公开(公告)号：US08527434B2

公开(公告)日：2013-09-03

申请号：US12791275

申请日：2010-06-01

申请人： Kuniaki Noda ,  Kohtaro Sabe ,  Yukiko Yoshiike ,  Kenta Kawamoto ,  Kenichi Hidai

发明人： Kuniaki Noda ,  Kohtaro Sabe ,  Yukiko Yoshiike ,  Kenta Kawamoto ,  Kenichi Hidai

IPC分类号： G06N5/00

CPC分类号： G06N3/006 ,  G06K9/00335 ,  G06K9/00664 ,  G06K9/6297

摘要： An information processing device includes: a learning section configured to learn a state transition probability model defined by state transition probability for each action of a state making a state transition due to an action performed by an agent capable of performing action and observation probability of a predetermined observed value being observed from the state, using an action performed by the agent and an observed value observed in the agent when the agent has performed the action.

摘要翻译： 一种信息处理装置，包括：学习部，其被配置为：由于能够执行动作的代理和所述预定的行为的观察概率而进行的状态转换的状态的每个动作，学习由状态转移概率定义的状态转移概率模型 观察到的值是从状态观察到的，使用由试剂进行的作用和在试剂进行作用时在试剂中观察到的观察值。

公开(公告)号：US08725510B2

公开(公告)日：2014-05-13

申请号：US12829984

申请日：2010-07-02

申请人： Yukiko Yoshiike ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

发明人： Yukiko Yoshiike ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

IPC分类号： G10L15/14

CPC分类号： G06N99/005

摘要： An HMM (Hidden Markov Model) learning device includes: a learning unit for learning a state transition probability as the function of actions that an agent can execute, with learning with HMM performed based on actions that the agent has executed, and time series information made up of an observation signal; and a storage unit for storing learning results by the learning unit as internal model data including a state-transition probability table and an observation probability table; with the learning unit calculating frequency variables used for estimation calculation of HMM state-transition and HMM observation probabilities; with the storage unit holding the frequency variables corresponding to each of state-transition probabilities and each of observation probabilities respectively, of the state-transition probability table; and with the learning unit using the frequency variables held by the storage unit to perform learning, and estimating the state-transition probability and the observation probability based on the frequency variables.

摘要翻译： HMM（隐马尔可夫模型）学习装置包括：用于学习作为代理可以执行的动作的函数的状态转移概率的学习单元，基于代理已经执行的动作执行的HMM的学习以及作出的时间序列信息 观察信号; 以及存储单元，用于将所述学习单元的学习结果存储为包括状态转换概率表和观察概率表的内部模型数据; 学习单元计算用于HMM状态转换和HMM观察概率的估计计算的频率变量; 存储单元保持状态转移概率表中分别对应于状态转换概率和每个观察概率的频率变量; 并且所述学习单元使用由所述存储单元保持的频率变量来执行学习，并且基于所述频率变量来估计所述状态转换概率和观察概率。

公开(公告)号：US20110010176A1

公开(公告)日：2011-01-13

申请号：US12829984

申请日：2010-07-02

申请人： Yukiko YOSHIIKE ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

发明人： Yukiko YOSHIIKE ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

IPC分类号： G10L15/14

CPC分类号： G06N99/005

摘要： An HMM (Hidden Markov Model) learning device includes: a learning unit for learning a state transition probability as the function of actions that an agent can execute, with learning with HMM performed based on actions that the agent has executed, and time series information made up of an observation signal; and a storage unit for storing learning results by the learning unit as internal model data including a state-transition probability table and an observation probability table; with the learning unit calculating frequency variables used for estimation calculation of HMM state-transition and HMM observation probabilities; with the storage unit holding the frequency variables corresponding to each of state-transition probabilities and each of observation probabilities respectively, of the state-transition probability table; and with the learning unit using the frequency variables held by the storage unit to perform learning, and estimating the state-transition probability and the observation probability based on the frequency variables.

摘要翻译： HMM（隐马尔可夫模型）学习装置包括：用于学习作为代理可以执行的动作的函数的状态转移概率的学习单元，基于代理已经执行的动作执行的HMM的学习以及作出的时间序列信息 观察信号; 以及存储单元，用于将所述学习单元的学习结果存储为包括状态转换概率表和观察概率表的内部模型数据; 学习单元计算用于HMM状态转换和HMM观察概率的估计计算的频率变量; 存储单元保持状态转移概率表中分别对应于状态转换概率和每个观察概率的频率变量; 并且所述学习单元使用由所述存储单元保持的频率变量来执行学习，并且基于所述频率变量来估计所述状态转换概率和观察概率。

公开(公告)号：US20100318478A1

公开(公告)日：2010-12-16

申请号：US12791240

申请日：2010-06-01

申请人： Yukiko Yoshiike ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

发明人： Yukiko Yoshiike ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

IPC分类号： G06N5/02 ,  G06F15/18

CPC分类号： G06N3/006 ,  G06K9/00335 ,  G06K9/00664 ,  G06K9/6297

摘要： An information processing device includes: a calculating unit configured to calculate a current-state series candidate that is a state series for an agent capable of actions reaching the current state, based on a state transition probability model obtained by performing learning of the state transition probability model stipulated by a state transition probability that a state will be transitioned according to each of actions performed by an agent capable of actions, and an observation probability that a predetermined observation value will be observed from the state, using an action performed by the agent, and an observation value observed at the agent when the agent performs an action; and a determining unit configured to determine an action to be performed next by the agent using the current-state series candidate in accordance with a predetermined strategy.

摘要翻译： 一种信息处理设备，包括：计算单元，被配置为基于通过执行状态转移概率的学习获得的状态转移概率模型来计算作为达到当前状态的动作的代理的状态序列的当前状态序列候选 由状态转移概率规定的模式，其状态将根据由能够执行动作的代理执行的动作而转变，并且使用由代理执行的动作从该状态观察到预定观察值的观察概率， 以及当代理人执行动作时在代理处观察到的观察值; 以及确定单元，被配置为根据预定策略来确定所述代理使用所述当前状态序列候选来执行的动作。

公开(公告)号：US07783585B2

公开(公告)日：2010-08-24

申请号：US11697238

申请日：2007-04-05

申请人： Kohtaro Sabe ,  Kazumi Aoyama ,  Jun Yokono ,  Kenichi Hidai ,  Kuniaki Noda

发明人： Kohtaro Sabe ,  Kazumi Aoyama ,  Jun Yokono ,  Kenichi Hidai ,  Kuniaki Noda

IPC分类号： G06E1/00 ,  G06E3/00 ,  G06F15/18 ,  G06G7/00

CPC分类号： G06F15/18 ,  G06N3/0454 ,  G06N3/088

摘要： A data processing device for processing time-sequence data includes a learning unit for performing self-organizing learning of a SOM (self-organization map) making up a hierarchical SOM in which a plurality of SOMs are connected so as to construct a hierarchical structure, using, as SOM input data which is input to the SOM, a time-sequence of node information representing a winning node of a lower-order SOM which is at a lower hierarchical level from the SOM.

摘要翻译： 一种用于处理时间序列数据的数据处理装置，包括：学习单元，用于执行构成其中连接有多个SOM的层次化SOM的SOM（自组织图）的自组织学习，以构建层次结构， 使用作为输入到SOM的SOM输入数据，表示代表来自SOM的较低层级的低阶SOM的获胜节点的节点信息的时间序列。

公开(公告)号：US20070250461A1

公开(公告)日：2007-10-25

申请号：US11697238

申请日：2007-04-05

申请人： Kohtaro Sabe ,  Kazumi Aoyama ,  Jun Yokono ,  Kenichi Hidai ,  Kuniaki Noda

发明人： Kohtaro Sabe ,  Kazumi Aoyama ,  Jun Yokono ,  Kenichi Hidai ,  Kuniaki Noda

IPC分类号： G06F15/18

CPC分类号： G06F15/18 ,  G06N3/0454 ,  G06N3/088

摘要： A data processing device for processing time-sequence data includes a learning unit for performing self-organizing learning of a SOM (self-organization map) making up a hierarchical SOM in which a plurality of SOMs are connected so as to construct a hierarchical structure, using, as SOM input data which is input to the SOM, a time-sequence of node information representing a winning node of a lower-order SOM which is at a lower hierarchical level from the SOM.

摘要翻译： 一种用于处理时间序列数据的数据处理装置，包括：学习单元，用于执行构成其中连接有多个SOM的层次化SOM的SOM（自组织图）的自组织学习，以构建层次结构， 使用作为输入到SOM的SOM输入数据，表示代表来自SOM的较低层级的低阶SOM的获胜节点的节点信息的时间序列。

公开(公告)号：US09104980B2

公开(公告)日：2015-08-11

申请号：US13429130

申请日：2012-03-23

申请人： Kuniaki Noda ,  Takashi Hasuo ,  Kenta Kawamoto ,  Kohtaro Sabe

发明人： Kuniaki Noda ,  Takashi Hasuo ,  Kenta Kawamoto ,  Kohtaro Sabe

IPC分类号： G06K9/00 ,  G06N99/00

CPC分类号： G06N99/005

摘要： An information processing device includes a learning unit that performs, using an action performed by an object and an observation value of an image as learning data, learning of a separation learning model that includes a background model that is a model of the background of the image and one or more foreground model(s) that is a model of a foreground of the image, which can move on the background, in which the background model includes a background appearance model indicating the appearance of the background, and at least one among the one or more foreground model(s) includes a transition probability, with which a state corresponding to the position of the foreground on the background is transitioned by an action performed by the object corresponding to the foreground, for each action, and a foreground appearance model indicating the appearance of the foreground.

摘要翻译： 信息处理装置包括：学习单元，其使用由对象执行的动作和图像的观察值作为学习数据;学习包括作为图像的背景的模型的背景模型的分离学习模型; 以及一个或多个前景模型，其是可以在背景上移动的图像的前景的模型，其中背景模型包括指示背景的外观的背景外观模型，以及至少一个背景模型 一个或多个前景模型包括转移概率，对于每个动作，通过由对应于前景的对象执行的动作来转换对应于背景上的前景的位置的状态，以及前景外观模型 指示前景的外观。

公开(公告)号：US20050197739A1

公开(公告)日：2005-09-08

申请号：US11035811

申请日：2005-01-14

申请人： Kuniaki Noda ,  Shinya Ohtani ,  Tsutomu Sawada ,  Yukiko Yoshiike ,  Masahiro Fujita

发明人： Kuniaki Noda ,  Shinya Ohtani ,  Tsutomu Sawada ,  Yukiko Yoshiike ,  Masahiro Fujita

IPC分类号： B25J13/00 ,  B25J5/00 ,  G06F19/00

CPC分类号： B25J11/001 ,  G06N3/008

摘要： A behavior control system and a behavior control method for a robot apparatus are disclosed. The behavior control system and the behavior control method for a robot apparatus include a function of adaptively switching between a behavior selection standard, taking into account the own state, required of an autonomous robot, and a behavior selection standard, taking into account the state of a counterpart, responsive to a situation. A behavior selection control system in a robot apparatus includes a situation-dependent behavior layer (SBL), capable of selecting a particular behavior from plural behaviors, and outputting the so selected behavior, and an AL calculating unit 120 for calculating the AL (activation level), indicating the priority of execution of the behaviors, for behavior selection. This AL calculating unit 120 includes a self AL calculating unit 122 and a counterpart AL calculating unit 124 for calculating the self AL and the counterpart AL, and an AL integrating unit 125 for summing the self AL and the counterpart AL with weighting by a parameter used for determining whether emphasis is to be placed on the self state or on the counterpart state, to output an ultimate AL. The counterpart is a subject of interaction of the robot apparatus. The self AL and the counterpart AL indicate the priority of execution of the behavior with the self and with the co8unbterpart as a reference, respectively.

摘要翻译： 公开了一种用于机器人装置的行为控制系统和行为控制方法。 用于机器人装置的行为控制系统和行为控制方法包括考虑到自身状态，自动机器人所需的行为选择标准和行为选择标准之间的自适应切换的功能，同时考虑到 一个对应的，对情况做出回应。 机器人装置中的行为选择控制系统包括能够从多个行为中选择特定行为并输出所选行为的情境相关行为层（SBL），以及AL计算单元120，用于计算AL（激活水平 ），指示执行行为的优先级，用于行为选择。 该AL计算单元120包括自身AL计算单元122和用于计算自身AL和对方AL的对方AL计算单元124以及用于通过所使用的参数加权来对自身AL和对方AL进行加和的AL积分单元125 用于确定是否重点放在自我状态或对方的状态，以输出最终的AL。 对应物是机器人装置相互作用的主体。 自身AL和对方AL分别指示执行行为的优先级，并以co8unbterpart作为参考。

公开(公告)号：US20070239641A1

公开(公告)日：2007-10-11

申请号：US11397148

申请日：2006-04-04

申请人： Masato Ito ,  Yukiko Yoshiike ,  Kuniaki Noda ,  Jun Tani

发明人： Masato Ito ,  Yukiko Yoshiike ,  Kuniaki Noda ,  Jun Tani

IPC分类号： G06F15/18 ,  G05B19/04

CPC分类号： B25J9/161 ,  G05B2219/36442 ,  G05B2219/40391 ,  G06N3/008

摘要： Teaching to a robot for an action on an external object can be made easily and efficiently. According to the present invention, there is provided an information processing apparatus including a learning unit for learning a predetermined time-series pattern, an output unit for outputting a time-series pattern corresponding to the result of learning by the learning unit, and an adjusting unit supplied with a time-series pattern obtained from an action made by an action unit on the basis of a time-series pattern supplied from the output unit and external teaching for the action to adjust a time-series pattern supplied from the output unit correspondingly to the input time-series pattern, the learning unit learning the time-series pattern supplied from the output unit and adjusted by the adjusting unit.

摘要翻译： 可以轻松有效地向机器人教授外部物体上的动作。 根据本发明，提供了一种信息处理设备，包括用于学习预定时间序列模式的学习单元，输出单元，用于输出与学习单元的学习结果相对应的时间序列模式，以及调整 单元被提供有从由动作单元根据从输出单元提供的时间序列模式和外部教学的动作单元所作出的动作获得的时间序列模式，用于调整从输出单元相应地提供的时间序列模式 对于输入时间序列模式，学习单元学习从输出单元提供并由调整单元调整的时间序列模式。

公开(公告)号：US07814037B2

公开(公告)日：2010-10-12

申请号：US11397148

申请日：2006-04-04

申请人： Masato Ito ,  Yukiko Yoshiike ,  Kuniaki Noda ,  Jun Tani

发明人： Masato Ito ,  Yukiko Yoshiike ,  Kuniaki Noda ,  Jun Tani

IPC分类号： G05B13/02

CPC分类号： B25J9/161 ,  G05B2219/36442 ,  G05B2219/40391 ,  G06N3/008

摘要： An information processing apparatus including a learning unit that learns a predetermined time-series pattern. An output unit outputs a time-series pattern corresponding to the result of learning by the learning unit. An adjusting unit supplied with a time-series pattern obtained from an action by an action unit on the basis of a time-series pattern supplied from the output unit and external teaching for the action adjusts a time-series pattern supplied from the output unit correspondingly to the input time-series pattern. The learning unit learns the time-series pattern supplied from the output unit and adjusted by the adjusting unit.

摘要翻译： 一种信息处理设备，包括学习单元，该学习单元学习预定的时间序列模式。 输出单元输出与学习单元的学习结果相对应的时间序列模式。 相应地，从由输出单元提供的时间序列模式和由动作的外部教导基于由动作单元的动作获得的时间序列模式的调整单元相应地调整从输出单元提供的时间序列模式 到输入时间序列模式。 学习单元学习从输出单元提供并由调整单元调整的时间序列模式。