Body-frame linear velocity estimation on Slippery terrain Slip-event intervals Simulated
0.211Velocity Estimation Error (m/s)GAIT (w/o IL token)
Evaluation Results
| Method | Links | |
|---|---|---|
| GAIT (w/o IL token)IL token=excluded2026.06 | 0.211 | |
| GAITIL token=included2026.06 | 0.217 | |
| NMN2026.06 | 0.222 | |
| IEKF2026.06 | 0.286 |