Perhaps have a look at the paper "Cubical Type Theory: A Constructive Interpretation of the Univalence Axiom" by Cohen et al. [1] which gives the typing rules i

Perhaps have a look at the paper "Cubical Type Theory: A Constructive Interpretation of the Univalence Axiom" by Cohen et al. [1] which gives the typing rules in the early sections. [1] http://drops.dagstuhl.de/opus/volltexte/2018/8475/ http://drops.dagstuhl.de/opus/volltexte/2018/8475/