# Large Language Models for Robotics: Opportunities, Challenges, and Perspectives

arXiv: https://arxiv.org/abs/2401.04334 · HTML: https://mlsanity.com/paper/2401.04334/

## Key facts

- Cited by 89 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 93 of its 118 references that are in the map.
- First posted on arXiv 9 Jan 2024.

## 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 93)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Generative Agents: Interactive Simulacra of Human Behavior](https://mlsanity.com/paper/2304.03442/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [InstructPix2Pix: Learning to Follow Image Editing Instructions](https://mlsanity.com/paper/2211.09800/) (2022)
- [A Survey of Large Language Models](https://mlsanity.com/paper/2303.18223/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Learning to Prompt for Vision-Language Models](https://mlsanity.com/paper/2109.01134/) (2021)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [A Survey on Evaluation of Large Language Models](https://mlsanity.com/paper/2307.03109/) (2023)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/1806.10293/) (2018)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [BridgeData V2: A Dataset for Robot Learning at Scale](https://mlsanity.com/paper/2308.12952/) (2023)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning](https://mlsanity.com/paper/2202.02005/) (2022)
- [Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language](https://mlsanity.com/paper/2204.00598/) (2022)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (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)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [A Comprehensive Survey on Pretrained Foundation Models: A History from BERT to ChatGPT](https://mlsanity.com/paper/2302.09419/) (2023)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [Language to Rewards for Robotic Skill Synthesis](https://mlsanity.com/paper/2306.08647/) (2023)
- [Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners](https://mlsanity.com/paper/2307.01928/) (2023)
- [ChatGPT for Robotics: Design Principles and Model Abilities](https://mlsanity.com/paper/2306.17582/) (2023)

## Built on by (most cited first, 30 of 89)

- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Revolutionizing Finance with LLMs: An Overview of Applications and Insights](https://mlsanity.com/paper/2401.11641/) (2024)
- [Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation](https://mlsanity.com/paper/2410.08001/) (2024)
- [Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey](https://mlsanity.com/paper/2508.13073/) (2025)
- [Real-World Robot Applications of Foundation Models: A Review](https://mlsanity.com/paper/2402.05741/) (2024)
- [A Comprehensive Review of Multimodal Large Language Models: Performance and Challenges Across Different Tasks](https://mlsanity.com/paper/2408.01319/) (2024)
- [LiveVLM: Efficient Online Video Understanding via Streaming-Oriented KV Cache and Retrieval](https://mlsanity.com/paper/2505.15269/) (2025)
- [SeRL: Self-Play Reinforcement Learning for Large Language Models with Limited Data](https://mlsanity.com/paper/2505.20347/) (2025)
- [Embodied-Reasoner: Synergizing Visual Search, Reasoning, and Action for Embodied Interactive Tasks](https://mlsanity.com/paper/2503.21696/) (2025)
- [BadRobot: Jailbreaking Embodied LLM Agents in the Physical World](https://mlsanity.com/paper/2407.20242/) (2024)
- [Towards Robust and Secure Embodied AI: A Survey on Vulnerabilities and Attacks](https://mlsanity.com/paper/2502.13175/) (2025)
- [CS-Bench: A Comprehensive Benchmark for Large Language Models towards Computer Science Mastery](https://mlsanity.com/paper/2406.08587/) (2024)
- [3DGraphLLM: Combining Semantic Graphs and Large Language Models for 3D Scene Understanding](https://mlsanity.com/paper/2412.18450/) (2024)
- [[CLS] Token Tells Everything Needed for Training-free Efficient MLLMs](https://mlsanity.com/paper/2412.05819/) (2024)
- [A Survey of Robotic Language Grounding: Tradeoffs between Symbols and Embeddings](https://mlsanity.com/paper/2405.13245/) (2024)
- [Large Language Models for Manufacturing](https://mlsanity.com/paper/2410.21418/) (2024)
- [MediConfusion: Can you trust your AI radiologist? Probing the reliability of multimodal medical foundation models](https://mlsanity.com/paper/2409.15477/) (2024)
- [PDE-Controller: LLMs for Autoformalization and Reasoning of PDEs](https://mlsanity.com/paper/2502.00963/) (2025)
- [IoT-LLM: a framework for enhancing Large Language Model reasoning from real-world sensor data](https://mlsanity.com/paper/2410.02429/) (2024)
- [Parallels Between VLA Model Post-Training and Human Motor Learning: Progress, Challenges, and Trends](https://mlsanity.com/paper/2506.20966/) (2025)
- [Evaluating Uncertainty and Quality of Vision-Language-Action-enabled Robots](https://mlsanity.com/paper/2507.17049/) (2025)
- [Deception in LLMs: Self-Preservation and Autonomous Goals in Large Language Models](https://mlsanity.com/paper/2501.16513/) (2025)
- [Transcending Language Boundaries: Harnessing LLMs for Low-Resource Language Translation](https://mlsanity.com/paper/2411.11295/) (2024)
- [VideoScan: Enabling Efficient Streaming Video Understanding via Frame-level Semantic Carriers](https://mlsanity.com/paper/2503.09387/) (2025)
- [GP-GPT: Large Language Model for Gene-Phenotype Mapping](https://mlsanity.com/paper/2409.09825/) (2024)
- [LLMs for Coding and Robotics Education](https://mlsanity.com/paper/2402.06116/) (2024)
- [LADEV: A Language-Driven Testing and Evaluation Platform for Vision-Language-Action Models in Robotic Manipulation](https://mlsanity.com/paper/2410.05191/) (2024)
- [GroundingME: Exposing the Visual Grounding Gap in MLLMs through Multi-Dimensional Evaluation](https://mlsanity.com/paper/2512.17495/) (2025)
- [STAC: Plug-and-Play Spatio-Temporal Aware Cache Compression for Streaming 3D Reconstruction](https://mlsanity.com/paper/2603.20284/) (2026)
- [MFE-ETP: A Comprehensive Evaluation Benchmark for Multi-modal Foundation Models on Embodied Task Planning](https://mlsanity.com/paper/2407.05047/) (2024)

## Abstract (arXiv)

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension capabilities to formulate precise and efficient action plans based on natural language instructions. However, for embodied tasks, where robots interact with complex environments, text-only LLMs often face challenges due to a lack of compatibility with robotic visual perception. This study provides a comprehensive overview of the emerging integration of LLMs and multimodal LLMs into various robotic tasks. Additionally, we propose a framework that utilizes multimodal GPT-4V to enhance embodied task planning through the combination of natural language instructions and robot visual perceptions. Our results, based on diverse datasets, indicate that GPT-4V effectively enhances robot performance in embodied tasks. This extensive survey and evaluation of LLMs and multimodal LLMs across a variety of robotic tasks enriches the understanding of LLM-centric embodied intelligence and provides forward-looking insights toward bridging the gap in Human-Robot-Environment interaction.