CPC B25J 9/163 (2013.01) [B25J 9/161 (2013.01); B25J 9/1656 (2013.01); B25J 9/1689 (2013.01)] | 23 Claims |
1. A method comprising:
receiving, from a cloud-based training system by an online execution system configured to control a robot, a skill template to be trained to cause the robot to perform a particular skill having a plurality of subtasks;
identifying, by the online execution system, one or more demonstration subtasks defined by the skill template, wherein each demonstration subtask is an action to be refined using local demonstration data;
generating, by the online execution system, respective sets of local demonstration data for each of the one or more demonstration subtasks;
uploading, by the online execution system to the cloud-based training system, the sets of local demonstration data;
generating, by the cloud-based training system, respective trained model parameters for each set of local demonstration data, wherein the cloud-based training system comprises more computational capability than the online execution system;
receiving, by the online execution system, from the cloud-based training system, the trained model parameters generated by the cloud-based training system; and
executing, by the online execution system, the skill template using the trained model parameters generated by the cloud-based training system.
|