Robot controller learning system
AssigneeiRobot Corporation
InventorBrian Masao Yamauchi
Life of this patent
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Abstract
A threshold learning control system for learning a controller of a robot. The system includes a threshold learning module, a regime classifier, and an exploratory controller, each receiving sensory inputs from a sensor system of the robot. The regime classifier determines a control regime based on the received sensor inputs and communicates the control regime to the threshold learning module. The exploratory controller also receives control parameters from the threshold learning module. A control arbiter receives commands from the exploratory controller and limits from the threshold learning module. The control arbiter issues modified commands based on the received limits to the robot controller.
Claims22
A threshold learning control system for learning a robot controller of a robot, the threshold learning control system comprising:
- a threshold learning module executing on a data processing apparatus and receiving sensor inputs from a sensor system of the robot;
- a regime classifier executing on the data processing apparatus and receiving sensor inputs from the sensor system of the robot and determining a control regime based on the received sensor inputs, the regime classifier communicating the control regime to the threshold learning module, the regime classifier receiving at least one state-action map, each state-action map having control regimes arranged contiguously with boundaries therebetween, and each control regime providing a state-action space of possible robot states and robot actions in a corresponding control space;
- an exploratory controller executing on the data processing apparatus and receiving sensor inputs from the sensor system of the robot and control parameters from the threshold learning module;
- and
- a control arbiter executing on the data processing apparatus and receiving exploratory commands from the exploratory controller and limits from the threshold learning module, the control arbiter issuing modified exploratory commands based on the received limits to the robot controller,
- wherein the threshold learning module learns the boundaries between control regimes within the state-action space of the at least one state-action map using at least one of the received sensor inputs, control regime classifications of the regime classifier, anchor points of the at least one state-action map, and feedback of the modified exploratory commands issued by the control arbiter.
A method of learning a robot controller of a robot, the method comprising:
- receiving sensor inputs from a sensor system of the robot;
- determining a control regime of the robot within a control space of a state-action map based on the received sensor inputs, the state-action map comprising control regimes arranged contiguously with boundaries therebetween, and each control regime providing a state-action space of possible robot states and robot actions in a corresponding control space;
- determining control parameters for exploratory commands based on the received sensor inputs and determined control regime;
- issuing exploratory commands to a control arbiter of the robot controller based on the control parameters, the control arbiter modifying the exploratory commands based on received control limits;
- receiving feedback from the control arbiter of executed modified exploratory commands for determining the control parameters;
- and
- learning the boundaries between control regimes within the state-action space of the state-action map using at least one of the received sensor inputs, determined control regime, anchor points of the state-action map, and feedback of the modified exploratory commands issued by the control arbiter.
A computer program product encoded on a non-transitory computer readable storage medium comprising instructions that when executed by a data processing apparatus cause the data processing apparatus to perform operations comprising:
- receiving sensor inputs from a sensor system of a robot;
- determining a control regime of the robot within a control space of a state-action map based on the received sensor inputs, the state-action map comprising control regimes arranged contiguously with boundaries therebetween, and each control regime providing a state-action space of possible robot states and robot actions in a corresponding control space;
- determining control parameters for exploratory commands based on the received sensor inputs and determined control regime;
- issuing exploratory commands to a control arbiter of the robot based on the control parameters, the control arbiter modifying the exploratory commands based on received control limits;
- receiving feedback from the control arbiter of executed modified exploratory commands for determining the control parameters;
- and
- learning the boundaries between control regimes within the state-action space of the state-action map using at least one of the received sensor inputs, determined control regime, anchor points of the state-action map, and feedback of the modified exploratory commands issued by the control arbiter.
Dependencies are inferred from the claim text.