公开(公告)号：US11554488B2

公开(公告)日：2023-01-17

申请号：US17156844

申请日：2021-01-25

Applicant: X Development LLC

Inventor： Benjamin Holson

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16

Abstract: Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.

公开(公告)号：US20230010465A1

公开(公告)日：2023-01-12

申请号：US17370184

申请日：2021-07-08

Applicant: X Development LLC

Inventor： Benoit Schillings ,  Anupama Thubagere Jagadeesh

IPC: G01N21/64 ,  G02B21/00 ,  G02B21/36 ,  G02B21/16 ,  A61L2/10

Abstract: A system, including an optical imaging assembly configured to image a sample at an object plane to an image plane; an image sensor arranged at the image plane and configured to capture images of the sample for a field of view of the system; a light source configured to emit light having a wavelength, λ; a spatial light modulator (SLM) arranged to receive the light emitted from the light source and to provide a spatially modulated light pattern; one or more optical elements arranged to receive the spatially modulated light pattern from the SLM and to direct the spatially modulated light pattern to the image plane; and an electronic controller in communication with the image sensor and the spatial light modulator, the electronic controller being programmed to identify one or more targets in the field of view of the optical imaging assembly and to control the spatial light modulator to selectively direct light from the light source to the one or more targets identified by the electronic controller.

公开(公告)号：US20230004366A1

公开(公告)日：2023-01-05

申请号：US17901128

申请日：2022-09-01

Applicant: X Development LLC

Inventor： Qianyu Zhang ,  Bin Ni ,  Rishabh Singh ,  Olivia Hatalsky

IPC: G06F8/41 ,  G06F8/34 ,  G06F8/36 ,  G06F8/71 ,  G06F16/00

Abstract: Implementations are described herein for adapting existing source code snippets to new contexts. In various implementations, a command may be detected to incorporate an existing source code snippet into destination source code. An embedding may be generated based on the existing source code snippet, e.g., by processing the existing source code snippet using an encoder. The destination source code may be processed to identify one or more decoder constraints. Subject to the one or more decoder constraints, the embedding may be processed using a decoder to generate a new version of the existing source code snippet that is adapted to the destination source code.

公开(公告)号：US20230000711A1

公开(公告)日：2023-01-05

申请号：US17364681

申请日：2021-06-30

Applicant: X Development LLC

Inventor： Antonio Raymond Papania-Davis ,  Erik Lamers

IPC: A61H3/00 ,  B25J9/00

Abstract: This application relates to an actuation system for assistive wearable devices such as exoskeletons designed to actuate a joint of a wearer of the device. The actuation system includes a differential pulley drum having a first drum portion and a second drum portion, the first drum portion and the second drum portion having different radii. The differential pulley drum is located at a first end of the actuator. The actuation system further includes a motor coupled to the differential pulley drum and configured to rotate the differential pulley drum, a second pulley located at a second end of the actuator, a flexible sleeve that extends between the differential pulley drum and the second pulley, and a strand that extends from the differential pulley drum to the second pulley through the flexible sleeve.

公开(公告)号：US11544920B2

公开(公告)日：2023-01-03

申请号：US17463360

申请日：2021-08-31

Applicant: X Development LLC

Inventor： Lianghao Li ,  Kangkang Wang ,  Zhiqiang Yuan

IPC: G06K9/62 ,  G06V20/10 ,  G06N3/08

Abstract: Implementations are described herein for automatically generating synthetic training images that are usable as training data for training machine learning models to detect, segment, and/or classify various types of plants in digital images. In various implementations, a digital image may be obtained that captures an area. The digital image may depict the area under a lighting condition that existed in the area when a camera captured the digital image. Based at least in part on an agricultural history of the area, a plurality of three-dimensional synthetic plants may be generated. The synthetic training image may then be generated to depict the plurality of three-dimensional synthetic plants in the area. In some implementations, the generating may include graphically incorporating the plurality of three-dimensional synthetic plants with the digital image based on the lighting condition.

公开(公告)号：US20220405489A1

公开(公告)日：2022-12-22

申请号：US17706844

申请日：2022-03-29

Applicant: X Development LLC

Inventor： Rebecca Radkoff ,  David Andre

IPC: G06F40/56 ,  G06F40/35 ,  G06V20/40

Abstract: Implementations are described herein for formulating natural language descriptions based on temporal sequences of digital images. In various implementations, a natural language input may be analyzed. Based on the analysis, a semantic scope to be imposed on a natural language description that is to be formulated based on a temporal sequence of digital images may be determined. The temporal sequence of digital images may be processed based on one or more machine learning models to identify one or more candidate features that fall within the semantic scope. One or more other features that fall outside of the semantic scope may be disregarded. The natural language description may be formulated to describe one or more of the candidate features.

公开(公告)号：US20220402135A1

公开(公告)日：2022-12-22

申请号：US17353620

申请日：2021-06-21

Applicant: X Development LLC

Inventor： Benjamin Bremer ,  Torsten Kroeger

IPC: B25J9/16 ,  G05B19/4155

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating safety trajectories. One of the methods comprises causing, by a robotic control system, execution of a robotic control plan by a plurality of robotic components in a robotic execution environment; generating a safety trajectory at each of a plurality of time points during the execution of the robotic control plan, including: obtaining data identifying a current position of a particular robotic component of the plurality of robotic components; generating, using the obtained data, a safety trajectory for the particular robotic component; and providing the safety trajectory to an emergency control system; determining that an emergency condition has been met; and in response, transferring control of the particular robotic component from the robotic control system to the emergency control system, comprising causing, by the emergency control system, execution of the safety trajectory by the particular robotic component.

公开(公告)号：US11531073B2

公开(公告)日：2022-12-20

申请号：US17139807

申请日：2020-12-31

Applicant: X Development LLC

Inventor： Christian Thieu Nguyen ,  Stefan Bogdanovic

IPC: G01R33/028 ,  G01N24/10 ,  G01R33/032

Abstract: A magnetometer includes an electron spin defect body including a plurality of lattice point defects. A microwave field transmitter is operable to apply a microwave field to the electron spin defect body. An optical source is configured to emit input light of a first wavelength that excites the plurality of lattice point defects of the electron spin defect body from a ground state to an excited state. A first optical fiber has an input end optically coupled to the optical source and an output end. The output end is attached to a first face of the electron spin defect body and is arranged to direct the input light into the first face of the electron spin defect body. A second optical fiber has an output end and an input end. A photodetector is optically coupled to the output end of the second optical fiber.

公开(公告)号：US20220398415A1

公开(公告)日：2022-12-15

申请号：US17344328

申请日：2021-06-10

Applicant: X Development LLC

Inventor： Zhiqiang Yuan

IPC: G06K9/62 ,  G06T7/33 ,  G06K9/00 ,  B64C39/02

Abstract: Implementations are described herein for localizing individual plants by aligning high-elevation images using invariant anchor points while disregarding variant feature points, such as deformable plants. High-elevation images that capture the plurality of plants at a resolution at which wind-triggered deformation of individual plants is perceptible between the high-elevation images may be obtained. First regions of the high-elevation images that depict the plurality of plants may be classified as variant features that are unusable as invariant anchor points. Second regions of the high-elevation images that are disjoint from the first set of regions may be classified as invariant anchor points. The high-elevation images may be aligned based on invariant anchor point(s) that are common among at least some of the high-elevation images. Based on the aligned high-elevation images, individual plant(s) may be localized within one of the high-elevation images for performance of one or more agricultural tasks.

公开(公告)号：US20220395980A1

公开(公告)日：2022-12-15

申请号：US17343312

申请日：2021-06-09

Applicant: X Development LLC

Inventor： Dirk Holz ,  Timothy Robert Kelch

IPC: B25J9/16 ,  G05B19/4155

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that automatically calibrates robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining a representation of a robotic operating environment. A user selection of a plurality of components to be configured to operate in the robotic operating environment is received. A mapping is obtained between pairs of components to be calibrated and one or more respective calibration processes to perform to calibrate each pair of components. From the mapping, one or more calibration processes to be performed on pairs of components based on the user selection of the plurality of components is computed. Calibration instruction data describing how to perform the one or more calibration processes to be performed on the pairs of components of the user selection is determined and presented.