Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering

原文：Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering

作者：Albert Gassol Puigjaner, Kostas Alexis

来源：arXiv cs.RO（机器人）

正文

Computer Science > Robotics

arXiv:2609.26360v1 (cs)

[Submitted on 22 Sep 2026]

Title:Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering

Authors:Albert Gassol Puigjaner, Kostas Alexis

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Abstract:Embodied Question Answering (EQA) requires an agent to explore a previously unseen environment, gather relevant information, and answer questions about the scene. Recent approaches leverage Vision-Language Models (VLMs) together with semantic maps or scene graphs to guide exploration. However, exploration is typically driven only by local observations, while structural priors about the environment remain largely unused. We propose HFLEX-EQA, a hierarchical EQA framework that combines online scene graph construction, VLM- based planning, semantic frontier exploration, and floorplan priors. The system incrementally builds a hierarchical scene graph and an open-vocabulary occupancy map from RGB-D observations, enabling a VLM to jointly reason over the scene graph, task-relevant visual observations, exploration history, and an estimated topological floorplan. Furthermore, we introduce a room-discovery strategy that leverages the floorplan and open-vocabulary frontier semantics to guide exploration toward semantically relevant yet currently unobserved room types. We evaluate HFLEX-EQA on the OpenEQA and ExploreEQA benchmarks and demonstrate deployment on a quadruped robot in real indoor environments. Our results demonstrate the benefit of combining VLM-based hierarchical planning with structural floorplan priors for the EQA task.

Subjects:

Robotics (cs.RO)

Cite as:

arXiv:2609.26360 [cs.RO]

(or

arXiv:2609.26360v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.26360

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机器人

由「前沿雷达」于 2026-09-22 采集。正文取自原文页面，已保留出处链接。标题与正文版权归原作者所有。