Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots

arXiv:2607.09968v1 Announce Type: new Abstract: State estimation is essential for quadruped robots, enabling robust locomotion, navigation, and control. While many estimators have been proposed in the literature, existing implementations are often tied to specific robots or software stacks, making fair comparisons difficult. This lack of a general-purpose benchmarking framework hinders reproducibility and slows down algorithmic innovation. In this paper, we introduce Chalito, an extensible MATLA...