公开(公告)号：US12083678B2

公开(公告)日：2024-09-10

申请号：US17422260

申请日：2020-01-23

Applicant: Google LLC

Inventor： Mrinal Kalakrishnan ,  Yunfei Bai ,  Paul Wohlhart ,  Eric Jang ,  Chelsea Finn ,  Seyed Mohammad Khansari Zadeh ,  Sergey Levine ,  Allan Zhou ,  Alexander Herzog ,  Daniel Kappler

IPC: B25J9/16

CPC classification number: B25J9/163 ,  G05B2219/40116 ,  G05B2219/40499

Abstract: Techniques are disclosed that enable training a meta-learning model, for use in causing a robot to perform a task, using imitation learning as well as reinforcement learning. Some implementations relate to training the meta-learning model using imitation learning based on one or more human guided demonstrations of the task. Additional or alternative implementations relate to training the meta-learning model using reinforcement learning based on trials of the robot attempting to perform the task. Further implementations relate to using the trained meta-learning model to few shot (or one shot) learn a new task based on a human guided demonstration of the new task.

公开(公告)号：US20220105624A1

公开(公告)日：2022-04-07

申请号：US17422260

申请日：2020-01-23

Applicant: Google LLC

Inventor： Mrinal Kalakrishnan ,  Yunfei Bai ,  Paul Wohlhart ,  Eric Jang ,  Chelsea Finn ,  Seyed Mohammad Khansari Zadeh ,  Sergey Levine ,  Allan Zhou ,  Alexander Herzog ,  Daniel Kappler

IPC: B25J9/16

Abstract: Techniques are disclosed that enable training a meta-learning model, for use in causing a robot to perform a task, using imitation learning as well as reinforcement learning. Some implementations relate to training the meta-learning model using imitation learning based on one or more human guided demonstrations of the task. Additional or alternative implementations relate to training the meta-learning model using reinforcement learning based on trials of the robot attempting to perform the task. Further implementations relate to using the trained meta-learning model to few shot (or one shot) learn a new task based on a human guided demonstration of the new task.