ROBOTIC CONTROL ARBITRATION APPARATUS AND METHODS
First Claim
1. A controller apparatus of a robot, comprising:
- one or more processors configured to execute computer program modules, the computer program modules comprising;
a first predictor module operable in accordance with a first learning process configured to provide a first and a second predicted action indication configured based on a context, the first predicted action indication being configured to cause a robot to execute a first action, the second predicted action indication being configured to cause the robot to execute a second action;
a second predictor module operable in accordance with a second learning process configured to provide a predicted control output configured based on the context and an input signal, the predicted control output being configured to cause a robot to execute one of the first action or the second action; and
an arbitrator module configured to provide one of the first or the second action indication as the input signal to the second predictor module.
2 Assignments
0 Petitions
Accused Products
Abstract
Apparatus and methods for arbitration of control signals for robotic devices. A robotic device may comprise an adaptive controller comprising a plurality of predictors configured to provide multiple predicted control signals based on one or more of the teaching input, sensory input, and/or performance. The predicted control signals may be configured to cause two or more actions that may be in conflict with one another and/or utilize a shared resource. An arbitrator may be employed to select one of the actions. The selection process may utilize a WTA, reinforcement, and/or supervisory mechanisms in order to inhibit one or more predicted signals. The arbitrator output may comprise target state information that may be provided to the predictor block. Prior to arbitration, the predicted control signals may be combined with inputs provided by an external control entity in order to reduce learning time.
58 Citations
20 Claims
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1. A controller apparatus of a robot, comprising:
one or more processors configured to execute computer program modules, the computer program modules comprising; a first predictor module operable in accordance with a first learning process configured to provide a first and a second predicted action indication configured based on a context, the first predicted action indication being configured to cause a robot to execute a first action, the second predicted action indication being configured to cause the robot to execute a second action; a second predictor module operable in accordance with a second learning process configured to provide a predicted control output configured based on the context and an input signal, the predicted control output being configured to cause a robot to execute one of the first action or the second action; and an arbitrator module configured to provide one of the first or the second action indication as the input signal to the second predictor module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus configured to arbitrate multiple predicted outputs, the apparatus comprising:
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one or more processors configured to; provide an inhibitory signal based on (i) a determination of an object characteristic within an input and (ii) a parameter indicative of an association between the characteristic and one or more actions; and based on the inhibitory signal, prevent relaying of all but one of the multiple predicted outputs to the input; wherein; the inhibitory signal is configured to cause execution of a single action associated with the but one of the multiple predicted outputs; individual ones of the multiple predicted outputs are configured based on the characteristic and are adapted to cause contemporaneous execution of the one or more actions and the single action; and the parameter is determined prior to the arbitration of the multiple predicted outputs based on one or more training trials characterized by presence of the object characteristic and the but one of the multiple predicted outputs. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A robotic apparatus, comprising:
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a platform comprising a motor operable in a first mode and a second mode; and one or more processors configured to execute computer program modules, the computer program modules comprising; a sensory processing module configured to detect a parameter of an object in a sensory input; a controller module operable in accordance with a control policy comprising an object approach action and an object avoid action; a first learning module configured to provide an approach action indication and an avoid action indication; a second learning module configured to provide a motor control instruction configured to activate the motor; and an arbitrator module configured to prevent provision of one of the approach action indication or the avoid action indication to the second learning module based on the parameter.
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Specification