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Many real-world applications are multi-modal in nature and hence benefit from multi-task learning. In autonomous driving or robotics, for example, the joint solution of semantic segmentation and monocular depth estimation has proven to be valuable. To this end, we introduce EMUFormer, a novel student-teacher distillation approach for efficient multi-task uncertainties in the context of joint semantic segmentation and monocular depth estimation. By leveraging the predictive uncertainties of the teacher, EMUFormer achieves new state-of-the-art results on Cityscapes and NYUv2 and additionally estimates reliable predictive uncertainties for both tasks that are comparable or superior to a Deep Ensemble despite being an order of magnitude more efficient to compute. These findings even extend to out-of-domain and domain adaptation scenarios, highlighting EMUFormer\u2019s remarkable reliability.<\/jats:p>","DOI":"10.1007\/s11263-026-02751-0","type":"journal-article","created":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T08:34:49Z","timestamp":1772786089000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["EMUFormer: Efficient Multi-task Uncertainties for Reliable Joint Semantic Segmentation and Monocular Depth Estimation"],"prefix":"10.1007","volume":"134","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2056-567X","authenticated-orcid":false,"given":"Steven","family":"Landgraf","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Markus","family":"Hillemann","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Theodor","family":"Kapler","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Markus","family":"Ulrich","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2026,3,6]]},"reference":[{"key":"2751_CR1","first-page":"14927","volume":"33","author":"A Amini","year":"2020","unstructured":"Amini, A., Schwarting, W., Soleimany, A., & Rus, D. 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