Research map / Label-efficient and robust learning / Test-time adaptation
RIO: Rotation-Equivariance Supervised Learning of Robust Inertial Odometry
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Add rotation-equivariance auxiliary loss during training | ResNet-18 inertial odometry · RoNIN | ATE (m): 5.57 -> 5.02 | Helped |
| Add rotation-equivariance auxiliary loss during training | ResNet-18 inertial odometry · OXIOD | ATE (m): 3.52 -> 3.59 | Hurt |
| Add rotation-equivariance auxiliary loss during training | ResNet-18 inertial odometry · RIDI | ATE (m): 1.19 -> 1.13 | Helped |
| Add rotation-equivariance auxiliary loss during training | ResNet-18 inertial odometry · IPS | ATE (m): 1.84 -> 1.67 | Helped |
| Apply adaptive test-time training | B-ResNet · RoNIN | ATE (m): 5.57 -> 5.05 | Helped |
| Apply adaptive test-time training | B-ResNet · OXIOD | ATE (m): 3.52 -> 2.92 | Helped |
| Apply adaptive test-time training | B-ResNet · RIDI | ATE (m): 1.19 -> 1.04 | Helped |
| Apply adaptive test-time training | B-ResNet · IPS | ATE (m): 1.84 -> 1.55 | Helped |
| Apply adaptive TTT rather than naive TTT (ablation) | ResNet-18 inertial odometry · OXIOD | ATE (m): 3.50 -> 2.92 | Helped |
| Apply adaptive TTT rather than naive TTT (ablation) | ResNet-18 inertial odometry · RoNIN | ATE (m): 4.94 -> 5.05 | No clear effect |
Closest papers by meaning
- EqNIO: Subequivariant Neural Inertial Odometry (ICLR 2025 · similarity 0.88)
- Adaptive VIO: Deep Visual-Inertial Odometry with Online Continual Learning (CVPR 2024 · similarity 0.87)
- Tartan IMU: A Light Foundation Model for Inertial Positioning in Robotics (CVPR 2025 · similarity 0.86)
- From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers (CVPR 2024 · similarity 0.85)
- iMoT: Inertial Motion Transformer for Inertial Navigation (AAAI 2025 · similarity 0.83)
- LEAP-VO: Long-term Effective Any Point Tracking for Visual Odometry (CVPR 2024 · similarity 0.83)
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