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Large Vision-Language Models (LVLMs) show promise for embodied planning tasks but struggle with complex scenarios involving unfamiliar environments and multi-step goals.
Alfred: A benchmark for interpreting grounded instructions for everyday tasks, 2020
Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk, Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, and Dieter Fox · 1912
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Children’s learning
R. S. Siegler · 2005
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Episodic transformer for vision-and-language navigation
Alexander Pashevich, Cordelia Schmid, and Chen Sun · 2021
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Alfworld: Aligning text and embodied environments for interactive learning
Mohit Shridhar, Xingdi Yuan, Marc-Alexandre Côté, Yonatan Bisk, Adam Trischler, and Matthew J. Hausknecht · 2021
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Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, F. Xia, Peng Xu, Karol Hausman, Brian Ichter, Peter R. Florence, and Andy Zeng · 2022
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Progprompt: Generating situated robot task plans using large language models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, and Animesh Garg · 2022
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Llm-planner: Few-shot grounded planning for embodied agents with large language models
Chan Hee Song, Jiaman Wu, Clay Washington, Brian M. Sadler, Wei-Lun Chao, and Yu Su · 2022
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Grounding large language models in interactive environments with online reinforcement learning
Thomas Carta, Clément Romac, Thomas Wolf, Sylvain Lamprier, Olivier Sigaud, and Pierre-Yves Oudeyer · 2023
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Llm as a robotic brain: Unifying egocentric memory and control
Jinjie Mai, Jun Chen, Bing chuan Li, Guocheng Qian, Mohamed Elhoseiny, and Bernard Ghanem · 2023
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Vision-language interpreter for robot task planning
Keisuke Shirai, Cristian Camilo Beltran-Hernandez, Masashi Hamaya, Atsushi Hashimoto, Shohei Tanaka, Kento Kawaharazuka, Kazutoshi Tanaka, Yoshitaka Ushiku, and Shinsuke Mori · 2023
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Adaplanner: Adaptive planning from feedback with language models
Haotian Sun, Yuchen Zhuang, Lingkai Kong, Bo Dai, and Chao Zhang · 2023
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Large language models as generalizable policies for embodied tasks
Andrew Szot, Max Schwarzer, Harsh Agrawal, Bogdan Mazoure, Walter Talbott, Katherine Metcalf, Natalie Mackraz, Devon Hjelm, and Alexander Toshev · 2023
Cited alongside, same era.
Embodied task planning with large language models
Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Jiwen Lu, and Haibin Yan · 2023
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Octopus: Embodied vision-language programmer from environmental feedback
Jingkang Yang, Yuhao Dong, Shuai Liu, Bo Li, Ziyue Wang, Chencheng Jiang, Haoran Tan, Jiamu Kang, Yuanhan Zhang, Kaiyang Zhou, and Ziwei Liu · 2023
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React: Synergizing reasoning and acting in language models
OpenAI · 2024
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Socratic planner: Inquiry-based zero-shot planning for embodied instruction following
Suyeon Shin, Sujin Jeon, Junghyun Kim, Gi-Cheon Kang, and Byoung-Tak Zhang · 2024
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Trial and error: Exploration-based trajectory optimization for LLM agents
Yifan Song, Da Yin, Xiang Yue, Jie Huang, Sujian Li, and Bill Yuchen Lin · 2024
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Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context
Gemini Team · 2024
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Wonderful team: Zero-shot physical task planning with visual llms
Zidan Wang, Rui Shen, and Bradly C. Stadie · 2024
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Shunyu Yao, Jeffrey Zhao, Dian Yu, Nan Du, Izhak Shafran, Karthik R. Narasimhan, and Yuan Cao · 2023
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Large language models for robotics: A survey, 2023
Fanlong Zeng, Wensheng Gan, Yongheng Wang, Ning Liu, and Philip S. Yu · 2023
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Building cooperative embodied agents modularly with large language models
Hongxin Zhang, Weihua Du, Jiaming Shan, Qinhong Zhou, Yilun Du, Joshua B. Tenenbaum, Tianmin Shu, and Chuang Gan · 2023
Cited alongside, same era.
Large language models as commonsense knowledge for large-scale task planning
Zirui Zhao, Wee Sun Lee, and David Hsu · 2023
Cited alongside, same era.
Yaran Chen, Wenbo Cui, Yuanwen Chen, Mining Tan, Xinyao Zhang, Dongbin Zhao, and He Wang · 2024
Cited alongside, same era.
Aligning cyber space with physical world: A comprehensive survey on embodied AI
Yang Liu, Weixing Chen, Yongjie Bai, Guanbin Li, Wen Gao, and Liang Lin · 2024
Cited alongside, same era.
Rui Yang, Hanyang Chen, Junyu Zhang, Mark Zhao, Cheng Qian, Kangrui Wang, Qineng Wang, Teja Venkat Koripella, Marziyeh Movahedi, Manling Li, Heng Ji, Huan Zhang, and Tong Zhang
Cited in the paper.
Rui Yang, Hanyang Chen, Junyu Zhang, Mark Zhao, Cheng Qian, Kangrui Wang, Qineng Wang, Teja Venkat Koripella, Marziyeh Movahedi, Manling Li, Heng Ji, Huan Zhang, and Tong Zhang
Cited in the paper.
Later among the works it cites.
Epo: Hierarchical llm agents with environment preference optimization
Qi Zhao, Haotian Fu, Chen Sun, and George Dimitri Konidaris · 2024
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Qwen2.5 technical report, 2025
Qwen, :, An Yang, Baosong Yang, Beichen Zhang, Binyuan Hui, Bo Zheng, Bowen Yu, Chengyuan Li, Dayiheng Liu, Fei Huang, Haoran Wei, Huan Lin, Jian Yang, Jianhong Tu, Jianwei Zhang, Jianxin Yang, Jiaxi Yang, Jingren Zhou, Junyang Lin, Kai Dang, Keming Lu, Keqin Bao, Kexin Yang, Le Yu, Mei Li, Mingfeng Xue, Pei Zhang, Qin Zhu, Rui Men, Runji Lin, Tianhao Li, Tianyi Tang, Tingyu Xia, Xingzhang Ren, Xuancheng Ren, Yang Fan, Yang Su, Yichang Zhang, Yu Wan, Yuqiong Liu, Zeyu Cui, Zhenru Zhang, and Zihan Qiu · 2025
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Embodied Cognition
Lawrence Shapiro and Shannon Spaulding · 2025
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World modeling makes a better planner: Dual preference optimization for embodied task planning
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Internvl3: Exploring advanced training and test-time recipes for open-source multimodal models, 2025
Jinguo Zhu, Weiyun Wang, Zhe Chen, Zhaoyang Liu, Shenglong Ye, Lixin Gu, Hao Tian, Yuchen Duan, Weijie Su, Jie Shao, Zhangwei Gao, Erfei Cui, Xuehui Wang, Yue Cao, Yangzhou Liu, Xingguang Wei, Hongjie Zhang, Haomin Wang, Weiye Xu, Hao Li, Jiahao Wang, Nianchen Deng, Songze Li, Yinan He, Tan Jiang, Jiapeng Luo, Yi Wang, Conghui He, Botian Shi, Xingcheng Zhang, Wenqi Shao, Junjun He, Yingtong Xiong, Wenwen Qu, Peng Sun, Penglong Jiao, Han Lv, Lijun Wu, Kaipeng Zhang, Huipeng Deng, Jiaye Ge, Kai Chen, Limin Wang, Min Dou, Lewei Lu, Xizhou Zhu, Tong Lu, Dahua Lin, Yu Qiao, Jifeng Dai, and Wenhai Wang · 2025
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