CPC B25J 9/161 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1669 (2013.01); G06N 3/08 (2013.01); G06T 7/74 (2017.01); G06T 2207/30244 (2013.01)] | 23 Claims |
1. A system, comprising:
an articulated robot with a manipulator;
one or more processors; and
memory storing executable instructions that, as a result of being executed by the one or more processors, cause the system to at least:
identify a real-world object and a grasp pose with which to grasp the real-world object;
obtain a first image from a camera, the camera positioned to track an axis of the manipulator;
move the manipulator to a real-world pre-grasp position that matches a simulated pre-grasp position determined based at least in part on the grasp pose and an estimated pose of the real-world object determined using the first image;
provide a second image from the camera to a neural network to produce a value from a value function; and
move the manipulator based on the value to grasp the real-world object with the manipulator.
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