Determining and utilizing corrections to robot actions
AssigneeGoogle Inc.
InventorsNicolas Hudson, Devesh Yamparala
Life of this patent
Estimating the term…
Abstract
Methods, apparatus, and computer-readable media for determining and utilizing human corrections to robot actions. In some implementations, in response to determining a human correction of a robot action, a correction instance is generated that includes sensor data, captured by one or more sensors of the robot, that is relevant to the corrected action. The correction instance can further include determined incorrect parameter(s) utilized in performing the robot action and/or correction information that is based on the human correction. The correction instance can be utilized to generate training example(s) for training one or model(s), such as neural network model(s), corresponding to those used in determining the incorrect parameter(s).
Claims17
A method implemented by one or more processors, the method comprising:
- receiving, via at least one microphone of a robot, an instance of spoken natural language user interface input provided by a user;
- processing the instance of spoken natural language user interface input to determine that the instance of spoken natural language user interface input conforms to a sequence of robotic actions;
- in response to determining that the spoken natural language user interface input conforms to the sequence of robotic actions:
- providing control commands to one or more actuators of the robot to autonomously perform each of the robotic actions of the sequence, wherein each of the robotic actions comprises autonomously moving one or more corresponding components of the robot;
- and
- during autonomous performance of each of the robotic actions of the sequence, rendering, via at least one user interface output device of the robot, corresponding natural language user interface output that describes the robotic action being performed.
A robot comprising:
- at least one microphone;
- at least one user interface output device;
- actuators;
- memory storing instructions;
- one or more processors configured to execute the instructions to:
- receive, via the at least one microphone, an instance of spoken natural language user interface input provided by a user;
- process the instance of spoken natural language user interface input to determine that the instance of spoken natural language user interface input conforms to a sequence of robotic actions;
- in response to determining that the spoken natural language user interface input conforms to the sequence of robotic actions:
- provide control commands to one or more of the actuators to autonomously perform each of the robotic actions of the sequence, wherein each of the robotic actions comprises autonomously moving one or more corresponding components of the robot;
- and
- during autonomous performance of each of the robotic actions of the sequence, render, via the user interface output device, corresponding natural language user interface output that describes the robotic action being performed.
A system comprising:
- memory storing instructions;
- one or more processors configured to execute the instructions to:
- receive, via at least one microphone of a robot, an instance of spoken natural language user interface input provided by a user;
- process the instance of spoken natural language user interface input to determine that the instance of spoken natural language user interface input conforms to a sequence of robotic actions;
- in response to determining that the spoken natural language user interface input conforms to the sequence of robotic actions:
- provide control commands to one or more actuators of the robot to autonomously perform each of the robotic actions of the sequence, wherein each of the robotic actions comprises autonomously moving one or more corresponding components of the robot;
- and
- during autonomous performance of each of the robotic actions of the sequence, render, via a user interface output device of the robot, corresponding natural language user interface output that describes the robotic action being performed.
Dependencies are inferred from the claim text.