ObsGraph: Hierarchical Observation Representation for Embodied Reasoning and Exploration

arXiv:2606.24068v1 Announce Type: new Abstract: Embodied reasoning and exploration are increasingly considered crucial abilities for robots operating in complex and unfamiliar environments. To accomplish tasks in such settings, an agent must identify and acquire the information necessary for the task through exploration. We propose ObsGraph, an observation-centric hierarchical scene graph that unifies scene representation, retrieval, and exploration. It retains visual evidence and organizes it i...