相关论文: MUSE: Multimodal Uncertainty Quantification of Sta…

This paper introduces an innovative state estimator, MUSE (MUlti-sensor State Estimator), designed to enhance state estimation's accuracy and real-time performance in quadruped robot navigation. The proposed state estimator builds upon our…

In this work, we introduce MUSE (Model-based Uncertainty-aware Similarity Estimation), a training-free framework designed for model-based zero-shot 2D object detection and segmentation. MUSE leverages 2D multi-view templates rendered from…

A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…

We propose a new unbiased estimator for estimating the utility of the optimal stopping problem. The MUSE, short for Multilevel Unbiased Stopping Estimator, constructs the unbiased Multilevel Monte Carlo (MLMC) estimator at every stage of…

This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…

This work addresses the problem of sensing the world: how to learn a multimodal representation of a reinforcement learning agent's environment that allows the execution of tasks under incomplete perceptual conditions. To address such…

The rapid advances in deep learning have significantly enhanced the accuracy of multimodal 3D human pose estimation (HPE). However, the state-of-the-art (SOTA) HPE pipelines still rely on Transformers, whose quadratic complexity makes…

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…

Modeling high-resolution spatiotemporal representations, including both global dynamic contexts (e.g., holistic human motion tendencies) and local motion details (e.g., high-frequency changes of keypoints), is essential for video-based…

We present the marginal unbiased score expansion (MUSE) method, an algorithm for generic high-dimensional hierarchical Bayesian inference. MUSE performs approximate marginalization over arbitrary non-Gaussian latent parameter spaces,…

Achieving level-5 driving automation in autonomous vehicles necessitates a robust semantic visual perception system capable of parsing data from different sensors across diverse conditions. However, existing semantic perception datasets…

Video anomaly detection (VAD) methods are mostly CNN-based or Transformer-based, achieving impressive results, but the focus on detection accuracy often comes at the expense of inference speed. The emergence of state space models in…

Data-driven visual odometry (VO) is a critical subroutine for autonomous edge robotics, and recent progress in the field has produced highly accurate point predictions in complex environments. However, emerging autonomous edge robotics…

The uncertainty quantification of sensor measurements coupled with deep learning networks is crucial for many robotics systems, especially for safety-critical applications such as self-driving cars. This paper develops an uncertainty…

State estimation is a critical foundational module in robotics applications, where robustness and performance are paramount. Although in recent years, many works have been focusing on improving one of the most widely adopted state…

Reliable 3D object detection is fundamental to autonomous driving, and multimodal fusion algorithms using cameras and LiDAR remain a persistent challenge. Cameras provide dense visual cues but ill posed depth; LiDAR provides a precise 3D…

In this work, we address the problem of automating quantum variational machine learning. We develop a multi-locality parallelizable search algorithm, called MUSE, to find the initial points and the sets of parameters that achieve the best…

Large language models (LLMs) often behave inconsistently across inputs, indicating uncertainty and motivating the need for its quantification in high-stakes settings. Prior work on calibration and uncertainty quantification often focuses on…

This paper introduces a lightweight uncertainty estimator capable of predicting multimodal (disjoint) uncertainty bounds by integrating conformal prediction with a deep-learning regressor. We specifically discuss its application for visual…

Text-Video Retrieval (TVR) aims to align and associate relevant video content with corresponding natural language queries. Most existing TVR methods are based on large-scale pre-trained vision-language models (e.g., CLIP). However, due to…