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US 11,999,060 B2Granted
Action learning method, medium, and electronic device
AssigneeCloudminds Robotics Co., Ltd.
InventorsZhanChao Zhang, Xiao-Qing William Huang
Life of this patent
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Abstract
An action learning method, including: acquiring human body moving image data; determining three-dimensional human body pose action data corresponding to the human body moving image data; matching the three-dimensional human body pose action data with atomic actions in a robot atomic action library to determine robot action sequence data corresponding to the human body moving image data; performing action continuity stitching on all robot sub-actions in the robot action sequence data sequentially; determining a continuous action learned by a robot from the robot action sequence data subjected to the action continuity stitching.
Claims15
An action learning method, comprising:
- acquiring human body moving image data;
- determining three-dimensional human body pose action data corresponding to the human body moving image data, wherein the three-dimensional human body pose action data comprising a plurality of three-dimensional human body poses arranged in a chronological order of actions;
- matching the three-dimensional human body pose action data with atomic actions in a robot atomic action library to determine robot action sequence data corresponding to the human body moving image data, wherein the robot action sequence data comprises a plurality of robot sub-actions comprising the atomic actions and/or mapped actions obtained by mapping the three-dimensional human body pose action data,
- performing action continuity stitching on all robot sub-actions in the robot action sequence data;
- and
- determining a continuous action learned by a robot from the robot action sequence data subjected to the action continuity stitching;
- wherein performing action continuity stitching on all robot sub-actions in the robot action sequence data comprises:
- performing avoidance processing on self-collision anomaly occurring in the robot action sequence data obtained by the sequential stitching of the robot sub-actions.
5 more elements
A non-transitory computer-readable storage medium storing a computer program which, when executed by a processor:
- acquires human body moving image data;
- determines three-dimensional human body pose action data corresponding to the human body moving image data, wherein the three-dimensional human body pose action data comprising a plurality of three-dimensional human body poses arranged in a chronological order of actions;
- matches the three-dimensional human body pose action data with atomic actions in a robot atomic action library to determine robot action sequence data corresponding to the human body moving image data, wherein the robot action sequence data comprises a plurality of robot sub-actions comprising the atomic actions and/or mapped actions obtained by mapping the three-dimensional human body pose action data;
- performs action continuity stitching on all robot sub-actions in the robot action sequence data;
- and
- determines a continuous action learned by a robot from the robot action sequence data subjected to the action continuity stitching;
- wherein performing action continuity stitching on all robot sub-actions in the robot action sequence data comprises:
- performing avoidance processing on self-collision anomaly occurring in the robot action sequence data obtained by the sequential stitching of the robot sub-actions.
5 more elements
An electronic device, comprising:
- a memory storing a computer program;
- and a processor, configured to execute the computer program in the memory to:
- acquire human body moving image data;
- determine three-dimensional human body pose action data corresponding to the human body moving image data, wherein the three-dimensional human body pose action data comprising a plurality of three-dimensional human body poses arranged in a chronological order of actions;
- match the three-dimensional human body pose action data with atomic actions in a robot atomic action library to determine robot action sequence data corresponding to the human body moving image data, wherein the robot action sequence data comprises a plurality of robot sub-actions comprising the atomic actions and/or mapped actions obtained by mapping the three-dimensional human body pose action data;
- perform action continuity stitching on all robot sub-actions in the robot action sequence data;
- and determine a continuous action learned by a robot from the robot action sequence data subjected to the action continuity stitching;
- wherein the processor is further configured to:
- perform avoidance processing on self-collision anomaly occurring in the robot action sequence data obtained by the sequential stitching of the robot sub-actions.
6 more elements
Dependencies are inferred from the claim text.