公开(公告)号：US20210347047A1

公开(公告)日：2021-11-11

申请号：US16867437

申请日：2020-05-05

Applicant: X Development LLC

Inventor： Maryam Bandari ,  Kuangye Chen

IPC: B25J9/16 ,  G05B13/02 ,  G06N3/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating a trajectory of a robot. One of the methods includes receiving a plurality of path points; processing each network input in an input sequence that is derived from the path points using a trajectory generation neural network to generate an output sequence comprising a plurality of network outputs, each network output specifying a respective displacement between two adjacent trajectory points; and generating, based on the output sequence, a predicted trajectory of the robot.