US 11,679,497 B2
Distributed robotic demonstration learning
Bala Venkata Sai Ravi Krishna Kolluri, Fremont, CA (US); Stefan Schaal, Mountain View, CA (US); Benjamin M. Davis, Oakland, CA (US); Ralf Oliver Michael Schönherr, San Francisco, CA (US); and Ning Ye, Palo Alto, CA (US)
Assigned to Intrinsic Innovation LLC, Mountain View, CA (US)
Filed by Intrinsic Innovation LLC, Mountain View, CA (US)
Filed on May 21, 2020, as Appl. No. 16/880,724.
Prior Publication US 2021/0362327 A1, Nov. 25, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/161 (2013.01); B25J 9/1656 (2013.01); B25J 9/1689 (2013.01)] 23 Claims
OG exemplary drawing
 
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.