Learning from demonstration for determining robot perception motion
AssigneeGDM Holding LLC
InventorsAmmar Husain, Mikael Persson
Life of this patent
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Abstract
A method includes determining, for a robotic device that comprises a perception system, a robot planner state representing at least one future path for the robotic device in an environment. The method also includes determining a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states corresponding to a plurality of operator-directed perception system trajectories. The method further includes controlling, by the robotic device, the perception system to move through the determined perception system trajectory.
Claims20
A method comprising:
- determining, for a robotic device that comprises a perception system, a robot planner state representing at least one future path for the robotic device in an environment, wherein the perception system is independently controllable to move relative to the robotic device to view the environment from different perspectives;
- determining a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states and a corresponding plurality of operator-directed perception system trajectories, wherein each of the operator-directed perception system trajectories is based on operator-generated instructions for control of a respective perception system relative to a respective robotic device for the corresponding robot planner state, and wherein the perception system trajectory comprises a trajectory through which to move the perception system relative to the robotic device;
- and
- controlling, by the robotic device, the perception system to move through the determined perception system trajectory relative to the robotic device.
A robotic device comprising:
- a perception system, wherein the perception system is independently controllable to move relative to the robotic device to view an environment from different perspectives;
- and
- a control system configured to:
- determine a robot planner state representing at least one future path for the robotic device in the environment;
- determine a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states and a corresponding plurality of operator-directed perception system trajectories, wherein each of the operator-directed perception system trajectories is based on operator-generated instructions for control of a respective perception system relative to a respective robotic device for the corresponding robot planner state, and wherein the perception system trajectory comprises a trajectory through which to move the perception system relative to the robotic device;
- and
- control the perception system to move through the determined perception system trajectory relative to the robotic device.
A non-transitory computer readable medium comprising program instructions executable by at least one processor to cause the at least one processor to perform functions comprising:
- determining, for a robotic device that comprises a perception system, a robot planner state representing at least one future path for the robotic device in an environment, wherein the perception system is independently controllable to move relative to the robotic device to view the environment from different perspectives;
- determining a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states and a corresponding plurality of operator-directed perception system trajectories, wherein each of the operator-directed perception system trajectories is based on operator-generated instructions for control of a respective perception system relative to a respective robotic device for the corresponding robot planner state, and wherein the perception system trajectory comprises a trajectory through which to move the perception system relative to the robotic device;
- and
- controlling the perception system to move through the determined perception system trajectory relative to the robotic device.
Dependencies are inferred from the claim text.