Machine learning methods and apparatus for semantic robotic grasping
US11717959B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 28, 2018 |
| Grant date | Aug 8, 2023 |
| Priority date | — |
| Expiry date | Aug 25, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39536
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Deep machine learning methods and apparatus related to semantic robotic grasping are provided. Some implementations relate to training a training a grasp neural network, a semantic neural network, and a joint neural network of a semantic grasping model. In some of those implementations, the joint network is a deep neural network and can be trained based on both: grasp losses generated based on grasp predictions generated over a grasp neural network, and semantic losses generated based on semantic predictions generated over the semantic neural network. Some implementations are directed to utilization of the trained semantic grasping model to servo, or control, a grasping end effector of a robot to achieve a successful grasp of an object having desired semantic feature(s).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.