Self-supervised robotic object interaction
US10635944B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 17, 2019 |
| Grant date | Apr 28, 2020 |
| Priority date | — |
| Expiry date | Jun 17, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39289
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training an object representation neural network. One of the methods includes obtaining training sets of images, each training set comprising: (i) a before image of a before scene of the environment, (ii) an after image of an after scene of the environment after the robot has removed a particular object, and (iii) an object image of the particular object, and training the object representation neural network on the batch of training data, comprising determining an update to the object representation parameters that encourages the vector embedding of the particular object in each training set to be closer to a difference between (i) the vector embedding of the after scene in the training set and (ii) the vector embedding of the before scene in the training set.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.