State Estimation on Mean across all terrains
0.1336ATEvel [m/s]GAIT
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GAITIL tokenization=true2026.06 | 0.1336 | 0.0815 | 0.1653 | 0.1982 | 0.0256 | |
| GAIT (w/o IL token)IL tokenization=false2026.06 | 0.1414 | 0.0803 | 0.287 | 0.2007 | 0.0255 | |
| NMN2026.06 | 0.1458 | 0.0835 | 0.2347 | 0.2109 | 0.0295 | |
| IEKF w/ SRSquare-Root Filtering=true2026.06 | 0.1519 | 0.0986 | 0.2847 | 0.2207 | 0.0281 | |
| IEKF2026.06 | 0.1666 | 0.1344 | 0.2722 | 0.2477 | 0.0344 |