arXiv subjects

Olivier Bruneau

Publications and source records attributed to Olivier Bruneau.

3 recordsLinked to original sources

arXiv2026

General Performance Guarantee for Human Torque Estimation-Based Task-Agnostic Assistive Exoskeleton Control

Accurate human torque estimation is crucial for enabling task-agnostic control in robotic exoskeleton systems. However, estimation errors may cause mismatches between the robot assistance and the human intention, degrading controllability and task performance. In this paper, we address this issue by formally defining matched assistance as scenarios in which the robot positively contributes to human movement. Based on this definition, we develop a theoretical framework to design the robot's desired interaction torque that guarantees a lower bound on the matched assistance probability. Importantly, the proposed guarantee holds over the entire torque distribution, including unseen data beyond the training tasks. This provides our method with strong reliability and generalization, both of which are critical for effective exoskeleton control. The proposed strategy is implemented on the ABLE upper-limb exoskeleton and evaluated in a multi-task setup. Experimental results validate the theoretical guarantees and demonstrate that the proposed strategy achieves effective general performance across several tasks, guaranteeing movement smoothness while reducing human physical effort.

cs.RO↗

arXiv2026

A Data-dependent Early Stopping Rule using Rademacher Complexity with L1-norm

Training neural networks requires balancing the trade-off between fitting the training data and achieving robust performance on unseen inputs. This ability, commonly referred to as generalizability, is determined by the gap between the empirical risk on the training set (``empirical loss'') and the expected risk over the data distribution (``generalization error''). Existing approaches typically estimate the generalization error numerically, requiring gradient descent training and an ``early stopping'' strategy. In this work, we introduce an analytic framework that estimates the optimal time of early stopping without the need for training. Several works in the literature also give such analytical estimations, but they are generally based on random matrix theory and often make assumptions on the distribution of the data or the eigenvalue distribution of the covariance matrix. In contrast, our work is based on Rademacher complexity (RC) without needing such probabilistic assumptions. For both theoretical and numerical reasons, it is more relevant to express RC with the L1- norm rather than with the L2-norm. We focus on the case of linear models and the problem of linear regression. Thanks to the ``linear probing'' method, our results can, however, be successfully applied to nonlinear neural networks, as illustrated in the classification MNIST example.

cs.LG↗

arXiv2020

Real time implementation of CTRNN and BPTT algorithm to learn on-line biped robot balance: Experiments on the standing posture

This paper describes experimental results regarding the real time implementation of continuous time recurrent neural networks (CTRNN) and the dynamic back-propagation through time (BPTT) algorithm for the on-line learning control laws. Experiments are carried out to control the balance of a biped robot prototype in its standing posture. The neural controller is trained to compensate for external perturbations by controlling the torso's joint motions. Algorithms are embedded in the real time electronic unit of the robot. On-line learning implementations are presented in detail. The results on learning behavior and control performance demonstrate the strength and the efficiency of the proposed approach.

cs.RO↗