Apparatus and methods for haptic training of robots

A robot apparatus, comprising:

• one or more actuators configured to maneuver the robot apparatus;
• a sensor module configured to convey information related to an environment of the robot apparatus;
• and
• an adaptive controller operable in accordance with a learning process configured to:
• guide the robot apparatus using the one or more actuators to a target state in accordance with the information;
• determine a discrepancy between a target trajectory that corresponds to the target state and a current trajectory that corresponds to a current state, the determination based at least in part on a physical contact by a user;
• and
• update the learning process based on the determined discrepancy, wherein the updated learning process comprises a determination of a correction signal to guide the robot apparatus using the one or more actuators to the target state based on a subsequent conveyance of information by the sensor module.

A non-transitory computer readable medium comprising a plurality of instruction which, when executed by one or more processors, effectuate control of a robotic apparatus by:

• based on a context, determine a first control signal configured to transition the robotic apparatus to a first state;
• determine a discrepancy between a current trajectory associated with a current state, and a first trajectory associated with the first state, where the discrepancy between the trajectories comprises a measurable difference;
• and
• determine a second control signal based on the discrepancy, the second control signal configured to transition the robotic apparatus to the current state.