This is a curated list of "Embodied AI or robot with Large Language Models" research which is maintained by haonan. Watch this repository for the latest updates and feel free to raise pull requests!

• LLMs with RL
• Planning and Manipulation or Pretraining
• Multi-Agent Learning and Coordination
• Vision and Language Navigation
• Detection
• Interactive Embodied Learning
• Rearrangement
• Benchmark
• Simulator
• Others

Figure 1. Growth Development of Embodied Agent with Large Language Models.^[1]

LLMs with RL

• Guiding Pretraining in Reinforcement Learning with Large Language Models [ICML 2023]
  Yuqing Du^1*, Olivia Watkins^1*, Zihan Wang², Cedric Colas ´^3,4, Trevor Darrell¹, Pieter Abbeel¹, Abhishek Gupta², Jacob Andreas^{3
  1}Department of Electrical Engineering and Computer Science, University of California, Berkeley, USA ²University of Washington, Seattle ³Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory ⁴ Inria, Flowers Laboratory.

Planning and Manipulation or Pretraining

• Moving Forward by Moving Backward: Embedding Action Impact over Action Semantics [ICLR 2023] [Project page] [Github]
  Kuo-Hao Zeng¹, Luca Weihs², Roozbeh Mottaghi¹, Ali Farhadi^{1
  1}Paul G. Allen School of Computer Science & Engineering, University of Washington, ²PRIOR @ Allen Institute for AI

• Modeling Dynamic Environments with Scene Graph Memory [ICML 2023]
  Andrey Kurenkov¹, Michael Lingelbach¹, Tanmay Agarwal¹, Emily Jin¹, Chengshu Li¹, Ruohan Zhang¹, Li Fei-Fei¹, Jiajun Wu¹, Silvio Savarese², Roberto Mart´ın-Mart´ın^{3
  1}Department of Computer Science, Stanford University ²Salesforce AI Research ³Department of Computer Science, University of Texas at Austin.

• Reasoning with Language Model is Planning with World Model [Arxiv 2023]
  Shibo Hao^∗♣, Yi Gu^∗♣, Haodi Ma^♢, Joshua Jiahua Hong^♣, Zhen Wang^{♣ ♠}, Daisy Zhe Wang^♢, Zhiting Hu^{♣
  ♣}UC San Diego, ^♢University of Florida, ^♠Mohamed bin Zayed University of Artificial Intelligence

• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances [Arxiv 2022]
  Robotics at Google, Everyday Robots

• Do Embodied Agents Dream of Pixelated Sheep?: Embodied Decision Making using Language Guided World Modelling [ICML 2023]
  Kolby Nottingham¹ Prithviraj Ammanabrolu² Alane Suhr² Yejin Choi^3,2 Hannaneh Hajishirzi^3,2 Sameer Singh^1,2 Roy Fox^{1
  1}Department of Computer Science, University of California Irvine ²Allen Institute for Artificial Intelligence ³Paul G. Allen School of Computer Science

• Context-Aware Planning and Environment-Aware Memory for Instruction Following Embodied Agents [ICCV 2023]
  Byeonghwi Kim Jinyeon Kim Yuyeong Kim^1,* Cheolhong Min Jonghyun Choi^†
  Yonsei University ¹Gwangju Institute of Science and Technology

• Inner Monologue: Embodied Reasoning through Planning with Language Models [CoRL 2022] [Project page]
  Robotics at Google

• Language Models Meet World Models: Embodied Experiences Enhance Language Models [Arxiv 2023] [Twitter]
  Jiannan Xiang^∗♠, Tianhua Tao^∗♠, Yi Gu^♠, Tianmin Shu^♢, Zirui Wang^♠, Zichao Yang^♡, Zhiting Hu^{♠
  ♠}UC San Diego, ^♣UIUC, ^♢MIT, ^♡Carnegie Mellon University

• AlphaBlock: Embodied Finetuning for Vision-Language Reasoning in Robot Manipulation [Arxiv 2023] [Video]
  Chuhao Jin^1* , Wenhui Tan^1* , Jiange Yang^2* , Bei Liu3^† , Ruihua Song¹ , Limin Wang² , Jianlong Fu^{3†
  1}Renmin University of China, ²Nanjing University, ³Microsoft Research

• A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution [CoRL 2021] [Project page] [Poster]
  Valts Blukis^1,2, Chris Paxton¹, Dieter Fox^1,3, Animesh Garg^1,4, Yoav Artzi^{2
  1}NVIDIA ²Cornell University ³University of Washington ⁴University of Toronto, Vector Institute

• LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models [ICCV 2023] [Project page] [Github]
  Chan Hee Song¹, Jiaman Wu¹, Clayton Washington¹, Brian M. Sadler², Wei-Lun Chao¹, Yu Su^{1
  1}The Ohio State University, ²DEVCOM ARL

• Code as Policies: Language Model Programs for Embodied Control [Arxiv 2023] [Project page] [Github] [Blog] [Colab]
  Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng
  Robotics at Google

• 3D-LLM: Injecting the 3D World into Large Language Models [Arxiv 2023]
  ¹Yining Hong, ²Haoyu Zhen, ³Peihao Chen, ⁴Shuhong Zheng, ⁵Yilun Du, ⁶Zhenfang Chen, ^6,7Chuang Gan
  ¹UCLA ² SJTU ³ SCUT ⁴ UIUC ⁵ MIT ⁶MIT-IBM Watson AI Lab ⁷ Umass Amherst

• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models [Arxiv 2023] [Project page] [Online Demo]
  Wenlong Huang¹, Chen Wang¹, Ruohan Zhang¹, Yunzhu Li^1,2, Jiajun Wu¹, Li Fei-Fei^{1
  1}Stanford University ²University of Illinois Urbana-Champaign

• Palm-e: An embodied multimodal language mode [ICML 2023] [Project page]
  ¹Robotics at Google ²TU Berlin 3Google Research

• Large Language Models as Commonsense Knowledge for Large-Scale Task Planning [Arxiv 2023]
  Zirui Zhao Wee Sun Lee David Hsu
  School of Computing National University of Singapore

Multi-Agent Learning and Coordination

• Demonstration-free Autonomous Reinforcement Learning via Implicit and Bidirectional Curriculum [ICML 2023]
  Jigang Kim^*1,2 Daesol Cho^*1,2 H. Jin Kim^{1,3
  1}Seoul National University, ²Artificial Intelligence Institute of Seoul National University (AIIS), ³Automation and Systems Research Institute (ASRI).
  Note: This paper mainly focuses on reinforcement learning for Embodied AI.

• Adaptive Coordination in Social Embodied Rearrangement [ICML 2023]
  Andrew Szot^1,2 Unnat Jain¹ Dhruv Batra^1,2 Zsolt Kira² Ruta Desai¹ Akshara Rai^{1
  1}Meta AI ²Georgia Institute of Technology.

Vision and Language Navigation

• ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigation [ICML 2023]
  Kaiwen Zhou¹, Kaizhi Zheng¹, Connor Pryor¹, Yilin Shen², Hongxia Jin², Lise Getoor¹, Xin Eric Wang^{1 1}University of California, Santa Cruz ²Samsung Research America.

• NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Models [Arxiv 2023]
  Gengze Zhou¹ Yicong Hong² Qi Wu^{1
  1}The University of Adelaide ²The Australian National University

• Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model [Arxiv 2023] [Github]
  Siyuan Huang^1,2 Zhengkai Jiang⁴ Hao Dong³ Yu Qiao² Peng Gao² Hongsheng Li^{5
  1}Shanghai Jiao Tong University, ²Shanghai AI Laboratory, ³CFCS, School of CS, PKU, ⁴University of Chinese Academy of Sciences, ⁵The Chinese University of Hong Kong

Detection

• DetGPT: Detect What You Need via Reasoning [Arxiv 2023]
  Renjie Pi^1∗ Jiahui Gao^2* Shizhe Diao^1∗ Rui Pan¹ Hanze Dong¹ Jipeng Zhang¹ Lewei Yao¹ Jianhua Han³ Hang Xu² Lingpeng Kong² Tong Zhang^{1
  1}The Hong Kong University of Science and Technology ²The University of Hong Kong 3Shanghai Jiao Tong University

Interactive Embodied Learning

• Grounding Large Language Models in Interactive Environments with Online Reinforcement Learning [ICML 2023]
  Thomas Carta^1*, Clement Romac ´^1,2, Thomas Wolf², Sylvain Lamprier³, Olivier Sigaud⁴, Pierre-Yves Oudeyer^{1
  1}Inria (Flowers), University of Bordeaux, ²Hugging Face, ³Univ Angers, LERIA, SFR MATHSTIC, F-49000, ⁴ Sorbonne University, ISIR

• Learning Affordance Landscapes for Interaction Exploration in 3D Environments [NeurIPS 2020] [Project page]
  Tushar Nagarajan, Kristen Grauman
  UT Austin and Facebook AI Research, UT Austin and Facebook AI Research

• Embodied Question Answering in Photorealistic Environments with Point Cloud Perception [CVPR 2019 (oral)] [Slides]
  Erik Wijmans^1†, Samyak Datta¹, Oleksandr Maksymets^2†, Abhishek Das¹, Georgia Gkioxari², Stefan Lee¹, Irfan Essa¹, Devi Parikh^1,2, Dhruv Batra^{1,2
  1}Georgia Institute of Technology, ²Facebook AI Research

• Multi-Target Embodied Question Answering [CVPR 2019]
  Licheng Yu¹, Xinlei Chen³, Georgia Gkioxari³, Mohit Bansal¹, Tamara L. Berg^1,3, Dhruv Batra^{2,3
  1}University of North Carolina at Chapel Hill ²Georgia Tech 3Facebook AI

• Neural Modular Control for Embodied Question Answering [CoRL 2018 (Spotlight)] [Project page] [Github]
  Abhishek Das¹,Georgia Gkioxari², Stefan Lee¹, Devi Parikh^1,2, Dhruv Batra^{1,2
  1}Georgia Institute of Technology ²Facebook AI Research

• Embodied Question Answering [CVPR 2018 (oral)] [Project page] [Github]
  Abhishek Das¹, Samyak Datta¹, Georgia Gkioxari2², Stefan Lee¹, Devi Parikh^2,1, Dhruv Batra^{2
  1}Georgia Institute of Technology, ²Facebook AI Research

Rearrangement

• A Simple Approach for Visual Room Rearrangement: 3D Mapping and Semantic Search [ICLR 2023]
  ¹Brandon Trabucco, ²Gunnar A Sigurdsson, ²Robinson Piramuthu, ^2,3Gaurav S. Sukhatme, ¹Ruslan Salakhutdinov
  ¹CMU, ²Amazon Alexa AI, ³University of Southern California

Benchmark

• ALFWorld: Aligning Text and Embodied Environments for Interactive Learning [ICLR 2021] [Project page] [Github]
  Mohit Shridhar^† Xingdi Yuan^♡ Marc-Alexandre Côté^♡ Yonatan Bisk^‡ Adam Trischler^♡ Matthew Hausknecht^{♣
  ‡}University of Washington ^♡Microsoft Research, Montréal ^‡Carnegie Mellon University ^♣Microsoft Research

• ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks [CVPR 2020] [Project page] [Github]
  Mohit Shridhar¹ Jesse Thomason¹ Daniel Gordon¹ Yonatan Bisk^1,2,3 Winson Han³ Roozbeh Mottaghi^1,3 Luke Zettlemoyer¹ Dieter Fox^{1,4
  1}Paul G. Allen School of Computer Sci. & Eng., Univ. of Washington, ²Language Technologies Institute @ Carnegie Mellon University, ³Allen Institute for AI, ⁴NVIDIA
  

• VIMA: Robot Manipulation with Multimodal Prompts [ICML 2023] [Project page] [Github] [VIMA-Bench]
  Yunfan Jiang¹ Agrim Gupta^1† Zichen Zhang^2† Guanzhi Wang^3,4† Yongqiang Dou⁵ Yanjun Chen¹ Li Fei-Fei¹ Anima Anandkumar^3,4 Yuke Zhu^3,6‡ Linxi Fan^3‡
  

• SQA3D: Situated Question Answering in 3D Scenes [ICLR 2023] [Project page] [Slides] [Github]
  Xiaojian Ma² Silong Yong^1,3* Zilong Zheng¹ Qing Li¹ Yitao Liang^1,4 Song-Chun Zhu^1,2,3,4 Siyuan Huang^{1
  1}Beijing Institute for General Artificial Intelligence (BIGAI) ²UCLA ³Tsinghua University ⁴Peking University

• IQA: Visual Question Answering in Interactive Environments [CVPR 2018] [Github] [Demo video (YouTube)]
  Danie¹ Gordon1 Aniruddha Kembhavi² Mohammad Rastegari^2,4 Joseph Redmon¹ Dieter Fox^1,3 Ali Farhadi^{1,2
  1}Paul G. Allen School of Computer Science, University of Washington ²Allen Institute for Artificial Intelligence ³Nvidia ⁴Xnor.ai

• Env-QA: A Video Question Answering Benchmark for Comprehensive Understanding of Dynamic Environments [ICCV 2021] [Project page] [Github]
  Difei Gao^1,2, Ruiping Wang^1,2,3, Ziyi Bai^1,2, Xilin Chen¹,
  ¹Key Laboratory of Intelligent Information Processing of Chinese Academy of Sciences (CAS), Institute of Computing Technology, CAS, ²University of Chinese Academy of Sciences, ³Beijing Academy of Artificial Intelligence

Simulator

• AI2-THOR: An Interactive 3D Environment for Visual AI [Arxiv 2022] [Project page] [Github]
  Allen Institute for AI, University of Washington, Stanford University, Carnegie Mellon University
  

• iGibson, a Simulation Environment for Interactive Tasks in Large Realistic Scenes [IROS 2021] [Project page] [Github]
  Bokui Shen*, Fei Xia* et al.
  

• Habitat: A Platform for Embodied AI Research [ICCV 2019] [Project page] [Habitat-Sim] [Habitat-Lab] [Habitat Challenge]
  Facebook AI Research, Facebook Reality Labs, Georgia Institute of Technology, Simon Fraser University, Intel Labs, UC Berkeley
  

• Habitat 2.0: Training Home Assistants to Rearrange their Habitat [NeurIPS 2021] [Project page]
  Facebook AI Research, Georgia Tech, Intel Research, Simon Fraser University, UC Berkeley

Others

• MINEDOJO: Building Open-Ended Embodied Agents with Internet-Scale Knowledge [NeurIPS 2022] [Github] [Project page] [Knowledge Base]
  Linxi Fan¹ , Guanzhi Wang^2∗ , Yunfan Jiang^3* , Ajay Mandlekar¹ , Yuncong Yang⁴ , Haoyi Zhu⁵ , Andrew Tang⁴ , De-An Huang¹ , Yuke Zhu^1,6† , Anima Anandkumar^{1,2†
  1}NVIDIA, ²Caltech, ³Stanford, ⁴Columbia, ⁵SJTU, ⁶UT Austin

• A Survey on LLM-based Autonomous Agents [Arxiv 2023]
  Gaoling School of Artificial Intelligence, Renmin University of China

• Distilling Internet-Scale Vision-Language Models into Embodied Agents [ICML 2023]
  Theodore Sumers^1∗ Kenneth Marino² Arun Ahuja² Rob Fergus² Ishita Dasgupta²
  

• LISA: Reasoning Segmentation via Large Language Model [Arxiv 2023] [Github] [Huggingface Models] [Dataset] [Online Demo]
  TXin Lai¹ Zhuotao Tian² Yukang Chen¹ Yanwei Li¹ Yuhui Yuan³ Shu Liu² Jiaya Jia^{1,2
  1}The Chinese University of Hong Kong ²SmartMore ³MSRA
  

• React: Synergizing reasoning and acting in language models [ICLR 2023]
  Shunyu Yao^1∗, Jeffrey Zhao², Dian Yu², Nan Du², Izhak Shafran², Karthik Narasimhan¹, Yuan Cao^{2
  1}Department of Computer Science, Princeton University ², Google Research, Brain team

Acknowledge

[1] Trend pic from this repo: A Survey on LLM-based Autonomous Agents