公开(公告)号：US11707840B1

公开(公告)日：2023-07-25

申请号：US17535373

申请日：2021-11-24

Applicant: X Development LLC

Inventor： Yunfei Bai ,  Elmar Mair ,  Yuchen Wu ,  Ian Wilkes ,  Max Moroz ,  Weidan Wu

IPC: G06F17/00 ,  B25J9/16 ,  G05B13/02 ,  G05B13/04

CPC classification number: B25J9/163 ,  B25J9/1653 ,  G05B13/0265 ,  G05B13/042

Abstract: Mitigating the reality gap through optimization of one or more simulated hardware parameters for simulated hardware components of a simulated robot. Implementations generate and store real navigation data instances that are each based on a corresponding episode of locomotion of a real robot. A real navigation data instance can include a sequence of velocity control instances generated to control a real robot during a real episode of locomotion of the real robot, and one or more ground truth values, where each of the ground truth values is a measured value of a corresponding property of the real robot (e.g., pose). The velocity control instances can be applied to a simulated robot, and one or more losses can be generated based on comparing the ground truth value(s) to corresponding simulated value(s) generated from applying the velocity control instances to the simulated robot. The simulated hardware parameters and environmental parameters can be optimized based on the loss(es).

公开(公告)号：US11213946B1

公开(公告)日：2022-01-04

申请号：US16234289

申请日：2018-12-27

Applicant: X Development LLC

Inventor： Yunfei Bai ,  Elmar Mair ,  Yuchen Wu ,  Ian Wilkes ,  Max Moroz ,  Weidan Wu

IPC: G06F17/00 ,  B25J9/16 ,  G05B13/02 ,  G05B13/04

Abstract: Mitigating the reality gap through optimization of one or more simulated hardware parameters for simulated hardware components of a simulated robot. Implementations generate and store real navigation data instances that are each based on a corresponding episode of locomotion of a real robot. A real navigation data instance can include a sequence of velocity control instances generated to control a real robot during a real episode of locomotion of the real robot, and one or more ground truth values, where each of the ground truth values is a measured value of a corresponding property of the real robot (e.g., pose). The velocity control instances can be applied to a simulated robot, and one or more losses can be generated based on comparing the ground truth value(s) to corresponding simulated value(s) generated from applying the velocity control instances to the simulated robot. The simulated hardware parameters and environmental parameters can be optimized based on the loss(es).