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：US12070859B2

公开(公告)日：2024-08-27

申请号：US17934877

申请日：2022-09-23

Applicant: Google LLC

Inventor： Benjamin Holson

IPC: B25J9/16 ,  G05D1/00

CPC classification number: B25J9/162 ,  G05D1/0088 ,  G05D1/0246

Abstract: A method includes receiving sensor data representative of surfaces in a physical environment containing an interaction point for a robotic device and determining, based on the sensor data, a height map of the surfaces in the physical environment. The method also includes determining, by inputting the height map and the interaction point into a pre-trained model, one or more candidate positions for a base of the robotic device to allow a manipulator of the robotic device to reach the interaction point. The method additionally includes determining a collision-free trajectory to be followed by the manipulator of the robotic device to reach the interaction point when the base of the robotic device is positioned at a selected candidate position of the one or more candidate positions and, based on determining the collision-free trajectory, causing the base of the robotic device to move to the selected candidate position within the physical environment.

公开(公告)号：US11878427B2

公开(公告)日：2024-01-23

申请号：US18068100

申请日：2022-12-19

Applicant: Google LLC

Inventor： Benjamin Holson

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/1671 ,  B25J9/1697 ,  Y10S901/01 ,  Y10S901/07 ,  Y10S901/09

Abstract: Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.