公开(公告)号：US20240118667A1

公开(公告)日：2024-04-11

申请号：US17767675

申请日：2020-05-15

Applicant: GOOGLE LLC

Inventor： Kanishka Rao ,  Chris Harris ,  Julian Ibarz ,  Alexander Irpan ,  Seyed Mohammad Khansari Zadeh ,  Sergey Levine

IPC: G05B13/02 ,  B25J9/16 ,  B25J19/02

CPC classification number: G05B13/0265 ,  B25J9/1605 ,  B25J9/163 ,  B25J9/1697 ,  B25J19/023

Abstract: Implementations disclosed herein relate to mitigating the reality gap through training a simulation-to-real machine learning model (“Sim2Real” model) using a vision-based robot task machine learning model. The vision-based robot task machine learning model can be, for example, a reinforcement learning (“RL”) neural network model (RL-network), such as an RL-network that represents a Q-function.