# Does Visual Grounding Enhance the Understanding of Embodied Knowledge in Large Language Models?

arXiv: https://arxiv.org/abs/2510.16924 · HTML: https://mlsanity.com/paper/2510.16924/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in MLLM training and visual instruction tuning, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 26 of its 64 references that are in the map.
- First posted on arXiv 19 Oct 2025.

## Placed in

- Multimodal LLMs / vision-language models / [MLLM training and visual instruction tuning](https://mlsanity.com/mllm/mllm-training-and-visual-instruction-tuning/)

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

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Judging LLM-as-a-Judge with MT-Bench and Chatbot Arena](https://mlsanity.com/paper/2306.05685/) (2023)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [Efficient Estimation of Word Representations in Vector Space](https://mlsanity.com/paper/1301.3781/) (2013)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [Distributed Representations of Words and Phrases and their Compositionality](https://mlsanity.com/paper/1310.4546/) (2013)
- [Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context](https://mlsanity.com/paper/2403.05530/) (2024)
- [MMBench: Is Your Multi-modal Model an All-around Player?](https://mlsanity.com/paper/2307.06281/) (2023)
- [MMMU: A Massive Multi-discipline Multimodal Understanding and Reasoning Benchmark for Expert AGI](https://mlsanity.com/paper/2311.16502/) (2023)
- [LlamaFactory: Unified Efficient Fine-Tuning of 100+ Language Models](https://mlsanity.com/paper/2403.13372/) (2024)
- [CLEVR: A Diagnostic Dataset for Compositional Language and Elementary Visual Reasoning](https://mlsanity.com/paper/1612.06890/) (2016)
- [VisualBERT: A Simple and Performant Baseline for Vision and Language](https://mlsanity.com/paper/1908.03557/) (2019)
- [Experience Grounds Language](https://mlsanity.com/paper/2004.10151/) (2020)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [LLM-Grounder: Open-Vocabulary 3D Visual Grounding with Large Language Model as an Agent](https://mlsanity.com/paper/2309.12311/) (2023)
- [Binding Touch to Everything: Learning Unified Multimodal Tactile Representations](https://mlsanity.com/paper/2401.18084/) (2024)
- [A Touch, Vision, and Language Dataset for Multimodal Alignment](https://mlsanity.com/paper/2402.13232/) (2024)
- [Visual Programming for Zero-shot Open-Vocabulary 3D Visual Grounding](https://mlsanity.com/paper/2311.15383/) (2023)
- [Provable Limitations of Acquiring Meaning from Ungrounded Form: What Will Future Language Models Understand?](https://mlsanity.com/paper/2104.10809/) (2021)
- [Octopi: Object Property Reasoning with Large Tactile-Language Models](https://mlsanity.com/paper/2405.02794/) (2024)
- [Does Vision-and-Language Pretraining Improve Lexical Grounding?](https://mlsanity.com/paper/2109.10246/) (2021)
- [Leverage Points in Modality Shifts: Comparing Language-only and Multimodal Word Representations](https://mlsanity.com/paper/2306.02348/) (2023)
- [Intuitive Contrasting Map for Antonym Embeddings](https://mlsanity.com/paper/2004.12835/) (2020)

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

- [How does fine-tuning improve sensorimotor representations in large language models?](https://mlsanity.com/paper/2603.03313/) (2026)
- [Tanawpamana: Benchmarking Vision-Language Models on Philippine Cultural Heritage Sites](https://mlsanity.com/paper/2610.17596/) (2026)

## Abstract (arXiv)

Despite significant progress in multimodal language models (LMs), it remains unclear whether visual grounding enhances their understanding of embodied knowledge compared to text-only models. To address this question, we propose a novel embodied knowledge understanding benchmark based on the perceptual theory from psychology, encompassing visual, auditory, tactile, gustatory, olfactory external senses, and interoception. The benchmark assesses the models' perceptual abilities across different sensory modalities through vector comparison and question-answering tasks with over 1,700 questions. By comparing 30 state-of-the-art LMs, we surprisingly find that vision-language models (VLMs) do not outperform text-only models in either task. Moreover, the models perform significantly worse in the visual dimension compared to other sensory dimensions. Further analysis reveals that the vector representations are easily influenced by word form and frequency, and the models struggle to answer questions involving spatial perception and reasoning. Our findings underscore the need for more effective integration of embodied knowledge in LMs to enhance their understanding of the physical world.