Awesome Embodied Multimodal LLMs
(Vison-Language-Action Models)

This is a collection of research papers about Embodied Multimodal Large Language Models (VLA models).

If you would like to include your paper or update any details (e.g., code urls, conference information), please feel free to submit a pull request or email me. Any advice is also welcome.

Table of Contents

• Awesome-Embodied-Multimodal-LLMs
  • Overview
  • Models
  • Datasets & Benchmark

Overview

Embodied Multimodal LLMs integrate vision information and action outputs into large language models (LLMs). Leveraging the rich knowledge and strong reasoning capabilities of LLMs, these models excel in interactively following human instructions, comprehensively understanding the real world, and effectively conducting various embodied tasks. They hold great potential to achieve Artificial General Intelligence (AGI).

Models

Title	Introduction	Date	Code
OpenVLA: An Open-Source Vision-Language-Action Model		2024-06-13	Github
A3VLM: Actionable Articulation-Aware Vision Language Model		2024-06-11	Github
Embodied CoT Distillation From LLM To Off-the-shelf Agents		2024-05-02	-
RoboMP$^2$: A Robotic Multimodal Perception-Planning Framework with Multimodal Large Language Models		2024-04-07	-
3D-VLA: A 3D Vision-Language-Action Generative World Model		2024-03-14	Github
ShapeLLM: Universal 3D Object Understanding for Embodied Interaction		2024-02-27	Github
NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation		2024-02-24	-
MultiPLY: A Multisensory Object-Centric Embodied Large Language Model in 3D World		2024-01-16	Github
ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation		2023-12-24	Github
MP5: A Multi-modal Open-ended Embodied System in Minecraft via Active Perception		2023-12-12	Github
Towards Learning a Generalist Model for Embodied Navigation		2023-12-04	Github
LL3DA: Visual Interactive Instruction Tuning for Omni-3D Understanding, Reasoning, and Planning		2023-11-30	Github
An Embodied Generalist Agent in 3D World		2023-11-18	Github
Large Language Models as Generalizable Policies for Embodied Tasks		2023-10-26	Github
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control		2023-07-28	-
Building Cooperative Embodied Agents Modularly with Large Language Models		2023-07-05	Github
EmbodiedGPT: Vision-Language Pre-Training via Embodied Chain of Thought		2023-05-24	Github
PaLM-E: An Embodied Multimodal Language Model		2023-03-06	-

Datasets & Benchmark

Title	Introduction	Date	Code
OpenEQA: Embodied Question Answering in the Era of Foundation Models		2024-06-17	Github
PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AI		2024-04-15	Github
EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AI		2023-12-26	Github
Holodeck: Language Guided Generation of 3D Embodied AI Environments		2023-12-14	Github
Learning Interactive Real-World Simulators		2023-10-09	-
Towards End-to-End Embodied Decision Making via Multi-modal Large Language Model: Explorations with GPT4-Vision and Beyond		2023-10-3	Github