OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots

arXiv:2609.19582 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-18

Comments: 6 figures, 3 tables

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

Terminology

• Calibration — 46× in this paper · explained in 7 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Consistency — 7× in this paper · explained in 3 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Ablation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Degeneracy — 1× in this paper · explained in 3 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes

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