公开(公告)号：US11685045B1

公开(公告)日：2023-06-27

申请号：US16948187

申请日：2020-09-08

Applicant: X Development LLC

Inventor： Alexander Herzog ,  Dmitry Kalashnikov ,  Julian Ibarz

IPC: B25J9/16

CPC classification number: B25J9/161 ,  B25J9/163 ,  B25J9/1661 ,  B25J9/1669 ,  B25J9/1697

Abstract: Asynchronous robotic control utilizing a trained critic network. During performance of a robotic task based on a sequence of robotic actions determined utilizing the critic network, a corresponding next robotic action of the sequence is determined while a corresponding previous robotic action of the sequence is still being implemented. Optionally, the next robotic action can be fully determined and/or can begin to be implemented before implementation of the previous robotic action is completed. In determining the next robotic action, most recently selected robotic action data is processed using the critic network, where such data conveys information about the previous robotic action that is still being implemented. Some implementations additionally or alternatively relate to determining when to implement a robotic action that is determined in an asynchronous manner.