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公开(公告)号：US11472026B1
公开(公告)日：2022-10-18
申请号：US17183688
申请日：2021-02-24
Applicant: X Development LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for receiving, by one or more non-real-time processors, data defining a light illumination pattern for a robotic device. Generating, by the one or more non-real-time processors and based on the data, a spline that represents the light illumination pattern, where a knot vector of the spline defines a timing profile of the light illumination pattern. Providing the spline to one or more real-time processors of the robotic system. Calculating, by the one or more real-time processors, an illumination value from the spline at each of a plurality of time steps. Controlling, by the one or more real-time processors, illumination of a lighting display of the robotic system in accordance with the illumination value of the spline at each respective time step.
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公开(公告)号：US11458630B2
公开(公告)日：2022-10-04
申请号：US16653858
申请日：2019-10-15
Applicant: X Development LLC
Inventor： Yunfei Bai , Yuchen Wu
IPC: B25J9/16
Abstract: Mitigating the reality gap through utilization of technique(s) that enable compliant robotic control and/or compliant robotic contact to be simulated effectively by a robotic simulator. The technique(s) can include, for example: (1) utilizing a compliant end effector model in simulated episodes of the robotic simulator; (2) using, during the simulated episodes, a soft constraint for a contact constraint of a simulated contact model of the robotic simulator; and/or (3) using proportional derivative (PD) control in generating joint control forces, for simulated joints of the simulated robot, during the simulated episodes. Implementations additionally or alternatively relate to determining parameter(s), for use in one or more of the techniques that enable effective simulation of compliant robotic control and/or compliant robotic contact.
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公开(公告)号：US11235464B1
公开(公告)日：2022-02-01
申请号：US16200945
申请日：2018-11-27
Applicant: X DEVELOPMENT LLC
Inventor： Gregory Prisament , Laura Stoia , Yuchen Wu , Alan Thompson
Abstract: Methods, apparatus, systems, and computer-readable media are provided for optimizing robot-implemented tasks based at least in part on historical task and location correlated duration data collected from one or more robots. Historical task and location correlated duration data may, in some implementations, include durations of different tasks performed in different locations by one or more robots in one or more particular environments, and knowledge of such durations may be used to optimize tasks performed by the same or different robots in the future.
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Patent Agency Ranking
4.发明授权公开(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
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).
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公开(公告)号：US20210107157A1
公开(公告)日：2021-04-15
申请号：US16653858
申请日：2019-10-15
Applicant: X Development LLC
Inventor： Yunfei Bai , Yuchen Wu
IPC: B25J9/16
Abstract: Mitigating the reality gap through utilization of technique(s) that enable compliant robotic control and/or compliant robotic contact to be simulated effectively by a robotic simulator. The technique(s) can include, for example: (1) utilizing a compliant end effector model in simulated episodes of the robotic simulator; (2) using, during the simulated episodes, a soft constraint for a contact constraint of a simulated contact model of the robotic simulator; and/or (3) using proportional derivative (PD) control in generating joint control forces, for simulated joints of the simulated robot, during the simulated episodes. Implementations additionally or alternatively relate to determining parameter(s), for use in one or more of the techniques that enable effective simulation of compliant robotic control and/or compliant robotic contact.
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6.发明授权公开(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
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).
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公开(公告)号：US10173320B1
公开(公告)日：2019-01-08
申请号：US15177321
申请日：2016-06-08
Applicant: X Development LLC
Inventor： Gregory Prisament , Laura Stoia , Yuchen Wu , Alan Thompson
Abstract: Methods, apparatus, systems, and computer-readable media are provided for optimizing robot-implemented tasks based at least in part on historical task and location correlated duration data collected from one or more robots. Historical task and location correlated duration data may, in some implementations, include durations of different tasks performed in different locations by one or more robots in one or more particular environments, and knowledge of such durations may be used to optimize tasks performed by the same or different robots in the future.
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公开(公告)号：US10940584B1
公开(公告)日：2021-03-09
申请号：US15963630
申请日：2018-04-26
Applicant: X Development LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for receiving, by one or more non-real-time processors, data defining a light illumination pattern for a robotic device. Generating, by the one or more non-real-time processors and based on the data, a spline that represents the light illumination pattern, where a knot vector of the spline defines a timing profile of the light illumination pattern. Providing the spline to one or more real-time processors of the robotic system. Calculating, by the one or more real-time processors, an illumination value from the spline at each of a plurality of time steps. Controlling, by the one or more real-time processors, illumination of a lighting display of the robotic system in accordance with the illumination value of the spline at each respective time step.
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