AttenNKF augments InEKF with an attention-based neural compensator trained in latent space to correct foot-slip errors in legged robot state estimation.
Legged robot state estimation with dynamic contact event information,
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Attention-Based Neural-Augmented Kalman Filter for Legged Robot State Estimation
AttenNKF augments InEKF with an attention-based neural compensator trained in latent space to correct foot-slip errors in legged robot state estimation.