Mixture of Flow Matching and Particle Filter for Proprioception-Based Online Contact Estimation

arXiv:2610.29568 · cs.RO · Submitted 2026-10-21 · Read on arXiv

cs.RO

Submitted: 2026-10-21

Updated: 2026-10-21

Comments: Author accepted manuscript; 21 pages (including a cover page), 21 figures, 5 tables

Journal ref: IEEE Transactions on Robotics, vol. 42, pp. 3646-3665, 2026

DOI: 10.1109/TRO.2026.3723975

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Flow Matching — 1× in this paper · explained in 18 episodes

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