Introduction
2.1 Technical Evolution
2.2 Preliminary Preparations
3 Downstream Tasks
3.1 Manipulation
3.2 Navigation
3.3 Task Planning
3.4 Reasoning
4 Discussion
4.1 Robot Hardware and Software Decoupling
4.3 Robot Generalization
4.4 Multimodal Interaction
4.5 Exclusive Foundation Models for Robots
4.6 Computation Efficiency
4.7 Robot Safety and Ethics
5 Conclusion