update

README.md

@@ -137,7 +137,7 @@ Example record:
 ```
 
 Notes:
-- `gyro` is in $\mathrm{rad/s}$ and `accel` is in $\mathrm{m/s^2}$.
+- `gyro` is in rad/s and `accel` is in m/s^2.
 - `sync_dt = [dt_right, dt_imu]` are time offsets (in seconds) relative to `timestamp` (left image):
   - `dt_right = t_right - t_left`
   - `dt_imu = t_imu - t_left`
@@ -149,9 +149,9 @@ Each split contains 100 randomly sampled, synchronized frames:
 - Start/end trimmed to remove initialization artifacts
 
 Synchronization constraints:
-- $\lvert t_{left} - t_{right} \rvert \le 5\ \mathrm{ms}$
-- $\lvert t_{left} - t_{imu} \rvert \le 5\ \mathrm{ms}$
-- $\lvert t_{left} - t_{odom} \rvert \le 5\ \mathrm{ms}$ (VIO only)
+- abs(t_left - t_right) <= 5 ms
+- abs(t_left - t_imu) <= 5 ms
+- abs(t_left - t_odom) <= 5 ms (VIO only)
 
 ### Missing Data Handling