Hierarchical robotic controller apparatus and methods

A non-transitory computer readable medium having instructions embodied thereon, the instructions configured to, when executed by a physical processor, cause the physical processor to:

• based on a detection of a sequence of discrete control actions comprising two or more activations of a robotic apparatus by a user, generate a composite control element, the composite control element being configured to execute the sequence of discrete control actions in an order of execution provided by one or more parameters associated with at least one of the sequence of discrete control actions;
• and
• when the execution of the sequence of discrete control actions is within an expected performance value assign the generated composite control element to a tag, the tag associated with a user interface control element;
• wherein:
• an invocation of the tag is configured to execute the sequence of discrete control actions in accordance with the determined order of execution;
• the robotic apparatus comprises a controller configured to generate a control signal, individual ones of the sequence of discrete control actions being configured based on the control signal, the generation of the control signal being effectuated by a learning process;
• the learning process comprises execution of multiple training trials, individual ones of the multiple training trials being characterized by a trial duration;
• individual ones of the sequence of discrete control actions correspond to an execution of a given training trial of the multiple training trials;
• and
• the two or more activations of the robotic apparatus comprise activations of at least one actuator at two or more instances of time, the two or more instances of time being separated by a time period, the time period corresponding to the trial duration.

A remote control apparatus of a robot, the remote control apparatus comprising:

• a physical processor configured to operate a learning process;
• a sensor coupled to the physical processor;
• a user interface configured to present one or more human perceptible control elements;
• and
• a remote communications interface configured to communicate to the robot a plurality of control commands configured by the learning process based on an association between a sensor input and individual ones of a plurality of user inputs provided via one or more of the one or more human perceptible control elements;
• wherein:
• the communication to the robot of the plurality of control commands is configured to cause the robot to execute a plurality of actions;
• the learning process is configured based on a performance measure between a target action and individual ones of the plurality of actions;
• the association between the sensor input and the individual ones of the plurality of user inputs is configured to cause generation of one or more of control primitives, individual ones of the one or more of control primitives being configured to cause execution of a respective action of the plurality of actions;
• the learning process is configured to generate a composite control;
• the composite control is configured to actuate the plurality of actions that result in an execution of the target action responsive to a single activation of the composite control by a user, the single activation by the user being configured to cause the execution of the plurality of actions in an order determined according to the plurality of user inputs;
• the single activation of the composite control is configured based on a detection, by the remote control apparatus, of a presence of the one or more human perceptible control elements;
• the generation of the composite control comprises a presentation of the one or more human perceptible control elements, the one or more human perceptible control elements being configured to cause activation of the composite control by the user;
• and
• the activation of the composite control is configured based on a detection of one or more of:
• an audio signal, a touch signal, and an electrical signal by the user interface, where the user interface comprises a camera, and the electrical signal is configured based on a captured representation of the user by the camera.