Author

Yifei Yuan

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#machine learning Preprint Sep 2026

UniExo: Unified Multi-Skill Policies for Musculoskeletal Locomotion and Co-Adaptive Exoskeleton Control

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 related movements. Changes in activity therefore typically require explicit mode switching and separately tuned or retrained controllers. Simulati...

Yi-Fei Yuan, Jakob H. Wolf, G. Androwis et al. · 0 citations

Preprint Aug 2026

Staged Multi-Agent Training (SMAT) for Hip Exoskeletons: Metabolic and Biomechanical Validation of a Simulation-Trained Co-Adaptive Controller

Results show that a single simulation-trained SMAT policy, deployed without subject-specific retraining, delivers a significant metabolic benefit on real users while remaining robust beyond the conditions it was trained on.

Yi-Fei Yuan, Jakob H. Wolf, G. Androwis et al. · 1 citation