Release Unified Inertial Encoder checkpoint

.gitattributes

@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+assets/overview.png filter=lfs diff=lfs merge=lfs -text
+assets/teaser.png filter=lfs diff=lfs merge=lfs -text

.hydra/config.yaml

@@ -0,0 +1,486 @@
+model:
+  tokenizer:
+    _target_: src.model.tokenizer.AddRegister
+    output_dim: ${model.token_dim}
+    num_register: 4
+    base_tokenizer:
+      _target_: src.model.tokenizer.ContinuousKernel_Conv1DTokenizer
+      output_dim: ${model.token_dim}
+      window_span_ms: ${model.token_size}
+      activation: silu
+      num_taps: 4
+      micro_split: 4
+      num_trunk_features: ${len:${model.feature_from_trunk}}
+  trunk:
+    _target_: src.model.transformer.Transformer
+    feature_dim: ${model.token_dim}
+    layer: 6
+    num_heads: 8
+    layer_type:
+    - device
+    - full
+    - device
+    - full
+    - device
+    - full
+    is_causal: ${model.is_causal}
+    use_rope: true
+    mlp_active: silu
+    moe_config: null
+  adaptor:
+    _target_: src.model.adaptor.EmptyAdaptor
+  _target_: src.model.model.FoundationIMU
+  token_dim: 768
+  token_size: 125.0
+  token_unit: ms
+  is_causal: false
+  trainable: all
+  feature_from_trunk:
+  - 1
+  - 3
+  - 5
+data:
+  nymeria_t:
+    train:
+    - _target_: src.data.imu.transform.AddGravity
+    - _target_: src.data.imu.transform.RandomEmbodimentScale
+      scale_range:
+      - 0.75
+      - 1.0
+    - _target_: src.data.imu.transform.RandomTimeWarp
+      speed_range:
+      - 0.7
+      - 1.3
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+    - _target_: src.data.imu.transform.AddVibration
+    - _target_: src.data.imu.transform.AddImpact
+    - _target_: src.data.imu.transform.RandomFrequencyReduction
+      freq_range:
+      - 120.0
+      - 240.0
+    - _target_: src.data.imu.transform.AddTimestampJitter
+      cv_range:
+      - 0.0
+      - 0.15
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+    valid:
+    - _target_: src.data.imu.transform.AddGravity
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+    - _target_: src.data.imu.transform.AddVibration
+    - _target_: src.data.imu.transform.AddImpact
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+  naturalmotion_t:
+    train:
+    - _target_: src.data.imu.transform.AddGravity
+    - _target_: src.data.imu.transform.RandomEmbodimentScale
+      scale_range:
+      - 0.75
+      - 1.0
+    - _target_: src.data.imu.transform.RandomTimeWarp
+      speed_range:
+      - 0.7
+      - 1.3
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+    - _target_: src.data.imu.transform.AddVibration
+    - _target_: src.data.imu.transform.AddImpact
+    - _target_: src.data.imu.transform.RandomFrequencyReduction
+      freq_range:
+      - 120.0
+      - 240.0
+    - _target_: src.data.imu.transform.AddTimestampJitter
+      cv_range:
+      - 0.0
+      - 0.15
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+    valid:
+    - _target_: src.data.imu.transform.AddGravity
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+    - _target_: src.data.imu.transform.AddVibration
+    - _target_: src.data.imu.transform.AddImpact
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+  bones_soma_t:
+    train:
+    - _target_: src.data.imu.transform.AddGravity
+    - _target_: src.data.imu.transform.RandomEmbodimentScale
+      scale_range:
+      - 0.75
+      - 1.0
+    - _target_: src.data.imu.transform.RandomTimeWarp
+      speed_range:
+      - 0.7
+      - 1.3
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+    - _target_: src.data.imu.transform.AddVibration
+    - _target_: src.data.imu.transform.AddImpact
+    - _target_: src.data.imu.transform.RandomFrequencyReduction
+      freq_range:
+      - 120.0
+      - 240.0
+    - _target_: src.data.imu.transform.AddTimestampJitter
+      cv_range:
+      - 0.0
+      - 0.15
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+    valid:
+    - _target_: src.data.imu.transform.AddGravity
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+    - _target_: src.data.imu.transform.AddVibration
+    - _target_: src.data.imu.transform.AddImpact
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+  hiw_500_t:
+    train:
+    - _target_: src.data.imu.transform.RandomEmbodimentScale
+      scale_range:
+      - 1.0
+      - 1.33
+    - _target_: src.data.imu.transform.RandomTimeWarp
+      speed_range:
+      - 0.9
+      - 1.6
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+      exclude_devices:
+      - pelvis
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+      exclude_devices:
+      - pelvis
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+    valid:
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+      exclude_devices:
+      - pelvis
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+      exclude_devices:
+      - pelvis
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+  bones_g1_t:
+    train:
+    - _target_: src.data.imu.transform.AddGravity
+    - _target_: src.data.imu.transform.RandomEmbodimentScale
+      scale_range:
+      - 1.0
+      - 1.33
+    - _target_: src.data.imu.transform.RandomTimeWarp
+      speed_range:
+      - 0.9
+      - 1.6
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+    - _target_: src.data.imu.transform.AddVibration
+    - _target_: src.data.imu.transform.AddImpact
+    - _target_: src.data.imu.transform.AddTimestampJitter
+      cv_range:
+      - 0.0
+      - 0.15
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+    valid:
+    - _target_: src.data.imu.transform.AddGravity
+    - _target_: src.data.imu.transform.AddNoise
+      acc_noise_density: 0.01
+      gyro_noise_density: 0.0003
+    - _target_: src.data.imu.transform.AddBias
+      acc_bias_randwalk: 0.0005
+      gyro_bias_randwalk: 5.0e-05
+    - _target_: src.data.imu.transform.AddVibration
+    - _target_: src.data.imu.transform.AddImpact
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+  window:
+    train:
+      _target_: src.data.imu.window.RandomWindow_IMU
+      window_size: ${data_conf.window_size}
+      window_unit: ${data_conf.window_unit}
+    valid:
+      _target_: src.data.imu.window.SlidingWindow_IMU
+      window_size: ${data_conf.window_size}
+      window_unit: ${data_conf.window_unit}
+      step_size: ${data_conf.window_size}
+  train:
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.nymeria_processed_lang.Nymeria_XSens_Processed_IMU_Language
+      target_sensors:
+      - pelvis
+      - head
+      - torso_t8
+      - left_shoulder
+      - left_upper_arm
+      - left_forearm
+      - left_hand
+      - right_shoulder
+      - right_upper_arm
+      - right_forearm
+      - right_hand
+      - left_upper_leg
+      - left_lower_leg
+      - left_foot
+      - right_upper_leg
+      - right_lower_leg
+      - right_foot
+    root: ${machine-conf:cache_root}/nymeria_imu_processed_v3
+    stems: src/config/data/stems/nymeria_train.txt
+    layers:
+    - ${data.nymeria_t.train}
+    - ${data.window.train}
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.naturalmotion_processed_lang.NaturalMotion_XSens_Processed_IMU_Language
+      target_sensors:
+      - pelvis
+      - head
+      - torso_t8
+      - left_shoulder
+      - left_upper_arm
+      - left_forearm
+      - left_hand
+      - right_shoulder
+      - right_upper_arm
+      - right_forearm
+      - right_hand
+      - left_upper_leg
+      - left_lower_leg
+      - left_foot
+      - right_upper_leg
+      - right_lower_leg
+      - right_foot
+    root: ${machine-conf:cache_root}/vt_natural_motion_processed_v3
+    stems: src/config/data/stems/naturalmotion_train.txt
+    layers:
+    - ${data.naturalmotion_t.train}
+    - ${data.window.train}
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.bones_seed_processed.Bones_Seed_SOMA_Processed_IMU_w_Lang
+    root: ${machine-conf:cache_root}/bones_seed_soma_processed_v4
+    stems: src/config/data/stems/bones_segments/bones_soma_train.txt
+    layers:
+    - ${data.bones_soma_t.train}
+    - ${data.window.train}
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.bones_seed_processed.Bones_Seed_G1_Processed_IMU_w_Lang
+    root: ${machine-conf:cache_root}/bones_seed_processed_v4
+    stems: src/config/data/stems/bones_segments/bones_g1_train.txt
+    layers:
+    - ${data.bones_g1_t.train}
+    - ${data.window.train}
+  valid:
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.nymeria_processed_lang.Nymeria_XSens_Processed_IMU_Language
+      target_sensors:
+      - pelvis
+      - head
+      - torso_t8
+      - left_shoulder
+      - left_upper_arm
+      - left_forearm
+      - left_hand
+      - right_shoulder
+      - right_upper_arm
+      - right_forearm
+      - right_hand
+      - left_upper_leg
+      - left_lower_leg
+      - left_foot
+      - right_upper_leg
+      - right_lower_leg
+      - right_foot
+    root: ${machine-conf:cache_root}/nymeria_imu_processed_v3
+    stems: src/config/data/stems/nymeria_valid.txt
+    layers:
+    - ${data.nymeria_t.valid}
+    - ${data.window.valid}
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.naturalmotion_processed_lang.NaturalMotion_XSens_Processed_IMU_Language
+      target_sensors:
+      - pelvis
+      - head
+      - torso_t8
+      - left_shoulder
+      - left_upper_arm
+      - left_forearm
+      - left_hand
+      - right_shoulder
+      - right_upper_arm
+      - right_forearm
+      - right_hand
+      - left_upper_leg
+      - left_lower_leg
+      - left_foot
+      - right_upper_leg
+      - right_lower_leg
+      - right_foot
+    root: ${machine-conf:cache_root}/vt_natural_motion_processed_v3
+    stems: src/config/data/stems/naturalmotion_valid.txt
+    layers:
+    - ${data.naturalmotion_t.valid}
+    - ${data.window.valid}
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.bones_seed_processed.Bones_Seed_SOMA_Processed_IMU_w_Lang
+    root: ${machine-conf:cache_root}/bones_seed_soma_processed_v4
+    stems: src/config/data/stems/bones_segments/bones_soma_valid.txt
+    layers:
+    - ${data.bones_soma_t.valid}
+    - ${data.window.valid}
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.bones_seed_processed.Bones_Seed_G1_Processed_IMU_w_Lang
+    root: ${machine-conf:cache_root}/bones_seed_processed_v4
+    stems:
+    - src/config/data/stems/bones_segments/bones_g1_valid.txt
+    - src/config/data/stems/bones_segments/bones_g1_human2robot.txt
+    layers:
+    - ${data.bones_g1_t.valid}
+    - ${data.window.valid}
+  - _target_: src.data.util.build_corpus
+    _recursive_: false
+    reader:
+      _target_: src.data.imu.humanoid_superodom_npz.Humanoid_SuperOdom_NPZ_Processed_Language
+    root: ${machine-conf:cache_root}/humanoid_superodom_clips_v2
+    stems: src/config/data/stems/superodom_clips_eval.txt
+    layers:
+    - ${data.superodom_t.valid}
+    - ${data.window.valid}
+  superodom_t:
+    train:
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+    valid:
+    - _target_: src.data.imu.transform.DeterministicDropDevice
+optim:
+  _target_: src.model.optimizer_util.AdamW_Muon_Hybrid_Optimizer
+  muon_lr: 0.002
+  muon_weight_decay: 0.001
+  muon_momentum: 0.95
+  muon_nesterov: true
+  muon_ns_steps: 5
+  muon_adjust_lr_fn: match_rms_adamw
+  adamw_lr: 0.005
+  adamw_weight_decay: 0.001
+  adamw_betas:
+  - 0.9
+  - 0.999
+  adamw_eps: 1.0e-08
+loss:
+  _target_: src.model.loss.LossCompose_AutoBalance
+  anchor: L_denoise
+  min_lambda: 0.02
+  max_lambda: 50.0
+  ema_decay: 0.99
+  funcs:
+  - name: L_denoise
+    grad: true
+    scale: auto
+    func:
+      _target_: src.model.loss.Denoise_Loss
+      masked_weight: 0.0
+      unmasked_weight: 1.0
+  - name: L_vel
+    grad: true
+    scale: auto
+    func:
+      _target_: src.model.loss.Velocity_Loss
+      masked_weight: 0.0
+      unmasked_weight: 1.0
+      huber_delta: null
+  - name: L_Lang
+    grad: true
+    scale: 1.0
+    func:
+      _target_: src.model.loss.Lang_CLIP_Loss
+  - name: L_traj_vel
+    grad: true
+    scale: auto
+    func:
+      _target_: src.model.loss.Trajectory_Velocity_Loss
+      horizons:
+      - 250.0
+      - 1000.0
+      - 2000.0
+      strides: null
+      unit: ms
+      integrator: rk4
+      precision: float32
+      huber_delta: null
+      detach_rotation: true
+debug: false
+data_conf:
+  window_size: 4096.0
+  window_step: 4096.0
+  window_unit: ms
+wandb:
+  enable: true
+  entity: null
+  project: Unified-Inertial-Encoder
+  runid: Exp15_FullTrain_C
+meta:
+  seed: 0
+  ema_decay:
+  - 0.8
+  - 0.9
+  output: ${hydra:runtime.output_dir}
+  allow_ddp_unused_param: false
+  resume_from: null
+  resume_full_state: true
+loader:
+  batch_size: 128
+  num_workers: 8
+  prefetch_factor: 1
+trainer:
+  accelerator: auto
+  devices: auto
+  precision: bf16-true
+  max_epochs: 64
+  gradient_clip_val: 1.0
+  log_every_n_steps: 1
+  accumulate_grad_batches: 1

.hydra/hydra.yaml

@@ -0,0 +1,170 @@
+hydra:
+  run:
+    dir: ${machine-conf:exp_root}/${now:%Y-%m-%d}/${now:%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - experiment=exp15_full_train_C
+  job:
+    name: train
+    chdir: null
+    override_dirname: experiment=exp15_full_train_C
+    id: ???
+    num: ???
+    config_name: train
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.4
+    version_base: '1.3'
+    cwd: .
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: src/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: .
+    choices:
+      experiment: exp15_full_train_C
+      data/transform@data.superodom_t: prune_device
+      loss: velocity+lang+denoise+traj
+      optim: muon_adamw
+      data: all_data
+      data/window: random
+      data/transform@data.bones_g1_t: humanoid_bones_real_disturb
+      data/transform@data.hiw_500_t: humanoid_hiw500
+      data/transform@data.bones_soma_t: human_xsens_real_disturb
+      data/transform@data.naturalmotion_t: human_xsens_real_disturb
+      data/transform@data.nymeria_t: human_xsens_real_disturb
+      model: continuous_foundation_imu_full
+      model/adaptor: empty
+      model/trunk: full_aa_transformer
+      model/tokenizer: ck_conv_4reg_tokenizer
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

.hydra/overrides.yaml

@@ -0,0 +1 @@
+- experiment=exp15_full_train_C

README.md

@@ -0,0 +1,84 @@
+---
+library_name: pytorch
+license: other
+pipeline_tag: robotics
+tags:
+- robotics
+- imu
+- inertial-odometry
+- humanoid
+- human-motion
+datasets:
+- bones-studio/seed
+- Open-IO/humanoid-g1-odometry
+---
+
+# A Unified Inertial Encoder for Human and Humanoid Motion: Checkpoint
+
+[Project Page](https://unified-inertial-encoder.github.io/) | [Code](https://github.com/unified-inertial-encoder/Unified-Inertial-Encoder)
+
+![One inertial encoder shared by human and humanoid motion](assets/teaser.png)
+
+One encoder, trained on human motion and kinematically retargeted G1 motion, transfers zero-shot to
+a physical Unitree G1. This repository holds the checkpoint behind the paper's "Ours" results.
+
+![Method overview](assets/overview.png)
+
+## Files
+
+```
+checkpoints/unified_encoder.ckpt   model weights (EMA, bf16, 55.6M parameters)
+.hydra/                           Hydra config of the training run (experiment=exp15_full_train_C)
+```
+
+Keep `.hydra/` next to `checkpoints/`, because the code rebuilds the model from it. The checkpoint
+holds weights only, without optimizer state, so it supports evaluation and fine-tuning from these
+weights, not exact resumption of the training run.
+
+## Quick Usage
+
+With the [code](https://github.com/unified-inertial-encoder/Unified-Inertial-Encoder) installed:
+
+```bash
+hf download Open-IO/Unified-Inertial-Encoder --local-dir ckpts/unified-inertial-encoder
+hf download Open-IO/humanoid-g1-odometry --repo-type dataset \
+    --local-dir "$FOUNDATIONIMU_CACHE_ROOT/humanoid_superodom_clips_v2"
+
+RUN=ckpts/unified-inertial-encoder
+python -m src.eval_foundation \
+    --ckpt "$RUN/checkpoints/unified_encoder.ckpt" \
+    --data_from "$RUN" \
+    --dataset Humanoid_SuperOdom_NPZ_Processed_Language \
+    --json real_g1.json
+```
+
+`src.eval_foundation` needs a CUDA GPU. See the code repository for the other datasets.
+
+## Results
+
+Scores reported in the paper. AVE is the average velocity error (m/s). ATE<sub>GT</sub> and
+ATE<sub>Pred</sub> are trajectory errors (m) using ground-truth rotation and rotation preintegrated
+from the gyroscope.
+
+| Dataset | AVE | ATE<sub>GT</sub> | ATE<sub>Pred</sub> |
+|---|---|---|---|
+| Nymeria | 0.026 | 2.468 | 18.20 |
+| Natural Motion | 0.049 | 7.456 | 50.54 |
+| BONES-Seed (Human) | 0.031 | 0.113 | 0.148 |
+| BONES-Seed (G1) | 0.024 | 0.101 | 0.127 |
+| Real-Trajectory (G1) | 0.099 | 3.153 | 11.50 |
+
+Real-G1 clips are never used for gradient training, but their scores informed the selection of this
+checkpoint.
+
+## Citation
+
+```bibtex
+@misc{chen2026unifiedinertial,
+  title={A Unified Inertial Encoder for Human and Humanoid Motion},
+  author={Chen, Yutian and Zhao, Shibo and Duan, Rocky and Liu, Karen and
+          Sferrazza, Carmelo and Shi, Guanya and Qiu, Yuheng and Sreenath, Koushil},
+  year={2026},
+  url={https://unified-inertial-encoder.github.io/}
+}
+```

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