5 papers
Personalized Lower-limb Exoskeleton Assistance via Preference-based Bayesian Optimization
Xiao-Yin Liu, Guotao Li, Weiqun Wang +1
A significant challenge in exoskeleton robotics is the need to dynamically adapt control profiles to individual motion preferences, thereby ensuring both efficient and comfortable…
ExoTraj: A General Lower-limb Exoskeleton Assistance Policy for Complex Environments
Xiao-Yin Liu, Guotao Li, Long Sun +2
Adaptive torque prediction in dynamic exoskeleton scenarios requires expensive motion capture systems, which are infeasible in complex outdoor environments. Trajectory prediction h…
A Weight-aware-based Multi-source Unsupervised Domain Adaptation Method for Human Motion Intention Recognition
Xiao-Yin Liu, Guotao Li, Xiao-Hu Zhou +2
Accurate recognition of human motion intention (HMI) is beneficial for exoskeleton robots to improve the wearing comfort level and achieve natural human-robot interaction. A classi…
MICRO: Model-Based Offline Reinforcement Learning with a Conservative Bellman Operator
Xiao-Yin Liu, Xiao-Hu Zhou, Guotao Li +5
Offline reinforcement learning (RL) faces a significant challenge of distribution shift. Model-free offline RL penalizes the Q value for out-of-distribution (OOD) data or constrain…
DOMAIN: MilDly COnservative Model-BAsed OfflINe Reinforcement Learning
Xiao-Yin Liu, Xiao-Hu Zhou, Mei-Jiang Gui +7
Model-based reinforcement learning (RL), which learns an environment model from the offline dataset and generates more out-of-distribution model data, has become an effective appro…