A bit of an aside- in one of the sequels to A Fire Upon the Deep, somebody has to interpret some very lossy audio and video into the most likely explanation, but they are stuck with a stupider than usual AI and it misinterprets the results (it's implied if they had their full AI it would have gotten the interpretation correct even with the ambiguity). This episode in the book completely changed how I think about imputation under uncertainty. Often, I don't want a single high confidence prediction, I want a probability distribution of the most likely predictions, rank ordered.