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公开(公告)号：US20230045607A1
公开(公告)日：2023-02-09
申请号：US17964425
申请日：2022-10-12
Applicant: X Development LLC
Inventor： Jie Yang , Cheng-en Guo , Zhiqiang Yuan , Elliott Grant , Hongxu Ma
IPC: G06T7/00 , A01D41/127 , G06T5/50 , G06T7/143 , G06N3/04 , G06N3/08 , G06Q10/04 , G06Q50/02 , G06V20/13 , G06V20/10
Abstract: Implementations relate to detecting/replacing transient obstructions from high-elevation digital images, and/or to fusing data from high-elevation digital images having different spatial, temporal, and/or spectral resolutions. In various implementations, first and second temporal sequences of high-elevation digital images capturing a geographic area may be obtained. These temporal sequences may have different spatial, temporal, and/or spectral resolutions (or frequencies). A mapping may be generated of the pixels of the high-elevation digital images of the second temporal sequence to respective sub-pixels of the first temporal sequence. A point in time at which a synthetic high-elevation digital image of the geographic area may be selected. The synthetic high-elevation digital image may be generated for the point in time based on the mapping and other data described herein.
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公开(公告)号：US11571809B1
公开(公告)日：2023-02-07
申请号：US17017920
申请日：2020-09-11
Applicant: X Development LLC
Inventor： Cristian Bodnar , Adrian Li , Karol Hausman , Peter Pastor Sampedro , Mrinal Kalakrishnan
Abstract: Techniques are described herein for robotic control using value distributions. In various implementations, as part of performing a robotic task, state data associated with the robot in an environment may be generated based at least in part on vision data captured by a vision component of the robot. A plurality of candidate actions may be sampled, e.g., from continuous action space. A trained critic neural network model that represents a learned value function may be used to process a plurality of state-action pairs to generate a corresponding plurality of value distributions. Each state-action pair may include the state data and one of the plurality of sampled candidate actions. The state-action pair corresponding to the value distribution that satisfies one or more criteria may be selected from the plurality of state-action pairs. The robot may then be controlled to implement the sampled candidate action of the selected state-action pair.
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公开(公告)号：US20230034365A1
公开(公告)日：2023-02-02
申请号：US17387312
申请日：2021-07-28
Applicant: X Development LLC
Inventor： Charles Nordstrom , Matthew Aaron Knoll , Neil Davé
Abstract: Methods, systems, and computer-readable media that implement a mobile filtration system that provides sustainable, on-demand water filtration while supporting the growth and maintenance of organisms. The method includes determining an environmental parameter associated with a volume of water, determining, based on the determined environmental parameter, a control parameter for an autonomous submersible structure that includes a platform on which marine life grows, and generating, based on determining the control parameter, an instruction for the autonomous submersible structure.
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公开(公告)号：US11562497B1
公开(公告)日：2023-01-24
申请号：US17482029
申请日：2021-09-22
Applicant: X Development LLC
Inventor： Yueqi Li
Abstract: Implementations are described herein for analyzing a sequence of digital images captured by a mobile vision sensor (e.g., integral with a robot), in conjunction with information (e.g., ground truth) known about movement of the vision sensor, to determine spatial dimensions of object(s) and/or an area captured in a field of view of the mobile vision sensor. Techniques avoid the use of visual indicia of known dimensions and/or other conventional tools for determining spatial dimensions, such as checkerboards. Instead, techniques described herein allow spatial dimensions to be determined using less resources, and are more scalable than conventional techniques.
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公开(公告)号：US20230018914A1
公开(公告)日：2023-01-19
申请号：US17379893
申请日：2021-07-19
Applicant: X Development LLC
Inventor： Laura Valentine Chrobak , Peter Kimball , Barnaby John James , Julia Black Ling
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that generate from a first pair and a second pair of images of livestock that are within an enclosure and that are taken at different times using a stereoscopic camera, at least two distance distributions of the aquatic livestock within the enclosure. The distance distributions can be used to determine a measure associated with an optical property of the water within the enclosure. A signal associated with the measure can be provided.
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Patent Agency Ranking
公开(公告)号：US20230007157A1
公开(公告)日：2023-01-05
申请号：US17930928
申请日：2022-09-09
Applicant: X Development LLC
Inventor： Emily Cooper , Chad Talbott
IPC: H04N5/235
Abstract: An example method includes determining, by a controller of an image capture system, a plurality of sets of exposure parameter values for one or more exposure parameters. The plurality of sets of exposure parameter values are determined at an exposure determination rate. The method further includes capturing, by an image capture device of the image capture system, a plurality of images. Each image of the plurality of images is captured according to a set of exposure parameter values of the plurality of sets of exposure parameter values. The method also includes sending, by the controller of the image capture system to an image processing unit, a subset of the plurality of images. Each subset of images is sent at a sampling rate, and the sampling rate is less than the exposure determination rate.
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公开(公告)号：US20220414453A1
公开(公告)日：2022-12-29
申请号：US17360680
申请日：2021-06-28
Applicant: X Development LLC
Inventor： Bangyan Chu , Sarah Ann Laszlo
Abstract: In one aspect, there is provided a method performed by one or more data processing apparatus, the method including receiving a training dataset having multiple training examples, where each training example includes: (i) an image, and (ii) a segmentation defining a target region of the image that has been classified as including pixels in a target category. The method further includes determining a respective refined segmentation for each training example, including, for each training example, processing the target region of the image defined by the segmentation for the training example using a de-noising neural network to generate a network output that defines the refined segmentation for the training example. The method further includes training a segmentation machine learning model on the training examples of the training dataset, including, for each training example training the segmentation machine learning model to process the image included in the training example to generate a model output that matches the refined segmentation for the training example.
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98.发明申请公开(公告)号：US20220414434A1
公开(公告)日：2022-12-29
申请号：US17362747
申请日：2021-06-29
Applicant: X Development LLC
Inventor： Lam Thanh Nguyen
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for implementing connectivity neural network layers. One of the methods includes processing a network input using a neural network to generate a network output, comprising: generating a layer input to a connectivity layer of the neural network based on the network input, wherein the layer input to the connectivity layer comprises a plurality of input values arranged in a plurality of input channels; processing the layer input using the connectivity layer to generate a layer output comprising a plurality of output values arranged in a plurality of output channels; processing the plurality of output channels of the connectivity layer using a brain emulation subnetwork of the neural network to generate a brain emulation subnetwork output; and generating the network output based on the brain emulation subnetwork output.
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公开(公告)号：US20220408701A1
公开(公告)日：2022-12-29
申请号：US17358973
申请日：2021-06-25
Applicant: X Development LLC
Inventor： Barnaby John James , Zhaoying Yao , Grace Taixi Brentano , Laura Valentine Chrobak , Kira Kamilla Smiley
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for the automated feeding of fish. In some implementations, a corresponding method may include obtaining meal configuration data including one or more parameters indicating a meal plan for feeding farmed fish; executing the meal plan based on the meal configuration data; receiving sensor data from one or more sensors during execution of the meal plan; and adjusting the execution of the meal plan based on the sensor data from the one or more sensors.
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公开(公告)号：US20220402123A1
公开(公告)日：2022-12-22
申请号：US17353609
申请日：2021-06-21
Applicant: X Development LLC
Inventor： Tim Niemueller , Ryan Butterfoss
IPC: B25J9/16
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for state estimation in a robotics system. One of the systems includes an execution subsystem configured to drive one or more robots in an operating environment including continually evaluating a plurality of execution predicates, wherein each execution predicate comprises a rule having a predicate value, and wherein, whenever a state value that satisfies the predicate value of the predicate is detected by the execution subsystem, the execution subsystem is configured to trigger a corresponding action to be performed in the operating environment by the one or more robots. A state estimator is configured to continually execute a state estimation function using one or more sensor values or status messages obtained from the operating environment and to automatically update a discrete state value for a first execution predicate of the plurality of execution predicates evaluated by the execution subsystem.
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