×

Apparatus and methods for reinforcement-guided supervised learning

  • US 9,008,840 B1
  • Filed: 04/19/2013
  • Issued: 04/14/2015
  • Est. Priority Date: 04/19/2013
  • Status: Active Grant
First Claim
Patent Images

1. A method of generating a predicted control output by an adaptive controller of a robotic apparatus comprising a predictor and a combiner, the method comprising:

  • operating the adaptive controller in accordance with a reinforcement learning process based on a reinforcement signal, the reinforcement signal being based on a performance measure associated with the reinforcement learning process;

    operating the predictor in accordance with a supervised learning process based on a teaching signal, the teaching signal conveying information related to a target output of the predictor;

    generating a control output via the adaptive controller based on a sensory input and the reinforcement signal, the sensory input including information associated with an environment of the robotic apparatus;

    determining a predicted control output via the predictor based on the sensory input and the teaching signal;

    determining a combined output via the combiner based on the control output and the predicted control output, the combined output being characterized by a transform function; and

    providing the combined output via the adaptive controller to the robotic apparatus, the combined output causing the robotic apparatus to execute a maneuver in accordance with the sensory input;

    wherein the teaching signal comprises the combined control output.

View all claims
  • 2 Assignments
Timeline View
Assignment View
    ×
    ×