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FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Foot forward kinematics (FK) is widely used to improve proprioceptive legged odometry by providing reliable velocity constraints during foot support. Existing contact-aided estimators generally rely on binary contact decisions to determine whether the FK measurements of an entire foot should be trusted. However, contact does not necessarily imply FK reliability. Dynamic locomotion often involves partial support, toe dragging, and foot slip, causing binary contact decisions to accumulate significant drift over long trajectories. To address this limitation, we propose FOCUS (Foot Observation Con

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