ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning
Embodied agents must determine where to act, anticipate the resulting scene changes, and interpret observed outcomes to guide subsequent actions. This requires connecting 4D interaction understanding, which explains how past actions changed the scene, with spatially grounded planning, which determines how and where to act toward a goal and anticipates the resulting scene changes. We introduce ChronoGraph, a functional 4D scene graph that links actions on affordance parts to semantic and geometric state changes. By representing observed and anticipated transitions in the same form, it provides a shared basis for understanding and planning. We construct ChronoGraphBench through an automatic...
| Authors | Chenyangguang Zhang, Malgorzata Gwiazda, Guanlong Jiao et al. |
|---|---|
| Primary category | cs.AI |
| Published | 30 September 2026 |
| Last updated at source | 3 October 2026 |
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