Systems and methods for latency compensation in robotic teleoperation

A method comprising:

• presenting a virtual representation of an environment of a robot;
• receiving a first user command to control the robot within the environment;
• rendering a first predicted version of the virtual representation during a first period of latency in which current data pertaining to the environment of the robot is not available, wherein the first period of latency has a duration that differs from a second duration of a second period of latency, wherein the first predicted version of the virtual representation is reconciled with the current data at the expiration of the first duration;
• rendering a second predicted version of the virtual representation during the second period of latency in which current data pertaining to the environment of the robot is not available;
• updating the first predicted version of the virtual representation based upon a second user command received during the first period of latency;
• upon conclusion of the first period of latency, reconciling the first predicted version of the virtual representation with current data pertaining to the environment of the robot;
• and
• subsequent to the reconciliation of the first predicted version at the expiration of the first duration, reconciling the second predicted version of the virtual representation with second received data corresponding to expiration of the first duration.

An interface device comprising:

• memory;
• and
• a processor coupled to the memory, the processor being configured to:
• present a virtual representation of an environment of a robot;
• receive a first user command to control the robot within the environment;
• render a predicted version of the virtual representation during a period of latency in which current data pertaining to the environment of the robot is not available;
• update the predicted version of the virtual representation based upon a second user command received during the period of latency;
• receive, during the period of latency, a third user command to complete interaction of the robot with the object in the environment;
• simulate completion of the interaction of the robot with the object;
• and
• upon conclusion of the period of latency, reconcile (i) the predicted version of the virtual representation with current data pertaining to the environment of the robot and (ii) the predicted version of the object now disengaged from the robot with current data about the object.