Detector Confidence Signals Presence Rather Than Occlusion in Cluttered Manipulation
Occlude a named object until about an eighth of it remains visible, and an open-vocabulary detector's confidence that the object is present barely changes; as the clutter around it grows the confidence can even rise. On real video the detector still reports the object present in 99% of occluded frames, on another instance of the same category. This matters because that confidence is widely read as a visibility signal, used to threshold detections, evaluate open-vocabulary detectors, ground language, retrieve instances, and gate active perception. We audit whether it reflects occlusion by pairing every view with a geometry-segmentation oracle that gives detector-free ground-truth visibilit...
| Authors | Yuanzhi He |
|---|---|
| Primary category | cs.CV |
| Published | 15 July 2026 |
| Last updated at source | 15 July 2026 |
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