# Towards End-to-End Embodied Decision Making via Multi-modal Large Language Model: Explorations with GPT4-Vision and Beyond

arXiv: https://arxiv.org/abs/2310.02071 · HTML: https://mlsanity.com/paper/2310.02071/

## Key facts

- Cited by 51 papers in the map (data through 14 Oct 2026).
- Placed in Embodied and 3D vision-language models, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 47 of its 60 references that are in the map.
- First posted on arXiv 3 Oct 2023.

## Placed in

- 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 47)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Judging LLM-as-a-Judge with MT-Bench and Chatbot Arena](https://mlsanity.com/paper/2306.05685/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Toolformer: Language Models Can Teach Themselves to Use Tools](https://mlsanity.com/paper/2302.04761/) (2023)
- [Generative Agents: Interactive Simulacra of Human Behavior](https://mlsanity.com/paper/2304.03442/) (2023)
- [InstructBLIP: Towards General-purpose Vision-Language Models with Instruction Tuning](https://mlsanity.com/paper/2305.06500/) (2023)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Making the V in VQA Matter: Elevating the Role of Image Understanding in Visual Question Answering](https://mlsanity.com/paper/1612.00837/) (2016)
- [Emergent Abilities of Large Language Models](https://mlsanity.com/paper/2206.07682/) (2022)
- [Qwen-VL: A Versatile Vision-Language Model for Understanding, Localization, Text Reading, and Beyond](https://mlsanity.com/paper/2308.12966/) (2023)
- [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)
- [WebGPT: Browser-assisted question-answering with human feedback](https://mlsanity.com/paper/2112.09332/) (2021)
- [The Rise and Potential of Large Language Model Based Agents: A Survey](https://mlsanity.com/paper/2309.07864/) (2023)
- [OK-VQA: A Visual Question Answering Benchmark Requiring External Knowledge](https://mlsanity.com/paper/1906.00067/) (2019)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Large Language Models are not Fair Evaluators](https://mlsanity.com/paper/2305.17926/) (2023)
- [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)
- [Large Language Models](https://mlsanity.com/paper/2307.05782/) (2023)

## Built on by (most cited first, 30 of 51)

- [Math-Shepherd: Verify and Reinforce LLMs Step-by-step without Human Annotations](https://mlsanity.com/paper/2312.08935/) (2023)
- [An Image is Worth 1/2 Tokens After Layer 2: Plug-and-Play Inference Acceleration for Large Vision-Language Models](https://mlsanity.com/paper/2403.06764/) (2024)
- [Exploring the Reasoning Abilities of Multimodal Large Language Models (MLLMs): A Comprehensive Survey on Emerging Trends in Multimodal Reasoning](https://mlsanity.com/paper/2401.06805/) (2024)
- [LLaVA-Critic: Learning to Evaluate Multimodal Models](https://mlsanity.com/paper/2410.02712/) (2024)
- [Silkie: Preference Distillation for Large Visual Language Models](https://mlsanity.com/paper/2312.10665/) (2023)
- [DeeR-VLA: Dynamic Inference of Multimodal Large Language Models for Efficient Robot Execution](https://mlsanity.com/paper/2411.02359/) (2024)
- [SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agents](https://mlsanity.com/paper/2412.13178/) (2024)
- [From LLMs to LLM-based Agents for Software Engineering: A Survey of Current, Challenges and Future](https://mlsanity.com/paper/2408.02479/) (2024)
- [EgoPlan-Bench: Benchmarking Multimodal Large Language Models for Human-Level Planning](https://mlsanity.com/paper/2312.06722/) (2023)
- [VLFeedback: A Large-Scale AI Feedback Dataset for Large Vision-Language Models Alignment](https://mlsanity.com/paper/2410.09421/) (2024)
- [Scaffolding Coordinates to Promote Vision-Language Coordination in Large Multi-Modal Models](https://mlsanity.com/paper/2402.12058/) (2024)
- [A Survey on Evaluation of Multimodal Large Language Models](https://mlsanity.com/paper/2408.15769/) (2024)
- [BenchLMM: Benchmarking Cross-style Visual Capability of Large Multimodal Models](https://mlsanity.com/paper/2312.02896/) (2023)
- [Asynchronous Large Language Model Enhanced Planner for Autonomous Driving](https://mlsanity.com/paper/2406.14556/) (2024)
- [Debiasing Multimodal Large Language Models via Penalization of Language Priors](https://mlsanity.com/paper/2403.05262/) (2024)
- [Multi-agent Embodied AI: Advances and Future Directions](https://mlsanity.com/paper/2505.05108/) (2025)
- [Charting New Territories: Exploring the Geographic and Geospatial Capabilities of Multimodal LLMs](https://mlsanity.com/paper/2311.14656/) (2023)
- [A Survey on Multimodal Benchmarks: In the Era of Large AI Models](https://mlsanity.com/paper/2409.18142/) (2024)
- [Securing Large Language Models: Addressing Bias, Misinformation, and Prompt Attacks](https://mlsanity.com/paper/2409.08087/) (2024)
- [VIALM: A Survey and Benchmark of Visually Impaired Assistance with Large Models](https://mlsanity.com/paper/2402.01735/) (2024)
- [Step-by-Step Reasoning for Math Problems via Twisted Sequential Monte Carlo](https://mlsanity.com/paper/2410.01920/) (2024)
- [Agent-RewardBench: Towards a Unified Benchmark for Reward Modeling across Perception, Planning, and Safety in Real-World Multimodal Agents](https://mlsanity.com/paper/2506.21252/) (2025)
- [Cross-Modal Consistency in Multimodal Large Language Models](https://mlsanity.com/paper/2411.09273/) (2024)
- [MMEvalPro: Calibrating Multimodal Benchmarks Towards Trustworthy and Efficient Evaluation](https://mlsanity.com/paper/2407.00468/) (2024)
- [HSSBench: Benchmarking Humanities and Social Sciences Ability for Multimodal Large Language Models](https://mlsanity.com/paper/2506.03922/) (2025)
- [Towards Rationality in Language and Multimodal Agents: A Survey](https://mlsanity.com/paper/2406.00252/) (2024)
- [CompileAgent: Automated Real-World Repo-Level Compilation with Tool-Integrated LLM-based Agent System](https://mlsanity.com/paper/2505.04254/) (2025)
- [VeriOS: Query-Driven Proactive Human-Agent-GUI Interaction for Trustworthy OS Agents](https://mlsanity.com/paper/2509.07553/) (2025)
- [NERIF: GPT-4V for Automatic Scoring of Drawn Models](https://mlsanity.com/paper/2311.12990/) (2023)
- [Generative Multi-Agent Collaboration in Embodied AI: A Systematic Review](https://mlsanity.com/paper/2502.11518/) (2025)

## Abstract (arXiv)

In this study, we explore the potential of Multimodal Large Language Models (MLLMs) in improving embodied decision-making processes for agents. While Large Language Models (LLMs) have been widely used due to their advanced reasoning skills and vast world knowledge, MLLMs like GPT4-Vision offer enhanced visual understanding and reasoning capabilities. We investigate whether state-of-the-art MLLMs can handle embodied decision-making in an end-to-end manner and whether collaborations between LLMs and MLLMs can enhance decision-making. To address these questions, we introduce a new benchmark called PCA-EVAL, which evaluates embodied decision-making from the perspectives of Perception, Cognition, and Action. Additionally, we propose HOLMES, a multi-agent cooperation framework that allows LLMs to leverage MLLMs and APIs to gather multimodal information for informed decision-making. We compare end-to-end embodied decision-making and HOLMES on our benchmark and find that the GPT4-Vision model demonstrates strong end-to-end embodied decision-making abilities, outperforming GPT4-HOLMES in terms of average decision accuracy (+3%). However, this performance is exclusive to the latest GPT4-Vision model, surpassing the open-source state-of-the-art MLLM by 26%. Our results indicate that powerful MLLMs like GPT4-Vision hold promise for decision-making in embodied agents, offering new avenues for MLLM research. Code and data are open at https://github.com/pkunlp-icler/PCA-EVAL/.