Abstract
Embodied and assistive agents must do more than recognize objects: they must reason about where an object belongs given the layout of an environment and the habits of the people who live in it. Progress on this problem has been limited, in part because no dedicated benchmark or dataset exists to define and evaluate it. Existing RGB-D scan datasets reconstruct static rooms without human activity, while human-object-interaction datasets capture motion without a navigable, fully reconstructed scene or a ground-truth notion of an object's natural destination. We introduce contextual object placement as a benchmark task: predicting an object's destination during an observed object-carrying episode. To support this task, we present Embodied Camera observations of Human Object carrying (ECHO), a large-scale synthetic dataset that pairs dense RGB-D scans of indoor scenes with recordings of an embodied human carrying everyday objects to context-appropriate destinations. ECHO is the first publicly available dataset to combine reconstructed scenes, human activity, natural language, and contextual-placement annotations. It comprises 3,805 human-annotated episodes across 159 floors of 115 HM3D scenes, involving 198 distinct objects. Each floor includes a complete RGB-D scan with human-annotated room labels and a surface list. Each episode provides synchronized RGB-D encounter clips; 6-DoF camera, human, and object trajectories; start and destination surfaces; an action caption; and a human-written context: a single sentence describing the inhabitant's routine that implies the destination without naming it. We evaluate contextual object placement using input-masked probes and an end-to-end baseline. Results show that no single input modality is sufficient, highlighting the need to jointly reason over scene structure, human activity, and contextual knowledge.
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URL
https://arxiv.org/abs/2610.10438
