Utilizing past contact physics in robotic manipulation (e.g., pushing) of an object
US11833661B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 31, 2021 |
| Grant date | Dec 5, 2023 |
| Priority date | — |
| Expiry date | May 15, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40607
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Utilization of past dynamics sample(s), that reflect past contact physics information, in training and/or utilizing a neural network model. The neural network model represents a learned value function (e.g., a Q-value function) and that, when trained, can be used in selecting a sequence of robotic actions to implement in robotic manipulation (e.g., pushing) of an object by a robot. In various implementations, a past dynamics sample for an episode of robotic manipulation can include at least two past images from the episode, as well as one or more past force sensor readings that temporally correspond to the past images from the episode.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.