ResearchBenchmarksInertial Odometry on Quadruped held-out sequences (test)Follow1.74Absolute Trajectory Error (ATE)TLIO1.672.14252.6153.0875Jun 8, 2026Evaluation ResultsMethodMethodLinksAbsolute Trajectory Error (ATE)10-second Relative Trajectory Error (RTE-10s)TLIO2026.061.740.79MosaicIMU2026.062.010.63TartanIMU2026.063.441.17IMO2026.063.491.22