Robot State Estimation

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28 papers in the last four weeks, up 211% on the four weeks before. 0.3% of all new papers.

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  1. Belief-Space Planning with Planner-Conditioned Estimator Error under Intermittent Observations

    Oct 6, 2026Peter M. Donley, Joseph L. MooreBelief-Space PlanningRobot State Estimation

    Johns Hopkins University Whiting School of Engineering

  2. 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

  3. 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

  4. 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.

  5. 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

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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

  15. 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

  16. 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.

  17. 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

  18. 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

  19. 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

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

    Sep 20, 2026Rista BaralModular RoboticsRobot State Estimation

    University of Delaware

  21. 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

  22. 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

  23. 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.

  24. 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

  25. 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

  26. 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

  27. 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

  28. 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

  29. 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

  30. 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