Denglin Cheng

## 📚 Publications & Preprints

* denotes equal contribution.

1. ICRA

   Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization

   Denglin Cheng*, Jiarong Kang*, Xiaobin Xiong

   Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2026

   • [PDF]
   • [arXiv]
   • [Web]
   • [Code]
   • [Video]

   BibTeX

   @inproceedings{cheng2026legged_bilevel_calibration,
     title = {Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization},
     author = {Cheng, Denglin and Kang, Jiarong and Xiong, Xiaobin},
     booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026},
     eprint = {2510.11539},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
   }