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公开(公告)号：US09630316B2
公开(公告)日：2017-04-25
申请号：US15006264
申请日：2016-01-26
Applicant: X Development LLC
Inventor： Kurt Konolige , Ethan Rublee , Mrinal Kalakrishnan
CPC classification number: B25J9/1612 , B25J5/007 , B25J9/1633 , B25J9/1664 , B25J15/0616 , G05B2219/37345 , G05B2219/40006 , G05B2219/40512 , G05B2219/40513 , G05B2219/45056 , Y10S901/09 , Y10S901/27 , Y10S901/30 , Y10S901/46
Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.
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公开(公告)号：US11615291B1
公开(公告)日：2023-03-28
申请号：US16918181
申请日：2020-07-01
Applicant: X Development LLC
Inventor： Adrian Li , Mrinal Kalakrishnan
Abstract: Methods, apparatus, and computer readable media related to combining and/or training one or more neural network modules based on version identifier(s) assigned to the neural network module(s). Some implementations are directed to using version identifiers of neural network modules in determining whether and/or how to combine multiple neural network modules to generate a combined neural network model for use by a robot and/or other apparatus. Some implementations are additionally or alternatively directed to assigning a version identifier to an endpoint of a neural network module based on one or more other neural network modules to which the neural network module is joined during training of the neural network module.
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公开(公告)号：US11607802B2
公开(公告)日：2023-03-21
申请号：US16886545
申请日：2020-05-28
Applicant: X Development LLC
Inventor： Seyed Mohammad Khansari Zadeh , Daniel Kappler , Jianlan Luo , Jeffrey Bingham , Mrinal Kalakrishnan
Abstract: Generating and utilizing action image(s) that represent a candidate pose (e.g., a candidate end effector pose), in determining whether to utilize the candidate pose in performance of a robotic task. The action image(s) and corresponding current image(s) can be processed, using a trained critic network, to generate a value that indicates a probability of success of the robotic task if component(s) of the robot are traversed to the particular pose. When the value satisfies one or more conditions (e.g., satisfies a threshold), the robot can be controlled to cause the component(s) to traverse to the particular pose in performing the robotic task.
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Patent Agency Ranking
公开(公告)号：US11565401B1
公开(公告)日：2023-01-31
申请号：US17208683
申请日：2021-03-22
Applicant: X Development LLC
Inventor： Peter Pastor Sampedro , Mrinal Kalakrishnan , Ali Yahya Valdovinos , Adrian Li , Kurt Konolige , Vincent Dureau
Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.
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公开(公告)号：US10861184B1
公开(公告)日：2020-12-08
申请号：US15410702
申请日：2017-01-19
Applicant: X Development LLC
Inventor： Mrinal Kalakrishnan , Adrian Ling Hin Li , Nicolas Hudson
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium for predicting object pose. In one aspect, a method includes receiving an image of an object having one or more feature points; providing the image as an input to a neural network subsystem trained to receive images of objects and to generate an output including a heat map for each feature point; applying a differentiable transformation on each heat map to generate respective one or more feature coordinates for each feature point; providing the feature coordinates for each feature point as input to an object pose solver configured to compute a predicted object pose for the object, wherein the predicted object pose for the object specifies a position and an orientation of an object; and receiving, at the output of the object pose solver, a predicted object pose for the object in the image.
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公开(公告)号：US10427296B1
公开(公告)日：2019-10-01
申请号：US16051638
申请日：2018-08-01
Applicant: X Development LLC
Inventor： Peter Pastor Sampedro , Mrinal Kalakrishnan , Ali Yahya Valdovinoa , Adrian Li , Kurt Konolige , Vincent Dureau
Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.
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公开(公告)号：US10058995B1
公开(公告)日：2018-08-28
申请号：US15205760
申请日：2016-07-08
Applicant: X DEVELOPMENT LLC
Inventor： Peter Pastor Sampedro , Mrinal Kalakrishnan , Ali Yahya Valdovinos , Adrian Li , Kurt Konolige , Vincent Dureau
CPC classification number: B25J9/0084 , B25J9/163 , G05B2219/39271
Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.
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公开(公告)号：US10035264B1
公开(公告)日：2018-07-31
申请号：US14797529
申请日：2015-07-13
Applicant: X Development LLC
Inventor： Mrinal Kalakrishnan , Torsten Kroeger
CPC classification number: B25J9/163 , G05D1/0223 , G05D1/0227 , G05D2201/0216 , H04W4/80
Abstract: Methods, apparatus, systems, and computer-readable media are provided for real time robot implementation of state machines. In various implementations, a robot controller may state machine data indicative of a state machine to be implemented by the robot controller while operating a robot. The robot controller may identify one or more states reachable by the robot controller during implementation of the state machine. At least a first state of the one or more states may include: a first action to be performed by the robot while the robot controller is in the first state; and a plurality of strategies to govern performance of the first action under multiple circumstances while the robot controller is in the first state. The robot controller may operate the robot to perform the first action in a manner governed by a first strategy of the plurality of strategies. The robot controller may operate the robot to continue performing the first action in a manner governed by a second strategy of the plurality of strategies in response to a sensor signal.
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