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cs.RO2026
UniExo: Unified Multi-Skill Policies for Musculoskeletal Locomotion and Co-Adaptive Exoskeleton Control
Yifei Yuan, Jakob Wolf, Ghaith Androwis +1
Daily locomotion encompasses diverse activities and frequent transitions between them, yet most exoskeleton controllers are designed for a single activity or a narrow set of relate…
cs.RO2026
Staged Multi-Agent Training for Human-Exoskeleton Co-Adaptation: Simulation-Based Learning and Real-World Metabolic and Biomechanical Validation
Yifei Yuan, Jakob Wolf, Ghaith Androwis +1
Learning-based controllers can enable exoskeleton assistance to be trained entirely in physics-based simulation, but achieving effective assistance on real users remains challengin…