Apparatus and methods for control of robot actions based on corrective user inputs
First Claim
1. A system for forming a relationship between data and movement of a device along a path, comprising:
- a memory having computer readable instructions stored thereon; and
at least one processor configured to execute the computer readable instructions to;
receive one or more sensor data outputted by one or more sensors and one or more inputs from a user when the device is following a first path, the one or more inputs corresponding to a corrective action such that the device is following a second path different from the first path, the second path being a target path;
access a first set of one or more parameters stored in a control policy upon receiving either the one or more sensor data or the one or more inputs;
modify the first set of the one or more parameters stored in the control policy upon having the one or more inputs identify a second set of the one or more parameters, the second set being different from the first set;
update the one or more parameters in the first set to correspond to the one or more parameters in the second set; and
output a signal to the device based on the update of the one or more parameters in the first set such that the device follows the second path.
1 Assignment
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Accused Products
Abstract
Robots have the capacity to perform a broad range of useful tasks, such as factory automation, cleaning, delivery, assistive care, environmental monitoring and entertainment. Enabling a robot to perform a new task in a new environment typically requires a large amount of new software to be written, often by a team of experts. It would be valuable if future technology could empower people, who may have limited or no understanding of software coding, to train robots to perform custom tasks. Some implementations of the present invention provide methods and systems that respond to users'"'"' corrective commands to generate and refine a policy for determining appropriate actions based on sensor-data input. Upon completion of learning, the system can generate control commands by deriving them from the sensory data. Using the learned control policy, the robot can behave autonomously.
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Citations
20 Claims
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1. A system for forming a relationship between data and movement of a device along a path, comprising:
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a memory having computer readable instructions stored thereon; and at least one processor configured to execute the computer readable instructions to; receive one or more sensor data outputted by one or more sensors and one or more inputs from a user when the device is following a first path, the one or more inputs corresponding to a corrective action such that the device is following a second path different from the first path, the second path being a target path; access a first set of one or more parameters stored in a control policy upon receiving either the one or more sensor data or the one or more inputs; modify the first set of the one or more parameters stored in the control policy upon having the one or more inputs identify a second set of the one or more parameters, the second set being different from the first set; update the one or more parameters in the first set to correspond to the one or more parameters in the second set; and output a signal to the device based on the update of the one or more parameters in the first set such that the device follows the second path. - 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 sensor data outputted by one or more sensors and one or more inputs from a user when the device is following a first path, the one or more inputs corresponding to a corrective action such that the device is following a second path different from the first path, the second path being a target path; access a first set of one or more parameters stored in a control policy upon receiving either the one or more sensor data or the one or more inputs; modify the first set of the one or more parameters stored in the control policy upon having the one or more inputs identify a second set of the one or more parameters, the second set being different from the first set; update the one or more parameters in the first set to correspond to the one or more parameters in the second set; and output a signal to the device based on the update of the one or more parameters in the first set such that the device is following the second path. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method for forming a relationship between data and movement of a device along a path, comprising:
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receiving one or more sensor data outputted by one or more sensors and one or more inputs from a user when the device is following a first path, the one or more inputs corresponding to a corrective action such that the device is following a second path different from the first path, the second path being a target path; accessing a first set of one or more parameters stored in a control policy upon receiving either the one or more sensor data or the one or more inputs; modifying the first set of the one or more parameters stored in the control policy upon having the one or more inputs identify a second set of the one or more parameters, the second set being different from the first set; updating the one or more parameters in the first set to correspond to the one or more parameters in the second set; and outputting a signal to the device based on the update of the one or more parameters in the first set such that the device is following the second path. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification