Title:
MAN-MACHINE COLLABORATIVE ROBOT SKILL RECOGNITION METHOD BASED ON GENERATIVE ADVERSARIAL IMITATION LEARNING
Document Type and Number:
WIPO Patent Application WO/2023/206863
Kind Code:
A1
Abstract:
Disclosed in the present invention is a man-machine collaborative robot skill recognition method based on generative adversarial imitation learning. The method comprises: first determining the types of man-machine collaborative skills needing to be carried out; a human expert demonstrating the different types of skills separately, and collecting image information and data in the demonstration and carrying out calibration; recognizing the image information by using an image processing means, extracting effective eigenvectors which can clearly distinguish among the different types of skills, and using same as teaching data; by using the acquired teaching data, training a plurality of discriminators separately by means of a generative adversarial imitation learning method; and, after the training is completed, extracting data of a user, and inputting the data into different discriminators, the discriminator corresponding to an output maximum value being an output result of skill recognition. The present invention innovatively combines computer image recognition and the famous generative adversarial imitation learning method in imitation learning, achieving short training time and high learning efficiency.
Inventors:
XU BAOGUO (CN)
WANG YIFEI (CN)
WANG XIN (CN)
WANG JIAJING (CN)
SONG AIGUO (CN)
WANG YIFEI (CN)
WANG XIN (CN)
WANG JIAJING (CN)
SONG AIGUO (CN)
Application Number:
PCT/CN2022/112008
Publication Date:
November 02, 2023
Filing Date:
August 12, 2022
Export Citation:
Assignee:
UNIV SOUTHEAST (CN)
International Classes:
B25J9/16
Foreign References:
| CN114734443A | 2022-07-12 | |||
| CN111983922A | 2020-11-24 | |||
| CN111401527A | 2020-07-10 | |||
| CN111203878A | 2020-05-29 | |||
| CN111488988A | 2020-08-04 | |||
| US20190232488A1 | 2019-08-01 | |||
| US20220105624A1 | 2022-04-07 |
Attorney, Agent or Firm:
NANJING ZHONGLIAN PATENT AGENCY CO., LTD. (CN)
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