2026
Distributional Stability of Tangent-Linearized Gaussian Inference on Smooth Manifolds
RA-L 2026
Gaussian inference on smooth manifolds is central to robotics, but exact marginalization and conditioning are generally non-Gaussian and geometry-dependent. We study tangent-linearized Gaussian inference and derive explicit non-asymptotic <inline-formula><tex-math notation="LaTeX">$W_{2}$</tex-math>