GINIO: A Geometric SO(3)-Equivariant Interface for Neural Inertial Odometry

arXiv:2609.25338 · cs.RO, cs.LG · Submitted 2026-09-21 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-21

Updated: 2026-09-27

Comments: Accepted at the 10th Conference on Robot Learning (CoRL 2026). 26 pages, 14 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Ablation — 23× in this paper · explained in 1 episode
• Benchmark — 17× in this paper · explained in 2 episodes
• Robustness — 17× in this paper · explained in 5 episodes
• Alignment — 15× in this paper · explained in 1 episode
• Calibration — 11× in this paper · explained in 7 episodes
• Accuracy — 10× in this paper · explained in 1 episode
• Consistency — 8× in this paper · explained in 3 episodes
• Last-Frame Alignment — 6× in this paper
• Angular Error — 2× in this paper · explained in 1 episode
• Empirical Coverage — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Parameter Efficiency — 2× in this paper · explained in 3 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Degeneracy — 1× in this paper · explained in 3 episodes
• Pruning — 1× in this paper · explained in 4 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• AquaticVision: Benchmarking Visual SLAM in Underwater Environment with Events and Frames
• AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability
• Proprioceptive Invariant Robot State Estimation
• NanoBench: A Multi-Task Benchmark Dataset for Nano-Quadrotor System Identification, Control, and State Estimation
• e3nn: Euclidean Neural Networks
• Equivariant Neural Networks for General Linear Symmetries on Lie Algebras

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