公开(公告)号：US20230280726A1

公开(公告)日：2023-09-07

申请号：US17684245

申请日：2022-03-01

Applicant: NVIDIA Corporation

Inventor： Yuke Zhu ,  Anima Anandkumar ,  Youngwoon Lee

IPC: G05B19/418

CPC classification number: G05B19/41865 ,  G05B19/41885 ,  G05B19/41895

Abstract: A manipulation task may include operations performed by one or more manipulation entities on one or more objects. This manipulation task may be broken down into a plurality of sequential sub-tasks (policies). These policies may be fine-tuned so that a terminal state distribution of a given policy matches an initial state distribution of another policy that immediately follows the given policy within the plurality of policies. The fine-tuned plurality of policies may then be chained together and implemented within a manipulation environment.