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公开(公告)号：US12128563B2
公开(公告)日：2024-10-29
申请号：US17398537
申请日：2021-08-10
发明人： Ning Ye , Maryam Bandari , Klas Jonas Alfred Kronander , Bala Venkata Sai Ravi Krishna Kolluri , Jianlan Luo , Wenzhao Lian , Chang Su
CPC分类号： B25J9/163 , B25J9/1661 , G06N20/00
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using learnable robotic control plans. One of the methods comprises obtaining a learnable robotic control plan comprising data defining a state machine that includes a plurality of states and a plurality of transitions between states, wherein: one or more states are learnable states, and each learnable state comprises data defining (i) one or more learnable parameters of the learnable state and (ii) a machine learning procedure for automatically learning a respective value for each learnable parameter of the learnable state; and processing the learnable robotic control plan to generate a specific robotic control plan, comprising: obtaining data characterizing a robotic execution environment; and for each learnable state, executing, using the obtained data, the respective machine learning procedures defined by the learnable state to generate a respective value for each learnable parameter of the learnable state.
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公开(公告)号：US12115670B2
公开(公告)日：2024-10-15
申请号：US17551706
申请日：2021-12-15
IPC分类号： B25J9/16
CPC分类号： B25J9/1664
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using equipment-specific sample generators to automatically adapt a skill for execution in an operating environment. One of the methods includes obtaining a skill to be executed in an operating environment having one or more robots, wherein the skill defines a sequence of subtasks to be performed by the one or more robots in the working environment. A planning process is performed to generate a motion plan for the one or more robots, including obtaining, from an equipment-specific sample generator, a plurality of equipment-specific samples for a subtask of the skill, generating, from the plurality of equipment-specific samples, a plurality of candidate motion plans, and selecting, from the plurality of candidate motion plans, a motion plan for the one or more robots to perform the skill in the operating environment.
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公开(公告)号：US20240220390A1
公开(公告)日：2024-07-04
申请号：US18538406
申请日：2023-12-13
发明人： Benjamin Bremer , Andre Gaschler
IPC分类号： G06F11/34
CPC分类号： G06F11/3476 , G06F11/3495
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating event logs for trace events. The method includes receiving data representing a trigger for generating event entries of a real-time robotics control system. Each real-time thread corresponds to a non-real-time thread, and is communicatively coupled to a data structure allocated in a memory unit for the real-time thread to store event entries. Each real-time thread stores event entries into a corresponding data structure that is allocated for the real-time thread. The event entries are generated when the real-time thread is executed during real time. The stored event entries are provided to a non-real-time thread that corresponds to the real-time thread from a corresponding data structure. Each non-real-time thread processes the event entries to generate an event log for the corresponding real-time thread. The event log represents trace events occurred during operation of the real-time thread.
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公开(公告)号：US20240219927A1
公开(公告)日：2024-07-04
申请号：US18534461
申请日：2023-12-08
CPC分类号： G05D1/65 , G05D1/646 , G05D2107/70
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for overriding an original motion of a robot along a trajectory. The method includes initiating, by a real-time robotics control system, execution of an input trajectory for a robot at a default speed, wherein the input trajectory is a time-parameterized trajectory and specifies a path in an operating environment; before completing execution of the input trajectory, receiving a user input specifying a value of an online speed override factor; in response, generating a phase-parameterized version of the input trajectory using a phase variable; computing, on each real-time control cycle, a target velocity and a target acceleration of the phase-parameterized version of the input trajectory based on the online speed override factor; and causing the robot to transition to the target velocity and the target acceleration while traversing the path in the operating environment.
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公开(公告)号：US20240217099A1
公开(公告)日：2024-07-04
申请号：US18390358
申请日：2023-12-20
发明人： Tim Niemueller
IPC分类号： B25J9/16
CPC分类号： B25J9/1661 , B25J9/1671
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot planning. One of the methods includes maintaining a library of pre-generated candidate actions that represent respective robot capabilities; receiving an initial task plan for performing a particular task, wherein the initial task plan includes a sequence of two or more actions that comprises a first action followed by a second action; processing the initial task plan to determine that the first effect of the first action does not result in satisfaction of the second precondition of the second action; selecting one or more selected pre-generated candidate actions from the library of pre-generated candidate actions; and modifying the initial task plan to include the one or more selected pre-generated candidate actions as the intermediate actions to generate a final task plan to be executed by the one or more particular robots when performing the particular task.
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公开(公告)号：US12020455B2
公开(公告)日：2024-06-25
申请号：US17198094
申请日：2021-03-10
CPC分类号： G06T7/80 , H04N9/646 , G06T2207/10141 , G06T2207/20084 , G06T2207/20208
摘要： Systems and method for expanding a dynamic range associated with an image are disclosed. The method includes capturing an image of a scene via an imaging device using a single exposure. The image of the scene includes a plurality of polarization images corresponding to different angles of polarization, and each of the polarization images comprise a plurality of color channels. The method further includes determining a criterion for each of the plurality of color channels; selecting one color channel of the plurality of color channels based on determining of the criterion; generating a reconstructed image irradiance for the one color channel based on pixels in two or more of the plurality of polarization images obtained for the one color channel; and outputting a reconstructed image with the reconstructed image irradiance.
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7.发明授权公开(公告)号：US11982775B2
公开(公告)日：2024-05-14
申请号：US18079477
申请日：2022-12-12
IPC分类号： H04N13/00 , G01B11/06 , G01B11/24 , G01S7/499 , G01S13/89 , G01S17/87 , G01S17/89 , G06T7/00 , G06T7/11 , G06T7/521 , G06T7/593 , G06T7/60 , G06T17/00 , H04N13/243 , H04N13/257
CPC分类号： G01S7/499 , G01B11/0641 , G01B11/24 , G01S13/89 , G01S17/87 , G01S17/89 , G06T7/11 , G06T7/521 , G06T7/593 , G06T7/60 , G06T17/00 , H04N13/243 , H04N13/257 , G06T2200/08 , G06T2207/10016 , G06T2207/10024 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084
摘要： A multi-modal sensor system includes: an underlying sensor system; a polarization camera system configured to capture polarization raw frames corresponding to a plurality of different polarization states; and a processing system including a processor and memory, the processing system being configured to control the underlying sensor system and the polarization camera system, the memory storing instructions that, when executed by the processor, cause the processor to: control the underlying sensor system to perform sensing on a scene and the polarization camera system to capture a plurality of polarization raw frames of the scene; extract first tensors in polarization representation spaces based on the plurality of polarization raw frames; and compute a characterization output based on an output of the underlying sensor system and the first tensors in polarization representation spaces.
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公开(公告)号：US20240096077A1
公开(公告)日：2024-03-21
申请号：US17945918
申请日：2022-09-15
发明人： Jianlan Luo , Stefan Schaal
IPC分类号： G06V10/82 , B25J9/16 , G06N3/04 , G06V10/774 , G06V10/776 , G06V20/50
CPC分类号： G06V10/82 , B25J9/161 , G06N3/0454 , G06V10/774 , G06V10/776 , G06V20/50
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for training an autoencoder. One of the methods includes receiving a pair of images, wherein a first image of the pair represents a first state of a working environment at a first time step earlier than that of a second image of the pair. A first and a second latent representation is generated respectively for the first and the second image by the autoencoder; A predicted reward for an action executed in the first state is generated by a reward prediction neural network. A predicted next latent representation for the first state and the action is generated by a dynamics prediction neural network. An overall loss is determined based on the predicted reward, the predicted next latent representation, and the second latent representation. Model parameters of the autoencoder are updated to reduce the overall loss.
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公开(公告)号：US11834312B2
公开(公告)日：2023-12-05
申请号：US18109699
申请日：2023-02-14
发明人： Lucas Whitaker
CPC分类号： B66F7/065 , B65B35/10 , B65B57/14 , G01F23/292 , G01V8/10
摘要： The system can include: a container no, a set of sensors 120, and a controller 130. The system can optionally include a robot 140. However, the system 100 can additionally or alternatively include any other suitable set of components. The system functions to monitor and/or maintain a fullness level of a container. The system can additionally or alternatively function to enable robotic picking out of the container (e.g., in a pick-and-place setting). The system can additionally function to maintain candidate objects within reach of the robot's end effector to increase robot uptime while minimizing the extent of the robot's required motion (e.g., in the z-axis).
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公开(公告)号：US11794343B2
公开(公告)日：2023-10-24
申请号：US17125862
申请日：2020-12-17
发明人： Bhaskara Mannar Marthi , Nan Rong
CPC分类号： B25J9/1669 , B25J9/1612 , B25J9/1676 , B25J19/023 , G06T7/10 , G06T7/74 , G06T2207/10028
摘要： Systems and method for grasp execution using height maps.
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