Patent ID: 11934176
Assignee: ROBERT BOSCH GMBH
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. A non-transitory computer-readable medium on which is stored a computer program including instructions for controlling a robot, the computer program, when executed by a computer, causing the computer to perform the following steps:
receiving an indication of a target configuration to be reached from an initial configuration of the robot;
determining a coarse-scale value map by value iteration, wherein transition probabilities of the coarse-scale value map are determined using a transition probability model mapping coarse-scale states and coarse-scale actions to transition probabilities for coarse-scale states; and
for each coarse-scale state of a sequence of coarse-scale states of the robot, starting from an initial coarse-scale state determined from the initial configuration of the robot and until the robot reaches the target configuration or a maximum number of fine-scale states has been reached:
determining a fine-scale sub-goal from the coarse-scale value map by selecting a coarse-scale action based on the coarse-scale value map using a greedy policy, and by transforming the selected coarse-scale action to the fine-scale subgoal, based on a current coarse-scale state,
causing an actuator of the robot to perform fine-scale control actions to reach the determined fine-scale sub-goal and obtaining sensor data to determine the fine-scale states reached as a result of performing the fine-scale control actions for each fine-scale state of a resulting sequence of fine-scale states of the robot, starting from a current fine-scale state of the robot and until the robot reaches the determined fine-scale sub-goal, the robot transitions to a different coarse-scale state, or a maximum sequence length of the sequence of fine-scale states has been reached, and
determining a next coarse-scale state of the sequence of coarse-scale states from a last fine-scale state of the sequence of fine-scale states.