ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning

Excerpt

arXiv:2609.39665v2 Announce Type: replace Abstract: 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