The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 28, 2020
Filed:
Jun. 17, 2019
Google Llc, Mountain View, CA (US);
Eric Victor Jang, Cupertino, CA (US);
Sergey Vladimir Levine, Berkeley, CA (US);
Coline Manon Devin, Berkeley, CA (US);
Google LLC, Mountain View, CA (US);
Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training an object representation neural network. One of the methods includes obtaining training sets of images, each training set comprising: (i) a before image of a before scene of the environment, (ii) an after image of an after scene of the environment after the robot has removed a particular object, and (iii) an object image of the particular object, and training the object representation neural network on the batch of training data, comprising determining an update to the object representation parameters that encourages the vector embedding of the particular object in each training set to be closer to a difference between (i) the vector embedding of the after scene in the training set and (ii) the vector embedding of the before scene in the training set.