相关论文: Artificial Intelligence for Prosthetics - challeng…

Deep reinforcement learning has recently been applied to a variety of robotics applications, but learning locomotion for robots with unconventional configurations is still limited. Prior work has shown that, despite the simple modeling of…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

This paper presents a hierarchical framework based on deep reinforcement learning that learns a diversity of policies for humanoid balance control. Conventional zero moment point based controllers perform limited actions during…

Machine Learning requires large amounts of labeled data to fit a model. Many datasets are already publicly available, nevertheless forcing application possibilities of machine learning to the domains of those public datasets. The…

Assistive robotic devices are a particularly promising field of application for neural networks (NN) due to the need for personalization and hard-to-model human-machine interaction dynamics. However, NN based estimators and controllers may…

Computer-aided assessment of physical rehabilitation entails evaluation of patient performance in completing prescribed rehabilitation exercises, based on processing movement data captured with a sensory system. Despite the essential role…

In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…

This paper proposes a simulation-based reinforcement learning algorithm for controlling systems with uncertain and varying system parameters. While simulators are useful for safely learning control policies, the reality gap remains a major…

Our work focuses on the development of a learnable neural representation of human pose for advanced AI assisted animation tooling. Specifically, we tackle the problem of constructing a full static human pose based on sparse and variable…

In this paper, we investigate dynamic feature selection within multivariate time-series scenario, a common occurrence in clinical prediction monitoring where each feature corresponds to a bio-test result. Many existing feature selection…

Previous soft tissue manipulation studies assumed that the grasping point was known and the target deformation can be achieved. During the operation, the constraints are supposed to be constant, and there is no obstacles around the soft…

This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…

Research in cognitive science has provided extensive evidence of human cognitive ability in performing physical reasoning of objects from noisy perceptual inputs. Such a cognitive ability is commonly known as intuitive physics. With…

In this paper, we propose a novel Reinforcement Learning approach for solving the Active Information Acquisition problem, which requires an agent to choose a sequence of actions in order to acquire information about a process of interest…

This paper presents a novel deep learning framework for solving multiple optimal stopping problems in high dimensions. While deep learning has recently shown promise for single stopping problems, the multiple exercise case involves complex…

This paper focuses on finding reinforcement learning policies for control systems with hard state and action constraints. Despite its success in many domains, reinforcement learning is challenging to apply to problems with hard constraints,…

The upper limb of the body is a vital for various kind of activities for human. The complete or partial loss of the upper limb would lead to a significant impact on daily activities of the amputees. EMG carries important information of…

In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by training multiple agents simultaneously in a physics-based…

Physical skill acquisition, from sports techniques to surgical procedures, requires instruction and feedback. In the absence of a human expert, Physical Task Guidance (PTG) systems can offer a promising alternative. These systems integrate…

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep…