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NeuRIO: A Streaming Neural Estimator for Zero-Shot Sim-to-Real Multi-Robot Relative Inertial Odometry

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

We present NeuRIO, a streaming neural estimator for anchor-free 6-DoF relative inertial odometry using only identified inter-robot bearings, ranges, and IMU measurements. NeuRIO canonicalizes measurements into gravity-aligned coordinates, represents robots as nodes and mutual observations as factors, and uses attention for spatial reasoning and GRUs for temporal modeling. As a graph network, NeuRIO applies shared node-wise and factor-wise operators throughout the network, enabling it to handle different team sizes and time-varying observation graphs. NeuRIO is trained on a simulator that coupl

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