Learning from Demonstration for Determining Robot Perception Motion
AssigneeX Development LLC
InventorsAmmar Husain, Mikael Persson
Life of this patent
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Abstract
A method includes determining, for a robotic device that comprises a perception system, a robot planner state representing at least one future path for the robotic device in an environment. The method also includes determining a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states corresponding to a plurality of operator-directed perception system trajectories. The method further includes controlling, by the robotic device, the perception system to move through the determined perception system trajectory.
Claims20
A method comprising:
- determining, for a robotic device that comprises a perception system, a robot planner state representing at least one future path for the robotic device in an environment;
- determining a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states corresponding to a plurality of operator-directed perception system trajectories;
- and
- controlling, by the robotic device, the perception system to move through the determined perception system trajectory.
A robotic device comprising:
- a perception system;
- and
- a control system configured to:
- determine a robot planner state representing at least one future path for the robotic device in an environment;
- determine a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states corresponding to a plurality of operator-directed perception system trajectories;
- and
- control the perception system to move through the determined perception system trajectory.
A non-transitory computer readable medium comprising program instructions executable by at least one processor to cause the at least one processor to perform functions comprising:
- determining, for a robotic device that comprises a perception system, a robot planner state representing at least one future path for the robotic device in an environment;
- determining a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states corresponding to a plurality of operator-directed perception system trajectories;
- and
- controlling the perception system to move through the determined perception system trajectory.
Dependencies are inferred from the claim text.