Training of autonomous robots
First Claim
1. A method of programming a robot to perform a desired behaviour, the method comprising the steps of:
- providing a robot for recognizing at least one stimulus as a primary reinforcer and;
conditioning the robot to recognize at least one further stimulus as a secondary reinforcer;
guiding the robot to the desired behaviour by presenting the robot with a secondary reinforcer when the robot exhibits a behaviour approaching the desired behaviour and presenting the robot with a primary reinforcer when the robot exhibits the desired behaviour.
1 Assignment
0 Petitions
Accused Products
Abstract
A clicker-training technique developed for animal training is adapted for training robots, notably autonomous animal-like robots. In this robot-training method, a behaviour (for example, (DIG)) is broken down into smaller achievable responses ((SIT)-(HELLO)-(DIG)) that will eventually lead to the desired final behaviour. The robot is guided progressively to the correct behaviour through the use, normally the repeated use, of a secondary reinforcer. When the correct behaviour has been achieved, a primary reinforcer is applied so that the desired behaviour can be “captured”. This method can be used for training a robot to perform, on command, rare behaviours or a sequence of behaviours (typically actions). This method can also be used to ensure that a robot is focusing its attention upon a desired object.
-
Citations
17 Claims
-
1. A method of programming a robot to perform a desired behaviour, the method comprising the steps of:
-
providing a robot for recognizing at least one stimulus as a primary reinforcer and;
conditioning the robot to recognize at least one further stimulus as a secondary reinforcer;
guiding the robot to the desired behaviour by presenting the robot with a secondary reinforcer when the robot exhibits a behaviour approaching the desired behaviour and presenting the robot with a primary reinforcer when the robot exhibits the desired behaviour. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
means for recognizing at least one stimulus as a primary reinforcer, and means for enabling at least one further stimulus to be identified as a secondary reinforcer.
-
-
12. The autonomous robot according to claim 11, which, in use, in response to perception of a secondary reinforcer, exhibits a behaviour related to to the exhibited behaviour that prompted appearance of the secondary reinforcer and, in response to perception of a primary reinforcer, registers one or more of the exhibited behaviours that prompted appearance of the primary reinforcer.
-
13. The autonomous robot according to claim 12, which, in use, in response to perception of a primary reinforcer, repeats the one or more registered behaviours, and confirms registration of said one or more behaviours if the repetition prompts appearance of a primary reinforcer.
-
14. The autonomous robot according to claim 11, wherein said enabling means for recognizing at least one further stimulus as a secondary reinforcer when the robot perceives said further stimulus repeatedly presented thereto in association with a primary stimulus.
-
15. The autonomous robot according to claim 11, which, in use, in response to perception of a primary reinforcer, awaits presentation of, and registers, a command indication.
-
16. The autonomous robot according to claim 15, which, in use, provides feedback enabling the command indication to be confirmed.
-
17. The autonomous robot according to claim 11, which, in use, undergoes a transition from one behaviour to another behaviour thereof according to a respective probability, wherein the probability of a transition taking place between a particular pair of behaviours is increased if the exhibition of said transition occurs and prompts appearance of a secondary or primary reinforcer.
Specification