ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes
Kejun Li Maegan Tucker Erdem Bıyık Ellen Novoseller Joel W. Burdick Yanan Sui Dorsa Sadigh Yisong Yue Aaron D. Ames Kejun Li Maegan Tucker Erdem Bıyık Ellen Novoseller Joel W. Burdick Yanan Sui Dorsa Sadigh Yisong Yue Aaron D. Ames
Characterizing what types of exoskeleton gaits are comfortable for users, and understanding the science of walking more generally, require recovering a user’s utility landscape. Learning these landscapes is challenging, as walking trajectories are defined by numerous gait parameters, data collection from human trials is expensive, and user safety and comfort must be ensured. This work proposes the...