US 12,271,159 B2
Controller with neural network and improved stability
Jeremy Zieg Kolter, Pittsburgh, PA (US); Melrose Roderick, Pittsburgh, PA (US); Priya L. Donti, Pittsburgh, PA (US); and Julia Vinogradska, Stuttgart (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE); and CARNEGIE MELLON UNIVERSITY, Pittsburgh, PA (US)
Filed by Robert Bosch GmbH, Stuttgart (DE); and Carnegie Mellon University, Pittsburgh, PA (US)
Filed on Feb. 25, 2021, as Appl. No. 17/184,995.
Claims priority of application No. 20165352 (EP), filed on Mar. 24, 2020.
Prior Publication US 2021/0302921 A1, Sep. 30, 2021
Int. Cl. G05B 13/02 (2006.01); G05B 13/04 (2006.01); G06N 3/04 (2023.01); G06N 3/08 (2023.01)
CPC G05B 13/027 (2013.01) [G06N 3/04 (2013.01); G06N 3/08 (2013.01); G05B 13/042 (2013.01)] 12 Claims
OG exemplary drawing
 
9. A controlling method for generating a control signal for a computer-controlled machine, the computer-controlled machine including multiple parts interacting in a dynamical system, the controlling method comprising:
receiving a sensor signal from a sensor system sensing the computer-controlled machine, the sensor signal indicating a current state of the computer-controlled machine;
applying a neural network to a current sensor signal, the neural network defining a raw control policy for the computer-controlled machine, the neural network being configured to map the current sensor signal to a raw control signal;
applying a projection function to the raw control signal to obtain a stable control signal, the projection function mapping a raw control policy space to a stable control policy space of predefined stable control policies; and
controlling, using the stable control signal, the computer-controlled machine to move the computer-controlled machine to a desired physical state, wherein the controlling includes controlling an actuator of the computer-controlled machine to move at least a part of the computer-controlled machine to a different position;
wherein the projection function is defined as

OG Complex Work Unit Math
for sensor input x, stable control signal π(x), raw control signal π(x), vector ρ and value η.