AUTOMATED PERSONALIZED FEEDBACK FOR INTERACTIVE LEARNING APPLICATIONS
A robot-training system permits a user touch, click on or otherwise select items from a display projected in the actual workspace in order to define task goals and constraints for the robot. A planning procedure responds to task definitions and constraints, and creates a sequence of robot instructions implementing the defined tasks.
1 - 19 . (canceled)
20 . A method of training a robot in a workspace, the method comprising:
computationally representing, by a controller, the robot in a 3D coordinate space corresponding to at least a portion of the workspace;
detecting, by the controller, a user intent associated with the workspace and corresponding to a task goal involving manipulation of a physical object by the robot;
computing, by the controller, a motion plan for the robot based on the task goal; and
causing, by the controller, the robot to execute at least one control function in accordance with the computed motion plan.
21 . The method of claim 20 , wherein detecting the user intent comprises at least one of:
detecting a movement of at least part of a user;
detecting a movement of a device; or
detecting a command uttered by a user.
22 . The method of claim 20 , further comprising:
detecting, by the controller, an additional user intent corresponding to a task constraint, wherein the motion plan is computed based on both the task goal and the task constraint.
23 . The method of claim 22 , wherein:
the task constraint comprises at least one implicit constraint associated with the task goal;
the at least one implicit constraint is determined by analyzing a recorded image of the workspace.
24 . The method of claim 20 , further comprising:
detecting user selection of an item within the workspace, wherein the robot is caused to execute the at least one control function on the item.
25 . The method of claim 22 , wherein the task goal is a manipulation goal.
26 . The method of claim 25 , wherein the task goal comprises an object pick goal and an object place goal including a placement location.
27 . The method of claim 26 , wherein the task constraint comprises an obstacle between an initial object location and the placement location.
28 . The method of claim 20 , wherein the task goal is an end-effector goal.
29 . The method of claim 20 , wherein the task goal is an object-relative goal.
30 . The method of claim 20 , wherein the task goal is a volume/area goal.
31 . An apparatus for controlling a robot in a workspace, comprising:
a memory having instructions stored thereon; and
at least one processor operatively coupled to the memory and configured to read the instructions to:
computationally represent the robot in a 3D coordinate space corresponding to at least a portion of the workspace,
detect a user intent associated with the workspace and corresponding to a task goal involving manipulation of a physical object by the robot,
compute a motion plan for the robot based on the task goal, and
cause the robot to execute at least one control function in accordance with the computed motion plan.
32 . The apparatus of claim 31 , wherein the apparatus is within the robot.
33 . The apparatus of claim 31 , wherein the apparatus is external to the robot and communicates with the robot via a network.
34 . The apparatus of claim 31 , wherein the user intent is detected based on at least one of:
a movement of at least part of a user;
a movement of a device; or
a command uttered by a user.
35 . The apparatus of claim 31 , wherein the at least one processor is configured to:
detect an additional user intent corresponding to a task constraint, wherein the motion plan is computed based on both the task goal and the task constraint.
36 . The apparatus of claim 35 , wherein:
the task constraint comprises at least one implicit constraint associated with the task goal;
the at least one implicit constraint is determined by analyzing a recorded image of the workspace.
37 . The apparatus of claim 31 , wherein the at least one processor is configured to:
detect user selection of an item within the workspace, wherein the robot is caused to execute the at least one control function on the item.
38 . The apparatus of claim 35 , wherein:
the task goal is a manipulation goal;
the manipulation goal comprises an object pick goal and an object place goal including a placement location; and
the task constraint comprises an obstacle between an initial object location and the placement location.
39 . The apparatus of claim 31 , wherein the task goal is at least one of: an end-effector goal, an object-relative goal, or a volume/area goal.