{"id":"https://openalex.org/W7163990461","doi":"https://doi.org/10.48550/arxiv.2606.08121","title":"Trustworthy Visual Predicates for Robust Manipulation Understanding under Degradation","display_name":"Trustworthy Visual Predicates for Robust Manipulation Understanding under Degradation","publication_year":2026,"publication_date":"2026-06-06","ids":{"openalex":"https://openalex.org/W7163990461","doi":"https://doi.org/10.48550/arxiv.2606.08121"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.08121","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08121","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.08121","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138260691","display_name":"Fatemeh Ziaeetabar","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ziaeetabar, Fatemeh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5138260691"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8937000036239624,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8937000036239624,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.05009999871253967,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.01889999955892563,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/predicate","display_name":"Predicate (mathematical logic)","score":0.8156999945640564},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.6132000088691711},{"id":"https://openalex.org/keywords/trustworthiness","display_name":"Trustworthiness","score":0.5543000102043152},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5216000080108643},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.49380001425743103},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4794999957084656},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.4544000029563904},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44780001044273376}],"concepts":[{"id":"https://openalex.org/C140146324","wikidata":"https://www.wikidata.org/wiki/Q1144319","display_name":"Predicate (mathematical logic)","level":2,"score":0.8156999945640564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6761999726295471},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.6132000088691711},{"id":"https://openalex.org/C153701036","wikidata":"https://www.wikidata.org/wiki/Q659974","display_name":"Trustworthiness","level":2,"score":0.5543000102043152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5342000126838684},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5216000080108643},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.49380001425743103},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4794999957084656},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.4544000029563904},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44780001044273376},{"id":"https://openalex.org/C2779907942","wikidata":"https://www.wikidata.org/wiki/Q7239630","display_name":"Predicate abstraction","level":3,"score":0.33000001311302185},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.32089999318122864},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.31520000100135803},{"id":"https://openalex.org/C2779679103","wikidata":"https://www.wikidata.org/wiki/Q5251805","display_name":"Degradation (telecommunications)","level":2,"score":0.31380000710487366},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3077000081539154},{"id":"https://openalex.org/C168820333","wikidata":"https://www.wikidata.org/wiki/Q448889","display_name":"Visual inspection","level":2,"score":0.30720001459121704},{"id":"https://openalex.org/C2776207758","wikidata":"https://www.wikidata.org/wiki/Q5303302","display_name":"Downstream (manufacturing)","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.27399998903274536},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.2736999988555908},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.25589999556541443}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.08121","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08121","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.08121","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.08121","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Manipulation":[0],"understanding":[1,50],"requires":[2],"reliable":[3],"relational":[4],"evidence,":[5],"such":[6,125],"as":[7,126],"contact,":[8],"support,":[9],"containment,":[10],"motion":[11],"coupling,":[12],"grasp,":[13],"release,":[14],"and":[15,28,60,73,85,93,102,122,128,139,186],"active-hand":[16],"involvement.":[17],"Although":[18],"these":[19],"visual":[20,34,184],"predicates":[21,115,124,152],"are":[22,108,130],"widely":[23],"used":[24],"in":[25],"event-chain,":[26],"graph-based,":[27],"neuro-symbolic":[29],"models,":[30],"their":[31],"reliability":[32,45,74,145,178],"under":[33,51,164],"degradation":[35,79,166],"is":[36],"rarely":[37],"analyzed":[38],"directly.":[39],"This":[40],"paper":[41],"introduces":[42],"a":[43,66,180],"predicate-level":[44],"framework":[46,64],"for":[47,76],"robust":[48],"manipulation":[49,91,188],"blur,":[52],"occlusion,":[53,138],"illumination":[54],"change,":[55],"low":[56],"resolution,":[57],"frame":[58,140],"dropping,":[59],"detection":[61,136],"noise.":[62],"The":[63],"defines":[65],"structured":[67,109,187],"predicate":[68,71,77,106,177],"vocabulary,":[69],"confidence-aware":[70],"estimation,":[72],"metrics":[75],"preservation,":[78],"sensitivity,":[80],"temporal":[81],"consistency,":[82],"confidence-weighted":[83],"stability,":[84],"downstream":[86],"impact.":[87],"Experiments":[88],"on":[89],"controlled":[90],"videos":[92],"public":[94],"egocentric":[95],"or":[96],"bimanual":[97],"datasets,":[98],"including":[99],"VISOR/EPIC-KITCHENS,":[100],"H2O,":[101],"ARCTIC,":[103],"show":[104,175],"that":[105,150,176],"failures":[107],"rather":[110],"than":[111],"uniform.":[112],"Static":[113],"spatial":[114],"remain":[116],"comparatively":[117],"robust,":[118],"whereas":[119],"contact-sensitive,":[120],"dynamic,":[121],"derived":[123],"grasp":[127],"release":[129],"more":[131],"fragile.":[132],"Under":[133],"severe":[134],"degradation,":[135],"noise,":[137],"dropping":[141],"cause":[142],"the":[143],"strongest":[144],"losses.":[146],"Downstream":[147],"analysis":[148],"shows":[149],"degraded":[151],"reduce":[153],"manipulation-understanding":[154],"accuracy":[155,168],"from":[156,169],"0.89":[157],"to":[158,171],"0.58,":[159],"while":[160],"removing":[161],"confidence":[162],"weighting":[163],"moderate":[165],"reduces":[167],"0.74":[170],"0.64.":[172],"These":[173],"results":[174],"provides":[179],"diagnostic":[181],"layer":[182],"between":[183],"perception":[185],"reasoning.":[189]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-10T00:00:00"}