# Advances in Embodied Navigation Using Large Language Models: A Survey

arXiv: https://arxiv.org/abs/2311.00530 · HTML: https://mlsanity.com/paper/2311.00530/

## Key facts

- Cited by 14 papers in the map (data through 14 Oct 2026).
- Builds on 71 of its 187 references that are in the map.
- First posted on arXiv 1 Nov 2023.

## Builds on (most cited first, 30 of 71)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [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)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Efficient Estimation of Word Representations in Vector Space](https://mlsanity.com/paper/1301.3781/) (2013)
- [Learning Phrase Representations using RNN Encoder-Decoder for Statistical Machine Translation](https://mlsanity.com/paper/1406.1078/) (2014)
- [Distributed Representations of Words and Phrases and their Compositionality](https://mlsanity.com/paper/1310.4546/) (2013)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [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)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [The Secret Sharer: Evaluating and Testing Unintended Memorization in Neural Networks](https://mlsanity.com/paper/1802.08232/) (2018)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [A Comprehensive Overview of Large Language Models](https://mlsanity.com/paper/2307.06435/) (2023)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action](https://mlsanity.com/paper/2207.04429/) (2022)
- [Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Grounding](https://mlsanity.com/paper/2010.07954/) (2020)
- [ProcTHOR: Large-Scale Embodied AI Using Procedural Generation](https://mlsanity.com/paper/2206.06994/) (2022)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames](https://mlsanity.com/paper/1911.00357/) (2019)
- [REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments](https://mlsanity.com/paper/1904.10151/) (2019)
- [SQA3D: Situated Question Answering in 3D Scenes](https://mlsanity.com/paper/2210.07474/) (2022)

## Built on by (most cited first, 14 of 14)

- [RAGEN: Understanding Self-Evolution in LLM Agents via Multi-Turn Reinforcement Learning](https://mlsanity.com/paper/2504.20073/) (2025)
- [Multimodal Fusion and Vision-Language Models: A Survey for Robot Vision](https://mlsanity.com/paper/2504.02477/) (2025)
- [Spatial Reasoning in Multimodal Large Language Models: A Survey of Tasks, Benchmarks and Methods](https://mlsanity.com/paper/2511.15722/) (2025)
- [A Survey of Large Language Model-Powered Spatial Intelligence Across Scales: Advances in Embodied Agents, Smart Cities, and Earth Science](https://mlsanity.com/paper/2504.09848/) (2025)
- [From Text to Space: Mapping Abstract Spatial Models in LLMs during a Grid-World Navigation Task](https://mlsanity.com/paper/2502.16690/) (2025)
- [Enhancing Text-to-Image Diffusion Transformer via Split-Text Conditioning](https://mlsanity.com/paper/2505.19261/) (2025)
- [MLIP: Efficient Multi-Perspective Language-Image Pretraining with Exhaustive Data Utilization](https://mlsanity.com/paper/2406.01460/) (2024)
- [ReEXplore: Improving MLLMs for Embodied Exploration with Contextualized Retrospective Experience Replay](https://mlsanity.com/paper/2511.19033/) (2025)
- [Personalized Embodied Navigation for Portable Object Finding](https://mlsanity.com/paper/2403.09905/) (2024)
- [MosaicThinker: On-Device Visual Spatial Reasoning for Embodied AI via Iterative Construction of Space Representation](https://mlsanity.com/paper/2602.07082/) (2026)
- [Boosting Adversarial Transferability via Commonality-Oriented Gradient Optimization](https://mlsanity.com/paper/2506.06992/) (2025)
- [ReasonNavi: Human-Inspired Global Map Reasoning for Zero-Shot Embodied Navigation](https://mlsanity.com/paper/2602.15864/) (2026)
- [A Comprehensive Survey and Systematic Real-World Evaluation of Embodied Vision-and-Language Navigation](https://mlsanity.com/paper/2607.09792/) (2026)
- [Speaking the Navigator's Language: Trajectory-Grounded Instruction Translation for Frozen Aerial VLN Agents](https://mlsanity.com/paper/2610.10635/) (2026)

## Abstract (arXiv)

In recent years, the rapid advancement of Large Language Models (LLMs) such as the Generative Pre-trained Transformer (GPT) has attracted increasing attention due to their potential in a variety of practical applications. The application of LLMs with Embodied Intelligence has emerged as a significant area of focus. Among the myriad applications of LLMs, navigation tasks are particularly noteworthy because they demand a deep understanding of the environment and quick, accurate decision-making. LLMs can augment embodied intelligence systems with sophisticated environmental perception and decision-making support, leveraging their robust language and image-processing capabilities. This article offers an exhaustive summary of the symbiosis between LLMs and embodied intelligence with a focus on navigation. It reviews state-of-the-art models, research methodologies, and assesses the advantages and disadvantages of existing embodied navigation models and datasets. Finally, the article elucidates the role of LLMs in embodied intelligence, based on current research, and forecasts future directions in the field. A comprehensive list of studies in this survey is available at https://github.com/Rongtao-Xu/Awesome-LLM-EN.