Generating a parameter for a movement characteristic for a waypoint trained path of a robot

A system comprising:

• a robot;
• a path generation engine configured to:
• identify a plurality of sequential waypoint user interface inputs initiated by a user in training a path for the robot, the waypoint user interface inputs defining waypoints of a reference point of the robot;
• generate, based on one or more optimization parameters, a waypoint trained path for the robot based on the waypoints defined by the waypoint user interface inputs, the waypoint trained path defining a path to be traversed by the reference point of the robot, and the waypoint trained path traversing through or near each of the sequential waypoints defined by the waypoint user interface inputs;
• a movement characteristics parameters generation engine configured to:
• determine spatial proximity of a plurality of the waypoints, defined by the waypoint user interface inputs, corresponding to a portion of the waypoint trained path, the portion being less than an entirety of the waypoint trained path;
• generate at least one parameter for a movement characteristic for the waypoint trained path,
• wherein the parameter defines the movement characteristic along the portion of the waypoint trained path, and
• wherein the movement characteristics parameters generation engine generates the parameter based on the determined spatial proximity of the plurality of the waypoints defined by the waypoint user interface inputs and corresponding to the portion of the waypoint trained path.

At least one non-transitory computer-readable medium comprising instructions that, in response to execution of the instructions by a computing system, cause the computing system to perform the following operations:

• generating, by one or more of the processors based on one or more optimization parameters that seek to achieve a shortest path in Cartesian space, a waypoint trained path for the robot based the sequential waypoints defined by the waypoint user interface inputs,
• wherein the waypoint trained path defines a path to be traversed by the reference point of the robot, and
• wherein the waypoint trained path traverses through or near each of the sequential waypoints defined by the waypoint user interface inputs;
• determining, by one or more of the processors, spatial proximity of a plurality of the waypoints, defined by the waypoint user interface inputs, corresponding to a portion of the waypoint trained path, the portion being less than an entirety of the waypoint trained path;
• generating, by one or more of the processors and separate from generating the waypoint trained path, at least one parameter for a movement characteristic for the portion of the waypoint trained path,
• wherein the parameter defines the movement characteristic along the portion of the waypoint trained path, and
• wherein generating the parameter is based on the determined spatial proximity of the plurality of the waypoints defined by the waypoint user interface inputs and corresponding to the portion of the waypoint trained path.