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cs.RO2026
Four Simple Proprioceptive Estimators for Legged Robots
Frank Dellaert, Chiyun Noh, Varun Agrawal +1
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be…
cs.RO2026
Variable Elimination in Hybrid Factor Graphs for Discrete-Continuous Inference & Estimation
Varun Agrawal, Frank Dellaert
Many problems in robotics involve both continuous and discrete components, and modeling them together for estimation tasks has been a long standing and difficult problem. Hybrid Fa…