Patent ID: 11904467
Assignee: GOOGLE LLC
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method implemented by one or more processors, comprising:
training a latent robot dynamics model using unsupervised robot trajectories, wherein each of the unsupervised robot trajectories includes a corresponding sequence of:
partial robotic observations, each of the partial robotic observations being for a corresponding time step of the sequence, and
robotic actions, each of the robotic actions being for a corresponding time step of the sequence;

identifying supervised robot task trajectories for a robot task, wherein each of the supervised robot task trajectories includes a corresponding sequence of:
partial task robotic observations during a corresponding performance of the robot task,
task robotic actions during the corresponding performance of the robot task, and
labeled task rewards for the corresponding performance of the robot task;

training a reward function for the robot task using the supervised robot task trajectories;
controlling a robot to perform the robot task, wherein controlling the robot to perform the robot task comprises:
determining a sequence of actions for the robot using both the trained robot latent dynamics model and the trained reward function for the robot task; and
controlling the robot by implementing the sequence of actions.