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1. 发明申请

WO2014194298A1 ADAPTIVE ROBOTIC INTERFACE APPARATUS AND METHODS 审中-公开
标题翻译：自适应机器人界面装置及方法
公开(公告)号：WO2014194298A1
公开(公告)日：2014-12-04
申请号：PCT/US2014/040407
申请日：2014-05-30
申请人： BRAIN CORPORATION
发明人： LAURENT, Patryk , PASSOT, Jean-Baptiste , WILDIE, Mark , IZHIKEVICH, Eugene
IPC分类号： G06F19/00 , G05B15/00 , G06N3/00
CPC分类号： B25J9/161 , G05B19/409 , G05B2219/36136 , G05B2219/36137 , G06N3/049 , Y10S901/02 , Y10S901/28
摘要： 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.
摘要翻译：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。

2. 发明申请

WO2015116270A2 REDUCED DEGREE OF FREEDOM ROBOTIC CONTROLLER APPARATUS AND METHODS 审中-公开
标题翻译：自由度机器人控制器设备和方法的降低程度
公开(公告)号：WO2015116270A2
公开(公告)日：2015-08-06
申请号：PCT/US2014/063540
申请日：2014-10-31
申请人： BRAIN CORPORATION
发明人： PASSOT, Jean-Baptiste , SINYAVSKIY, Oleg , IZHIKEVICH, Eugene
IPC分类号： B25J9/16
CPC分类号： G06N3/008 , G06N3/049 , G06N99/005
摘要： Apparatus and methods for training and controlling of, for instance, robotic devices. In one implementation, a robot may be trained by a user using supervised learning. The user may be unable to control all degrees of freedom of the robot simultaneously. The user may interface to the robot via a control apparatus configured to select and operate a subset of the robot's complement of actuators. The robot may comprise an adaptive controller comprising a neuron network. The adaptive controller may be configured to generate actuator control commands based on the user input and output of the learning process. Training of the adaptive controller may comprise partial set training. The user may train the adaptive controller to operate first actuator subset. Subsequent to learning to operate the first subset, the adaptive controller may be trained to operate another subset of degrees of freedom based on user input via the control apparatus.
摘要翻译：用于训练和控制例如机器人装置的装置和方法。在一个实现中，可以由使用监督学习的用户训练机器人。用户可能无法同时控制机器人的所有自由度。用户可以通过配置成选择和操作机器人的执行器补码的子集的控制装置与机器人接口。机器人可以包括包括神经元网络的自适应控制器。自适应控制器可以被配置为基于学习过程的用户输入和输出来生成致动器控制命令。自适应控制器的训练可以包括部分组训练。用户可以训练自适应控制器来操作第一致动器子集。在学习操作第一子集之后，可以训练自适应控制器以基于经由控制装置的用户输入来操作另一自由度子集。

3. 发明申请

WO2014028855A1 APPARATUS AND METHODS FOR SPIKING NEURON NETWORK LEARNING 审中-公开
标题翻译：用于扫描神经网络学习的装置和方法
公开(公告)号：WO2014028855A1
公开(公告)日：2014-02-20
申请号：PCT/US2013/055381
申请日：2013-08-16
申请人： BRAIN CORPORATION
发明人： SINYAVSKIY, Oleg , IZHIKEVICH, Eugene
IPC分类号： G06N3/02
CPC分类号： G06N3/10 , G06N3/049
摘要： Event-based updates in artificial neuron networks may be implemented. An internal event may be defined in order to update incoming connections of a neuron. The internal event may be triggered by an external signal and/or internally by the neuron. A reinforcement signal may be used to trigger an internal event of a neuron in order to perform synaptic updates without necessitating post-synaptic response. An external event may be defined in order to deliver response of the neuron to desired targets. The external and internal events may be combined into a composite event configured to effectuate connection update and spike delivery to post-synaptic target. The scope of the internal event may comprise the respective neuron and does not extend to other neurons of the network. Conversely, the scope of the external event may extend to other neurons of the network via, for example, post-synaptic spike delivery.
摘要翻译：可以实现人造神经网络中基于事件的更新。可以定义内部事件以便更新神经元的传入连接。内部事件可能由外部信号和/或内部由神经元触发。加强信号可以用于触发神经元的内部事件，以便执行突触更新，而不需要突触后响应。可以定义外部事件以便将神经元的响应递送到期望的目标。外部和内部事件可以组合成组合事件，配置为实现连接更新和尖峰传递到突触后目标。内部事件的范围可以包括相应的神经元，并且不延伸到网络的其他神经元。相反，外部事件的范围可以通过例如突触后尖峰传递来延伸到网络的其他神经元。

4. 发明申请

WO2014201422A3 APPARATUS AND METHODS FOR HIERARCHICAL ROBOTIC CONTROL AND ROBOTIC TRAINING 审中-公开
公开(公告)号：WO2014201422A3
公开(公告)日：2014-12-18
申请号：PCT/US2014/042412
申请日：2014-06-13
申请人： BRAIN CORPORATION
发明人： PASSOT, Jean-Baptiste , SINYAVSKIY, Oleg , PONULAK, Filip , LAURENT, Patryk , GABARDOS, Borja, Ibarz , IZHIKEVICH, Eugene , POLONICHKO, Vadim
IPC分类号： G06F19/00
摘要： 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.

5. 发明申请

WO2014018793A1 APPARATUS AND METHODS FOR EFFICIENT UPDATES IN SPIKING NEURON NETWORKS 审中-公开
标题翻译： SPIKEING NEURON网络中高效更新的设备和方法
公开(公告)号：WO2014018793A1
公开(公告)日：2014-01-30
申请号：PCT/US2013/052127
申请日：2013-07-25
申请人： BRAIN CORPORATION
发明人： SINYAVSKIY, Oleg , POLONICHKO, Vadim , IZHIKEVICH, Eugene
IPC分类号： G06F15/18 , G10L25/30
CPC分类号： G06N3/049
摘要： Efficient updates of connections in artificial neuron networks may be implemented. A framework may be used to describe the connections using a linear synaptic dynamic process, characterized by stable equilibrium. The state of neurons and synapses within the network may be updated, based on inputs and outputs to/from neurons. In some implementations, the updates may be implemented at regular time intervals. In one or more implementations, the updates may be implemented on- demand, based on the network activity (e.g., neuron output and/or input) so as to further reduce computational load associated with the synaptic updates. The connection updates may be decomposed into multiple event-dependent connection change components that may be used to describe connection plasticity change due to neuron input. Using event-dependent connection change components, connection updates may be executed on per neuron basis, as opposed to per- connection basis.
摘要翻译：可以实现人造神经网络中的连接的有效更新。可以使用框架来描述使用以稳定平衡为特征的线性突触动态过程的连接。可以基于对神经元的输入和输出来更新网络内的神经元和突触的状态。在一些实现中，可以以规则的时间间隔来实现更新。在一个或多个实现中，可以基于网络活动（例如，神经元输出和/或输入）按需实现更新，以便进一步减少与突触更新相关联的计算负荷。连接更新可以被分解成多个依赖于事件的连接改变组件，其可以用于描述由神经元输入引起的连接可塑性变化。使用与事件相关的连接更改组件，可以基于每个神经元执行连接更新，而不是基于每个连接。

6. 发明申请

WO2013169805A2 SPIKING NEURAL NETWORK FEEDBACK APPARATUS AND METHODS 审中-公开
标题翻译： SPIKING神经网络反馈装置及方法
公开(公告)号：WO2013169805A2
公开(公告)日：2013-11-14
申请号：PCT/US2013/039985
申请日：2013-05-07
申请人： BRAIN CORPORATION
发明人： PIEKNIEWSKI, Filip , IZHIKEVICH, Eugene , SZATMARY, Botond , PETRE, Csaba
IPC分类号： G06N3/04
CPC分类号： G06N3/049
摘要： Apparatus and methods for feedback in a spiking neural network. In one approach, spiking neurons receive sensory stimulus and context signal that correspond to the same context. When the stimulus provides sufficient excitation, neurons generate response. Context connections are adjusted according to inverse spike-timing dependent plasticity. When the context signal precedes the post synaptic spike, context synaptic connections are depressed. Conversely, whenever the context signal follows the post synaptic spike, the connections are potentiated. The inverse STDP connection adjustment ensures precise control of feedback- induced firing, eliminates runaway positive feedback loops, enables self-stabilizing network operation. In another aspect of the invention, the connection adjustment methodology facilitates robust context switching when processing visual information. When a context (such an object) becomes intermittently absent, prior context connection potentiation enables firing for a period of time. If the object remains absent, the connection becomes depressed thereby preventing further firing.
摘要翻译：用于在加标神经网络中反馈的装置和方法。在一种方法中，刺激神经元接收对应于相同上下文的感觉刺激和上下文信号。当刺激提供足够的激发时，神经元产生反应。上下文连接根据反时限相关的可塑性进行调整。当上下文信号在后突触尖端之前时，上下文突触连接被按下。相反，只要上下文信号跟随突触后的尖峰，连接就被加强了。逆STDP连接调整可确保精确控制反馈引发的触发，消除正反馈回路，实现自稳定网络运行。在本发明的另一方面，当处理视觉信息时，连接调整方法有助于鲁棒的上下文切换。当上下文（这样的对象）间歇地不存在时，先前的上下文连接增强使得能够触发一段时间。如果物体不存在，则连接被压下，从而防止进一步的烧制。

7. 发明公开

EP3454705A1 SYSTEMS AND METHODS FOR TRAINING A ROBOT TO AUTONOMOUSLY TRAVEL A ROUTE 无效
公开(公告)号：EP3454705A1
公开(公告)日：2019-03-20
申请号：EP17796888.0
申请日：2017-05-11
申请人： Brain Corporation
发明人： PASSOT, Jean-Baptiste , SMITH, Andrew , SZATMARY, Botond , IBARZ GABARDOS, Borja , GRIFFIN, Cody , ROMBOUTS, Jaldert , SINYAVSKIY, Oleg , IZHIKEVICH, Eugene
IPC分类号： A47L5/28 , A47L9/28 , A47L11/40 , G05B15/02 , G05B19/18 , G05D1/00 , G05D1/02

8. 发明申请

WO2018148396A1 SYSTEMS AND METHODS FOR ROBOTIC MOBILE PLATFORMS 审中-公开
公开(公告)号：WO2018148396A1
公开(公告)日：2018-08-16
申请号：PCT/US2018/017403
申请日：2018-02-08
申请人： BRAIN CORPORATION
发明人： IZHIKEVICH, Eugene
IPC分类号： G05D1/02 , A61G5/00
摘要： Systems and methods for robotic mobile platforms are disclosed. In one exemplary implementation, a system for enabling autonomous navigation of a mobile platform is disclosed. The system may include a memory having computer readable instructions stored thereon and at least one processor configured to execute the computer readable instructions. The execution of the computer readable instructions causes the system to: receive a first set of coordinates corresponding to a first location of a user; determine a different second location for the mobile platform; navigate the mobile platform between the second location and the first location; and receive a different second set of coordinates. Methods, apparatus and computer-readable mediums are also disclosed.

9. 发明申请

WO2017214503A1 SYSTEMS AND METHODS FOR AUTOMATIC DETECTION OF SPILLS 审中-公开
标题翻译：用于自动检测溢出的系统和方法
公开(公告)号：WO2017214503A1
公开(公告)日：2017-12-14
申请号：PCT/US2017/036754
申请日：2017-06-09
申请人： BRAIN CORPORATION
发明人： FISHER, Dimitry , GRIFFIN, Cody , RICHERT, Michah , PIEKNIEWSKI, Filip , IZHIKEVICH, Eugene , NAGESWARAN, Jayram, Moorkanikara , BLACK, John
IPC分类号： G08B21/00
摘要： Systems and methods for automatic detection of spills are disclosed. In some exemplary implementations, a robot can have a spill detector comprising at least one optical imaging device configured to capture at least one image of a scene containing a spill while the robot moves between locations. The robot can process the at least one image by segmentation. Once the spill has been identified, the robot can then generate an alert indicative at least in part of a recognition of the spill.
摘要翻译：公开了用于自动检测泄漏的系统和方法。在一些示例性实施方式中，机器人可以具有包括至少一个光学成像设备的溢出检测器，该至少一个光学成像设备被配置为在机器人在位置之间移动时捕获包含溢出物的场景的至少一个图像。机器人可以通过分割来处理至少一个图像。一旦发现泄漏事件，机器人就会产生一个警示信号，至少部分表明泄漏事件的确认。

10. 发明申请

WO2017197190A1 SYSTEMS AND METHODS FOR TRAINING A ROBOT TO AUTONOMOUSLY TRAVEL A ROUTE 审中-公开
标题翻译：用于训练机器人以自动行进路线的系统和方法
公开(公告)号：WO2017197190A1
公开(公告)日：2017-11-16
申请号：PCT/US2017/032273
申请日：2017-05-11
申请人： BRAIN CORPORATION
发明人： PASSOT, Jean-Baptiste , SMITH, Andrew , SZATMARY, Botond , IBARZ GABARDOS, Borja , GRIFFIN, Cody , ROMBOUTS, Jaldert , SINYAVSKIY, Oleg , IZHIKEVICH, Eugene
IPC分类号： A47L5/28 , A47L9/28 , A47L11/40 , G05B15/02 , G05B19/18 , G05D1/00 , G05D1/02
摘要： Systems and methods for training a robot to autonomously travel a route. In one embodiment, a robot can detect an initial placement in an initialization location. Beginning from the initialization location, the robot can create a map of a navigable route and surrounding environment during a user-controlled demonstration of the navigable route. After the demonstration, the robot can later detect a second placement in the initialization location, and then autonomously navigate the navigable route. The robot can then subsequently detect errors associated with the created map. Methods and systems associated with the robot are also disclosed.
摘要翻译：用于训练机器人自主地行进路线的系统和方法。在一个实施例中，机器人可以检测初始化位置中的初始放置。从初始化位置开始，机器人可以在用户控制的可导航路线演示期间创建可导航路线和周围环境的地图。演示结束后，机器人可以稍后在初始化位置检测到第二个位置，然后自主导航可导航路线。机器人随后可以检测与创建的地图相关的错误。还公开了与机器人相关的方法和系统。

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