公开(公告)号：US20220382246A1

公开(公告)日：2022-12-01

申请号：US17732313

申请日：2022-04-28

Applicant: NVIDIA Corporation

Inventor： Eric Heiden ,  Fabio Tozeto Ramos ,  Yashraj Narang ,  Miles Macklin ,  Dieter Fox ,  Animesh Garg ,  Mike Skolones

IPC: G05B19/4069 ,  G06T17/20 ,  G05B19/416 ,  B25J9/16

Abstract: A differentiable simulator for simulating the cutting of soft materials by a cutting instrument is provided. In accordance with one aspect of the disclosure, a method for simulating a cutting operation includes: receiving a mesh for an object, modifying the mesh to add virtual nodes associated with a predefined cutting plane, optimizing a set of parameters associated with a simulator based on ground-truth data, and running a simulation via the simulator to generate outputs that include trajectories associated with a cutting instrument. Optimizing the set of parameters can include performing inference based on a set of ground-truth trajectories captured using sensors to measure real-world cutting operations. The inference techniques can employ stochastic gradient descent, stochastic gradient Langevin dynamics, or a Bayesian approach. In an embodiment, the simulator can be utilized to generate control signals for a robot based on the simulated trajectories.

公开(公告)号：US20230405820A1

公开(公告)日：2023-12-21

申请号：US18208752

申请日：2023-06-12

Applicant: NVIDIA Corporation

Inventor： Isabella Huang ,  Yashraj Narang ,  Tucker Ryer Hermans ,  Fabio Tozeto Ramos ,  Ankur Handa ,  Miles Andrew Macklin ,  Dieter Fox

IPC: B25J9/16

CPC classification number: B25J9/1671

Abstract: Apparatuses, systems, and techniques to generate a predicted outcome of an object resulting from a robotic component applying a force. In at least one embodiment, a predicted outcome of an object resulting from a robotic component applying a force is generated based on, for example, a neural network.