Robot State Estimation

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28 papers in the last four weeks, up 367% on the four weeks before. 0.3% of all new papers.

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  1. Embedded Bare-Metal Radar-Inertial Odometry

    Oct 5, 2026Nicolai Adil Øyen Aatif, Morten Nissov, Kostas AlexisUAV NavigationRadar-Inertial Odometry

    Department of Engineering Cybernetics Norwegian University of Science and Technology O. S. Bragstads Plass 2D, 7034 Trondheim, Norway

  2. Block Disentanglement in CRL: Bridging Identifiability and Visual State Estimation

    Oct 5, 2026Emre Acartürk, Pranamya Kulkarni, Puranjay Datta +3Causal Representation LearningCausal Identifiability

    Rensselaer Polytechnic Institute Troy, NY, USA · Swiss AI, EPFL Lausanne, Switzerland · University of Delaware Newark, DE, USA

  3. GR-LIO: A Local Ground-Aware LiDAR-Inertial Odometry System Using Body-to-Ground Height

    Oct 4, 2026Zhixin Zhang, Yang Song, Liang Zhao +3LiDAR OdometryRobot State Estimation

    Department of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K. · School of Informatics, University of Edinburgh, Edinburgh EH8 9AB, U.K. · Department of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, U.K.

  4. Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion

    Sep 30, 2026Zheng Cao, Guo Ning Sue, Xiangyun Bu +3Continuum Robot ControlRobot State Estimation

    Carnegie Mellon University

  5. Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation

    Sep 30, 2026Michal Pliska, Matouš Vrba, Ondřej Víta +3Aerial RoboticsKalman Filtering

    Multi-robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic

  6. Benchmarking EMlog Calibration for Autonomous Surface Vehicles

    Sep 30, 2026Samuel Cohen-Salmon, Itzik KleinModel CalibrationRobot State Estimation

    The Hatter Department of Marine Technologies Charney School of Marine Sciences, University of Haifa Haifa, Israel

  7. LBDU-VIO: Learned Bias Dynamics and Uncertainty for Visual-Inertial Odometry with Unreliable Vision

    Sep 30, 2026Qizhi Guo, Junning Lyu, Defu Lin +1Kalman FilteringVisual-Inertial Odometry

    School of Aerospace Engineering and the Beijing Key Laboratory of UAV Autonomous Control, Beijing Institute of Technology, Beijing 100081, China

  8. Observability Analysis and Online Calibration of Visual-Inertial-Wheel Odometry for 4WIS4WID Mobile Robots

    Sep 29, 2026Branimir Ćaran, Vladimir Milić, Bojan Šekoranja +1Visual-Inertial OdometryRobot State Estimation

    Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, 10000, Croatia · Croatian Academy of Sciences and Arts, Zagreb, 10000, Croatia

  9. A QCQP-Representable IMU Pre-Integration Factor for Certifiable State Estimation

    Sep 29, 2026Utkarsh Rai, Zhexin Xu, Bang-Shien Chen +1Constrained OptimizationRobot State Estimation

    Robust Autonomy Lab, Institute for Experiential Robotics, Northeastern University, 360 Huntington Ave, Boston, MA 02115, USA

  10. Speed in the Blind Spot: An Interpretability Analysis of Dynamic Perception in VLMs for Autonomous Driving

    Sep 29, 2026Katharina Winter, Stefan Englmeier, Fabian B. FlohrVLMs for Autonomous DrivingVLM Interpretability

    Munich University of Applied Sciences, Intelligent Vehicles Lab (IVL), 80335 Munich, Germany

  11. Natural State-Prediction Accuracy can Hide Weak Controlled Responsiveness in VLA Readouts

    Sep 28, 2026Hyungjoon Kim, Wonbin Son, Mi Young Lee +2Robotic Policy EvaluationVision-Language-Action Models

    Changwon National University · Chung-Ang University

  12. Estimate, Don't Imitate: Reusing Differentiable State-Based Policies for Visuomotor Control

    Sep 27, 2026Denis Shcherba, Adrian Abel, Eckart Cobo-Briesewitz +3Visuomotor Policy LearningRobotic Manipulation

    Fraunhofer Heinrich-Hertz-Institut, Berlin, Germany · Technische Universität Berlin, Germany

  13. Temporal Learning for End-Effector Position Estimation under Aerodynamic Disturbances in Aerial Continuum Manipulation

    Sep 23, 2026Niloufar Amiri, Houman Masnavi, Farrokh Janabi-SharifiRobot State EstimationAerial Manipulation

    Department of Mechanical, Industrial, and Mechatronics Engineering, Toronto Metropolitan University, Toronto, ON, Canada

  14. Surgical Kinematics from Monocular Video with Learned Articulated Motion Constraints

    Sep 23, 2026Mehmet Kerem Turkcan, Soham Samal, Zoran KosticArticulated Object ReconstructionObject Pose Estimation

    Columbia University, New York, NY, USA

  15. Shaft-Configuration-Adaptive Catheter Tip Position Estimation via Motor-History Conditioned Residual Learning

    Sep 22, 2026Peihan Zhang, Michael C. Yip, Ankur Kapoor +1Residual LearningRobotics

    Digital Technology & Innovation, Siemens Healthineers, Princeton, NJ, USA. · Department of Electrical and Computer Engineering, University of California San Diego, United States.

  16. Risk-Aware Online Conformal State Probing

    Sep 22, 2026Pietro Talli, Petar Popovski, Osvaldo SimeoneAI Agent ReliabilityConformal Prediction

    Institute for Intelligent Networked Systems, Northeastern University London · Connectivity Section, Department of Electronic Systems, Aalborg University

  17. A bioinspired internal model-based online estimator for planar pursuit

    Sep 21, 2026Tengyue Liu, Xincheng Li, Sofia Morales Ferreira +2Robot State Estimation

    Department of Mechanical and Aerospace Engineering, University of South Florida, Tampa, FL · Department of Electrical and Computer Engineering, United States Naval Academy, Annapolis, MD

  18. Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles

    Sep 21, 2026Tufail Ahmad Bhat, Shuhei IkemotoRobotic ControlRobotics

    Kyushu Institute of Technology, Japan

  19. Marginal Calibration Does Not Compose: Hidden Dependence in Modular Robot Navigation

    Sep 20, 2026Rista BaralModular RoboticsRobot State Estimation

    University of Delaware

  20. PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

    Sep 20, 2026Xu Han, Angsong Li, Shaopeng Zhang +5Humanoid Robot LocomotionSim-to-Real Transfer

    Wuhan University · Agibot

  21. Elevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM

    Sep 20, 2026Rui Zhou, Zihan Zhu, Wei Zhang +3Simultaneous Localization and Mapping3DGS SLAM

    University of Zürich · ETH Zürich · University of Stuttgart +1

  22. Bayesian Continuum Robot Dynamics and State Estimation

    Sep 17, 2026James M. Ferguson, Tucker Hermans, Alan KuntzFactor Graph OptimizationRobotics

    Department of Electrical and Computer Engineering and Department of Computer Science, Vanderbilt University, TN, USA. · Kahlert School of Computing and Robotics Center, University of Utah, UT, USA.

  23. COIN-GP: Cooperative Online Learning in Networked Distributed Systems with Partial Measurements via Gaussian Process Regression

    Sep 17, 2026Zewen Yang, Xiaobing Dai, Zhenxiao Yin +3Online System IdentificationRobot State Estimation

    Chair of Robotics and Systems Intelligence (RSI), Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), 80992 Munich, Germany · Technical University of Munich, 80333 Munich, Germany · The Hong Kong University of Science and Technology (Guangzhou) +2

  24. Adaptive-MHE : A Sampling-Based Adaptive MPC for Legged Loco-Manipulation via Moving Horizon Estimation

    Sep 15, 2026Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid KhadivRobot Dynamics IdentificationLegged Robotics

    University of Calgary, Department of Mechanical Engineering, 2500 University Drive NW, Calgary, AB, Canada · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany

  25. TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer

    Sep 15, 2026Yang Liu, Yifan He, Wenhao Zhao +9Inertial OdometryTransformer

    Zhejiang University, Hangzhou, China · Differential Robotics, Hangzhou, China

  26. Fleet-To-Lab: A Transfer Learning Framework For Lunar Rover Slippage Estimation Via Model Fusion

    Sep 15, 2026Riccardo Viviano, Saki Omi, Andrej Orsula +1Space RoboticsRobotics

    Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg

  27. Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation

    Sep 14, 2026Guo Ning Sue, Zheng Cao, Junzhe Hu +5Modular RoboticsRobotics

    Carnegie Mellon University

  28. The Iterative Equivariant Filter

    Sep 14, 2026Pieter van Goor, James Richard ForbesRobot State EstimationExtended Kalman Filtering

    School of Aerospace, Mechanical, and Mechatronic Engineering The University of Sydney NSW 2006, Australia · Dept. of Mechanical Engineering McGill University Montreal, QC, Canada

  29. Odometer-Agnostic Drift Correction Using OpenStreetMap Lane Geometry

    Sep 9, 2026Joaquin Caballero, Emilio Garcia-Fidalgo, Alberto Ortiz +1Map-Based LocalizationRobot State Estimation

    Distance Technologies Oy, Helsinki, Finland · Department of Mathematics and Computer Science, Institute of Artificial Intelligence, University of the Balearic Islands, 07122 Palma, Spain

  30. Deformable Object Manipulation under Partial Observability via Real-Time Full-Shape Estimation

    Sep 9, 2026Kosar Behnia, Ville Kyrki, Gokhan AlcanVariational AutoencodersDeformable Object Manipulation

    Faculty of Engineering and Natural Sciences, Tampere Univ., Finland. · Electrical Engineering and Automation Department, Aalto Univ., Finland.

  31. Design and Implementation of a Kalman Filter-Infused Algorithm for Tilt Estimation

    Sep 1, 2026Yuehan Ma, Hongji DaiRobot State Estimation

    Independent Researcher

  32. VeloBins: Learning Velocity and Its Uncertainty via Bins and Error-Conditioned Gaussian Labels for Aerial Inertial Odometry

    Aug 30, 2026Maulana Bisyir Azhari, Seungwook Lee, Donghun Han +2Aerial RoboticsInertial Odometry

    Unmanned Systems Research Group (USRG), School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, South Korea

  33. Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception

    Aug 13, 2026Gang Zhang, Yufu Qiu, Junyan Yan +3Continuum Robot ControlRobot State Estimation

    Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong · School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China · state Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology (HUST), Wuhan, China +1

  34. ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals

    Aug 13, 2026Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh +1Trajectory OptimizationVisual-Inertial Odometry

  35. Excitation-Supervised Closed-Loop Self-Calibration and Target Seeking for an Unknown-Pose Range-Bearing Relay

    Aug 12, 2026Yash BaglaRelative Pose EstimationFeedback Control

    Michigan State University

  36. When Your State Estimator Has Lost The Plot: Detecting Estimator Failures Via Spectral Analysis

    Aug 11, 2026Christian Lanegger, Helen Oleynikova, Roland Siegwart +1Spectral MethodsRobot State Estimation

    Autonomous Systems Lab, ETH Zurich, Switzerland · Exclaim Robotics, Zurich, Switzerland

  37. TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

    Aug 6, 2026Taehyeon Kong, Woojin Kim, Jemin HwangboLegged RoboticsInertial Odometry

    Korea Advanced Institute of Science and Technology (KAIST), Yuseong-gu, Daejeon 34141, Republic of Korea

  38. KILVO: Kinematic-Inertial-LiDAR-Visual Odometry with Robust Multimodal Adaptation for Humanoid Robots

    Aug 6, 2026Jixin Gao, Fucheng Liu, Teng Zhang +1Kalman FilteringInertial Odometry

  39. Sliding Sensors: Configurable Confidence in State Estimation for Continuum Robots

    Aug 5, 2026Ella Walsh, Spencer Teetaert, Eric Diller +2RoboticsRobot State Estimation

    University of Toronto Robotics Institute, Toronto, ON, Canada

  40. Unscented KalmanNet: Structure-Preserving Deep Learning with Calibrated Posterior Uncertainty under Incomplete Physics and Unknown Noise

    Aug 4, 2026Minhyeok Ko, Abdollah ShafieezadehKalman FilteringUnscented Kalman Filtering

    Department of Civil and Construction Engineering and Management, The University of Texas at Tyler, Tyler, TX, 75799, USA · Department of Civil, Environmental, and Geodetic Engineering, The Ohio State University, Columbus, OH, 43210, USA

  41. Interpretable Fuzzy Inference for UAV Target Tracking Using Bounding-Box Geometry

    Aug 4, 2026Reza Ahmari, Ahmad Mohammadi, Vahid Hemmati +5UAV NavigationFuzzy Logic

    Department of Computer Science, North Carolina A&T State University, 1601 E Market St, Greensboro, 27411, NC, USA. · Department of Electrical and Computer Engineering, North Carolina A&T State University, 1601 E Market St, Greensboro, 27411, NC, USA.

  42. Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation

    Aug 3, 2026Mihaela Popescu, Dennis Mronga, Shivesh Kumar +1Legged RoboticsKalman Filtering

  43. KING: Embodiment-Aware Kinematic Graph Neural Network for Unified Motion Representation of Legged and Wheeled Robots

    Aug 2, 2026Taku Okawara, Aoki Takanose, Kenji Koide +2Graph Neural NetworksCross-Embodiment Robot Learning

    Department of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan

  44. Dense Soft Weighting for Radar Ego-Velocity Estimation

    Jul 29, 2026Atar Babgei, Chenyu Zhao, Michael Breza +1Recursive Least SquaresMillimeter-Wave Radar

    Imperial College London

  45. Motion-Acceleration Calibration and Compensation in IMUs without External Equipment for Attitude Estimation Filters

    Jul 28, 2026Fabian Arzberger, Andreas NüchterRobot State EstimationInertial Navigation

    arXiv:2607.25784v1

  46. Moving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators

    Jul 27, 2026Lingxiao Xun, Haihong Li, Gang ZhengNonlinear MPCContinuum Robot Control

  47. Observer-Assisted Relative-Velocity Compensation with LPV-H∞H_\infty Robust Correction for 3D Trajectory Tracking of Underactuated Non-Minimum-Phase AUVs under Ocean Currents

    Jul 26, 2026Mohammad SabouriRobot Trajectory TrackingRobust Control

    Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Via all’Opera Pia 13, Genoa, 16145, Italy

  48. SHAPE: Simultaneous Water Hydraulic Actuation and Position Estimation of a Sensorless Remote Actuator through a Thin and Long Flexible Tube

    Jul 19, 2026Yuki Nakamura, Shuto Yoshimura, Tomoyuki Noda +1Robotic ControlRobot State Estimation

    Department of Mechanical and Intelligent Systems Engineering, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan · Chugai Technos Corporation, 4-3-1 Ishiuchikita, Saeki-ku, Hiroshima, 731-5109, Japan · Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto, 619-0288, Japan

  49. Hybrid Machine Learning for Articulation Angle Estimation of Truck-Semitrailer Combinations

    Jul 18, 2026Qixuan Zhang, Jonas Boettcher, Simon F. G. Ehlers +1Autonomous Driving PerceptionRobot State Estimation

    ZF CV Systems GmbH, D-30453 Hannover, Germany · Leibniz University Hannover, Institute of Mechatronic Systems, D-30823 Garbsen, Germany

  50. Implicit Virtual Leader: Decentralized Vision-Only Relative Pose Estimation for Multi-Robot Formations

    Jul 17, 2026Shiyuan Yang, Zelin Wang, Zhijia Tao +8Multi-Robot Formation ControlRelative Pose Estimation

  51. Kepler-Encoder-v0.1: Towards a Multimodal Embedding Model for Robots

    Jul 15, 2026Ishneet Sukhvinder Singh, Dhanoosh Pooranakumaran, Alex Nguyen +1Cross-Modal Representation LearningMultimodal Embedding

    Menlo Research

  52. Deformable State Estimation for Autonomous Surgical Tissue Retraction Under Partial Observability

    Jul 15, 2026Everest Yang, Skye Thompson, George D. KonidarisDeformable Object ManipulationRobot State Estimation

    Brown University, Providence, RI, USA

  53. WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion

    Jul 15, 2026Junning Lyu, Qizhi Guo, Xia Ning +2Inertial OdometryLiDAR Odometry

    School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

  54. Attitude Estimation Using Inertial and Barometric Measurements

    Jul 14, 2026Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek HamelRobot State EstimationInertial Navigation

    Department of Computer Science and Engineering, University of Quebec in Outaouais, Gatineau, QC J8X3X7, Canada · Department of Electrical Engineering, Lakehead University, Thunder Bay, ON P7B 5E1, Canada · I3S-UniCA-CNRS, University Cote d’Azur and the Institut Universitaire de France, 06903 Sophia Antipolis, France

  55. Streamlining stereo differentiable rendering for marker-free real-time tracking of surgical robots

    Jul 14, 2026Yanghe Hao, Martin Huber, Christos Bergeles +1Differentiable RenderingVisual Object Tracking

    School of Biomedical Engineering & Imaging Sciences, King’s College London, London, United Kingdom.

  56. Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling

    Jul 12, 2026Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1Kalman FilteringUnderwater Robotics

    University of Illinois Urbana-Champaign, Department of Electrical and Computer Engineering · Dept. of Electrical and Computer Engineering, University of Illinois Urbana-Champaign, 306 N. Wright St., Urbana, IL 61801 USA · University of Illinois Urbana-Champaign, Department of Industrial and Enterprise Systems Engineering +3

  57. Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots

    Jul 10, 2026Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio Meggiolaro +1Bayesian FilteringRobot State Estimation

    Department of Mechanical Engineering at the Pontifical Catholic University of Rio de Janeiro · Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia

  58. D-CLIPSE: Distributed Consensus-based Localization with Passive Listening on Shared State Exchange

    Jul 9, 2026Kyle Biron-Gricken, James Richard ForbesCooperative LocalizationRobot State Estimation

  59. Uncertainty-Aware Velocity Correction for Proprioceptive Vehicle Localization using Evidential Mamba

    Jul 6, 2026Abinav Kalyanasundaram, Karthikeyan Chandra Sekaran, Wolfgang Utschick +1GNSS-Denied LocalizationRobot State Estimation

    AImotion Bavaria, Technische Hochschule Ingolstadt, Germany · Technische Universität München, Germany

  60. WinTA-GIL: Windowed Trajectory Alignment for GNSS-IMU-LiDAR Heading Refinement in Intermittent Signal Environments

    Jul 6, 2026Kaixin Feng, Zhichao Wen, Zhaohong Liao +2Robot State EstimationInertial Navigation

    State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan, 430072, China · School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China · College of Engineering and Computer Science, University of Michigan-Dearborn, Dearborn, MI 48128, USA