A Comprehensive Review of Generative Physical Artificial Intelligence

arXiv:2609.18111v1 Announce Type: cross Abstract: The integration of large-scale foundation models with physical embodiments has led to significant advancements in robotics known as Generative Physical Artificial Intelligence (GPAI). These agentic AI systems autonomously perceive, reason, and act in complex real-world situations. This survey comprehensively analyzes GPAI systems, focusing on their architectural foundations, current applications, and key limitations. We introduce a taxonomy of five distinct approaches: Robot Foundation Models (RFMs) for cross-platform skill transfer; Vision-Language Action (VLA) models for end-to-end multi-modal perception and control; Large Behavior Models (LBMs) for human-like movement generation; Diffusion Policy Models (DPMs) for diffusion model-based temporally coherent action generation; and World Foundation Models (WFMs) for physics-compliant simulation and data generation. We examine how these approaches complement each other: WFMs generate training data for VLAs and DPMs, RFMs enable cross-platform deployment of learned policies, while LBMs provide motion priors for natural behavior. Through examples across autonomous vehicles, industrial automation, healthcare robotics, and humanoid systems, we identify significant performance improvements and summarize promising research directions in data-efficient learning, sim-to-real transfer, edge-compatible architectures, and safety frameworks. These insights advance embodied AI for IoT-connected environments where intelligent agents interact with networked sensors, actuators, and edge devices.

Abstract:The integration of large-scale foundation models with physical embodiments has led to significant advancements in robotics known as Generative Physical Artificial Intelligence (GPAI). These agentic AI systems autonomously perceive, reason, and act in complex real-world situations. This survey comprehensively analyzes GPAI systems, focusing on their architectural foundations, current applications, and key limitations. We introduce a taxonomy of five distinct approaches: Robot Foundation Models (RFMs) for cross-platform skill transfer; Vision-Language Action (VLA) models for end-to-end multi-modal perception and control; Large Behavior Models (LBMs) for human-like movement generation; Diffusion Policy Models (DPMs) for diffusion model-based temporally coherent action generation; and World Foundation Models (WFMs) for physics-compliant simulation and data generation. We examine how these approaches complement each other: WFMs generate training data for VLAs and DPMs, RFMs enable cross-platform deployment of learned policies, while LBMs provide motion priors for natural behavior. Through examples across autonomous vehicles, industrial automation, healthcare robotics, and humanoid systems, we identify significant performance improvements and summarize promising research directions in data-efficient learning, sim-to-real transfer, edge-compatible architectures, and safety frameworks. These insights advance embodied AI for IoT-connected environments where intelligent agents interact with networked sensors, actuators, and edge devices.

Robotics (cs.RO); Artificial Intelligence (cs.AI); Computation and Language (cs.CL); Computer Vision and Pattern Recognition (cs.CV); Machine Learning (cs.LG)

arXiv:2609.18111 [cs.RO]

(or arXiv:2609.18111v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.18111 arXiv-issued DOI via DataCite (pending registration)

IEEE Internet of Things Journal, vol. 13, no. 10, pp. 20452-20476, 15 May 2026

https://doi.org/10.1109/JIOT.2026.3671268 DOI(s) linking to related resources

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A Comprehensive Review of Generative Physical Artificial Intelligence

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