Unifying Cubical Models of Univalent Type Theory

We present a new constructive model of univalent type theory based on cubical sets. Unlike prior work on cubical models, ours depends neither on diagonal cofibrations nor connections. This is made possible by weakening the notion of fibration from the cartesian cubical set model, so that it is not necessary to assume that the diagonal on the interval is a cofibration. We have formally verified in Agda that these fibrations are closed under the type formers of cubical type theory and that the model satisfies the univalence axiom. By applying the construction in the presence of diagonal cofibrations or connections and reversals, we recover the existing cartesian and De Morgan cubical set models as special cases. Generalizing earlier work of Sattler for cubical sets with connections, we also obtain a Quillen model structure