ESCA: Contextualizing Embodied Agents via Scene-Graph Generation - Huang, Jiani; Sethi, Amish; Kuo, Matthew; Keoliya, Mayank; Velingker, Neelay; Jung, JungHo; Lim, Ser Nam; Li, Ziyang; Naik, Mayur (Advances in Neural Information Processing Systems, 2025)