ROBOTIC TRAINING APPARATUS AND METHODS
First Claim
1. A computerized controller apparatus configured to effectuate control of a robotic device, the apparatus comprising:
- one or more processors configured to execute computer program modules to cause one or more processors to;
(1) during a first training trial of a plurality of trials;
determine a first signal based on a characteristic of an input provided to the controller apparatus by the robotic device; and
cause the robotic device to perform a first action based on a first control signal, the first control signal being determined based on the first signal and a first user input, the first action being characterized by a first performance measure; and
(2) during a second training trial of the plurality of training trials, the second training train being subsequent to the first training trial;
determine a second signal based on the characteristic of the input and a first error, the first error being determined based on a proximity measure between the first action and a target action; and
cause the robotic device to perform a second action based on a second control signal, the second control signal being determined based on the second signal and a second user input, the second action being characterized by a second error, the second error being determined based on a proximity measure between the second action and the target action;
wherein;
the second error is smaller than the first error; and
the first error is greater than a third error corresponding to a third action performed by the robotic device responsive to a third control signal configured based solely on the first user input.
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Accused Products
Abstract
Apparatus and methods for training of robotic devices. Robotic devices may be trained by a user guiding the robot along target trajectory using an input signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the user guidance, sensory input, and/or performance measure. Training may comprise a plurality of trials. During first trial, the user input may be sufficient to cause the robot to complete the trajectory. During subsequent trials, the user and the robot'"'"'s controller may collaborate so that user input may be reduced while the robot control may be increased. Individual contributions from the user and the robot controller during training may be may be inadequate (when used exclusively) to complete the task. Upon learning, user'"'"'s knowledge may be transferred to the robot'"'"'s controller to enable task execution in absence of subsequent inputs from the user
71 Citations
22 Claims
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1. A computerized controller apparatus configured to effectuate control of a robotic device, the apparatus comprising:
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one or more processors configured to execute computer program modules to cause one or more processors to; (1) during a first training trial of a plurality of trials; determine a first signal based on a characteristic of an input provided to the controller apparatus by the robotic device; and cause the robotic device to perform a first action based on a first control signal, the first control signal being determined based on the first signal and a first user input, the first action being characterized by a first performance measure; and (2) during a second training trial of the plurality of training trials, the second training train being subsequent to the first training trial; determine a second signal based on the characteristic of the input and a first error, the first error being determined based on a proximity measure between the first action and a target action; and cause the robotic device to perform a second action based on a second control signal, the second control signal being determined based on the second signal and a second user input, the second action being characterized by a second error, the second error being determined based on a proximity measure between the second action and the target action; wherein; the second error is smaller than the first error; and the first error is greater than a third error corresponding to a third action performed by the robotic device responsive to a third control signal configured based solely on the first user input. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robotic apparatus, comprising:
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a platform comprising one or more controllable elements; and a controller comprising one or more processors configured to execute computer program modules configured to operate individual ones of the one or more controllable elements, the computer program modules comprising; a first logic module configured to receive a first input from a human; a second logic module configured to analyze the first input and to cause the platform to execute an action in accordance with the first input; and a third logic module configured to receive a second input from the human subsequent to receipt of the first input, the second input being configured to cause a corrected action by the platform, the corrected action being characterized by lower deviation from a target action; wherein the action execution is based on operation of individual ones of the one or more controllable elements. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A computerized robotic controller apparatus, comprising:
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one or more processors configured to execute computer program modules to cause one or more processors to; for a given iteration of a plurality of iterations; generate a first signal based on a sensory context; receive a second signal from a user associated with a target action configured based on the sensory context; and utilize the first signal and the second signal to perform an action; wherein; the plurality of iterations is configured to occur within a time interval characterized by a duration; a subsequent iteration of the plurality of iterations is configured to cause the action to be closer to the target action; and upon expiration of the duration, the first signal is configured to perform the action absent the second signal. - View Dependent Claims (19)
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20. A method of training a computerized robotic apparatus to perform a target action based on sensory context, the training being effectuated via a plurality of iterations, the method comprising:
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during a first iteration; causing the apparatus to generate a first control signal based on the sensory context; causing the apparatus to execute a first action based on the first control signal and a user input received from a user, the user input being indicative of the target action; and causing the apparatus to adjust a learning parameter based on a first performance determined based on the first action and the target action; and during a subsequent iteration; causing the apparatus to generate a second control signal based on the sensory context and the adjusted learning parameter; causing the apparatus to execute a second action based on the second control signal, the second action being characterized by a second performance; wherein; the plurality of iterations is configured to occur within a time interval characterized by a duration; the first iteration and the subsequent iteration are separated by the duration; a provision of the user input during the subsequent iteration is configured to cause the controller to execute a third action characterized by a third performance value; and the second action is configured closer to the target action as compared to the third action. - View Dependent Claims (21, 22)
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Specification