An Interactive Learning and Adaptation Framework for Adaptive Robot Assisted Therapy

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Conference Proceedings (fully refereed)
29
6
2016
Tsiakas
Tsiakas, K., Papakostas, M., Chebaa, B., Ebert, D., Karkaletsis, V. & Makedon, F.
In this paper, we present an interactive learning and adaptation framework. The framework combines Interactive Reinforcement Learning methods to effectively adapt and refine a learned policy to cope with new users. We argue that implicit feedback provided by the primary user and guidance from a secondary user can be integrated to the adaptation mechanism, resulting at a tailored and safe interaction. We illustrate this framework with a use case in Robot Assisted Therapy, presenting a Robot Yoga Trainer that monitors a yoga training session, adjusting the session parameters based on visual activity evaluation through depth data, to assist the user complete the session, following a Reinforcement Learning approach.
Software and Knowledge Engineering Laboratory (SKEL)
Conference Short Name: 
PETRA '16
Conference Full Name: 
9th International Conferemce on PERvasive Technologies Related to Assistove Environments
Conference Country: 
GR:Greece
Conference City: 
Corfu
Conference Venue: 
Corfu Holiday Palace Hotel
Conference Date(s): 
Wed, 29/06/2016 - Fri, 01/07/2016
Conference Level: 
International

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