APPARATUS AND METHODS FOR TRAINING ROBOTS UTILIZING GAZE-BASED SALIENCY MAPS

摘要

Robotic devices may be trained using saliency maps derived from gaze of a trainer. In navigation applications, the saliency map may correspond to portions of the environment being observed by a driving instructor during training using a gaze detector. During an operation, a driver assist robot may utilize the saliency map in order to assess attention of the driver, detect potential hazards, and issue alerts. Responsive to a detection of a mismatch between the driver current attention and the target attention derived from the saliency map, the robot may issue a warning, and/or prompt the driver of an upcoming hazard. A data processing apparatus may employ gaze based saliency maps in order to analyze, e.g., surveillance camera feeds for intruders, open doors, hazards, policy violations (e.g., open doors).

主权项

1. A system configured for determining a saliency map, the system comprising:
a first sensing apparatus configured to provide sensory input associated with a task being executed by a robotic device operable by a trainer; a second sensing apparatus configured to provide information related to a gaze parameter associated with a present gaze of the trainer; one or more processors communicatively coupled with one or both of the first sensing apparatus or the second sensing apparatus, the one or more processors being configured to execute computer program instructions to cause the one or more processors to:
determine one or more features within the sensory input using an adaptive process;determine a salient area within the sensory input based on the gaze parameter;associate the salient area with at least one of the one or more features; andupdate a learning parameter of the process based on an evaluation of the association; wherein:
the learning process is characterized by a performance measure;the update is configured to effectuate autonomous execution of the task by the robotic device in an absence of the trainer; andthe saliency map comprises the salient area.