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US 2022/0024042 A1Published application
Method and system for robot control using visual feedback
AssigneeVicarious FPC, Inc.
InventorsNishad Gothoskar, Miguel Lazaro-Gredilla, Yasemin Bekiroglu, Abhishek Agarwal, Dileep George
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Abstract
A method for robot control using visual feedback including determining a generative model S100, training the generative model S200, and controlling the robot using the trained generative model S300.
Claims1
A method for system control, wherein the system comprises an end-effector connected to a robot, comprising:
- determining a generative model comprising a set of variables and a set of parameters, wherein the set of variables comprises observed variables and hidden variables, and wherein the set of parameters comprises camera parameters and structure parameters;
- training the generative model, comprising:
- sampling a set of images, wherein each image depicts the robot, the end-effector, and a feature rigidly connected to the end effector;
- determining feature pixel locations of the feature detected in the set of images;
- initializing the camera parameters;
- determining an action for the robot, wherein the action is a variable of the set of variables;
- calculating optimized camera parameters, optimized structure parameters, and an end-effector pose based on the initialized camera parameters, the action, and the feature pixel locations, wherein the end-effector pose is a hidden variable of the set of variables;
- and
- controlling the robot using the trained generative model.
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Dependencies are inferred from the claim text.