{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,4]],"date-time":"2026-03-04T03:55:55Z","timestamp":1772596555452,"version":"3.50.1"},"reference-count":53,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2018,7,31]],"date-time":"2018-07-31T00:00:00Z","timestamp":1532995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100015569","name":"Canadian Consortium on Neurodegeneration in Aging","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100015569","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Ontario Graduate Scholarship (OGS) Program"},{"DOI":"10.13039\/100011047","name":"AGE-WELL","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100011047","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Canada Research Chairs (CRC) Program"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2018,7,31]]},"abstract":"<jats:p>\n            Socially assistive robots can autonomously provide activity assistance to vulnerable populations, including those living with cognitive impairments. To provide effective assistance, these robots should be capable of displaying appropriate behaviors and personalizing them to a user's cognitive abilities. Our research focuses on the development of a novel robot learning architecture that uniquely combines learning from demonstration (\n            <jats:italic>LfD<\/jats:italic>\n            ) and reinforcement learning (\n            <jats:italic>RL<\/jats:italic>\n            ) algorithms to effectively teach socially assistive robots personalized behaviors. Caregivers can demonstrate a series of assistive behaviors for an activity to the robot, which it uses to learn general behaviors via\n            <jats:italic>LfD<\/jats:italic>\n            . This information is used to obtain initial assistive state-behavior pairings using a decision tree. Then, the robot uses an\n            <jats:italic>RL<\/jats:italic>\n            algorithm to obtain a policy for selecting the appropriate behavior personalized to the user's cognition level. Experiments were conducted with the socially assistive robot Casper to investigate the effectiveness of our proposed learning architecture. Results showed that Casper was able to learn personalized behaviors for the new assistive activity of tea-making, and that combining\n            <jats:italic>LfD<\/jats:italic>\n            and\n            <jats:italic>RL<\/jats:italic>\n            algorithms significantly reduces the time required for a robot to learn a new activity.\n          <\/jats:p>","DOI":"10.1145\/3277903","type":"journal-article","created":{"date-parts":[[2019,5,7]],"date-time":"2019-05-07T12:15:57Z","timestamp":1557231357000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":67,"title":["Learning and Personalizing Socially Assistive Robot Behaviors to Aid with Activities of Daily Living"],"prefix":"10.1145","volume":"7","author":[{"given":"Christina","family":"Moro","sequence":"first","affiliation":[{"name":"Autonomous Systems and Biomechatronics Laboratory, Department of Mechanical and Industrial Engineering, University of Toronto, and AGE-WELL Network of Centres of Excellence, Toronto, ON, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Goldie","family":"Nejat","sequence":"additional","affiliation":[{"name":"Autonomous Systems and Biomechatronics Laboratory, Department of Mechanical and Industrial Engineering, University of Toronto, and AGE-WELL Network of Centres of Excellence, Toronto, ON, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alex","family":"Mihailidis","sequence":"additional","affiliation":[{"name":"AGE-WELL Network of Centres of Excellence, and Department of Occupational Science and Occupational Therapy, University of Toronto and Toronto Rehabilitation Institute, University Health Network, Toronto, ON, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2018,10,24]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"IEEE 9th International Conference on Rehabilitation Robotics. 465--468","author":"Feil-Seifer D."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.2.1.McColl"},{"key":"e_1_2_1_3_1","volume-title":"IEEE International Symposium on Robotics and Intelligent Sensors (IRIS\u201916)","author":"Li J."},{"key":"e_1_2_1_4_1","volume-title":"IEEE International Symposium on Robotics and Intelligent Sensors (IRIS\u201917)","author":"Thompson C."},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-008-0017-4"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703004922"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-010-0068-5"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.1.2.Torta"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559666"},{"key":"e_1_2_1_10_1","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201910)","author":"Ng-Thow-Hing V."},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559668"},{"key":"e_1_2_1_12_1","volume-title":"IEEE International Symposium on Robot and Human Interactive Communication. 961--968","author":"Liu P."},{"key":"e_1_2_1_13_1","volume-title":"IEEE-RAS 16th International Conference on Humanoid Robots. 745--751","author":"Qureshi A. H."},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020217"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.5772\/51171"},{"key":"e_1_2_1_16_1","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201916)","author":"Louie W.-Y. G."},{"key":"e_1_2_1_17_1","volume-title":"IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO\u201914)","author":"Chiang Y. S."},{"key":"e_1_2_1_18_1","unstructured":"D. Brooker and I. Latham. 2015. Person-Centred Dementia Care\u202f: Making Services Better with the VIPS Framework. Jessica Kingsley Publishers.  D. Brooker and I. Latham. 2015. Person-Centred Dementia Care\u202f: Making Services Better with the VIPS Framework. Jessica Kingsley Publishers."},{"key":"e_1_2_1_19_1","volume-title":"IEEE International Conference on Rehabilitation Robotics. 924--929","author":"Tapus A."},{"key":"e_1_2_1_20_1","volume-title":"IEEE International Conference on Robotics and Automation (ICRA\u201915)","author":"Park H. W."},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/2070719.2070725"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.07.005"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.03.007"},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.03.003"},{"key":"e_1_2_1_26_1","unstructured":"B. Kim A. Massoud Farahmand J. Pineau and D. Precup. 2013. Learning from limited demonstrations. In Advances in Neural Information Processing Systems. 2859--2867.   B. Kim A. Massoud Farahmand J. Pineau and D. Precup. 2013. Learning from limited demonstrations. In Advances in Neural Information Processing Systems. 2859--2867."},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00373-1"},{"key":"e_1_2_1_28_1","doi-asserted-by":"crossref","unstructured":"T. Hester M. Vecerik O. Pietquin M. Lanctot T. Schaul B. Piot D. Horgan J. Quan A. Sendonaris G. Dulac-Arnold I. Osband J. Agapiou J. Z. Leibo and A. Gruslys. 2017. Learning from demonstrations for real world reinforcement learning. Arxiv Prepr. ArXiv1704.03732.  T. Hester M. Vecerik O. Pietquin M. Lanctot T. Schaul B. Piot D. Horgan J. Quan A. Sendonaris G. Dulac-Arnold I. Osband J. Agapiou J. Z. Leibo and A. Gruslys. 2017. Learning from demonstrations for real world reinforcement learning. Arxiv Prepr. ArXiv1704.03732.","DOI":"10.1609\/aaai.v32i1.11757"},{"key":"e_1_2_1_29_1","volume-title":"Accessed","author":"Alzheimer's Association","year":"2009"},{"key":"e_1_2_1_30_1","volume-title":"Accessed","author":"Alzheimer Society of Canada.","year":"2017"},{"key":"e_1_2_1_31_1","volume-title":"Accessed","author":"Alzheimer's Society","year":"2017"},{"key":"e_1_2_1_32_1","volume-title":"Belmont, CA: Wadsworh 8 Brooks Cole.","author":"Breiman L.","year":"1984"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.5120\/ijca2017913660"},{"key":"e_1_2_1_34_1","unstructured":"S. Singh and M. Giri. 2014. Comparative study Id3 CART and C4. 5 decision tree algorithm: A survey. Int. J. Adv. Inf. Sci. Technol. 3 7 (2014) 97--103.  S. Singh and M. Giri. 2014. Comparative study Id3 CART and C4. 5 decision tree algorithm: A survey. Int. J. Adv. Inf. Sci. Technol. 3 7 (2014) 97--103."},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1016\/0191-8869(91)90144-Z"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-0992(1998110)28:6<879::AID-EJSP901>3.0.CO;2-W"},{"key":"e_1_2_1_37_1","volume-title":"Gestures: Their Origins and Distribution. Stein 8 Day Pub.","author":"Morris D.","year":"1981"},{"key":"e_1_2_1_38_1","unstructured":"R. S. Sutton and A. G. Barto. 1998. Introduction to Reinforcement Learning. MIT Press.   R. S. Sutton and A. G. Barto. 1998. Introduction to Reinforcement Learning. MIT Press."},{"key":"e_1_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013689704352"},{"key":"e_1_2_1_40_1","unstructured":"R. Y. Chen S. Sidor P. Abbeel and J. Schulman. 2017. UCB exploration via Q-ensembles. arXiv preprint arXiv:1706.01502.  R. Y. Chen S. Sidor P. Abbeel and J. Schulman. 2017. UCB exploration via Q-ensembles. arXiv preprint arXiv:1706.01502."},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4027113"},{"key":"e_1_2_1_42_1","volume-title":"Accessed","author":"Systems Autonomous","year":"2013"},{"key":"e_1_2_1_43_1","volume-title":"Amazon Polly -- Lifelike Text-to-Speech.","author":"Services Amazon Web","year":"2017"},{"key":"e_1_2_1_44_1","volume-title":"Accessed","author":"ROS.","year":"2013"},{"key":"e_1_2_1_45_1","volume-title":"Watson Speech to Text.","author":"Watson IBM","year":"2017"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.4017\/gt.2011.10.3.005.00"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1177\/0891988706297469"},{"key":"e_1_2_1_48_1","first-page":"3","article-title":"A survey of socially interactive robots","volume":"42","author":"Fong T.","year":"2003","journal-title":"Rob. Auton. Syst."},{"key":"e_1_2_1_49_1","volume-title":"IEEE International Conference on Systems, Man and Cybernetics. 858--863","author":"Tojo T."},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.1.2.Ferland"},{"key":"e_1_2_1_51_1","doi-asserted-by":"crossref","volume-title":"The Hidden Dimension","author":"Hall E. T.","DOI":"10.2307\/1572461"},{"key":"e_1_2_1_52_1","volume-title":"IEEE-RAS International Conference on Humanoid Robots. 450--455","author":"Walters M. L."},{"key":"e_1_2_1_53_1","volume-title":"ACM\/IEEE International Conference on Human-Robot Interaction. 375--382","author":"Rich C."}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3277903","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3277903","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T23:54:09Z","timestamp":1750204449000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3277903"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,7,31]]},"references-count":53,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2018,7,31]]}},"alternative-id":["10.1145\/3277903"],"URL":"https:\/\/doi.org\/10.1145\/3277903","relation":{},"ISSN":["2573-9522"],"issn-type":[{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,7,31]]},"assertion":[{"value":"2018-04-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-08-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-10-24","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}