Apparatus and methods for programming and training of robotic devices
First Claim
1. An apparatus for controlling a robot, the apparatus comprising:
- a sensor interface configured to receive a first representation of an object associated with an environment of the robot;
a predictor component configured to determine a first control output, the first control output being configured to cause the robot to execute a task in accordance with the first representation of the object;
an input interface configured to receive a teaching input associated with a second representation of the object, the teaching input being configured to convey information related to a target trajectory associated with execution of the task by the robot;
an evaluation component configured to provide a second control output based on an evaluation of the first control output and the teaching input;
a learning predictor component configured to determine a third control output, the third control output being determined based on analysis of the first representation of the object and the second control output; and
a combiner configured to combine the first control output and the third control output to produce a fourth control output, the fourth control output being configured to cause the robot to execute the task in accordance with the first representation of the object;
wherein;
execution of the task based on the fourth control output produces a first trajectory that is closer to the target trajectory compared to a second trajectory associated with execution of the task based on the first control output.
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Accused Products
Abstract
Apparatus and methods for training and operating of robotic devices. Robotic controller may comprise a plurality of predictor apparatus configured to generate motor control output. One predictor may be operable in accordance with a pre-configured process; another predictor may be operable in accordance with a learning process configured based on a teaching signal. An adaptive combiner component may be configured to determine a combined control output controller block may provide control output that may be combined with the predicted control output. The pre-programmed predictor may be configured to operate a robot to perform a task. Based on detection of a context, the controller may adaptively switch to use control output of the learning process to perform the given or another task. User feedback may be utilized during learning.
385 Citations
19 Claims
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1. An apparatus for controlling a robot, the apparatus comprising:
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a sensor interface configured to receive a first representation of an object associated with an environment of the robot; a predictor component configured to determine a first control output, the first control output being configured to cause the robot to execute a task in accordance with the first representation of the object; an input interface configured to receive a teaching input associated with a second representation of the object, the teaching input being configured to convey information related to a target trajectory associated with execution of the task by the robot; an evaluation component configured to provide a second control output based on an evaluation of the first control output and the teaching input; a learning predictor component configured to determine a third control output, the third control output being determined based on analysis of the first representation of the object and the second control output; and a combiner configured to combine the first control output and the third control output to produce a fourth control output, the fourth control output being configured to cause the robot to execute the task in accordance with the first representation of the object; wherein; execution of the task based on the fourth control output produces a first trajectory that is closer to the target trajectory compared to a second trajectory associated with execution of the task based on the first control output. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of determining a combined control output for a task being executed by a robot, the method comprising:
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for a sensory context, determining a first instance of a control output using a pre-configured and non-learning prediction process and a second instance of the control output using a learning prediction process; combining the first instance of the control output with the second instance of the control output using a combination process to produce a combined control output; and causing the task to be executed responsive to providing the combined control output to the robot; wherein; the learning prediction process is configured to determine the second instance of the control output based on a teaching input indicative of a target trajectory associated with the task execution; and execution of the task by the robot in accordance with the combined control output is configured to produce a trajectory that is closer to the target trajectory compared to task execution based on either the first instance of the control output or the second instance of the control output. - View Dependent Claims (16, 17)
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18. A method of determining a control signal for a robot, the method being performed by one or more processors executing instructions stored by a non-transitory computer-readable storage medium, the method comprising:
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determining an occurrence of a first context in sensory input; accessing a learning process configuration, the learning process configuration adapted to convey an association between a given context and a respective action; determining a first action associated with the first context; responsive to the first action corresponding to a pre-programmed action, activating a pre-programmed predictor component to produce the control signal based on analysis of the sensory input; responsive to the first action corresponding to a learned action, activating a learning predictor component to produce the control signal based on analysis of the sensory input and a training input; and updating the learning process configuration in accordance with the activated learning predictor component. - View Dependent Claims (19)
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Specification