Embodied Reasoning

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Embodied reasoning connects what an agent sees with what it knows about space, time, objects, and physical cause and effect, so it can choose actions and adapt when the world changes. Approaches include vision-language and vision-language-action models, structured scene graphs and world models, language-based reasoning, memory and reflection, and reinforcement learning. Benchmarks test navigation, manipulation, and long-horizon tasks in simulators such as ALFRED and BEHAVIOR as well as on real robots. Models are improving, but fluent plans and strong benchmark scores do not always translate into grounded, reliable action, especially under changing conditions or partial observation.

Latest papers

78 papers12 papers in the last four weeks, up 100% on the four weeks before. 0.1% of all new papers.

EmbodiExp: Compositional Experience Transfer for Embodied Agents
Oct 29, 2026Zhifeng Gu, Ying Chen, Rui Jiang +2Transfer Learning Embodied Reasoning
Spatial Intelligence Group, The Hong Kong Polytechnic University · XPENG Robotics
Embodied Playground: A Long-Horizon Agentic Robotics Benchmark for Physical, Strategic, and Spatial Reasoning
Oct 19, 2026Feng Chen, Pei Zhou, Lixuan He +7Embodied Agent Benchmarks Long-Horizon Agent Evaluation
HKU · Sharpa · Tsinghua University +3
Anvil: Scaling Embodied Spatial Intelligence through Knowledge Recirculation
Oct 15, 2026Weilin Ruan, Bohan Zhou, Jinghao Li +12Embodied Spatial Reasoning Embodied Reasoning
The Chinese University of Hong Kong · The Hong Kong University of Science and Technology (Guangzhou)
Plan-Bench: Can Existing VLMs Go Well Beyond Perception to Reason and Plan in Embodied Worlds?
Oct 13, 2026Juntong Feng, Qingan Liu, Jingru Dong +8VLM Reasoning VLMs for Robotics
Dalian University of Technology · Nanyang Technological University
ABot-ER: Unified Embodied Reasoning through Agentic Data-Model Co-Evolution
Oct 13, 2026Qiuyu Ding, Heng-Da Xu, Changda Xia +14Embodied Reasoning Robot Foundation Models
AMAP CV Lab Alibaba Group
Towards a Systematic Study of Embodied System 2 over Full Task Execution Cycles
Oct 13, 2026Yuxi Wei, Ye Fang, Shuai Yang +3Embodied Reasoning AI Agent Evaluation
The University of Hong Kong · Morphi Robot · Fudan University +1
MemAct: Streaming Spatial Understanding with Memory and Active Exploration
Oct 13, 2026Yuxi Wei, Wei Huang, Qirui Chen +2Memory-Augmented Agents Embodied Reasoning
The University of Hong Kong · Shanghai Jiao Tong University · Yinwang Intelligent Technology Co. Ltd
Spatial Latent Reasoning for Embodied Reference Understanding
Oct 7, 2026Ling Li, Jianhui Zhong, Wei Liu +3Vision-Language Grounding Continuous Latent Reasoning
Tsinghua University · Dalian University of Technology · University of Science and Technology of China
VeriFine: Scaling Verification for Self-Improvement in Embodied Reasoning
Oct 6, 2026Zewei Zhou, Rachel Luo, Yulong Cao +10Reinforcement Learning with Verifiable Rewards Self-Improving Agents
NVIDIA · UCLA · Work done during an internship at NVIDIA +2
When Reasoning Helps Action: Monitoring and Steering Chain-of-Thought in Vision-Language-Action Policies
Sep 30, 2026Sathwik Karnik, Joseph JR. Lee, Aryaman Gupta +1VLMs for Autonomous Driving Vision-Language-Action Models
Safe and Intelligent Autonomy Lab, Stanford University
EgoTools: Towards Tool-Centric Reasoning in Real-World Egocentric Videos
Sep 30, 2026Shulin Tian, Junsu Kim, Shuai Liu +17Tool-Use Evaluation Tool Use in VLMs
S-Lab, Nanyang Technological University · A*STAR · KAIST +4
SafeVantage: Vantage-Aware Memory for Reliable Embodied Decisions
Sep 29, 2026Sean Hardesty Lewis, Zuyi Guo, Benwang Chen +3Next-Best-View Planning Selective Prediction
Massachusetts Institute of Technology · Korea Advanced Institute of Science and Technology · Nanyang Technological University +1
JRDB-AVR: An Active Visual Reasoning Benchmark for Embodied Agents in Real-World Environments
Sep 28, 2026Zhixi Cai, Fucai Ke, Sukai Huang +4AI Agent Benchmarks Visually Grounded Reasoning
Monash University
VIDEAS: Distilling Explicit Action Semantics from Demonstration Videos for World Models via Prior-Guided Simulation
Sep 27, 2026Jianan Wang, Haoquan Zhai, Siyang Zhang +7World Model Learning World Models for Robotics
College of Computer Science and Technology, National University of Defense Technology · School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences · Intelligent Game and Decision Lab (IGDL) +1
X-Planner: Event-Structured Task Planning for Embodied Intelligence
Sep 21, 2026Howard Lu, Shalfun Li, Porter Pan +30Robot Task Planning VLM Reasoning
X Square Robot Team
A Mathematical Model of Motivated Emotional Mind - Cognitive Embodied System
Sep 17, 2026Wiesław L. Galus, Janusz A. StarzykCognitive Architectures for AI Agents Computational Cognitive Modeling
ORDER: A Fictitious-World Benchmark for Domain-Adaptive Embodied AI
Sep 13, 2026Sai Krishna Reddy Sathi, Anuj TiwariEmbodied AI Embodied Reasoning
Indian Institute of Technology Madras, India
ReactHuman: A Physics-Grounded Benchmark for Human-Like Reactive Decision-Making in Embodied Multimodal LLMs
Sep 9, 2026Yizhan Li, Jianxin You, Mengyang Xiong +5Physical Reasoning Robotics Simulation
Université de Montréal · Mila – Quebec AI Institute · McGill University +2
One Word, Different Action: A Real-Robot Benchmark for Language-Conditioned Embodied Reasoning
Sep 4, 2026Yiwei Liu, Luwei Yang, Shunbo LeiLanguage-Conditioned Robot Control Embodied Reasoning
School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, Guangdong 518172, China · Shenzhen Research Institute of Big Data (SRIBD), Shenzhen 518172, China
ParallelWorld: Test-Time Scaling for Agentic Embodied Reasoning
Aug 24, 2026Min Chen, Shengjun Zhang, Yuxin Li +4Embodied Reasoning Test-Time Scaling
Tsinghua University · National University of Singapore
CEAA: A Cognitive Embodied Agents Architecture for Interactive Computing Systems
Aug 10, 2026Aimilios Hadjiliasi, Louis NisiotisCognitive Architectures for AI Agents Embodied Reasoning
University of Central Lancashire, Cyprus · InSPIRE Research Center
Capek 0.5: An Execution-Centric Vision-Language Model for Embodied Intelligence
Aug 7, 2026Ying Chen, Weizhen Li, Zhe Hu +7VLMs for Robotics Reasoning for VLA Models
XPENG ROBOTICS
Mimir: A Neuro-Symbolic Memory System with Dynamic Grounding for Embodied Agents in Interactive Environments
Aug 5, 2026Haoming Xu, Zhenlin He, Hengyi Wang +2Neuro-Symbolic Reasoning Long-Horizon Agent Tasks
PrimeBot Research Institute · Peking University
PACE: Adaptive Budget Allocation for Time-Efficient Embodied Planning
Aug 4, 2026Yuchen Huang, Xijiang Ying, Zhenhua Ma +14Large Language Model-Based Robot Planning LLM Inference Scheduling
ZTE Corporation · Shanghai, China
Embodied Agents Take Control: Minimal-Interface Zero-Shot Agents Rival Industrial-Scale Policies in Vision-and-Language Navigation
Jul 28, 2026Jian Zhou, Xunyi Zhao, Gengze Zhou +4Embodied Navigation Language Model-Based Control
Australian Institute for Machine Learning, Adelaide University · Responsible AI Research Centre · CSIRO Data61 +1
Embodied GPT-5.1: Evidence of a World Model?
Jul 27, 2026Roberto Spinelli, Thiago C. MartinsLLM Grounding Mobile Robotics
Grad. Studies in Mechanical Eng. · Department of Mechatronics
MetaSpace: Metamorphic Testing for Spatial Cognition in Embodied Agents
Jul 26, 2026Gengyang Xu, Dongwei Xiao, Yiteng Peng +1Metamorphic Testing Embodied AI
Hong Kong University of Science and Technology, China
RynnBrain 1.1: Towards More Capable and Generalizable Embodied Foundation Model
Jul 20, 2026Kehan Li, Bohan Hou, Minghao Zhu +283D Visual Grounding Cross-Embodiment Robot Learning
1DAMO Academy, Alibaba Group
MEMORA: Embodied Action Memory from Egocentric Videos for Reasoning and Planning
Jul 15, 2026Zihao Yu, Xiu Yuan, Chongjie ZhangLong-Term Memory for Embodied Agents Embodied AI
Washington University in St. Louis
RxBrain: Embodied Cognition Foundation Model with Joint Language-Visual Reasoning and Imagination
Jul 15, 2026Haotian Liang, Mingkang Chen, Yufei Huang +27Unified Multimodal Models Robot Foundation Models
Tencent Robotics X Team · Futian Laboratory · Tencent Hy Team

Oct 29, 2026J/K move · Enter open · S save

EmbodiExp: Compositional Experience Transfer for Embodied Agents

Zhifeng Gu, Ying Chen, Rui Jiang, Lei Yi+1

Spatial Intelligence Group, The Hong Kong Polytechnic University · XPENG Robotics

Transfer Learning Embodied Reasoning

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Experience can help embodied agents turn high-level plans into grounded actions, but transferring it across tasks remains challenging: previously effective strategies may be inapplicable to the current state or fail to produce their intended outcomes. We present EmbodiExp, a framework for constructing transferable experiences and composing them online during embodied task execution. Our key observation is that tasks often share subgoals whose completion can be assessed independently of overall task success. We therefore introduce an outcome-grounded subgoal experience that specifies a subgoal, applicability conditions, an adaptable policy, and a verifiable outcome. During execution, applicable experiences guide action generation, while verified outcomes can establish the conditions required by subsequent experiences, enabling online composition. Subgoal-level outcome attribution further enables failure utilization: failed trajectories can still contribute verified local successes and condition-specific guidance on actions to avoid. Experiments on multiple embodied benchmarks under a fold-based protocol with frozen experience banks demonstrate the effectiveness of EmbodiExp.