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公开(公告)号：US11195041B2
公开(公告)日：2021-12-07
申请号：US16864591
申请日：2020-05-01
Applicant: X Development LLC
Inventor： Kurt Konolige , Nareshkumar Rajkumar , Stefan Hinterstoisser
Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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公开(公告)号：US20200311616A1
公开(公告)日：2020-10-01
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：US20200265260A1
公开(公告)日：2020-08-20
申请号：US16864591
申请日：2020-05-01
Applicant: X Development LLC
Inventor： Kurt Konolige , Nareshkumar Rajkumar , Stefan Hinterstoisser
Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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公开(公告)号：US10417781B1
公开(公告)日：2019-09-17
申请号：US15396105
申请日：2016-12-30
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：US20180300550A1
公开(公告)日：2018-10-18
申请号：US16014311
申请日：2018-06-21
Applicant: X Development LLC
Inventor： Nareshkumar Rajkumar , Stefan Hinterstoisser
CPC classification number: G06K9/00664 , G06K9/00979 , G06K9/6296 , G06T7/33 , G06T7/73 , 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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Patent Agency Ranking
公开(公告)号：US10025984B2
公开(公告)日：2018-07-17
申请号：US15212967
申请日：2016-07-18
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：US20220058419A1
公开(公告)日：2022-02-24
申请号：US17520152
申请日：2021-11-05
Applicant: X Development LLC
Inventor： Kurt Konolige , Nareshkumar Rajkumar , Stefan Hinterstoisser
Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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公开(公告)号：US20210256424A1
公开(公告)日：2021-08-19
申请号：US17307507
申请日：2021-05-04
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, a system receives classification examples from a plurality of remote devices over a communication network. The classification examples can include (i) a data representation generated by a remote device based on sensor data captured by the remote device and (ii) a classification corresponding to the data representation. The system assigns quality scores to the classification examples based on a level of similarity of the data representations with other data representations. The system selects a subset of the classification examples based on the quality scores assigned to the classification examples. The system trains a machine learning model using the selected subset of the classification examples.
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公开(公告)号：US20210220991A1
公开(公告)日：2021-07-22
申请号：US17222496
申请日：2021-04-05
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：US10891484B2
公开(公告)日：2021-01-12
申请号：US16269183
申请日：2019-02-06
Applicant: X DEVELOPMENT LLC
Inventor： Nareshkumar Rajkumar , Stefan Hinterstoisser , Max Bajracharya
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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