TaskGround: Structured Executable Task Inference for Full-Scene Household Reasoning

arXiv:2605.18109v1 Announce Type: new Abstract: In real home deployments, household agents must often operate from a complete household scene and a situated household request, rather than from a clean task specification. Such requests require agents to identify task-relevant entities, recover intended task conditions, and resolve ordering constraints from the surrounding scene context. We formalize this capability as full-scene household reasoning: given a complete household scene and a situated