公开(公告)号：US11597078B2

公开(公告)日：2023-03-07

申请号：US16941339

申请日：2020-07-28

Applicant: NVIDIA Corporation

Inventor： Wei Yang ,  Christopher Jason Paxton ,  Yu-Wei Chao ,  Dieter Fox

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16 ,  G06T7/50 ,  G06V20/30 ,  G06V20/64 ,  G06V40/10

Abstract: A robotic control system directs a robot to take an object from a human grasp by obtaining an image of a human hand holding an object, estimating the pose of the human hand and the object, and determining a grasp pose for the robot that will not interfere with the human hand. In at least one example, a depth camera is used to obtain a point cloud of the human hand holding the object. The point cloud is provided to a deep network that is trained to generate a grasp pose for a robotic gripper that can take the object from the human's hand without pinching or touching the human's fingers.

公开(公告)号：US20220032454A1

公开(公告)日：2022-02-03

申请号：US16941339

申请日：2020-07-28

Applicant: NVIDIA Corporation

Inventor： Wei Yang ,  Christopher Jason Paxton ,  Yu-Wei Chao ,  Dieter Fox

IPC: B25J9/16 ,  B25J19/02 ,  B25J19/04 ,  G06K9/00 ,  G06T7/50

Abstract: A robotic control system directs a robot to take an object from a human grasp by obtaining an image of a human hand holding an object, estimating the pose of the human hand and the object, and determining a grasp pose for the robot that will not interfere with the human hand. In at least one example, a depth camera is used to obtain a point cloud of the human hand holding the object. The point cloud is provided to a deep network that is trained to generate a grasp pose for a robotic gripper that can take the object from the human's hand without pinching or touching the human's fingers.

公开(公告)号：US20210252698A1

公开(公告)日：2021-08-19

申请号：US16791943

申请日：2020-02-14

Applicant: NVIDIA Corporation

Inventor： Christopher Jason Paxton ,  Kei Kase ,  Dieter Fox

IPC: B25J9/16 ,  G06N3/04 ,  G06N3/08 ,  G05D1/02

Abstract: Apparatuses, systems, and techniques to facilitate robotic execution using neural networks to perform complex, multi-step tasks in situations for which a robot has not been trained. In at least one embodiment, a hierarchical model is trained to infer a logical state from a world state and determine executable actions for a robot based on that logical state.

公开(公告)号：US20210081752A1

公开(公告)日：2021-03-18

申请号：US16931211

申请日：2020-07-16

Applicant: NVIDIA Corporation

Inventor： Yu-Wei Chao ,  De-An Huang ,  Christopher Jason Paxton ,  Animesh Garg ,  Dieter Fox

IPC: G06N3/00 ,  G06N20/00

Abstract: Apparatuses, systems, and techniques to identify a goal of a demonstration. In at least one embodiment, video data of a demonstration is analyzed to identify a goal. Object trajectories identified in the video data are analyzed with respect to a task predicate satisfied by a respective object trajectory, and with respect to motion predicate. Analysis of the trajectory with respect to the motion predicate is used to assess intentionality of a trajectory with respect to the goal.