APPARATUS AND METHODS FOR OPERATING ROBOTIC DEVICES USING SELECTIVE STATE SPACE TRAINING

摘要

Apparatus and methods for training and controlling of e.g., robotic devices. In one implementation, a robot may be utilized to perform a target task characterized by a target trajectory. The robot may be trained by a user using supervised learning. The user may interface to the robot, such as via a control apparatus configured to provide a teaching signal to the robot. The robot may comprise an adaptive controller comprising a neuron network, which may be configured to generate actuator control commands based on the user input and output of the learning process. During one or more learning trials, the controller may be trained to navigate a portion of the target trajectory. Individual trajectory portions may be trained during separate training trials. Some portions may be associated with robot executing complex actions and may require additional training trials and/or more dense training input compared to simpler trajectory actions.

主权项

1. A method of operating a robotic controller apparatus, the method comprising:
determining a current controller performance associated with performing a target task; determining a difficult portion of a target trajectory associated with the target task, the difficult portion characterized by an extent of a state space; and providing a training input for navigating the difficult portion, the training input configured to transition the current performance towards the target trajectory; wherein:
the difficult portion of the target trajectory is determined based at least on the current performance being outside a range from the target trajectory;the state space is associated with performing of the target task by the controller; andperforming by the controller of a portion of the target task outside the extent is configured based on autonomous controller operation.