For an arbitrary connected reductive group $G$, we consider the motivic integral over the arc space of an arbitrary $ \mathbb{Q} $-Gorenstein horospherical $G$-variety ${X}_{\Sigma } $ associated with a colored fan $\Sigma $ and prove a formula for the stringy $E$-function of ${X}_{\Sigma } $ which generalizes the one for toric varieties. We remark that, in contrast to toric varieties, the stringy $E$-function of a Gorenstein horospherical variety ${X}_{\Sigma } $ may be not a polynomial if some cones in $\Sigma $ have nonempty sets of colors. Using the stringy $E$-function, we can formulate and prove a new smoothness criterion for locally factorial horospherical varieties. We expect that this smoothness criterion holds for arbitrary spherical varieties.

We give a geometric description of the loci in the arc space defined by order of contact with a given subscheme, using the resolution of singularities. This induces an identification of the valuations defined by cylinders in the arc space with divisorial valuations. In particular, we recover the description of invariants coming from the resolution of singularities in terms of arcs and jets.