Brain Corporation Patent applications |
Patent application number | Title | Published |
20150339589 | APPARATUS AND METHODS FOR TRAINING ROBOTS UTILIZING GAZE-BASED SALIENCY MAPS - Robotic devices may be trained using saliency maps derived from gaze of a trainer. In navigation applications, the saliency map may correspond to portions of the environment being observed by a driving instructor during training using a gaze detector. During an operation, a driver assist robot may utilize the saliency map in order to assess attention of the driver, detect potential hazards, and issue alerts. Responsive to a detection of a mismatch between the driver current attention and the target attention derived from the saliency map, the robot may issue a warning, and/or prompt the driver of an upcoming hazard. A data processing apparatus may employ gaze based saliency maps in order to analyze, e.g., surveillance camera feeds for intruders, open doors, hazards, policy violations (e.g., open doors). | 11-26-2015 |
20150306761 | TRAINABLE CONVOLUTIONAL NETWORK APPARATUS AND METHODS FOR OPERATING A ROBOTIC VEHICLE - A robotic vehicle may be operated by a learning controller comprising a trainable convolutional network configured to determine control signal based on sensory input. An input network layer may be configured to transfer sensory input into a hidden layer data using a filter convolution operation. Input layer may be configured to transfer sensory input into hidden layer data using a filter convolution. Output layer may convert hidden layer data to a predicted output using data segmentation and a fully connected array of efficacies. During training, efficacy of network connections may be adapted using a measure determined based on a target output provided by a trainer and an output predicted by the network. A combination of the predicted and the target output may be provided to the vehicle to execute a task. The network adaptation may be configured using an error back propagation method. The network may comprise an input reconstruction. | 10-29-2015 |
20150283703 | APPARATUS AND METHODS FOR REMOTELY CONTROLLING ROBOTIC DEVICES - 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. | 10-08-2015 |
20150283702 | LEARNING APPARATUS AND METHODS FOR CONTROL OF ROBOTIC DEVICES VIA SPOOFING - 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. | 10-08-2015 |
20150283701 | SPOOFING REMOTE CONTROL APPARATUS AND METHODS - 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. | 10-08-2015 |
20150258679 | TRAINABLE MODULAR ROBOTIC APPARATUS AND METHODS - 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. | 09-17-2015 |
20150242690 | APPARATUS AND METHODS FOR TEMPORAL PROXIMITY DETECTION - A data processing apparatus may utilize an artificial neuron network configured to reduce dimensionality of input data using a sparse transformation configured using receptive field structure of network units. Output of the network may be analyzed for temporally persistency that is characterized by similarity matrix. Elements of the matrix may be incremented when present activity unit activity at a preceding frame. The similarity matrix may be partitioned based on a distance measure for a given element of the matrix and its closest neighbors. Stability of learning of temporally proximal patterns may be greatly improved as the similarity matrix is learned independently of the partitioning operation. Partitioning of the similarity matrix using the methodology of the disclosure may be performed online, e.g., contemporaneously with the encoding and/or similarity matrix construction, thereby enabling learning of new features in the input data. | 08-27-2015 |
20150217449 | APPARATUS AND METHODS FOR CONTROL OF ROBOT ACTIONS BASED ON CORRECTIVE USER INPUTS - Robots have the capacity to perform a broad range of useful tasks, such as factory automation, cleaning, delivery, assistive care, environmental monitoring and entertainment. Enabling a robot to perform a new task in a new environment typically requires a large amount of new software to be written, often by a team of experts. It would be valuable if future technology could empower people, who may have limited or no understanding of software coding, to train robots to perform custom tasks. Some implementations of the present invention provide methods and systems that respond to users' corrective commands to generate and refine a policy for determining appropriate actions based on sensor-data input. Upon completion of learning, the system can generate control commands by deriving them from the sensory data. Using the learned control policy, the robot can behave autonomously. | 08-06-2015 |
20150148953 | DISCREPANCY DETECTION APPARATUS AND METHODS FOR MACHINE LEARNING - A robotic device may comprise an adaptive controller configured to learn to predict consequences of robotic device's actions. During training, the controller may receive a copy of the planned and/or executed motor command and sensory information obtained based on the robot's response to the command. The controller may predict sensory outcome based on the command and one or more prior sensory inputs. The predicted sensory outcome may be compared to the actual outcome. Based on a determination that the prediction matches the actual outcome, the training may stop. Upon detecting a discrepancy between the prediction and the actual outcome, the controller may provide a continuation signal configured to indicate that additional training may be utilized. In some classification implementations, the discrepancy signal may be used to indicate occurrence of novel (not yet learned) objects in the sensory input and/or indicate continuation of training to recognize said objects. | 05-28-2015 |
20150127150 | APPARATUS AND METHODS FOR HAPTIC TRAINING OF ROBOTS - 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. | 05-07-2015 |
20150127149 | APPARATUS AND METHODS FOR ONLINE TRAINING OF ROBOTS - Robotic devices may be trained by a user guiding the robot along a target trajectory using a correction signal. A robotic device 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. Training may comprise a plurality of trials. During an initial portion of a trial, the trainer may observe robot's operation and refrain from providing the training input to the robot. Upon observing a discrepancy between the target behavior and the actual behavior during the initial trial portion, the trainer may provide a teaching input (e.g., a correction signal) configured to affect robot's trajectory during subsequent trials. Upon completing a sufficient number of trials, the robot may be capable of navigating the trajectory in absence of the training input. | 05-07-2015 |
20150094852 | ROBOTIC CONTROL ARBITRATION APPARATUS AND METHODS - 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. | 04-02-2015 |
20150094850 | APPARATUS AND METHODS FOR TRAINING OF ROBOTIC CONTROL ARBITRATION - 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. | 04-02-2015 |
20150032258 | APPARATUS AND METHODS FOR CONTROLLING OF ROBOTIC DEVICES - A robot may be trained based on cooperation between an operator and a trainer. During training, the operator may control the robot using a plurality of control instructions. The trainer may observe movements of the robot and generate a plurality of control commands, such as gestures, sound and/or light wave modulation. Control instructions may be combined with the trainer commands via a learning process in order to develop an association between the two. During operation, the learning process may generate one or more control instructions based on one or more gesture by the trainer. One or both the trainer or the operator may comprise a human, and/or computerized entity. | 01-29-2015 |
20140372355 | APPARATUS AND METHOD FOR PARTIAL EVALUATION OF SYNAPTIC UPDATES BASED ON SYSTEM EVENTS - Apparatus and methods for partial evaluation of synaptic updates in neural networks. In one embodiment, a pre-synaptic unit is connected to a several post synaptic units via communication channels. Information related to a plurality of post-synaptic pulses generated by the post-synaptic units is stored by the network in response to a system event. Synaptic channel updates are performed by the network using the time intervals between a pre-synaptic pulse, which is being generated prior to the system event, and at least a portion of the plurality of the post synaptic pulses. The system event enables removal of the information related to the portion of the post-synaptic pulses from the storage device. A shared memory block within the storage device is used to store data related to post-synaptic pulses generated by different post-synaptic nodes. This configuration enables memory use optimization of post-synaptic units with different firing rates. | 12-18-2014 |
20140250037 | METHODS FOR MEMORY MANAGEMENT IN PARALLEL NETWORKS - A simple format is disclosed and referred to as Elementary Network Description (END). The format can fully describe a large-scale neuronal model and embodiments of software or hardware engines to simulate such a model efficiently. The architecture of such neuromorphic engines is optimal for high-performance parallel processing of spiking networks with spike-timing dependent plasticity. Methods for managing memory in a processing system are described whereby memory can be allocated among a plurality of elements and rules configured for each element such that the parallel execution of the spiking networks is most optimal. | 09-04-2014 |
20140250036 | APPARATUS AND METHODS FOR EVENT-TRIGGERED UPDATES IN PARALLEL NETWORKS - A simple format is disclosed and referred to as Elementary Network Description (END). The format can fully describe a large-scale neuronal model and embodiments of software or hardware engines to simulate such a model efficiently. The architecture of such neuromorphic engines is optimal for high-performance parallel processing of spiking networks with spike-timing dependent plasticity. The software and hardware engines are optimized to take into account short-term and long-term synaptic plasticity in the form of LTD, LTP, and STDP. | 09-04-2014 |
20140244557 | APPARATUS AND METHODS FOR RATE-MODULATED PLASTICITY IN A SPIKING NEURON NETWORK - Apparatus and methods for activity based plasticity in a spiking neuron network adapted to process sensory input. In one approach, the plasticity mechanism of a connection may comprise a causal potentiation portion and an anti-causal portion. The anti-causal portion, corresponding to the input into a neuron occurring after the neuron response, may be configured based on the prior activity of the neuron. When the neuron is in low activity state, the connection, when active, may be potentiated by a base amount. When the neuron activity increases due to another input, the efficacy of the connection, if active, may be reduced proportionally to the neuron activity. Such functionality may enable the network to maintain strong, albeit inactive, connections available for use for extended intervals. | 08-28-2014 |
20140222739 | APPARATUS AND METHODS FOR GATING ANALOG AND SPIKING SIGNALS IN ARTIFICIAL NEURAL NETWORKS - Apparatus and methods for universal node design implementing a universal learning rule in a mixed signal spiking neural network. In one implementation, at one instance, the node apparatus, operable according to the parameterized universal learning model, receives a mixture of analog and spiking inputs, and generates a spiking output based on the model parameter for that node that is selected by the parameterized model for that specific mix of inputs. At another instance, the same node receives a different mix of inputs, that also may comprise only analog or only spiking inputs and generates an analog output based on a different value of the node parameter that is selected by the model for the second mix of inputs. In another implementation, the node apparatus may change its output from analog to spiking responsive to a training input for the same inputs. | 08-07-2014 |
20140219497 | TEMPORAL WINNER TAKES ALL SPIKING NEURON NETWORK SENSORY PROCESSING APPARATUS AND METHODS - Apparatus and methods for contrast enhancement and feature identification. In one implementation, an image processing apparatus utilizes latency coding and a spiking neuron network to encode image brightness into spike latency. The spike latency is compared to a saliency window in order to detect early responding neurons. Salient features of the image are associated with the early responding neurons. An inhibitory neuron receives salient feature indication and provides inhibitory signal to the other neurons within an area of influence of the inhibitory neuron. The inhibition signal reduces probability of responses by the other neurons to stimulus that is proximate to the feature thereby increasing contrast within the encoded data. The contrast enhancement may facilitate feature identification within the image. Feature detection may be used for example for image compression, background removal and content distribution. | 08-07-2014 |
20140193066 | CONTRAST ENHANCEMENT SPIKING NEURON NETWORK SENSORY PROCESSING APPARATUS AND METHODS - Apparatus and methods for contrast enhancement and feature identification. In one implementation, an image processing apparatus utilizes latency coding and a spiking neuron network to encode image brightness into spike latency. The spike latency is compared to a saliency window in order to detect early responding neurons. Salient features of the image are associated with the early responding neurons. A inhibitory neuron receives salient feature indication and provides inhibitory signal to the other neurons within an area of influence of the inhibitory neuron. The inhibition signal reduces probability of responses by the other neurons to stimulus that is proximate to the feature thereby increasing contrast within the encoded data. The contrast enhancement may facilitate feature identification within the image. Feature detection may be used for example for image compression, background removal and content distribution. | 07-10-2014 |
20140156574 | RATE STABILIZATION THROUGH PLASTICITY IN SPIKING NEURON NETWORK - Apparatus and methods for activity based plasticity in a spiking neuron network adapted to process sensory input. In one embodiment, the plasticity mechanism may be configured for example based on activity of one or more neurons providing feed-forward stimulus and activity of one or more neurons providing inhibitory feedback. When an inhibitory neuron generates an output, inhibitory connections may be potentiated. When an inhibitory neuron receives inhibitory input, the inhibitory connection may be depressed. When the inhibitory input arrives subsequent to the neuron response, the inhibitory connection may be depressed. When input features are unevenly distributed in occurrence, the plasticity mechanism is capable of reducing response rate of neurons that develop receptive fields to more prevalent features. Such functionality may provide network output such that rarely occurring features are not drowned out by more widespread stimulus. | 06-05-2014 |
20140122400 | APPARATUS AND METHODS FOR ACTIVITY-BASED PLASTICITY IN A SPIKING NEURON NETWORK - Apparatus and methods for plasticity in spiking neuron network. The network may comprise feature-specific units capable of responding to different objects (red and green color). Plasticity mechanism may be configured based on difference between two similarity measures related to activity of different unit types obtained during network training. One similarity measure may be based on activity of units of the same type (red). Another similarity measure may be based on activity of units of one type (red) and another type (green). Similarity measures may comprise a cross-correlogram and/or mutual information determined over an activity window. Several similarity estimates, corresponding to different unit-to-unit pairs may be combined. The combination may comprise a weighted average. During network operation, the activity based plasticity mechanism may be used to potentiate connections between units of the same type (red-red). The plasticity mechanism may be used to depress connections between units of different types (red-green). | 05-01-2014 |
20140122399 | APPARATUS AND METHODS FOR ACTIVITY-BASED PLASTICITY IN A SPIKING NEURON NETWORK - Apparatus and methods for plasticity in spiking neuron network. The network may comprise feature-specific units capable of responding to different objects (red and green color). Plasticity mechanism may be configured based on difference between two similarity measures related to activity of different unit types obtained during network training. One similarity measure may be based on activity of units of the same type (red). Another similarity measure may be based on activity of units of one type (red) and another type (green). Similarity measures may comprise a cross-correlogram and/or mutual information determined over an activity window. Several similarity estimates, corresponding to different unit-to-unit pairs may be combined. The combination may comprise a weighted average. During network operation, the activity based plasticity mechanism may be used to potentiate connections between units of the same type (red-red). The plasticity mechanism may be used to depress connections between units of different types (red-green). | 05-01-2014 |
20140122398 | MODULATED PLASTICITY APPARATUS AND METHODS FOR SPIKING NEURON NETWORK - Apparatus and methods for modulated plasticity in a spiking neuron network. A plasticity mechanism may be configured for example based on a similarity measure between post-synaptic activities of two or more neurons that may be receiving the same feed-forward input. The similarity measure may comprise a dynamically determined cross-correlogram between the output spike trains of two neurons. An a priori configured similarity measure may be used during network operation in order to update efficacy of inhibitory connections between neighboring neurons. Correlated output activity may cause one neuron to inhibit output generation by another neuron thereby hindering responses by multiple neurons to the same input stimuli. The inhibition may be based on an increased efficacy of inhibitory lateral connection. The inhibition may comprise modulation of the pre synaptic portion the plasticity rule based on efficacies of feed-forward connection and inhibitory connections and a statistical parameter associated with the post-synaptic rule. | 05-01-2014 |
20140122397 | ADAPTIVE PLASTICITY APPARATUS AND METHODS FOR SPIKING NEURON NETWORK - Apparatus and methods for plasticity in a spiking neuron network. In one implementation, a plasticity mechanism is configured based on a similarity measure between neuron post-synaptic and pre-synaptic activity. The similarity measure may comprise a cross-correlogram between the output spike train and input spike train, determined over a plasticity window. Several correlograms, corresponding to individual input connections delivering pre-synaptic input, may be combined. The combination may comprise for example a weighted average. The averaged correlograms may be used to construct the long term potentiation component of the plasticity. The long term depression component of the plasticity may comprise e.g., a monotonic function based on a statistical parameter associated with the adaptively determined long term potentiation component. | 05-01-2014 |
20140032459 | APPARATUS AND METHODS FOR GENERALIZED STATE-DEPENDENT LEARNING IN SPIKING NEURON NETWORKS - Generalized state-dependent learning framework in artificial neuron networks may be implemented. A framework may be used to describe plasticity updates of neuron connections based on connection state term and neuron state term. The state connections within the network may be updated based on inputs and outputs to/from neurons. The input connections of a neuron may be updated using connection traces comprising a time-history of inputs provided via the connections. Weights of the connections may be updated and connection state may be time varying. The updated weights may be determined using a rate of change of the trace and a term comprising a product of a per-neuron contribution and a per-connection contribution configured to account for the state time-dependency. Using event-dependent connection change components, connection updates may be executed on per neuron basis, as opposed to per-connection basis. | 01-30-2014 |
20140019392 | INTELLIGENT MODULAR ROBOTIC APPARATUS AND METHODS - Apparatus and methods for an extensible robotic device with artificial intelligence and receptive to training controls. In one implementation, a modular robotic system that allows a user to fully select the architecture and capability set of their robotic device is disclosed. The user may add/remove modules as their respective functions are required/obviated. In addition, the artificial intelligence is based on a neuronal network (e.g., spiking neural network), and a behavioral control structure that allows a user to train a robotic device in manner conceptually similar to the mode in which one goes about training a domesticated animal such as a dog or cat (e.g., a positive/negative feedback training paradigm) is used. The trainable behavior control structure is based on the artificial neural network, which simulates the neural/synaptic activity of the brain of a living organism. | 01-16-2014 |
20130325775 | DYNAMICALLY RECONFIGURABLE STOCHASTIC LEARNING APPARATUS AND METHODS - Generalized learning rules may be implemented. A framework may be used to enable adaptive signal processing system to flexibly combine different learning rules (supervised, unsupervised, reinforcement learning) with different methods (online or batch learning). The generalized learning framework may employ average performance function as the learning measure thereby enabling modular architecture where learning tasks are separated from control tasks, so that changes in one of the modules do not necessitate changes within the other. Separation of learning tasks from the control tasks implementations may allow dynamic reconfiguration of the learning block in response to a task change or learning method change in real time. The generalized learning apparatus may be capable of implementing several learning rules concurrently based on the desired control application and without requiring users to explicitly identify the required learning rule composition for that application. | 12-05-2013 |
20130325774 | LEARNING STOCHASTIC APPARATUS AND METHODS - Generalized learning rules may be implemented. A framework may be used to enable adaptive signal processing system to flexibly combine different learning rules (supervised, unsupervised, reinforcement learning) with different methods (online or batch learning). The generalized learning framework may employ non-associative transform of time-averaged performance function as the learning measure, thereby enabling modular architecture where learning tasks are separated from control tasks, so that changes in one of the modules do not necessitate changes within the other. The use of non-associative transformations, when employed in conjunction with gradient optimization methods, does not bias the performance function gradient, on a long-term averaging scale and may advantageously enable stochastic drift thereby facilitating exploration leading to faster convergence of learning process. When applied to spiking learning networks, transforming the performance function using a constant term, may lead to non-associative increase of synaptic connection efficacy thereby providing additional exploration mechanisms. | 12-05-2013 |
20130325773 | STOCHASTIC APPARATUS AND METHODS FOR IMPLEMENTING GENERALIZED LEARNING RULES - Generalized learning rules may be implemented. A framework may be used to enable adaptive signal processing system to flexibly, combine different learning rules (supervised, unsupervised, reinforcement learning) with different methods (online or batch learning). The generalized learning framework may employ time-averaged performance function as the learning measure thereby enabling modular architecture where learning tasks are separated from control tasks, so that changes in one of the modules do not necessitate changes within the other. The generalized learning apparatus may be capable of implementing several learning rules concurrently based on the desired control application and without requiring users to explicitly identify the required learning rule composition for that application. | 12-05-2013 |
20130325768 | STOCHASTIC SPIKING NETWORK LEARNING APPARATUS AND METHODS - Generalized learning rules may be implemented. A framework may be used to enable adaptive spiking neuron signal processing system to flexibly combine different learning rules (supervised, unsupervised, reinforcement learning) with different methods (online or batch learning). The generalized learning framework may employ time-averaged performance function as the learning measure thereby enabling modular architecture where learning tasks are separated from control tasks, so that changes in one of the modules do not necessitate changes within the other. Separation of learning tasks from the control tasks implementations may allow dynamic reconfiguration of the learning block in response to a task change or learning method change in real time. The generalized spiking neuron learning apparatus may be capable of implementing several learning rules concurrently based on the desired control application and without requiring users to explicitly identify the required learning rule composition for that task. | 12-05-2013 |