公开(公告)号：US20250068966A1

公开(公告)日：2025-02-27

申请号：US18456030

申请日：2023-08-25

Applicant: NVIDIA Corporation

Inventor： Ajay Uday MANDLEKAR ,  Caelan Reed GARRETT ,  Danfei XU ,  Dieter FOX

IPC: G06N20/00

Abstract: In various examples, systems and methods are disclosed relating to training machine learning models using human demonstration of segments of a task, where other segments of the task are performed by a planning method, such as a Task and Motion Planning (TAMP) system. A method may include segmenting a task to be performed by a robot into segments, determining a first set of instructions of a plurality of sets of instructions for operating the robot to perform a first objective of a first segment, determining that the plurality of sets of instructions is inadequate to perform a second objective of a second segment, receiving from a user device a second set of instructions for operating the robot for the second segment following an end of the first segment, and updating a machine learning model for controlling the robot using the second set of instructions for the second segment.

公开(公告)号：US20240338598A1

公开(公告)日：2024-10-10

申请号：US18606938

申请日：2024-03-15

Applicant: NVIDIA CORPORATION

Inventor： Caelan Reed GARRETT ,  Fabio TOZETO RAMOS ,  Iretiayo AKINOLA ,  Alperen DEGIRMENCI ,  Clemens EPPNER ,  Dieter FOX ,  Tucker Ryer HERMANS ,  Ajay Uday MANDLEKAR ,  Arsalan MOUSAVIAN ,  Yashraj Shyam NARANG ,  Rowland Wilde O'FLAHERTY ,  Balakumar SUNDARALINGAM ,  Wei YANG

IPC: G06N20/00

CPC classification number: G06N20/00

Abstract: One embodiment of a method for generating simulation data to train a machine learning model includes generating a plurality of simulation environments based on a user input, and for each simulation environment included in the plurality of simulation environments: generating a plurality of tasks for a robot to perform within the simulation environment, performing one or more operations to determine a plurality of robot trajectories for performing the plurality of tasks, and generating simulation data for training a machine learning model by performing one or more operations to simulate the robot moving within the simulation environment according to the plurality of trajectories.