{"paper":{"title":"MUSE: Multimodal Uncertainty Quantification of State Estimation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bhargav Chandaka, Bhumsitt Pramuanpornsatid, Chengyu Yang, Henry Che, Minkyung Kim, Naira Hovakimyan, Sheng Cheng, Shenlong Wang, Xiaofeng Wang","submitted_at":"2026-05-17T12:33:02Z","abstract_excerpt":"Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advances in robot perception have led to significant improvements in the accuracy and robustness of state estimation, yet a fundamental challenge remains in how to quantify and calibrate its precision, i.e., how confident we are in an estimate and whether failures can be detected. This issue is particularly pronounced in visual-inertial odometry (VIO), where the heteroscedastic and multimodal nature of the problem makes u"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17421","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.17421/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T21:41:57.737903Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.683818Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"e091b7a86b56ec7a5b6c0d5cf303b0026a0eba0a2067448db23dc66417541e5e"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}