Simulated local demonstration data for robotic demonstration learning
US11820014B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 21, 2020 |
| Grant date | Nov 21, 2023 |
| Priority date | — |
| Expiry date | Jul 28, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40391
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using simulated local demonstration data for robotic demonstration learning. One of the methods includes receiving perceptual data of a workcell of a robot to be configured to execute a task according to a skill template, wherein the skill template specifies one or more subtasks required to perform the skill, wherein at least one of the subtasks is a demonstration subtask that relies on learning visual characteristics of the workcell. A virtual model is generated of a portion of the workcell. A training system generates simulated local demonstration data from the virtual model of the portion of the workcell and tunes a base control policy for the demonstration subtask using the simulated local demonstration data generated from the virtual model of the portion of the workcell.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.