Feature detection apparatus and methods for training of robotic navigation

摘要

A robotic device may be operated by a learning controller comprising a feature learning configured to determine control signal based on sensory input. An input may be analyzed in order to determine occurrence of one or more features. Features in the input may be associated with the control signal during online supervised training. During training, learning process may be adapted based on training input and the predicted output. A combination of the predicted and the target output may be provided to a robotic device to execute a task. Feature determination may comprise online adaptation of input, sparse encoding transformations. Computations related to learning process adaptation and feature detection may be performed on board by the robotic device in real time thereby enabling autonomous navigation by trained robots.

主权项

1. A method of determining a motor control signal for a robot based on an analysis of a sensor input, the method comprising:
analyzing the sensor input based on a first transformation process applied based on a presence of one or more first features present in the sensor input with a first characteristic; analyzing the sensor input based on a second transformation process applied based on a presence of one or more second features present in the sensor input with a second characteristic, the second characteristic being different from the first characteristic; determining a feature history comprising a plurality of features determined based on at least the acts of analyzing the sensor input based on the first transformation process over a first time interval and analyzing the sensor input based on the second transformation process over a second time interval; normalizing each of the plurality of features using a statistical parameter determined from the feature history; providing a plurality of the normalized features to a classification process for detecting at least one relevant feature among the plurality of the normalized features, the at least one relevant feature being characterized by a relevancy parameter that is larger than a predetermined threshold; selecting from a plurality of control signals a motor control signal associated with the at least one relevant feature; and executing the selected motor control signal, thereby causing a target task to be performed by the robot; wherein the act of selecting the motor control signal is effectuated based on a prior contemporaneous occurrence of the motor control signal and the at least one relevant feature.