Attention-Based Neural-Augmented Kalman Filter for Legged Robot State Estimation
基于注意力的神经增强卡尔曼滤波器用于四足机器人状态估计
机构 * Korea Advanced Institute of Science and Technology（韩国科学技术院）
AI总结 本文提出基于注意力的神经增强卡尔曼滤波器(AttenNKF)用于四足机器人状态估计，通过神经补偿器补偿足部滑动引起的误差，提升滑动条件下估计性能。
Comments 8 pages, 6 figures, Accepted to IEEE Robotics and Automation Letters (RA-L)
Journal ref IEEE Robotics and Automation Letters, vol. 11, no. 4, pp. 4122-4129, April 2026
