
| pick up     | put down   | stack   | unstack   | move   | assemble   | disassemble   |
|-------------|------------|---------|-----------|--------|------------|---------------|
| pick up     | 5/5        |         |           |        |            |               |
| put down    | 5/5        |         |           |        |            |               |
| stack       | 5/5        | 5/5     |           |        |            |               |
| unstack     | 5/5        | 4/5     |           |        |            |               |
| move        | 4/5        | 5/5     | 4/5       |        |            |               |
| assemble    | 5/10       | 1/5     | 1/5       |        |            |               |
| disassemble | 10/10      | 5/5     | 5/5       |        |            |               |

Table 1: An evaluation of the robustness of LEONARD on a test set of five movies of each of seven event types. The rows represent movies of the indicated event types. The columns represent classifications of the indicated event type. The entries x=y indicate x, the number of times that a movie of the indicated event type was classified as the indicated event type, and y, the number of times that the movie should have been classified as the indicated event type. Note that *stack* entails put down, *unstack* entails pick up, *move* entails both a *pick up* and a put down, *assemble* entails both a *put down* and a separate *stack*, and *disassemble* entails both a *pick up* and a separate *unstack*. Thus off-diagonal entries are expected in these cases. There were six false negatives and no false positives. Four of the false negatives were for the event type *assemble*. In three of those cases, LEONARD successfully recognized the constituent *put down* subevent but failed to recognize the constituent *stack* subevent as well as the associated *put down* subevent. In one case, LEONARD failed to recognize both the constituent *put down* and *stack* subevents along with the associated put down constituent of the *stack* subevent. One of the false negatives was for the event type move. In this case, LEONARD successfully recognized the constituent *put down* subevent but failed to recognize the constituent *pick up* subevent. The remaining false negative was for the event type *unstack*. In this case, LEONARD successfully recognized the constituent pick up subevent but failed to recognize the aggregate *unstack* event.