# Guide-LLM: An Embodied LLM Agent and Text-Based Topological Map for Robotic Guidance of People with Visual Impairments

arXiv: https://arxiv.org/abs/2410.20666 · HTML: https://mlsanity.com/paper/2410.20666/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use.
- Builds on 33 of its 59 references that are in the map.
- First posted on arXiv 28 Oct 2024.

## Placed in

- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 30 of 33)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [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)
- [LongBench: A Bilingual, Multitask Benchmark for Long Context Understanding](https://mlsanity.com/paper/2308.14508/) (2023)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action](https://mlsanity.com/paper/2207.04429/) (2022)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [Speaker-Follower Models for Vision-and-Language Navigation](https://mlsanity.com/paper/1806.02724/) (2018)
- [PointLLM: Empowering Large Language Models to Understand Point Clouds](https://mlsanity.com/paper/2308.16911/) (2023)
- [SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning](https://mlsanity.com/paper/2307.06135/) (2023)
- [NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Models](https://mlsanity.com/paper/2305.16986/) (2023)
- [L-Eval: Instituting Standardized Evaluation for Long Context Language Models](https://mlsanity.com/paper/2307.11088/) (2023)
- [LL3DA: Visual Interactive Instruction Tuning for Omni-3D Understanding, Reasoning, and Planning](https://mlsanity.com/paper/2311.18651/) (2023)
- [iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks](https://mlsanity.com/paper/2108.03272/) (2021)
- [Self-Monitoring Navigation Agent via Auxiliary Progress Estimation](https://mlsanity.com/paper/1901.03035/) (2019)
- [Same Task, More Tokens: the Impact of Input Length on the Reasoning Performance of Large Language Models](https://mlsanity.com/paper/2402.14848/) (2024)
- [Self-planning Code Generation with Large Language Models](https://mlsanity.com/paper/2303.06689/) (2023)
- [RoboVQA: Multimodal Long-Horizon Reasoning for Robotics](https://mlsanity.com/paper/2311.00899/) (2023)
- [LiDAR-LLM: Exploring the Potential of Large Language Models for 3D LiDAR Understanding](https://mlsanity.com/paper/2312.14074/) (2023)
- [Navigation with Large Language Models: Semantic Guesswork as a Heuristic for Planning](https://mlsanity.com/paper/2310.10103/) (2023)
- [MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigation](https://mlsanity.com/paper/2401.07314/) (2024)
- [Look Before You Leap: Bridging Model-Free and Model-Based Reinforcement Learning for Planned-Ahead Vision-and-Language Navigation](https://mlsanity.com/paper/1803.07729/) (2018)
- [Can an Embodied Agent Find Your "Cat-shaped Mug"? LLM-Guided Exploration for Zero-Shot Object Navigation](https://mlsanity.com/paper/2303.03480/) (2023)
- [VELMA: Verbalization Embodiment of LLM Agents for Vision and Language Navigation in Street View](https://mlsanity.com/paper/2307.06082/) (2023)
- [SayNav: Grounding Large Language Models for Dynamic Planning to Navigation in New Environments](https://mlsanity.com/paper/2309.04077/) (2023)
- [Soft Expert Reward Learning for Vision-and-Language Navigation](https://mlsanity.com/paper/2007.10835/) (2020)
- [RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation](https://mlsanity.com/paper/2405.05792/) (2024)

## Built on by (most cited first, 10 of 10)

- [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)
- [Assessing the Value of Visual Input: A Benchmark of Multimodal Large Language Models for Robotic Path Planning](https://mlsanity.com/paper/2507.12391/) (2025)
- [osmAG-LLM: Zero-Shot Open-Vocabulary Object Navigation via Semantic Maps and Large Language Models Reasoning](https://mlsanity.com/paper/2507.12753/) (2025)
- [Say It My Way: Exploring Control in Conversational Visual Question Answering with Blind Users](https://mlsanity.com/paper/2602.16930/) (2026)
- [VIABLE: A Visually Impaired Assistance Benchmark for VLM-as-a-Judge Evaluation](https://mlsanity.com/paper/2605.31351/) (2026)
- [Towards general embodied intelligence: integrating large language models, knowledge bases, and reasoning capabilities to build the next generation of AI agents](https://mlsanity.com/paper/2608.19794/) (2026)
- [HaltNav: Reactive Visual Halting over Lightweight Topological Priors for Robust Vision-Language Navigation](https://mlsanity.com/paper/2603.12696/) (2026)
- [Time-Aware Assistive Navigation](https://mlsanity.com/paper/2609.05596/) (2026)
- [Commonsense-Grounded Path Planning from Abstract Instructions](https://mlsanity.com/paper/2609.22813/) (2026)
- [Spatial Strategies, Not Actions: Vector-Quantized Geodesics as Tools for LLM-Driven Agents](https://mlsanity.com/paper/2610.00613/) (2026)

## Abstract (arXiv)

Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in delivering detailed spatial information and precise guidance to desired locations. Recent developments in large language models (LLMs) and vision-language models (VLMs) offer new avenues for enhancing assistive navigation. In this paper, we introduce Guide-LLM, an embodied LLM-based agent designed to assist PVI in navigating large indoor environments. Our approach features a novel text-based topological map that enables the LLM to plan global paths using a simplified environmental representation, focusing on straight paths and right-angle turns to facilitate navigation. Additionally, we utilize the LLM's commonsense reasoning for hazard detection and personalized path planning based on user preferences. Simulated experiments demonstrate the system's efficacy in guiding PVI, underscoring its potential as a significant advancement in assistive technology. The results highlight Guide-LLM's ability to offer efficient, adaptive, and personalized navigation assistance, pointing to promising advancements in this field.