公开(公告)号：US11179847B2

公开(公告)日：2021-11-23

申请号：US16341184

申请日：2017-10-12

Applicant: Google LLC

Inventor： Mrinal Kalakrishnan ,  Vikas Sindhwani

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for a system configured to plan actions to be performed by a robotic agent interacting with an environment to accomplish an objective by determining an optimized trajectory of state—action pairs for accomplishing the objective. The system maintains a current optimized trajectory and a current trust region radius, and optimizes a localized objective within the current trust region radius of the current optimized trajectory to determine a candidate updated optimized trajectory. The system determines whether the candidate updated optimized trajectory improves over the current optimized trajectory. In response to determining that the candidate updated optimized trajectory improves over the current optimized trajectory, the system updates the current optimized trajectory to the candidate updated optimized trajectory and updates the current trust region radius.

公开(公告)号：US20200279134A1

公开(公告)日：2020-09-03

申请号：US16649599

申请日：2018-09-20

Applicant: GOOGLE LLC

Inventor： Konstantinos Bousmalis ,  Alexander Irpan ,  Paul Wohlhart ,  Yunfei Bai ,  Mrinal Kalakrishnan ,  Julian Ibarz ,  Sergey Vladimir Levine ,  Kurt Konolige ,  Vincent O. Vanhoucke ,  Matthew Laurance Kelcey

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

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training an action selection neural network that is used to control a robotic agent interacting with a real-world environment.