# EmbodiedAgent: A Scalable Hierarchical Approach to Overcome Practical Challenge in Multi-Robot Control

arXiv: https://arxiv.org/abs/2504.10030 · HTML: https://mlsanity.com/paper/2504.10030/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 26 references that are in the map.
- First posted on arXiv 14 Apr 2025.

## Builds on (most cited first, 21 of 21)

- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning](https://mlsanity.com/paper/2307.06135/) (2023)
- [Interactive Language: Talking to Robots in Real Time](https://mlsanity.com/paper/2210.06407/) (2022)
- [AdaPlanner: Adaptive Planning from Feedback with Language Models](https://mlsanity.com/paper/2305.16653/) (2023)
- [RoCo: Dialectic Multi-Robot Collaboration with Large Language Models](https://mlsanity.com/paper/2307.04738/) (2023)
- [SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models](https://mlsanity.com/paper/2309.10062/) (2023)
- [PARTNR: A Benchmark for Planning and Reasoning in Embodied Multi-agent Tasks](https://mlsanity.com/paper/2411.00081/) (2024)
- [Embodied Multi-Modal Agent trained by an LLM from a Parallel TextWorld](https://mlsanity.com/paper/2311.16714/) (2023)
- [Tree-Planner: Efficient Close-loop Task Planning with Large Language Models](https://mlsanity.com/paper/2310.08582/) (2023)
- [Towards Efficient LLM Grounding for Embodied Multi-Agent Collaboration](https://mlsanity.com/paper/2405.14314/) (2024)
- [COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models](https://mlsanity.com/paper/2409.15146/) (2024)
- [Generating Executable Action Plans with Environmentally-Aware Language Models](https://mlsanity.com/paper/2210.04964/) (2022)
- [Husky: A Unified, Open-Source Language Agent for Multi-Step Reasoning](https://mlsanity.com/paper/2406.06469/) (2024)
- [Hierarchical Consensus-Based Multi-Agent Reinforcement Learning for Multi-Robot Cooperation Tasks](https://mlsanity.com/paper/2407.08164/) (2024)
- [Reasoning about Counterfactuals to Improve Human Inverse Reinforcement Learning](https://mlsanity.com/paper/2203.01855/) (2022)

## Built on by (most cited first, 3 of 3)

- [Multi-agent Embodied AI: Advances and Future Directions](https://mlsanity.com/paper/2505.05108/) (2025)
- [Value-Guided Iterative Refinement and the DIQ-H Benchmark for Evaluating VLM Robustness](https://mlsanity.com/paper/2512.03992/) (2025)
- [CometVLA: Co-Training on an Embodied Data Pyramid towards Physical Understanding](https://mlsanity.com/paper/2608.30289/) (2026)

## Abstract (arXiv)

This paper introduces EmbodiedAgent, a hierarchical framework for heterogeneous multi-robot control. EmbodiedAgent addresses critical limitations of hallucination in impractical tasks. Our approach integrates a next-action prediction paradigm with a structured memory system to decompose tasks into executable robot skills while dynamically validating actions against environmental constraints. We present MultiPlan+, a dataset of more than 18,000 annotated planning instances spanning 100 scenarios, including a subset of impractical cases to mitigate hallucination. To evaluate performance, we propose the Robot Planning Assessment Schema (RPAS), combining automated metrics with LLM-aided expert grading. Experiments demonstrate EmbodiedAgent's superiority over state-of-the-art models, achieving 71.85% RPAS score. Real-world validation in an office service task highlights its ability to coordinate heterogeneous robots for long-horizon objectives.