WRAP couples causal noise-law adaptation with a Wasserstein-robust covariance update, yielding a plug-in that reduces UWB-IMU localization RMSE by 27.4% on held-out trials.
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WRAP: Wasserstein-Robust Adaptive Plug-in for Robot Localization
WRAP couples causal noise-law adaptation with a Wasserstein-robust covariance update, yielding a plug-in that reduces UWB-IMU localization RMSE by 27.4% on held-out trials.