4 papers · 1 filter
Recursive Self-Improvement of Exoskeleton Assistance Policies through Human-in-the-Loop Feedback
Muyuan Ma, Shuo Jiang, Lijun Han +5
To reduce reliance on manual design and extensive parameter tuning, a framework for the autonomous evolution of exoskeleton assistance policies through human feedback is proposed.…
Whole-Body Motion Guided Reference Generation for Uncertainty-Aware Compliant Assistance
Muyuan Ma, Long Cheng, Lijun Han +5
Exoskeletons have shown great potential for augmenting human physical capabilities, yet generating reliable assistance remains challenging because human motion patterns and interac…
CHOREO: Every Humanoid Skill as a Trajectory
Ziyi Sun, Jingwen Chen, Yuxi Wang +4
Recent advances in humanoid robotics have produced diverse skills through reinforcement learning, motion imitation, and generative modeling. Yet these capabilities remain siloed be…
Ensuring Interaction Safety in Multitask Exoskeleton Control: A Simulation-Trained Variable Impedance Framework
Muyuan Ma, Houcheng Li, Haotian Zhai +4
Wearable exoskeletons can augment human phys ical capabilities during complex activities. However, ensuring adaptation across diverse tasks while guaranteeing interaction safety re…