Odometry Estimation on Spot Dataset UPSTAIR sequence
1.496APE (Translation) [m]GaRLILEO
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| GaRLILEOMode=Proprioceptive-only2025.11 | 1.496 | 0.071 | 4.048 | 0.933 | — | 0.514 | |
| GaRLILEO2026.06 | 1.5 | 0.07 | 4.05 | 0.93 | — | — | |
| Leg-InEKF2026.06 | 2.01 | 0.17 | 8.07 | 2.89 | — | — | |
| Ours-60sSupervision Window=60s2026.06 | 2.06 | 0.16 | 7.13 | 0.93 | 26.3 | — | |
| Ours-30sSupervision Window=30s2026.06 | 3.52 | 0.18 | 7.07 | 0.94 | 13.2 | — | |
| MUSEMode=Proprioceptive-only2025.11 | 5.307 | 0.179 | 27.242 | 0.979 | — | 3.206 | |
| ProntoMode=Proprioceptive-only2025.11 | 6.238 | 0.139 | 21.379 | 0.647 | — | 4.485 | |
| Ours-10sSupervision Window=10s2026.06 | 7 | 0.2 | 7.15 | 0.96 | 4.4 | — | |
| HolisticMode=Proprioceptive-only2025.11 | 7.238 | 0.141 | 30.934 | 1.643 | — | 5.574 | |
| DRIFTMode=Proprioceptive-only2025.11 | 10.832 | 0.208 | 4.352 | 1.121 | — | 10.676 |