公开(公告)号：US10967520B1

公开(公告)日：2021-04-06

申请号：US16585289

申请日：2019-09-27

Applicant: X Development LLC

Inventor： Michael Joseph Quinlan ,  Gabriel A. Cohen

IPC: B25J9/16 ,  G05B19/048 ,  B25J19/02

Abstract: Methods, systems, and apparatus for receiving a command for controlling a robot, the command referencing an object, receiving sensor data for a portion of an environment of the robot, identifying, from the sensor data, a gesture of a human that indicates a spatial region located outside of the portion of the environment described by the sensor data, searching map data for the object, determining, based at least on searching the map data for the object referenced in the command, that the object referenced in the command is present in the spatial region, and in response to determining that the object referenced in the command is present in the spatial region, controlling the robot to perform an action with respect to the object referenced in the command.

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：US10569420B1

公开(公告)日：2020-02-25

申请号：US15632107

申请日：2017-06-23

Applicant: X Development LLC

Inventor： Gabriel A. Cohen ,  Pavel Vodenski

IPC: G05B15/00 ,  G05B19/00 ,  B25J13/08 ,  G06F3/0484 ,  G06F3/0487 ,  B25J9/16 ,  B25J11/00

Abstract: Methods, systems, and apparatus, including computer programs stored on a computer-readable storage medium, for selecting a modality for interfacing between a user and a robot. In some implementations, a system determines that a particular action requires user confirmation before being performed. The system receives position data indicating a level of proximity of a user to a robot and environmental data indicating environmental conditions sensed by the robot. The system selects a particular mode for obtaining confirmation of the action from among multiple modes of interfacing with users based on one or more of the position data and the environmental data. The system provides a request confirmation of the action using the particular mode for presentation to the user.

公开(公告)号：US10427306B1

公开(公告)日：2019-10-01

申请号：US15643138

申请日：2017-07-06

Applicant: X Development LLC

Inventor： Michael Joseph Quinlan ,  Gabriel A. Cohen

IPC: B25J9/16 ,  G05B19/048 ,  B25J19/02

Abstract: Methods, systems, and apparatus for receiving a command for controlling a robot, the command referencing an object, receiving sensor data for a portion of an environment of the robot, identifying, from the sensor data, a gesture of a human that indicates a spatial region located outside of the portion of the environment described by the sensor data, accessing map data indicating locations of objects within a space, searching the map data for the object, wherein the search of the map data is restricted to the spatial region, determining, based at least on searching the map data for the object referenced in the command, that the object referenced in the command is present in the spatial region, and in response to determining that the object referenced in the command is present in the spatial region, controlling the robot to perform an action with respect to the object referenced in the command.