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Awesome-Embodied-AI

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A curated, actively maintained list of surveys, papers, datasets, simulators, benchmarks, toolkits, and project pages for embodied AI, robot learning, vision-language-action models, humanoids, and safety.

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Why this repo

  • 330+ curated resources across 10 major research and tooling tracks.
  • Fast entry points for newcomers and practical links for researchers and builders.
  • Community-maintained updates through pull requests and issue reports.

Start here

See CONTRIBUTING.md to add a paper, fix a link, or propose a new section. If this repo is useful, please star it and cite it.

Maintainers

Cheng Yin, Chenyu Yang, Zhiwen Hu, Yunxiang Mi, Weichen Lin, Yimeng Wang.

Recent updates

  • 2026-03-30: added a dedicated Safety section with representative papers across perception, cognition, planning, interaction, and agentic systems.
  • 2025-11-05: expanded robotic code-as-policy and robotic in-context learning coverage.
  • 2025-09-07: refreshed surveys, perception, brain models, VLA models, and embodied RL entries.

Table of Contents

Legend

  • public code, dataset, benchmark, simulator, or toolkit is available.
  • paper only, project page only, or no maintained public repo was found.
  • A few foundational works appear in multiple sections when they clearly span more than one topic.

Surveys

  • Teleoperation of Humanoid Robots: A Survey [Paper Link] [Project Link] [2023]
  • Deep Learning Approaches to Grasp Synthesis: A Review [Paper Link] [Project Link] [2023]
  • A survey of embodied ai: From simulators to research tasks [Paper Link] [2022]
  • A Survey of Embodied Learning for Object-Centric Robotic Manipulation [Paper Link] [Project Link] [2024]
  • A Survey on Vision-Language-Action Models for Embodied AI [Paper Link] [2024]
  • Embodied Intelligence Toward Future Smart Manufacturing in the Era of AI Foundation Model [Paper Link] [2024]
  • Towards Generalist Robot Learning from Internet Video: A Survey [Paper Link] [2024]
  • A Survey on Robotics with Foundation Models: toward Embodied AI [Paper Link] [2024]
  • Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis [Paper Link] [Project Link] [2024]
  • Robot Learning in the Era of Foundation Models: A Survey [Paper Link] [2023]
  • Foundation Models in Robotics: Applications, Challenges, and the Future [Paper Link] [Project Link] [2023]
  • Large Language Models for Robotics: Opportunities, Challenges, and Perspectives [Paper Link] [2024]
  • Awesome-Embodied-Agent-with-LLMs [Project Link] [2024]
  • Awesome Embodied Vision [Project Link] [2024]
  • Awesome Touch [Project Link] [2024]
  • Grasp-Anything Project [Project Link] [2024]
  • GraspNet Project [Project Link] [2024]
  • Deep Generative Models for Offline Policy Learning: Tutorial, Survey, and Perspectives on Future Directions [Paper Link] [Project Link] [2024]
  • Survey of Learning-based Approaches for Robotic In-Hand Manipulation [Paper Link] [2024]
  • A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches [Paper Link] [2024]
  • Neural Scaling Laws in Robotics [Paper Link] [2025]
  • Deep Reinforcement Learning for Robotics: A Survey of Real-World Successes [Paper Link] [2024]
  • Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI [Paper Link] [Project Link] [2024]
  • Controllable Text Generation for Large Language Models: A Survey [Paper Link] [Project Link] [2024]
  • Bridging Language and Action A Survey of Language-Conditioned Robot Manipulation [Paper Link] [2023]

Perception

Brain Models

VLA Models

Embodied AI and RL

  • Aligning Diffusion Behaviors with Q-functions for Efficient Continuous Control [Paper Link] [Project Link] [2024]
  • MENTOR: Mixture-of-Experts Network with Task-Oriented Perturbation for Visual Reinforcement Learning [Paper Link] [Project Link] [2024]
  • Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning [Paper Link] [Project Link] [2024]
  • Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation [Paper Link] [Project Link] [2025]
  • Adaptive Wiping: Adaptive contact-rich manipulation through few-shot imitation learning with Force-Torque feedback and pre-trained object representations [Paper Link] [2024]

Robotic Code as Policy

  • CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity [Paper Link] [Project Link] [2025]

  • Embodied large language models enable robots to complete complex tasks in unpredictable environments [Paper Link] [Project Link] [2025]

  • Maestro: Orchestrating Robotics Modules with Vision-Language Models for Zero-Shot Generalist Robots [Paper Link] [2025]

  • Code as Policies: Language Model Programs for Embodied Control [Paper Link] [Project Link] [2023]

  • Manipulate-Anything: Automating Real-World Robots using Vision-Language Models [Paper Link] [Project Link] [2024]

Robotic In-Context Learning

Interaction and Humanoids

  • Learning to Learn Faster from Human Feedback with Language Model Predictive Control [Paper Link] [Project Link] [2024]

  • ELEGNT: Expressive and Functional Movement Design for Non-anthropomorphic Robot [Paper Link] [Project Link] [2025]

  • Generative Expressive Robot Behaviors using Large Language Models [Paper Link] [Project Link] [2024]

  • A Generative Model to Embed Human Expressivity into Robot Motions [Paper Link] [2024]

  • Exploring the Design Space of Extra-Linguistic Expression for Robots [Paper Link] [2023]

  • Collection of Metaphors for Human-Robot Interaction [Paper Link] [2021]

  • RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrations [Paper Link] [Project Link] [2025]

  • ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills [Paper Link] [Project Link] [2025]

  • ExBody2: Advanced Expressive Humanoid Whole-Body Control [Paper Link] [Project Link] [2024]

  • Expressive Whole-Body Control for Humanoid Robots [Paper Link] [Project Link] [2024]

  • HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots [Paper Link] [Project Link] [2024]

  • OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning [Paper Link] [Project Link] [2024]

  • Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation [Paper Link] [Project Link] [2024]

  • Learning from Massive Human Videos for Universal Humanoid Pose Control [Paper Link] [Project Link] [2024]

  • Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control [Paper Link] [Project Link] [2024]

  • HumanPlus: Humanoid Shadowing and Imitation from Humans [Paper Link] [Project Link] [2024]

  • Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration [Paper Link] [2025]

  • XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration [Paper Link] [2024]

  • EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learning [Paper Link] [Project Link] [2024]

  • HARMON: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions [Paper Link] [Project Link] [2024]

  • ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent Space [Paper Link] [Project Link] [2023]

  • FABG : End-to-end Imitation Learning for Embodied Affective Human-Robot Interaction [Paper Link] [Project Link] [2025]

  • HAPI: A Model for Learning Robot Facial Expressions from Human Preferences [Paper Link] [2025]

  • Human-robot facial coexpression [Paper Link] [2024]

  • Unlocking Human-Like Facial Expressions in Humanoid Robots: A Novel Approach for Action Unit Driven Facial Expression Disentangled Synthesis [Paper Link] [2024]

  • UGotMe: An Embodied System for Affective Human-Robot Interaction [Paper Link] [Project Link] [2024]

  • Knowing Where to Look: A Planning-based Architecture to Automate the Gaze Behavior of Social Robots* [Paper Link] [2022]

  • Naturalistic Head Motion Generation from Speech [Paper Link] [2022]

  • Transitioning to Human Interaction with AI Systems: New Challenges and Opportunities for HCI Professionals to Enable Human-Centered AI [Paper Link] [2023]

  • Roots and Requirements for Collaborative AI [Paper Link] [2023]

  • From Human-Computer Interaction to Human-AI Interaction:New Challenges and Opportunities for Enabling Human-Centered AI [Paper Link] [2021]

  • From explainable to interactive AI: A literature review on current trends in human-AI interaction [Paper Link] [2024]

  • Treat robots as humans? Perspective choice in human-human and human-robot spatial language interaction [Paper Link] [2023]

  • Advances in Large Language Models for Robotics [Paper Link] [2024]

  • Grounding Language to Natural Human-Robot Interaction in Robot Navigation Tasks [Paper Link] [2021]

  • Multi-modal interaction with transformers: bridging robots and human with natural language [Paper Link] [2024]

  • Robot Control Platform for Multimodal Interactions with Humans Based on ChatGPT [Paper Link] [2024]

  • Multi-Grained Multimodal Interaction Network for Sentiment Analysis [Paper Link] [2024]

  • Vision-Language Navigation with Embodied Intelligence: A Survey [Paper Link] [2024]

  • SweepMM: A High-Quality Multimodal Dataset for Sweeping Robots in Home Scenarios for Vision-Language Model [Paper Link] [2024]

  • Recent advancements in multimodal human–robot interaction [Paper Link] [2023]

  • Multi-Modal Data Fusion in Enhancing Human-Machine Interaction for Robotic Applications: A Survey [Paper Link] [2022]

  • LaMI: Large Language Models for Multi-Modal Human-Robot Interaction [Paper Link] [2024]

  • "Help Me Help the AI": Understanding How Explainability Can Support Human-AI Interaction [Paper Link] [2022]

  • Employing Co-Learning to Evaluate the Explainability of Multimodal Sentiment Analysis [Paper Link] [2024]

  • Towards Responsible AI: Developing Explanations to Increase Human-AI Collaboration [Paper Link] [2023]

  • Toward Affective XAI: Facial Affect Analysis for Understanding Explainable Human-AI Interactions [Paper Link] [2021]

Safety

As embodied AI systems are deployed in safety-critical environments (autonomous driving, healthcare, household robotics), ensuring their safety becomes technically challenging and socially indispensable. This section highlights representative works on attacks and defenses across five safety layers. We intentionally select ~80 representative papers rather than the full 400+ to avoid overwhelming this repo -- for the complete collection, see Awesome-Embodied-AI-Safety.

Perception Safety

Visual Perception — adversarial attacks and backdoors on visual recognition, detection, and tracking:

  • Robust physical-world attacks on deep learning visual classification [Paper Link] [2018]
  • Phantom of the ADAS: Securing advanced driver-assistance systems from split-second phantom attacks [Paper Link] [2020]
  • BadEncoder: Backdoor Attacks to Pre-trained Encoders in Self-Supervised Learning [Paper Link] [2022]
  • Understanding Zero-Shot Adversarial Robustness for Large-Scale Models [Paper Link] [2023]
  • AnyAttack: Towards Large-scale Self-supervised Adversarial Attacks on Vision-language Models [Paper Link] [2025]

Auditory Perception — voice command injection, audio adversarial examples, and defenses:

  • Hidden voice commands [Paper Link] [2016]
  • Devil's Whisper: A General Approach for Physical Adversarial Attacks against Commercial Black-box Speech Recognition Devices [Paper Link] [2020]
  • SpecPatch: Human-in-the-loop adversarial audio spectrogram patch attack on speech recognition [Paper Link] [2022]
  • TrojanModel: A practical trojan attack against automatic speech recognition systems [Paper Link] [2023]
  • Antifake: Using adversarial audio to prevent unauthorized speech synthesis [Paper Link] [2023]

Spatial Perception — LiDAR spoofing, point cloud attacks, and 3D perception robustness:

  • Physically realizable adversarial examples for lidar object detection [Paper Link] [2020]
  • Invisible for both Camera and LiDAR [Paper Link] [2021]
  • Exorcising "Wraith": Protecting LiDAR-based Object Detector in Automated Driving System from Appearing Attacks [Paper Link] [2023]
  • Adversary is on the Road: Attacks on Visual SLAM with Robust Perturbations on Point Clouds [Paper Link] [2024]
  • Towards Real-Time Defense against Object-Based LiDAR Attacks in Autonomous Driving [Paper Link] [2025]

Motion Perception — IMU/GPS/radar sensor spoofing and drone attacks:

  • Rocking drones with intentional sound noise on gyroscopic sensors [Paper Link] [2015]
  • WALNUT: Waging doubt on the integrity of MEMS accelerometers with acoustic injection attacks [Paper Link] [2017]
  • Drift with Devil: Security of Multi-Sensor Fusion based Localization in Autonomous Driving under GPS Spoofing [Paper Link] [2020]
  • mmSpoof: Resilient spoofing of automotive millimeter-wave radars using reflect array [Paper Link] [2023]
  • Paralyzing Drones via EMI Signal Injection on Sensory Communication Channels [Paper Link] [2023]

Cross-Modal Perception — attacks exploiting multi-sensor fusion inconsistencies:

  • Security Analysis of Camera-LiDAR Fusion Against Black-Box Attacks on Autonomous Vehicles [Paper Link] [2022]
  • Exploring Adversarial Robustness of LiDAR-Camera Fusion Model in Autonomous Driving [Paper Link] [2023]
  • Malicious Attacks against Multi-Sensor Fusion in Autonomous Driving [Paper Link] [2024]

Cognition Safety

Instruction Understanding — attacks on embodied instruction following and VQA:

  • SQA3D: Situated Question Answering in 3D Scenes [Paper Link] [2023]
  • Can we trust embodied agents? Exploring backdoor attacks against embodied LLM-based decision-making systems [Paper Link] [2024]
  • AGENTSAFE: Benchmarking the Safety of Embodied Agents on Hazardous Instructions [Paper Link] [2025]
  • RoboSafe: Safeguarding Embodied Agents via Executable Safety Logic [Paper Link] [2025]

World Model — hallucination, robustness, and safety in learned world models:

  • SafeDreamer: Safe Reinforcement Learning with World Models [Paper Link] [2024]
  • Multi-Object Hallucination in Vision Language Models [Paper Link] [2024]
  • Learning Latent Dynamic Robust Representations for World Models [Paper Link] [2024]

Reasoning — jailbreaking chain-of-thought and embodied reasoning:

  • Do As I Can, Not As I Say: Grounding Language in Robotic Affordances [Paper Link] [2022]
  • Inner Monologue: Embodied Reasoning through Planning with Language Models [Paper Link] [2022]
  • Agent Smith: A Single Image Can Jailbreak One Million Multimodal LLM Agents Exponentially Fast [Paper Link] [2024]
  • H-CoT: Hijacking the Chain-of-Thought Safety Reasoning Mechanism to Jailbreak Large Reasoning Models [Paper Link] [2025]

Planning Safety

Task Planning — jailbreaking LLM planners and backdooring robotic task plans:

  • Adversarial Attacks on Optimization based Planners [Paper Link] [2021]
  • Jailbreaking LLM-controlled robots [Paper Link] [2024]
  • BadRobot: Jailbreaking embodied LLMs in the physical world [Paper Link] [2024]
  • HASARD: A Benchmark for Vision-Based Safe Reinforcement Learning in Embodied Agents [Paper Link] [2025]
  • Robo-Troj: Backdoor Attacks Against Robotic Manipulation in the Physical World [Paper Link] [2025]

Trajectory Planning — adversarial scenarios for autonomous driving trajectory prediction:

  • SafeBench: A Benchmarking Platform for Safety Evaluation of Autonomous Vehicles [Paper Link] [2022]
  • On adversarial robustness of trajectory prediction for autonomous vehicles [Paper Link] [2022]
  • AdvDo: Realistic adversarial attacks for trajectory prediction [Paper Link] [2022]
  • Robust inverse constrained reinforcement learning under model misspecification [Paper Link] [2024]
  • AdvDiffuser: Generating adversarial safety-critical driving scenarios via guided diffusion [Paper Link] [2024]

Multi-Agent Planning — Byzantine resilience and adversarial communication in swarms:

  • Blockchain Technology Secures Robot Swarms: A Comparison of Consensus Protocols and Their Resilience to Byzantine Robots [Paper Link] [2020]
  • The Emergence of Adversarial Communication in Multi-Agent Reinforcement Learning [Paper Link] [2021]
  • Robot Swarms Neutralize Harmful Behaviors Through Cross-Referencing [Paper Link] [2023]
  • Adversarial Machine Learning Attacks and Defences in Multi-Agent Reinforcement Learning [Paper Link] [2024]

Action and Interaction Safety

Robot Control — adversarial RL, backdoors in policies, and safe VLA models:

  • Robust Adversarial Reinforcement Learning [Paper Link] [2017]
  • Adversarial Policies: Attacking Deep Reinforcement Learning [Paper Link] [2020]
  • Who Is the Strongest Enemy? Towards Optimal and Efficient Evasion Attacks in Deep RL [Paper Link] [2022]
  • Diffusion Policy Attacker: Crafting Adversarial Attacks for Diffusion-based Policies [Paper Link] [2024]
  • Embodied laser attack: leveraging scene priors to achieve agent-based robust non-contact attacks [Paper Link] [2024]
  • SafeVLA: Towards Safety Alignment of Vision-Language-Action Model via Constrained Learning [Paper Link] [2025]
  • AttackVLA: Benchmarking Adversarial and Backdoor Attacks on Vision-Language-Action Models [Paper Link] [2025]

Human-Agent Interaction — perceived safety and psychological risks:

  • Perceived Safety in Physical Human Robot Interaction -- A Survey [Paper Link] [2021]
  • A Taxonomy of Factors Influencing Perceived Safety in Human-Robot Interaction [Paper Link] [2023]
  • PsySafe: A Comprehensive Framework for Psychological-based Attack, Defense, and Evaluation of Multi-agent System Safety [Paper Link] [2024]

Multi-Agent Collaboration — inter-agent infection and collusion:

  • When Autonomy Goes Rogue: Preparing for Risks of Multi-Agent Collusion in Social Systems [Paper Link] [2025]

Agentic System Safety

Tool Use — prompt injection and skill poisoning in tool-using agents:

  • RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesis [Paper Link] [2024]
  • STAC: Stealthy and Targeted Attack on Code Agents [Paper Link] [2025]
  • Prompt Injection Attack to Tool Selection in LLM Agents [Paper Link] [2025]

Memory — memory poisoning, privacy leakage, and prompt extraction:

  • AgentPoison: Red-teaming LLM agents via poisoning memory or knowledge bases [Paper Link] [2024]
  • Ghost of the Past: Identifying and Resolving Privacy Leakage of LLM's Memory Through Proactive User Interaction [Paper Link] [2025]
  • Topology Matters: Measuring Memory Leakage in Multi-Agent LLMs [Paper Link] [2025]
  • Just Ask: Curious Code Agents Reveal System Prompts in Frontier LLMs [Paper Link] [2026]

Self-Evolving — risks from self-improving and hallucinating agents:

  • Agent-SafetyBench: Evaluating the Safety of LLM Agents [Paper Link] [2024]
  • Embodied Red Teaming for Auditing Robotic Foundation Models [Paper Link] [2024]
  • Your Agent May Misevolve: Emergent Risks in Self-evolving LLM Agents [Paper Link] [2025]

Cascading Risks — cross-layer failures, supply chain attacks, and system-level vulnerabilities:

  • Spatiotemporal Attacks for Embodied Agents [Paper Link] [2020]
  • Secure Robotics: Nexus of Safety, Trust, and Cybersecurity [Paper Link] [2024]
  • SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agents [Paper Link] [2024]
  • Automated Discovery of Semantic Attacks in Multi-Robot Navigation [Paper Link] [2025]
  • SkillJect: Automating Stealthy Skill-Based Prompt Injection for Coding Agents [Paper Link] [2026]

Simulators

Datasets

Toolkits

Citation

If this repo helps your work, please use the metadata in CITATION.cff or cite it as:

@misc{yin2025awesomeembodiedai,
  title        = {Awesome-Embodied-AI},
  author       = {Cheng Yin and Chenyu Yang and Zhiwen Hu and Yunxiang Mi and Weichen Lin and Yimeng Wang},
  year         = {2025},
  howpublished = {\url{https://github.com/wadeKeith/Awesome-Embodied-AI}},
  note         = {Curated repository of embodied AI resources}
}

Acknowledgements

This repo builds on and cross-links with several strong community collections:

  1. Embodied_AI_Paper_List
  2. OCRM_survey
  3. Awesome-Generalist-Robots-via-Foundation-Models
  4. Awesome-Embodied-Agent-with-LLMs
  5. Awesome-Robotics-Foundation-Models
  6. Awesome-Humanoid-Robot-Learning

About

Curated embodied AI list: surveys, VLA models, datasets, simulators, humanoids, robot learning, and safety resources.

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reinforcement-learning robotics safety awesome-list datasets robot-learning robot-manipulation simulators embodied-ai humanoid-robotics vision-language-action physical-ai

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