arXiv:2601. 03040v2 Announce Type: replace-cross Abstract: A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information.
By Arup Kumar Sahoo, Itzik Klein
arXiv:2607. 05663v1 Announce Type: cross Abstract: Accurate and robust localization is essential for autonomous mobility systems in real-world environments.
By Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick, Michael Botsch
arXiv:2608. 05975v1 Announce Type: cross Abstract: In this paper, we present TRACE (Tokenized Robust Attention for Contact-Aware Estimation), an end-to-end learned proprioceptive odometry estimator for legged robots under unreliable contact conditions.
By Taehyeon Kong, Woojin Kim, Jemin Hwangbo
arXiv:2607. 05669v1 Announce Type: cross Abstract: Reliable localization in GNSS-denied environments remains a fundamental challenge for intelligent vehicles, as inertial navigation systems accumulate unbounded drift without external correction.
By Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick, Michael Botsch
In this paper, we present TRACE (Tokenized Robust Attention for Contact-Aware Estimation), an end-to-end learned proprioceptive odometry estimator for legged robots under unreliable contact conditions. The proposed estimator directly predicts relative displacement, relative rotation, and body-frame velocity from a recent history of onboard inertial and joint measurements.
arXiv:2607. 13319v1 Announce Type: cross Abstract: High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains.
By Rwik Rana, Jesse Quattrociocchi, Christian Ellis, Nathan Tsoi, Garrett Warnell, Joydeep Biswas