mlsanityData to 14 Oct 2026

ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulation

arXiv 2312.16217 ↗First posted 24 Dec 2023cs.CV cs.ROcited by 162

On the map: LLM reasoning → Spatial and embodied reasoning

also in 1 more
Abstract (arXiv)

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to achieve generalizability, especially when confronted with extensive categories. Therefore, we introduce an innovative approach for robot manipulation that leverages the robust reasoning capabilities of Multimodal Large Language Models (MLLMs) to enhance the stability and generalization of manipulation. By fine-tuning the injected adapters, we preserve the inherent common sense and reasoning ability of the MLLMs while equipping them with the ability for manipulation. The fundamental insight lies in the introduced fine-tuning paradigm, encompassing object category understanding, affordance prior reasoning, and object-centric pose prediction to stimulate the reasoning ability of MLLM in manipulation. During inference, our approach utilizes an RGB image and text prompt to predict the end effector's pose in chain of thoughts. After the initial contact is established, an active impedance adaptation policy is introduced to plan the upcoming waypoints in a closed-loop manner. Moreover, in real world, we design a test-time adaptation (TTA) strategy for manipulation to enable the model better adapt to the current real-world scene configuration. Experiments in simulator and real-world show the promising performance of ManipLLM. More details and demonstrations can be found at https://sites.google.com/view/manipllm.

Key facts. Cited by 162 papers in the map (data through 14 Oct 2026). Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning. Builds on 33 of its 40 references that are in the map. First posted on arXiv 24 Dec 2023.

Builds on

33 of 40 references.

References · 33

  1. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,744
  2. 2021LoRA: Low-Rank Adaptation of Large Language Modelscited by 14,380
  3. 2023LLaMA: Open and Efficient Foundation Language Modelscited by 14,132
  4. 2022Chain-of-Thought Prompting Elicits Reasoning in Large Language Modelscited by 12,459
  5. 2023Visual Instruction Tuningcited by 7,869
  6. 2022Flamingo: a Visual Language Model for Few-Shot Learningcited by 4,386
  7. 2022BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generationcited by 4,322
  8. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 3,080
  9. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,061
  10. 2017Bottom-Up and Top-Down Attention for Image Captioning and Visual Question Answeringcited by 1,312
  11. 2023LLaMA-Adapter: Efficient Fine-tuning of Language Models with Zero-init Attentioncited by 781
  12. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 750
21 more
  1. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  2. 2018PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understandingcited by 526
  3. 2021Mastering Visual Continuous Control: Improved Data-Augmented Reinforcement Learningcited by 372
  4. 2023GPT-Driver: Learning to Drive with GPTcited by 347
  5. 2016Multimodal Compact Bilinear Pooling for Visual Question Answering and Visual Groundingcited by 243
  6. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 139
  7. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 124
  8. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 107
  9. 2022FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objectscited by 91
  10. 2021VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objectscited by 80
  11. 2023ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenescited by 69
  12. 2021UMPNet: Universal Manipulation Policy Network for Articulated Objectscited by 65
  13. 2023ViDA: Homeostatic Visual Domain Adapter for Continual Test Time Adaptationcited by 58
  14. 2022End-to-End Affordance Learning for Robotic Manipulationcited by 57
  15. 2023PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observationscited by 42
  16. 2023EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulationcited by 37
  17. 2020Robotic Grasping using Deep Reinforcement Learningcited by 28
  18. 2023NAP: Neural 3D Articulation Priorcited by 25
  19. 2023SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulationcited by 22
  20. 20233D Implicit Transporter for Temporally Consistent Keypoint Discoverycited by 20
  21. 2023Banana: Banach Fixed-Point Network for Pointcloud Segmentation with Inter-Part Equivariancecited by 19

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 43; 2025: 77; 2026: 42.

162 papers.

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  1. 2024WorldSimBench: Towards Video Generation Models as World Simulatorscited by 881
  2. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 315
  3. 2025LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Modelscited by 303
  4. 2025DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledgecited by 213
  5. 2025Multimodal Chain-of-Thought Reasoning: A Comprehensive Surveycited by 182
  6. 2025HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Modelcited by 181
  7. 2024RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulationcited by 175
  8. 2024SpatialBot: Precise Spatial Understanding with Vision Language Modelscited by 152
  9. 2024ShapeLLM: Universal 3D Object Understanding for Embodied Interactioncited by 137
  10. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 123
  11. 2024MAVIS: Mathematical Visual Instruction Tuning with an Automatic Data Enginecited by 113
  12. 2024RoboMamba: Efficient Vision-Language-Action Model for Robotic Reasoning and Manipulationcited by 103
38 more
  1. 2024VL-Uncertainty: Detecting Hallucination in Large Vision-Language Model via Uncertainty Estimationcited by 73
  2. 2025Large Video Planner Enables Generalizable Robot Controlcited by 70
  3. 2024RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesiscited by 58
  4. 2024RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulationcited by 58
  5. 2025RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learningcited by 54
  6. 2025LEGO-Puzzles: How Good Are MLLMs at Multi-Step Spatial Reasoning?cited by 49
  7. 2024Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulationcited by 46
  8. 2025SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulationcited by 46
  9. 2024When LLMs step into the 3D World: A Survey and Meta-Analysis of 3D Tasks via Multi-modal Large Language Modelscited by 43
  10. 2024PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planningcited by 38
  11. 2025AGENTSAFE: Benchmarking the Safety of Embodied Agents on Hazardous Instructionscited by 38
  12. 2025VLA-R1: Enhancing Reasoning in Vision-Language-Action Modelscited by 38
  13. 2024Learning Manipulation by Predicting Interactioncited by 37
  14. 2025Visual Large Language Models for Generalized and Specialized Applicationscited by 36
  15. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 35
  16. 2025MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulationcited by 34
  17. 2024A3VLM: Actionable Articulation-Aware Vision Language Modelcited by 33
  18. 2025Exploring the Limits of Vision-Language-Action Manipulations in Cross-task Generalizationcited by 33
  19. 2024Diving into Self-Evolving Training for Multimodal Reasoningcited by 32
  20. 2025Token Activation Map to Visually Explain Multimodal LLMscited by 32
  21. 2024CoA-VLA: Improving Vision-Language-Action Models via Visual-Textual Chain-of-Affordancecited by 31
  22. 2026LaST0: Latent Spatio-Temporal Chain-of-Thought for Robotic Vision-Language-Action Modelcited by 31
  23. 2024Unified Language-driven Zero-shot Domain Adaptationcited by 30
  24. 2025Why Do MLLMs Struggle with Spatial Understanding? A Systematic Analysis from Data to Architecturecited by 30
  25. 2024GREAT: Geometry-Intention Collaborative Inference for Open-Vocabulary 3D Object Affordance Groundingcited by 28
  26. 2024Autoregressive Action Sequence Learning for Robotic Manipulationcited by 27
  27. 2024ManipVQA: Injecting Robotic Affordance and Physically Grounded Information into Multi-Modal Large Language Modelscited by 25
  28. 2024PhysPart: Physically Plausible Part Completion for Interactable Objectscited by 25
  29. 2025Embodied AI: From LLMs to World Modelscited by 24
  30. 2024Any2Point: Empowering Any-modality Large Models for Efficient 3D Understandingcited by 23
  31. 2025Are Multimodal Large Language Models Ready for Omnidirectional Spatial Reasoning?cited by 23
  32. 2025AC-DiT: Adaptive Coordination Diffusion Transformer for Mobile Manipulationcited by 23
  33. 2025A Survey on Agentic Multimodal Large Language Modelscited by 23
  34. 2024RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-Worldcited by 22
  35. 2025VFlowOpt: A Token Pruning Framework for LMMs with Visual Information Flow-Guided Optimizationcited by 22
  36. 2024A Self-Correcting Vision-Language-Action Model for Fast and Slow System Manipulationcited by 21
  37. 2025EOC-Bench: Can MLLMs Identify, Recall, and Forecast Objects in an Egocentric World?cited by 21
  38. 2024RH20T-P: A Primitive-Level Robotic Dataset Towards Composable Generalization Agentscited by 20

50 most cited of 162 All 162 (JSON)

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  1. 2025Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation
  2. 2025Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey
  3. 2025OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints
  4. 2025Unified Embodied VLM Reasoning with Robotic Action via Autoregressive Discretized Pre-training
  5. 2025ManipLVM-R1: Reinforcement Learning for Reasoning in Embodied Manipulation with Large Vision-Language Models
  6. 2025RoboBERT: An End-to-end Multimodal Robotic Manipulation Model
  7. 2022VIMA: General Robot Manipulation with Multimodal Prompts
  8. 2024Reasoning Grasping via Multimodal Large Language Model