@article{frompixelstopredicatesstructuringurbanpe,
  title = {From Pixels to Predicates Structuring urban perception with scene graphs},
  author = {Yunlong Liu and Shuyang Li and Pengyuan Liu and Yu Zhang and Rudi Stouffs},
  year = {2025},
  eprint = {2512.19221},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2512.19221},
}