Yu-Dong Liu

Learning-Based Kinematic Residual Compensation With Latent Regime Mixture-of-Experts for Quadruped Odometry

Reliable state estimation on low-cost quadruped robots is hindered by sensor noise, mechanical backlash, and structural compliance. Current methods face distinct limitations: the reliance on precise contact sensors in pure kinematics, training-coverage dependence in end-to-end networks, and sub-optimal mode averaging i...