

![0_image_0.png](0_image_0.png)

Figure 4: The output of the model-reconstruction component applied to the scene sequences from Figure 3. (a) depicts a *pick up* event. (b) depicts a *put down* event. The models have been overlayed on the input images for ease of comprehension. In (a), the red block is on the same layer as the green block up through Frame 1 and is attached to the hand from Frame 14 onward. In (b), the reverse sequence of relations holds, with the red block attached to the hand up through Frame 13 and on the same layer as the green block from Frame 23 onward.