Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
Maegan Tucker,Myra Cheng,Ellen Novoseller,Richard Cheng,Yisong Yue,Joel W. Burdick,Aaron D. Ames,Maegan Tucker,Myra Cheng,Ellen Novoseller,Richard Cheng,Yisong Yue,Joel W. Burdick,Aaron D. Ames
Optimizing lower-body exoskeleton walking gaits for user comfort requires understanding users' preferences over a high-dimensional gait parameter space. However, existing preference-based learning methods have only explored low-dimensional domains due to computational limitations. To learn user preferences in high dimensions, this work presents LINECOSPAR, a human-in-the-loop preference-based fram...
