A unified threat model for LLM-enabled robots reveals three cross-boundary attack chains from user input to unsafe physical actuation due to missing validations and unmediated crossings.
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PaLM-E: An Embodied Multimodal Language Model
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abstract
Large language models excel at a wide range of complex tasks. However, enabling general inference in the real world, e.g., for robotics problems, raises the challenge of grounding. We propose embodied language models to directly incorporate real-world continuous sensor modalities into language models and thereby establish the link between words and percepts. Input to our embodied language model are multi-modal sentences that interleave visual, continuous state estimation, and textual input encodings. We train these encodings end-to-end, in conjunction with a pre-trained large language model, for multiple embodied tasks including sequential robotic manipulation planning, visual question answering, and captioning. Our evaluations show that PaLM-E, a single large embodied multimodal model, can address a variety of embodied reasoning tasks, from a variety of observation modalities, on multiple embodiments, and further, exhibits positive transfer: the model benefits from diverse joint training across internet-scale language, vision, and visual-language domains. Our largest model, PaLM-E-562B with 562B parameters, in addition to being trained on robotics tasks, is a visual-language generalist with state-of-the-art performance on OK-VQA, and retains generalist language capabilities with increasing scale.
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- abstract Large language models excel at a wide range of complex tasks. However, enabling general inference in the real world, e.g., for robotics problems, raises the challenge of grounding. We propose embodied language models to directly incorporate real-world continuous sensor modalities into language models and thereby establish the link between words and percepts. Input to our embodied language model are multi-modal sentences that interleave visual, continuous state estimation, and textual input encodings. We train these encodings end-to-end, in conjunction with a pre-trained large language model, f
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background 55representative citing papers
MME-RealWorld is the largest manually annotated high-resolution benchmark for MLLMs, where even the best models achieve less than 60% accuracy on challenging real-world tasks.
Promptbreeder evolves both task prompts and the mutation prompts that improve them using LLMs, outperforming Chain-of-Thought and Plan-and-Solve on arithmetic and commonsense reasoning benchmarks.
VGenST-Bench is a new video benchmark for MLLM spatio-temporal reasoning built via generative synthesis, a multi-agent pipeline with human oversight, a 3x2x2 taxonomy, and hierarchical tasks separating perception from reasoning.
Aero-World adapts a pretrained latent diffusion transformer for action-conditioned aerial video generation by injecting inertial action tokens and using a frozen latent-space Physics Probe for inertial consistency supervision during LoRA finetuning, with a new AeroBench benchmark showing improved AA
PRISM is a tiered benchmark with 300 human-verified tasks across five photorealistic apartments that diagnoses embodied agent failures in basic ability, reasoning ability, and long-horizon ability using an agent-agnostic API.
ECHO organizes VLA experiences into a hierarchical memory tree in hyperbolic space via autoencoder and entailment constraints, delivering a 12.8% success-rate gain on LIBERO-Long over the pi0 baseline.
KinDER is a new open-source benchmark that demonstrates substantial gaps in current robot learning and planning methods for handling physical constraints.
AeroBridge-TTA achieves +22 pt average gains on out-of-distribution UAV dynamics mismatches by updating a latent state online from observed transitions in a language-conditioned policy.
LLM planners for robots often produce dangerous plans even when planning succeeds, with safety awareness staying flat as model scale improves planning ability.
Creates the first egocentric screen-view movie emotion benchmark and demonstrates that cinematic models drop sharply in Macro-F1 on realistic robot-like viewing conditions while domain-specific training improves robustness.
Mosaic uses cross-modal clusters as the unit for KVCache organization in VLMs to achieve up to 1.38x speedup in streaming long-video understanding.
Large multimodal models display emerging but limited spatial action capabilities in goal-oriented urban 3D navigation, remaining far from human-level performance with errors diverging rapidly after critical decision points.
KITE is a training-free method that uses keyframe-indexed tokenized evidence including BEV schematics to enhance VLM performance on robot failure detection, identification, localization, explanation, and correction.
KITScenes LongTail supplies multimodal driving data and multilingual expert reasoning traces to benchmark models on rare scenarios beyond basic safety metrics.
AR-VLA introduces a standalone autoregressive action expert with long-lived memory that generates context-aware continuous actions for VLAs, replacing chunk-based heads with smoother trajectories and maintained task success.
Mema adds a stateful memory module to vision encoders that accumulates hierarchical visual features across layers and selectively injects portions back via feedback to preserve fine-grained cues, yielding consistent gains on multimodal benchmarks.
PhysMem enables VLM-based robot planners to learn and verify physical properties through test-time interaction and hypothesis testing, raising success on a brick insertion task from 23% to 76%.
UniLACT improves VLA models by adding depth-aware unified latent action pretraining that outperforms RGB-only baselines on seen and unseen manipulation tasks.
ST-BiBench reveals a coordination paradox in which MLLMs show strong high-level strategic reasoning yet fail at fine-grained 16-dimensional bimanual action synthesis and multi-stream fusion.
A video foundation model trained on human demonstrations generates zero-shot plans that convert to executable robot actions on novel scenes and tasks.
A survey that defines Compound AI Systems, proposes a multi-dimensional taxonomy based on component roles and orchestration strategies, reviews four foundational paradigms, and identifies key challenges for future research.
WorldSense provides the first benchmark requiring synergistic audio-video-text understanding on 1,662 real-world videos and 3,172 QA pairs, where the best current multimodal LLM reaches only 65.1% accuracy.
The paper introduces the MICL scenario for MLLMs with modality and task shifts and proposes MoInCL using pseudo-target generation and instruction-based distillation, reporting gains over continual learning baselines on six tasks.
citing papers explorer
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From Prompt to Physical Actuation: Holistic Threat Modeling of LLM-Enabled Robotic Systems
A unified threat model for LLM-enabled robots reveals three cross-boundary attack chains from user input to unsafe physical actuation due to missing validations and unmediated crossings.
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MME-RealWorld: Could Your Multimodal LLM Challenge High-Resolution Real-World Scenarios that are Difficult for Humans?
MME-RealWorld is the largest manually annotated high-resolution benchmark for MLLMs, where even the best models achieve less than 60% accuracy on challenging real-world tasks.
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Promptbreeder: Self-Referential Self-Improvement Via Prompt Evolution
Promptbreeder evolves both task prompts and the mutation prompts that improve them using LLMs, outperforming Chain-of-Thought and Plan-and-Solve on arithmetic and commonsense reasoning benchmarks.
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VGenST-Bench: A Benchmark for Spatio-Temporal Reasoning via Active Video Synthesis
VGenST-Bench is a new video benchmark for MLLM spatio-temporal reasoning built via generative synthesis, a multi-agent pipeline with human oversight, a 3x2x2 taxonomy, and hierarchical tasks separating perception from reasoning.
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Aero-World: Action-Conditioned Aerial Video Generation from Inertial Controls
Aero-World adapts a pretrained latent diffusion transformer for action-conditioned aerial video generation by injecting inertial action tokens and using a frozen latent-space Physics Probe for inertial consistency supervision during LoRA finetuning, with a new AeroBench benchmark showing improved AA
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PRISM: : Planning and Reasoning with Intent in Simulated Embodied Environments
PRISM is a tiered benchmark with 300 human-verified tasks across five photorealistic apartments that diagnoses embodied agent failures in basic ability, reasoning ability, and long-horizon ability using an agent-agnostic API.
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ECHO: Continuous Hierarchical Memory for Vision-Language-Action Models
ECHO organizes VLA experiences into a hierarchical memory tree in hyperbolic space via autoencoder and entailment constraints, delivering a 12.8% success-rate gain on LIBERO-Long over the pi0 baseline.
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KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning
KinDER is a new open-source benchmark that demonstrates substantial gaps in current robot learning and planning methods for handling physical constraints.
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AeroBridge-TTA: Test-Time Adaptive Language-Conditioned Control for UAVs
AeroBridge-TTA achieves +22 pt average gains on out-of-distribution UAV dynamics mismatches by updating a latent state online from observed transitions in a language-conditioned policy.
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Using large language models for embodied planning introduces systematic safety risks
LLM planners for robots often produce dangerous plans even when planning succeeds, with safety awareness staying flat as model scale improves planning ability.
-
Watching Movies Like a Human: Egocentric Emotion Understanding for Embodied Companions
Creates the first egocentric screen-view movie emotion benchmark and demonstrates that cinematic models drop sharply in Macro-F1 on realistic robot-like viewing conditions while domain-specific training improves robustness.
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Mosaic: Cross-Modal Clustering for Efficient Video Understanding
Mosaic uses cross-modal clusters as the unit for KVCache organization in VLMs to achieve up to 1.38x speedup in streaming long-video understanding.
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How Far Are Large Multimodal Models from Human-Level Spatial Action? A Benchmark for Goal-Oriented Embodied Navigation in Urban Airspace
Large multimodal models display emerging but limited spatial action capabilities in goal-oriented urban 3D navigation, remaining far from human-level performance with errors diverging rapidly after critical decision points.
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KITE: Keyframe-Indexed Tokenized Evidence for VLM-Based Robot Failure Analysis
KITE is a training-free method that uses keyframe-indexed tokenized evidence including BEV schematics to enhance VLM performance on robot failure detection, identification, localization, explanation, and correction.
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LongTail Driving Scenarios with Reasoning Traces: The KITScenes LongTail Dataset
KITScenes LongTail supplies multimodal driving data and multilingual expert reasoning traces to benchmark models on rare scenarios beyond basic safety metrics.
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AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models
AR-VLA introduces a standalone autoregressive action expert with long-lived memory that generates context-aware continuous actions for VLAs, replacing chunk-based heads with smoother trajectories and maintained task success.
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Mema: Memory-Augmented Adapter for Enhanced Vision-Language Understanding
Mema adds a stateful memory module to vision encoders that accumulates hierarchical visual features across layers and selectively injects portions back via feedback to preserve fine-grained cues, yielding consistent gains on multimodal benchmarks.
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PhysMem: Scaling Test-Time Memory for Embodied Physical Reasoning
PhysMem enables VLM-based robot planners to learn and verify physical properties through test-time interaction and hypothesis testing, raising success on a brick insertion task from 23% to 76%.
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UniLACT: Depth-Aware RGB Latent Action Learning for Vision-Language-Action Models
UniLACT improves VLA models by adding depth-aware unified latent action pretraining that outperforms RGB-only baselines on seen and unseen manipulation tasks.
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ST-BiBench: Benchmarking Multi-Stream Multimodal Coordination in Bimanual Embodied Tasks for MLLMs
ST-BiBench reveals a coordination paradox in which MLLMs show strong high-level strategic reasoning yet fail at fine-grained 16-dimensional bimanual action synthesis and multi-stream fusion.
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Large Video Planner Enables Generalizable Robot Control
A video foundation model trained on human demonstrations generates zero-shot plans that convert to executable robot actions on novel scenes and tasks.
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From Standalone LLMs to Integrated Intelligence: A Survey of Compound Al Systems
A survey that defines Compound AI Systems, proposes a multi-dimensional taxonomy based on component roles and orchestration strategies, reviews four foundational paradigms, and identifies key challenges for future research.
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WorldSense: Evaluating Real-world Omnimodal Understanding for Multimodal LLMs
WorldSense provides the first benchmark requiring synergistic audio-video-text understanding on 1,662 real-world videos and 3,172 QA pairs, where the best current multimodal LLM reaches only 65.1% accuracy.
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Modality-Inconsistent Continual Learning of Multimodal Large Language Models
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3D-VLA: A 3D Vision-Language-Action Generative World Model
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RT-H: Action Hierarchies Using Language
RT-H learns robot policies by first predicting language motions as an intermediate representation and then mapping those plus the high-level task to actions, yielding more robust multi-task performance and the ability to learn from language interventions.
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Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models
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Learning Interactive Real-World Simulators
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Language Model Beats Diffusion -- Tokenizer is Key to Visual Generation
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VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
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Voyager: An Open-Ended Embodied Agent with Large Language Models
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LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
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Visual Instruction Tuning
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How to Instruct Your Robot: Dense Language Annotations Power Robot Policy Learning
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From Failure to Feedback: Group Revision Unlocks Hard Cases in Object-Level Grounding
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SpatialForge: Bootstrapping 3D-Aware Spatial Reasoning from Open-World 2D Images
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How Far Are VLMs from Privacy Awareness in the Physical World? An Empirical Study
Vision-language models exhibit perceptual fragility and fail to consistently respect privacy constraints when operating in simulated physical environments, with performance declining in cluttered scenes and under conflicting commands.
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Affordance Agent Harness: Verification-Gated Skill Orchestration
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AGoQ: Activation and Gradient Quantization for Memory-Efficient Distributed Training of LLMs
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Odysseus: Scaling VLMs to 100+ Turn Decision-Making in Games via Reinforcement Learning
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GoClick: Lightweight Element Grounding Model for Autonomous GUI Interaction
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An LLM-Driven Closed-Loop Autonomous Learning Framework for Robots Facing Uncovered Tasks in Open Environments
Robots autonomously convert LLM-guided experiences into a reusable local method library, reducing average execution time from 7.7772s to 6.7779s and LLM calls per task from 1.0 to 0.2 in repeated-task experiments.
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Navigating the Clutter: Waypoint-Based Bi-Level Planning for Multi-Robot Systems
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EmbodiedGovBench: A Benchmark for Governance, Recovery, and Upgrade Safety in Embodied Agent Systems
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Q-Zoom: Query-Aware Adaptive Perception for Efficient Multimodal Large Language Models
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A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoring
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CoME-VL: Scaling Complementary Multi-Encoder Vision-Language Learning
CoME-VL fuses contrastive and self-supervised vision encoders via entropy-guided multi-layer aggregation and RoPE cross-attention to improve vision-language model performance on benchmarks.
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World Action Models are Zero-shot Policies
DreamZero uses a 14B video diffusion model as a World Action Model to achieve over 2x better zero-shot generalization on real robots than state-of-the-art VLAs, real-time 7Hz closed-loop control, and cross-embodiment transfer with 10-30 minutes of data.
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Robust Policy Optimization to Prevent Catastrophic Forgetting
FRPO applies a max-min robust optimization over KL-bounded policy neighborhoods during RLHF to reduce catastrophic forgetting of safety and accuracy under subsequent SFT or RL fine-tuning.
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Real2Sim via Active Perception with Behavior Trees Automatically Generated by VLMs
An intent-driven Real2Sim framework uses VLMs for semantic task decomposition to identify missing physical parameters and generates reactive behavior trees to acquire them via contact-rich robotic interactions on a Franka Panda arm.