# Building Cooperative Embodied Agents Modularly with Large Language Models

arXiv: https://arxiv.org/abs/2307.02485 · HTML: https://mlsanity.com/paper/2307.02485/

## Key facts

- Cited by 237 papers in the map (data through 14 Oct 2026).
- Placed in General LLM agent frameworks and benchmarks, one of 16 directions in LLM agents and tool use.
- Builds on 57 of its 87 references that are in the map.
- First posted on arXiv 5 Jul 2023.

## Placed in

- LLM agents and tool use / [General LLM agent frameworks and benchmarks](https://mlsanity.com/agents/general-llm-agent-frameworks-and-benchmarks/)

## Builds on (most cited first, 30 of 57)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Generative Agents: Interactive Simulacra of Human Behavior](https://mlsanity.com/paper/2304.03442/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Improving Factuality and Reasoning in Language Models through Multiagent Debate](https://mlsanity.com/paper/2305.14325/) (2023)
- [Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments](https://mlsanity.com/paper/1706.02275/) (2017)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [The StarCraft Multi-Agent Challenge](https://mlsanity.com/paper/1902.04043/) (2019)
- [SAPIEN: A SimulAted Part-based Interactive ENvironment](https://mlsanity.com/paper/2003.08515/) (2020)
- [Language Is Not All You Need: Aligning Perception with Language Models](https://mlsanity.com/paper/2302.14045/) (2023)
- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (2018)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [Unified-IO: A Unified Model for Vision, Language, and Multi-Modal Tasks](https://mlsanity.com/paper/2206.08916/) (2022)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [On the Utility of Learning about Humans for Human-AI Coordination](https://mlsanity.com/paper/1910.05789/) (2019)
- [Emergent Tool Use From Multi-Agent Autocurricula](https://mlsanity.com/paper/1909.07528/) (2019)
- [Human-level performance in first-person multiplayer games with population-based deep reinforcement learning](https://mlsanity.com/paper/1807.01281/) (2018)
- [ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation](https://mlsanity.com/paper/2007.04954/) (2020)
- [The Complexity of Decentralized Control of Markov Decision Processes](https://mlsanity.com/paper/1301.3836/) (2013)

## Built on by (most cited first, 30 of 237)

- [A Survey on Large Language Model based Autonomous Agents](https://mlsanity.com/paper/2308.11432/) (2023)
- [MetaGPT: Meta Programming for A Multi-Agent Collaborative Framework](https://mlsanity.com/paper/2308.00352/) (2023)
- [The Rise and Potential of Large Language Model Based Agents: A Survey](https://mlsanity.com/paper/2309.07864/) (2023)
- [Large Language Model based Multi-Agents: A Survey of Progress and Challenges](https://mlsanity.com/paper/2402.01680/) (2024)
- [Why Do Multi-Agent LLM Systems Fail?](https://mlsanity.com/paper/2503.13657/) (2025)
- [AgentVerse: Facilitating Multi-Agent Collaboration and Exploring Emergent Behaviors](https://mlsanity.com/paper/2308.10848/) (2023)
- [ToolRL: Reward is All Tool Learning Needs](https://mlsanity.com/paper/2504.13958/) (2025)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Large Language Models Empowered Agent-based Modeling and Simulation: A Survey and Perspectives](https://mlsanity.com/paper/2312.11970/) (2023)
- [From Persona to Personalization: A Survey on Role-Playing Language Agents](https://mlsanity.com/paper/2404.18231/) (2024)
- [Chain of Agents: Large Language Models Collaborating on Long-Context Tasks](https://mlsanity.com/paper/2406.02818/) (2024)
- [FinMem: A Performance-Enhanced LLM Trading Agent with Layered Memory and Character Design](https://mlsanity.com/paper/2311.13743/) (2023)
- [Agent Smith: A Single Image Can Jailbreak One Million Multimodal LLM Agents Exponentially Fast](https://mlsanity.com/paper/2402.08567/) (2024)
- [From LLM Reasoning to Autonomous AI Agents: A Comprehensive Review](https://mlsanity.com/paper/2504.19678/) (2025)
- [Exploring Large Language Model based Intelligent Agents: Definitions, Methods, and Prospects](https://mlsanity.com/paper/2401.03428/) (2024)
- [AI Agents Under Threat: A Survey of Key Security Challenges and Future Pathways](https://mlsanity.com/paper/2406.02630/) (2024)
- [Advances and Challenges in Foundation Agents: From Brain-Inspired Intelligence to Evolutionary, Collaborative, and Safe Systems](https://mlsanity.com/paper/2504.01990/) (2025)
- [MLGym: A New Framework and Benchmark for Advancing AI Research Agents](https://mlsanity.com/paper/2502.14499/) (2025)
- [Empowering Biomedical Discovery with AI Agents](https://mlsanity.com/paper/2404.02831/) (2024)
- [SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agents](https://mlsanity.com/paper/2412.13178/) (2024)
- [FinCon: A Synthesized LLM Multi-Agent System with Conceptual Verbal Reinforcement for Enhanced Financial Decision Making](https://mlsanity.com/paper/2407.06567/) (2024)
- [A Survey on Large Language Model-Based Game Agents](https://mlsanity.com/paper/2404.02039/) (2024)
- [Foundational Models Defining a New Era in Vision: A Survey and Outlook](https://mlsanity.com/paper/2307.13721/) (2023)
- [Teams of LLM Agents can Exploit Zero-Day Vulnerabilities](https://mlsanity.com/paper/2406.01637/) (2024)
- [TesserAct: Learning 4D Embodied World Models](https://mlsanity.com/paper/2504.20995/) (2025)
- [Large Language Models for Robotics: Opportunities, Challenges, and Perspectives](https://mlsanity.com/paper/2401.04334/) (2024)
- [MindAgent: Emergent Gaming Interaction](https://mlsanity.com/paper/2309.09971/) (2023)
- [MM-VID: Advancing Video Understanding with GPT-4V(ision)](https://mlsanity.com/paper/2310.19773/) (2023)
- [Embodied LLM Agents Learn to Cooperate in Organized Teams](https://mlsanity.com/paper/2403.12482/) (2024)
- [From Individual to Society: A Survey on Social Simulation Driven by Large Language Model-based Agents](https://mlsanity.com/paper/2412.03563/) (2024)

## Abstract (arXiv)

In this work, we address challenging multi-agent cooperation problems with decentralized control, raw sensory observations, costly communication, and multi-objective tasks instantiated in various embodied environments. While previous research either presupposes a cost-free communication channel or relies on a centralized controller with shared observations, we harness the commonsense knowledge, reasoning ability, language comprehension, and text generation prowess of LLMs and seamlessly incorporate them into a cognitive-inspired modular framework that integrates with perception, memory, and execution. Thus building a Cooperative Embodied Language Agent CoELA, who can plan, communicate, and cooperate with others to accomplish long-horizon tasks efficiently. Our experiments on C-WAH and TDW-MAT demonstrate that CoELA driven by GPT-4 can surpass strong planning-based methods and exhibit emergent effective communication. Though current Open LMs like LLAMA-2 still underperform, we fine-tune a CoELA with data collected with our agents and show how they can achieve promising performance. We also conducted a user study for human-agent interaction and discovered that CoELA communicating in natural language can earn more trust and cooperate more effectively with humans. Our research underscores the potential of LLMs for future research in multi-agent cooperation. Videos can be found on the project website https://vis-www.cs.umass.edu/Co-LLM-Agents/.