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ObsGraph

ObsGraph: Hierarchical Observation Representation for Embodied Reasoning and Exploration

Taekbeom Lee, Youngseok Jang, Jeonghwa Heo, Jeongjun Choi, H. Jin Kim · 2026-06-23

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Management
T2 Dynamic Memory
Memory changes during deployment through a stable management policy.
Primary modality
Embodied & 3D
Also: Image, text
Representation
Hybrid
Distinct operative representation paths are explicitly linked for downstream retrieval, reasoning, or control.

How experience becomes memory

Each path is one memory component, traced from what is stored to how it is found again.

  1. room-linked visual views

    1. Represented asRetained perceptual source evidenceSource- and modality-specific
    2. Stored inGraph / relational store
    3. Retrieved byStructure traversal
    4. Source evidenceSource directly available
    View nodes preserve visual context and covisibility.Full-paper method / memory representation and retrieval · PDF p. 3 · Figure 1

  2. room-view-object hierarchy

    1. Represented asSpatial, temporal & cross-modal structured memoryCross-represented explicit
    2. Stored inGraph / relational store, Hierarchical multi-tier store
    3. Retrieved byStructure traversal, Planner / tool-assisted retrieval
    4. Source evidenceSource linked & recoverable
    Rooms, views, and objects form a coarse-to-fine retrieval graph.Full-paper method / memory representation and retrieval · PDF p. 3 · Figure 1

How memory changes (T2 operations)

  • Update · Rule-based update

    Fixed construction adds evidence during exploration. For ObsGraph, this specifically supports fixed-rule insertion or replacement of room-linked visual views.

  • Consolidation · Merging & deduplication

    During operation, ObsGraph applies merging or deduplication of overlapping entries to room-linked visual views; the memory state changes while the governing update policy remains fixed.

  • Reorganization · Relinking & reindexing

    During operation, ObsGraph applies relinking or reindexing of stored items to room-linked visual views; the memory state changes while the governing update policy remains fixed.

  • Forgetting · Discrete eviction

    During operation, ObsGraph applies explicit deletion or eviction of stored items to room-linked visual views; the memory state changes while the governing update policy remains fixed.

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