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公开(公告)号:US11436441B2
公开(公告)日:2022-09-06
申请号:US16717471
申请日:2019-12-17
Applicant: Google LLC
Inventor: Jie Tan , Sehoon Ha , Tingnan Zhang , Xinlei Pan , Brian Andrew Ichter , Aleksandra Faust
Abstract: A computer-implemented method is disclosed for training one or more machine-learned models. The method can include inputting a first image frame and a second image frame into a feature disentanglement model and receiving, as an output of the machine-learned feature disentanglement model, a state feature and a perspective feature. The method can include inputting the state feature and the perspective feature into a machine-learned decoder model and receiving, as an output of the machine-learned decoder model, the reconstructed image frame. The method can include comparing the reconstructed image frame with a third image frame corresponding with the location and the perspective orientation. The method can include adjusting one or more parameters of the machine-learned feature disentanglement model based on the comparison of the reconstructed image frame and the third image frame.
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公开(公告)号:US20210182620A1
公开(公告)日:2021-06-17
申请号:US16717471
申请日:2019-12-17
Applicant: Google LLC
Inventor: Jie Tan , Sehoon Ha , Tingnan Zhang , Xinlei Pan , Brian Andrew Ichter , Aleksandra Faust
Abstract: A computer-implemented method is disclosed for training one or more machine-learned models. The method can include inputting a first image frame and a second image frame into a feature disentanglement model and receiving, as an output of the machine-learned feature disentanglement model, a state feature and a perspective feature. The method can include inputting the state feature and the perspective feature into a machine-learned decoder model and receiving, as an output of the machine-learned decoder model, the reconstructed image frame. The method can include comparing the reconstructed image frame with a third image frame corresponding with the location and the perspective orientation. The method can include adjusting one or more parameters of the machine-learned feature disentanglement model based on the comparison of the reconstructed image frame and the third image frame.
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