\textbf{PLATO}: \emph{Preintegration Learning from Accurate Trajectory Observations} for Neural Inertial Odometry

Neural inertial odometry has demonstrated strong potential for motion estimation in challenging environments, yet inertial-only preintegration remains sensitive to IMU bias and uncertainty. To this end, this paper introduces \textbf{PLATO}:~\emph{Preintegration Learning from Accurate Trajectory Obse