Adaptive predictor apparatus and methods
First Claim
1. A system for minimizing error along a path, comprising:
- a memory having computer readable instructions stored thereon; and
a first processor of one or more processors configured to execute the computer readable instructions to;
receive one or more first signals, the one or more first signals including output channels of N-dimensions, the one or more first signals corresponding to information stored in a look-up table for one or more inputs generated by one or more sensors;
receive one or more second signals, the one or more second signals including input channels of M-dimensions different from the N-dimensions; and
output one or more third signals, the one or more third signals including a combination of each one of the one or more first signals with each one of the one or more second signals, the one or more third signals including an output channel of a single dimension.
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Abstract
Apparatus and methods for training and operating of robotic devices. Robotic controller may comprise a predictor apparatus configured to generate motor control output. The predictor may be operable in accordance with a learning process based on a teaching signal comprising the control output. An adaptive controller block may provide control output that may be combined with the predicted control output. The predictor learning process may be configured to learn the combined control signal. Predictor training may comprise a plurality of trials. During initial trial, the control output may be capable of causing a robot to perform a task. During intermediate trials, individual contributions from the controller block and the predictor may be inadequate for the task. Upon learning, the control knowledge may be transferred to the predictor so as to enable task execution in absence of subsequent inputs from the controller. Control output and/or predictor output may comprise multi-channel signals.
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Citations
20 Claims
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1. A system for minimizing error along a path, comprising:
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a memory having computer readable instructions stored thereon; and a first processor of one or more processors configured to execute the computer readable instructions to; receive one or more first signals, the one or more first signals including output channels of N-dimensions, the one or more first signals corresponding to information stored in a look-up table for one or more inputs generated by one or more sensors; receive one or more second signals, the one or more second signals including input channels of M-dimensions different from the N-dimensions; and output one or more third signals, the one or more third signals including a combination of each one of the one or more first signals with each one of the one or more second signals, the one or more third signals including an output channel of a single dimension. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A non-transitory computer readable medium having computer readable instructions stored thereon, that when executed by at least processor cause the at least one processor to:
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receive one or more first signals, the one or more first signals including output channels of N-dimensions, the one or more first signals corresponding to information stored in a look-up table for one or more inputs generated by one or more sensors; receive one or more second signals, the one or more second signals including input channels of M-dimensions different from the N-dimensions; and output one or more third signals, the one or more third signals including a combination of each one of the one or more first signals with each one of the one or more second signals, the one or more third signals including an output channel of a single dimension. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method for minimizing error along a path, comprising:
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receiving one or more first signals, the one or more first signals including output channels of N-dimensions, the one or more first signals corresponding to information stored in a look-up table for one or more inputs generated by one or more sensors; receiving one or more second signals, the one or more second signals including input channels of M-dimensions different from the N-dimensions; and outputting one or more third signals, the outputting of the one or more third signals including combining each one of the one or more first signals with each one of the one or more second signals, the one or more third signals including an output channel of a single dimension. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification