Coming back to my application scenario ... a simplified laboratory setup could involve multiple agents that have to jointly maintain a set of household goods in stock.
* Minimally, there are two agents.
* A pantry agent keeps track of the current supply level, that is constantly in flux as some items are consumed, others go bad, etc..
* A shopping agent would have to provide missing goods, possibly with budgetary restrictions.
This scenario should meet my desiderata:
* realistic perceptual input,
* new objects steadily popping up,
* at least some degree of predication needed (“tomatoes green”, “potatoes out”, “mozzarella rotten”).