Learning to acquire and adapt contact-rich manipulation skills with motion primitives
AssigneeIntrinsic Innovation LLC
InventorsWenzhao Lian, Stefan Schaal, Zheng Wu
Life of this patent
Estimating the term…
Abstract
A computer-implemented method comprising, receiving data representing a successful trajectory for an insertion task using a robot to insert a connector into a receptacle, performing a parameter optimization process for the robot to perform the insertion task. This parameter optimization includes defining an objective function that measures a similarity of a current trajectory generated with a current set of parameters to the successful trajectory and repeatedly modifying the current set of parameters and evaluating the modified set of parameters according to the objective function until generating a final set of parameters.
Claims21
A computer-implemented method comprising:
- receiving data representing a successful trajectory for an insertion task using a robot to insert a connector into a receptacle;
- performing a parameter optimization process for the robot to perform the insertion task including:
- defining an objective function that measures a similarity of a current trajectory generated with a current set of parameters to the successful trajectory, and
- repeatedly modifying the current set of parameters and evaluating the modified set of parameters according to the objective function until generating a final set of parameters;
- adding the final set of parameters to a task library;
- receiving a new insertion task;
- selecting the final set of parameters based on the new insertion task;
- and
- adapting the new insertion task using the final set of parameters.
A system comprising:
- one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
- receiving data representing a successful trajectory for an insertion task using a robot to insert a connector into a receptacle;
- performing a parameter optimization process for the robot to perform the insertion task including:
- defining an objective function that measures a similarity of a current trajectory generated with a current set of parameters to the successful trajectory, and
- repeatedly modifying the current set of parameters and evaluating the modified set of parameters according to the objective function until generating a final set of parameters;
- adding the final set of parameters to a task library;
- receiving a new insertion task;
- selecting the final set of parameters based on the new insertion task;
- and
- adapting the new insertion task using the final set of parameters.
One or more non-transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:
- receiving data representing a successful trajectory for an insertion task using a robot to insert a connector into a receptacle;
- performing a parameter optimization process for the robot to perform the insertion task including:
- defining an objective function that measures a similarity of a current trajectory generated with a current set of parameters to the successful trajectory, and
- repeatedly modifying the current set of parameters and evaluating the modified set of parameters according to the objective function until generating a final set of parameters;
- adding the final set of parameters to a task library;
- receiving a new insertion task;
- selecting the final set of parameters based on the new insertion task;
- and
- adapting the new insertion task using the final set of parameters.
Dependencies are inferred from the claim text.