Apparatus and methods for object manipulation via action sequence optimization

    公开(公告)号:US11213947B2

    公开(公告)日:2022-01-04

    申请号:US16455263

    申请日:2019-06-27

    申请人: Intel Corporation

    IPC分类号: B25J9/16

    摘要: Methods, apparatus, systems and articles of manufacture are disclosed for object manipulation via action sequence optimization. An example method disclosed herein includes determining an initial state of a scene, generating a first action phase sequence to transform the initial state of the scene to a solution state of the scene by selecting a plurality of action phases based on action phase probabilities, determining whether a first simulated outcome of executing the first action phase sequence satisfies an acceptability criterion and, when the first simulated outcome does not satisfy the acceptability criterion, calculating a first cost function output based on a difference between the first simulated outcome and the solution state of the scene, the first cost function output utilized to generate updated action phase probabilities.

    APPARATUS AND METHODS FOR OBJECT MANIPULATION VIA ACTION SEQUENCE OPTIMIZATION

    公开(公告)号:US20220193895A1

    公开(公告)日:2022-06-23

    申请号:US17646689

    申请日:2021-12-31

    申请人: Intel Corporation

    IPC分类号: B25J9/16

    摘要: Methods, apparatus, systems and articles of manufacture are disclosed for object manipulation via action sequence optimization. An example method disclosed herein includes determining an initial state of a scene, generating a first action phase sequence to transform the initial state of the scene to a solution state of the scene by selecting a plurality of action phases based on action phase probabilities, determining whether a first simulated outcome of executing the first action phase sequence satisfies an acceptability criterion and, when the first simulated outcome does not satisfy the acceptability criterion, calculating a first cost function output based on a difference between the first simulated outcome and the solution state of the scene, the first cost function output utilized to generate updated action phase probabilities.

    Automatic robot perception programming by imitation learning

    公开(公告)号:US11577388B2

    公开(公告)日:2023-02-14

    申请号:US16455190

    申请日:2019-06-27

    申请人: Intel Corporation

    IPC分类号: B25J9/16

    摘要: Apparatus, systems, methods, and articles of manufacture for automatic robot perception programming by imitation learning are disclosed. An example apparatus includes a percept mapper to identify a first percept and a second percept from data gathered from a demonstration of a task and an entropy encoder to calculate a first saliency of the first percept and a second saliency of the second percept. The example apparatus also includes a trajectory mapper to map a trajectory based on the first percept and the second percept, the first percept skewed based on the first saliency, the second percept skewed based on the second saliency. In addition, the example apparatus includes a probabilistic encoder to determine a plurality of variations of the trajectory and create a collection of trajectories including the trajectory and the variations of the trajectory. The example apparatus also includes an assemble network to imitate an action based on a first simulated signal from a first neural network of a first modality and a second simulated signal from a second neural network of a second modality, the action representative of a perceptual skill.