{"id":"W3090160518","doi":"10.1109/icra40945.2020.9196860","title":"RoNIN: Robust Neural Inertial Navigation in the Wild: Benchmark, Evaluations, & New Methods","year":2020,"lang":"en","type":"article","venue":"","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":268,"is_retracted":false,"has_abstract":true,"ca_institutions":"Simon Fraser University","funders":"","keywords":"Inertial measurement unit; Benchmark (surveying); Computer science; Artificial intelligence; Inertial navigation system; Heading (navigation); Phone; Computer vision; Ground truth; Inertial frame of reference; Geography; Geodesy","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.005282043,0.002811848,0.001448024,0.001644803,0.000747636,0.001487134,0.003483812,0.001927726,0.004242608],"category_scores_gemma":[0.0126874,0.000562612,0.0008247202,0.001277348,0.001026221,0.002373316,0.002175846,0.001350678,0.002257405],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0009477405,"about_ca_system_score_gemma":0.001395124,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.01796544,"about_ca_topic_score_gemma":0.02281927,"domain_scores_codex":[0.9963207,0.001171693,0.0002297565,0.0009348361,0.001084836,0.0002582155],"domain_scores_gemma":[0.9965103,0.001193902,0.0002144485,0.001023514,0.0009142398,0.0001435692],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"design_other","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.001635803,0.0007595734,0.004761485,0.001471297,0.0007409964,0.0002524686,0.0001485431,0.2723086,0.007878206,0.003947871,0.07708962,0.6290054],"study_design_scores_gemma":[0.0003024222,0.0008063155,0.002873316,0.0001578003,0.0001166465,0.0002806316,0.0001350272,0.9654877,0.01212273,0.004360243,0.01327412,0.00008294828],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1580505,0.01125159,0.7297287,0.001573714,0.002947232,0.001013275,0.008956362,0.06543393,0.02104468],"genre_scores_gemma":[0.4128892,0.001666672,0.5419239,0.0007743155,0.0003338987,0.0009390934,0.02788073,0.003134836,0.01045732],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.01796544,"threshold_uncertainty_score":0.03572172,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.07106588215320248,"score_gpt":0.3286866239415446,"score_spread":0.2576207417883421,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}