ResearchBenchmarksBody-frame linear velocity estimation on Bound gait (unseen)Body-frame linear velocity estimation on Bound gait (unseen)Follow0.3181Mean Linear Velocity Estimation Error (m/s)GAIT0.3147720.3372360.35970.382164Jun 12, 2026Evaluation resultsMethodMethodLinksMean Linear Velocity Estimation Error (m/s)Std Linear Velocity Estimation Error (m/s)GAITInertial-Leg (IL) toke...Inertial-Leg (IL) token=included2026.060.31810.154IEKF2026.060.34010.156GAITInertial-Leg (IL) toke...Inertial-Leg (IL) token=not included2026.060.34850.17NMN2026.060.40130.215