Evidence of Absence: Cross-Modal Abductive Risk Perception to Sustain World Models When Vision Fails
A structured world-state (entities, relations, context, and predictive cues) is designed to preserve prediction-critical content when perception degrades, but it presumes observations to populate it; when the primary visual modality is occluded or degraded, those observations may be missing. We address how to sustain the world model from a complementary modality by treating the absence of expected co-evidence as evidence of a hidden cause. The abductive framework is modality-agnostic; this article instantiates it acoustically. A microphone-array front-end estimates the bearing of engine and tire sources and extracts approach-rate evidence (Doppler when a stable tone exists, a broadband lo...
| Authors | Cong Xu, Ravi Sankar |
|---|---|
| Primary category | cs.RO |
| Published | 15 August 2026 |
| Last updated at source | 15 August 2026 |
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