公开(公告)号：US20220305647A1

公开(公告)日：2022-09-29

申请号：US17638469

申请日：2019-08-27

Applicant: GOOGLE LLC

Inventor： Anthony Jacob Piergiovanni ,  Anelia Angelova ,  Alexander Toshev ,  Michael Ryoo

IPC: B25J9/16 ,  B25J19/02 ,  G06V40/10

Abstract: Techniques are disclosed that enable the generation of predicted sequences of terminals using a generator model portion of a prediction model. Various implementations include controlling actuators of a robot based on the predicted sequences of terminals. Additional or alternative implementations include jointly training the generator model portion of the prediction model using a discriminator model portion of the prediction model using, for example, stochastic adversarial based sampling.