公开(公告)号：US11640517B2

公开(公告)日：2023-05-02

申请号：US17460861

申请日：2021-08-30

Applicant: X DEVELOPMENT LLC

Inventor： Krishna Shankar ,  Nicolas Hudson ,  Alexander Toshev

IPC: G06N3/04 ,  G06N3/08 ,  B25J9/16 ,  G06K9/62 ,  G06N3/00 ,  G06N3/008 ,  G06N3/084

Abstract: Methods, apparatus, and computer-readable media for determining and utilizing corrections to robot actions. Some implementations are directed to updating a local features model of a robot in response to determining a human correction of an action performed by the robot. The local features model is used to determine, based on an embedding generated over a corresponding neural network model, one or more features that are most similar to the generated embedding. Updating the local features model in response to a human correction can include updating a feature embedding, of the local features model, that corresponds to the human correction. Adjustment(s) to the features model can immediately improve robot performance without necessitating retraining of the corresponding neural network model.

公开(公告)号：US20210390371A1

公开(公告)日：2021-12-16

申请号：US17460861

申请日：2021-08-30

Applicant: X DEVELOPMENT LLC

Inventor： Krishna Shankar ,  Nicolas Hudson ,  Alexander Toshev

IPC: G06N3/04 ,  G06N3/08 ,  B25J9/16 ,  G06N3/00 ,  G06K9/62

Abstract: Methods, apparatus, and computer-readable media for determining and utilizing corrections to robot actions. Some implementations are directed to updating a local features model of a robot in response to determining a human correction of an action performed by the robot. The local features model is used to determine, based on an embedding generated over a corresponding neural network model, one or more features that are most similar to the generated embedding. Updating the local features model in response to a human correction can include updating a feature embedding, of the local features model, that corresponds to the human correction. Adjustment(s) to the features model can immediately improve robot performance without necessitating retraining of the corresponding neural network model.