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1.
Hierarchical learning of robotic contact policies
Mihael Simonič, Aleš Ude, Bojan Nemec, 2023, izvirni znanstveni članek

Povzetek: The paper addresses the issue of learning tasks where a robot maintains permanent contact with the environment. We propose a new methodology based on a hierarchical learning scheme coupled with task representation through directed graphs. These graphs are constituted of nodes and branches that correspond to the states and robotic actions, respectively. The upper level of the hierarchy essentially operates as a decision-making algorithm. It leverages reinforcement learning (RL) techniques to facilitate optimal decision-making. The actions are generated by a constraint-space following (CSF) controller that autonomously identifies feasible directions for motion. The controller generates robot motion by adjusting its stiffness in the direction defined by the Frenet–Serret frame, which is aligned with the robot path. The proposed framework was experimentally verified through a series of challenging robotic tasks such as maze learning, door opening, learning to shift the manual car gear, and learning car license plate light assembly by disassembly.
Ključne besede: autonomous robot learning, learning, experience, compliance and impedance contro
Objavljeno v DiRROS: 21.09.2023; Ogledov: 338; Prenosov: 166
.pdf Celotno besedilo (1,73 MB)
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2.
Trained facilitators' experiences with structured advance care planning conversations in oncology : an international focus group study within the ACTION trial
K. Pollock, Marieke Zwakman, Francesco Bulli, Glenys Caswell, Branka Červ, Johannes JM van Delden, Luc Deliens, Agnes van der Heide, Lea J. Jabbarian, Hana Kodba Čeh, Urška Lunder, Anja Simonič, 2019, izvirni znanstveni članek

Povzetek: Background: In oncology, health care professionals often experience conducting advance care planning (ACP) conversations as difficult and are hesitant to start them. A structured approach could help to overcome this. In the ACTION trial, a Phase III multi-center cluster-randomized clinical trial in six European countries (Belgium, Denmark, Italy, the Netherlands, Slovenia, United Kingdom), patients with advanced lung or colorectal cancer are invited to have one or two structured ACP conversations with a trained facilitator. It is unclear how trained facilitators experience conducting structured ACP conversations. This study aims to understand how facilitators experience delivering the ACTION Respecting Choices (RC) ACP conversation. Methods: A qualitative study involving focus groups with RC facilitators. Focus group interviews were recorded, transcribed, anonymized, translated into English, and thematically analysed, supported by NVivo 11. The international research team was involved in data analysis from initial coding and discussion towards final themes. Results: Seven focus groups were conducted, involving 28 of in total 39 trained facilitators, with different professional backgrounds from all participating countries. Alongside some cultural differences, six themes were identified. These reflect that most facilitators welcomed the opportunity to participate in the ACTION trial, seeing it as a means of learning new skills in an important area. The RC script was seen as supportive to ask questions, including those perceived as difficult to ask, but was also experienced as a barrier to a spontaneous conversation. Facilitators noticed that most patients were positive about their ACTION RC ACP conversation, which had prompted them to become aware of their wishes and to share these with others. The facilitators observed that it took patients substantial effort to have these conversations. In response, facilitators took responsibility for enabling patients to experience a conversation from which they could benefit. Facilitators emphasized the need for training, support and advanced communication skills to be able to work with the script. Conclusions: Facilitators experienced benefits and challenges in conducting scripted ACP conversations. They mentioned the importance of being skilled and experienced in carrying out ACP conversations in order to be able to explore the patients' preferences while staying attuned to patients' needs.
Ključne besede: ACTION study, cancer, facilitator, patients, respecting choices, experience
Objavljeno v DiRROS: 23.09.2020; Ogledov: 1256; Prenosov: 894
.pdf Celotno besedilo (748,78 KB)
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