相关论文: Learning Therapist Policy from Therapist-Exoskelet…

Recommender systems need to optimize various types of user feedback, e.g., clicks, likes, and shares. A typical recommender system handling multiple types of feedback has two components: a multi-task learning (MTL) module, predicting…

Exoskeletons and rehabilitation systems have the potential to improve human strength and recovery by using adaptive human-machine interfaces. Achieving precise and responsive control in these systems depends on accurately estimating joint…

Robotic devices hold great potential for efficient and reliable assessment of neuromotor abnormalities in post-stroke patients. However, spasticity caused by stroke is still assessed manually in clinical settings. The limited and variable…

With an increasing demand for robots, robotic grasping will has a more important role in future applications. This paper takes grasp stability prediction as the key technology for grasping and tries to solve the problem with time series…

In this work, we present a novel framework for on-line human gait stability prediction of the elderly users of an intelligent robotic rollator using Long Short Term Memory (LSTM) networks, fusing multimodal RGB-D and Laser Range Finder…

Understanding disease progression is a central clinical challenge with direct implications for early diagnosis and personalized treatment. While recent generative approaches have attempted to model progression, key mismatches remain:…

Learning from Demonstration (LfD) has been established as the dominant paradigm for efficiently transferring skills from human teachers to robots. In this context, the Federated Learning (FL) conceptualization has very recently been…

Stroke patients with upper limb motor impairments are re-acclimated to their corresponding motor functionalities through therapeutic interventions. Physiotherapists typically assess these functionalities using various qualitative protocols.…

Learning to represent and simulate the dynamics of physical systems is a crucial yet challenging task. Existing equivariant Graph Neural Network (GNN) based methods have encapsulated the symmetry of physics, \emph{e.g.}, translations,…

$\textbf{This is the conference version of our paper: Spatiotemporal Implicit Neural Representation as a Generalized Traffic Data Learner}$. Spatiotemporal Traffic Data (STTD) measures the complex dynamical behaviors of the multiscale…

Skeleton-based action recognition, which classifies human actions based on the coordinates of joints and their connectivity within skeleton data, is widely utilized in various scenarios. While Graph Convolutional Networks (GCNs) have been…

At-home rehabilitation for post-stroke patients presents significant challenges, as continuous, personalized care is often limited outside clinical settings. Moreover, the lack of integrated solutions capable of simultaneously monitoring…

Movement synchrony reflects the coordination of body movements between interacting dyads. The estimation of movement synchrony has been automated by powerful deep learning models such as transformer networks. However, instead of designing a…

This study introduces a novel mechanistic modeling and statistical framework for analyzing motion energy dynamics within psychotherapy sessions. We transform raw motion energy data into an interpretable narrative of therapist-patient…

Accurate modeling of tool-tissue interactions in robotic surgery requires precise tracking of deformable tissues and integration of surgical domain knowledge. Traditional methods rely on labor-intensive annotations or rigid assumptions,…

State-of-the-art perceptive Reinforcement Learning controllers for legged robots either (i) impose oscillator or IK-based gait priors that constrain the action space, add bias to the policy optimization and reduce adaptability across robot…

Multi-output Gaussian processes (GPs) are a flexible Bayesian nonparametric framework that has proven useful in jointly modeling the physiological states of patients in medical time series data. However, capturing the short-term effects of…

We study estimation and inference using data collected by reinforcement learning (RL) algorithms. These algorithms adaptively experiment by interacting with individual units over multiple stages, updating their strategies based on past…

To control the lower-limb exoskeleton robot effectively, it is essential to accurately recognize user status and environmental conditions. Previous studies have typically addressed these recognition challenges through independent models for…

Pedestrian trajectory prediction is an essential and challenging task for a variety of real-life applications such as autonomous driving and robotic motion planning. Besides generating a single future path, predicting multiple plausible…