2 papers
cs.RO2026
CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios
Michael Baumgartner, David Müller, Agon Serifi +4
Robust state estimation for highly dynamic motion of legged robots remains challenging, especially in dynamic, contact-rich scenarios. Traditional approaches often rely on binary c…
cs.LG2025
Spline-based Transformers
Prashanth Chandran, Agon Serifi, Markus Gross +1
We introduce Spline-based Transformers, a novel class of Transformer models that eliminate the need for positional encoding. Inspired by workflows using splines in computer animati…