公开(公告)号：WO2022271831A1

公开(公告)日：2022-12-29

申请号：PCT/US2022/034532

申请日：2022-06-22

Applicant: INTRINSIC INNOVATION LLC

Inventor： TAAMAZYAN, Vage ,  VENKATARAMAN, Kartik ,  KALRA, Agastya ,  KADAMBI, Achuta

IPC: B25J9/16 ,  B25J15/10 ,  B25J15/06 ,  B25J15/0061 ,  B25J15/0608 ,  B25J9/1612 ,  B25J9/1679 ,  B25J9/1697 ,  G05B2219/39489 ,  G05B2219/39497 ,  G05B2219/39543 ,  G05B2219/39554 ,  G05B2219/40532 ,  G05B2219/40564 ,  G06T7/11 ,  G06T7/50 ,  G06T7/70 ,  G06V20/10

Abstract: Systems and method for an object from a plurality of objects are disclosed. An image of a scene containing the plurality of objects is obtained, and a segmentation map is generated for the objects in the scene. The shapes of the objects are determined based on the segmentation map. An end effector is adjusted in response to determining the shapes of the objects. The adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects. The plurality of objects is approached in response to the shaping of the end effector, and one of the plurality of objects is picked with the end effector.

公开(公告)号：WO2022256610A1

公开(公告)日：2022-12-08

申请号：PCT/US2022/032095

申请日：2022-06-03

Applicant: INTRINSIC INNOVATION LLC

Inventor： KELCH, Timothy Robert ,  HOLZ, Dirk

IPC: B25J9/16

Abstract: In one aspect, there is provided a computer-implemented method that includes receiving a request to generate workcell data representing physical dimensions of a workcell having a physical robot arm, executing a calibration program that causes the physical robot arm to move within the workcell and record locations within the workcell at which the robot arm made contact with an object, generating, from the locations within the workcell at which one or more sensors of the robot arm recorded a resistance above a threshold, a representation of physical boundaries in the workcell, obtaining an initial virtual representation of the workcell, and updating the initial virtual representation of the workcell according to the representation of physical boundaries generated from executing the calibration program.

公开(公告)号：WO2022232477A1

公开(公告)日：2022-11-03

申请号：PCT/US2022/026886

申请日：2022-04-29

Applicant: INTRINSIC INNOVATION LLC

Inventor： GASCHLER, Andre ,  PRISAMENT, Gregory J. ,  CASSERO, Sean Alexander ,  COX, Nicholas Julian ,  BREMER, Benjamin ,  BERG, Nils ,  BEARDSWORTH, Michael

IPC: B25J9/16 ,  G05B19/19 ,  G05B19/416

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

公开(公告)号：WO2022173468A1

公开(公告)日：2022-08-18

申请号：PCT/US2021/054382

申请日：2021-10-11

Applicant: INTRINSIC INNOVATION LLC

Inventor： GAYDAROV, Stoyan Gaydarov

IPC: B25J9/16 ,  B25J9/02 ,  B25J9/06 ,  B25J9/10 ,  B25J5/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating motions for components in a robotic operating environment. One of the methods includes receiving a request to generate a motion for a kinematic system having a plurality of connected entities. An entity-specific sampling module for each of multiple degree-of-freedom (DOF) groups representing respective entities of the kinematic system is identified. A plurality of joint configuration samples are generated according to an ordering of a plurality of nonfunctional DOF groups using a respective entity-specific sampling module for each nonfunctional DOF group. A final joint configuration sample is generated for one or more one or more control points using a respective entity-specific sampling module for a functional DOF group. A motion comprising a sequence of respective joint configuration samples from each of the plurality of DOF groups is generated.

公开(公告)号：WO2022150378A1

公开(公告)日：2022-07-14

申请号：PCT/US2022/011300

申请日：2022-01-05

Applicant: ADITUM ALTERNATIVES LLC

Inventor： MCGUIRE, Kenneth I.

IPC: G06Q40/06 ,  G06Q10/06 ,  G06Q10/10 ,  G06F16/25

Abstract: A method and system are provided for an enhanced recordkeeping system for use in administering unitized private market collective investment vehicles over at least one network. The method includes storing, in at least one computer memory, data and instructions and accessing the stored instructions and executing the stored instructions with at least one computer processor to perform multiple operations. The operations include maintaining unitized private market collective investment vehicles by storing and updating information in accounting and holder databases, including information provided by vehicle accounting and transfer agency systems, offering subscriptions at a current unit net asset value (NAV), or at a current unit net asset value (NAV) and a current unit uncontributed holder commitment (UHC), which may be specific to a given vintage of commitments, and accepting requests to redeem from such vehicles from holders and responding to successful requests with redemption proceeds.

公开(公告)号：WO2022006329A1

公开(公告)日：2022-01-06

申请号：PCT/US2021/039976

申请日：2021-06-30

Applicant: GOOGLE LLC

Inventor： LEPIKHIN, Dmitry ,  HUANG, Yanping ,  FIRAT, Orhan ,  KRIKUN, Maxim ,  CHEN, Dehao ,  SHAZEER, Noam M. ,  LEE, HyoukJoong ,  XU, Yuanzhong ,  CHEN, Zhifeng

IPC: G06N3/04 ,  G06N3/08 ,  G06N3/0481 ,  G06N3/084

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for performing a machine learning task on a network input to generate a network output. In one aspect, one of the systems includes an attention neural network configured to perform the machine learning task, the attention neural network including one or more attention layers, each attention layer comprising an attention sub-layer and a feed-forward sub-layer. Some or all of the attention layers have a feed-forward sub-layer that applies conditional computation to the inputs to the sub-layer.

公开(公告)号：WO2021236504A1

公开(公告)日：2021-11-25

申请号：PCT/US2021/032736

申请日：2021-05-17

Applicant: INTRINSIC INNOVATION LLC

Inventor： KOLLURI, Bala Venkata Sai Ravi Krishna ,  SCHAAL, Stefan ,  DAVIS, Benjamin M. ,  SCHONHERR, Ralf Oliver Michael ,  YE, Ning

IPC: B25J9/16 ,  G05B19/423

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for distributing skill templates for robotic demonstration learning. One of the methods includes receiving, from the user device by a skill template distribution system, a selection of an available skill template. The skill template distribution system provides a skill template, wherein the skill template comprises information representing a state machine of one or more tasks, and wherein the skill template specifies which of the one or more tasks are demonstration subtasks requiring local demonstration data. The skill template distribution system trains a machine learning model for the demonstration subtask using a local demonstration data to generate learned parameter values.

公开(公告)号：WO2021225923A1

公开(公告)日：2021-11-11

申请号：PCT/US2021/030399

申请日：2021-05-03

Applicant: INTRINSIC INNOVATION LLC

Inventor： BANDARI, Maryam ,  CHEN, Kuangye

IPC: G06N3/04 ,  G06N3/08 ,  B25J9/00

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.

公开(公告)号：WO2020154628A1

公开(公告)日：2020-07-30

申请号：PCT/US2020/015003

申请日：2020-01-24

Applicant: X DEVELOPMENT LLC

Inventor： BEN-TSVI, Ytai

IPC: B25J9/16 ,  G05B19/418

Abstract: Systems, methods, devices, and other techniques for planning and re-planning robot motions. The techniques can include obtaining a schedule that defines an execution order for a plurality of plans, each plan defining a sequence of tasks; providing instructions to the robotic system to execute plans from the plurality of plans according to the schedule; obtaining measurements for one or more parameters that represent a state of the robotic system or its environment that results from execution of at least one plan from the plurality of plans; determining, based on the measurements, that a particular plan from the plurality of plans, which has not completed execution, is to be revised; generating, using the measurements, a revised version of the particular plan; and adjusting the schedule so as to resolve a conflict between the revised version of the particular plan and at least one other plan in the plurality of plans.

公开(公告)号：WO2020091954A1

公开(公告)日：2020-05-07

申请号：PCT/US2019/054980

申请日：2019-10-07

Applicant: PIVOTAL SOFTWARE, INC.

Inventor： GUNARATNE, Rajasinghe Saman ,  NAIK, Jatin Suryakiran ,  MCNEENEY, Matthew ,  O'DONNELL, Matthew ,  KING, Edward James Gordon

IPC: G06F9/50

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for implementing an independent services platform. One of the methods includes maintaining a first software platform system configured to host user-provided computing tasks in a cloud computing environment of a distributed computing system. A services platform system configured to host services in the cloud computing environment of the distributed computing system is also maintained, wherein the second services platform system is configured to provision independent service resources in the underlying cloud computing infrastructure, and launch one or more service instances of the service using the provisioned independent service resources in the underlying cloud computing infrastructure. The second services platform system is configured to receive a bind request from a user and to provide binding information to one or more computing tasks hosted by the first software platform system upon receiving the bind request.