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公开(公告)号：US11642780B2
公开(公告)日：2023-05-09
申请号：US17382561
申请日：2021-07-22
Applicant: X Development LLC
Inventor： Eden Rephaeli , Guy Satat , Daniel Lam , Benjamin Holson , Jiajun Xu
CPC classification number: B25J9/04 , B25J9/163 , B25J9/1615
Abstract: A system includes a robotic device, a sensor disposed on the robotic device, and circuitry configured to perform operations. The operations include determining a map that represents stationary features of an environment and receiving, from the sensor, sensor data representing the environment. The operations also include determining, based on the sensor data, a representation of an actor within the environment, where the representation includes keypoints representing corresponding body locations of the actor. The operations also include determining that a portion of a particular stationary feature is positioned within a threshold distance of a particular keypoint and, based on thereon, updating the map to indicate that the portion is to be cleaned. The operations further include, based on the map as updated, causing the robotic device to clean the portion of the particular stationary feature.
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公开(公告)号：US20220341906A1
公开(公告)日：2022-10-27
申请号：US17240232
申请日：2021-04-26
Applicant: X Development LLC
Inventor： Daniel Lam , Justine Rembisz , Asa Weiss , Benjamin Holson
Abstract: A method includes receiving data collected by at least one sensor on a robotic device, wherein the data is to be used for an ambient environment state representation, and wherein the data represents ambient environment measurements collected at locations of the at least one sensor when the robotic device is passively monitoring an environment such that robotic device navigation is not based on the ambient environment state representation. The method further includes determining the ambient environment state representation using the data collected by the at least one sensor on the robotic device. The method also includes identifying, based on the ambient environment state representation, one or more anomalous ambient environment measurements. The method additionally includes causing, based on the one or more identified anomalous ambient environment measurements, the robotic device to actively monitor the environment such that robotic device navigation is based on the ambient environment state representation.
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Patent Agency Ranking
公开(公告)号：US20220193888A1
公开(公告)日：2022-06-23
申请号：US17382561
申请日：2021-07-22
Applicant: X Development LLC
Inventor： Eden Rephaeli , Guy Satat , Daniel Lam , Benjamin Holson , Jiajun Xu
Abstract: A system includes a robotic device, a sensor disposed on the robotic device, and circuitry configured to perform operations. The operations include determining a map that represents stationary features of an environment and receiving, from the sensor, sensor data representing the environment. The operations also include determining, based on the sensor data, a representation of an actor within the environment, where the representation includes keypoints representing corresponding body locations of the actor. The operations also include determining that a portion of a particular stationary feature is positioned within a threshold distance of a particular keypoint and, based on thereon, updating the map to indicate that the portion is to be cleaned. The operations further include, based on the map as updated, causing the robotic device to clean the portion of the particular stationary feature.
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公开(公告)号：US20220297303A1
公开(公告)日：2022-09-22
申请号：US17203296
申请日：2021-03-16
Applicant: X Development LLC
Inventor： Seyed Mohammad Khansari Zadeh , Eric Jang , Daniel Lam , Daniel Kappler , Matthew Bennice , Brent Austin , Yunfei Bai , Sergey Levine , Alexander Irpan , Nicolas Sievers , Chelsea Finn
Abstract: Implementations described herein relate to training and refining robotic control policies using imitation learning techniques. A robotic control policy can be initially trained based on human demonstrations of various robotic tasks. Further, the robotic control policy can be refined based on human interventions while a robot is performing a robotic task. In some implementations, the robotic control policy may determine whether the robot will fail in performance of the robotic task, and prompt a human to intervene in performance of the robotic task. In additional or alternative implementations, a representation of the sequence of actions can be visually rendered for presentation to the human can proactively intervene in performance of the robotic task.
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公开(公告)号：US11097414B1
公开(公告)日：2021-08-24
申请号：US17131252
申请日：2020-12-22
Applicant: X Development LLC
Inventor： Eden Rephaeli , Guy Satat , Daniel Lam , Benjamin Holson , Jiajun Xu
Abstract: A system includes a robotic device, a sensor disposed on the robotic device, and circuitry configured to perform operations. The operations include determining a map that represents stationary features of an environment and receiving, from the sensor, sensor data representing the environment. The operations also include determining, based on the sensor data, a representation of an actor within the environment, where the representation includes keypoints representing corresponding body locations of the actor. The operations also include determining that a portion of a particular stationary feature is positioned within a threshold distance of a particular keypoint and, based on thereon, updating the map to indicate that the portion is to be cleaned. The operations further include, based on the map as updated, causing the robotic device to clean the portion of the particular stationary feature.
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公开(公告)号：US10377039B1
公开(公告)日：2019-08-13
申请号：US16135497
申请日：2018-09-19
Applicant: X Development LLC
Inventor： Jamie Moline Gennis , Andre Hentz , Daniel Lam
Abstract: Methods, apparatus, systems, and computer-readable media are provided for creating, storing, and/or offloading tagged robot sensor data. In various implementations, a first plurality of sensor data points that are sampled by one or more sensors associated with a robot and that share a first attribute may be identified. Each of the first plurality of sensor data points may be tagged with a first tag, which may be indicative of the first attribute. A context in which a robot is operating may be identified. A first transport rule that governs how sensor data points tagged with the first tag are treated when the robot operates in the context may then be identified. At least a subset of the first plurality of tagged sensor data points may then be offloaded from the robot and/or stored locally on the robot pursuant to the first transport rule.
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公开(公告)号：US10118296B1
公开(公告)日：2018-11-06
申请号：US14850888
申请日：2015-09-10
Applicant: X Development LLC
Inventor： Jamie Moline Gennis , Andre Hentz , Daniel Lam
IPC: G06F15/173 , G01C22/00 , H04L27/00 , B25J9/16
Abstract: Methods, apparatus, systems, and computer-readable media are provided for creating, storing, and/or offloading tagged robot sensor data. In various implementations, a first plurality of sensor data points that are sampled by one or more sensors associated with a robot and that share a first attribute may be identified. Each of the first plurality of sensor data points may be tagged with a first tag, which may be indicative of the first attribute. A context in which a robot is operating may be identified. A first transport rule that governs how sensor data points tagged with the first tag are treated when the robot operates in the context may then be identified. At least a subset of the first plurality of tagged sensor data points may then be offloaded from the robot and/or stored locally on the robot pursuant to the first transport rule.
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