SOURCE-LINKED INTELLIGENCE

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

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

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-skil

Read original source ↗ Open in workspace

recordType

paper

region

Global