公开(公告)号：US20200338733A1

公开(公告)日：2020-10-29

申请号：US16393165

申请日：2019-04-24

Applicant: X Development LLC

Inventor： Jean-Francois Dupuis ,  Keegan Go ,  Maryam Bandari

IPC: B25J9/16

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning a path of motion for a robot. In some implementations, a candidate path of movement is determined for each of multiple robots. A swept region, for each of the multiple robots, is determined that the robot would traverse through along its candidate path. At least some of the swept regions for the multiple robots is aggregated to determine amounts of overlap among the swept regions at different locations. Force vectors directed outward from the swept regions are assigned, wherein the force vectors have different magnitudes assigned according to the respective amounts of overlap of the swept regions at the different locations. A path for a particular robot to travel is determined based on the swept regions and the assigned magnitudes of the forces.

公开(公告)号：US20210347047A1

公开(公告)日：2021-11-11

申请号：US16867437

申请日：2020-05-05

Applicant: X Development LLC

Inventor： Maryam Bandari ,  Kuangye Chen

IPC: B25J9/16 ,  G05B13/02 ,  G06N3/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating a trajectory of a robot. One of the methods includes receiving a plurality of path points; processing each network input in an input sequence that is derived from the path points using a trajectory generation neural network to generate an output sequence comprising a plurality of network outputs, each network output specifying a respective displacement between two adjacent trajectory points; and generating, based on the output sequence, a predicted trajectory of the robot.