Reference implementations for Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization (arXiv:2510.11539).
Explore the calibrated G1 PRIME visualization.
| Directory | Estimator and calibration path |
|---|---|
cuda/ |
Batched Torch CPU/CUDA covariance calibration for a contact-aided InEKF |
prime/ |
Contact-aware PRIME FDDP implementations for STRIDE and Unitree G1 |
matlab/ |
Stage-structured Fatrop FIE with covariance and kinematic calibration |
python/ |
Hardware-oriented B1 FIE with sparse-adjoint bilevel calibration |
Each implementation is self-contained; see its README.