MosaicIMU is a carrier-conditioned MoE pretraining-and-adaptation framework for generalizable neural inertial odometry that adapts to new carriers with lightweight experts and reports 40% and 34% reductions in ATE and RTE-10s.
i2Nav-Robot: A large-scale indoor-outdoor robot dataset for multi-sensor fusion navigation and mapping.arXiv preprint arXiv:2508.11485, 2025
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MosaicIMU: Composing Carrier Experts for Generalizable Neural Inertial Odometry
MosaicIMU is a carrier-conditioned MoE pretraining-and-adaptation framework for generalizable neural inertial odometry that adapts to new carriers with lightweight experts and reports 40% and 34% reductions in ATE and RTE-10s.