Patent ID: 11921492
Assignee: MITSUBISHI ELECTRIC RESEARCH LABORATORIES, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 12:
13. A computer-executable method for trajectories imitation for robotic manipulators, in connection via an interface with a processor and a memory storing computer-executable programs including a robot simulator, a training module and a transfer module, wherein the transfer module is configured to transfer simulation trajectories of the robot simulator to real trajectories for the real-world robot, the method comprising steps of:
receiving a task description to communicate with a real-world robot via the interface;
performing training using the training module, for the task description on the robot simulator, to produce a source policy associated with the robot simulator;
performing training using the training module, for the task description on the real-world robot, to produce a target policy associated with the real-world robot;
obtaining a simulated robot trajectory generated from the source policy and a real robot trajectory generated from the target policy, wherein the simulated robot trajectory is defined by a plurality of first trajectory data points and the real robot trajectory is defined by a plurality of second trajectory data points;
determining a correspondence between the simulated robot trajectory and the real robot trajectory as a mapping between i.) a sequence of points of the plurality of first trajectory data points between a pair of subgoals on the simulated robot trajectory and ii.) a sequence of points of the plurality of second trajectory data points between a pair of subgoals on the real robot trajectory; and
updating parameters of the transfer module from the correspondence between the simulated robot trajectory and the real robot trajectory to train the transfer module, wherein the transfer module is represented by a neural network, and the training of the transfer module updates the parameters of the neural network.