US 12,168,296 B1
Re-simulation of recorded episodes
Matthew Bennice, San Jose, CA (US); Paul Bechard, San Jose, CA (US); and Joséphine Simon, San Francisco, CA (US)
Assigned to GOOGLE LLC, Mountain View, CA (US)
Filed by GOOGLE LLC, Mountain View, CA (US)
Filed on Sep. 1, 2021, as Appl. No. 17/463,870.
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1605 (2013.01) [B25J 9/163 (2013.01); B25J 9/1671 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method implemented using one or more processors, comprising:
simulating a three-dimensional (3D) environment, wherein the simulated 3D environment includes a simulated robot controlled by an external robot controller;
capturing a user-directed robot control episode in which the simulated robot performs one or more tasks, the user-directed robot control episode including:
first state data describing one or more states of the simulated 3D environment,
user command data describing joint commands issued by the external robot controller to control the simulated robot in the simulated 3D environment, wherein the joint commands are issued by the external robot controller in response to one or more user commands issued by a user to the external robot controller, and
second state data describing one or more states of the simulated robot;
altering the captured user-directed robot control episode to generate a plurality of training instances, wherein each training instance of the plurality comprises at least one of the joint commands captured in the user-directed robot control episode with a timing that is altered with respect to the same at least one of the joint commands of the user-directed robot control episode; and
training one or more robot control policies based on the plurality of training instances.