Patents by Inventor Alberto Dalla Libera

Alberto Dalla Libera has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20240391095
    Abstract: The present disclosure discloses a system and a method for controlling a mechanical system having different actuators and multiple degrees of freedom to track a reference trajectory for performing a task. The system comprises a memory configured to store an energy based inverse dynamics model trained with machine learning to map states of the different actuators to corresponding torques for the different actuators, wherein the energy based inverse dynamics model is configured to model energy of the mechanical system with a Gaussian Processes Regression (GPR) process having a matrix capturing correlations between the torques of the different actuators. The system further comprises a processor configured to process the states of the different actuators with the energy based inverse dynamics model to produce values of the torques for the different actuators of the mechanical system, and control the mechanical system based on the produced values of the torques.
    Type: Application
    Filed: July 17, 2023
    Publication date: November 28, 2024
    Applicant: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Diego Romeres, Alberto Dalla Libera, Giulio Giacomuzzo, Ruggero Carli
  • Publication number: 20240393751
    Abstract: A method for controlling a mechanical system utilizes an energy-based inverse dynamics model trained to map dynamic states of the mechanical system to corresponding torques for a plurality of actuators of the mechanical system. The method comprises collecting a feedback signal including current states of dynamics of the mechanical system. The method further comprises processing the current states of dynamics with the energy-based inverse dynamics model to produce values of the torques for the plurality of actuators and values of the potential and kinetic energy of the mechanical system. The method further comprises controlling the mechanical system based on the produced values of the torques for the plurality of actuators of the mechanical system and the values of the potential and kinetic energy of the mechanical system.
    Type: Application
    Filed: July 13, 2024
    Publication date: November 28, 2024
    Applicant: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Diego Romeres, Giulio Giacomuzzo, Ruggero Carli, Alberto Dalla Libera
  • Patent number: 11389957
    Abstract: A manipulator learning-control apparatus for controlling a manipulating system that includes an interface configured to receive manipulator state signals of the manipulating system and object state signals with respect to an object to be manipulated by the manipulating system in a workspace, wherein the object state signals are detected by at least one object detector, an output interface configured to transmit initial and updated policy programs to the manipulating system, a memory to store computer-executable programs including a data preprocess program, object state history data, manipulator state history data, a Derivative-Free Semi-parametric Gaussian Process (DF-SPGP) kernel learning program, a Derivative-Free Semi-parametric Gaussian Process (DF-SPGP) model learning program, an update-policy program and an initial policy program, and a processor, in connection with the memory, configured to transmit the initial policy program to the manipulating system for initiating a learning process that operates th
    Type: Grant
    Filed: September 30, 2019
    Date of Patent: July 19, 2022
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Diego Romeres, Alberto Dalla Libera, Devesh Jha, Daniel Nikolaev Nikovski
  • Publication number: 20220179419
    Abstract: A controller for controlling a system that includes a policy configured to control the system is provided. The controller includes an interface connected to the system, the interface being configured to acquire an action state and a measurement state via sensors measuring the system, a memory to store computer-executable program modules including a model learning module and a policy learning module, a processor configured to perform steps of the program modules. The steps include offline-modeling to generate offline-learning states based on the action state and measurement state using the model learning program, providing the offline states to the policy learning program to generate policy parameters, and updating the policy of the system to operate the system based on the policy parameters.
    Type: Application
    Filed: December 4, 2020
    Publication date: June 9, 2022
    Applicant: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Diego Romeres, Fabio Amadio, Alberto Dalla Libera, Riccardo Antonello, Ruggero Carli, Daniel Nikovski
  • Publication number: 20210094174
    Abstract: A manipulator learning-control apparatus for controlling a manipulating system that includes an interface configured to receive manipulator state signals of the manipulating system and object state signals with respect to an object to be manipulated by the manipulating system in a workspace, wherein the object state signals are detected by at least one object detector, an output interface configured to transmit initial and updated policy programs to the manipulating system, a memory to store computer-executable programs including a data preprocess program, object state history data, manipulator state history data, a Derivative-Free Semi-parametric Gaussian Process (DF-SPGP) kernel learning program, a Derivative-Free Semi-parametric Gaussian Process (DF-SPGP) model learning program, an update-policy program and an initial policy program, and a processor, in connection with the memory, configured to transmit the initial policy program to the manipulating system for initiating a learning process that operates th
    Type: Application
    Filed: September 30, 2019
    Publication date: April 1, 2021
    Applicant: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Diego Romeres, Alberto Dalla Libera, Devesh Jha, Daniel Nikolaev Nikovski