X-IONet: Cross-Platform Inertial Odometry Network for Pedestrian and Legged Robot

Fuente: arXiv

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	Shen, Dehan, Chen, Changhao
Format:	Preprint
Veröffentlicht:	2025
Schlagworte:	Robotics Machine Learning
Online-Zugang:	Acceder al recurso
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Ähnliche Einträge

Olfactory Inertial Odometry: Methodology for Effective Robot Navigation by Scent
von: France, Kordel K., et al.
Veröffentlicht: (2025)

Minimalist Visual Inertial Odometry
von: Pasti, Francesco, et al.
Veröffentlicht: (2026)

Olfactory Inertial Odometry: Sensor Calibration and Drift Compensation
von: France, Kordel K., et al.
Veröffentlicht: (2025)

AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability
von: Qiu, Yuheng, et al.
Veröffentlicht: (2025)

Vision-based Perception System for Automated Delivery Robot-Pedestrians Interactions
von: Tushe, Ergi, et al.
Veröffentlicht: (2025)

DOGE: An Extrinsic Orientation and Gyroscope Bias Estimation for Visual-Inertial Odometry Initialization
von: Xu, Zewen, et al.
Veröffentlicht: (2024)

Learning-based Airflow Inertial Odometry for MAVs using Thermal Anemometers in a GPS and vision denied environment
von: Wang, Ze, et al.
Veröffentlicht: (2025)

Tightly-Coupled LiDAR-IMU-Leg Odometry with Online Learned Leg Kinematics Incorporating Foot Tactile Information
von: Okawara, Taku, et al.
Veröffentlicht: (2025)

PiDR: Physics-Informed Inertial Dead Reckoning for Autonomous Platforms
von: Sahoo, Arup Kumar, et al.
Veröffentlicht: (2026)

VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots
von: Wisth, David, et al.
Veröffentlicht: (2021)

Offline Reinforcement Learning using Human-Aligned Reward Labeling for Autonomous Emergency Braking in Occluded Pedestrian Crossing
von: Asodia, Vinal, et al.
Veröffentlicht: (2025)

Neural Ranging Inertial Odometry
von: Wang, Si, et al.
Veröffentlicht: (2025)

WMINet: A Wheel-Mounted Inertial Learning Approach For Mobile-Robot Positioning
von: Versano, Gal, et al.
Veröffentlicht: (2025)

Evaluating Pedestrian Trajectory Prediction Methods with Respect to Autonomous Driving
von: Uhlemann, Nico, et al.
Veröffentlicht: (2023)

OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer
von: Yin, Jessica, et al.
Veröffentlicht: (2025)

iMoT: Inertial Motion Transformer for Inertial Navigation
von: Nguyen, Son Minh, et al.
Veröffentlicht: (2024)

LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots
von: Wu, Peilin, et al.
Veröffentlicht: (2024)

Pedestrian Behavior Prediction for Automated Driving: Requirements, Metrics, and Relevant Features
von: Herman, Michael, et al.
Veröffentlicht: (2020)

MarineGym: A High-Performance Reinforcement Learning Platform for Underwater Robotics
von: Chu, Shuguang, et al.
Veröffentlicht: (2025)

LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots
von: Zhao, Qingrui, et al.
Veröffentlicht: (2024)

BricksRL: A Platform for Democratizing Robotics and Reinforcement Learning Research and Education with LEGO
von: Dittert, Sebastian, et al.
Veröffentlicht: (2024)

GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
von: Noh, Chiyun, et al.
Veröffentlicht: (2025)

Terrain-Awared LiDAR-Inertial Odometry for Legged-Wheel Robots Based on Radial Basis Function Approximation
von: Liu, Yizhe, et al.
Veröffentlicht: (2025)

GNIO: Gated Neural Inertial Odometry
von: Feng, Dapeng, et al.
Veröffentlicht: (2026)

UMLoc: Uncertainty-Aware Map-Constrained Inertial Localization with Quantified Bounds
von: Alharbi, Mohammed S., et al.
Veröffentlicht: (2026)

OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
von: Schperberg, Alexander, et al.
Veröffentlicht: (2024)

REAL: Robust Extreme Agility via Spatio-Temporal Policy Learning and Physics-Guided Filtering
von: Liu, Jialong, et al.
Veröffentlicht: (2026)

DEIO: Deep Event Inertial Odometry
von: Guan, Weipeng, et al.
Veröffentlicht: (2024)

Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots
von: Lee, Joonho, et al.
Veröffentlicht: (2024)

Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion
von: Kim, Yunho, et al.
Veröffentlicht: (2023)

GeoFlow-SLAM: A Robust Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for Dynamic Legged Robotics
von: Xiao, Tingyang, et al.
Veröffentlicht: (2025)

FTIN: Frequency-Time Integration Network for Inertial Odometry
von: Zhang, Shanshan, et al.
Veröffentlicht: (2025)

Solving Robotics Tasks with Prior Demonstration via Exploration-Efficient Deep Reinforcement Learning
von: Shen, Chengyandan, et al.
Veröffentlicht: (2025)

Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
von: Schneider, Jan, et al.
Veröffentlicht: (2026)

Interacting Multiple Model Proprioceptive Odometry for Legged Robots
von: Li, Wanlei, et al.
Veröffentlicht: (2026)

Multiple and Gyro-Free Inertial Datasets
von: Yampolsky, Zeev, et al.
Veröffentlicht: (2024)

Less is More: Physical-enhanced Radar-Inertial Odometry
von: Huang, Qiucan, et al.
Veröffentlicht: (2024)

Learning Optimal Topology for Ad-hoc Robot Networks
von: Macktoobian, Matin, et al.
Veröffentlicht: (2022)

Loosely coupled 4D-Radar-Inertial Odometry for Ground Robots
von: Elena, Lucia Coto, et al.
Veröffentlicht: (2024)

Hysteresis-Aware Neural Network Modeling and Whole-Body Reinforcement Learning Control of Soft Robots
von: Chen, Zongyuan, et al.
Veröffentlicht: (2025)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"de"
VUFIND_SESSION	"0bf6046999ca89e9c23a5cfd111a7cdd"
ui	"standard"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790902899.5776 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "0bf6046999ca89e9c23a5cfd111a7cdd" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=de; VUFIND_SESSION=0bf6046999ca89e9c23a5cfd111a7cdd; ui=standard"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.217.142"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"48775"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2511_08277/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2511_08277/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790902899.5736
REQUEST_TIME	1790902899

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler