公开(公告)号：US20240094736A1

公开(公告)日：2024-03-21

申请号：US18240124

申请日：2023-08-30

Applicant: GOOGLE LLC

Inventor： Catie Cuan ,  Tsang-Wei Lee ,  Anthony G. Francis, JR. ,  Alexander Toshev ,  Soeren Pirk

IPC: G05D1/02 ,  G06V10/80 ,  G06V10/82 ,  G06V40/20

CPC classification number: G05D1/0221 ,  G05D1/0248 ,  G05D1/0274 ,  G06V10/80 ,  G06V10/82 ,  G06V40/28

Abstract: Training and/or utilizing a high-level neural network (NN) model, such as a sequential NN model. The high-level NN model, when trained, can be used to process a sequence of consecutive state data instances (e.g., N most recent, including a current state date instance) to generate a sequence of outputs that indicate a sequence of position deltas. The sequence of position deltas can be used to generate an intermediate target position for navigation and, optionally, an intermediate target orientation that corresponds to the intermediate target position. The intermediate target position and, optionally, the intermediate target orientation, can be provided to a low-level navigation policy, such as an MPC policy, and used by the low-level navigation policy as its goal position (and optionally goal orientation) for a plurality of iterations (e.g., until a new intermediate target position (and optionally new target orientation) is generated using the high-level NN model.