aad66df4d0b","signer":"crovia.substrate","subject":{"observed_at":"2026-06-29T04:44:03Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.27826"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"176484bd3bef6a45357b1513707ae2627f91e669140f88da0f5e38a8249672b1","leaf_index":261326,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"da006cbe385d4db01c8e6b00bfed68f7f6c63c41f241e3dad8d798a76d605279","side":"right"},{"sibling":"a6031c2098a97aca56fd84705b962470a9421f7b2e0421a47eac415edda27a81","side":"left"},{"sibling":"1d89657b4732f858dff3b963083c63f540069a0f69972b6ebaf7ed73a1315e95","side":"left"},{"sibling":"b6ffda0cee599b273ce6d588480422a1447a4a3b2b44e26aa53c1f689b792617","side":"left"},{"sibling":"93b6bf876239c0606054ab0f6535d3be4fe46bcd07bb22bdb0ba6eb747bd594f","side":"right"},{"sibling":"29e91c8cbbd7b5d986a89514acfb133bc4553933f559284c7b35fe66f2970db0","side":"right"},{"sibling":"ab8f67f857fa81c6ddd6431b5feff1b6dea6f58d2d6384543bad28001936ae23","side":"left"},{"sibling":"daf5279d003dd81baccfe21e3bfac0a3b468c08210a2f76237353b11695cdd73","side":"left"},{"sibling":"3698d5368a778dfd474a1084879c71ccc04d1602253019e48bab7329c680972f","side":"right"},{"sibling":"9f9daa9d12e65b219f34c92aec45450536b79a42b8892050d66961432ae28ed1","side":"right"},{"sibling":"b5725d7b0807dc6da32d9788f20057fa8726be38d30a9ebdabc605ae92739122","side":"left"},{"sibling":"e321b2cac14cbe28f76ccb7938249a40ff60cd5d2128b5634be046ea10e984b8","side":"left"},{"sibling":"5900dc6c7d13855af9d0385baf1691ec386df33e450c422af1cabe0a36e40ad8","side":"left"},{"sibling":"ae636ddee98c71ab7a7dc55ddfab70c7f710a2b6abfdf7a8b5d16a4017d1c0d1","side":"left"},{"sibling":"f29798d8bb6aa9900eab878992d9ff0c53266debd87472f31ab26a6a3fb55880","side":"left"},{"sibling":"a04392fb9f2a3a620840e3b3fecd93d12e6d224e481c162389d8ae64e7194599","side":"left"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":261662,"merkle_root":"aa8865c239aa2eb6c8aa7c6250f56b3cd5709854a8a07f6a29eb4ddd8802cb6f","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260629T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-29T05:38:02Z","sig_algorithm":"ed25519","signature":"476329233e82fb35fba2552ddc5d1d75b2bdd8513bbd281e9c40a0b8e475df374a62dcd8b456b0c5e8815984f5b4bf0983ae95d2cf4d7412ebb13a433b933c0a","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_5aa3648f74ee27a7015604cfeea1b3a8516bef6e88e0dd18a486a47442498df3"}}