The paper introduces FISER, a framework that explicitly infers human goals and intentions before planning actions for AI agents to follow natural language instructions in collaborative embodied tasks. It employs Transformer-based models and is evaluated on the HandMeThat benchmark, outperforming end-to-end approaches and strong baselines such as Chain of Thought prompting. FISER achieves state‑of‑the‑art performance on this embodied social reasoning task.
By Yanming Wan, Yue Wu, Yiping Wang, Jiayuan Mao, Natasha Jaques
arXiv:2606. 27826v1 Announce Type: new Abstract: Multimodal large language models (MLLMs) are increasingly deployed as embodied planners in egocentric environments, where task success requires not only achieving instructed goals but also acting in socially appropriate ways.
By Shiyun Zhao, Xinwei Song, Tianyu Guo, Xiaomeng Gao, Mingyuan Liu, Xu Han, Yuanyuan Zhang, Zhenliang Zhang, Xue Feng, Bo Dai
arXiv:2606. 17924v1 Announce Type: cross Abstract: Current Vision-Language-Action (VLA) models face a trade-off between efficient action generation and explicit deliberation.
By Bochen Yang, Lianlei Shan
The paper introduces Instruct-to-Act, a system that decouples high‑level planning from low‑latency control by combining a vision‑language model (VLM) planner with a world‑model controller. The VLM generates sparse, high‑level text instructions, while the controller executes them autonomously at high frequency. Experiments across seven embodied environments, including multi‑agent settings, show that this approach outperforms both controller‑only and direct VLM action‑generation methods, maintains fast control, and allows swapping in different pretrained VLM planners without fine‑tuning.
arXiv:2608. 08523v1 Announce Type: new Abstract: Multimodal embodied agents are increasingly required to solve long-horizon tasks by integrating visual observations, textual goals, and interaction history into closed-loop decision making.
By Pengfei Xu, Yong Liu, Xiaoya Nan, Qiang Yang, Peilan Xu
The paper introduces Instruct-to-Act, a system that decouples planning and control by combining a vision‑language model (VLM) planner with a world‑model controller. The VLM generates sparse, high‑level text instructions, while the controller executes them at high frequency, trained via relabeling rollouts with synthetic instructions and joint optimization of behavior cloning, reward, and world‑model objectives. Across seven embodied environments—including multi‑agent settings—this approach outperforms controller‑only and direct VLM action methods, maintains fast control, and allows swapping pretrained VLM planners without fine‑tuning, achieving competitive results with strong baselines on most tasks.
By Zineng Tang, Kelsey R. Allen, Sjoerd van Steenkiste, Ishita Dasgupta, Alane Suhr
arXiv:2606. 05533v1 Announce Type: new Abstract: Existing robot planning systems rely on appearance-based reasoning, where visual observations are encoded into latent spaces organized around object appearances (e.
By Rohan Siva, Neel P. Bhatt, Yunhao Yang, Seoyoung Lee, Nishant Gadde, Christian Ellis, Alvaro Velasquez, Zhangyang Wang, Ufuk Topcu
arXiv:2607. 05377v1 Announce Type: cross Abstract: While recent Vision-Language-Action (VLA) models show promise toward generalist manipulation policies, they struggle with long-horizon tasks due to their Markovian nature-relying solely on current observations.
By Jiaqi Peng, Xiqian Yu, Delin Feng, Yuqiang Yang, Wenzhe Cai, Jing Xiong, Ganlin Yang, Jinliang Zheng, Jiafei Cao, Xueyuan Wei, Jiangmiao Pang, Yuan Shen, Tai Wang
Embodied cognition requires agents to connect high-level task reasoning with the physical states to be achieved. We introduce Hy-Embodied-RxBrain, an embodied cognition foundation model with joint language-visual reasoning and imagination.
arXiv:2607. 02542v1 Announce Type: new Abstract: General-purpose embodied agents must understand multimodal instructions, anticipate how their environment will evolve, and produce precise control actions over extended horizons.
By Yuan Zhang, Jingfei Ni, Guanchen Lu, Shiqi Zhang, Qingshan Xu, Chi Liu, Xin Nie, Wenjie Xu, Lin Gao, Zhiyuan Cheng, Mingxin Zhou, Jiajia Wu, Diyuan Liu, Jia Pan, Chao Ji
arXiv:2607. 13621v1 Announce Type: new Abstract: Language-guided human following is an important capability for embodied agents, but existing benchmarks typically assume that the target person is visible at the start of an episode.
By Kun Yu, Jianhua Yang, Yixiang Chen, Changwei Wang, Hongyuan Yu, Yan Huang, Fushuo Huo, Ya Jing, Zhumin Chen, Keji He
arXiv:2607. 14187v1 Announce Type: new Abstract: Embodied cognition requires agents to connect high-level task reasoning with the physical states to be achieved.
By Haotian Liang, Mingkang Chen, Yufei Huang, Yuchun Guo, Xiaomeng Zhu, Xiangli Shi, Kaixuan Wang, Yunxuan Mao, Weijie Zhou, Ling Chen, Shirong Zeng, Yueyu Long, Yuchen Si, Yajuan Zhu, Xingyu Zhou, Minghui Wang, Wanjia He, Xin Yang, Lingzhu Xiang, Zhiqing Liu, Bohan Ma, Xiran Huang, Tianshuo Yang, Zhiheng Liu, Xuantang Xiong, Zisheng Lu, Ping Luo, Yao Mu, Han Hu, Zhengyou Zhang