Multi-purpose robots and computer program products, and methods for operating the same

Patent metadata

Field	Value
Publication number	US-2023381957-A1
Application number	US-202318231888-A
Country	US
Kind code	A1
Filing date	Aug 9, 2023
Priority date	Aug 13, 2021
Publication date	Nov 30, 2023
Grant date	—

Abstract

Robots, systems, methods, and computer program products for training and operating (semi-)autonomous robots to complete work objectives are described. A robot accesses a library of reusable work primitives from a catalog of libraries of reusable work primitives, each reusable work primitive corresponding to a respective basic sub-action that the robot is trained to autonomously perform. A work objective is analyzed to determine a sequence of reusable work primitives that complete the work objective, and the robot executes the sequence to complete the work objective. A robot can be deployed with access to an appropriate library of reusable work primitives, based on expectations for the robot. The robot is trained to perform reusable work primitives in multiple libraries, by generating control instructions which cause the robot to perform each reusable work primitive. Training is performed by real-world robots performing reusable work primitives, or simulated robot instances performing the reusable work primitives.

First claim

1 . A computer-implemented method of training a robot to complete a plurality of work objectives including at least one first work objective in a first service category and at least one second work objective in a second service category, the method comprising:
defining a first library of reusable work primitives each performable by the robot, wherein at least one respective combination and permutation of reusable work primitives from the first library of reusable work primitives are initiable and executable by the robot in order to complete the at least one first work objective in the first service category; and defining a second library of reusable work primitives each performable by the robot, the second library of reusable work primitives being at least partially different from the first library of reusable work primitives, wherein at least one respective combination and permutation of reusable work primitives from the second library of reusable work primitives are initiable and executable by the robot in order to complete the at least one second work objective in the second service category; training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives; and training the robot to autonomously perform each reusable work primitive in the second library of reusable work primitives.

2 . The method of claim 1 , wherein training the robot to autonomously perform each reusable work primitive in the second library of reusable work primitives comprises:
training each reusable work primitive in the second library of reusable work primitives which is not included in the first library of reusable work primitives; and retrieving training data for each reusable work primitive in the second library of reusable work primitives which is included in the first library of reusable work primitives, wherein the training data is generated while training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives.

3 . The method of claim 1 , wherein:
the first library of reusable work primitives and the second library of reusable work primitives are included in a catalog of libraries of reusable work primitives; the method further comprises training the robot to autonomously perform each reusable work primitive in the catalog of libraries of reusable work primitives; training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives is included in training the robot to autonomously perform each reusable work primitive in the catalog of libraries of reusable work primitives; and training the robot to autonomously perform each reusable work primitive in the second library of reusable work primitives is included in training the robot to autonomously perform each reusable work primitive in the catalog of libraries of reusable work primitives.

4 . The method of claim 1 wherein training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives and training the robot to autonomously perform each reusable work primitive in the second library of reusable work primitives include training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives and the second library of reusable work primitives in a simulated environment.

5 . The method of claim 4 wherein training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives and the second library of reusable work primitives in a simulated environment includes:
generating a first simulated instance of the robot in the simulated environment;
repeatedly executing processor-executable instructions to cause the first simulated instance of the robot to perform a first reusable work primitive in the first library of reusable work primitives or the second library of reusable work primitives; and
refining the processor-executable instructions that cause the first simulated instance of the robot to perform the first reusable work primitive based on at least one result of repeatedly executing the processor-executable instructions to cause the first simulated instance of the robot to perform the first reusable work primitive.

6 . The method of claim 5 wherein training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives and the second library of reusable work primitives of reusable work primitives in a simulated environment further includes:
generating at least one additional simulated instance of the robot in the simulated environment;
repeatedly executing processor-executable instructions to cause the at least one additional simulated instance of the robot to perform the first reusable work primitive; and
refining the processor-executable instructions that cause both the first simulated instance of the robot and the at least one additional simulated instance of the robot to perform the first reusable work primitive based on at least one result of repeatedly executing the processor-executable instructions to cause the first simulated instance of the robot and the at least one additional simulated instance of the robot to perform the first reusable work primitive.

7 . The method of claim 5 wherein training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives and the second library of reusable work primitives of reusable work primitives in a simulated environment further includes:
repeatedly executing processor-executable instructions to cause the first simulated instance of the robot to perform at least one additional reusable work primitive in the first library of reusable work primitives or in the second library of reusable work primitives; and
refining the processor-executable instructions that cause the first simulated instance of the robot to perform the at least one additional reusable work primitive based on at least one result of repeatedly executing the processor-executable instructions to cause the first simulated instance of the robot to perform the at least one additional reusable work primitive.

8 . The method of claim 1 wherein training the robot to autonomously perform each reusable work primitive in the first library of reusable work primitives and the second library of reusable work primitives of reusable work primitives includes:
receiving teleoperation instructions that cause the robot to perform a first reusable work primitive in the first library of reusable work primitives or the second library of reusable work primitives of reusable work primitives;
executing the teleoperation instructions to cause the robot to perform the first reusable work primitive; and
generating processor-executable instructions that cause the robot to replay the teleoperation instructions that cause the robot to perform the first reusable work primitive.

9 . The method of claim 8 wherein receiving teleoperation instructions that cause the robot to perform a first reusable work primitive includes receiving low-level teleoperation instructions that cause the robot to emulate real physical actions performed by a real teleoperation pilot.

10 . The method of claim 8 wherein receiving teleoperation instructions that cause the robot to perform a first reusable work primitive includes receiving high-level teleoperation instructions that cause the robot to perform actions selected from a graphical user interface.

11 . The method of claim 8 wherein training the robot to autonomously perform each reusable work primitive in the first library

Assignees

• Sanctuary Cognitive Systems Corp

Inventors

• Gildert Suzanne
• Norton Olivia
• Rose Geordie

Classifications

• B25J11/008

  Manipulators for service tasks · CPC title

• B25J9/1689

  Teleoperation · CPC title

• B25J9/1671

  characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems · CPC title

• B25J9/161 Primary

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J9/163 Primary

  learning, adaptive, model based, rule based expert control · CPC title