Expedited robot teach-through initialization from previously trained system

A computing system comprising:

• one or more memories;
• one or more processing units coupled to the one or more memories;
• and
• one or more computer-readable storage media storing instructions that, when executed, cause the computing system to perform operations comprising:
• obtaining a first set of parameters of a first trained robot-control model of a first robot trained to perform a first task;
• accessing an intermediate robot-control model and an untrained robot control model of a second robot, wherein the second robot differs from the first robot in at least one of hardware, assembly, or material;
• prior to training the second robot to perform a second task, initializing an intermediate robot-control model of the second robot based on the first set of parameters;
• configuring an untrained robot-control model of the second robot to receive, as input, outputs of the intermediate robot-control model that has been initialized based on the first set of parameters, the untrained robot-control model having a second set of parameters;
• training the second robot to perform the second task, wherein the training comprises:
• causing the second robot to perform the second task using the intermediate robot-control model and the untrained robot-control model, wherein the second task is the same as the first task;
• and
• adjusting the second set of parameters of the untrained robot-control model based on performance of the second robot in performing the second task;
• and
• storing a second trained robot-control model including the intermediate robot-control model with the first set of parameters and a trained version of the untrained robot-control model with the adjusted second set of parameters in memory.

A method implemented by a computing system, the method comprising:

• obtaining a first set of parameters of a first trained robot-control model of a first robot trained to perform a first task;
• accessing an intermediate robot-control model and an untrained robot control model of a second robot, wherein the second robot differs from the first robot in at least one of hardware, assembly, or material;
• prior to training the second robot to perform a second task, initializing the intermediate robot-control model of the second robot based on the first set of parameters;
• configuring the untrained robot-control model of the second robot to receive, as input, outputs of the initialized intermediate robot-control model;
• training the second robot to perform the second task, the training comprising:
• causing the second robot to perform the second task using the intermediate robot-control model and the untrained robot-control model;
• and
• adjusting a second set of parameters of the untrained robot-control model based on performance of the second robot in performing the second task;
• and
• storing a second trained robot-control model including the intermediate robot-control model initialized with the first set of parameters and a trained version of the untrained robot-control model with the adjusted second set of parameters in memory.