Apparatus and methods for controlling of robotic devices

A processor-implemented method of operating a robotic apparatus, the method being performed by one or more processors configured to execute computer program modules, the method comprising:

• during at least one training interval:
• providing, using one or more processors, a plurality of control instructions configured to cause the robotic apparatus to execute a plurality of actions;
• and
• receiving, using one or more processors, a plurality of commands configured based on the plurality of actions being executed;
• and
• during an operation interval occurring subsequent to the at least one training interval:
• providing, using one or more processors, a control instruction of the plurality of control instructions, the control instruction being configured to cause the robotic apparatus to execute an action of the plurality of actions, the control instruction provision being configured based on a mapping between individual ones of the plurality of actions and individual ones of the plurality of commands.

A computerized system comprising:

• a robotic device comprising at least one motor actuator;
• a control interface configured to provide a plurality of instructions for the actuator based on an signal from an operator;
• a sensing interface configured to detect one or more training commands configured based on a plurality of actions executed by the robotic device based on the plurality of instructions;
• and
• an adaptive controller configured to:
• provide a mapping between the one or more training commands and the plurality of instructions;
• and
• provide a control command based on a command by the trainer;
• wherein the control command is configured to cause the actuator to execute a respective action of the plurality of actions.