ResearchBenchmarksBody-frame linear velocity estimation on Pace gait (unseen)Body-frame linear velocity estimation on Pace gait (unseen)Follow0.3181Mean Linear Velocity Estimation Error (m/s)GAIT0.303760.4005550.497350.594145Jun 12, 2026Evaluation resultsMethodMethodLinksMean Linear Velocity Estimation Error (m/s)Std Dev Linear Velocity Estimation Error (m/s)GAITInertial-Leg (IL) toke...Inertial-Leg (IL) token=included2026.060.31810.016IEKF2026.060.42450.042GAITInertial-Leg (IL) toke...Inertial-Leg (IL) token=not included2026.060.53390.042NMN2026.060.67660.075