公开(公告)号：US11833661B2

公开(公告)日：2023-12-05

申请号：US17515490

申请日：2021-10-31

Applicant: GOOGLE LLC

Inventor： Zhuo Xu ,  Wenhao Yu ,  Alexander Herzog ,  Wenlong Lu ,  Chuyuan Fu ,  Yunfei Bai ,  C. Karen Liu ,  Daniel Ho

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02

CPC classification number: B25J9/163 ,  B25J9/161 ,  B25J9/1697 ,  B25J13/085 ,  B25J19/023

Abstract: Utilization of past dynamics sample(s), that reflect past contact physics information, in training and/or utilizing a neural network model. The neural network model represents a learned value function (e.g., a Q-value function) and that, when trained, can be used in selecting a sequence of robotic actions to implement in robotic manipulation (e.g., pushing) of an object by a robot. In various implementations, a past dynamics sample for an episode of robotic manipulation can include at least two past images from the episode, as well as one or more past force sensor readings that temporally correspond to the past images from the episode.

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

IPC: B25J9/16 ,  B25J13/08

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.

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

IPC: B25J9/16 ,  B25J13/08

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.