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MAGNETAR: Multipath-Guided Spatial Posteriors for Transmitter Pose Inference in the Upper Mid-Band

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Robots that localize a radio transmitter need more than a point estimate: in cluttered rooms, one measurement is often consistent with several transmitter locations and, because upper-mid-band antennas are directional, several headings. We present MAGNETAR, which infers a joint posterior over planar transmitter position and heading from a single asynchronous radio-frequency (RF) multipath snapshot, represented by angle-of-arrival and signal-to-noise-ratio estimates, given the room layout and receiver pose. Among our five neural scorers, MAGNETAR adopts a shared 2D U-Net conditioned on each can

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