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However, their ability to freely sense, interact, and actuate the physical domain remains significantly limited due to three fundamental challenges: (1) physical environments require specialized sensors for different tasks, yet deploying dedicated sensors for each application is impractical; (2) events and objects of interest are often localized to small areas within large spaces, making them difficult to detect with static sensor networks; and (3) foundation models need flexible actuation capabilities to meaningfully interact with the physical world. To bridge this gap, we introduce EmbodiedFly, an embodied LLM agent combining a foundation model pipeline with a reconfigurable drone platform to observe, understand, and interact with the physical world. Our co-design approach features (1) a FM orchestration framework connecting multiple LLMs, VLMs, and an open-set object detection model; (2) a novel image segmentation technique that identifies task-relevant areas; and (3) a custom drone platform that autonomously reconfigures with appropriate sensors and actuators based on commands from the FM orchestration framework. Through real-world deployments, we demonstrate that EmbodiedFly completes diverse physical tasks with up to\n                    <jats:inline-formula content-type=\"math\/tex\">\n                      <jats:tex-math notation=\"LaTeX\" version=\"MathJax\">\\(85\\%\\)<\/jats:tex-math>\n                    <\/jats:inline-formula>\n                    higher success rates compared to traditional approaches leveraging static deployments.\n                  <\/jats:p>","DOI":"10.1145\/3772079","type":"journal-article","created":{"date-parts":[[2025,10,22]],"date-time":"2025-10-22T10:57:05Z","timestamp":1761130625000},"page":"1-32","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["EmbodiedFly: Embodied LLM Agent with an Autonomous Reconfigurable Drone"],"prefix":"10.1145","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1999-0078","authenticated-orcid":false,"given":"Minghui","family":"Zhao","sequence":"first","affiliation":[{"name":"Columbia University","place":["New York, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6495-401X","authenticated-orcid":false,"given":"Kaiyuan","family":"Hou","sequence":"additional","affiliation":[{"name":"Columbia University","place":["New York, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-7356-1348","authenticated-orcid":false,"given":"Junxi","family":"Xia","sequence":"additional","affiliation":[{"name":"Northwestern University","place":["Evanston, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6024-5104","authenticated-orcid":false,"given":"Yanchen","family":"Liu","sequence":"additional","affiliation":[{"name":"Columbia University","place":["New York, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5713-8885","authenticated-orcid":false,"given":"Stephen","family":"Xia","sequence":"additional","affiliation":[{"name":"Northwestern University","place":["Evanston, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6480-0299","authenticated-orcid":false,"given":"Xiaofan","family":"Jiang","sequence":"additional","affiliation":[{"name":"Electrical Engineering, Columbia University","place":["New York, United States"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2026,4,21]]},"reference":[{"key":"e_1_3_2_2_2","unstructured":"2023. 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