In this chapter, we discuss the real-world applications of the embodied multi-agent system. We employ the proposed framework of the perception-action loop in physical robots in the real-world scenarios. We first introduce the real-world application in the homogeneous embodied multi-agent system for the autonomous task assignment problem and provide the physical validation demonstration for the proposed framework. Then we introduce the real-world application in the heterogeneous embodied multi-agent system for the room tidying-up task. We utilize the quadruped robot with the robotic arm, the small robot only with the navigation ability, and the high robot only with the navigation ability to form the heterogeneous multi-agent system and demonstrate the physical application in the room tidying-up task.