# Humans Coexist, So Must Embodied Artificial Agents

arXiv: https://arxiv.org/abs/2502.04809 · HTML: https://mlsanity.com/paper/2502.04809/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 54 of its 157 references that are in the map.
- First posted on arXiv 7 Feb 2025.

## Builds on (most cited first, 30 of 54)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [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)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [LAION-5B: An open large-scale dataset for training next generation image-text models](https://mlsanity.com/paper/2210.08402/) (2022)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Evaluating Object Hallucination in Large Vision-Language Models](https://mlsanity.com/paper/2305.10355/) (2023)
- [Meta-Learning in Neural Networks: A Survey](https://mlsanity.com/paper/2004.05439/) (2020)
- [A Comprehensive Survey of Continual Learning: Theory, Method and Application](https://mlsanity.com/paper/2302.00487/) (2023)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [Genie: Generative Interactive Environments](https://mlsanity.com/paper/2402.15391/) (2024)
- [Siren's Song in the AI Ocean: A Survey on Hallucination in Large Language Models](https://mlsanity.com/paper/2309.01219/) (2023)
- [Image Augmentation Is All You Need: Regularizing Deep Reinforcement Learning from Pixels](https://mlsanity.com/paper/2004.13649/) (2020)
- [LiT: Zero-Shot Transfer with Locked-image text Tuning](https://mlsanity.com/paper/2111.07991/) (2021)
- [Illuminating search spaces by mapping elites](https://mlsanity.com/paper/1504.04909/) (2015)
- [Diffusion for World Modeling: Visual Details Matter in Atari](https://mlsanity.com/paper/2405.12399/) (2024)
- [Easily Accessible Text-to-Image Generation Amplifies Demographic Stereotypes at Large Scale](https://mlsanity.com/paper/2211.03759/) (2022)
- [Foundation Models in Robotics: Applications, Challenges, and the Future](https://mlsanity.com/paper/2312.07843/) (2023)
- [Cultural Bias and Cultural Alignment of Large Language Models](https://mlsanity.com/paper/2311.14096/) (2023)
- [DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation](https://mlsanity.com/paper/2210.02697/) (2022)
- [Language Models Meet World Models: Embodied Experiences Enhance Language Models](https://mlsanity.com/paper/2305.10626/) (2023)
- [VDT: General-purpose Video Diffusion Transformers via Mask Modeling](https://mlsanity.com/paper/2305.13311/) (2023)
- [A Definition of Continual Reinforcement Learning](https://mlsanity.com/paper/2307.11046/) (2023)
- [Large Language Models as Generalizable Policies for Embodied Tasks](https://mlsanity.com/paper/2310.17722/) (2023)
- [Understanding Domain Randomization for Sim-to-real Transfer](https://mlsanity.com/paper/2110.03239/) (2021)

## Built on by (most cited first, 2 of 2)

- [ReEXplore: Improving MLLMs for Embodied Exploration with Contextualized Retrospective Experience Replay](https://mlsanity.com/paper/2511.19033/) (2025)
- [An Investigation of the NeurIPS and ICML 2025 Position Tracks](https://mlsanity.com/paper/2608.16894/) (2026)

## Abstract (arXiv)

This paper introduces the concept of coexistence for embodied artificial agents and argues that it is a prerequisite for long-term, in-the-wild interaction with humans. Contemporary embodied artificial agents excel in static, predefined tasks but fall short in dynamic and long-term interactions with humans. On the other hand, humans can adapt and evolve continuously, exploiting the situated knowledge embedded in their environment and other agents, thus contributing to meaningful interactions. We take an interdisciplinary approach at different levels of organization, drawing from biology and design theory, to understand how human and non-human organisms foster entities that coexist within their specific environments. Finally, we propose key research directions for the artificial intelligence community to develop coexisting embodied agents, focusing on the principles, hardware and learning methods responsible for shaping them.