Feature detection apparatus and methods for training of robotic navigation

An apparatus configured to determine a motor control signal for a robot based on an analysis of an input signal, the apparatus comprising:

• a processor;
• and
• a non-transitory computer-readable medium configured to store at least one computer program thereon, the computer program comprising a plurality of instructions configured to, when executed by the processor, cause the apparatus to:
• analyze the input signal based on a first transformation process applied based on a presence of at least one first feature from the input signal with a first characteristic;
• analyze the input signal based on a second transformation process applied based on a presence of at least one second feature from the input signal with a second characteristic, the second characteristic being different from the first characteristic;
• determine a plurality of features based on the analysis of the input signal based on the first transformation process over a first time interval and the analysis of the input signal based on the second transformation process over a second time interval;
• normalize each of the plurality of features using a statistical parameter derived from the plurality of features;
• provide a plurality of normalized features to a classification process configured to detect at least one relevant feature among the plurality of normalized features, the at least one relevant feature comprising a relevance parameter that exceeds a predetermined threshold;
• select from a plurality of control signals a motor control signal associated with the at least one relevant feature with the relevance parameter that exceeds the predetermined threshold;
• and
• apply the selected motor control signal to the robot, thereby causing the robot to execute a target task;
• wherein the selection of the motor control signal is based on a prior simultaneous occurrence of the motor control signal and the at least one relevant feature.

A system for determining a motor control signal for a robotic apparatus based on an analysis of an external input, the system comprising:

• a sensor configured to receive the external input;
• a non-transitory computer-readable memory configured to store a plurality of computer instructions;
• and
• at least one processing component configured to cause the plurality of computer instructions to, when executed:
• analyze the external input via a first transformation process applied based on a presence of a first set of features from the input signal with a first characteristic;
• analyze the external input via a second transformation process applied based on a presence of a second set of features from the external input with a second characteristic;
• determine a plurality of features based on the analysis of the external input via the first transformation process over a first period of time and the analysis of the external input via the second transformation process over a second period of time;
• normalize each of the plurality of features using a statistical parameter determined from the plurality of features;
• provide a plurality of normalized features to a classification process configured to detect one or more relevant features among the plurality of normalized features, the one or more relevant features comprising a relevance value that exceeds a threshold;
• and
• select from a plurality of control signals a motor control signal associated with the one or more relevant features with the relevance value that exceeds the threshold;
• wherein the selection of the motor control signal is based on a previous concurrent occurrence of the motor control signal and the one or more relevant features;
• and
• wherein the robotic apparatus is configured to execute a task based on the selection of the motor control signal.