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:
Dec. 05, 2023
Filed:
Oct. 31, 2021
Google Llc, Mountain View, CA (US);
Zhuo Xu, Menlo Park, CA (US);
Wenhao Yu, Sunnyvale, CA (US);
Alexander Herzog, San Jose, CA (US);
Wenlong Lu, Sunnyvale, CA (US);
Chuyuan Fu, Sunnyvale, CA (US);
Yunfei Bai, Fremont, CA (US);
C. Karen Liu, Stanford, CA (US);
Daniel Ho, Fremont, CA (US);
GOOGLE LLC, Mountain View, CA (US);
Abstract
Utilization of past dynamics sample(s), that reflect past contact physics information, in training and/or utilizing a neural network model. The neural network model represents a learned value function (e.g., a Q-value function) and that, when trained, can be used in selecting a sequence of robotic actions to implement in robotic manipulation (e.g., pushing) of an object by a robot. In various implementations, a past dynamics sample for an episode of robotic manipulation can include at least two past images from the episode, as well as one or more past force sensor readings that temporally correspond to the past images from the episode.