Foundation models place language throughout embodied agents, but its presence does not show what it contributes or how well that contribution is grounded. This survey separates these two questions. We define five non-exclusive functional roles for language: Specification, Embodied Representation, Action Orchestration, Grounding Regulation, and Execution Coupling. For each role, we trace the path from linguistic content to its embodied consumer and identify the observations or interventions that can test the claimed responsibility. Applying this framework to the reviewed literature reveals a recurring gap between functional use and evidential support. Interpretable or revised linguistic intermediates may be incorrect, go unused, or fail to affect later behavior. Even when actions are directly conditioned on language, system-level success does not by itself isolate language's contribution. We therefore evaluate grounding claim by claim, asking whether the reported evidence supports the specific responsibility assigned to language. Using role claims rather than architectures as the unit of comparison allows us to compare modular and end-to-end embodied agents without extending conclusions beyond the reported evidence.
User instructions are often underspecified because humans rely on implicit assumptions about the surrounding environment. For large language model (LLM) agents operating in information-rich digital and physical environments, these assumptions cannot be inferred from the instruction alone; they must be recovered from the current state of tools, data, interfaces, and observations. Effective execution therefore requires agents to identify missing context, ground it in observed evidence, and carry it forward into subsequent actions. We show that current agents often fail to do so. They act from assumed rather than observed specifics, overlook information they could have gathered, and fail to incorporate evidence that has already been returned. Building on this insight, we propose ACCORD (Action-Conditioned Contextual Grounding), a simple and effective agent framework for adaptive grounding. Before each action, ACCORD actively probes the environment for missing information and integrates relevant context from the agent's trajectory that would otherwise be overlooked. Requiring no additional training or task-success signals, ACCORD improves task-goal completion on AppWorld by up to +20.6 points with GPT-5-mini, from 42.0% to 62.6%, compared to strong baselines. These gains persist with a substantially stronger base model (+10.8 with Claude-4.5-sonnet), an open-weight model (+10.1 with Qwen3.5-27B-FP8), and on the embodied AlfWorld benchmark (+7.4 success rate with GPT-5-mini).
When a tool-using agent is given the same task in a different language, does it still take the same steps? Multilingual evaluation rarely asks: it compares final answers and discards the actions. Yet those actions are the product: they fix cost and latency, decide how the system fails, and are the only auditable part of its behaviour. We make the action policy the measured object across 8 models, 6 parallel benchmarks and 41 languages (2.38M rollouts). The naive measurement fails: five confounds sit between raw trace similarity and any defensible claim, each able to flip a conclusion. Short traces score higher, empty traces score perfectly, unrelated traces agree by chance over half the time, the gap is capped by each model's reproducibility, and a model asked the same question twice in one language answers differently, leaving no baseline. We remove all five, and every correction makes the effect larger. Divergence proves structural, not sampling noise: it survives greedy decoding in every cell and stays flat as temperature rises, even as models grow less self-consistent. Normalised by their own reproducibility, four very different frontier models converge under greedy decoding, each keeping 71-73% of its action policy across languages, with model identity explaining only 5.7% of the variance. Below roughly 10B parameters it breaks down, and the ordering among smaller models is largely an artifact of a chance floor we measure by permutation rather than assume. Agents route non-English tasks through English; this pivot is causally load-bearing, confirmed by a pre-registered prediction across four models, and models will not abandon it when told to. Finally, a single trace-extraction regex, not the model, manufactured a multilingual failure: two worked examples raise one model's measured accuracy twenty-sixfold while its accuracy on readable outputs barely moves.
Modern embodied agents achieve impressive success rates, yet their actual instruction-following ability is far weaker than these numbers suggest. We trace this illusion to a structural property we term low scene entropy: when a visual scene admits only one valid task, language becomes redundant and a policy can score highly while barely using it. We introduce RoboFollow, a diagnostic benchmark with three principles: (1) High Scene Entropy: each training scene supports multiple kinematically distinct task branches, making vision alone insufficient and forcing reliance on language. (2) Hierarchical Diagnostic Protocol: a four-level protocol (L0--L3) progressively perturbs visual layout and semantics, probing whether equivalent instructions yield consistent behavior and distinct ones yield discriminable behavior across spatial relations, attributes, trajectory constraints, and logic. (3) Confound-Controlled Diagnosis: we simplify interaction objects, restrict actions to the trained repertoire and report stage-wise Intent and Execution scores, isolating comprehension from motor execution. Evaluation of nine VLA and WAM policies shows that strong L0 performance, where attained, does not reliably transfer to L1--L3 under our fine-tuning setup. Representative mitigations, including stronger VLM backbones, QA co-training, LangForce, and Classifier-Free Guidance, all fail to close this gap. RoboFollow exposes genuine instruction following as a critical, overlooked bottleneck. Code and dataset are available at https://github.com/AutoLab-SAI-SJTU/RoboFollow and https://huggingface.co/datasets/AutoLab-SJTU/robofollow-data.