Denglin Cheng

Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots Via Bi-Level Optimization

Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In this work, we introduce a bi-level optimization framework t…