Guided uncertainty-aware policy optimization: combining model-free and model-based strategies for sample-efficient learning
US12109701B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 3, 2020 |
| Grant date | Oct 8, 2024 |
| Priority date | — |
| Expiry date | Mar 5, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N3/088
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A robot is controlled using a combination of model-based and model-free control methods. In some examples, the model-based method uses a physical model of the environment around the robot to guide the robot. The physical model is oriented using a perception system such as a camera. Characteristics of the perception system may be are used to determine an uncertainty for the model. Based at least in part on this uncertainty, the system transitions from the model-based method to a model-free method where, in some embodiments, information provided directly from the perception system is used to direct the robot without reliance on the physical model.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.