Generating robot trajectories using neural networks
OwnerMaryam Bandari, Kuangye Cheninventors
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Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating a trajectory of a robot. One of the methods includes receiving a plurality of path points; processing each network input in an input sequence that is derived from the path points using a trajectory generation neural network to generate an output sequence comprising a plurality of network outputs, each network output specifying a respective displacement between two adjacent trajectory points; and generating, based on the output sequence, a predicted trajectory of the robot.
Claims20
A method of generating a trajectory of a robot, the method comprising:
- receiving a plurality of path points;
- processing each network input of a plurality of network inputs in an input sequence that is derived from the path points using a trajectory generation neural network to generate an output sequence comprising a plurality of network outputs, each network output specifying a respective displacement between two adjacent trajectory points;
- and
- generating, based on the output sequence, a predicted trajectory of the robot.
A system comprising one or more computers and one or more storage devices storing instructions that when executed by the one or more computers cause the one or more computers to perform operations for generating a trajectory of a robot, the operations comprising:
- receiving a plurality of path points;
- processing each network input of a plurality of network inputs in an input sequence that is derived from the path points using a trajectory generation neural network to generate an output sequence comprising a plurality of network outputs, each network output specifying a respective displacement between two adjacent trajectory points;
- and
- generating, based on the output sequence, a predicted trajectory of the robot.
One or more non-transitory computer-readable storage media storing instructions that when executed by one or more computers cause the one or more computers to perform operations for generating a trajectory of a robot, the operations comprising:
- receiving a plurality of path points;
- processing each network input of a plurality of network inputs in an input sequence that is derived from the path points using a trajectory generation neural network to generate an output sequence comprising a plurality of network outputs, each network output specifying a respective displacement between two adjacent trajectory points;
- and
- generating, based on the output sequence, a predicted trajectory of the robot.
Dependencies are inferred from the claim text.