2 papers
cs.RO2026
PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots
Xu Han, Angsong Li, Shaopeng Zhang +5
Simulation-trained humanoid proprioceptive odometry faces two transfer challenges: training trajectories generated by specific robot control policies intended for deployment cover…
cs.RO2026
FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry
Kaixin Feng, Angsong Li, Shaopeng Zhang +5
Foot forward kinematics (FK) is widely used to improve proprioceptive legged odometry by providing reliable velocity constraints during foot support. Existing contact-aided estimat…