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Hierarchical POMDP Framework for a Robot-assisted ASD Diagnostic Protocol (CROSBI ID 681359)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Petric, Frano ; Kovačić, Zdenko Hierarchical POMDP Framework for a Robot-assisted ASD Diagnostic Protocol // Proceedings of the 2019 ACM/IEEE International Conference on Human-Robot Interaction (HRI 2019). Daegu, 2019. str. 286-293

Podaci o odgovornosti

Petric, Frano ; Kovačić, Zdenko

engleski

Hierarchical POMDP Framework for a Robot-assisted ASD Diagnostic Protocol

Since the diagnosis of autism spectrum disorder (ASD) relies heavily on behavioral observations by experienced clinician, we seek to investigate whether parts of this job can be autonomously performed by a humanoid robot using only sensors available on-board. To that end, we developed a robot-assisted ASD diagnostic protocol. In this work we propose the Partially observable Markov decision process (POMDP) framework for such protocol which enables the robot to infer information about the state of the child based on observations of child's behavior. We extend our previous work by developing a protocol POMDP model which uses tasks of the protocol as actions. We devise a method to interface protocol and task models by using belief at the end of a task to generate observations for the protocol POMDP, resulting in a hierarchical POMDP framework. We evaluate our approach through an exploratory study with fifteen children (seven typically developing and eight with ASD).

POMDP ; NAO ; robot-assisted ; autism ; diagnostics

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Podaci o prilogu

286-293.

2019.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 2019 ACM/IEEE International Conference on Human-Robot Interaction (HRI 2019)

Daegu:

978-1-5386-8555-6

Podaci o skupu

International ACM/IEEE Conference on Human-Robot Interaction (HRI 2019)

predavanje

11.03.2019-14.03.2019

Daegu, Republika Koreja

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti