BRAZILIAN JIU-JITSU HUMANOID ROBOT PHYSICAL ACTION CONTROL

A humanoid robot performs a Brazilian jiu-jitsu (BJJ) or other
contact rich physical interaction using a dynamically maintained
inter-body relational state. Sensor information is used to
determine a machine-readable representation of physical
relationships between body regions of the humanoid robot and
another physical entity, including contact, gripping, hooking,
framing, loading, supporting, constraining, controlling,
movement, or entanglement relationships. The inter-body
relational state is provided to a physical action generation
model to generate a physical action for performance by the
humanoid robot. Additional sensor information obtained during or
after performance of the physical action is used to update one
or more of the physical relationships. A subsequent physical
action is generated based at least in part on the updated interbody relational state, enabling artificial intelligence based
physical control responsive to evolving relationships between
bodies.