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. Simulation-based learning reduces the need for hardware-based tuning but generally retains this limitation. Here we present UniExo, a framework that first constructs a multi-skill musculoskeletal human policy and then jointly trains an exoskeleton control policy with it. Four single-skill imitation experts for walking, turning, running and backward walking are distilled into a singl...
| Authors | Yifei Yuan, Jakob Wolf, Ghaith Androwis et al. |
|---|---|
| Primary category | cs.RO |
| Published | 17 September 2026 |
| Last updated at source | 17 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.