{"id":"https://openalex.org/W4417104276","doi":"https://doi.org/10.48550/arxiv.2510.11539","title":"Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization","display_name":"Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization","publication_year":2025,"publication_date":"2025-10-13","ids":{"openalex":"https://openalex.org/W4417104276","doi":"https://doi.org/10.48550/arxiv.2510.11539"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2510.11539","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2510.11539","pdf_url":"https://arxiv.org/pdf/2510.11539","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.11539","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Cheng, Denglin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Denglin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113010736","display_name":"Jiarong Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kang, Jiarong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5088490455","display_name":"Xiaobin Xiong","orcid":"https://orcid.org/0000-0002-6275-3900"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiong, Xiaobin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.002199999988079071,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.0017999999690800905,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6743999719619751},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6577000021934509},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6371999979019165},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6136999726295471},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.5896000266075134},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.567300021648407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5645999908447266},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.492900013923645}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6743999719619751},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6577000021934509},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6371999979019165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6166999936103821},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6136999726295471},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5896000266075134},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.567300021648407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5645999908447266},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.492900013923645},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.48980000615119934},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.44909998774528503},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.42179998755455017},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.3919000029563904},{"id":"https://openalex.org/C2780617739","wikidata":"https://www.wikidata.org/wiki/Q4680738","display_name":"Adaptive estimator","level":3,"score":0.3797999918460846},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.35600000619888306},{"id":"https://openalex.org/C2984536560","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State estimator","level":3,"score":0.34380000829696655},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3386000096797943},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3255999982357025},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3073999881744385},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2913999855518341},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.289900004863739},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25929999351501465},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.2515000104904175}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2510.11539","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2510.11539","pdf_url":"https://arxiv.org/pdf/2510.11539","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2510.11539","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.11539","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.11539","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2510.11539","pdf_url":"https://arxiv.org/pdf/2510.11539","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417104276.pdf","grobid_xml":"https://content.openalex.org/works/W4417104276.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"state":[1,89,115],"estimation":[2,103],"is":[3],"critical":[4],"for":[5],"legged":[6],"and":[7,22,47,60,87,97,105,118],"aerial":[8],"robots":[9],"operating":[10],"in":[11,19,50,85],"dynamic,":[12],"uncertain":[13],"environments.":[14],"A":[15],"key":[16],"challenge":[17],"lies":[18],"specifying":[20],"process":[21],"measurement":[23],"noise":[24,58],"covariances,":[25],"which":[26],"are":[27],"typically":[28],"unknown":[29],"or":[30],"manually":[31],"tuned.":[32],"In":[33],"this":[34],"work,":[35],"we":[36],"introduce":[37],"a":[38,71,122],"bi-level":[39],"optimization":[40,64,80],"framework":[41,125],"that":[42],"jointly":[43],"calibrates":[44],"covariance":[45],"matrices":[46],"kinematic":[48],"parameters":[49,62],"an":[51],"estimator-in-the-loop":[52],"manner.":[53],"The":[54],"upper":[55],"level":[56,69],"treats":[57],"covariances":[59],"model":[61],"as":[63],"variables,":[65],"while":[66],"the":[67,76],"lower":[68],"executes":[70],"full-information":[72],"estimator.":[73],"Differentiating":[74],"through":[75],"estimator":[77],"allows":[78],"direct":[79],"of":[81],"trajectory-level":[82],"objectives,":[83],"resulting":[84],"accurate":[86],"consistent":[88],"estimates.":[90],"We":[91],"validate":[92],"our":[93],"approach":[94],"on":[95],"quadrupedal":[96],"humanoid":[98],"robots,":[99],"demonstrating":[100],"significantly":[101],"improved":[102],"accuracy":[104],"uncertainty":[106],"calibration":[107,120],"compared":[108],"to":[109],"hand-tuned":[110],"baselines.":[111],"Our":[112],"method":[113],"unifies":[114],"estimation,":[116],"sensor,":[117],"kinematics":[119],"into":[121],"principled,":[123],"data-driven":[124],"applicable":[126],"across":[127],"diverse":[128],"robotic":[129],"platforms.":[130]},"counts_by_year":[],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2025-10-15T00:00:00"}
