劣化環境下でのロバストな操作理解のための信頼性のある視覚述語
Trustworthy Visual Predicates for Robust Manipulation Understanding under Degradation
ぼけや遮蔽などの視覚劣化下で、操作理解に用いる視覚述語（接触、把持など）の信頼性を評価する枠組みを提案し、劣化が述語の失敗に構造的な影響を与えることを示した。
分類: cs.CV
原文アブストラクト
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, degradation sensitivity, temporal consistency, confidence-weighted stability, and downstream impact. Experiments on controlled manipulation videos and public egocentric or bimanual datasets, including VISOR/EPIC-KITCHENS, H2O, and ARCTIC, show that predicate failures are structured rather than uniform. Static spatial predicates remain comparatively robust, whereas contact-sensitive, dynamic, and derived predicates such as grasp and release are more fragile. Under severe degradation, detection noise, occlusion, and frame dropping cause the strongest reliability losses. Downstream analysis shows that degraded predicates reduce manipulation-understanding accuracy from 0.89 to 0.58, while removing confidence weighting under moderate degradation reduces accuracy from 0.74 to 0.64. These results show that predicate reliability provides a diagnostic layer between visual perception and structured manipulation reasoning.