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公开(公告)号：US20250153363A1
公开(公告)日：2025-05-15
申请号：US19025627
申请日：2025-01-16
Applicant: GOOGLE LLC
Inventor： Seyed Mohammad Khansari Zadeh , Eric Jang , Daniel Lam , Daniel Kappler , Matthew Bennice , Brent Austin , Yunfei Bai , Sergey Levine , Alexander Irpan , Nicolas Sievers , Chelsea Finn
Abstract: Implementations described herein relate to training and refining robotic control policies using imitation learning techniques. A robotic control policy can be initially trained based on human demonstrations of various robotic tasks. Further, the robotic control policy can be refined based on human interventions while a robot is performing a robotic task. In some implementations, the robotic control policy may determine whether the robot will fail in performance of the robotic task, and prompt a human to intervene in performance of the robotic task. In additional or alternative implementations, a representation of the sequence of actions can be visually rendered for presentation to the human can proactively intervene in performance of the robotic task.
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公开(公告)号：US20250058460A1
公开(公告)日：2025-02-20
申请号：US18936675
申请日：2024-11-04
Applicant: GOOGLE LLC
Inventor： Matthew Bennice , Paul Bechard
Abstract: Implementations are provided for operably coupling multiple robot controllers to a single virtual environment, e.g., to generate training examples for training machine learning model(s). In various implementations, a virtual environment may be simulated that includes an interactive object and a plurality of robot avatars that are controlled independently and contemporaneously by a corresponding plurality of robot controllers that are external from the virtual environment. Sensor data generated from a perspective of each robot avatar of the plurality of robot avatars may be provided to a corresponding robot controller. Joint commands that cause actuation of one or more joints of each robot avatar may be received from the corresponding robot controller. Joint(s) of each robot avatar may be actuated pursuant to corresponding joint commands. The actuating may cause two or more of the robot avatars to act upon the interactive object in the virtual environment.
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公开(公告)号：US20240058954A1
公开(公告)日：2024-02-22
申请号：US17890783
申请日：2022-08-18
Applicant: GOOGLE LLC
Inventor： Matthew Bennice , Paul Bechard , Joséphine Simon , Jiayi Lin
CPC classification number: B25J9/163 , B25J9/161 , B25J9/1671 , B25J19/022
Abstract: Implementations are provided for training robot control policies using augmented reality (AR) sensor data comprising physical sensor data injected with virtual objects. In various implementations, physical pose(s) of physical sensor(s) of a physical robot operating in a physical environment may be determined. Virtual pose(s) of virtual object(s) in the physical environment may also be determined. Based on the physical poses virtual poses, the virtual object(s) may be injected into sensor data generated by the one or more physical sensors to generate AR sensor data. The physical robot may be operated in the physical environment based on the AR sensor data and a robot control policy. The robot control policy may be trained based on virtual interactions between the physical robot and the one or more virtual objects.
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公开(公告)号：US20240033904A1
公开(公告)日：2024-02-01
申请号：US18379597
申请日：2023-10-12
Applicant: GOOGLE LLC
Inventor： Matthew Bennice , Paul Bechard
CPC classification number: B25J9/1605 , B25J9/0084
Abstract: Implementations are provided for operably coupling multiple robot controllers to a single virtual environment, e.g., to generate training examples for training machine learning model(s). In various implementations, a virtual environment may be simulated that includes an interactive object and a plurality of robot avatars that are controlled independently and contemporaneously by a corresponding plurality of robot controllers that are external from the virtual environment. Sensor data generated from a perspective of each robot avatar of the plurality of robot avatars may be provided to a corresponding robot controller. Joint commands that cause actuation of one or more joints of each robot avatar may be received from the corresponding robot controller. Joint(s) of each robot avatar may be actuated pursuant to corresponding joint commands. The actuating may cause two or more of the robot avatars to act upon the interactive object in the virtual environment.
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公开(公告)号：US11845190B1
公开(公告)日：2023-12-19
申请号：US17336986
申请日：2021-06-02
Applicant: GOOGLE LLC
Inventor： Matthew Bennice , Paul Bechard , Joséphine Simon , Chuyuan Fu , Wenlong Lu
CPC classification number: B25J9/1671 , B25J9/163 , B25J9/1638 , B25J9/1697 , B25J13/085 , B25J13/088
Abstract: Implementations are provided for increasing realism of robot simulation by injecting noise into various aspects of the robot simulation. In various implementations, a three-dimensional (3D) environment may be simulated and may include a simulated robot controlled by an external robot controller. Joint command(s) issued by the robot controller and/or simulated sensor data passed to the robot controller may be intercepted. Noise may be injected into the joint command(s) to generate noisy commands. Additionally or alternatively, noise may be injected into the simulated sensor data to generate noisy sensor data. Joint(s) of the simulated robot may be operated in the simulated 3D environment based on the one or more noisy commands. Additionally or alternatively, the noisy sensor data may be provided to the robot controller to cause the robot controller to generate joint commands to control the simulated robot in the simulated 3D environment.
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Patent Agency Ranking
公开(公告)号：US11813748B2
公开(公告)日：2023-11-14
申请号：US17069684
申请日：2020-10-13
Applicant: GOOGLE LLC
Inventor： Matthew Bennice , Paul Bechard
CPC classification number: B25J9/1605 , B25J9/0084
Abstract: Implementations are provided for operably coupling multiple robot controllers to a single virtual environment, e.g., to generate training examples for training machine learning model(s). In various implementations, a virtual environment may be simulated that includes an interactive object and a plurality of robot avatars that are controlled independently and contemporaneously by a corresponding plurality of robot controllers that are external from the virtual environment. Sensor data generated from a perspective of each robot avatar of the plurality of robot avatars may be provided to a corresponding robot controller. Joint commands that cause actuation of one or more joints of each robot avatar may be received from the corresponding robot controller. Joint(s) of each robot avatar may be actuated pursuant to corresponding joint commands. The actuating may cause two or more of the robot avatars to act upon the interactive object in the virtual environment.
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公开(公告)号：US12214507B1
公开(公告)日：2025-02-04
申请号：US18381786
申请日：2023-10-19
Applicant: GOOGLE LLC
Inventor： Matthew Bennice , Paul Bechard , Joséphine Simon , Chuyuan Fu , Wenlong Lu
Abstract: Implementations are provided for increasing realism of robot simulation by injecting noise into various aspects of the robot simulation. In various implementations, a three-dimensional (3D) environment may be simulated and may include a simulated robot controlled by an external robot controller. Joint command(s) issued by the robot controller and/or simulated sensor data passed to the robot controller may be intercepted. Noise may be injected into the joint command(s) to generate noisy commands. Additionally or alternatively, noise may be injected into the simulated sensor data to generate noisy sensor data. Joint(s) of the simulated robot may be operated in the simulated 3D environment based on the one or more noisy commands. Additionally or alternatively, the noisy sensor data may be provided to the robot controller to cause the robot controller to generate joint commands to control the simulated robot in the simulated 3D environment.
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公开(公告)号：US12168296B1
公开(公告)日：2024-12-17
申请号：US17463870
申请日：2021-09-01
Applicant: GOOGLE LLC
Inventor： Matthew Bennice , Paul Bechard , Joséphine Simon
IPC: B25J9/16
Abstract: Implementations are provided for generating a plurality of simulated training instances based on a recorded user-directed robot control episode, and training one or more robot control policies based on such training instances. In various implementations, a three-dimensional environment may be simulated and may include a robot controlled by an external robot controller. A user may operate the robot controller to control the robot in the simulated 3D environment to perform one or more robotic tasks. The user-directed robot control episode, including responses of the external robot controller and the simulated robot to user commands and/or the virtual environment, can be captured. Features of the captured user-directed robot control episode can be altered in order to generate a plurality of training instances. One or more robot control policies can then be trained based on the plurality of training instances.
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公开(公告)号：US12226920B2
公开(公告)日：2025-02-18
申请号：US18233251
申请日：2023-08-11
Applicant: GOOGLE LLC
Inventor： Seyed Mohammad Khansari Zadeh , Eric Jang , Daniel Lam , Daniel Kappler , Matthew Bennice , Brent Austin , Yunfei Bai , Sergey Levine , Alexander Irpan , Nicolas Sievers , Chelsea Finn
Abstract: Implementations described herein relate to training and refining robotic control policies using imitation learning techniques. A robotic control policy can be initially trained based on human demonstrations of various robotic tasks. Further, the robotic control policy can be refined based on human interventions while a robot is performing a robotic task. In some implementations, the robotic control policy may determine whether the robot will fail in performance of the robotic task, and prompt a human to intervene in performance of the robotic task. In additional or alternative implementations, a representation of the sequence of actions can be visually rendered for presentation to the human can proactively intervene in performance of the robotic task.
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公开(公告)号：US12202140B2
公开(公告)日：2025-01-21
申请号：US18379597
申请日：2023-10-12
Applicant: GOOGLE LLC
Inventor： Matthew Bennice , Paul Bechard
Abstract: Implementations are provided for operably coupling multiple robot controllers to a single virtual environment, e.g., to generate training examples for training machine learning model(s). In various implementations, a virtual environment may be simulated that includes an interactive object and a plurality of robot avatars that are controlled independently and contemporaneously by a corresponding plurality of robot controllers that are external from the virtual environment. Sensor data generated from a perspective of each robot avatar of the plurality of robot avatars may be provided to a corresponding robot controller. Joint commands that cause actuation of one or more joints of each robot avatar may be received from the corresponding robot controller. Joint(s) of each robot avatar may be actuated pursuant to corresponding joint commands. The actuating may cause two or more of the robot avatars to act upon the interactive object in the virtual environment.
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