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公开(公告)号：US09844873B2
公开(公告)日：2017-12-19
申请号：US15464104
申请日：2017-03-20
Applicant: Brain Corporation
Inventor： Filip Ponulak , Moslem Kazemi , Patryk Laurent , Oleg Sinyavskiy , Eugene Izhikevich
CPC classification number: B25J9/163 , B25J9/161 , G05B2219/36418 , G05B2219/36425 , G05B2219/40499 , G05D1/005 , G05D1/0088 , G05D1/0221 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
Abstract: Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.
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公开(公告)号：US20170315519A1
公开(公告)日：2017-11-02
申请号：US15143397
申请日：2016-04-29
Applicant: Brain Corporation
Inventor： Patryk Laurent , Eugene Izhikevich
CPC classification number: G05B15/02 , G06F3/011 , G06F3/017 , G06F3/0304 , G06F3/038 , H04L12/2809 , H04L12/282 , H04M1/7253 , H04M1/72533 , H04W4/021 , H04W8/005
Abstract: Gesture recognition systems that are configured to provide users with simplified operation of various controllable devices such as, for example, in-home controllable devices. In one implementation, the gesture recognition system automatically configures itself in order to determine the respective physical locations and/or identities of controllable devices as well as an operating mode for controlling the controllable devices through predetermined gesturing. In some implementations, the gesture recognition systems are also configured to assign boundary areas associated with the controllable devices. Apparatus and methods associated with the gesture recognition systems are also disclosed.
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公开(公告)号：US09613308B2
公开(公告)日：2017-04-04
申请号：US14244892
申请日：2014-04-03
Applicant: BRAIN CORPORATION
Inventor： Eugene M. Izhikevich , Patryk Laurent , Vadim Polonichko
CPC classification number: G06N3/008 , G05D1/0022 , G05D1/0088 , G05D1/0246 , G05D2201/02 , G06N3/049 , G06N99/005 , Y10S901/01 , Y10S901/47
Abstract: Robotic devices may be operated by users remotely. A learning controller apparatus may detect remote transmissions comprising user control instructions. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The learning apparatus may monitor one or more wavelength (infrared light, radio channel) and detect transmissions from user remote control device to the robot during its operation by the user. The learning apparatus may be configured to develop associations between the detected user remote control instructions and actions of the robot for given context. When a given sensory context occurs, the learning controller may automatically provide control instructions to the robot that may be associated with the given context. The provision of control instructions to the robot by the learning controller may obviate the need for user remote control of the robot thereby enabling autonomous operation by the robot.
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公开(公告)号：US09579789B2
公开(公告)日：2017-02-28
申请号：US14040520
申请日：2013-09-27
Applicant: BRAIN CORPORATION
Inventor： Jean-Baptiste Passot , Patryk Laurent , Eugene Izhikevich
CPC classification number: B25J9/163 , G05B2219/39271 , G05B2219/39307 , G05B2219/40499 , G06N3/008 , G06N3/049 , Y10S901/03
Abstract: Apparatus and methods for arbitration of control signals for robotic devices. A robotic device may comprise an adaptive controller comprising a plurality of predictors configured to provide multiple predicted control signals based on one or more of the teaching input, sensory input, and/or performance. The predicted control signals may be configured to cause two or more actions that may be in conflict with one another and/or utilize a shared resource. An arbitrator may be employed to select one of the actions. The selection process may utilize a WTA, reinforcement, and/or supervisory mechanisms in order to inhibit one or more predicted signals. The arbitrator output may comprise target state information that may be provided to the predictor block. Prior to arbitration, the predicted control signals may be combined with inputs provided by an external control entity in order to reduce learning time.
Abstract translation: 用于对机器人装置的控制信号进行仲裁的装置和方法。 机器人设备可以包括自适应控制器，其包括多个预测器，其被配置为基于教学输入，感觉输入和/或性能中的一个或多个来提供多个预测控制信号。 预测的控制信号可以被配置为引起可能彼此冲突和/或利用共享资源的两个或更多个动作。 仲裁员可以用来选择一个动作。 选择过程可以利用WTA，加强和/或监督机制来抑制一个或多个预测信号。 仲裁器输出可以包括可以提供给预测器块的目标状态信息。 在仲裁之前，预测的控制信号可以与由外部控制实体提供的输入组合以减少学习时间。
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公开(公告)号：US20170001309A1
公开(公告)日：2017-01-05
申请号：US15200959
申请日：2016-07-01
Applicant: BRAIN Corporation
Inventor： Jean-Baptiste Passot , Oleg Sinyavskiy , Filip Ponulak , Patryk Laurent , Borja Ibarz Gabardos , Eugene Izhikevich
Abstract: 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
Abstract translation: 用于训练机器人装置的装置和方法。 机器人装置可以由用户使用输入信号沿目标轨迹引导机器人进行训练。 机器人设备可以包括自适应控制器，其被配置为基于用户引导，感觉输入和/或性能测量中的一个或多个来产生控制命令。 培训可能包括多项试验。 在第一次试用期间，用户输入可能足以使机器人完成轨迹。 在随后的试验期间，用户和机器人的控制器可以协作，以便可以减少用户输入，同时可以增加机器人控制。 在训练期间来自用户和机器人控制器的个人贡献可能不足以（完全用于完成任务）。 在学习之后，用户的知识可以传送到机器人的控制器，以便在没有用户的后续输入的情况下执行任务执行
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Patent Agency Ranking
公开(公告)号：US09242372B2
公开(公告)日：2016-01-26
申请号：US13907734
申请日：2013-05-31
Applicant: BRAIN CORPORATION
Inventor： Patryk Laurent , Jean-Baptiste Passot , Mark Wildie , Eugene M. Izhikevich
IPC: B25J9/16 , G05B19/409 , G06N3/04
CPC classification number: B25J9/161 , G05B19/409 , G05B2219/36136 , G05B2219/36137 , G06N3/049 , Y10S901/02 , Y10S901/28
Abstract: Apparatus and methods for training of robotic devices. A robot may be trained by a user guiding the robot along target trajectory using a control signal. A robot may comprise an adaptive controller. The controller may be configured to generate control commands based on the user guidance, sensory input and a performance measure. A user may interface to the robot via an adaptively configured remote controller. The remote controller may comprise a mobile device, configured by the user in accordance with phenotype and/or operational configuration of the robot. The remote controller may detect changes in the robot phenotype and/or operational configuration. User interface of the remote controller may be reconfigured based on the detected phenotype and/or operational changes.
Abstract translation: 用于训练机器人装置的装置和方法。 机器人可以由使用者使用控制信号沿目标轨迹引导机器人的用户进行训练。 机器人可以包括自适应控制器。 控制器可以被配置为基于用户指导，感觉输入和性能测量来产生控制命令。 用户可以通过自适应配置的遥控器与机器人接口。 遥控器可以包括由用户根据机器人的表型和/或操作配置来配置的移动设备。 遥控器可以检测机器人表型和/或操作配置的变化。 可以基于检测到的表型和/或操作变化来重新配置遥控器的用户界面。
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27.发明申请公开(公告)号：US20150283702A1
公开(公告)日：2015-10-08
申请号：US14244888
申请日：2014-04-03
Applicant: BRAIN CORPORATION
Inventor： Eugene M. Izhikevich , Patryk Laurent , Micah Richert , Csaba Petre
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/161 , G05D1/0022 , G05D1/0088 , G05D1/0246 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
Abstract: Robotic devices may be operated by users remotely. A learning controller apparatus may detect remote transmissions comprising user control instructions. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The learning apparatus may monitor one or more wavelength (infrared light, radio channel) and detect transmissions from user remote control device to the robot during its operation by the user. The learning apparatus may be configured to develop associations between the detected user remote control instructions and actions of the robot for given context. When a given sensory context occurs, the learning controller may automatically provide control instructions to the robot that may be associates with the given context. The provision of control instructions to the robot by the learning controller may obviate the need for user remote control of the robot thereby enabling autonomous operation by the robot.
Abstract translation: 机器人设备可以由用户远程操作。 学习控制器装置可以检测包括用户控制指令的远程传输。 学习装置可以接收关于机器人的状态和环境（上下文）的感官输入。 学习装置可以监视一个或多个波长（红外光，无线电信道），并且在用户操作期间检测从用户遥控装置到机器人的传输。 学习装置可以被配置为在给定的上下文之间发展检测到的用户远程控制指令和机器人的动作之间的关联。 当发生给定的感觉上下文时，学习控制器可以自动向可能与给定上下文相关联的机器人提供控制指令。 通过学习控制器向机器人提供控制指令可以避免用户对机器人的远程控制的需要，从而实现机器人的自主操作。
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公开(公告)号：US20150127150A1
公开(公告)日：2015-05-07
申请号：US14102410
申请日：2013-12-10
Applicant: BRAIN CORPORATION
Inventor： Filip Ponulak , Moslem Kazemi , Patryk Laurent , Oleg Sinyavskiy , Eugene Izhikevich
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/161 , G05B2219/36418 , G05B2219/36425 , G05B2219/40499 , G05D1/005 , G05D1/0088 , G05D1/0221 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
Abstract: Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.
Abstract translation: 机器人设备可以由训练者训练，该训练者使用与机器人的物理接触沿着目标轨迹引导机器人。 机器人可以包括自适应控制器，其被配置为基于训练者输入，感觉输入和/或性能测量中的一个或多个来产生控制命令。 训练者可以观察机器人执行任务。 响应于观察目标行为与实际行为之间的差异，培训者可以通过触觉动作提供教学输入。 机器人可以基于由机器人的学习过程产生的内部控制信号与训练输入的组合来执行动作。 机器人可以基于预测状态与机器人的实际状态的比较来推断教学输入。 机器人的学习过程可以根据教学输入进行调整，以减少后续试验期间的差异。
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公开(公告)号：US20140358284A1
公开(公告)日：2014-12-04
申请号：US13907734
申请日：2013-05-31
Applicant: BRAIN CORPORATION
Inventor： Patryk Laurent , Jean-Baptiste Passot , Mark Wildie , Eugene M. Izhikevich
IPC: B25J9/16
CPC classification number: B25J9/161 , G05B19/409 , G05B2219/36136 , G05B2219/36137 , G06N3/049 , Y10S901/02 , Y10S901/28
Abstract: Apparatus and methods for training of robotic devices. A robot may be trained by a user guiding the robot along target trajectory using a control signal. A robot may comprise an adaptive controller. The controller may be configured to generate control commands based on the user guidance, sensory input and a performance measure. A user may interface to the robot via an adaptively configured remote controller. The remote controller may comprise a mobile device, configured by the user in accordance with phenotype and/or operational configuration of the robot. The remote controller may detect changes in the robot phenotype and/or operational configuration. User interface of the remote controller may be reconfigured based on the detected phenotype and/or operational changes.
Abstract translation: 用于训练机器人装置的装置和方法。 机器人可以由使用者使用控制信号沿目标轨迹引导机器人的用户进行训练。 机器人可以包括自适应控制器。 控制器可以被配置为基于用户指导，感觉输入和性能测量来产生控制命令。 用户可以通过自适应配置的遥控器与机器人接口。 遥控器可以包括由用户根据机器人的表型和/或操作配置来配置的移动设备。 遥控器可以检测机器人表型和/或操作配置的变化。 可以基于检测到的表型和/或操作变化来重新配置遥控器的用户界面。
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公开(公告)号：US10717191B2
公开(公告)日：2020-07-21
申请号：US15845832
申请日：2017-12-18
Applicant: Brain Corporation
Inventor： Filip Ponulak , Moslem Kazemi , Patryk Laurent , Oleg Sinyavskiy , Eugene Izhikevich
Abstract: Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.
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