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    USING SIMULATED/GENERATED NOISE TO EVALUATE AND REFINE STATE ESTIMATION
    1.
    发明申请
    USING SIMULATED/GENERATED NOISE TO EVALUATE AND REFINE STATE ESTIMATION 有权

    公开(公告)号：US20220402134A1

    公开(公告)日：2022-12-22

    申请号：US17838034

    申请日：2022-06-10

    Applicant: Dexterity, Inc.

    Inventor： Rohit Arka Pidaparthi ,  William Arthur Clary ,  Neeraja Abhyankar ,  Jonathan Kuck ,  Ben Varkey Benjamin Pottayil ,  Kevin Jose Chavez ,  Shitij Kumar

    IPC: B25J9/16 ,  B25J13/08

    Abstract: A robotic system is disclosed. The system includes a memory configured to store estimated state information associated with a computer simulation of a robotic operation to stack a plurality of items on a pallet or other receptacle. The system includes one or more processors coupled to the communication interface and configured to perform the computer simulation. The computer simulation is performed at least in part by combining geometric model data based on idealized simulated robotic placement of each item with programmatically generated noise data. The programmatically generated noise data reflects an estimation of the effect that one or more sources of noise in a real-world physical workspace with which the computer simulation is associated would have on a real-world state of the plurality of items and/or the pallet or other receptacle if the plurality of items were stacked on the pallet or other receptacle as simulated in the computer simulation.

    SIMULATED BOX PLACEMENT FOR ALGORITHM EVALUATION AND REFINEMENT
    2.
    发明申请
    SIMULATED BOX PLACEMENT FOR ALGORITHM EVALUATION AND REFINEMENT 有权

    公开(公告)号：US20250100819A1

    公开(公告)日：2025-03-27

    申请号：US18973428

    申请日：2024-12-09

    Applicant: Dexterity, Inc.

    Inventor： Rohit Arka Pidaparthi ,  William Arthur Clary ,  Neeraja Abhyankar ,  Jonathan Kuck ,  Ben Varkey Benjamin Pottayil ,  Kevin Jose Chavez ,  Shitij Kumar

    IPC: B65G61/00 ,  B25J9/16

    Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.

    ROBOTIC STACKING COLD START
    3.
    发明申请
    ROBOTIC STACKING COLD START 有权

    公开(公告)号：US20250010481A1

    公开(公告)日：2025-01-09

    申请号：US18750263

    申请日：2024-06-21

    Applicant: Dexterity, Inc.

    Inventor： Neeraja Abhyankar ,  Harry Zhe Su ,  Joseph W. Weber ,  Kevin Jose Chavez ,  Neeraj Basu ,  Cuthbert Sun ,  Vikram Ramanathan ,  Arth Beladiya

    IPC: B25J9/16

    Abstract: Performing a “cold start” of a robotic stacking operation is disclosed. In various embodiments, estimated state information representing an estimated state of one or both of a receptacle and one or more objects stacked on or in the receptacle is stored. An indication is received that the estimated state information is not suitable to make a next placement decision with respect to a next object to be stacked on or in the receptacle. Constructed estimated state information is generated at least in part by processing sensor information generated by one or more sensors positioned and configured to generate sensor information providing an at least partial view of one or both of the receptacle and the one or more objects stacked on or in the receptacle.

    SIMULATED BOX PLACEMENT FOR ALGORITHM EVALUATION AND REFINEMENT
    4.
    发明申请
    SIMULATED BOX PLACEMENT FOR ALGORITHM EVALUATION AND REFINEMENT 有权

    公开(公告)号：US20220402710A1

    公开(公告)日：2022-12-22

    申请号：US17837779

    申请日：2022-06-10

    Applicant: Dexterity, Inc.

    Inventor： Rohit Arka Pidaparthi ,  William Arthur Clary ,  Neeraja Abhyankar ,  Jonathan Kuck ,  Ben Varkey Benjamin Pottayil ,  Kevin Jose Chavez ,  Shitij Kumar

    IPC: B65G61/00 ,  B25J9/16

    Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.

    Simulated box placement for algorithm evaluation and refinement
    5.
    发明授权
    Simulated box placement for algorithm evaluation and refinement 有权

    公开(公告)号：US12258227B2

    公开(公告)日：2025-03-25

    申请号：US17837779

    申请日：2022-06-10

    Applicant: Dexterity, Inc.

    Inventor： Rohit Arka Pidaparthi ,  William Arthur Clary ,  Neeraja Abhyankar ,  Jonathan Kuck ,  Ben Varkey Benjamin Pottayil ,  Kevin Jose Chavez ,  Shitij Kumar

    IPC: B65G61/00 ,  B25J9/16

    Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.

    WORKSPACE ADAPTIVE ROBOTIC SYSTEM TO LOAD OR UNLOAD PALLETS OR OTHER RECEPTACLES
    7.
    发明申请
    WORKSPACE ADAPTIVE ROBOTIC SYSTEM TO LOAD OR UNLOAD PALLETS OR OTHER RECEPTACLES 有权

    公开(公告)号：US20240391101A1

    公开(公告)日：2024-11-28

    申请号：US18670253

    申请日：2024-05-21

    Applicant: Dexterity, Inc.

    Inventor： Joseph Li ,  Robert Moreno ,  Neeraja Abhyankar

    IPC: B25J9/16

    Abstract: A robotic system to load or unload pallets or other receptacles is disclosed. Image data is received and used to identify an item associated with a topmost receptacle in a stack of one or more stackable receptacles. A robotic arm is controlled to perform a pick and place operation on the item with respect to the topmost receptacle in the stack of one or more stackable receptacles. Successive iterations of identifying, picking, and placing items are performed until a stop condition is determined to have been met, the stop condition including one or more of determining no further items remain to be processed and determining that the stack of one or more stackable receptacles includes a maximum permitted number of stackable receptacles.

    CONTAINERIZED ROBOTIC SYSTEM
    8.
    发明公开
    CONTAINERIZED ROBOTIC SYSTEM 审中-公开

    公开(公告)号：US20240091952A1

    公开(公告)日：2024-03-21

    申请号：US18368941

    申请日：2023-09-15

    Applicant: Dexterity, Inc.

    Inventor： Joseph Li ,  Robert Moreno ,  Cuthbert Sun ,  Salvador Perez ,  Neeraja Abhyankar ,  Arth Beladiya ,  Kunal Vikas Shinde

    IPC: B25J9/16

    CPC classification number: B25J9/1697 ,  B25J9/1674

    Abstract: A robotic system is disclosed. The robotic system includes (i) a robotic arm positioned in a known location adjacent to a work zone with respect to which the robotic arm is configured to manipulate one or more items, (ii) one or more sensors each positioned in a corresponding fixed location relative to the work zone, and (iii) one or more processors configured to configure the robotic system to use the robotic arm to manipulate the one or more items, the robotic system being configured based at least in part on sensor data, the sensor data comprising information indicative of a relative position of the robotic arm and one or more other objects in the work zone.

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