Trustworthy Visual Predicates for Robust Manipulation Understanding under Degradation
Manipulation understanding requires reliable relational evidence, such as contact, support, containment, motion coupling, grasp, release, and active-hand involvement. Although these visual predicates are widely used in event-chain, graph-based, and neuro-symbolic models, their reliability under visual degradation is rarely analyzed directly. This paper introduces a predicate-level reliability framework for robust manipulation understanding under blur, occlusion, illumination change, low resolution, frame dropping, and detection noise. The framework defines a structured predicate vocabulary, confidence-aware predicate estimation, and reliability metrics for predicate preservation, degradat...
| Authors | Fatemeh Ziaeetabar |
|---|---|
| Primary category | cs.CV |
| Published | 6 June 2026 |
| Last updated at source | 6 June 2026 |
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