Multi-Purpose Robot Training With Reusable Work Primitives
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Solution Overview
Problem
Current robots require complex and elaborate tele-operation systems and significant training, leading to wear and tear before they can autonomously perform useful tasks, limiting their accessibility and efficiency.
Innovation Solution
A robot equipped with a library of reusable work primitives and processor-executable instructions that allows it to autonomously initiate and execute multiple work objectives by selecting and combining these primitives, reducing the need for extensive training and complex interfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robots are trained to operate autonomously by repeatedly performing physical tasks in the real world, then the robot can learn to complete work objectives, but significant wear and tear occurs on the robot components before deployment
Solution Approach 1:
The patent creates virtual copies of the robot and its environment in a simulated training environment. The robot learns autonomous operation by repeatedly performing tasks in these virtual copies rather than physical ones, eliminating wear and tear on actual components while still achieving autonomous capability through simulated experience accumulation.
2Ease of operation
If tele-operation systems are made elaborate and complicated with sophisticated sensors and equipment, then the robot can be controlled to perform physical actions, but the accessibility of the technology is limited and full attention of the pilot is required
Solution Approach 1:
The robot is trained to independently perceive its environment, make decisions, and execute tasks autonomously without requiring complex tele-operation interfaces. The system serves itself by learning from simulated experiences and automatically selecting and executing appropriate work primitives, eliminating the need for elaborate control equipment and allowing pilots to provide high-level guidance rather than micromanage every action.
3Productivity
If a robot is trained to perform specific workflows to complete work objectives, then the robot can complete those specific tasks, but the robot lacks versatility to handle different work objectives
Solution Approach 1:
The patent segments complex work objectives into reusable work primitives that can be independently learned and combined. Instead of training the robot on entire workflows, the system breaks down tasks into fundamental actions (grasp, move, place, etc.) that the robot learns separately in simulation, then combines through planning algorithms to complete diverse work objectives, enabling both productivity and versatility.
Solution Approach 2:
The patent creates a universal set of work primitives that can be applied across multiple different work objectives and workflows. The robot learns these general-purpose primitives in simulation that can be reused and recombined to handle various tasks, making the robot versatile while maintaining high productivity through efficient primitive execution.
Data Source
AI summary
Systems, devices, and methods for training and operating (semi-)autonomous robots to complete multiple different work objectives are described. A robot control system stores a library of reusable work primitives each corresponding to a respective basic sub-task or sub-action that the robot is operative to autonomously perform. A work objective is analyzed to determine a sequence (i.e., a combination and/or permutation) of reusable work primitives that, when executed by the robot, will complete the work objective. The robot executes the sequence of reusable work primitives to complete the work objective. The reusable work primitives may include one or more reusable grasp primitives that enable(s) a robot's end effector to grasp objects. Simulated instances of real physical robots may be trained in simulated environments to develop control instructions that, once uploaded to the real physical robots, enable such real physical robots to autonomously perform reusable work primitives.