IMPROVEMENTS RELATED TO GENERATING A ROBOT CONTROL POLICY FROM DEMONSTRATIONS COLLECTED VIA KINESTHETIC TEACHING OF A ROBOT

摘要

The application relates to a method for generating a robot control policy that regulates both motion control and interaction with an environment and which includes a learned potential function and optionally a dissipative field. The method comprises the steps of automatically determining a potential gradient for data points and generating the control policy using the automatically determined potential gradient. Some implementations relate to resampling temporally distributed data points to generate spatially distributed data points, and generating the control policy using the spatially distributed data points. Some implementations additionally or alternatively relate to determining and assigning a prior weight to each of the data points of multiple groups, and generating the control policy using the weights. Some implementations additionally or alternatively relate to defining and using non-uniform smoothness parameters at each data point, defining and using d parameters for stiffness and/or damping at each data point, and/or obviating the need to utilize virtual data points in generating the control policy.