Spinal cord stimulation has enabled humans with motor complete spinal cord injury (SCI) to independently stand and recover some lost autonomic function. Quantifying the quality of bipedal standing under spinal stimulation is important for spinal rehabilitation therapies and for new strategies that seek to combine spina…
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48 results for “robotic therapy”
The past few decades has seen increased interest in the application of social robots to interventions for Autism Spectrum Disorder as behavioural coaches [4]. We consider that robots embedded in therapies could also provide quantitative diagnostic information by observing patient behaviours. The social nature of ASD sy…
How An Automated Gesture Imitation Game Can Improve Social Interactions With Teenagers With ASDcs.HC
Game teaches ASD teenagers to imitate gestures.
problem Improving social interactions of ASD teenagers.
method Adapted robot-based imitation game with machine learning for pose detection.
result Preliminary results show game can elicit expected responses.
Enforcing safety is a key aspect of many problems pertaining to sequential decision making under uncertainty, which require the decisions made at every step to be both informative of the optimal decision and also safe. For example, we value both efficacy and comfort in medical therapy, and efficiency and safety in robo…
Patients suffering from obstructive sleep apnea are mainly treated with continuous positive airway pressure (CPAP). Good compliance with this therapy is broadly accepted as more than 4h of CPAP average use nightly. Although it is a highly effective treatment, compliance with this therapy is problematic to achieve with …
In this paper we present a method for simultaneously segmenting brain tumors and an extensive set of organs-at-risk for radiation therapy planning of glioblastomas. The method combines a contrast-adaptive generative model for whole-brain segmentation with a new spatial regularization model of tumor shape using convolut…
Human behavior expression and experience are inherently multi-modal, and characterized by vast individual and contextual heterogeneity. To achieve meaningful human-computer and human-robot interactions, multi-modal models of the users states (e.g., engagement) are therefore needed. Most of the existing works that try t…
Knowledge-based planning (KBP) is an automated approach to radiation therapy treatment planning that involves predicting desirable treatment plans before they are then corrected to deliverable ones. We propose a generative adversarial network (GAN) approach for predicting desirable 3D dose distributions that eschews th…
Proposes a framework for automated radiation therapy treatment planning with uncertainty quantification.
problem Quantifying uncertainties in dose-related quantities for automated treatment planning.
method Three-step pipeline: feature extraction, dose statistic prediction, and dose mimicking.
result Probabilistic treatment plans agree better with clinical counterparts than non-probabilistic ones.
A Machine Learning alternative to placebo-controlled clinical trials upon new diseases: A primerq-bio.QM
New disease drug trials use ML to predict best therapy.
problem Developing new drugs faster than usual clinical trials.
method Use Neural Network to predict drug effects from patient data.
result Neural Network outperforms traditional placebo-controlled trials.
Study uses machine learning to optimize antibiotic therapy for MRSA skin infections.
problem Optimizing antibiotic choice for MRSA skin infections due to reduced treatment options and side effects.
method Propensity score matching, machine learning models (SVM, RF, LASSO), counterfactual analysis.
result RF model shows stronger treatment heterogeneity and potential for therapy change.
Guidelines for the management of atherosclerotic cardiovascular disease (ASCVD) recommend the use of risk stratification models to identify patients most likely to benefit from cholesterol-lowering and other therapies. These models have differential performance across race and gender groups with inconsistent behavior a…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a single human operator can manage a fleet of robots by identifying and teleoperati…
Robotics: Rolling robots on a moving platform can be controlled.
problem Controlling the motion of rolling robots atop a moving platform.
method Developed a mathematical model and demonstrated simulations.
result Platform acceleration can control robot's heading and motion.
We develop a prediction-based prescriptive model for learning optimal personalized treatments for patients based on their Electronic Health Records (EHRs). Our approach consists of: (i) predicting future outcomes under each possible therapy using a robustified nonlinear model, and (ii) adopting a randomized prescriptiv…
New method improves smoothness of robot learning.
problem Jerky motion patterns on real robots from Deep RL exploration.
method Adapting state-dependent exploration to Deep RL algorithms with gSDE.
result Improved exploration and performance on real robots.
Robots learn to navigate rough terrain using reinforcement learning.
problem Generalizing robot behavior to new, unseen rough terrains.
method PPMC RL Training Algorithm
result Robots achieve 100% success rate in learning new rough terrain maps.
A new framework for robot block-stacking tasks using causal probabilistic models.
problem Robots fail outside controlled environments due to uncertainty and lack of explicit design for all scenarios.
method Causal probabilistic framework combining causal models and probabilistic representations of noise.
result Robots can perceive, reason about, and explain their environment for block-stacking tasks.
This research evaluates learning models for bionic robots, focusing on transfer function identification.
problem Developers need guidance on selecting and constructing transfer functions for bionic robots.
method Comprehensive evaluation strategy including data collection, learning model selection, comparative analysis, and transfer function identification.
result A framework for effectively dealing with multi-input multi-output robotic data.
Deep Reinforcement Learning (DRL) has emerged as a powerful control technique in robotic science. In contrast to control theory, DRL is more robust in the thorough exploration of the environment. This capability of DRL generates more human-like behaviour and intelligence when applied to the robots. To explore this capa…
ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a three-fingered hand robot that facilitates learning dexterous manipulation tasks, …
Develops algorithm to find subgroups with different treatment effects in HIV patients.
problem Estimating treatment effects in EHR data with challenges like time-varying confounding.
method SDLD algorithm combining generalized interaction tree and longitudinal targeted maximum likelihood estimation.
result Identifies subgroups of HIV patients at higher risk of weight gain with dolutegravir-containing ARTs.
latrend simplifies longitudinal clustering for numeric measurements.
problem Clustering of longitudinal data to identify common trends over time.
method Unified framework for applying various clustering methods.
result Facilitates comparison and rapid prototyping of new methods.
Determining whether hypotensive patients in intensive care units (ICUs) should receive fluid bolus therapy (FBT) has been an extremely challenging task for intensive care physicians as the corresponding increase in blood pressure has been hard to predict. Our study utilized regression models and attention-based recurre…
For robots to coexist with humans in a social world like ours, it is crucial that they possess human-like social interaction skills. Programming a robot to possess such skills is a challenging task. In this paper, we propose a Multimodal Deep Q-Network (MDQN) to enable a robot to learn human-like interaction skills thr…
Human input has enabled autonomous systems to improve their capabilities and achieve complex behaviors that are otherwise challenging to generate automatically. Recent work focuses on how robots can use such input - like demonstrations or corrections - to learn intended objectives. These techniques assume that the huma…
The paper learns robot skills from demonstrations without supervision.
problem Discovering robotic options from unlabelled demonstrations.
method Temporal variational inference for latent variable learning.
result The framework can learn options across multiple datasets.
Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robotscs.LG
This work tackles force control for contact-rich manipulation tasks with rigid robots using RL.
problem Challenges in working with real robotic hardware, especially position-controlled robots.
method Combines RL with traditional force control techniques, implementing parallel position/force control and admittance control.
result Validated methods on both simulation and real robot (UR3 e-series) for force control.
Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take significant time. In this paper, we focus on learning a realistic world model capturi…
Study aims to develop a humanoid robot dialogue system.
problem Current dialogue systems lack attention to non-verbal cues.
method Participated in a competition to develop a system with facial expressions and gaze control.
result Developed a humanoid robot dialogue system.
Learning robot objective functions from human input has become increasingly important, but state-of-the-art techniques assume that the human's desired objective lies within the robot's hypothesis space. When this is not true, even methods that keep track of uncertainty over the objective fail because they reason about …
Top 8 robotic vision systems tackled lifelong object recognition challenges.
problem Lifelong learning in robotic vision for varied, dynamic environments.
method Design of a dataset with diverse conditions and rules for evaluation.
result Robotic vision systems improved over time with dynamic object appearances.
Paper proposes a method to control robots of different shapes efficiently.
problem Learning optimal control policies for robots of various shapes is challenging.
method Hierarchical architecture with hypernetworks and fixed attention mechanism.
result Method improves learning performance and generalizes to unseen morphologies.
For a safe, natural and effective human-robot social interaction, it is essential to develop a system that allows a robot to demonstrate the perceivable responsive behaviors to complex human behaviors. We introduce the Multimodal Deep Attention Recurrent Q-Network using which the robot exhibits human-like social intera…
Reinforcement learning is a promising approach to developing hard-to-engineer adaptive solutions for complex and diverse robotic tasks. However, learning with real-world robots is often unreliable and difficult, which resulted in their low adoption in reinforcement learning research. This difficulty is worsened by the …
A new optimizer d-AmsGrad improves deep learning for robot learning in non-stationary problems.
problem Noise and outliers in real-world data make deep learning challenging for robot learning.
method Proposed an improved version of AmsGrad optimizer that slowly decays the maximum second momentum to adapt to non-stationary problems.
result The new optimizer outperformed baseline optimizers in robotics problems.
Paper uses imitation learning to create efficient insulin policies from MPC demonstrations.
problem Resource-constrained medical devices struggle with complex MPC optimizations and state estimation errors.
method Imitation learning of neural network policies from MPC-computed demonstrations, using Bayesian inference with Monte Carlo Dropout.
result Trained policies generalize well to different patient cohorts, outperforming traditional MPC with state estimation.
The paper formalizes robot environments using topological concepts.
problem Determining indistinguishable environments for robots.
method Formalizing robot systems as topological dynamical systems, using covering maps and bisimulation.
result Covering maps can witness indistinguishability of environments under general conditions.
This thesis tackles learning reward functions from human comparative feedback.
problem Designing reward functions for complex tasks is challenging and humans often provide suboptimal demonstrations.
method Proposes learning reward functions from comparative feedback (pairwise comparisons, best-of-many choices, rankings, scaled comparisons) and active learning techniques.
result Demonstrates the effectiveness of learning reward functions from comparative feedback in various domains.
Large-scale ligand-based virtual screening for SARS-CoV-2 inhibitors using deep neural networksq-bio.BM
Deep neural network identifies potential SARS-CoV-2 inhibitors.
problem Finding novel therapies for SARS-CoV-2.
method Used ChemAI, a deep neural network trained on 220M data points, to screen and rank one billion molecules from the ZINC database.
result Identified 30,000 top-ranked compounds for further bioassays.
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots get attacked, their communication channels get jammed, and their sensors may fail…
Diffusion models enhance robotic manipulation through probabilistic multi-modal learning.
problem Enhancing robotic manipulation through robust and multi-modal learning.
method Probabilistic diffusion models integrating imitation and reinforcement learning.
result Diffusion models improve grasp learning, trajectory planning, and data augmentation in robotics.
RL controls small soccer robots in a real league, beating human-designed policies.
problem Training robots to play complex, real-world sports.
method Sim-to-Real RL approach, training in simulated environment, applying to real-world robots.
result Robots learned policies to compete effectively, beating human-designed strategies.
Develops a neural surrogate for proton dose calculation using Monte Carlo dropout uncertainty.
problem Computational demand in proton therapy workflows requiring repeated evaluations.
method Integrates Monte Carlo dropout into a neural network surrogate for fast, differentiable dose predictions and uncertainty quantification.
result Shows significant speedups over MC while retaining uncertainty information.
A new graphical model for discrete data without parametric restrictions.
problem Discrete data modeling with restrictions.
method Additive conditional independence and penalized estimation of precision operator.
result Consistency of the estimator in ultrahigh-dimensional settings.
New methods use RL and DA to improve dosing precision and reduce side effects.
problem Improving precision and safety of anticancer drug dosing.
method Bayesian data assimilation and reinforcement learning.
result Significantly reduces incidence of severe side effects.
Detects anomalies in autonomous mobile robots using vision.
problem Anomaly detection for autonomous mobile robots.
method Unsupervised deep learning methods and a novel dataset.
result State-of-the-art approach tested on a new dataset.
This research introduces an autonomous robot navigation method using reinforcement learning.
problem Improving robot navigation in complex environments.
method Deep Q Network (DQN) and Proximal Policy Optimization (PPO) models for path planning and decision-making.
result The models enhance robot navigation ability and adaptive learning in unknown environments.