公开(公告)号：US11465279B2

公开(公告)日：2022-10-11

申请号：US16204118

申请日：2018-11-29

Applicant: X Development LLC

Inventor： Benjamin Holson

IPC: B25J9/16 ,  G05D1/00 ,  G05D1/02

Abstract: A method includes receiving sensor data representative of surfaces in a physical environment containing an interaction point for a robotic device, and determining, based on the sensor data, a height map of the surfaces in the physical environment. The method also includes determining, by inputting the height map and the interaction point into a pre-trained model, one or more candidate positions for a base of the robotic device to allow a manipulator of the robotic device to reach the interaction point. The method additionally includes determining a collision-free trajectory to be followed by the manipulator to reach the interaction point when the base of the robotic device is positioned at a selected candidate position of the one or more candidate positions and, based on determining the collision-free trajectory, causing the base of the robotic device to move to the selected candidate position within the physical environment.

公开(公告)号：US20220297301A1

公开(公告)日：2022-09-22

申请号：US17203147

申请日：2021-03-16

Applicant: X Development LLC

Inventor： Timothy Robert Kelch ,  Dirk Holz

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for measuring and reporting calibration accuracy of robots and sensors assigned to perform a task in an operating environment. One of the methods includes receiving a request to perform a calibration process for one or more robots in an operating environment; in response, performing the calibration process including executing a calibration program that generates movement data representing movements by the one or more robots within the operating environment; computing a measure of calibration accuracy from the movement data; receiving an input program to be executed in the operating environment; determining that the measure of calibration accuracy does not satisfy an accuracy tolerance of the input program; and in response, generating a notification representing that the measure of calibration accuracy generated from performing the calibration process does not satisfy the accuracy tolerance of the input program.

公开(公告)号：US20220297293A1

公开(公告)日：2022-09-22

申请号：US17208721

申请日：2021-03-22

Applicant: X Development LLC

Inventor： Robert Wilson

IPC: B25J9/16

Abstract: Implementations are directed to, for each of one or more joints of a robot, generating dynamic joint torque saturation limits for the joint, such as an upper joint torque saturation value and a lower joint torque saturation value. Implementations are additionally or alternatively directed to utilizing the dynamic torque saturation limits for the joint in generating driving torques and/or to driving a motor (or other actuator) of the joint based on the driving torques. Various implementations can enable regulation of contact forces for a robot in situations where the robot lacks joint torque sensor(s) and/or force torque sensor(s) and/or in situations where such sensor(s) are present, but have failed or are malfunctioning.

公开(公告)号：US20220292330A1

公开(公告)日：2022-09-15

申请号：US17200097

申请日：2021-03-12

Applicant: X Development LLC

Inventor： Hongxu Ma ,  Gengchen Mai ,  Bin Ni

IPC: G06N3/04 ,  G06N3/08 ,  G06F16/29

Abstract: Implementations are described herein for generating location embeddings that capture spatial dependence and heterogeneity of data, making the embeddings suitable for downstream statistical analysis and/or machine learning processing. In various implementations, a position coordinate for a geographic location of interest may be processed using a spatial dependence encoder to generate a first location embedding that captures spatial dependence of geospatial measure(s) for the geographic location of interest. The position coordinate may also be processed using a spatial heterogeneity encoder to generate a second location embedding that captures spatial heterogeneity of the geospatial measure(s) for the geographic location. A combined embedding corresponding to the geographic location may be generated based on the first and second location embeddings. The combined embedding may be processed using a function to determine a prediction for one or more of the geospatial measures of the geographic location of interest.

公开(公告)号：US11440196B1

公开(公告)日：2022-09-13

申请号：US16717896

申请日：2019-12-17

Applicant: X Development LLC

Inventor： Sean Kirmani ,  Guy Satat ,  Michael Quinlan

IPC: B25J9/16 ,  G06N3/04 ,  G06T7/70 ,  G06N20/20 ,  G06T7/277

Abstract: A method includes receiving sensor data representing a first object in an environment and generating, based on the sensor data, a first state vector that represents physical properties of the first object. The method also includes generating, by a first machine learning model and based on the first state vector and a second state vector that represents physical properties of a second object previously observed in the environment, a metric indicating a likelihood that the first object is the same as the second object. The method further includes determining, based on the metric, to update the second state vector and updating, by a second machine learning model configured to maintain the second state vector over time and based on the first state vector, the second state vector to incorporate into the second state vector information concerning physical properties of the second object as represented in the first state vector.

公开(公告)号：US20220286032A1

公开(公告)日：2022-09-08

申请号：US17724959

申请日：2022-04-20

Applicant: X Development LLC

Inventor： Leo Francis Casey ,  Siyuan Xin

IPC: H02K16/02

Abstract: A compound motor-generator system including a first motor-generator and a second motor-generator. The first motor generator includes a stator having a set of three-phase field windings and a first rotor disposed inside and coaxial with the stator and configured to rotate relative to the stator. The second motor-generator includes a rotational stator and a second rotor coupled to a common shaft with the rotor of the first motor-generator and disposed inside and coaxial to the rotational stator. The rotational stator is configured to rotate relative to the second rotor and at a higher rotational speed than the second rotor.

公开(公告)号：US20220281113A1

公开(公告)日：2022-09-08

申请号：US17192517

申请日：2021-03-04

Applicant: X Development LLC

Inventor： Ammar Husain

IPC: B25J9/16 ,  G05D1/02

Abstract: A method includes receiving, from a sensor on a robotic device, a captured image representative of an environment of the robotic device when the robotic device is at a location in the environment. The method also includes determining, based at least on the location of the robotic device, a rendered image representative of the environment of the robotic device. The method further includes determining, by applying at least one pre-trained machine learning model to at least the captured image and the rendered image, a property of one or more portions of the captured image.

公开(公告)号：US11429103B2

公开(公告)日：2022-08-30

申请号：US16832837

申请日：2020-03-27

Applicant: X Development LLC

Inventor： David Millard ,  Mikael Persson

IPC: G05D1/00 ,  G01C21/20 ,  G05D1/02 ,  G01C21/34 ,  B25J9/00 ,  B25J9/16 ,  G06V20/10

Abstract: Systems, methods, devices, and techniques for planning travel of an autonomous robot. A system identifies one or more obstacles that are located in proximity of at least a portion of a planned route for the autonomous robot. For each obstacle, the system: (i) determines a semantic class of the obstacle, including selecting the semantic class from a library that defines a set of multiple possible semantic classes for obstacles, and (ii) selects a planning policy for the obstacle that corresponds to the semantic class of the obstacle. The system can generate a trajectory along the at least the portion of the planned route using the selected planning policies. The robot can then initiate travel according to the trajectory.

公开(公告)号：US11426884B2

公开(公告)日：2022-08-30

申请号：US16984576

申请日：2020-08-04

Applicant: X Development LLC

Inventor： Marc Strauss ,  Colin Duffie ,  Bin Su

IPC: B25J15/08 ,  B25J17/00 ,  B25J19/06

Abstract: A reusable mechanism is disclosed for coupling two robotic appendages, such that an unintended force acting against a side of one of the appendages may decouple the appendages. The mechanism includes a revolved male dovetail mated to a revolved female dovetail. The mechanism may further include a channel within the male dovetail and a detent that inhibits rotation of the male dovetail in relation to the female dovetail.

公开(公告)号：US20220268939A1

公开(公告)日：2022-08-25

申请号：US17185414

申请日：2021-02-25

Applicant: X Development LLC

Inventor： Sarah Najmark ,  Sean Kirmani

IPC: G01S17/89 ,  G01S17/93 ,  G06K9/62 ,  H04L29/08

Abstract: A method includes receiving first sensor data captured by a first sensor. The method further includes receiving a plurality of labels or predictions corresponding to the first sensor data. The method also includes receiving second sensor data captured by a second sensor. The method further includes determining time-synchronized sensor data comprising a subset of the first sensor data and a subset of the second sensor data. The method additionally includes determining, based on the plurality of labels or predictions and the time-synchronized sensor data, a plurality of pseudo-labels corresponding to the second sensor data. The method also includes generating a training data set comprising at least the subset of the second sensor data and one or more pseudo-labels from the plurality of pseudo-labels.