Embodied Artificial Intelligence (Embodied AI) is crucial for achieving Artificial General Intelligence (AGI) and serves as a foundation for various applications (e.g., intelligent mechatronics systems, smart manufacturing) that bridge cyberspace and the physical world. Recently, the emergence of Multi-modal Large Models (MLMs) and World Models (WMs) have attracted significant attention due to their remarkable perception, interaction, and reasoning capabilities, making them a promising architecture for embodied agents. In this survey, we give a comprehensive exploration of the latest advancements in Embodied AI. Our analysis firstly navigates through the forefront of representative works of embodied robots and simulators, to fully understand the research focuses and their limitations. Then, we analyze four main research targets: 1) embodied perception, 2) embodied interaction, 3) embodied agent, and 4) sim-to-real adaptation, covering state-of-the-art methods, essential paradigms, and comprehensive datasets. Additionally, we explore the complexities of MLMs in virtual and real embodied agents, highlighting their significance in facilitating interactions in digital and physical environments. Finally, we summarize the challenges and limitations of embodied AI and discuss potential future directions. We hope this survey will serve as a foundational reference for the research community.
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Multi-view 3d object detection network for autonomous driving, CVPR, 2017.
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[[page](Pointnet: Deep learning on point sets for 3d classification and segmentation)]
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ReasonGrounder: LVLM-Guided Hierarchical Feature Splatting for Open-Vocabulary 3D Visual Grounding, CVPR, 2025
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ViGiL3D: A Linguistically Diverse Dataset for 3D Visual Grounding, arXiv, 2025
Austin T. Wang, ZeMing Gong, Angel X. Chang.
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UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulation, ICRA, 2025
Yihe Tang, Wenlong Huang, Yingke Wang, Chengshu Li, Roy Yuan, Ruohan Zhang, Jiajun Wu, Li Fei-Fei
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Grounding 3D Object Affordance with Language Instructions, Visual Observations and Interactions, arxiv, 2025
He Zhu, Quyu Kong, Kechun Xu, Xunlong Xia, Bing Deng, Jieping Ye, Rong Xiong, Yue Wang
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3D-AffordanceLLM: Harnessing Large Language Models for Open-Vocabulary Affordance Detection in 3D Worlds, arxiv, 2025
Hengshuo Chu, Xiang Deng, Qi Lv, Xiaoyang Chen, Yinchuan Li, Jianye Hao, Liqiang Nie
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SeqAfford: Sequential 3D affordance reasoning via Multimodal Large Language Model, CVPR, 2025
Hanqing Wang, Chunlin Yu, Haoyang Luo, Jingyi Yu, Ye Shi, Jingya Wang
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GEAL: Generalizable 3D Affordance Learning with Cross-Modal Consistency, CVPR, 2025
Dongyue Lu, Lingdong Kong, Tianxin Huang, Gim Hee Lee
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GREAT: Geometry-Intention Collaborative Inference for Open-Vocabulary 3D Object Affordance Grounding, arxiv, 2024
Yawen Shao, Wei Zhai, Yuhang Yang, Hongchen Luo, Yang Cao, Zheng-Jun Zha, CVPR, 2025
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LASO: Language-guided affordance segmentation on 3d object, CVPR, 2024
Yicong Li, Na Zhao, Junbin Xiao, Chun Feng, Xiang Wang, Tat-seng Chua
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SceneFun3D: fine-grained functionality and affordance understanding in 3D scenes, CVPR, 2024
Alexandros Delitzas, Ayca Takmaz, Federico Tombari, Robert Sumner, Marc Pollefeys, Francis Engelmann
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Language-conditioned affordance-pose detection in 3d point clouds, ICRA, 2024
Toan Nguyen, Minh Nhat Vu, Baoru Huang, Tuan Van Vo, Vy Truong, Ngan Le, Thieu Vo, Bac Le, Anh Nguyen
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DSPNet: Dual-vision Scene Perception for Robust 3D Question Answering, CVPR, 2025
Jingzhou Luo, Yang Liu, Weixing Chen, Zhen Li, Yaowei Wang, Guanbin Li, Liang Lin
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Learning 2D Invariant Affordance Knowledge for 3D Affordance Grounding, arxiv, 2024
Xianqiang Gao, Pingrui Zhang, Delin Qu, Dong Wang, Zhigang Wang, Yan Ding, Bin Zhao, Xuelong Li
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EmbodiedSAM: Online Segment Any 3D Thing in Real Time, arxiv, 2024
Xiuwei Xu, Huangxing Chen, Linqing Zhao, Ziwei Wang, Jie Zhou, Jiwen Lu
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OpenScan: A Benchmark for Generalized Open-Vocabulary 3D Scene Understanding, arxiv, 2024
Youjun Zhao, Jiaying Lin, Shuquan Ye, Qianshi Pang, Rynson W.H. Lau
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LLMI3D: Empowering LLM with 3D Perception from a Single 2D Image, arxiv, 2024
Fan Yang, Sicheng Zhao, Yanhao Zhang, Haoxiang Chen, Hui Chen, Wenbo Tang, Haonan Lu, Pengfei Xu, Zhenyu Yang, Jungong Han, Guiguang Ding
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MMScan: A Multi-Modal 3D Scene Dataset with Hierarchical Grounded Language Annotations, arxiv, 2024
Ruiyuan Lyu, Tai Wang, Jingli Lin, Shuai Yang, Xiaohan Mao, Yilun Chen, Runsen Xu, Haifeng Huang, Chenming Zhu, Dahua Lin, Jiangmiao Pang
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ShapeLLM: Universal 3D Object Understanding for Embodied Interaction, arxiv, 2024
Zekun Qi, Runpei Dong, Shaochen Zhang, Haoran Geng, Chunrui Han, Zheng Ge, He Wang, Li Yi, Kaisheng Ma
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LEO: An Embodied Generalist Agent in 3D World, ICML, 2024
Jiangyong Huang, Silong Yong, Xiaojian Ma, Xiongkun Linghu, Puhao Li, Yan Wang, Qing Li, Song-Chun Zhu, Baoxiong Jia, and Siyuan Huang
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SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understanding, ECCV, 2024
Baoxiong Jia, Yixin Chen, Huangyue Yu, Yan Wang, Xuesong Niu, Tengyu Liu, Qing Li, and Siyuan Huang
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PQ3D: Unifying 3D Vision-Language Understanding via Promptable Queries, ECCV, 2024
Ziyu Zhu, Zhuofan Zhang, Xiaojian Ma, Xuesong Niu, Yixin Chen, Baoxiong Jia, Zhidong Deng, Siyuan Huang, and Qing Li
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MultiPLY: A Multisensory Object-Centric Embodied Large Language Model in 3D World, CVPR, 2024
Yining Hong, Zishuo Zheng, Peihao Chen, Yian Wang, Junyan Li, Chuang Gan
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MP5: A Multi-modal Open-ended Embodied System in Minecraft via Active Perception, CVPR, 2024
Yiran Qin, Enshen Zhou, Qichang Liu, Zhenfei Yin, Lu Sheng, Ruimao Zhang, Yu Qiao, Jing Shao
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MaskClustering: View Consensus based Mask Graph Clustering for Open-Vocabulary 3D Instance Segmentation, CVPR, 2024
Mi Yan, Jiazhao Zhang, Yan Zhu, He Wang
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TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understanding, CVPR, 2024
Yun Liu, Haolin Yang, Xu Si, Ling Liu, Zipeng Li, Yuxiang Zhang, Yebin Liu, Li Yi
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EDA: Explicit Text-Decoupling and Dense Alignment for 3D Visual Grounding, CVPR, 2023
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Affordpose: A large-scale dataset of hand-object interactions with affordance-driven hand pose, ICCV, 2023
Juntao Jian, Xiuping Liu, Manyi Li, Ruizhen Hu, Jian Liu
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Grounding 3d object affordance from 2d interactions in images, ICCV, 2023
Yuhang Yang, Wei Zhai, Hongchen Luo, Yang Cao, Jiebo Luo, Zheng-Jun Zha
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3d-vista: Pre-trained transformer for 3d vision and text alignment, ICCV, 2023
Ziyu Zhu, Xiaojian Ma, Yixin Chen, Zhidong Deng, Siyuan Huang, and Qing Li
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LeaF: Learning Frames for 4D Point Cloud Sequence Understanding, ICCV, 2023
Yunze Liu, Junyu Chen, Zekai Zhang, Li Yi
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SQA3D: Situated Question Answering in 3D Scenes, ICLR, 2023
Xiaojian Ma, Silong Yong, Zilong Zheng, Qing Li, Yitao Liang, Song-Chun Zhu, and Siyuan Huang
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LLM-Grounder: Open-Vocabulary 3D Visual Grounding with Large Language Model as an Agent, arXix, 2023
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Visual Programming for Zero-shot Open-Vocabulary 3D Visual Grounding, arXix, 2023
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Multi-view transformer for 3D visual grounding, CVPR, 2022
Huang, Shijia and Chen, Yilun and Jia, Jiaya and Wang, Liwei
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Look Around and Refer: 2D Synthetic Semantics Knowledge Distillation for 3D Visual Grounding, CVPR, 2022
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3D-SPS: Single-Stage 3D Visual Grounding via Referred Point Progressive Selection, CVPR, 2022
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Bottom Up Top Down Detection Transformers for Language Grounding in Images and Point Clouds, ECCV, 2022
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Shengheng Deng, Xun Xu, Chaozheng Wu, Ke Chen, Kui Jia
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Huang, Pin-Hao and Lee, Han-Hung and Chen, Hwann-Tzong and Liu, Tyng-Luh
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SAT: 2D Semantics Assisted Training for 3D Visual Grounding, CVPR, 2021
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ScanRefer: 3D Object Localization in RGB-D Scans using Natural Language, ECCV, 2020
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ReferIt3D: Neural Listeners for Fine-Grained 3D Object Identification in Real-World Scenes, ECCV, 2020
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NavSpace: How Navigation Agents Follow Spatial Intelligence Instructions, ICRA, 2026.
Haolin Yang, Yuxing Long, Zhuoyuan Yu, Zihan Yang, Minghan Wang, Jiapeng Xu, Yihan Wang, Ziyan Yu, Wenzhe Cai, Lei Kang, Hao Dong.
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WMNav: Integrating Vision-Language Models into World Models for Object Goal Navigation, IROS, 2025.
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SmartWay: Enhanced Waypoint Prediction and Backtracking for Zero-Shot Vision-and-Language Navigation, IROS, 2025.
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Rui Yang, Hanyang Chen, Junyu Zhang, Mark Zhao, Cheng Qian, Kangrui Wang, Qineng Wang, Teja Venkat Koripella, Marziyeh Movahedi, Manling Li, Heng Ji, Huan Zhang, Tong Zhang.
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MapNav: A Novel Memory Representation via Annotated Semantic Maps for VLM-based Vision-and-Language Navigation, arXiv, 2025.
Lingfeng Zhang, Xiaoshuai Hao, Qinwen Xu, Qiang Zhang, Xinyao Zhang, Pengwei Wang, Jing Zhang, Zhongyuan Wang, Shanghang Zhang, Renjing Xu.
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Towards Long-Horizon Vision-Language Navigation: Platform, Benchmark and Method, CVPR, 2025.
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DivScene: Benchmarking LVLMs for Object Navigation with Diverse Scenes and Objects, arxiv, 2024.
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Bingqian Lin, Yunshuang Nie, Ziming Wei, Jiaqi Chen, Shikui Ma, Jianhua Han, Hang Xu, Xiaojun Chang, Xiaodan Liang.
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CoVLA: Comprehensive Vision-Language-Action Dataset for Autonomous Driving, ArXiv, 2024.
Hidehisa Arai, Keita Miwa, Kento Sasaki, Yu Yamaguchi, Kohei Watanabe, Shunsuke Aoki, Issei Yamamoto.
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FLAME: Learning to Navigate with Multimodal LLM in Urban Environments, ArXiv, 2024.
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Affordances-Oriented Planning using Foundation Models for Continuous Vision-Language Navigation, ArXiv, 2024.
Jiaqi Chen, Bingqian Lin, Xinmin Liu, Xiaodan Liang, Kwan-Yee K Wong.
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Embodied Instruction Following in Unknown Environments, ArXiv, 2024.
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DISCO: Embodied Navigation and Interaction via Differentiable Scene Semantics and Dual-level Control, arxiv, 2024.
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Discuss before moving: Visual language navigation via multi-expert discussions, ICRA, 2024.
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Vision-and-Language Navigation via Causal Learning, CVPR, 2024.
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Wenzhe Cai, Siyuan Huang, Guangran Cheng, Yuxing Long, Peng Gao, Changyin Sun, and Hao Dong.
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OVER-NAV: Elevating Iterative Vision-and-Language Navigation with Open-Vocabulary Detection and StructurEd Representation, CVPR, 2024.
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RILA: Reflective and Imaginative Language Agent for Zero-Shot Semantic Audio-Visual Navigation, CVPR, 2024.
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Towards Learning a Generalist Model for Embodied Navigation, CVPR, 2024.
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Vision-and-Language Navigation via Causal Learning, CVPR, 2024.
Liuyi Wang, Zongtao He, Ronghao Dang, Mengjiao Shen, Chengju Liu, Qijun Chen.
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Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigation, CVPR, 2024.
Mukul Khanna, Yongsen Mao, Hanxiao Jiang, Sanjay Haresh, Brennan Shacklett, Dhruv Batra, Alexander Clegg, Eric Undersander, Angel X. Chang, Manolis Savva.
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SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System, CVPR, 2024.
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SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World, CVPR, 2024.
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Volumetric Environment Representation for Vision-Language Navigation, CVPR, 2024.
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GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigation, CVPR, 2024.
Xiaohan Wang, Yuehu Liu, Xinhang Song, Yuyi Liu, Sixian Zhang, Shuqiang Jiang.
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An Interactive Navigation Method with Effect-oriented Affordance, CVPR, 2024.
Xiaohan Wang, Yuehu Liu, Xinhang Song, Yuyi Liu, Sixian Zhang, Shuqiang Jiang.
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Imagine Before Go: Self-Supervised Generative Map for Object Goal Navigation, CVPR, 2024.
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MemoNav: Working Memory Model for Visual Navigation, CVPR, 2024.
Hongxin Li, Zeyu Wang, Xu Yang, Yuran Yang, Shuqi Mei, Zhaoxiang Zhang.
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Versatile Navigation Under Partial Observability via Value-guided Diffusion Policy, CVPR, 2024.
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Lookahead Exploration with Neural Radiance Representation for Continuous Vision-Language Navigation, CVPR, 2024.
Zihan Wang, Xiangyang Li, Jiahao Yang, Yeqi Liu, Junjie Hu, Ming Jiang, Shuqiang Jiang.
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SPIN: Simultaneous Perception Interaction and Navigation, CVPR, 2024.
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Correctable Landmark Discovery via Large Models for Vision-Language Navigation, TPAMI, 2024.
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Multi-level compositional reasoning for interactive instruction following, AAAI, 2023.
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REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments, CVPR, 2020.
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ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks, CVPR, 2020.
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**Vision-and
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