shibowing · shibowing · Sep 8, 2026 · Sep 4, 2026 · Sep 5, 2026 · Sep 5, 2026
diff --git a/_sass/custom.scss b/_sass/custom.scss
@@ -1985,7 +1985,7 @@ body.imuchallenge-home .content a.imu-workshop-text-link:hover {
 
 .imu-workshop-partners {
   display: grid;
-  grid-template-columns: repeat(3, minmax(0, 1fr));
+  grid-template-columns: repeat(4, minmax(0, 1fr));
   gap: 1rem;
 }
 
@@ -2018,28 +2018,6 @@ body.imuchallenge-home .content a.imu-workshop-text-link:hover {
   object-fit: contain;
 }
 
-.imu-workshop-amazon {
-  gap: 0.8rem;
-}
-
-.imu-workshop-amazon span {
-  color: var(--imu-home-ink);
-  font-size: 1.45rem;
-  font-weight: 800;
-}
-
-.imu-workshop-amazon i {
-  width: 1px;
-  height: 2rem;
-  background: var(--imu-home-line);
-}
-
-.imu-workshop-amazon strong {
-  color: var(--imu-home-accent) !important;
-  font-size: 1.25rem;
-  font-weight: 800;
-}
-
 .imu-workshop-inline-links {
   display: flex;
   flex-wrap: wrap;
@@ -2201,6 +2179,10 @@ body.imuchallenge-home .content .imu-workshop-citation-block code {
     margin-top: 1.1rem;
   }
 
+  .imu-workshop-partners {
+    grid-template-columns: repeat(2, minmax(0, 1fr));
+  }
+
   body.imuchallenge-home .content a.imu-workshop-action {
     min-height: 42px;
     padding: 0.6rem 0.7rem;

diff --git a/img/logos/amazon-far.png b/img/logos/amazon-far.png
diff --git a/img/logos/sii-logo.png b/img/logos/sii-logo.png
diff --git a/img/social/wechat_communities_2026.png b/img/social/wechat_communities_2026.png
diff --git a/imuchallenge/about.md b/imuchallenge/about.md
@@ -43,4 +43,4 @@ Challenge organization is coordinated by **CMU AirLab**, with benchmark, dataset
 
 ## Contact
 
-For challenge questions, post in the [Kaggle discussion forum](https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026/discussion){:target="_blank" rel="noopener"} so answers remain visible to every team. Use the [team registration form](https://forms.gle/7rUg7ENctuBU9kTN8){:target="_blank" rel="noopener"} for registration details.
+For challenge questions, post in the [Kaggle discussion forum](https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026/discussion){:target="_blank" rel="noopener"} so answers remain visible to every team. To register, join the competition on Kaggle and create your team there — see the [setup guide](/imuchallenge/setup/#quick-start) for the full walkthrough.
diff --git a/imuchallenge/data.md b/imuchallenge/data.md
@@ -38,7 +38,7 @@ Window indices and per-window targets are in `index/`: `train_windows.csv` / `va
 
 At competition scale, the dataset totals **136,289 one-second windows** across all platforms — **81,931 train / 23,714 val / 30,644 held-out test** — for about **37.9 hours** of recorded motion in total, ranging from about 5.2 hours (drone) to 13.4 hours (human) of motion per platform across all three splits.
 
-**Metric — macro-averaged Absolute Trajectory Error (ATE), lower is better:** you submit one body-frame velocity per test window. The organizers rotate each prediction into the world frame using the ground-truth orientation (used only for scoring, never as model input), accumulate the per-window displacements into a path, align that path to ground truth with an SE(3) Umeyama alignment (rotation + translation, no scale), and compute ATE as the RMS position error between the aligned estimate and ground truth. Per-platform ATE is the mean over that platform's test trajectories; the final score is the equal-weight mean of the four per-platform ATEs, so no platform dominates.
+**Metric — TartanIMU Score `0.6 × (AVE / 0.7356384388) + 0.4 × (ATE20 / 3.1160277267)`, lower is better:** you submit one body-frame velocity per test window. AVE (60% of the score) is the mean per-window Euclidean error `‖v_pred − v_gt‖` between your predicted and ground-truth body-frame velocity, in m/s — no alignment or trajectory accumulation involved. ATE20 (40% of the score) is a trajectory-level metric: the organizers rotate each prediction into the world frame using the ground-truth orientation (used only for scoring, never as model input), accumulate the per-window displacements into a path, cut the ground-truth path into ~20 m segments of travelled distance, align each segment independently to ground truth with an SE(3) Umeyama alignment (rotation + translation, no scale), and take the RMS position error within each segment; a trajectory's ATE20 is the mean over its segments. The score is macro-averaged over the four platforms, each contributing 25%.
 
 Splits are deduplicated at the trajectory level (SHA-256 of raw IMU content); train / val / public-test / private-test share no recording. The public leaderboard is scored on the Public test trajectories; final standings use the held-out Private trajectories. The Public/Private split is at the whole-trajectory level, never per window.
 

diff --git a/imuchallenge/index.md b/imuchallenge/index.md
@@ -182,9 +182,6 @@ permalink: /imuchallenge/
       <a class="imu-workshop-action is-secondary" href="https://github.com/superxslam/TartanIMU" target="_blank" rel="noopener">
         <i class="fab fa-github" aria-hidden="true"></i><span>TartanIMU Code</span>
       </a>
-      <a class="imu-workshop-action is-secondary" href="https://forms.gle/7rUg7ENctuBU9kTN8" target="_blank" rel="noopener">
-        <i class="fas fa-user-plus" aria-hidden="true"></i><span>Register Team</span>
-      </a>
       <a class="imu-workshop-action is-secondary" href="/imuchallenge/setup/">
         <i class="fas fa-rocket" aria-hidden="true"></i><span>Setup Guide</span>
       </a>
@@ -200,8 +197,8 @@ permalink: /imuchallenge/
     <h2 id="imu-alert-title"><i class="fas fa-triangle-exclamation" aria-hidden="true"></i>Important reminder: eligibility for the final ranking</h2>
     <p>This applies to every team, including those who have already submitted to Kaggle. The Kaggle leaderboard is provisional: official final standings are decided only after the organizers re-execute the top teams' submitted models. To be eligible for the final ranking you must, in addition to submitting predictions:</p>
     <ol>
-      <li>Complete the <a href="https://forms.gle/7rUg7ENctuBU9kTN8" target="_blank" rel="noopener">Submission Form</a> for each submission you want considered, attaching the prediction CSV you uploaded.</li>
-      <li>Submit a technical report (PDF). <a href="https://drive.google.com/drive/folders/1EEnFNbogpRSbqGglppdNh0EQp0zxHzjZ" target="_blank" rel="noopener">Download it here</a> &mdash; the zip contains <code>main.tex</code> and <code>ieeeconf.cls</code>. On Overleaf: <em>New Project &rarr; Upload Project</em> &rarr; select the zip. Maximum 6 pages excluding references, 7 in total; the appendix does not count. The report is due <strong>23:59 US Eastern Time, 23 September 2026</strong> &mdash; three days after the leaderboard closes &mdash; and is submitted by attaching it at the end of the <a href="https://forms.gle/7rUg7ENctuBU9kTN8" target="_blank" rel="noopener">challenge Form</a>. All numbers in Tables III&ndash;V must come from the <a href="https://huggingface.co/spaces/Tartan-IMU/imu_odometry_challenge_scoring" target="_blank" rel="noopener">official scoring service</a>, not a local re-implementation.</li>
+      <li>Complete the <a href="https://docs.google.com/forms/d/e/1FAIpQLSc_3Pq2Bs4ytd0lfHHLsU_qoO5z0BP6Psnsqo7e5nOyBTlCjQ/viewform" target="_blank" rel="noopener">Submission Form</a> for each submission you want considered, attaching the prediction CSV you uploaded.</li>
+      <li>Submit a technical report (PDF). <a href="https://drive.google.com/drive/folders/1EEnFNbogpRSbqGglppdNh0EQp0zxHzjZ" target="_blank" rel="noopener">Download it here</a> &mdash; the zip contains <code>main.tex</code> and <code>ieeeconf.cls</code>. On Overleaf: <em>New Project &rarr; Upload Project</em> &rarr; select the zip. Maximum 6 pages excluding references, 7 in total; the appendix does not count. The report is due <strong>23:59 US Eastern Time, 23 September 2026</strong> &mdash; three days after the leaderboard closes &mdash; and is submitted by attaching it at the end of the <a href="https://docs.google.com/forms/d/e/1FAIpQLSc_3Pq2Bs4ytd0lfHHLsU_qoO5z0BP6Psnsqo7e5nOyBTlCjQ/viewform" target="_blank" rel="noopener">challenge Form</a>. All numbers in Tables III&ndash;V must come from the <a href="https://huggingface.co/spaces/Tartan-IMU/imu_odometry_challenge_scoring" target="_blank" rel="noopener">official scoring service</a>, not a local re-implementation.</li>
       <li>Publish your single unified model's weights and inference code as a public Hugging Face model repository, within the same 7 days.</li>
     </ol>
     <p>Teams missing any of the three, or whose model cannot be re-executed, are removed from the final ranking regardless of leaderboard position. Full details on the <a href="https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026/rules" target="_blank" rel="noopener">Rules and Evaluation tabs</a>.</p>
@@ -358,19 +355,22 @@ permalink: /imuchallenge/
     <div class="imu-workshop-section-heading">
       <p class="imu-workshop-eyebrow">Organizers and partners</p>
       <h2>Built by teams working on robust robot perception.</h2>
-      <p>The challenge is organized by CMU AirLab and Amazon FAR in conjunction with the IROS 2026 workshop on interoceptive perception.</p>
+      <p>The challenge is organized by CMU AirLab and Amazon FAR in conjunction with the IROS 2026 workshop on interoceptive perception, with support from the Shanghai Innovation Institute.</p>
     </div>
 
     <div class="imu-workshop-partners">
       <a href="https://theairlab.org/" target="_blank" rel="noopener" aria-label="CMU AirLab">
         <img src="/img/logos/Horizontal@2x.png" alt="CMU AirLab" width="600" height="147" loading="lazy" decoding="async">
       </a>
-      <div class="imu-workshop-amazon" aria-label="Amazon FAR">
-        <span>amazon</span><i aria-hidden="true"></i><strong>FAR</strong>
-      </div>
+      <a href="https://github.com/amazon-far" target="_blank" rel="noopener" aria-label="Amazon FAR">
+        <img src="/img/logos/amazon-far.png" alt="Amazon FAR" loading="lazy" decoding="async">
+      </a>
       <a href="https://www.ri.cmu.edu/" target="_blank" rel="noopener" aria-label="Carnegie Mellon University Robotics Institute">
         <img src="/img/riLogo2019.svg" alt="Carnegie Mellon University Robotics Institute" loading="lazy" decoding="async">
       </a>
+      <a href="https://www.sii.edu.cn/" target="_blank" rel="noopener" aria-label="Shanghai Innovation Institute">
+        <img src="/img/logos/sii-logo.png" alt="Shanghai Innovation Institute" loading="lazy" decoding="async">
+      </a>
     </div>
 
     <div class="imu-workshop-inline-links">

diff --git a/imuchallenge/setup.md b/imuchallenge/setup.md
@@ -14,7 +14,7 @@ permalink: /imuchallenge/setup/
 <div class="imu-steps" markdown="1">
 
 <div class="imu-step" markdown="1">
-**Register your team.** [Fill out the registration form.](https://forms.gle/7rUg7ENctuBU9kTN8){:target="_blank" rel="noopener"} Then join the competition on Kaggle: [TartanIMU Challenge: Multi-Platform Inertial Odometry](https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026){:target="_blank" rel="noopener"}.
+**Register your team.** Join the competition on Kaggle and create your team there: [TartanIMU Challenge: Multi-Platform Inertial Odometry](https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026){:target="_blank" rel="noopener"}. There's no separate signup — your Kaggle team *is* your registration.
 </div>
 
 <div class="imu-step" markdown="1">
@@ -225,6 +225,10 @@ finetune:
 **Improve and [submit](https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026/submissions){:target="_blank" rel="noopener"}.** Experiment with your own methods to push performance on the leaderboard.
 </div>
 
+<div class="imu-step" markdown="1">
+**Log your submission and report.** The Kaggle leaderboard alone doesn't make you eligible for the final ranking or workshop presentation. Complete the [Submission Form](https://docs.google.com/forms/d/e/1FAIpQLSc_3Pq2Bs4ytd0lfHHLsU_qoO5z0BP6Psnsqo7e5nOyBTlCjQ/viewform){:target="_blank" rel="noopener"} for each submission you want considered, and again to attach your technical report before the deadline. See [Final ranking eligibility](#schedule-rules-and-leaderboard) for the full requirements.
+</div>
+
 </div>
 
 ## Schedule, Rules, and Leaderboard
@@ -241,7 +245,7 @@ Competition dates, team and submission limits, and any external-data policy can
 
 The Kaggle leaderboard is **provisional**. Official final standings are decided only after the organizers re-execute the top teams' submitted models. To be eligible for the final ranking you must, in addition to submitting predictions:
 
-1. Complete the [Submission Form](https://forms.gle/7rUg7ENctuBU9kTN8){:target="_blank" rel="noopener"} for each submission you want considered, attaching the prediction CSV you uploaded.
+1. Complete the [Submission Form](https://docs.google.com/forms/d/e/1FAIpQLSc_3Pq2Bs4ytd0lfHHLsU_qoO5z0BP6Psnsqo7e5nOyBTlCjQ/viewform){:target="_blank" rel="noopener"} for each submission you want considered, attaching the prediction CSV you uploaded.
 2. Submit a technical report (PDF) &mdash; see [Technical report](#technical-report) below. All numbers in Tables III&ndash;V must come from the [official scoring service](https://huggingface.co/spaces/Tartan-IMU/imu_odometry_challenge_scoring){:target="_blank" rel="noopener"}, not a local re-implementation.
 3. Publish your single unified model's weights and inference code as a public Hugging Face model repository, within the same 7 days.
 

diff --git a/index.md b/index.md
@@ -80,10 +80,6 @@ hero_buttons:
     font-size: 0.92rem;
     line-height: 1.5;
   }
-  #home-wechat-qr[hidden],
-  #home-wechat-expired[hidden] {
-    display: none;
-  }
   #home-wechat-qr img {
     display: block;
     width: min(100%, 660px);
@@ -156,20 +152,20 @@ hero_buttons:
     <i class="fas fa-times" aria-hidden="true"></i>
   </button>
   <h2 id="home-wechat-title">Join Our WeChat Communities</h2>
-  <p id="home-wechat-description">Scan to join the 2026 IMU Challenge or Proprioception community.</p>
+  <p id="home-wechat-description">Scan to join the Proprioception community.</p>
   <div id="home-wechat-qr">
-    <img src="/img/social/wechat_communities_2026.png" alt="WeChat QR codes for the 2026 IMU Challenge and Proprioception communities" width="1320" height="1399">
+    <img src="/img/social/wechat_communities_2026.png" alt="WeChat QR code for the Proprioception community" width="1080" height="1659">
     <div class="home-wechat-validity">
       <i class="fas fa-calendar-alt" aria-hidden="true"></i>
-      <span>These invitation QR codes are valid until August 12, 2026.</span>
+      <span>This invitation QR code is valid until <strong>September 12, 2026</strong>.</span>
     </div>
     <a class="home-wechat-full" href="/img/social/wechat_communities_2026.png" target="_blank" rel="noopener">
-      <i class="fas fa-expand" aria-hidden="true"></i><span>Open full-size QR codes</span>
+      <i class="fas fa-expand" aria-hidden="true"></i><span>Open full-size QR code</span>
     </a>
   </div>
-  <div class="home-wechat-expired" id="home-wechat-expired" hidden>
+  <div class="home-wechat-expired">
     <i class="fas fa-clock" aria-hidden="true"></i>
-    <p>These WeChat invitations expired on August 12, 2026. Please request updated codes through <a href="https://discord.com/invite/Huf2GJx32y" target="_blank" rel="noopener">Discord</a>.</p>
+    <p>If this code has expired, message us in <a href="https://discord.com/invite/Huf2GJx32y" target="_blank" rel="noopener">Discord</a> and we'll send you a current one.</p>
   </div>
 </dialog>
 
@@ -178,20 +174,15 @@ hero_buttons:
     const trigger = document.querySelector('a.hero-social-btn[href="/img/social/wechat_communities_2026.png"]');
     const dialog = document.getElementById("home-wechat-dialog");
     const closeButton = document.getElementById("home-wechat-close");
-    const qrCodes = document.getElementById("home-wechat-qr");
-    const expiredMessage = document.getElementById("home-wechat-expired");
 
-    if (!trigger || !dialog || !closeButton || !qrCodes || !expiredMessage || typeof dialog.showModal !== "function") return;
+    if (!trigger || !dialog || !closeButton || typeof dialog.showModal !== "function") return;
 
     trigger.removeAttribute("target");
     trigger.removeAttribute("rel");
     trigger.setAttribute("aria-haspopup", "dialog");
     trigger.setAttribute("aria-controls", "home-wechat-dialog");
     trigger.addEventListener("click", function(event) {
       event.preventDefault();
-      const inviteExpired = Date.now() >= Date.parse("2026-08-13T00:00:00+08:00");
-      qrCodes.hidden = inviteExpired;
-      expiredMessage.hidden = !inviteExpired;
       dialog.showModal();
     });
     closeButton.addEventListener("click", function() {

diff --git a/interoception.md b/interoception.md
@@ -728,10 +728,6 @@ hero_image: /img/IROS_2026_tab/pittsburgh_from_pdf.jpg
         <span class="icon" aria-hidden="true"><i class="fas fa-trophy"></i></span>
         <span>Explore Challenge</span>
       </a>
-      <a class="challenge-cta is-secondary" href="https://forms.gle/7rUg7ENctuBU9kTN8" target="_blank" rel="noopener">
-        <span class="icon" aria-hidden="true"><i class="fas fa-user-plus"></i></span>
-        <span>Register Team</span>
-      </a>
       <a class="challenge-cta is-secondary" href="https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026/submissions" target="_blank" rel="noopener">
         <span class="icon" aria-hidden="true"><i class="fas fa-upload"></i></span>
         <span>Submit on Kaggle</span>
@@ -782,7 +778,11 @@ hero_image: /img/IROS_2026_tab/pittsburgh_from_pdf.jpg
           </div>
           <div class="date-row">
             <time datetime="2026-09-20T23:55:00Z">September 20, 2026, 23:55 UTC</time>
-            <p>Final challenge submission, technical report, and model weights deadline.</p>
+            <p>Final challenge submission and model weights deadline.</p>
+          </div>
+          <div class="date-row">
+            <time datetime="2026-09-23T23:59:00-04:00">September 23, 2026, 23:59 US Eastern (EDT)</time>
+            <p>Technical report deadline.</p>
           </div>
           <div class="date-row">
             <time datetime="2026-09-24">September 24, 2026</time>
Original file line number	Diff line number	Diff line change
Expand Up		@@ -43,4 +43,4 @@ Challenge organization is coordinated by CMU AirLab, with benchmark, dataset

		## Contact

		For challenge questions, post in the [Kaggle discussion forum](https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026/discussion){:target="_blank" rel="noopener"} so answers remain visible to every team. Use the [team registration form](https://forms.gle/7rUg7ENctuBU9kTN8){:target="_blank" rel="noopener"} for registration details.
		For challenge questions, post in the [Kaggle discussion forum](https://www.kaggle.com/competitions/tartan-imu-challenge-iros2026/discussion){:target="_blank" rel="noopener"} so answers remain visible to every team. To register, join the competition on Kaggle and create your team there — see the [setup guide](/imuchallenge/setup/#quick-start) for the full walkthrough.