Document Type
Article
Publication Date
April 2022
Patent Number
11298821
CPC
B25J 9/163, B25J 9/1661, B25J 9/1664, G05B 19/42, G06N 3/08, G06N 20/00
Abstract
System and methods for generating a trajectory of a dynamical system are described herein. An example method includes modelling a policy from demonstration data. The method also includes generating a first set of action particles by sampling from the policy, where each of the action particles in the first set includes a respective system action, predicting a respective outcome of the dynamical system in response to each of the action particles in the first set, and weighting each of the action particles in the first set according to a respective probability of achieving a desired outcome. The method further includes generating a second set of action particles by sampling from the weighted action particles, where each of the action particles in the second set includes a respective system action, and selecting a next system action in the trajectory of the dynamical system from the action particles in the second set.
Application Number
16/837548
Recommended Citation
Sun, Yu and Huang, Yongqiang, "Systems and methods for learning and generating movement policies for a dynamical system" (2022). USF Patents. 1288.
https://digitalcommons.usf.edu/usf_patents/1288
Assignees
University of South Florida
Filing Date
04/01/2020
