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 the 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 the robot to execute one of the first action or the second action; and
an arbitrator module configured to provide one of the first and the second predicted action indication as the input signal to the second predictor module;
wherein, based on a determination by the arbitrator module that there is no conflict between the first action and the second action, execute the first action and the second action contemporaneously.
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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.
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Citations
20 Claims
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1. A controller apparatus of a robot, comprising:
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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 the 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 the robot to execute one of the first action or the second action; and an arbitrator module configured to provide one of the first and the second predicted action indication as the input signal to the second predictor module; wherein, based on a determination by the arbitrator module that there is no conflict between the first action and the second action, execute the first action and the second action contemporaneously. - 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 object characteristic and one or more actions; and based on the inhibitory signal, prevent a relay of all but one of the multiple predicted outputs to the input; wherein; individual ones of the multiple predicted outputs are configured based on the object characteristic and are adapted to cause contemporaneous execution of the one or more actions and a single action associated with the but one of the multiple predicted outputs unless the inhibitory signal is present; 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 controller apparatus of a robot to perform target approach and obstacle avoidance based on visual sensory input, comprising:
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a first predictor module configured to effectuate target approach of a target by the robot via; reception of sensory input of a first representation of the target; provision of a target approach predicted action to an arbitrator module; a second predictor module configured to effectuate obstacle avoidance of an obstacle by the robot via; reception of sensory input of a second representation of the obstacle; provision of an obstacle avoidance predicted action to the arbitrator module; and the arbitrator module configured to; receive the target approach predicted action from the first predictor module; receive the obstacle avoidance predicted action from the second predictor module; provision of a preferred target state position within a view frame to the first predictor module; provision of a preferred obstacle state position within the view frame to the second predictor modules; determine whether the target approach predicted action and the obstacle avoidance predicted action are in conflict; when the target approach predicted action and the obstacle avoidance predicted action are in conflict, suppress provision of one of the preferred target state position and the preferred obstacle state position; and when the target approach predicted action and the obstacle avoidance predicted action are not in conflict, allow contemporaneous execution of the target approach predicted action and the obstacle avoidance predicted action.
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Specification