Patent ID: 11938638
Assignee: GOOGLE LLC
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 2:
3. The method of claim 2, further comprising, in response to the comparing not indicating the threshold degree of similarity:
reconfiguring the simulated environment based on updated real environment state data;
determining, using the robotic simulator, an updated sequence of robotic actions for use in controlling the real robot in performing the robotic task;
applying, to the simulated robot of the robotic simulator, the updated sequence of robotic actions to generate an updated sequence of simulated state data instances, wherein each of the updated simulated state data instances defines, for a corresponding updated point in the updated sequence of robotic actions, one or both of:
corresponding updated anticipated environmental state data for the corresponding updated point, and
real robot state data that is based on one or more sensor-based observations of the real robot;

controlling the real robot to implement a first updated subset of the updated sequence of robotic actions;
comparing an updated real state data instance to a corresponding updated one of the updated simulated state data instances for the corresponding updated point in the updated sequence of robotic actions;
in response to the comparing, the updated real state data instance to the corresponding updated one of the updated simulated state data instances, indicating the threshold degree of similarity:
controlling the real robot to implement an updated second subset of the updated sequence of robotic actions.