NeuRIO: A Streaming Neural Estimator for Zero-Shot Sim-to-Real Multi-Robot Relative Inertial Odometry

arXiv:2609.21707 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/FAST-FIRE/NeuRIO

Terminology

• Accuracy — 6× in this paper · explained in 1 episode
• Generalization — 6× in this paper · explained in 13 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Transformer — 5× in this paper · explained in 2 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Frozen model — 3× in this paper · explained in 2 episodes
• International Conference on Learning Representations — 3× in this paper
• International Conference on Robotics and Automation — 3× in this paper
• Aggregation — 2× in this paper · explained in 1 episode
• Representation Learning — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• High Dynamic Motion — 1× in this paper
• Multi-Robot Platform — 1× in this paper
• Redundancy — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 3 episodes

Sources

• CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
• Parallel Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines
• Implicit Virtual Leader: Decentralized Vision-Only Relative Pose Estimation for Multi-Robot Formations
• CAD2RL: Real Single-Image Flight without a Single Real Image
• Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
• DeeperGCN: All You Need to Train Deeper GCNs
• Residual Gated Graph ConvNets

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