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ROBOTIC CONTROL USING ACTION IMAGE(S) AND CRITIC NETWORK
ROBOTIC CONTROL USING ACTION IMAGE(S) AND CRITIC NETWORK
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机译:使用动作图像和批评网络的机器人控制
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摘要
Generating and utilizing action image(s) that represent a candidate pose (e.g., a candidate end effector pose), in determining whether to utilize the candidate pose in performance of a robotic task. The action image(s) and corresponding current image(s) can be processed, using a trained critic network, to generate a value that indicates a probability of success of the robotic task if component(s) of the robot are traversed to the particular pose. When the value satisfies one or more conditions (e.g., satisfies a threshold), the robot can be controlled to cause the component(s) to traverse to the particular pose in performing the robotic task.
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