Knowing More, Acting Better: Hierarchical Representation for Embodied Decision-Making

Abstract

Modern embodied AI uses multimodal large language models (MLLMs) as policy models, predicting actions from final-layer hidden states. This widely adopted approach, however, assumes that monolithic last-layer representations suffice for decision-making—a structural simplification at odds with decades of cognitive science, which highlights the importance of distributed, hierarchical processing for perception and action. Addressing this foundational asymmetry, we introduce a hierarchical action probing method that explicitly aggregates representations from all layers, mirroring the brain’s multi-level organization. Experiments reveal that early layers facilitate spatial grounding, middle layers support contextual integration, and later layers enable abstract generalization—which shows MLLMs inherently encode distributed action-relevant structures. These layer-wise features are integrated by a lightweight probe for spatial reasoning and contextual understanding, without costly backbone fine-tuning. This hierarchical solution shows significant improvements over standard last-layer embodied models in physical simulators, achieving a 46.6% success rate and a 62.5% gain in spatial reasoning tasks. These findings challenge conventional assumptions in embodied AI, establishing hierarchical probing as a principled alternative grounded in both cognitive theory and empirical evidence.