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公开(公告)号：US20230004802A1
公开(公告)日：2023-01-05
申请号：US17930874
申请日：2022-09-09
Applicant: X Development LLC
Inventor： Nareshkumar Rajkumar , Patrick Leger , Nicolas Hudson , Krishna Shankar , Rainer Hessmer
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for sharing learned information among robots. In some implementations, a robot obtains sensor data indicating characteristics of an object. The robot determines a classification for the object and generates an embedding for the object using a machine learning model stored by the robot. The robot stores the generated embedding and data indicating the classification for the object. The robot sends the generated embedding and the data indicating the classification to a server system. The robot receives, from the server system, an embedding generated by a second robot and a corresponding classification. The robot stores the received embedding and the corresponding classification in the local cache of the robot. The robot may then use the information in the cache to identify objects.
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公开(公告)号：US10967509B2
公开(公告)日：2021-04-06
申请号：US16910163
申请日：2020-06-24
Applicant: X Development LLC
Inventor： Nareshkumar Rajkumar , Patrick Leger , Abhinav Gupta
Abstract: Methods, systems, and apparatus, including computer-readable media storing executable instructions, for enhancing robot learning. In some implementations, a robot stores first embeddings generated using a first machine learning model, and the first embeddings include one or more first private embeddings that are not shared with other robots. The robot receives a second machine learning model from a server system over a communication network. The robot generates a second private embedding for each of the one or more first private embeddings using the second machine learning model. The robot adds the second private embeddings to the cache of the robot and removes the one or more first private embeddings from the cache of the robot.
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公开(公告)号：US20190197396A1
公开(公告)日：2019-06-27
申请号：US15855329
申请日：2017-12-27
Applicant: X Development LLC
Inventor： Nareshkumar Rajkumar , Patrick Leger , Nicolas Hudson , Krishna Shankar , Rainer Hessmer
IPC: G06N3/08
CPC classification number: G06N3/08 , B25J9/0003 , B25J9/1671 , G05B2219/45108 , H04L67/12 , H04L67/2842
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for sharing learned information among robots. In some implementations, a robot obtains sensor data indicating characteristics of an object. The robot determines a classification for the object and generates an embedding for the object using a machine learning model stored by the robot. The robot stores the generated embedding and data indicating the classification for the object. The robot sends the generated embedding and the data indicating the classification to a server system. The robot receives, from the server system, an embedding generated by a second robot and a corresponding classification. The robot stores the received embedding and the corresponding classification in the local cache of the robot. The robot may then use the information in the cache to identify objects.
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公开(公告)号：US09895809B1
公开(公告)日：2018-02-20
申请号：US14831549
申请日：2015-08-20
Applicant: X Development LLC
Inventor： Kyle Moore , Vincent Dureau , Nareshkumar Rajkumar
CPC classification number: B25J9/1689 , B25J5/00 , B25J11/0005 , B25J13/006 , B25J13/06 , B25J13/08 , B25J19/023 , G05B2219/40099
Abstract: Methods, apparatus, systems, and computer-readable media are provided for visually annotating rendered multi-dimensional representations of robot environments. In various implementations, an entity may be identified that is present with a telepresence robot in an environment. A measure of potential interest of a user in the entity may be calculated based on a record of one or more interactions between the user and one or more computing devices. In some implementations, the one or more interactions may be for purposes other than directly operating the telepresence robot. In various implementations, a multi-dimensional representation of the environment may be rendered as part of a graphical user interface operable by the user to control the telepresence robot. In various implementations, a visual annotation may be selectively rendered within the multi-dimensional representation of the environment in association with the entity based on the measure of potential interest.
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公开(公告)号：US20180039835A1
公开(公告)日：2018-02-08
申请号：US15230412
申请日：2016-08-06
Applicant: X DEVELOPMENT LLC
Inventor： Nareshkumar Rajkumar , Stefan Hinterstoisser , Max Bajracharya
CPC classification number: G06K9/00664 , B25J9/1697 , G06K9/00979 , G06K9/00993 , G06K9/628 , G06T1/0014 , H04W4/025 , H04W4/60 , H04W4/80 , Y10S901/47
Abstract: Methods, apparatus, systems, and computer-readable media are provided for downloading targeted object recognition modules that are selected from a library of candidate targeted object recognition modules based on various signals. In some implementations, an object recognition client may be operated to facilitate object recognition for a robot. It may download targeted object recognition module(s). Each targeted object recognition module may facilitate inference of an object type or pose of an observed object. The targeted object module(s) may be selected from a library of targeted object recognition modules based on various signals, such as a task to be performed by the robot. The object recognition client may obtain vision data capturing at least a portion of an environment in which the robot operates. The object recognition client may determine, based on the vision data and the downloaded object recognition module(s), information about an observed object in the environment.
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Patent Agency Ranking
公开(公告)号：US11577396B1
公开(公告)日：2023-02-14
申请号：US16929874
申请日：2020-07-15
Applicant: X Development LLC
Inventor： Kyle Moore , Vincent Dureau , Nareshkumar Rajkumar
Abstract: Methods, apparatus, systems, and computer-readable media are provided for visually annotating rendered multi-dimensional representations of robot environments. In various implementations, an entity may be identified that is present with a telepresence robot in an environment. A measure of potential interest of a user in the entity may be calculated based on a record of one or more interactions between the user and one or more computing devices. In some implementations, the one or more interactions may be for purposes other than directly operating the telepresence robot. In various implementations, a multi-dimensional representation of the environment may be rendered as part of a graphical user interface operable by the user to control the telepresence robot. In various implementations, a visual annotation may be selectively rendered within the multi-dimensional representation of the environment in association with the entity based on the measure of potential interest.
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公开(公告)号：US11170220B2
公开(公告)日：2021-11-09
申请号：US16742526
申请日：2020-01-14
Applicant: X Development LLC
Inventor： Nareshkumar Rajkumar , Stefan Hinterstoisser
Abstract: Methods, apparatus, systems, and computer-readable media are provided for delegating object type and/or pose detection to a plurality of “targeted object recognition modules.” In some implementations, a method may be provided that includes: operating an object recognition client to facilitate object recognition for a robot; receiving, by the object recognition client, sensor data indicative of an observed object in an environment; providing, by the object recognition client, to each of a plurality of remotely-hosted targeted object recognition modules, data indicative of the observed object; receiving, by the object recognition client, from one or more of the plurality of targeted object recognition modules, one or more inferences about an object type or pose of the observed object; and determining, by the object recognition client, information about the observed object, such as its object type and/or pose, based on the one or more inferences.
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公开(公告)号：US11151744B1
公开(公告)日：2021-10-19
申请号：US16571841
申请日：2019-09-16
Applicant: X Development LLC
Inventor： Kurt Konolige , Nareshkumar Rajkumar , Stefan Hinterstoisser , Paul Wohlhart
Abstract: Methods for annotating objects within image frames are disclosed. Information is obtained that represents a camera pose relative to a scene. The camera pose includes a position and a location of the camera relative to the scene. Data is obtained that represents multiple images, including a first image and a plurality of other images, being captured from different angles by the camera relative to the scene. A 3D pose of the object of interest is identified with respect to the camera pose in at least the first image. A 3D bounding region for the object of interest in the first image is defined, which indicates a volume that includes the object of interest. A location and orientation of the object of interest is determined in the other images based on the defined 3D bounding region of the object of interest and the camera pose in the other images.
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公开(公告)号：US11017317B2
公开(公告)日：2021-05-25
申请号：US15855299
申请日：2017-12-27
Applicant: X Development LLC
Inventor： Nareshkumar Rajkumar , Patrick Leger
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media for evaluating robot learning. In some implementations, one or more computers receive object classification examples from a plurality of robots. Each object classification example includes (i) an embedding that a robot generated using a machine learning model, and (ii) an object classification corresponding to the embedding. The object classification examples are evaluated based on a similarity of the received embeddings with respect to other embeddings. A subset of the object classification examples is selected based on the evaluation of the quality of the embeddings. The subset of the object classification examples is distributed to the robots in the plurality of robots.
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公开(公告)号：US20180018518A1
公开(公告)日：2018-01-18
申请号：US15212967
申请日：2016-07-18
Applicant: X DEVELOPMENT LLC
Inventor： Nareshkumar Rajkumar , Stefan Hinterstoisser
CPC classification number: G06K9/00664 , G06K9/00979 , G06K9/6296 , G06T7/0042 , G06T7/33 , G06T2207/10021
Abstract: Methods, apparatus, systems, and computer-readable media are provided for delegating object type and/or pose detection to a plurality of “targeted object recognition modules.” In some implementations, a method may be provided that includes: operating an object recognition client to facilitate object recognition for a robot; receiving, by the object recognition client, sensor data indicative of an observed object in an environment; providing, by the object recognition client, to each of a plurality of remotely-hosted targeted object recognition modules, data indicative of the observed object; receiving, by the object recognition client, from one or more of the plurality of targeted object recognition modules, one or more inferences about an object type or pose of the observed object; and determining, by the object recognition client, information about the observed object, such as its object type and/or pose, based on the one or more inferences.
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