# VLM See, Robot Do: Human Demo Video to Robot Action Plan via Vision Language Model

arXiv: https://arxiv.org/abs/2410.08792 · HTML: https://mlsanity.com/paper/2410.08792/

## Key facts

- Cited by 37 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 58 of its 91 references that are in the map.
- First posted on arXiv 11 Oct 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 58)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context](https://mlsanity.com/paper/2403.05530/) (2024)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [LLaVA-OneVision: Easy Visual Task Transfer](https://mlsanity.com/paper/2408.03326/) (2024)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Qwen-VL: A Versatile Vision-Language Model for Understanding, Localization, Text Reading, and Beyond](https://mlsanity.com/paper/2308.12966/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [Video-MME: The First-Ever Comprehensive Evaluation Benchmark of Multi-modal LLMs in Video Analysis](https://mlsanity.com/paper/2405.21075/) (2024)
- [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)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [VideoLLaMA 2: Advancing Spatial-Temporal Modeling and Audio Understanding in Video-LLMs](https://mlsanity.com/paper/2406.07476/) (2024)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [Eyes Wide Shut? Exploring the Visual Shortcomings of Multimodal LLMs](https://mlsanity.com/paper/2401.06209/) (2024)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [VILA: On Pre-training for Visual Language Models](https://mlsanity.com/paper/2312.07533/) (2023)
- [MediaPipe: A Framework for Building Perception Pipelines](https://mlsanity.com/paper/1906.08172/) (2019)
- [Learning Interactive Real-World Simulators](https://mlsanity.com/paper/2310.06114/) (2023)
- [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://mlsanity.com/paper/2406.02523/) (2024)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [Robotic Control via Embodied Chain-of-Thought Reasoning](https://mlsanity.com/paper/2407.08693/) (2024)

## Built on by (most cited first, 30 of 37)

- [VLM4D: Towards Spatiotemporal Awareness in Vision Language Models](https://mlsanity.com/paper/2508.02095/) (2025)
- [CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos](https://mlsanity.com/paper/2411.17820/) (2024)
- [EgoPlan-Bench2: A Benchmark for Multimodal Large Language Model Planning in Real-World Scenarios](https://mlsanity.com/paper/2412.04447/) (2024)
- [From Intention to Execution: Probing the Generalization Boundaries of Vision-Language-Action Models](https://mlsanity.com/paper/2506.09930/) (2025)
- [Robix: A Unified Model for Robot Interaction, Reasoning and Planning](https://mlsanity.com/paper/2509.01106/) (2025)
- [DexVLG: Dexterous Vision-Language-Grasp Model at Scale](https://mlsanity.com/paper/2507.02747/) (2025)
- [Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization](https://mlsanity.com/paper/2507.09160/) (2025)
- [BPP: Long-Context Robot Imitation Learning by Focusing on Key History Frames](https://mlsanity.com/paper/2602.15010/) (2026)
- [Skywork-R1V3 Technical Report](https://mlsanity.com/paper/2507.06167/) (2025)
- [Recitation over Reasoning: How Cutting-Edge Language Models Can Fail on Elementary School-Level Reasoning Problems?](https://mlsanity.com/paper/2504.00509/) (2025)
- [AnyTouch 2: General Optical Tactile Representation Learning For Dynamic Tactile Perception](https://mlsanity.com/paper/2602.09617/) (2026)
- [Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation](https://mlsanity.com/paper/2603.02623/) (2026)
- [DAVSP: Safety Alignment for Large Vision-Language Models via Deep Aligned Visual Safety Prompt](https://mlsanity.com/paper/2506.09353/) (2025)
- [ExploreVLM: Closed-Loop Robot Exploration Task Planning with Vision-Language Models](https://mlsanity.com/paper/2508.11918/) (2025)
- [USER-VLM 360: Personalized Vision Language Models with User-aware Tuning for Social Human-Robot Interactions](https://mlsanity.com/paper/2502.10636/) (2025)
- [Robot Learning from Human Videos: A Survey](https://mlsanity.com/paper/2604.27621/) (2026)
- [PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation](https://mlsanity.com/paper/2505.21652/) (2025)
- [PersONAL: Towards a Comprehensive Benchmark for Personalized Embodied Agents](https://mlsanity.com/paper/2509.19843/) (2025)
- [HybridGen: VLM-Guided Hybrid Planning for Scalable Data Generation of Imitation Learning](https://mlsanity.com/paper/2503.13171/) (2025)
- [SeeNav-Agent: Enhancing Vision-Language Navigation with Visual Prompt and Step-Level Policy Optimization](https://mlsanity.com/paper/2512.02631/) (2025)
- [WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation](https://mlsanity.com/paper/2606.26443/) (2026)
- [Stitch-a-Demo: Video Demonstrations from Multistep Descriptions](https://mlsanity.com/paper/2503.13821/) (2025)
- [APEX: Empowering LLMs with Physics-Based Task Planning for Real-time Insight](https://mlsanity.com/paper/2505.13921/) (2025)
- [T-Rex: Task-Adaptive Spatial Representation Extraction for Robotic Manipulation with Vision-Language Models](https://mlsanity.com/paper/2506.19498/) (2025)
- [EgoLoc: A Generalizable Solution for Temporal Interaction Localization in Egocentric Videos](https://mlsanity.com/paper/2508.12349/) (2025)
- [Long-Horizon Visual Imitation Learning via Plan and Code Reflection](https://mlsanity.com/paper/2509.05368/) (2025)
- [Bridging the Gap Between Multimodal Foundation Models and World Models](https://mlsanity.com/paper/2510.03727/) (2025)
- [Spatially Grounded Long-Horizon Task Planning in the Wild](https://mlsanity.com/paper/2603.13433/) (2026)
- [KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos](https://mlsanity.com/paper/2609.21229/) (2026)
- [Search-Based Software Engineering and AI Foundation Models: Current Landscape and Future Roadmap](https://mlsanity.com/paper/2505.19625/) (2025)

## Abstract (arXiv)

Vision Language Models (VLMs) have recently been adopted in robotics for their capability in common sense reasoning and generalizability. Existing work has applied VLMs to generate task and motion planning from natural language instructions and simulate training data for robot learning. In this work, we explore using VLM to interpret human demonstration videos and generate robot task planning. Our method integrates keyframe selection, visual perception, and VLM reasoning into a pipeline. We named it SeeDo because it enables the VLM to ''see'' human demonstrations and explain the corresponding plans to the robot for it to ''do''. To validate our approach, we collected a set of long-horizon human videos demonstrating pick-and-place tasks in three diverse categories and designed a set of metrics to comprehensively benchmark SeeDo against several baselines, including state-of-the-art video-input VLMs. The experiments demonstrate SeeDo's superior performance. We further deployed the generated task plans in both a simulation environment and on a real robot arm.