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. 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.

  2. Do Better Imagined Rollouts Mean Better Robot Control? A Controlled Study of World-Model Evaluation Under Feedback

    Sep 2, 2026Dharini Raghavan, Amritpal SinghWorld Model EvaluationRobot State Estimation

    Georgia Institute of Technology, Emory University

  3. FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry

    Sep 2, 2026Kaixin Feng, Angsong Li, Shaopeng Zhang +5Robot State EstimationHumanoid Robotics

    1Wuhan University · 2AgiBot · 2AgiBot,†

  4. Towards Effective Physical Reservoir Computing with a Pneumatic Soft Robot

    Sep 2, 2026Jeevan Hebbal Manjunath, Jun Wang, Suyi Li +1Reservoir ComputingRobot State Estimation

    School of Manufacturing Systems and Networks, Arizona State University, Mesa, AZ 85212, USA · Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24060, USA

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

    Sep 1, 2026Yuehan Ma, Hongji DaiRobot State Estimation

    Independent Researcher

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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

  11. 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

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

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

  13. 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

  14. 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

  15. 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.

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

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

  17. 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

  18. Dense Soft Weighting for Radar Ego-Velocity Estimation

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

    Imperial College London

  19. 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

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

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

  21. 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

  22. 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

  23. 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

  24. 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

  25. 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

  26. 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

  27. 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

  28. 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

  29. 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.

  30. 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