公开(公告)号：US11654550B1

公开(公告)日：2023-05-23

申请号：US17097785

申请日：2020-11-13

Applicant: X Development LLC

Inventor： Paul Bechard ,  Matthew Bennice

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1605 ,  B25J9/0084

Abstract: Implementations are described herein for single iteration, multiple permutation robot simulation. In various implementations, one or more poses of a simulated object may be determined across one or more virtual environments. A plurality of simulated robots may be operated across the one or more virtual environments. For each simulated robot of the plurality of simulated robots, a camera transformation may be determined based on respective poses of the simulated robot and simulated object in the particular virtual environment. The camera transformation may be applied to the simulated object in the particular virtual environment of the one or more virtual environments in which the simulated robot operates. Based on the camera transformation, simulated vision data may be rendered that depicts the simulated object from a perspective of the simulated robot. Each of the plurality of simulated robots may be operated based on corresponding simulated vision data.

公开(公告)号：US20220203535A1

公开(公告)日：2022-06-30

申请号：US17337815

申请日：2021-06-03

Applicant: X Development LLC

Inventor： Yunfei Bai ,  Tigran Gasparian ,  Brent Austin ,  Andreas Christiansen ,  Matthew Bennice ,  Paul Bechard

IPC: B25J9/16

Abstract: Active utilization of a robotic simulator in control of one or more real world robots. A simulated environment of the robotic simulator can be configured to reflect a real world environment in which a real robot is currently disposed, or will be disposed. The robotic simulator can then be used to determine a sequence of robotic actions for use by the real world robot(s) in performing at least part of a robotic task. The sequence of robotic actions can be applied, to a simulated robot of the robotic simulator, to generate a sequence of anticipated simulated state data instances. The real robot can be controlled to implement the sequence of robotic actions. The implementation of one or more of the robotic actions can be contingent on a real state data instance having at least a threshold degree of similarity to a corresponding one of the anticipated simulated state data instances.

公开(公告)号：US20220111517A1

公开(公告)日：2022-04-14

申请号：US17069684

申请日：2020-10-13

Applicant: X Development LLC

Inventor： Matthew Bennice ,  Paul Bechard

IPC: B25J9/16 ,  B25J9/00

Abstract: Implementations are provided for operably coupling multiple robot controllers to a single virtual environment, e.g., to generate training examples for training machine learning model(s). In various implementations, a virtual environment may be simulated that includes an interactive object and a plurality of robot avatars that are controlled independently and contemporaneously by a corresponding plurality of robot controllers that are external from the virtual environment. Sensor data generated from a perspective of each robot avatar of the plurality of robot avatars may be provided to a corresponding robot controller. Joint commands that cause actuation of one or more joints of each robot avatar may be received from the corresponding robot controller. Joint(s) of each robot avatar may be actuated pursuant to corresponding joint commands. The actuating may cause two or more of the robot avatars to act upon the interactive object in the virtual environment.

公开(公告)号：US20220288782A1

公开(公告)日：2022-09-15

申请号：US17197651

申请日：2021-03-10

Applicant: X Development LLC

Inventor： Matthew Bennice ,  Paul Bechard

IPC: B25J9/16

Abstract: Implementations are provided for controlling a plurality of simulated robots in a virtual environment using a single robot controller. In various implementations, a three-dimensional (3D) environment may be simulated that includes a plurality of simulated robots controlled by a single robot controller. Multiple instances of an interactive object may be rendered in the simulated 3D environment. Each instance of the interactive object may have a simulated physical characteristics such as a pose that is unique among the multiple instances of the interactive object. A common set of joint commands may be received from the single robot controller. The common set of joint commands may be issued to each of the plurality of simulated robots. For each simulated robot of the plurality of simulated robots, the common command may cause actuation of one or more joints of the simulated robot to interact with a respective instance of the interactive object in the simulated 3D environment.