However, in many practical applications, the state of the environment is inherently continuous innature.

Randomized classifiers have been shown to provide a promising approach for achieving certified robustness against adversarial attacks in deep learning.

A.1 DataStatistics In this section, we provide more details and statistics on the annotated data. As we can see from the histogram, spatial relationships ofobjects wereannotated themost, followedbymulti-agent relationships like "awareofothers" and"looking at". We list all annotated object attributes and their state values in Tab. 1, and visualize their statistics inFig.2. In Figure 1 (right), we plot the number of changes for each object attribute. If no, we assumea1 and a2 is not related.