Learning apparatus and methods for control of robotic devices via spoofing

• US 9,630,317 B2
• Filed: 04/03/2014
• Issued: 04/25/2017
• Est. Priority Date: 04/03/2014
• Status: Expired due to Fees

• Current Assignee: Brain Corporation
• Original Assignee: Brain Corporation
• Inventors: Izhikevich, Eugene M., Laurent, Patryk, Richert, Micah, Petre, Csaba
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US14/244,888
• Publication Number:
  US 20150283702A1
• Time in Patent Office: 1,118 Days
• Field of Search: 700245-264
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06N 20/00 Machine learning
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• CPC Class Codes: G06N 3/049 Temporal neural networks, e.g. delay elements, oscillating neurons or pulsed inputs

Abstract

Robotic devices may be operated by users remotely. A learning controller apparatus may detect remote transmissions comprising user control instructions. The learning apparatus may receive sensory input conveying information about robot'"'"'s state and environment (context). The learning apparatus may monitor one or more wavelength (infrared light, radio channel) and detect transmissions from user remote control device to the robot during its operation by the user. The learning apparatus may be configured to develop associations between the detected user remote control instructions and actions of the robot for given context. When a given sensory context occurs, the learning controller may automatically provide control instructions to the robot that may be associated with the given context. The provision of control instructions to the robot by the learning controller may obviate the need for user remote control of the robot thereby enabling autonomous operation by the robot.

Claims

1. A robotic system comprising:

a first robotic device;

a remote controller configured to provide a first wireless transmission that conveys a first control instruction from a user to the first robotic device, the first control instruction being configured to cause the first robotic device to execute a first action; and

a learning controller apparatus configured to;

during a first time interval;

receive the first wireless transmission via a transceiver apparatus;

determine a first context associated with execution of the first action; and

determine an association between data related to the first control instruction and the first context, the association determined by an adaptable predictor block; and

during a second time interval, subsequent to the first time interval;

determine another version of the first context related to execution of the first action; and

provide, via the transceiver apparatus and in lieu of the first control instruction, a first remote transmission that conveys the data related to the first control instruction based at least in part on the association determined by the adaptable predictor block, the data related to the first control instruction being configured to cause the first robotic device to execute the first action.

2. The system of claim 1, wherein:

the provision of the first remote transmission is configured to occur automatically and in absence of the first wireless transmission; and

the execution of the first action by the first robotic device based on the first remote transmission is performed in an absence of an additional command instruction from the user.

3. The system of claim 1, wherein:

the data related to the first control instruction are determined based on the receipt of the first wireless transmission;

the first wireless transmission is transmitted on a first carrier wave;

the first control instruction comprises one or more pulses of the first carrier wave; and

the data related to the first control instruction comprise the one or more pulses of the first carrier wave.

4. The system of claim 1, further comprising:

a visual sensor component configured to provide the first context, the first context comprising information related to one or both of (i) a motion of the first robotic device during execution of the first action and (ii) a visual scene of an environment around the first robotic device.

5. The system of claim 1, wherein:

the first robotic device comprises a motion sensor configured to provide motion information related to one or both of (1) a motion of the first robotic device or (2) a motion of objects in an environment around the first robotic device; and

the first context comprises the motion information.

6. The system of claim 1, further comprising a second robotic device;

wherein;

the learning controller apparatus is further configured to;

receive a second wireless transmission provided by the remote controller, where the second wireless transmission conveys a second control instruction from the user;

determine a second context associated with execution of a second action;

determine a second association between the second context and the second control instruction; and

based on the second association and occurrence of the second context, provide, in lieu of the second control instruction from the user, a second remote transmission that conveys data related to the second control instruction configured to cause the second robotic device to execute the second action.

7. The system of claim 6, wherein the second context comprises a position of the first robotic device relative the second robotic device.

8. The system of claim 1, wherein:

the execution of the first action is based on a plurality of operations having a plurality of control instructions associated therewith, the plurality of control instructions comprising the first control instruction;

the learning controller utilizes input from the user to effectuate the execution of the first action, the utilization being configured based on a first portion of the plurality of control instructions provided by the user; and

a second portion of the plurality of control instructions being provided by the learning controller instead of the user.

9. A learning apparatus for operation of a device, the apparatus comprising:

a receiver component;

a transmitter component;

an interface in communication with one or more sensors, the one or more sensors configured to determine context information of an environment surrounding the device;

one or more physical processor apparatus configured to execute computer program instructions to cause the one or more physical processor apparatus to;

(1) during a first plurality of training trials;

determine, via the receiver component, a control signal directed to the device, the control signal being provided by a user via a remote controller; and

store an association between the control signal provided by the user and the context information;

(2) during a training trial subsequent to the first plurality of training trials;

responsive to an observation of the context information via the one or more sensors, transmit the control signal to the device via the transmitter component, the control signal based at least in part on the stored association;

wherein the association is determined by logic configured to implement a learning process; and

wherein the learning apparatus is configured to be coupled to the device.

10. The apparatus of claim 9, wherein:

the remote controller comprises a wireless transmitter; and

the device comprises a remotely controlled apparatus.

11. The apparatus of claim 10, wherein the control signal transmission is configured to cause the remotely controlled apparatus to perform a task.

12. The apparatus of claim 11, wherein the device is configured to perform the task responsive to the control signal provided by the user via the remote controller.

13. The apparatus of claim 9, wherein:

the receiver component is configured to receive a carrier waveform; and

the transmitter component is configured to emit the carrier waveform;

the provision of the control signal by the user is effectuated responsive to a receipt by the receiver component of the carrier waveform transmitted by the remote controller; and

the provision or transmission of the control signal to the device by the apparatus is effectuated based on emission by the transmitter component of the carrier waveform.

14. The apparatus of claim 13, further comprising an enclosure configured to house one or more of the receiver component, the transmitter component, and the one or more physical processor apparatus;

wherein the context information conveys information related to an environment external to the enclosure.

15. The apparatus of claim 14 wherein:

the enclosure comprises a portion of a portable communications device selected the group consisting of a smartphone, a notebook computer, and a tablet computer; and

the apparatus is disposed within the enclosure.

16. The apparatus of claim 9, wherein the device comprises one or both of a household appliance or a toy.

17. The apparatus of claim 13, wherein:

the device comprises a robotic device configured to be operated by the user via the remote controller, the robotic device comprising one or more controllable actuators configured to operate in one or more degree of freedom; and

the context information comprises data related to a present configuration of the robotic device, the present configuration being determined substantially contemporaneously with the receipt of the carrier wave.

18. The apparatus of claim 9, wherein the context information is configured to relate a location of the device within an environment external to the apparatus.

19. The apparatus of claim 11, wherein the performance of the task is based on one or more movement actions performed by the device, the context information configured to convey data related to at least one of the one or more movement actions.

20. A remote control apparatus configured to be coupled to a robot, the apparatus comprising:

a transceiver apparatus;

a sensor module configured to determine information related to a state of the robot;

electronic storage; and

one or more physical processor apparatus configured to execute computer program instructions to cause the one or more physical processor apparatus to;

in response to an output by the sensor module, store, in the electronic storage, the information related to the state of the robot;

store, in the electronic storage, a first control command, the first control command configured to occur temporally proximate to the state; and

based on a determination that a current state of the robot matches the state, cause a provision of a second control command via the transceiver apparatus;

wherein the storage of the information related to the state of the robot and the first control command is configured to characterize a relationship between the state and the first control command and the provision of the second control command is based at least in part on the relationship; and

wherein the determination that the current state of the robot matches the state is made via a detection threshold.

21. The apparatus of claim 20, wherein the second control command comprises the first control command.

22. The apparatus of claim 20, wherein:

the first control command comprises a plurality of control instructions, individual ones of the plurality of instructions configured to cause the robot to execution portions of a task; and

the second control command comprises a sequence of control commands, individual commands of the sequence configured to cause the robot to execute the respective portions of the task, the second control command configured to cause the task execution in lieu of the first control command.

23. The apparatus of claim 20,

wherein the transceiver apparatus comprises a wireless receiver configured to receive a wireless transmission associated with the first control command provided by a user via wireless remote controller.

24. The apparatus of claim 23, wherein the wireless receiver is configured to receive a third control command provided by the user via the wireless remote, the third control command comprising a plurality of control commands, individual ones of the plurality of control commands being configured to cause the robot to perform an action.

25. The apparatus of claim 23, wherein the provision of the second control command is responsive to receipt of the first control command by the receiver.

26. The apparatus of claim 23, wherein the second control command is configured to modify the state of the robot.

27. The apparatus of claim 20, wherein the sensor module comprises a video camera.

28. The apparatus of claim 27, wherein the video camera is disposed on the robot and the information related to a state of the robot conveys data related to an environment external to the robot.

29. The apparatus of claim 20, wherein:

the provision of the second control command is responsive to execution of a supervised learning process by the one or more physical processor apparatus.