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The robot doesn't really "know" or "reason" much about obstacles. It simply knows that "something" is at a particular location in the costmap and therefore it cannot go through it, but the default costmaps only reason about the occupancy of a particular grid, it doesn't do anything at the object level.
That said, there has been some work on higher level stuff. David Lu originally started on the layered costmap approach so that he could integrate a layer that understands and tracks where people are, allowing more reasoning about the obstacles. So, it is possible to do this kind of object tracking, but it's not part of the default navigation components.
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