Feature detection apparatus and methods for training of robotic navigation

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

• during an operation of a plurality of operations:
• causing, in a teacher-assisted trial, the robotic device to execute an action along a first trajectory in accordance with a first control signal determined based on a sensory input;
• learning a first interrelationship between the sensory input and a state of the controller based at least in part on the teacher-assisted trial;
• conveying information related to the first interrelationship to the controller;
• updating one or more parameters of the 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 at least in part on the sensory input, and the execution of the action along the second trajectory is characterized by a second interrelationship;
• and
• displacing the second trajectory closer the first trajectory based at least in part on the updated one or more parameters of the controller.

A robotic device comprising:

• a platform comprising a motor;
• a sensor;
• a controller configured to:
• cause, in a teacher-assisted trial, the robotic device to execute an action utilizing the motor to navigate the platform along a first trajectory in accordance with a first control signal determined based on a sensory input from the sensor;
• learn a first interrelationship between the sensory input and a state of the controller based at least in part on the teacher-assisted trial;
• convey information related to the first interrelationship to the controller;
• update one or more parameters of the controller in accordance with the information;
• and
• during a subsequent operation of the plurality of operations:
• cause the robotic device to execute the action along a second trajectory in accordance with a second control signal determined based at least in part on the sensory input, and the execution of the action along the second trajectory is characterized by a second interrelationship;
• and
• displace the second trajectory closer the first trajectory based at least in part on the updated one or more parameters of the controller.

A non-transitory computer-readable storage medium having a plurality of instructions stored thereon, the instructions being executable by a processing apparatus for navigating a robotic device, the instructions configured to, when executed by the processing apparatus, cause the processing apparatus to:

• cause, in a teacher-assisted trial, the robotic device to execute an action along a first trajectory in accordance with a first control signal determined based on a sensory input;
• learn a first interrelationship between the sensory input and a state of the controller based at least in part on the teacher-assisted trial;
• convey information related to the first interrelationship to the controller;
• update one or more parameters of the controller in accordance with the information;
• and
• during a subsequent operation of the plurality of operations:
• cause the robotic device to execute the action along a second trajectory in accordance with a second control signal determined based at least in part on the sensory input, and the execution of the action along the second trajectory is characterized by a second interrelationship;
• and
• displace the second trajectory closer the first trajectory based at least in part on the updated one or more parameters of the controller.