OCELOT fuses a debounced force GMM-FSM and kinematic GLRT into an ESEKF to produce accurate leg odometry from IMU, encoders and force sensors while explicitly detecting and rejecting slippage on diverse terrains.
Dynamic locomotion on slippery ground.IEEE Robotics and Automation Letters, 4(4):4170–4176
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Explicit conditioning of a PPO policy on interpretable stair parameters (height, depth, yaw) yields improved generalization to unseen stairs and reliable real-world traversal on the Unitree G1, including 33 consecutive outdoor steps.
citing papers explorer
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OCELOT: Odometry and Contact Estimation for Legged Robots
OCELOT fuses a debounced force GMM-FSM and kinematic GLRT into an ESEKF to produce accurate leg odometry from IMU, encoders and force sensors while explicitly detecting and rejecting slippage on diverse terrains.
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Explicit Stair Geometry Conditioning for Robust Humanoid Locomotion
Explicit conditioning of a PPO policy on interpretable stair parameters (height, depth, yaw) yields improved generalization to unseen stairs and reliable real-world traversal on the Unitree G1, including 33 consecutive outdoor steps.