Determining and utilizing corrections to robot actions
AssigneeGDM Holding LLC
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).
Claims20
A method implemented by one or more processors, the method comprising:
- receiving an instance of natural language user interface input provided by a user;
- processing the instance of natural language user interface input to determine that the instance of natural language user interface input corresponds to a sequence of robotic actions;
- in response to determining that the natural language user interface input corresponds to the sequence of robotic actions:
- providing control commands to one or more actuators of a robot to autonomously perform a subset of the robotic actions of the sequence, wherein each of the robotic actions comprises autonomously moving one or more corresponding components of the robot;
- during autonomous performance of the subset of the robotic actions of the sequence:
- receiving an additional instance of natural language user interface input provided by the user;
- processing the additional instance of natural language user interface input, received during autonomous performance of the subset of robotic actions of the sequence, to determine that the additional instance of natural language user interface input indicates a correction;
- and
- in response to determining that the additional instance of natural language user interface input indicates the correction:
- generating one or more alternative robotic actions, and
- providing further control commands to one or more of the actuators of the robot to autonomously perform the one or more alternative robotic actions.
A system comprising:
- memory storing instructions;
- one or more processors configured to execute the instructions to:
- receive an instance of natural language user interface input provided by a user;
- process the instance of natural language user interface input to determine that the instance of natural language user interface input corresponds to a sequence of robotic actions;
- in response to determining that the natural language user interface input corresponds to the sequence of robotic actions:
- provide control commands to one or more actuators of a robot to autonomously perform a subset of the robotic actions of the sequence,
- wherein each of the robotic actions comprises autonomously moving one or more corresponding components of the robot;
- during autonomous performance of the subset of the robotic actions of the sequence:
- receive an additional instance of natural language user interface input provided by the user;
- process the additional instance of natural language user interface input, received during autonomous performance of the subset of robotic actions of the sequence, to determine that the additional instance of natural language user interface input indicates a correction;
- and
- in response to determining that the additional instance of natural language user interface input indicates the correction:
- generate one or more alternative robotic actions, and
- provide further control commands to one or more of the actuators of the robot to autonomously perform the one or more alternative robotic actions.
Dependencies are inferred from the claim text.