# How Good are Foundation Models in Step-by-Step Embodied Reasoning?

arXiv: https://arxiv.org/abs/2509.15293 · HTML: https://mlsanity.com/paper/2509.15293/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 37 references that are in the map.
- First posted on arXiv 18 Sep 2025.

## Builds on (most cited first, 26 of 26)

- [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)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [PIQA: Reasoning about Physical Commonsense in Natural Language](https://mlsanity.com/paper/1911.11641/) (2019)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [A Survey on Hallucination in Large Language Models: Principles, Taxonomy, Challenges, and Open Questions](https://mlsanity.com/paper/2311.05232/) (2023)
- [CLEVR: A Diagnostic Dataset for Compositional Language and Elementary Visual Reasoning](https://mlsanity.com/paper/1612.06890/) (2016)
- [LLaVA-Video: Video Instruction Tuning With Synthetic Data](https://mlsanity.com/paper/2410.02713/) (2024)
- [From Recognition to Cognition: Visual Commonsense Reasoning](https://mlsanity.com/paper/1811.10830/) (2018)
- [Video-R1: Reinforcing Video Reasoning in MLLMs](https://mlsanity.com/paper/2503.21776/) (2025)
- [Humans or LLMs as the Judge? A Study on Judgement Biases](https://mlsanity.com/paper/2402.10669/) (2024)
- [REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction](https://mlsanity.com/paper/2306.15724/) (2023)
- [HoloAssist: an Egocentric Human Interaction Dataset for Interactive AI Assistants in the Real World](https://mlsanity.com/paper/2309.17024/) (2023)
- [Cosmos-Reason1: From Physical Common Sense To Embodied Reasoning](https://mlsanity.com/paper/2503.15558/) (2025)
- [The Surprising Effectiveness of Representation Learning for Visual Imitation](https://mlsanity.com/paper/2112.01511/) (2021)
- [LlamaV-o1: Rethinking Step-by-step Visual Reasoning in LLMs](https://mlsanity.com/paper/2501.06186/) (2025)
- [Rapid Exploration for Open-World Navigation with Latent Goal Models](https://mlsanity.com/paper/2104.05859/) (2021)
- [RoboVQA: Multimodal Long-Horizon Reasoning for Robotics](https://mlsanity.com/paper/2311.00899/) (2023)
- [Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets](https://mlsanity.com/paper/2505.15517/) (2025)
- [DriveLMM-o1: A Step-by-Step Reasoning Dataset and Large Multimodal Model for Driving Scenario Understanding](https://mlsanity.com/paper/2503.10621/) (2025)
- [ECBench: Can Multi-modal Foundation Models Understand the Egocentric World? A Holistic Embodied Cognition Benchmark](https://mlsanity.com/paper/2501.05031/) (2025)
- [HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction](https://mlsanity.com/paper/2506.20566/) (2025)

## Built on by (most cited first, 1 of 1)

- [CoVR-R:Reason-Aware Composed Video Retrieval](https://mlsanity.com/paper/2603.20190/) (2026)

## Abstract (arXiv)

Embodied agents operating in the physical world must make decisions that are not only effective but also safe, spatially coherent, and grounded in context. While recent advances in large multimodal models (LMMs) have shown promising capabilities in visual understanding and language generation, their ability to perform structured reasoning for real-world embodied tasks remains underexplored. In this work, we aim to understand how well foundation models can perform step-by-step reasoning in embodied environments. To this end, we propose the Foundation Model Embodied Reasoning (FoMER) benchmark, designed to evaluate the reasoning capabilities of LMMs in complex embodied decision-making scenarios. Our benchmark spans a diverse set of tasks that require agents to interpret multimodal observations, reason about physical constraints and safety, and generate valid next actions in natural language. We present (i) a large-scale, curated suite of embodied reasoning tasks, (ii) a novel evaluation framework that disentangles perceptual grounding from action reasoning, and (iii) empirical analysis of several leading LMMs under this setting. Our benchmark includes over 1.1k samples with detailed step-by-step reasoning across 10 tasks and 8 embodiments, covering three different robot types. Our results highlight both the potential and current limitations of LMMs in embodied reasoning, pointing towards key challenges and opportunities for future research in robot intelligence. Our data and code will be made publicly available.