{"id":"https://openalex.org/W7128789449","doi":"https://doi.org/10.48550/arxiv.2602.12087","title":"Geometry of Uncertainty: Learning Metric Spaces for Multimodal State Estimation in RL","display_name":"Geometry of Uncertainty: Learning Metric Spaces for Multimodal State Estimation in RL","publication_year":2026,"publication_date":"2026-02-12","ids":{"openalex":"https://openalex.org/W7128789449","doi":"https://doi.org/10.48550/arxiv.2602.12087"},"language":"en","primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.12087","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032297501","display_name":"Alfredo Reichlin","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Reichlin, Alfredo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125898864","display_name":"Adriano Pacciarelli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pacciarelli, Adriano","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125889767","display_name":"Danica Kragic","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kragic, Danica","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5063841377","display_name":"Miguel Vasco","orcid":"https://orcid.org/0000-0002-5761-4105"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vasco, Miguel","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032297501"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7224000096321106,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7224000096321106,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.06769999861717224,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.03500000014901161,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.696399986743927},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6657999753952026},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.521399974822998},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.49709999561309814},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4661000072956085},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.42829999327659607},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.375},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.3695000112056732}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.696399986743927},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6657999753952026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5299000144004822},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.521399974822998},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.49709999561309814},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4661000072956085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46480000019073486},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.42829999327659607},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39100000262260437},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37709999084472656},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.375},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3718999922275543},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.33970001339912415},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.32589998841285706},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3206000030040741},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3122999966144562},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.267300009727478},{"id":"https://openalex.org/C18015164","wikidata":"https://www.wikidata.org/wiki/Q6935000","display_name":"Multiplicative noise","level":5,"score":0.2667999863624573},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.25450000166893005}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.12087","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:DiVA.org:kth-376770","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-376770","pdf_url":null,"source":{"id":"https://openalex.org/S4306401560","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2602.12087","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.12087","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.12087","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7975229620933533}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Estimating":[0],"the":[1,29,63,85,113,129,162,166],"state":[2,146,189],"of":[3,66,82,116,123,134,157,168],"an":[4,158],"environment":[5],"from":[6],"high-dimensional,":[7],"multimodal,":[8],"and":[9,101,144,184],"noisy":[10],"observations":[11],"is":[12],"a":[13,46,51,79,96,102,132,182],"fundamental":[14],"challenge":[15],"in":[16,37,55,191],"reinforcement":[17],"learning":[18],"(RL).":[19],"Traditional":[20],"approaches":[21],"rely":[22],"on":[23,107,131],"probabilistic":[24,89],"models":[25],"to":[26,49,69,141,149],"account":[27],"for":[28,87,112,187],"uncertainty,":[30],"but":[31],"often":[32],"require":[33],"explicit":[34,88,169],"noise":[35,124,143,170],"assumptions,":[36],"turn":[38],"limiting":[39],"generalization.":[40],"In":[41],"this":[42],"work,":[43],"we":[44,94],"contribute":[45],"novel":[47],"method":[48],"learn":[50],"structured":[52],"latent":[53,98],"representation,":[54,164],"which":[56],"distances":[57],"between":[58,71],"states":[59],"directly":[60],"correlate":[61],"with":[62],"minimum":[64],"number":[65],"actions":[67],"required":[68],"transition":[70,99],"them.":[72],"The":[73,172],"proposed":[74],"metric":[75,179],"space":[76],"formulation":[77],"provides":[78,181],"geometric":[80],"interpretation":[81],"uncertainty":[83],"without":[84,120],"need":[86,167],"modeling.":[90],"To":[91],"achieve":[92],"this,":[93],"introduce":[95],"multimodal":[97,135],"model":[100],"sensor":[103,118,142],"fusion":[104],"mechanism":[105],"based":[106],"inverse":[108],"distance":[109],"weighting,":[110],"allowing":[111],"adaptive":[114],"integration":[115],"multiple":[117],"modalities":[119],"prior":[121],"knowledge":[122],"distributions.":[125],"We":[126],"empirically":[127],"validate":[128],"approach":[130],"range":[133],"RL":[136,159],"tasks,":[137],"demonstrating":[138],"improved":[139],"robustness":[140],"superior":[145],"estimation":[147,190],"compared":[148],"baseline":[150],"methods.":[151],"Our":[152],"experiments":[153],"show":[154],"enhanced":[155],"performance":[156],"agent":[160],"via":[161],"learned":[163],"eliminating":[165],"augmentation.":[171],"presented":[173],"results":[174],"suggest":[175],"that":[176],"leveraging":[177],"transition-aware":[178],"spaces":[180],"principled":[183],"scalable":[185],"solution":[186],"robust":[188],"sequential":[192],"decision-making.":[193]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-14T00:00:00"}