SCIENCE@home

Learning and Personalizing Socially Assistive Robot Behaviors to Aid with Activities of Daily Living

Christina Moro,G. Nejat,Alex Mihailidis

Published 2018 in ACM Trans. Hum. Robot Interact.

ABSTRACT

Socially assistive robots can autonomously provide activity assistance to vulnerable populations, including those living with cognitive impairments. To provide effective assistance, these robots should be capable of displaying appropriate behaviors and personalizing them to a user's cognitive abilities. Our research focuses on the development of a novel robot learning architecture that uniquely combines learning from demonstration (LfD) and reinforcement learning (RL) algorithms to effectively teach socially assistive robots personalized behaviors. Caregivers can demonstrate a series of assistive behaviors for an activity to the robot, which it uses to learn general behaviors via LfD. This information is used to obtain initial assistive state-behavior pairings using a decision tree. Then, the robot uses an RL algorithm to obtain a policy for selecting the appropriate behavior personalized to the user's cognition level. Experiments were conducted with the socially assistive robot Casper to investigate the effectiveness of our proposed learning architecture. Results showed that Casper was able to learn personalized behaviors for the new assistive activity of tea-making, and that combining LfD and RL algorithms significantly reduces the time required for a robot to learn a new activity.

PUBLICATION RECORD

  • Publication year

    2018

  • Venue

    ACM Trans. Hum. Robot Interact.

  • Publication date

    2018-10-24

  • Fields of study

    Medicine, Computer Science, Engineering

  • Identifiers
    DOI 10.1145/3277903
  • External record

    Open on Semantic Scholar

  • Source metadata

    Semantic Scholar

CITATION MAP

EXTRACTION MAP

CLAIMS

  • No claims are published for this paper.

CONCEPTS

  • No concepts are published for this paper.

REFERENCES

Showing 1-49 of 49 references · Page 1 of 1

CITED BY

Showing 1-71 of 71 citing papers · Page 1 of 1