Dual-Agent Reinforcement Learning based Co-adaptation and its Application in Rehabilitation
Prof. Steven Weidong Su
山东第一医科大学（山东省医学科学院） 医学人工智能与大数据学院
时间：2023年12月20日（周三）上午10:00
地点：上海交通大学闵行校区转化医学大楼二楼E200会议室
Abstract
This talk introduces the development of an efficient human-machine interface to improve rehabilitation performance from the perspective of both the user (patient) and the machine (robot) via model-based reinforcement learning. Previous studies focus more on robot assistance, i.e., to improve the control strategy to fulfill the objective of Assist-As-Needed. Our study treats the full process of robot-assisted rehabilitation as a co-adaptive learning process and emphasizes the adaptation of the user to the machine. To this end, we proposed a Co-adaptive MDPs (CaMDPs) model to quantify the learning rates based on cooperative multi-agent reinforcement learning (MARL) in the high abstraction layer of the systems. We proposed several approaches to cooperatively adjust the Policy Improvement among the two agents in the framework of Policy Iteration. Based on the proposed co-adaptive MDPs, numerical analysis indicates the non-stationary problem can be mitigated using the proposed Policy Improvement approaches. We will also introduce the recent research works in rehabilitation robot development in Jinan key lab of intelligent rehabilitation robot lab.
Biography
Dr. Steven Weidong Su is currently a Professor at the College of Artificial Intelligence and Big Data for Medical Science, Shandong First Medical University & Shandong Academy of Medical Sciences, China. Before he joined Shandong First Medical University, he was a core member of the Centre for Health Technologies (CHT) and Global Big Data Technologies Centre (GBDTC), Faculty of Engineering and IT, University of Technology Sydney. He published one book and more than 100 journal publications in the fields of system control and modeling, artificial intelligence, robot-assisted rehabilitation, and biomedical signal processing. He is a senior member of IEEE and a member of AusBiotech. He has served as the Co-Chair of the IEEE Australian Capital Territory & New South Wales Joint Sections Control Systems Society Chapter. He holds editorial positions for renowned journals in his field, including current Editor for the International Journal of Circuit Theory and Applications, Associate Editor for the International Journal of Advanced Robotic Systems, and editorial member for Applied Soft Computing. Steven Weidong Su received a Ph.D. degree from the Research School of Information Sciences and Engineering, Australian National University, Canberra, ACT, Australia. He was a Post-Doctoral Research Fellow with the Faculty of Engineering, University of New South Wales (UNSW), Australia before he joined UTS.
