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US 12,533,806 B2Granted
Motion planning
AssigneeNVIDIA Corporation
InventorsAlbert Wu, Clemens Eppner, Dieter Fox
Life of this patent
Estimating the term…
Abstract
Apparatuses, systems, and techniques to generate a motion plan. In at least one embodiment, a motion plan is generated using a neural network based, at least in part, on a demonstration of a task.
Claims28
A method, comprising:
- a computing device,
- observing a demonstration depicting a first object having a first geometry,
- calculating states comprising information related to movement of the first object during the demonstration,
- generating at least one contact mode prediction based, at least in part, on the states of the first object and data representing a different second geometry of a second object, and
- determining a motion plan based, at least in part, on the at least one contact mode prediction;
- and
- a robot, performing a task using the second object and in accordance with the motion plan.
4 more elements
A system, comprising:
- at least one processor;
- and
- at least one memory comprising instructions that, in response to being performed by the at least one processor, cause the system to at least:
- obtain a demonstration of a task involving at least a first object having a first geometry;
- determine states comprising information related to movement of the first object during the demonstration;
- use a neural network to generate a set of contact modes based, at least in part, on the states of the first object and data representing a different second geometry of a second object;
- and
- generate a motion plan based, at least in part, on the set of contact modes, wherein the motion plan is to cause at least a robot to perform the task in connection with the second object.
5 more elements
A method, comprising:
- calculating states comprising information related to movement of a first object having a first geometry based, at least in part, on a demonstration depicting at least the first object;
- generating one or more contact mode predictions based, at least in part, on the states of the first object and data representing a different second geometry of a second object;
- and
- determining a motion plan based, at least in part, on the one or more contact mode predictions, wherein the motion plan causes a robot to perform a task using the second object and in accordance with the motion plan.
1 more element
A non-transitory computer-readable medium comprising instructions that, when performed by at least one processor of a computing device, cause the computing device to at least:
- determine states comprising information related to movement of a first object, having a first geometry, during a demonstration of a performance of a task involving the first object;
- use one or more machine learning models to generate a set of contact modes based, at least in part, on the states of the first object and data representing a different second geometry of a second object;
- and
- generate a motion plan based, at least in part, on the set of contact modes and data related to at least one robot, wherein the motion plan causes the at least one robot to perform the task using the second object.
1 more element
Dependencies are inferred from the claim text.