Paper Citation Record · LEDGER

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers

As of 9 August 2026, this Paper Citation Record lists 13 of 13 outbound references and 1 inbound Pith citation observation for arXiv:2605.11674.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2605.11674 v1

Coverage vector

measured 13 of 13 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-05-13T01:01:39.343225Z

measured 14 of 14 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-09T06:31:02.800959+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-07-14T14:15:12.491409Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

13 of 13 outbound references displayed

verified exact9
verified fuzzy1
unresolved0
parse uncertain0
malformed identifier2
metadata mismatch1

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 6c16611d-4021-4492-ab5e-31739689f9b4 · outbound

This paper cites MUSE: A real-time multi-sensor state estimator for quadruped robots.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers MUSE: A real-time multi-sensor state estimator for quadruped robots

Reference 1

Resolution: metadata mismatch; arxiv_id, observed 2026-05-13T01:01:59.269197Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation d5e3b787-cc54-4630-8924-660f044da29f · outbound

This paper cites Contact- aided invariant extended kalman filtering for robot state estimation.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers Contact- aided invariant extended kalman filtering for robot state estimation

Reference 2

Resolution: verified exact; doi, observed 2026-05-13T01:01:59.275921Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation bb15fc8b-b41e-4015-84bc-b60267decdc1 · outbound

This paper cites Invariant smoother for legged robot state estimation with dynamic contact event information.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers Invariant smoother for legged robot state estimation with dynamic contact event information

Reference 3

Resolution: malformed identifier; arxiv_id, observed 2026-05-13T01:02:00.310378Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 2987e683-4c1c-438c-b5b6-28224b061e11 · outbound

This paper cites GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation

Reference 4

Resolution: verified exact; arxiv_id, observed 2026-07-09T02:20:28.592188Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation b472eed9-a560-483d-a885-6649a8bd9250 · outbound

This paper cites State estimation for legged robots: consistent fusion of leg kinematics and IMU.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers State estimation for legged robots: consistent fusion of leg kinematics and IMU

Reference 5

Resolution: verified exact; doi, observed 2026-05-13T01:01:59.278694Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 49b01d78-d85e-4ec3-887f-f26ba50f181f · outbound

This paper cites The two-state implicit filter recursive estimation for mobile robots.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers The two-state implicit filter recursive estimation for mobile robots

Reference 6

Resolution: malformed identifier; arxiv_id, observed 2026-05-13T01:02:00.312979Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 9e9b6890-46b6-4dcc-ad65-2b41fbb4f681 · outbound

This paper cites Proprioceptive sensor fusion for quadruped robot state estimation.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers Proprioceptive sensor fusion for quadruped robot state estimation

Reference 7

Resolution: verified exact; doi, observed 2026-05-13T01:01:59.273784Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 7df74bdd-3bb4-4ffa-b716-4c2f3e2b1db9 · outbound

This paper cites Proprioceptive state estimation of legged robots with kinematic chain modeling.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers Proprioceptive state estimation of legged robots with kinematic chain modeling

Reference 8

Resolution: verified exact; doi, observed 2026-05-13T01:01:59.281092Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 7a42ea2b-2cb8-44e1-bd77-177e3a2aa079 · outbound

This paper cites Proprioceptive state estimation for quadruped robots using invariant Kalman filtering and scale-variant robust cost functions.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers Proprioceptive state estimation for quadruped robots using invariant Kalman filtering and scale-variant robust cost functions

Reference 9

Resolution: verified exact; arxiv_id, observed 2026-05-13T01:01:59.290078Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 13f0886c-319a-4df4-abcb-7c13ecef16c8 · outbound

This paper cites A benchmark for the evaluation of RGB-D SLAM systems.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers A benchmark for the evaluation of RGB-D SLAM systems

Reference 10

Resolution: verified exact; arxiv_id, observed 2026-05-13T01:01:59.286021Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 2ac66ac6-6deb-48e2-b392-120d6c7fc378 · outbound

This paper cites Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration

Reference 11

Resolution: verified exact; doi, observed 2026-05-13T01:01:59.271439Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 03df1ba7-4bc2-4e80-a21f-b134cf39cbf1 · outbound

This paper cites The eXogenous Kalman filter (XKF).

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers The eXogenous Kalman filter (XKF)

Reference 12

Resolution: verified exact; arxiv_id, observed 2026-05-13T01:01:59.265356Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 3c9f827e-75e7-4ff5-a823-f1c9519e87ee · outbound

This paper cites evo: Python package for the evaluation of odometry and slam.

A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers evo: Python package for the evaluation of odometry and slam

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-05-13T15:52:58.173021Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Pith citing papers

Observation 438ec4dd-c10a-4171-a912-e7bfdc312dae · inbound

Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots cites this paper.

Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots A Proprioceptive-Only Benchmark for Quadruped State Estimation: ATE, RPE, and Runtime Trade-offs Between Filters and Smoothers

Reference 7

Resolution: unresolved; no resolver link, observed 2026-07-14T14:15:12.491409Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.