公开(公告)号：US12210943B2

公开(公告)日：2025-01-28

申请号：US17161845

申请日：2021-01-29

Applicant: GOOGLE LLC

Inventor： Adrian Li ,  Benjamin Holson ,  Alexander Herzog ,  Mrinal Kalakrishnan

IPC: G06N20/00 ,  G06N3/008 ,  G06N5/04

Abstract: Implementations disclosed herein relate to utilizing at least one existing manually engineered policy, for a robotic task, in training an RL policy model that can be used to at least selectively replace a portion of the engineered policy. The RL policy model can be trained for replacing a portion of a robotic task and can be trained based on data from episodes of attempting performance of the robotic task, including episodes in which the portion is performed based on the engineered policy and/or other portion(s) are performed based on the engineered policy. Once trained, the RL policy model can be used, at least selectively and in lieu of utilization of the engineered policy, to perform the portion of robotic task, while other portion(s) of the robotic task are performed utilizing the engineered policy and/or other similarly trained (but distinct) RL policy model(s).

公开(公告)号：US20250131335A1

公开(公告)日：2025-04-24

申请号：US18991973

申请日：2024-12-23

Applicant: GOOGLE LLC

Inventor： Adrian Li ,  Benjamin Holson ,  Alexander Herzog ,  Mrinal Kalakrishnan

IPC: G06N20/00 ,  G06N3/008 ,  G06N5/04

Abstract: Implementations disclosed herein relate to utilizing at least one existing manually engineered policy, for a robotic task, in training an RL policy model that can be used to at least selectively replace a portion of the engineered policy. The RL policy model can be trained for replacing a portion of a robotic task and can be trained based on data from episodes of attempting performance of the robotic task, including episodes in which the portion is performed based on the engineered policy and/or other portion(s) are performed based on the engineered policy. Once trained, the RL policy model can be used, at least selectively and in lieu of utilization of the engineered policy, to perform the portion of robotic task, while other portion(s) of the robotic task are performed utilizing the engineered policy and/or other similarly trained (but distinct) RL policy model(s).

公开(公告)号：US12049004B1

公开(公告)日：2024-07-30

申请号：US18103312

申请日：2023-01-30

Applicant: GOOGLE LLC

Inventor： Peter Pastor Sampedro ,  Mrinal Kalakrishnan ,  Ali Yahya Valdovinos ,  Adrian Li ,  Kurt Konolige ,  Vincent Dureau

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/0084 ,  B25J9/163 ,  G05B2219/39271

Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.