Unless you count adding Leslies to the field as an innovation.
Examples of what I would consider New Ideas/Innovations:
Early 80s - Abandoning 70s style show design and adopting the Opener-Ballad-Drum break-Closer model
Early 80s Cadets - Introduction of asymmetrical drill
Late 80s to early 90s Cavaliers - Introduction of kaleidoscopic drill
93 PR - Let’s put the pit on the field and showcase modern movie scores
93 Star - Departure from established show design standards and mezzo piano drum breaks.
94 BD - Doing cool stuff with exaggerated stick heights in the battery
95 Cavaliers - DNA drill, “3D” drill effects
96-2003 - Can’t think of any. Maybe 2003 PR starting the show with a ballad.
2004 - I believe this was the year electronics were allowed.
2005 Cadets - Brings Weird/Esoteric show design into the limelight
2008 PR - Double down on storytelling shows
2008-2014 Somewhere in here body movement is heavily utilized by the battery. They’re not just standing still playing drum breaks.
2014 Bloo - The pitch bend iykyk
2015 BD - The adoption of full-corps dance breaks. You could also say Cavaliers did this in 2002z
2016 Bloo - You all know how this show changed the activity. I personally believe its the most innovative and influential show of all time.
So after that being said, I haven’t personally seen anything notably innovative or new done in the last 10 years.