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Large multimodal models (LMMs) have revolutionized AI by demonstrating remarkable capabilities in vision, language, audio, and other domains, particularly in understanding and generalization tasks. Yet, moving beyond passive understanding to active interaction requires embodied agents, such as robots, that can harness the capabilities of AI models to act within the physical world. My core research aims to build embodied agents that reason about and interact with the physical world with human-like commonsense. Specifically, I design algorithms and representations that enable robots to perceive their environment, reason about physical properties, and plan long-horizon actions for both manipulation and locomotion. These advances are grounded in the integration of large-scale AI models with embodied control. I organize this agenda into three stages: (1) injecting actions into LMMs to form vision–language–action (VLA) models; (2) learning from human motion and contact to enrich physical reasoning; and (3) advancing whole-body robot loco-manipulation guided by LMMs toward embodied artificial general intelligence (AGI). The talk details recent advances in leveraging LMMs for robot learning, emphasizing the promise of robust generalization across diverse environments, tasks, and modalities. I will highlight contributions at the intersection of perception, reasoning, and control, and outline open challenges and future opportunities toward enabling humanoid robots that can robustly understand, interact, and collaborate with humans in complex real-world settings.