US 9,764,468 B2 · Adaptive predictor apparatus and methods

Abstract

Apparatus and methods for training and operating of robotic devices. Robotic controller may comprise a predictor apparatus configured to generate motor control output. The predictor may be operable in accordance with a learning process based on a teaching signal comprising the control output. An adaptive controller block may provide control output that may be combined with the predicted control output. The predictor learning process may be configured to learn the combined control signal. Predictor training may comprise a plurality of trials. During initial trial, the control output may be capable of causing a robot to perform a task. During intermediate trials, individual contributions from the controller block and the predictor may be inadequate for the task. Upon learning, the control knowledge may be transferred to the predictor so as to enable task execution in absence of subsequent inputs from the controller. Control output and/or predictor output may comprise multi-channel signals.

Claims21

Dependent claims

A method of predicting a plant control output by an adaptive computerized predictor apparatus, the method comprising:

configuring the adaptive computerized predictor apparatus, using one or more processors, to operate in accordance with a learning process based on a teaching input;
at a first time instance, based on a sensory context, causing the adaptive computerized predictor apparatus to generate a first predicted plant control output;
configuring the adaptive computerized predictor apparatus, using the one or more processors, to provide the first predicted plant control output as the teaching input into the learning process;
at a second time instance subsequent to the first time instance, causing the adaptive computerized predictor apparatus to generate a second predicted plant control output based on the sensory context and the teaching input;
adjusting the learning process based on a difference between the second predicted plant control output and the teaching input;
and
causing a plant to perform an action consistent with the sensory context and the adjusted learning process, the action being in accordance with a defined target trajectory;
wherein the teaching input comprises the first predicted plant control output.

5 more elements

Dependencies are inferred from the claim text.

Adaptive predictor apparatus and methods

Life of this patent

Adaptive predictor apparatus and methods

Life of this patent

Abstract

Claims21