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    Modulated stochasticity spiking neuron network controller apparatus and methods
    31.
    发明授权
    Modulated stochasticity spiking neuron network controller apparatus and methods 有权
    调制随机神经元网络控制器设备和方法

    公开(公告)号：US09189730B1

    公开(公告)日：2015-11-17

    申请号：US13623801

    申请日：2012-09-20

    Applicant: BRAIN Corporation

    Inventor： Olivier Coenen ,  Oleg Sinyavskiy ,  Vadim Polonichko

    IPC: G06N3/08

    CPC classification number: G06N3/08 ,  G06N3/049

    Abstract: Adaptive controller apparatus of a plant may be implemented. The controller may comprise an encoder block and a control block. The encoder may utilize basis function kernel expansion technique to encode an arbitrary combination of inputs into spike output. The controller may comprise spiking neuron network operable according to reinforcement learning process. The network may receive the encoder output via a plurality of plastic connections. The process may be configured to adaptively modify connection weights in order to maximize process performance, associated with a target outcome. The relevant features of the input may be identified and used for enabling the controlled plant to achieve the target outcome. The stochasticity of the learning process may be modulated. Stochasticity may be increased during initial stage of learning in order to encourage exploration. During subsequent controller operation, stochasticity may be reduced to reduce energy use by the controller.

    Abstract translation: 可以实现工厂的自适应控制器装置。 控制器可以包括编码器块和控制块。 编码器可以利用基本功能的内核扩展技术来将输入的任意组合编码成尖峰输出。 控制器可以包括根据加强学习过程可操作的加标神经元网络。 网络可以通过多个塑料连接接收编码器输出。 该过程可以被配置为自适应地修改连接权重，以便最大化与目标结果相关联的过程性能。 输入的相关特征可以被识别并用于使被控制厂能够实现目标结果。 学习过程的随机性可能会被调整。 为了鼓励探索，学习过程的初始阶段可能会增加随机性。 在随后的控制器操作期间，可以减小随机性以减少控制器的能量消耗。

    HIERARCHICAL ROBOTIC CONTROLLER APPARATUS AND METHODS
    33.
    发明申请
    HIERARCHICAL ROBOTIC CONTROLLER APPARATUS AND METHODS 有权
    分层机器人控制器装置及方法

    公开(公告)号：US20140371912A1

    公开(公告)日：2014-12-18

    申请号：US13918298

    申请日：2013-06-14

    Applicant: BRAIN CORPORATION

    Inventor： Jean-Baptiste Passot ,  Oleg Sinyavskiy ,  Filip Ponulak ,  Patryk Laurent ,  Borja Ibarz Gabardos ,  Eugene Izhikevich ,  Vadim Polonichko

    IPC: B25J9/16

    CPC classification number: G06N3/049 ,  G06N3/008

    Abstract: 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. The remote controller may comprise multiple control elements configured to activate respective portions of the robot platform. Based on training, the remote controller may configure composite controls configured based two or more of control elements. Activation of a composite control may enable the robot to perform a task.

    Abstract translation: 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。 遥控器可以包括配置成激活机器人平台的相应部分的多个控制元件。 基于培训，遥控器可以配置基于两个或多个控制元件的复合控制。 激活复合控件可以使机器人执行任务。

    Optical detection apparatus and methods
    34.
    发明授权
    Optical detection apparatus and methods 有权

    公开(公告)号：US10728436B2

    公开(公告)日：2020-07-28

    申请号：US15845891

    申请日：2017-12-18

    Applicant: Brain Corporation

    Inventor： Filip Piekniewski ,  Vadim Polonichko ,  Eugene Izhikevich

    IPC: H04N5/225 ,  B60W30/09 ,  B60W30/16 ,  G06K9/00 ,  G02B5/20 ,  G02B13/00 ,  G02B27/00 ,  B60W30/14 ,  G01C3/08 ,  G02B7/38 ,  G06K9/46 ,  G06K9/52 ,  H01L31/0216

    Abstract: An optical object detection apparatus and associated methods. The apparatus may comprise a lens (e.g., fixed-focal length wide aperture lens) and an image sensor. The fixed focal length of the lens may correspond to a depth of field area in front of the lens. When an object enters the depth of field area (e.g., sue to a relative motion between the object and the lens) the object representation on the image sensor plane may be in-focus. Objects outside the depth of field area may be out of focus. In-focus representations of objects may be characterized by a greater contrast parameter compared to out of focus representations. One or more images provided by the detection apparatus may be analyzed in order to determine useful information (e.g., an image contrast parameter) of a given image. Based on the image contrast meeting one or more criteria, a detection indication may be produced.

    APPARATUS AND METHODS FOR DISTANCE ESTIMATION USING MULTIPLE IMAGE SENSORS
    35.
    发明申请
    APPARATUS AND METHODS FOR DISTANCE ESTIMATION USING MULTIPLE IMAGE SENSORS 审中-公开

    公开(公告)号：US20190178631A1

    公开(公告)日：2019-06-13

    申请号：US16214730

    申请日：2018-12-10

    Applicant: Brain Corporation

    Inventor： Micah Richert ,  Marius Buibas ,  Vadim Polonichko

    IPC: G01B11/14 ,  G06T7/593

    Abstract: Data streams from multiple image sensors may be combined in order to form, for example, an interleaved video stream, which can be used to determine distance to an object. The video stream may be encoded using a motion estimation encoder. Output of the video encoder may be processed (e.g., parsed) in order to extract motion information present in the encoded video. The motion information may be utilized in order to determine a depth of visual scene, such as by using binocular disparity between two or more images by an adaptive controller in order to detect one or more objects salient to a given task. In one variant, depth information is utilized during control and operation of mobile robotic devices.

    Apparatus and methods for distance estimation using multiple image sensors
    36.
    发明授权
    Apparatus and methods for distance estimation using multiple image sensors 有权

    公开(公告)号：US10184787B2

    公开(公告)日：2019-01-22

    申请号：US15948885

    申请日：2018-04-09

    Applicant: BRAIN CORPORATION

    Inventor： Micah Richert ,  Marius Buibas ,  Vadim Polonichko

    IPC: G01B11/14 ,  H04N19/51 ,  G06T7/593

    Abstract: Data streams from multiple image sensors may be combined in order to form, for example, an interleaved video stream, which can be used to determine distance to an object. The video stream may be encoded using a motion estimation encoder. Output of the video encoder may be processed (e.g., parsed) in order to extract motion information present in the encoded video. The motion information may be utilized in order to determine a depth of visual scene, such as by using binocular disparity between two or more images by an adaptive controller in order to detect one or more objects salient to a given task. In one variant, depth information is utilized during control and operation of mobile robotic devices.

    Trainable modular robotic apparatus
    37.
    发明授权
    Trainable modular robotic apparatus 有权

    公开(公告)号：US10166675B2

    公开(公告)日：2019-01-01

    申请号：US14946589

    申请日：2015-11-19

    Applicant: BRAIN Corporation

    Inventor： Eugene Izhikevich ,  Dimitry Fisher ,  Jean-Baptiste Passot ,  Heathcliff Hatcher ,  Vadim Polonichko

    IPC: B25J9/16 ,  G06N99/00 ,  G06N3/00 ,  B25J13/08 ,  A63H3/20 ,  G06N3/04

    Abstract: Apparatus and methods for a modular robotic device with artificial intelligence that is receptive to training controls. In one implementation, modular robotic device architecture may be used to provide all or most high cost components in an autonomy module that is separate from the robotic body. The autonomy module may comprise controller, power, actuators that may be connected to controllable elements of the robotic body. The controller may position limbs of the toy in a target position. A user may utilize haptic training approach in order to enable the robotic toy to perform target action(s). Modular configuration of the disclosure enables users to replace one toy body (e.g., the bear) with another (e.g., a giraffe) while using hardware provided by the autonomy module. Modular architecture may enable users to purchase a single AM for use with multiple robotic bodies, thereby reducing the overall cost of ownership.

    Hierarchical robotic controller apparatus and methods
    39.
    发明授权
    Hierarchical robotic controller apparatus and methods 有权

    公开(公告)号：US09792546B2

    公开(公告)日：2017-10-17

    申请号：US13918298

    申请日：2013-06-14

    Applicant: BRAIN CORPORATION

    Inventor： Jean-Baptiste Passot ,  Oleg Sinyavskiy ,  Filip Ponulak ,  Patryk Laurent ,  Borja Ibarz Gabardos ,  Eugene Izhikevich ,  Vadim Polonichko

    IPC: B25J9/16 ,  G06N3/04 ,  G06N3/00

    CPC classification number: G06N3/049 ,  G06N3/008

    Abstract: 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. The remote controller may comprise multiple control elements configured to activate respective portions of the robot platform. Based on training, the remote controller may configure composite controls configured based two or more of control elements. Activation of a composite control may enable the robot to perform a task.

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