Continuous-Time Set-Transformers for Asynchronous WiFi-IMU Indoor Localization

arXiv:2611.13057v1 Announce Type: new Abstract: Indoor localization commonly combines WiFi received signal strength indicator (RSSI) fingerprints with inertial measurements. However, these sensor streams are sampled asynchronously at different rates; therefore, observations rarely align in time and may be missing or stale. Most existing methods resample the data onto a shared clock and process each modality using a separate branch. We instead present a continuous-time transformer that represents observations as an unordered set of timestamped tokens. Each token encodes its measurement, modality, and elapsed time since acquisition.