Naslov
Hierarchical POMDP Framework for a Robot-assisted ASD Diagnostic Protocol

Autori
Petric, Frano ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2019 ACM/IEEE International Conference on Human-Robot Interaction (HRI 2019) / - Daegu, 2019, 286-293

ISBN
978-1-5386-8555-6

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

Mjesto i datum
Daegu, Republika Koreja, 11.03.2019. - 14.03.2019

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
POMDP ; NAO ; robot-assisted ; autism ; diagnostics

Sažetak
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).

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA