相关论文: Policy Learning for Social Robot-Led Physiotherapy

Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…

Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…

Personalised rehabilitation can be key to promoting gait independence and quality of life. Robots can enhance therapy by systematically delivering support in gait training, but often use one-size-fits-all control methods, which can be…

Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with individual human consideration is an essential requirement for…

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…

Personalization in social robots refers to the ability of the robot to meet the needs and/or preferences of an individual user. Existing approaches typically rely on large language models (LLMs) to generate context-aware responses based on…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson's disease (PD). However, there are shortages of physical therapists and adherence to self-guided PT is low. Robots have the potential…

Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…

Poor sleep health is an increasingly concerning public healthcare crisis, especially when coupled with a dwindling number of health professionals qualified to combat it. However, there is a growing body of scientific literature on the use…

The subject of this paper is reinforcement learning. Policies are considered here that produce actions based on states and random elements autocorrelated in subsequent time instants. Consequently, an agent learns from experiments that are…

In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…

Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-inspired, to propose new modes of locomotion or grasping.…

Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…

Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing highly dynamic behaviors often requires extensive reward…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

Addressing the global caregiver shortage through socially assistive robots necessitates a deep understanding of their psychological and physiological impacts on older adults during human-robot interaction (HRI). This study addresses whether…

It is essential for autonomous robots to be socially compliant while navigating in human-populated environments. Machine Learning and, especially, Deep Reinforcement Learning have recently gained considerable traction in the field of Social…

Being able to transfer existing skills to new situations is a key capability when training robots to operate in unpredictable real-world environments. A successful transfer algorithm should not only minimize the number of samples that the…