Finder: Agentic Closed-Loop Object Finding for Embodied Grounding
Finding the object referred to by language in a partially observed 3D scene is a core capability for embodied agents. Existing approaches either couple object search with online exploration, which can be costly when relevant observations have already been captured, or query pre-built open-vocabulary maps and scene graphs in a static, one-shot fashion. We present Finder, an agentic closed-loop object-finding primitive for embodied grounding. Instead of treating grounding as passive retrieval from a fixed scene representation, Finder maintains a typed loop state that links query-conditioned planning, scoped evidence gathering, candidate verification, and accept/continue/abort control. When ...
| Authors | Shixiong Xu, Zhiyuan Chen, Song Ding et al. |
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| Primary category | cs.CV |
| Published | 16 September 2026 |
| Last updated at source | 16 September 2026 |
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