Author

Taehyeon Kong

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Preprint Aug 2026

TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

In this paper, we present TRACE (Tokenized Robust Attention for Contact-Aware Estimation), an end-to-end learned proprioceptive odometry estimator for legged robots under unreliable contact conditions. The proposed estimator directly predicts relative displacement, relative rotation, and body-frame velocity from a rece...

Taehyeon Kong, W. Kim, Jemin Hwangbo · 0 citations