You Should Be Properly Scoring Your Odometry

arXiv:2609.25900 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Code: https://github.com/svendbot/smfeval

Terminology

• Consistency — 16× in this paper · explained in 3 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Alignment — 6× in this paper · explained in 1 episode
• Calibration — 5× in this paper · explained in 7 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Degeneracy — 4× in this paper · explained in 3 episodes
• Trace — 4× in this paper · explained in 2 episodes
• Benchmarking — 3× in this paper · explained in 3 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes

Sources

• Kalman Filters on Differentiable Manifolds

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving