144 research outputs found
Hands-Off Therapist Robot Behavior Adaptation to User Personality for Post-Stroke Rehabilitation Therapy
This paper describes a hands-off therapist robot that monitors, assists, encourages, and socially interacts with post-stroke users in the process of rehabilitation exercises. We developed a behavior adaptation system that takes advantage of the users introversion-extroversion personality trait and the number of exercises performed in order to adjust its social interaction parameters (e.g., interaction distances/proxemics, speed, and vocal content) toward a customized post-stroke rehabilitation therapy. The experimental results demonstrate the robot's autonomous behavior adaptation to the user's personality and the resulting user improvements of the exercise task performance
Encouraging User Autonomy through Robot-Mediated Intervention
In this paper, we focus on the question of promoting user autonomy at a healthcare task. During a robot-mediated intervention, socially assistive robot should seek to encourage users to learn skills and behaviors that will generalize and persist beyond the duration of the intervention. Treating a care-receiver as an apprentice rather than a dependent results in greater proficiency at self-management [2]. This philosophy must be incorporated into the design and implementation of robot-mediated healthcare interventions in order for them to be accepted by real-world users. Our approach toward encouraging user autonomy and promoting generalized skill learning was to model the occupational therapy technique of graded cueing [1]. Graded cueing involves giving a patient the minimum required feedback while guiding them through a task. This method promotes generalized skill learnin
Where am i? scene recognition for mobile robots using audio features
Automatic recognition of unstructured environments is an important problem for mobile robots. We focus on using audio features to recognize different auditory environments, where they are characterized by different types of sounds. The use of audio information provides a complementary means of scene recognition that can effectively augment visual information. In particular, audio can be used toward both the analysis and characterization of the environment at a higher level of abstraction. We begin our investigation of recognizing different auditory environments with the audio information. In this paper, we utilize low-level audio features from a mobile robot and investigate using highlevel features based on spectral analysis for scene characterization, and a recognition system was built to discriminate between different environments based on these audio features found. 1
Quality-Diversity Generative Sampling for Learning with Synthetic Data
Generative models can serve as surrogates for some real data sources by
creating synthetic training datasets, but in doing so they may transfer biases
to downstream tasks. We focus on protecting quality and diversity when
generating synthetic training datasets. We propose quality-diversity generative
sampling (QDGS), a framework for sampling data uniformly across a user-defined
measure space, despite the data coming from a biased generator. QDGS is a
model-agnostic framework that uses prompt guidance to optimize a quality
objective across measures of diversity for synthetically generated data,
without fine-tuning the generative model. Using balanced synthetic datasets
generated by QDGS, we first debias classifiers trained on color-biased shape
datasets as a proof-of-concept. By applying QDGS to facial data synthesis, we
prompt for desired semantic concepts, such as skin tone and age, to create an
intersectional dataset with a combined blend of visual features. Leveraging
this balanced data for training classifiers improves fairness while maintaining
accuracy on facial recognition benchmarks. Code available at:
https://github.com/Cylumn/qd-generative-sampling.Comment: Accepted at AAAI 2024; 7 pages main, 12 pages total, 9 figure
Evaluating Temporal Patterns in Applied Infant Affect Recognition
Agents must monitor their partners' affective states continuously in order to
understand and engage in social interactions. However, methods for evaluating
affect recognition do not account for changes in classification performance
that may occur during occlusions or transitions between affective states. This
paper addresses temporal patterns in affect classification performance in the
context of an infant-robot interaction, where infants' affective states
contribute to their ability to participate in a therapeutic leg movement
activity. To support robustness to facial occlusions in video recordings, we
trained infant affect recognition classifiers using both facial and body
features. Next, we conducted an in-depth analysis of our best-performing models
to evaluate how performance changed over time as the models encountered missing
data and changing infant affect. During time windows when features were
extracted with high confidence, a unimodal model trained on facial features
achieved the same optimal performance as multimodal models trained on both
facial and body features. However, multimodal models outperformed unimodal
models when evaluated on the entire dataset. Additionally, model performance
was weakest when predicting an affective state transition and improved after
multiple predictions of the same affective state. These findings emphasize the
benefits of incorporating body features in continuous affect recognition for
infants. Our work highlights the importance of evaluating variability in model
performance both over time and in the presence of missing data when applying
affect recognition to social interactions.Comment: 8 pages, 6 figures, 10th International Conference on Affective
Computing and Intelligent Interaction (ACII 2022
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