# EmbodiedGPT: Vision-Language Pre-Training via Embodied Chain of Thought

arXiv: https://arxiv.org/abs/2305.15021 · HTML: https://mlsanity.com/paper/2305.15021/

## Key facts

- Cited by 279 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 44 of its 73 references that are in the map.
- First posted on arXiv 24 May 2023.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)
- Multimodal LLMs / vision-language models / [Embodied and 3D vision-language models](https://mlsanity.com/mllm/embodied-and-3d-vision-language-models/)

## Builds on (most cited first, 30 of 44)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Oscar: Object-Semantics Aligned Pre-training for Vision-Language Tasks](https://mlsanity.com/paper/2004.06165/) (2020)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [HuggingGPT: Solving AI Tasks with ChatGPT and its Friends in Hugging Face](https://mlsanity.com/paper/2303.17580/) (2023)
- [mPLUG-Owl: Modularization Empowers Large Language Models with Multimodality](https://mlsanity.com/paper/2304.14178/) (2023)
- [VideoChat: Chat-Centric Video Understanding](https://mlsanity.com/paper/2305.06355/) (2023)
- [LLaMA-Adapter: Efficient Fine-tuning of Language Models with Zero-init Attention](https://mlsanity.com/paper/2303.16199/) (2023)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [EVA: Exploring the Limits of Masked Visual Representation Learning at Scale](https://mlsanity.com/paper/2211.07636/) (2022)
- [Visual ChatGPT: Talking, Drawing and Editing with Visual Foundation Models](https://mlsanity.com/paper/2303.04671/) (2023)
- [Multimodal Few-Shot Learning with Frozen Language Models](https://mlsanity.com/paper/2106.13884/) (2021)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [LLaMA-Adapter V2: Parameter-Efficient Visual Instruction Model](https://mlsanity.com/paper/2304.15010/) (2023)
- [LiT: Zero-Shot Transfer with Locked-image text Tuning](https://mlsanity.com/paper/2111.07991/) (2021)
- [Rescaling Egocentric Vision](https://mlsanity.com/paper/2006.13256/) (2020)
- [MM-REACT: Prompting ChatGPT for Multimodal Reasoning and Action](https://mlsanity.com/paper/2303.11381/) (2023)

## Built on by (most cited first, 30 of 279)

- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [The Rise and Potential of Large Language Model Based Agents: A Survey](https://mlsanity.com/paper/2309.07864/) (2023)
- [A Survey on Multimodal Large Language Models](https://mlsanity.com/paper/2306.13549/) (2023)
- [Shikra: Unleashing Multimodal LLM's Referential Dialogue Magic](https://mlsanity.com/paper/2306.15195/) (2023)
- [ExpeL: LLM Agents Are Experiential Learners](https://mlsanity.com/paper/2308.10144/) (2023)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models](https://mlsanity.com/paper/2503.22020/) (2025)
- [OmniQuant: Omnidirectionally Calibrated Quantization for Large Language Models](https://mlsanity.com/paper/2308.13137/) (2023)
- [An Embodied Generalist Agent in 3D World](https://mlsanity.com/paper/2311.12871/) (2023)
- [X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model](https://mlsanity.com/paper/2510.10274/) (2025)
- [GPT4RoI: Instruction Tuning Large Language Model on Region-of-Interest](https://mlsanity.com/paper/2307.03601/) (2023)
- [Unified-IO 2: Scaling Autoregressive Multimodal Models with Vision, Language, Audio, and Action](https://mlsanity.com/paper/2312.17172/) (2023)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [MM-LLMs: Recent Advances in MultiModal Large Language Models](https://mlsanity.com/paper/2401.13601/) (2024)
- [Multimodal Foundation Models: From Specialists to General-Purpose Assistants](https://mlsanity.com/paper/2309.10020/) (2023)
- [DriveMLM: Aligning Multi-Modal Large Language Models with Behavioral Planning States for Autonomous Driving](https://mlsanity.com/paper/2312.09245/) (2023)
- [VideoLLM-online: Online Video Large Language Model for Streaming Video](https://mlsanity.com/paper/2406.11816/) (2024)
- [LVLM-eHub: A Comprehensive Evaluation Benchmark for Large Vision-Language Models](https://mlsanity.com/paper/2306.09265/) (2023)
- [DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge](https://mlsanity.com/paper/2507.04447/) (2025)
- [InternVideo2.5: Empowering Video MLLMs with Long and Rich Context Modeling](https://mlsanity.com/paper/2501.12386/) (2025)
- [GUIOdyssey: A Comprehensive Dataset for Cross-App GUI Navigation on Mobile Devices](https://mlsanity.com/paper/2406.08451/) (2024)
- [OmniMedVQA: A New Large-Scale Comprehensive Evaluation Benchmark for Medical LVLM](https://mlsanity.com/paper/2402.09181/) (2024)
- [Multimodal Chain-of-Thought Reasoning: A Comprehensive Survey](https://mlsanity.com/paper/2503.12605/) (2025)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [SVIT: Scaling up Visual Instruction Tuning](https://mlsanity.com/paper/2307.04087/) (2023)
- [Fine-Tuning Large Vision-Language Models as Decision-Making Agents via Reinforcement Learning](https://mlsanity.com/paper/2405.10292/) (2024)
- [Towards Learning a Generalist Model for Embodied Navigation](https://mlsanity.com/paper/2312.02010/) (2023)
- [The Revolution of Multimodal Large Language Models: A Survey](https://mlsanity.com/paper/2402.12451/) (2024)
- [ShapeLLM: Universal 3D Object Understanding for Embodied Interaction](https://mlsanity.com/paper/2402.17766/) (2024)

## Abstract (arXiv)

Embodied AI is a crucial frontier in robotics, capable of planning and executing action sequences for robots to accomplish long-horizon tasks in physical environments. In this work, we introduce EmbodiedGPT, an end-to-end multi-modal foundation model for embodied AI, empowering embodied agents with multi-modal understanding and execution capabilities. To achieve this, we have made the following efforts: (i) We craft a large-scale embodied planning dataset, termed EgoCOT. The dataset consists of carefully selected videos from the Ego4D dataset, along with corresponding high-quality language instructions. Specifically, we generate a sequence of sub-goals with the "Chain of Thoughts" mode for effective embodied planning. (ii) We introduce an efficient training approach to EmbodiedGPT for high-quality plan generation, by adapting a 7B large language model (LLM) to the EgoCOT dataset via prefix tuning. (iii) We introduce a paradigm for extracting task-related features from LLM-generated planning queries to form a closed loop between high-level planning and low-level control. Extensive experiments show the effectiveness of EmbodiedGPT on embodied tasks, including embodied planning, embodied control, visual captioning, and visual question answering. Notably, EmbodiedGPT significantly enhances the success rate of the embodied control task by extracting more effective features. It has achieved a remarkable 1.6 times increase in success rate on the Franka Kitchen benchmark and a 1.3 times increase on the Meta-World benchmark, compared to the BLIP-2 baseline fine-tuned with the Ego4D dataset.