Title:
INFORMATION PROCESSING APPARATUS AND PROGRAM
Document Type and Number:
Japanese Patent JP2022115640
Kind Code:
A
Abstract:
To improve accuracy of a learning model in a simulation learning with reducing calculation costs.SOLUTION: An information processing apparatus 30 according to the present invention has an observation image acquiring unit 101 for acquiring an observation image, a viewpoint image acquiring unit 102 for acquiring a viewpoint image, a peripheral image generating unit 103 for generating a peripheral image, a gazed image generating unit 104 for generating a gazed image, a classifying unit 105 for classifying the observation image, a teacher data generating unit 106 for generating a first teacher data including the peripheral image and a second teacher data including the gazed image, and a learning unit 107 for, if the peripheral image is input based on the first teacher data, carrying out imitation learning of a first learning model for use in output of target values of a position and a posture and for, if the gazed image is input based on the second teacher data, carrying out imitation learning of a second learning model for use in output of the target values. The information processing apparatus 30 further has an operation control unit 109 for controlling a manipulator based on the acquired target value.SELECTED DRAWING: Figure 2
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Inventors:
KUNIYOSHI YASUO
OMURA YOSHIYUKI
KIM HEE CHEOL
OMURA YOSHIYUKI
KIM HEE CHEOL
Application Number:
JP2021012310A
Publication Date:
August 09, 2022
Filing Date:
January 28, 2021
Export Citation:
Assignee:
UNIV TOKYO
International Classes:
G06N20/00; B25J13/00; G06N3/08; G06T7/00
Attorney, Agent or Firm:
Morishita Kenki