APPARATUS AND METHODS FOR TRAINING ROBOTS UTILIZING GAZE-BASED SALIENCY MAPS
First Claim
1. A system configured for determining a saliency map, the system comprising:
- a first sensing apparatus configured to provide sensory input associated with a task being executed by a robotic device operable by a trainer;
a second sensing apparatus configured to provide information related to a gaze parameter associated with a present gaze of the trainer;
one or more processors communicatively coupled with one or both of the first sensing apparatus or the second sensing apparatus, the one or more processors being configured to execute computer program instructions to cause the one or more processors to;
determine one or more features within the sensory input using an adaptive process;
determine a salient area within the sensory input based on the gaze parameter;
associate the salient area with at least one of the one or more features; and
update a learning parameter of the process based on an evaluation of the association;
wherein;
the learning process is characterized by a performance measure;
the update is configured to effectuate autonomous execution of the task by the robotic device in an absence of the trainer; and
the saliency map comprises the salient area.
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Abstract
Robotic devices may be trained using saliency maps derived from gaze of a trainer. In navigation applications, the saliency map may correspond to portions of the environment being observed by a driving instructor during training using a gaze detector. During an operation, a driver assist robot may utilize the saliency map in order to assess attention of the driver, detect potential hazards, and issue alerts. Responsive to a detection of a mismatch between the driver current attention and the target attention derived from the saliency map, the robot may issue a warning, and/or prompt the driver of an upcoming hazard. A data processing apparatus may employ gaze based saliency maps in order to analyze, e.g., surveillance camera feeds for intruders, open doors, hazards, policy violations (e.g., open doors).
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Citations
19 Claims
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1. A system configured for determining a saliency map, the system comprising:
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a first sensing apparatus configured to provide sensory input associated with a task being executed by a robotic device operable by a trainer; a second sensing apparatus configured to provide information related to a gaze parameter associated with a present gaze of the trainer; one or more processors communicatively coupled with one or both of the first sensing apparatus or the second sensing apparatus, the one or more processors being configured to execute computer program instructions to cause the one or more processors to; determine one or more features within the sensory input using an adaptive process; determine a salient area within the sensory input based on the gaze parameter; associate the salient area with at least one of the one or more features; and update a learning parameter of the process based on an evaluation of the association; wherein; the learning process is characterized by a performance measure; the update is configured to effectuate autonomous execution of the task by the robotic device in an absence of the trainer; and the saliency map comprises the salient area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transient computer-readable storage medium having instructions embodied thereon, the instructions being executable to cause one or more processors to:
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determine of a gaze of a person executing a task; determine one or more features in sensory input associated with the task; select a salient feature from the one or more features, the selection being based on an operation of a predictor process characterized by a parameter; associate an area of the gaze of the person with a portion of the sensory input; and provide an indication to the person, the indication conveying information associated with the salient feature and the area; wherein the parameter is based on an evaluation of gaze of another person during a prior execution of the task prior. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A method for operating a robotic apparatus to perform a task, the method comprising:
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for a given visual scene; determining a feature within a portion of a digital image of the visual scene, the determination being based on an analysis of a saliency map associated with the task, the saliency map being representative of one or more areas of preferential attention by a human trainer; and executing the task based on an association between with the feature and the task; wherein; the saliency map is determined by a learning process of the robotic apparatus; the association between with the feature and the task is determined by the learning process; the learning process has been previously trained to execute the task using gaze of the human trainer. - View Dependent Claims (19)
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Specification