公开(公告)号：US10987813B1

公开(公告)日：2021-04-27

申请号：US16374342

申请日：2019-04-03

Applicant: X Development LLC

Inventor： Benjamin Holson ,  Jeffrey Bingham ,  Ben Berkowitz

IPC: G06F17/00 ,  B25J9/16 ,  B25J5/00 ,  G01C9/00

Abstract: Methods, apparatus, and computer readable media applicable to robots, such as balancing robots. Some implementations are directed to determining multiple measures of a property of a robot for a given time and determining a final measure of the property of the robot for the given time based on the multiple measures. One or more control commands may be generated based on the final measure of the property and provided to one or more actuators of the robot.

公开(公告)号：US10898999B1

公开(公告)日：2021-01-26

申请号：US15707093

申请日：2017-09-18

Applicant: X Development LLC

Inventor： Gabriel A. Cohen ,  Benjamin Holson ,  Munaf Assaf

IPC: B25J9/00 ,  G05D1/00 ,  G06K9/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selective human-robot interaction. In some implementations, sensor data describing an environment of a robot is received, and a person in the environment of the robot is detected based on the sensor data. Scores indicative of properties of the detected person are generated based on the sensor data and processed using a machine learning model. Processing the scores can produce one or more outputs indicative of a likelihood that the detected person will perform a predetermined action in response to communication from the robot. Based on the one or more outputs of the machine learning model, the robot initiates communication with the detected person.

公开(公告)号：US20230123298A1

公开(公告)日：2023-04-20

申请号：US18068100

申请日：2022-12-19

Applicant: X Development LLC

Inventor： Benjamin Holson

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.

公开(公告)号：US20230015796A1

公开(公告)日：2023-01-19

申请号：US17934877

申请日：2022-09-23

Applicant: X Development LLC

Inventor： Benjamin Holson

IPC: B25J9/16 ,  G05D1/00 ,  G05D1/02

Abstract: A method includes receiving sensor data representative of surfaces in a physical environment containing an interaction point for a robotic device and determining, based on the sensor data, a height map of the surfaces in the physical environment. The method also includes determining, by inputting the height map and the interaction point into a pre-trained model, one or more candidate positions for a base of the robotic device to allow a manipulator of the robotic device to reach the interaction point. The method additionally includes determining a collision-free trajectory to be followed by the manipulator of the robotic device to reach the interaction point when the base of the robotic device is positioned at a selected candidate position of the one or more candidate positions and, based on determining the collision-free trajectory, causing the base of the robotic device to move to the selected candidate position within the physical environment.

公开(公告)号：US11097414B1

公开(公告)日：2021-08-24

申请号：US17131252

申请日：2020-12-22

Applicant: X Development LLC

Inventor： Eden Rephaeli ,  Guy Satat ,  Daniel Lam ,  Benjamin Holson ,  Jiajun Xu

IPC: B25J9/04 ,  B25J9/16

Abstract: A system includes a robotic device, a sensor disposed on the robotic device, and circuitry configured to perform operations. The operations include determining a map that represents stationary features of an environment and receiving, from the sensor, sensor data representing the environment. The operations also include determining, based on the sensor data, a representation of an actor within the environment, where the representation includes keypoints representing corresponding body locations of the actor. The operations also include determining that a portion of a particular stationary feature is positioned within a threshold distance of a particular keypoint and, based on thereon, updating the map to indicate that the portion is to be cleaned. The operations further include, based on the map as updated, causing the robotic device to clean the portion of the particular stationary feature.

公开(公告)号：US20190337154A1

公开(公告)日：2019-11-07

申请号：US15967805

申请日：2018-05-01

Applicant: X Development LLC

Inventor： Benjamin Holson

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.

公开(公告)号：US10279480B1

公开(公告)日：2019-05-07

申请号：US15331423

申请日：2016-10-21

Applicant: X Development LLC

Inventor： Benjamin Holson ,  Jeffrey Bingham ,  Ben Berkowitz

IPC: G06F19/00 ,  B25J9/16 ,  G01C9/00 ,  B25J5/00

Abstract: Methods, apparatus, and computer readable media applicable to robots, such as balancing robots. Some implementations are directed to determining multiple measures of a property of a robot for a given time and determining a final measure of the property of the robot for the given time based on the multiple measures. One or more control commands may be generated based on the final measure of the property and provided to one or more actuators of the robot.

公开(公告)号：US11745332B1

公开(公告)日：2023-09-05

申请号：US17573458

申请日：2022-01-11

Applicant: X Development LLC

Inventor： Benjamin Holson ,  Jeffrey Bingham ,  Ben Berkowitz

IPC: G06F17/00 ,  B25J5/00 ,  B25J13/08 ,  B25J9/16

CPC classification number: B25J5/007 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088

Abstract: Methods, apparatus, and computer readable media applicable to balancing robots. Some implementations are directed to maintaining a given end effector pose (relative to a world frame) of an end effector of a balancing robot when there is a disturbance to a balancing base of the balancing robot. Some implementations are additionally or alternatively directed to transitioning a balancing robot from a fallen configuration to a balanced configuration. Some implementations are additionally or alternatively directed to mitigating the risk that a balancing robot will fall when interacting with actuable environmental objects (e.g., doors) and/or to lessen the disturbance to a balancing base when interacting with actuable environmental objects.

公开(公告)号：US11610153B1

公开(公告)日：2023-03-21

申请号：US16729712

申请日：2019-12-30

Applicant: X Development LLC

Inventor： Alexander Herzog ,  Adrian Li ,  Mrinal Kalakrishnan ,  Benjamin Holson

IPC: G06N20/00 ,  B25J9/16 ,  G06F30/27

Abstract: Utilizing at least one existing policy (e.g. a manually engineered policy) for a robotic task, in generating reinforcement learning (RL) data that can be used in training an RL policy for an instance of RL of the robotic task. The existing policy can be one that, standing alone, will not generate data that is compatible with the instance of RL for the robotic task. In contrast, the generated RL data is compatible with RL for the robotic task at least by virtue of it including state data that is in a state space of the RL for the robotic task, and including actions that are in the action space of the RL for the robotic task. The generated RL data can be used in at least some of the initial training for the RL policy using reinforcement learning.

公开(公告)号：US11554488B2

公开(公告)日：2023-01-17

申请号：US17156844

申请日：2021-01-25

Applicant: X Development LLC

Inventor： Benjamin Holson

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16

Abstract: Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.