ROBOTIC TRAINING APPARATUS AND METHODS

摘要

Apparatus and methods for training of robotic devices. Robotic devices may be trained by a user guiding the robot along target trajectory using an input signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the user guidance, sensory input, and/or performance measure. Training may comprise a plurality of trials. During first trial, the user input may be sufficient to cause the robot to complete the trajectory. During subsequent trials, the user and the robot's controller may collaborate so that user input may be reduced while the robot control may be increased. Individual contributions from the user and the robot controller during training may be may be inadequate (when used exclusively) to complete the task. Upon learning, user's knowledge may be transferred to the robot's controller to enable task execution in absence of subsequent inputs from the user

主权项

1. A computerized controller apparatus configured to effectuate control of a robotic device, the apparatus comprising:
one or more processors configured to execute computer program modules to cause one or more processors to:
(1) during a first training trial of a plurality of trials:
determine a first signal based on a characteristic of an input provided to the controller apparatus by the robotic device; andcause the robotic device to perform a first action based on a first control signal, the first control signal being determined based on the first signal and a first user input, the first action being characterized by a first performance measure; and(2) during a second training trial of the plurality of training trials, the second training train being subsequent to the first training trial:
determine a second signal based on the characteristic of the input and a first error, the first error being determined based on a proximity measure between the first action and a target action; andcause the robotic device to perform a second action based on a second control signal, the second control signal being determined based on the second signal and a second user input, the second action being characterized by a second error, the second error being determined based on a proximity measure between the second action and the target action; wherein:
the second error is smaller than the first error; andthe first error is greater than a third error corresponding to a third action performed by the robotic device responsive to a third control signal configured based solely on the first user input.