# P3: Toward Versatile Embodied Agents

arXiv: https://arxiv.org/abs/2508.07033 · HTML: https://mlsanity.com/paper/2508.07033/

## Key facts

- Cited by 2 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 35 of its 48 references that are in the map.
- First posted on arXiv 9 Aug 2025.

## 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 35)

- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data](https://mlsanity.com/paper/2111.08897/) (2021)
- [MM-Eureka: Exploring the Frontiers of Multimodal Reasoning with Rule-based Reinforcement Learning](https://mlsanity.com/paper/2503.07365/) (2025)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [Cosmos-Reason1: From Physical Common Sense To Embodied Reasoning](https://mlsanity.com/paper/2503.15558/) (2025)
- [RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concrete](https://mlsanity.com/paper/2502.21257/) (2025)
- [Unified Vision-Language-Action Model](https://mlsanity.com/paper/2506.19850/) (2025)
- [MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting](https://mlsanity.com/paper/2403.03174/) (2024)
- [A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation](https://mlsanity.com/paper/2507.05331/) (2025)
- [Cradle: Empowering Foundation Agents Towards General Computer Control](https://mlsanity.com/paper/2403.03186/) (2024)
- [The All-Seeing Project V2: Towards General Relation Comprehension of the Open World](https://mlsanity.com/paper/2402.19474/) (2024)
- [RoboBrain 2.0 Technical Report](https://mlsanity.com/paper/2507.02029/) (2025)
- [VLN-R1: Vision-Language Navigation via Reinforcement Fine-Tuning](https://mlsanity.com/paper/2506.17221/) (2025)
- [Housekeep: Tidying Virtual Households using Commonsense Reasoning](https://mlsanity.com/paper/2205.10712/) (2022)
- [AllenAct: A Framework for Embodied AI Research](https://mlsanity.com/paper/2008.12760/) (2020)
- [A0: An Affordance-Aware Hierarchical Model for General Robotic Manipulation](https://mlsanity.com/paper/2504.12636/) (2025)
- [Visual Embodied Brain: Let Multimodal Large Language Models See, Think, and Control in Spaces](https://mlsanity.com/paper/2506.00123/) (2025)
- [Agentic Robot: A Brain-Inspired Framework for Vision-Language-Action Models in Embodied Agents](https://mlsanity.com/paper/2505.23450/) (2025)
- [RoboOS: A Hierarchical Embodied Framework for Cross-Embodiment and Multi-Agent Collaboration](https://mlsanity.com/paper/2505.03673/) (2025)
- [Embodied VideoAgent: Persistent Memory from Egocentric Videos and Embodied Sensors Enables Dynamic Scene Understanding](https://mlsanity.com/paper/2501.00358/) (2024)
- [Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills](https://mlsanity.com/paper/2503.12533/) (2025)
- [LLM-enhanced Scene Graph Learning for Household Rearrangement](https://mlsanity.com/paper/2408.12093/) (2024)
- [LOVON: Legged Open-Vocabulary Object Navigator](https://mlsanity.com/paper/2507.06747/) (2025)

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

- [VLA^2: Empowering Vision-Language-Action Models with an Agentic Framework for Unseen Concept Manipulation](https://mlsanity.com/paper/2510.14902/) (2025)
- [Complementary Information Guided Occupancy Prediction via Multi-Level Representation Fusion](https://mlsanity.com/paper/2510.13198/) (2025)

## Abstract (arXiv)

Embodied agents have demonstrated promising capabilities in interacting with physical environments. Yet, versatile embodied agents face three core bottlenecks: dynamic environmental perception, open tool access, and complex multi-task planning. Prior methods depend entirely on tool feedback to track scene changes and task progress, leading to poor real-time adaptability, error accumulation, and limited tool compatibility; multi-task scheduling is also understudied due to the difficulty of handling task dependencies and conflicting priorities. To address these limitations, we propose mathcal P3, a unified framework integrating real-time perception and dynamic scheduling, which perceives task-relevant information actively from the environment, plugs and utilizes tools without feedback requirements, and plans multi-task execution by prioritizing urgent tasks and dynamically adjusting task order based on dependencies. We additionally build the Active Task Perception (ATP) benchmark to quantitatively measure VLMs' capacity for active scene understanding and task proposal. Evaluations on the ATP benchmark verify that multiple VLMs can detect and propose active tasks, and comprehensive real-world robot experiments prove our method bridges the gap between benchmarks and practical deployment, yielding transferable general-purpose embodied agents. Code and data are available at https://github.com/fz-zsl/P3.