Distributed robotic demonstration learning

US11679497B2 · kind B2 · utility

Assignee

• Intrinsic Innovation LLC · US

Inventors

• Bala Venkata Sai Ravi Krishna Kolluri · Fremont, US
• Stefan Schaal · Mountain View, US
• Benjamin Davis · Oakland, US
• Ralf Oliver Michael Schönherr · San Francisco, US
• Ning Ye · San Jose, US

Key dates

• Filing date: May 21, 2020
• Grant date: Jun 20, 2023
• Expiry date: Feb 25, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40391
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for distributed robotic demonstration learning. One of the methods includes receiving a skill template to be trained to cause a robot to perform a particular skill having a plurality of subtasks. One or more demonstration subtasks defined by the skill template are identified, wherein each demonstration subtask is an action to be refined using local demonstration data. On online execution system uploads sets of local demonstration data to a cloud-based training system. The cloud-based training system generates respective trained model parameters for each set of local demonstration data. The skill template is executed on the robot using the trained model parameters generated by the cloud-based training system.