Kejun Li

Raul Astudillo, Kejun Li, Maegan Tucker et al.

Preferential Bayesian optimization (PBO) is a framework for optimizing a decision-maker's latent preferences over available design choices. While preferences often involve multiple conflicting objectives, existing work in PBO assumes that preferences can be encoded by a single objective function. For example, in robotic assistive devices, technicians often attempt to maximize user comfort while simultaneously minimizing mechanical energy consumption for longer battery life. Similarly, in autonomous driving policy design, decision-makers wish to understand the trade-offs between multiple safety and performance attributes before committing to a policy. To address this gap, we propose the first framework for PBO with multiple objectives. Within this framework, we present dueling scalarized Thompson sampling (DSTS), a multi-objective generalization of the popular dueling Thompson algorithm, which may be of interest beyond the PBO setting. We evaluate DSTS across four synthetic test functions and two simulated exoskeleton personalization and driving policy design tasks, showing that it outperforms several benchmarks. Finally, we prove that DSTS is asymptotically consistent. As a direct consequence, this result provides, to our knowledge, the first convergence guarantee for dueling Thompson sampling in the PBO setting.

Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor et al.

Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conservative behavior, and tuning these controllers to find the ideal trade-off between performance and safety typically requires domain expertise or a carefully constructed reward function. This work presents a design paradigm for systematically achieving behaviors that balance performance and robust safety by integrating safety-aware Preference-Based Learning (PBL) with Control Barrier Functions (CBFs). Fusing these concepts -- safety-aware learning and safety-critical control -- gives a robust means to achieve safe behaviors on complex robotic systems in practice. We demonstrate the capability of this design paradigm to achieve safe and performant perception-based autonomous operation of a quadrupedal robot both in simulation and experimentally on hardware.

Kejun Li, Maegan Tucker, Rachel Gehlhar et al.

Generating stable walking gaits that yield natural locomotion when executed on robotic-assistive devices is a challenging task that often requires hand-tuning by domain experts. This paper presents an alternative methodology, where we propose the addition of musculoskeletal models directly into the gait generation process to intuitively shape the resulting behavior. In particular, we construct a multi-domain hybrid system model that combines the system dynamics with muscle models to represent natural multicontact walking. Provably stable walking gaits can then be generated for this model via the hybrid zero dynamics (HZD) method. We experimentally apply our integrated framework towards achieving multicontact locomotion on a dual-actuated transfemoral prosthesis, AMPRO3, for two subjects. The results demonstrate that enforcing muscle model constraints produces gaits that yield natural locomotion (as analyzed via comparison to motion capture data and electromyography). Moreover, gaits generated with our framework were strongly preferred by the non-disabled prosthetic users as compared to gaits generated with the nominal HZD method, even with the use of systematic tuning methods. We conclude that the novel approach of combining robotic walking methods (specifically HZD) with muscle models successfully generates anthropomorphic robotic-assisted locomotion.

Kejun Li, Maegan Tucker, Erdem Bıyık et al.

Characterizing what types of exoskeleton gaits are comfortable for users, and understanding the science of walking more generally, require recovering a user's utility landscape. Learning these landscapes is challenging, as walking trajectories are defined by numerous gait parameters, data collection from human trials is expensive, and user safety and comfort must be ensured. This work proposes the Region of Interest Active Learning (ROIAL) framework, which actively learns each user's underlying utility function over a region of interest that ensures safety and comfort. ROIAL learns from ordinal and preference feedback, which are more reliable feedback mechanisms than absolute numerical scores. The algorithm's performance is evaluated both in simulation and experimentally for three non-disabled subjects walking inside of a lower-body exoskeleton. ROIAL learns Bayesian posteriors that predict each exoskeleton user's utility landscape across four exoskeleton gait parameters. The algorithm discovers both commonalities and discrepancies across users' gait preferences and identifies the gait parameters that most influenced user feedback. These results demonstrate the feasibility of recovering gait utility landscapes from limited human trials.

Hong Luo, Han Liu, Kejun Li et al.

The quality control of fetal sonographic (FS) images is essential for the correct biometric measurements and fetal anomaly diagnosis. However, quality control requires professional sonographers to perform and is often labor-intensive. To solve this problem, we propose an automatic image quality assessment scheme based on multi-task learning to assist in FS image quality control. An essential criterion for FS image quality control is that all the essential anatomical structures in the section should appear full and remarkable with a clear boundary. Therefore, our scheme aims to identify those essential anatomical structures to judge whether an FS image is the standard image, which is achieved by three convolutional neural networks. The Feature Extraction Network aims to extract deep level features of FS images. Based on the extracted features, the Class Prediction Network determines whether the structure meets the standard and Region Proposal Network identifies its position. The scheme has been applied to three types of fetal sections, which are the head, abdominal, and heart. The experimental results show that our method can make a quality assessment of an FS image within less a second. Also, our method achieves competitive performance in both the detection and classification compared with state-of-the-art methods.