公开(公告)号：WO2021236504A1

公开(公告)日：2021-11-25

申请号：PCT/US2021/032736

申请日：2021-05-17

Applicant: INTRINSIC INNOVATION LLC

Inventor： KOLLURI, Bala Venkata Sai Ravi Krishna ,  SCHAAL, Stefan ,  DAVIS, Benjamin M. ,  SCHONHERR, Ralf Oliver Michael ,  YE, Ning

IPC: B25J9/16 ,  G05B19/423

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for distributing skill templates for robotic demonstration learning. One of the methods includes receiving, from the user device by a skill template distribution system, a selection of an available skill template. The skill template distribution system provides a skill template, wherein the skill template comprises information representing a state machine of one or more tasks, and wherein the skill template specifies which of the one or more tasks are demonstration subtasks requiring local demonstration data. The skill template distribution system trains a machine learning model for the demonstration subtask using a local demonstration data to generate learned parameter values.

公开(公告)号：WO2021236506A1

公开(公告)日：2021-11-25

申请号：PCT/US2021/032741

申请日：2021-05-17

Applicant: INTRINSIC INNOVATION LLC

Inventor： KOLLURI, Bala Venkata Sai Ravi Krishna ,  SCHAAL, Stefan ,  DAVIS, Benjamin M. ,  SCHONHERR, Ralf Oliver Michael ,  YE, Ning

IPC: B25J9/16 ,  G05B19/423

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for distributed robotic demonstration learning. One of the methods includes receiving a skill template to be trained to cause a robot to perform a particular skill having a plurality of subtasks. One or more demonstration subtasks defined by the skill template are identified, wherein each demonstration subtask is an action to be refined using local demonstration data. On online execution system uploads sets of local demonstration data to a cloud-based training system. The cloud-based training system generates respective trained model parameters for each set of local demonstration data. The skill template is executed on the robot using the trained model parameters generated by the cloud-based training system.

公开(公告)号：WO2021236365A1

公开(公告)日：2021-11-25

申请号：PCT/US2021/031482

申请日：2021-05-10

Applicant: INTRINSIC INNOVATION LLC

Inventor： KOLLURI, Bala Venkata Sai Ravi Krishna ,  SCHAAL, Stefan ,  DAVIS, Benjamin M. ,  SCHONHERR, Ralf Oliver Michael ,  YE, Ning

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using skill templates for robotic demonstration learning. One of the methods includes receiving a skill template for a task to be performed by a robot, wherein the skill template defines a state machine having a plurality of subtasks and one or more respective transition conditions between one or more of the subtasks. Local demonstration data for a demonstration subtask of the skill template is received, where the local demonstration data is generated from a user demonstrating how to perform the demonstration subtask with the robot. A machine learning model is refined for the demonstration subtask and the skill template is executed on the robot, causing the robot to transition through the state machine defined by the skill template to perform the task.