One-shot assistance estimation from expert demonstrations for a shared control wheelchair system

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Title: One-shot assistance estimation from expert demonstrations for a shared control wheelchair system
Author(s): Kucukyilmaz, A
Demiris, Y
Item Type: Conference Paper
Abstract: © 2015 IEEE.An emerging research problem in the field of assistive robotics is the design of methodologies that allow robots to provide human-like assistance to the users. Especially within the rehabilitation domain, a grand challenge is to program a robot to mimic the operation of an occupational therapist, intervening with the user when necessary so as to improve the therapeutic power of the assistive robotic system. We propose a method to estimate assistance policies from expert demonstrations to present human-like intervention during navigation in a powered wheelchair setup. For this purpose, we constructed a setting, where a human offers assistance to the user over a haptic shared control system. The robot learns from human assistance demonstrations while the user is actively driving the wheelchair in an unconstrained environment. We train a Gaussian process regression model to learn assistance commands given past and current actions of the user and the state of the environment. The results indicate that the model can estimate human assistance after only a single demonstration, i.e. in one-shot, so that the robot can help the user by selecting the appropriate assistance in a human-like fashion.
Publication Date: 31-Aug-2015
Date of Acceptance: 29-Apr-2015
URI: http://hdl.handle.net/10044/1/26998
DOI: https://dx.doi.org/10.1109/ROMAN.2015.7333600
Publisher: IEEE
Start Page: 438
End Page: 443
Journal / Book Title: Proceedings of the 24th International Symposium on Robot and Human Interactive Communication 2015 (RO-MAN'15)
Copyright Statement: © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: 643783
Conference Name: International Symposium on Robot and Human Interactive Communication (RO-MAN)
Publication Status: Published
Start Date: 2015-08-31
Finish Date: 2015-09-04
Conference Place: Kobe, Japan
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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