Learning device, learning method, and recording medium
AssigneeNEC Corporation
InventorsRin Takano, Hiroyuki Oyama
Life of this patent
Estimating the term…
Abstract
A learning device 1X mainly includes an optimization problem calculation means 51X and an executable state set learning means 52X. The optimization problem calculation means 51X calculates a function value to be a solution for an optimization problem which uses an evaluation function for evaluating reachability to a target state, based on an abstract system model and a detailed system model concerning a system in which a robot operates. The executable state set learning means 52X learns an executable state set of an action of the robot to be executed by a controller based on a function value.
Claims16
A learning device comprising:
- a memory storing instructions;
- and
- one or more processors configured to execute the instructions to:
- set an optimization problem which uses an evaluation function for evaluating reachability to a target state, based on an abstract system model and a detailed system model concerning a system in which a robot operates, a controller related to the robot, and a target parameter concerning an action of the robot, and calculate a function value of the evaluation function to be a solution of the optimization problem;
- and
- learn and control the robot based on a level set function representing an executable state set of the action of the robot to be executed by the controller, based on a plurality of pairs of function values and initial states set for the optimization problem.
A learning method performed by a computer, the learning method comprising:
- setting an optimization problem which uses an evaluation function for evaluating reachability to a target state, based on an abstract system model and a detailed system model concerning a system in which a robot operates, a controller related to the robot, and a target parameter concerning an action of the robot;
- calculating a function value of the evaluation function to be a solution of the optimization problem;
- and
- learning and controlling the robot based on a level set function representing an executable state set of the action of the robot to be executed by the controller, based on a plurality of pairs of function values and initial states set for the optimization problem.
A non-transitory computer-readable recording medium storing a program, the program causing a computer to perform the learning method comprising:
- setting an optimization problem which uses an evaluation function for evaluating reachability to a target state, based on an abstract system model and a detailed system model concerning a system in which a robot operates, a controller related to the robot, and a target parameter concerning an action of the robot;
- calculating a function value of the evaluation function to be a solution of the optimization problem;
- and
- learning and controlling the robot based on a level set function representing an executable state set of the action of the robot to be executed by the controller, based on a plurality of pairs of function values and initial states set for the optimization problem.
Dependencies are inferred from the claim text.