Preference-Based Learning for Exoskeleton Gait Optimization
Maegan Tucker,Ellen Novoseller,Claudia Kann,Yanan Sui,Yisong Yue,Joel W. Burdick,Aaron D. Ames,Maegan Tucker,Ellen Novoseller,Claudia Kann,Yanan Sui,Yisong Yue,Joel W. Burdick,Aaron D. Ames
This paper presents a personalized gait optimization framework for lower-body exoskeletons. Rather than optimizing numerical objectives such as the mechanical cost of transport, our approach directly learns from user prefer-ences, e.g., for comfort. Building upon work in preference-based interactive learning, we present the CoSpar algorithm. CoSpar prompts the user to give pairwise preferences bet...
