US 2016/0096270 A1 · FEATURE DETECTION APPARATUS AND METHODS FOR TRAINING OF ROBOTIC NAVIGATION

Abstract

A robotic device may be operated by a learning controller comprising a feature learning configured to determine control signal based on sensory input. An input may be analyzed in order to determine occurrence of one or more features. Features in the input may be associated with the control signal during online supervised training. During training, learning process may be adapted based on training input and the predicted output. A combination of the predicted and the target output may be provided to a robotic device to execute a task. Feature determination may comprise online adaptation of input, sparse encoding transformations. Computations related to learning process adaptation and feature detection may be performed on board by the robotic device in real time thereby enabling autonomous navigation by trained robots.

Claims21

Dependent claims

A method of operating a robotic device by a learning controller, the method comprising:

during an operation of a plurality of operations:
causing the robotic device to execute an action along a first trajectory in accordance with a first control signal determined based on a sensory input;
determining, a performance measure based on an evaluation of the first trajectory and an indication related to a target trajectory provided by a trainer;
conveying information related to the performance measure to the learning controller;
and
updating one or more learning parameters of the learning controller in accordance with the information;
and
during a subsequent operation of the plurality of operations:
causing the robotic device to execute the action along a second trajectory in accordance with a second control signal determined based on the sensory input;
wherein:
the execution of the action along the second trajectory is characterized by a second performance measure;
and
the updating is configured to displace the second trajectory closer towards the target trajectory relative to the first trajectory.

10 more elements

A method of determining a motor signal for a robot based on analysis of sensor input, the method comprising:

analyzing the sensor input using a first transformation process configured by one or more first features present in the sensor input using a first characteristic;
analyzing the sensor input using a second transformation process configured by one or more second features present in the sensor input using a second characteristic, the second characteristic being different from the first characteristic;
determining a feature history comprising a plurality of features determined based on analysis of the sensor input over a time interval;
normalizing individual ones of the plurality of features using a statistical parameter determined from the feature history;
providing a plurality of normalized features to a classification process configured to detect at least one relevant feature among the plurality of normalized features, the relevant feature being characterized by a greater relevancy parameter compared to other ones of the plurality of normalized features;
and
selecting from a plurality of control signals the motor control signal associated with the relevant feature;
wherein the selection of the motor control signal is effectuated based on prior contemporaneous occurrence of the motor control signal and the relevant feature.

5 more elements

A self-contained robotic apparatus the apparatus comprising:

a platform comprising a motor;
a sensor component configured to obtain a plurality of video frames at a frame rate;
one or more processors configured to operate:
a feature detection logic configured to detect a plurality of features based on analysis of the plurality of video frames;
and
a learning controller logic configured to produce a control indication based on the plurality of features and a performance indication;
an adapter component configured to produce a motor activation signal based on the control indication;
and
an enclosure configured to house the motor, the sensor component, the adaptor component, and the one or more processors;
wherein:
the motor activation signal is configured to cause the self-contained robotic apparatus to execute an action characterized by an outcome;
the one or more processors is characterized by a processing capacity being sufficient for operate the feature detection and the learning component logic so that for a given frame of the plurality of frames, the control indication is being produced based on one or more features corresponding to the given frame prior to occurrence of a subsequent frame of the plurality of video frames;
the feature detection is configured based on application of a plurality of spatial filter operations to individual frames of the plurality of video frames;
and
the performance indication is configured based on the outcome and a target outcome.

12 more elements

Dependencies are inferred from the claim text.

Feature detection apparatus and methods for training of robotic navigation

Life of this patent

Feature detection apparatus and methods for training of robotic navigation

Life of this patent

Abstract

Claims21