Title:
CONTROL DEVICE, SYSTEM, LEARNING DEVICE, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2020/246482
Kind Code:
A1
Abstract:
The control device according to one embodiment of the present invention is provided with a deduction unit. To a first model which receives, as an input, input data on a latent space indicative of latent characteristics of the position and/or attitude of a mobile object and which supplies, as an output, output data indicative of the position and/or attitude of the mobile object that does not contact with an obstacle in a real space, the deduction unit feeds multiple pieces of first input data on the latent space, and obtains multiple pieces of first output data outputted by the first model.
Inventors:
MORI HIROKI (JP)
TORISHIMA RYOTA (JP)
OGATA TETSUYA (JP)
TAKAHASHI KUNIYUKI (JP)
OKANOHARA DAISUKE (JP)
TORISHIMA RYOTA (JP)
OGATA TETSUYA (JP)
TAKAHASHI KUNIYUKI (JP)
OKANOHARA DAISUKE (JP)
Application Number:
PCT/JP2020/021831
Publication Date:
December 10, 2020
Filing Date:
June 02, 2020
Export Citation:
Assignee:
PREFERRED NETWORKS INC (JP)
International Classes:
B25J13/00; B25J13/08; G05D1/02; G06N20/00
Domestic Patent References:
| WO2019004350A1 | 2019-01-03 |
Foreign References:
| JPH04340603A | 1992-11-27 | |||
| JP2005125475A | 2005-05-19 |
Other References:
SHINDOH, TOMONORI: "Pioneering application of GAN of deep learning generative model, Ricoh develops a new algorithm for imitative learning of robot", NIKKEI ROBOTICS, vol. 42, pages 5 - 14, XP009527099, ISSN: 2189-5783
ARIKI, YUKA ET AL.: "Kullback-Leibler dynamic Imitation learning using a shared latent space", PREPRINTS OF THE 34TH ACADEMIC LECTURE CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN DVD-ROM 2016, THE ROBOTICS SOCIETY OF JAPAN, vol. 34, 7 July 2019 (2019-07-07), XP009527102
TORISHIMA, RYOTA; MORI, HIROKI; TAKAHASHI, KUNIYUKI; OKANOHARA, DAISUKE; OGATA, TETSUYA: "1P2-A14 Conditional generative adversarial networks: Obstacle avoidance for robot arm by conditional generative adversarial networks", PROCEEDINGS OF THE JSME CONFERENCE ON ROBOTICS AND MECHATRONICS; HIROSHIMA, JAPAN; JUNE 5-8 2019, vol. 19, no. 2, 5 June 2019 (2019-06-05), pages 1P2-A14(1) - 1P2-A14(3), XP009527093
ARIKI, YUKA ET AL.: "Kullback-Leibler dynamic Imitation learning using a shared latent space", PREPRINTS OF THE 34TH ACADEMIC LECTURE CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN DVD-ROM 2016, THE ROBOTICS SOCIETY OF JAPAN, vol. 34, 7 July 2019 (2019-07-07), XP009527102
TORISHIMA, RYOTA; MORI, HIROKI; TAKAHASHI, KUNIYUKI; OKANOHARA, DAISUKE; OGATA, TETSUYA: "1P2-A14 Conditional generative adversarial networks: Obstacle avoidance for robot arm by conditional generative adversarial networks", PROCEEDINGS OF THE JSME CONFERENCE ON ROBOTICS AND MECHATRONICS; HIROSHIMA, JAPAN; JUNE 5-8 2019, vol. 19, no. 2, 5 June 2019 (2019-06-05), pages 1P2-A14(1) - 1P2-A14(3), XP009527093
Attorney, Agent or Firm:
SAKAI INTERNATIONAL PATENT OFFICE (JP)
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