Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: Legged Robot State Estimation using Invariant Kalman Filtering and
  Learned Contact Events
19
The categories of this paper are: eess
18
The categories of this paper are: econ
25
The categories of this paper are: patt-sol
12
The categories of this paper are: nucl-th
9
The categories of this paper are: nlin
29
The categories of this paper are: funct-an
28
The categories of this paper are: alg-geom
37
The categories of this paper are: supr-con
24
The categories of this paper are: dg-ga
2
The categories of this paper are: math
32
The categories of this paper are: atom-ph
6
The categories of this paper are: astro-ph
26
The categories of this paper are: bayes-an
10
The categories of this paper are: q-bio
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn