相关论文: Modeling Personalized Difficulty of Rehabilitation…
The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…
Reinforcement learning has shown great promise in robotics thanks to its ability to develop efficient robotic control procedures through self-training. In particular, reinforcement learning has been successfully applied to solving the…
In this paper, we investigate the roles that social robots can take in physical exercise with human partners. In related work, robots or virtual intelligent agents take the role of a coach or instructor whereas in other approaches they are…
Neurological injuries and age-related decline can impair sensory processing and disrupt motor coordination, gait, and balance. As mechanisms of neuroplasticity have become better understood, vibration-based interventions have gained…
This work explores the problem of exercise quality measurement since it is essential for effective management of diseases like cerebral palsy (CP). This work examines the assessment of quality of large amplitude movement (LAM) exercises…
A robot cannot lift up an object if it is not feasible to do so. However, in most research on robot lifting, "feasibility" is usually presumed to exist a priori. This paper proposes a three-step method for a humanoid robot to reason about…
In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…
Despite the growing interest in robot control utilizing the computation of biological neurons, context-dependent behavior by neuron-connected robots remains a challenge. Context-dependent behavior here is defined as behavior that is not the…
The possibility of simulating in detail in-vivo experiments could be highly beneficial to the neuroscientific community. It could easily allow for preliminary testing of different experimental conditions without having to be constrained by…
As mobile robots are increasingly deployed in human environments, enabling them to predict how people perceive them is critical for socially adaptable navigation. Predicting perceptions is challenging for two main reasons: (1) HRI…
Automatic surgical gesture recognition is fundamental for improving intelligence in robot-assisted surgery, such as conducting complicated tasks of surgery surveillance and skill evaluation. However, current methods treat each frame…
In this paper, we propose the use of causal inference techniques for survival function estimation and prediction for subgroups of the data, upto individual units. Tree ensemble methods, specifically random forests were modified for this…
Regression trees have emerged as a preeminent tool for solving real-world regression problems due to their ability to deal with nonlinearities, interaction effects and sharp discontinuities. In this article, we rather study regression trees…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
There are many approaches for training decision trees. This work introduces a novel gradient-based method for constructing decision trees that optimize arbitrary differentiable loss functions, overcoming the limitations of heuristic…
A common approach to solving physical reasoning tasks is to train a value learner on example tasks. A limitation of such an approach is that it requires learning about object dynamics solely from reward values assigned to the final state of…
While assistive robots have much potential to help older people with frailty-related needs, there are few in use. There is a gap between what is developed in laboratories and what would be viable in real-world contexts. Through a series of…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…