# Navigating Motion Agents in Dynamic and Cluttered Environments through LLM Reasoning

arXiv: https://arxiv.org/abs/2503.07323 · HTML: https://mlsanity.com/paper/2503.07323/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 41 of its 45 references that are in the map.
- First posted on arXiv 10 Mar 2025.

## Placed in

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

## Builds on (most cited first, 30 of 41)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Measuring Mathematical Problem Solving With the MATH Dataset](https://mlsanity.com/paper/2103.03874/) (2021)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [Gemma 2: Improving Open Language Models at a Practical Size](https://mlsanity.com/paper/2408.00118/) (2024)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [Describe, Explain, Plan and Select: Interactive Planning with Large Language Models Enables Open-World Multi-Task Agents](https://mlsanity.com/paper/2302.01560/) (2023)
- [RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics](https://mlsanity.com/paper/2406.10721/) (2024)
- [OmniControl: Control Any Joint at Any Time for Human Motion Generation](https://mlsanity.com/paper/2310.08580/) (2023)
- [Stochastic Scene-Aware Motion Prediction](https://mlsanity.com/paper/2108.08284/) (2021)
- [Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks](https://mlsanity.com/paper/1906.08291/) (2019)
- [Large Language Models as General Pattern Machines](https://mlsanity.com/paper/2307.04721/) (2023)
- [AdaPlanner: Adaptive Planning from Feedback with Language Models](https://mlsanity.com/paper/2305.16653/) (2023)
- [ADaPT: As-Needed Decomposition and Planning with Language Models](https://mlsanity.com/paper/2311.05772/) (2023)
- [ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigation](https://mlsanity.com/paper/2301.13166/) (2023)
- [L3MVN: Leveraging Large Language Models for Visual Target Navigation](https://mlsanity.com/paper/2304.05501/) (2023)
- [Synthesizing Diverse Human Motions in 3D Indoor Scenes](https://mlsanity.com/paper/2305.12411/) (2023)
- [Synthesizing Physical Character-Scene Interactions](https://mlsanity.com/paper/2302.00883/) (2023)
- [TLControl: Trajectory and Language Control for Human Motion Synthesis](https://mlsanity.com/paper/2311.17135/) (2023)
- [Lifelong Multi-Agent Path Finding in Large-Scale Warehouses](https://mlsanity.com/paper/2005.07371/) (2020)
- [Generating Human Interaction Motions in Scenes with Text Control](https://mlsanity.com/paper/2404.10685/) (2024)
- [SpartQA: : A Textual Question Answering Benchmark for Spatial Reasoning](https://mlsanity.com/paper/2104.05832/) (2021)
- [Evaluating Cognitive Maps and Planning in Large Language Models with CogEval](https://mlsanity.com/paper/2309.15129/) (2023)
- [Mind's Eye of LLMs: Visualization-of-Thought Elicits Spatial Reasoning in Large Language Models](https://mlsanity.com/paper/2404.03622/) (2024)
- [SpatialCoT: Advancing Spatial Reasoning through Coordinate Alignment and Chain-of-Thought for Embodied Task Planning](https://mlsanity.com/paper/2501.10074/) (2025)
- [Can Large Language Models be Good Path Planners? A Benchmark and Investigation on Spatial-temporal Reasoning](https://mlsanity.com/paper/2310.03249/) (2023)

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

- [LLaMo: Scaling Pretrained Language Models for Unified Motion Understanding and Generation with Continuous Autoregressive Tokens](https://mlsanity.com/paper/2602.12370/) (2026)
- [Evaluating Few-Shot Temporal Reasoning of LLMs for Human Activity Prediction in Smart Environments](https://mlsanity.com/paper/2602.11176/) (2026)

## Abstract (arXiv)

This paper advances motion agents empowered by large language models (LLMs) toward autonomous navigation in dynamic and cluttered environments, significantly surpassing first and recent seminal but limited studies on LLM's spatial reasoning, where movements are restricted in four directions in simple, static environments in the presence of only single agents much less multiple agents. Specifically, we investigate LLMs as spatial reasoners to overcome these limitations by uniformly encoding environments (e.g., real indoor floorplans), agents which can be dynamic obstacles and their paths as discrete tokens akin to language tokens. Our training-free framework supports multi-agent coordination, closed-loop replanning, and dynamic obstacle avoidance without retraining or fine-tuning. We show that LLMs can generalize across agents, tasks, and environments using only text-based interactions, opening new possibilities for semantically grounded, interactive navigation in both simulation and embodied systems.