Robotic control using action image(s) and critic network

US11607802B2 · kind B2 · utility

Assignee

• X Development LLC · US

Inventors

• Seyed Mohammad Khansari Zadeh · San Carlos, US
• Daniel Kappler · San Francisco, US
• Jianlan Luo · Mountain View, US
• Jeffrey Bingham · Sunnyvale, US
• Mrinal Kalakrishnan · Palo Alto, US

Key dates

• Filing date: May 28, 2020
• Grant date: Mar 21, 2023
• Expiry date: May 5, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30244
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Generating and utilizing action image(s) that represent a candidate pose (e.g., a candidate end effector pose), in determining whether to utilize the candidate pose in performance of a robotic task. The action image(s) and corresponding current image(s) can be processed, using a trained critic network, to generate a value that indicates a probability of success of the robotic task if component(s) of the robot are traversed to the particular pose. When the value satisfies one or more conditions (e.g., satisfies a threshold), the robot can be controlled to cause the component(s) to traverse to the particular pose in performing the robotic task.