ResearchBenchmarksBody-frame linear velocity estimation on Pronk gait (unseen)Follow0.3629Mean Linear Velocity Error (m/s)GAIT0.3547920.4095210.464250.518979Jun 12, 2026Evaluation ResultsMethodMethodLinksMean Linear Velocity Error (m/s)Std Dev Linear Velocity Error (m/s)GAITInertial-Leg (IL) toke...Inertial-Leg (IL) token=included2026.060.36290.017IEKF2026.060.42170.071GAITInertial-Leg (IL) toke...Inertial-Leg (IL) token=not included2026.060.43390.027NMN2026.060.56560.07