Observations and concepts do not exist from the outset as two independent entities. Within a pre-differentiated field in which world and self are not yet separated, structural fluctuations give rise to the complementary emergence of “the world as observation” and “the self as conceptual structure”. This paper models this generative process using a two-layer mathematical architecture: observations are represented in a presheaf topos E_obs, concepts in a higher topos E_con whose internal logic models Homotopy Type Theory (HoTT), and the grounding geometric morphism g: E_obs → E_con captures the structural core of their interaction. The adjunction g* ⊣ g_* expresses how prediction (world-to-self) and abstraction (self-to-world) arise as two directions of a unified structure. We introduce three design principles for grounding—Monotonicity, Sufficiency, and Minimality—and formulate the Grounding Representation Principle, which asserts that any coherent observation embeds into the pullback of an appropriate concept type. A finite verification in a 3 × 3 grid world confirms that this interactional structure operates consistently even in minimal settings. By viewing observations as fields, concepts as types, and consciousness as residing in the relation between them, this framework provides a new structural foundation for symbol grounding, conceptual change, cognitive dynamics, HoTT-based AGI architectures, and future work on the mathematics of consciousness.