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US 2026/0109037 A1Published application
Collision-free motion generation
AssigneeNVIDIA Corporation
InventorsBalakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Harper Fishman, Caelan Reed Garrett, Alexander James Millane, Elena Oleynikova, Ankur Handa, Fabio Tozeto Ramos, Nathan Donald Ratliff, Karl Van Wyk, Dieter Fox
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Abstract
Apparatuses, systems, and techniques to perform collision-free motion generation (e.g., to operate a real-world or virtual robot). In at least one embodiment, at least a portion of the collision-free motion generation is performed in parallel.
Claims20
At least one processor, comprising:
- circuitry to:
- modify seed joint configurations, at least partially in parallel, by performing an optimization process comprising at least one gradient-free optimization process and at least one gradient-based optimization process;
- use the modified seed joint configurations to generate trajectory seeds;
- generate a motion plan based at least in part on at least one of the trajectory seeds;
- and
- cause a device to move in accordance with the motion plan.
3 more elements
A method comprising:
- modifying, at least partially in parallel, seed joint configurations by performing an optimization process comprising at least one gradient-free optimization process followed by at least one gradient-based optimization process;
- generating trajectory seeds using an initial joint configuration and the modified seed joint configurations;
- generating a motion plan based at least in part on at least one of the trajectory seeds;
- and
- providing the motion plan to a device that moves in accordance with the motion plan.
2 more elements
A system, comprising:
- one or more processors to:
- use both a gradient-free process and a gradient-based process to generate a plurality of trajectories, at least partially in parallel, based at least in part on a plurality of joint configurations;
- generate a motion plan based at least in part on at least one of the plurality of trajectories;
- and
- cause a device to move in accordance with the motion plan.
2 more elements
Dependencies are inferred from the claim text.