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

Datos Bibliográficos

ID8069477
AutoresChristina Moro (0000-0002-0698-1706, autor de correspondencia), Goldie Nejat (0000-0002-7080-6857), Alex Mihailidis (0000-0003-2233-0919)
Año2018
Volumen7
Número2
Páginas1-25
Fecha de publicación2018-07-31
Peer ReviewedSí
Open AccessSí
TipoARTICLE
RevistaACM Transactions on Human-Robot Interaction (JOURNAL)
Identificadores de la revistaISSN: 2573-9522 • E-ISSN: 2573-9522
EditorialAssociation for Computing Machinery (PUBLISHER • US)
DOI10.1145/3277903
OpenAlexW2922038110
IdiomaEN
Citas recibidas11
Referencias citadas23

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

Assistive technology · Cognition · Human–computer interaction · Mobile robot · Reinforcement learning · Robot · Robot control · Social robot · Computer Science · Psychology · Reinforcement Learning in Robotics · Robot Manipulation and Learning · Social Robot Interaction and HRI · Architecture · Artificial Intelligence