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While significant research has focused on developing embodied reasoning capabilities using Vision-Language Models (VLMs) or integrating advanced VLMs into Vision-Language-Action (VLA) models for end-to-end robot control, few studies directly address the critical gap between upstream VLM-based reasoning and downstream VLA policy learning.
Embodied artificial intelligence
Ron Chrisley · 2003
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Path planning and trajectory planning algorithms: A general overview
Alessandro Gasparetto, Paolo Boscariol, Albano Lanzutti, and Renato Vidoni · 2015
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Scannet: Richly-annotated 3d reconstructions of indoor scenes
Angela Dai, Angel X Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, and Matthias Nießner · 2017
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Outrageously large neural networks: The sparsely-gated mixture-of-experts layer
Noam Shazeer, *Azalia Mirhoseini, *Krzysztof Maziarz, Andy Davis, Quoc Le, Geoffrey Hinton, and Jeff Dean · 2017
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Path planning for the mobile robot: A review
Han-ye Zhang, Wei-ming Lin, and Ai-xia Chen · 2018
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Alfred: A benchmark for interpreting grounded instructions for everyday tasks
Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk, Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, and Dieter Fox · 2020
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Arkitscenes: A diverse real-world dataset for 3d indoor scene understanding using mobile rgb-d data
Gilad Baruch, Zhuoyuan Chen, Afshin Dehghan, Tal Dimry, Yuri Feigin, Peter Fu, Thomas Gebauer, Brandon Joffe, Daniel Kurz, Arik Schwartz, et al · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Singh Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimír Vondruš, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Language models as zero-shot planners: Extracting actionable knowledge for embodied agents
Wenlong Huang, Pieter Abbeel, Deepak Pathak, and Igor Mordatch · 2022
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Bc-z: Zero-shot task generalization with robotic imitation learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2022
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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 2022
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Egoplan-bench: Benchmarking egocentric embodied planning with multimodal large language models
Yi Chen, Yuying Ge, Yixiao Ge, Mingyu Ding, Bohao Li, Rui Wang, Ruifeng Xu, Ying Shan, and Xihui Liu · 2023
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Segment anything
Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C Berg, Wan-Yen Lo, et al · 2023
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Blip-2: Bootstrapping language-image pre-training with frozen image encoders and large language models
Junnan Li, Dongxu Li, Silvio Savarese, and Steven Hoi · 2023
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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EmbodiedGPT: Vision-language pre-training via embodied chain of thought
Yao Mu, Qinglong Zhang, Mengkang Hu, Wenhai Wang, Mingyu Ding, Jun Jin, Bin Wang, Jifeng Dai, Yu Qiao, and Ping Luo · 2023
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OpenAI · 2023
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
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Paco: Parts and attributes of common objects
Vignesh Ramanathan, Anmol Kalia, Vladan Petrovic, Yi Wen, Baixue Zheng, Baishan Guo, Rui Wang, Aaron Marquez, Rama Kovvuri, Abhishek Kadian, et al · 2023
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Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, Katie Millican, et al · 2023
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Embodied task planning with large language models
Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Jiwen Lu, and Haibin Yan · 2023
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Scannet++: A high-fidelity dataset of 3d indoor scenes
Chandan Yeshwanth, Yueh-Cheng Liu, Matthias Nießner, and Angela Dai · 2023
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p i _ pi\_ { 0 0 }: A vision-language-action flow model for general robot control
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al · 2024
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Internvl: Scaling up vision foundation models and aligning for generic visual-linguistic tasks
Zhe Chen, Jiannan Wu, Wenhai Wang, Weijie Su, Guo Chen, Sen Xing, Muyan Zhong, Qinglong Zhang, Xizhou Zhu, Lewei Lu, et al · 2024
Cited alongside, same era.
Navila: Legged robot vision-language-action model for navigation
Molmo and pixmo: Open weights and open data for state-of-the-art vision-language models
Matt Deitke, Christopher Clark, Sangho Lee, Rohun Tripathi, Yue Yang, Jae Sung Park, Mohammadreza Salehi, Niklas Muennighoff, Kyle Lo, Luca Soldaini, et al · 2025
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Internspatial: A comprehensive dataset for spatial reasoning in vision-language models
Nianchen Deng, Lixin Gu, Shenglong Ye, Yinan He, Zhe Chen, Songze Li, Haomin Wang, Xingguang Wei, Tianshuo Yang, Min Dou, et al · 2025
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Knowledge insulating vision-language-action models: Train fast, run fast, generalize better
Danny Driess, Jost Tobias Springenberg, Brian Ichter, Lili Yu, Adrian Li-Bell, Karl Pertsch, Allen Z Ren, Homer Walke, Quan Vuong, Lucy Xiaoyang Shi, et al · 2025
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Vlm-3r: Vision-language models augmented with instruction-aligned 3d reconstruction
Zhiwen Fan, Jian Zhang, Renjie Li, Junge Zhang, Runjin Chen, Hezhen Hu, Kevin Wang, Huaizhi Qu, Dilin Wang, Zhicheng Yan, et al · 2025
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An-Chieh Cheng, Yandong Ji, Zhaojing Yang, Zaitian Gongye, Xueyan Zou, Jan Kautz, Erdem Bıyık, Hongxu Yin, Sifei Liu, and Xiaolong Wang · 2024
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Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 2024
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Muep: A multimodal benchmark for embodied planning with foundation models
Kanxue Li, Baosheng Yu, Qi Zheng, Yibing Zhan, Yuhui Zhang, Tianle Zhang, Yijun Yang, Yue Chen, Lei Sun, Qiong Cao, Li Shen, Lusong Li, Dapeng Tao, and Xiaodong He · 2024
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Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, et al · 2024
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Egoplan-bench2: A benchmark for multimodal large language model planning in real-world scenarios
Lu Qiu, Yi Chen, Yuying Ge, Yixiao Ge, Ying Shan, and Xihui Liu · 2024
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Robovqa: Multimodal long-horizon reasoning for robotics
Pierre Sermanet, Tianli Ding, Jeffrey Zhao, Fei Xia, Debidatta Dwibedi, Keerthana Gopalakrishnan, Christine Chan, Gabriel Dulac-Arnold, Sharath Maddineni, Nikhil J Joshi, et al · 2024
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Qi Sun, Pengfei Hong, Tej Deep Pala, Vernon Toh, U Tan, Deepanway Ghosal, Soujanya Poria, et al · 2024
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Large language models as generalizable policies for embodied tasks
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Dita: Scaling diffusion transformer for generalist vision-language-action policy
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p i _ pi\_ { 0.5 0.5 }: a vision-language-action model with open-world generalization
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Robobrain: A unified brain model for robotic manipulation from abstract to concrete
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Cubify anything: Scaling indoor 3d object detection
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Molmoact: Action reasoning models that can reason in space
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Towards generalist robot policies: What matters in building vision-language-action models
Huaping Liu, Xinghang Li, Peiyan Li, Minghuan Liu, Dong Wang, Jirong Liu, Bingyi Kang, Xiao Ma, Tao Kong, and Hanbo Zhang · 2025
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Visual embodied brain: Let multimodal large language models see, think, and control in spaces
Gen Luo, Ganlin Yang, Ziyang Gong, Guanzhou Chen, Haonan Duan, Erfei Cui, Ronglei Tong, Zhi Hou, Tianyi Zhang, Zhe Chen, et al · 2025
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open-pi-zero, 2025
open-pi zero · 2025
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Gpt-4o system card
OpenAI · 2025
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Spacer: Reinforcing mllms in video spatial reasoning
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Embodied-r1: Reinforced embodied reasoning for general robotic manipulation
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From flatland to space: Teaching vision-language models to perceive and reason in 3d
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Internvl3: Exploring advanced training and test-time recipes for open-source multimodal models
Jinguo Zhu, Weiyun Wang, Zhe Chen, Zhaoyang Liu, Shenglong Ye, Lixin Gu, Hao Tian, Yuchen Duan, Weijie Su, Jie Shao, et al · 2025
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