EmbodimentSemantic: A Spatial Scene-Graph Dataset and Benchmark for Vision-Language Models on Embodied Manipulation Trajectories

Hassan Jaber; Refinath S N; Luca Cagliero; Christopher E. Mower; Haitham Bou-Ammar

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arXiv · 2607.00020

EmbodimentSemantic: A Spatial Scene-Graph Dataset and Benchmark for Vision-Language Models on Embodied Manipulation Trajectories

Hassan Jaber·Refinath S N·Luca Cagliero·Christopher E. Mower·Haitham Bou-Ammar

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Abstract

Spatial grounding remains a key limitation of vision-language-action (VLA) systems for robotic manipulation. While current models can recognize objects and follow language instructions, they often lack an explicit representation of how objects are arranged in space, including support, containment, ordering, occlusion, and depth-sensitive relations. We introduce EmbodimentSemantic, a spatial scene-graph dataset and benchmark for evaluating relational grounding in embodied manipulation. EmbodimentSemantic represents scenes as directed object-relation-object triplets, where each triplet specifies a spatial relation between an ordered pair of objects using a fixed set of relations. This representation enables direct evaluation of object binding, relation prediction, and spatial consistency. The dataset includes real-world manipulation observations collected with the low-cost SO101 robot arm, together with generated scene graphs for studying spatial grounding in practical robotic settings. To provide controlled validation, we also introduce a simulator-grounded LIBERO benchmark with over 60K manipulation frames and more than 120K camera-specific scene graphs across paired third-person and wrist views, where ground-truth relations are derived automatically from MuJoCo geometry, world coordinates, camera projections, and visibility constraints. We further test whether scene graphs improve downstream control by injecting them into existing VLA policy prompts. Experiments across open-source and commercial VLMs show that current models often predict plausible relations but struggle with exact depth-aware and viewpoint-dependent spatial structure. EmbodimentSemantic provides a unified framework for diagnosing spatial grounding in VLM perception and testing its utility for VLA manipulation.

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BibTeX RIS

Hassan Jaber, Refinath S N, Luca Cagliero, Christopher E. Mower, Haitham Bou-Ammar. 2026-06-06. EmbodimentSemantic: A Spatial Scene-Graph Dataset and Benchmark for Vision-Language Models on Embodied Manipulation Trajectories. https://arxiv.org/abs/2607.00020

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