Tong-Yu Wu

Learning a Speed-adaptive Hip Exoskeleton Control Policy Via Sim-to-real Reinforcement Learning

Providing personalized exoskeleton assistance across varying walking speeds remains challenging. Existing online optimization methods are sample-inefficient, requiring extensive human-in-the-loop (HIL) evaluations to optimize the entire assistive torque profile. Sim-to-real reinforcement learning (RL) offers a promisin...