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Existing differentiable factor graph optimization (DFGO) methods learn measurement weighting through the solver, but they still use position-only objectives. As a result, the position estimate may improve while the reported covariance remains too small, too large, or incorrectly oriented. We propose CredibleDFGO (CDFGO), a differentiable GNSS factor graph framework that makes covariance credibility an explicit training target. A Weighting Generation Network (WGN) predicts per-satellite reliability weights, and a differentiable Gauss-Newton solver maps these weights to a position estimate and a Hessian-derived posterior covariance. We use proper scoring rules to supervise the East-North predictive distribution end to end. We study negative log-likelihood (","title":"CredibleDFGO: Differentiable Factor Graph Optimization with Credibility Supervision","url":"https://arxiv.org/abs/2605.06100","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.06100v2 Announce Type: replace-cross \nAbstract: Global navigation satellite system (GNSS) positioning is widely used for urban navigation, but the covariance reported by the GNSS solver is often unreliable in urban canyons. Existing differentiable factor graph optimization (DFGO) methods learn measurement weighting through the solver, but they still use position-only objectives. As a result, the position estimate may improve while the reported covariance remains too small, too large, or incorrectly oriented. We propose CredibleDFGO (CDFGO), a differentiable GNSS factor graph framework that makes covariance credibility an explicit training target. A Weighting Generation Network (WGN) predicts per-satellite reliability weights, and a differentiable Gauss-Newton solver maps these weights to a position estimate and a Hessian-derived posterior covariance. We use proper scoring rules to supervise the East-North predictive distribution end to end. We study negative log-likelihood (","title":"CredibleDFGO: Differentiable Factor Graph Optimization with Credibility Supervision","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-11T04:43:37Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.06100"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:6ead3606487444a1158ebafb20fcb730bb5db774e42a36f61bd9d51b7bc1b71ec12cca44576d2f8d2f89d483741f3dfc0474c711b6a825667d6c138eb4e44409","signer":"crovia.substrate","subject":{"observed_at":"2026-06-11T04:43:37Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.06100"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"000a6bd9a2122d3ef3e0fd9a31ba740b3c3052ad4123626e6c6c70d5475d7caa","leaf_index":227620,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"aaa96f7bbec54abdbfbf781ead09c06a29bef50ac74bc45af7be55baf29af279","side":"right"},{"sibling":"0f70156f9fe16f8cf0f66f0fc2c4406e28101988e37b133ebd905be25230cca8","side":"right"},{"sibling":"dcd8622ae645f3f475b913a8288659bcb3ac80f1717e4e9727d64679e8205b0a","side":"left"},{"sibling":"ad6db35f0660e336e7231f347bee77ed974d8753f1cab78e04555fe93d4bdc2f","side":"right"},{"sibling":"696baab52c8dd7da00eec185cbbf6d57c893178092dfa3f22b70aabd97d81169","side":"right"},{"sibling":"bf0a852b6519918429c7e01817ee3e63de5ebb9c3bf1960b2f07a5135d3a4194","side":"left"},{"sibling":"b3e44c169468247ff310527cf2f90f2c6c7fb8fa20f54d288a0ad8da5e1aeaae","side":"right"},{"sibling":"8a3e5c7ea49dd66cd71ed0760cc762c1e6d233215488abe34cb40cd8d01bc326","side":"right"},{"sibling":"f76de2250b6d1132375cb2a9c157faf5c22b74a7ca5c8df342d778d0e08e1216","side":"left"},{"sibling":"04e399458c5b36988cae0bf1c6dbe1b01349003b15cb5aa43f95c55acffe4ec3","side":"right"},{"sibling":"1383228337d54218bd8e5563aebb0b0dfe15c5269e3d5138e64c261d6130a88b","side":"right"},{"sibling":"57cb49c192550231071a0bf53a0821da2f79c585ec6c8d0fc76cebd62ccd78b2","side":"left"},{"sibling":"cdb58f86163046d3b15f857b03372ec75e1ad9ea4548e086793d528b9eed364d","side":"left"},{"sibling":"533d82482604463aa4a281b9d8b85917b383b7c5f924b2b494039524c55e8797","side":"left"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"6cea4964f32722eb370847c2f7c9d6a9f0622c239538b07e6815a59d6fd8d49c","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":228173,"merkle_root":"7e416202c0bfd759bd2eea4236713b403993d99793fe8badb5065040080bece3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260611T143708Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-11T21:59:35Z","sig_algorithm":"ed25519","signature":"231c80024bc3982dd493c45b31af95097e97aabc6d712a4e5bad7d0cbdd3c08e01ff395b0f8e72754bac97016e0cd0eed88b8a13cb71edbbcb9b6d72c10a7b03","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_21bb20c59891ee870cb73e47211858bf894ee1dc7c765e567c6e0c15fc810b75"}}