公开(公告)号：US11724398B2

公开(公告)日：2023-08-15

申请号：US17535393

申请日：2021-11-24

Applicant: Google LLC

Inventor： Johnny Lee ,  Stefan Welker

IPC: B25J9/16

CPC classification number: B25J9/1689 ,  B25J9/163 ,  B25J9/1697 ,  B25J9/1612

Abstract: Utilization of user interface inputs, from remote client devices, in controlling robot(s) in an environment. Implementations relate to generating training instances based on object manipulation parameters, defined by instances of user interface input(s), and training machine learning model(s) to predict the object manipulation parameter(s). Those implementations can subsequently utilize the trained machine learning model(s) to reduce a quantity of instances that input(s) from remote client device(s) are solicited in performing a given set of robotic manipulations and/or to reduce the extent of input(s) from remote client device(s) in performing a given set of robotic operations. Implementations are additionally or alternatively related to mitigating idle time of robot(s) through the utilization of vision data that captures object(s), to be manipulated by a robot, prior to the object(s) being transported to a robot workspace within which the robot can reach and manipulate the object.

公开(公告)号：US11213953B2

公开(公告)日：2022-01-04

申请号：US16523655

申请日：2019-07-26

Applicant: Google LLC

Inventor： Johnny Lee ,  Stefan Welker

IPC: B25J9/16

Abstract: Utilization of user interface inputs, from remote client devices, in controlling robot(s) in an environment. Implementations relate to generating training instances based on object manipulation parameters, defined by instances of user interface input(s), and training machine learning model(s) to predict the object manipulation parameter(s). Those implementations can subsequently utilize the trained machine learning model(s) to reduce a quantity of instances that input(s) from remote client device(s) are solicited in performing a given set of robotic manipulations and/or to reduce the extent of input(s) from remote client device(s) in performing a given set of robotic operations. Implementations are additionally or alternatively related to mitigating idle time of robot(s) through the utilization of vision data that captures object(s), to be manipulated by a robot, prior to the object(s) being transported to a robot workspace within which the robot can reach and manipulate the object.

公开(公告)号：US11054918B2

公开(公告)日：2021-07-06

申请号：US16843296

申请日：2020-04-08

Applicant: GOOGLE LLC

Inventor： Steven Goldberg ,  Charles L. Chen ,  Stefan Welker

IPC: G06F3/0346 ,  G06F3/0482 ,  G06T7/73 ,  G06F3/01 ,  G08C17/00 ,  G08C21/00 ,  G08C23/04

Abstract: Systems and methods for identifying locations and controlling devices are provided. For example, a user may indicate a location by aiming at the location from multiple positions in a physical space. The user may also identify a controllable device to control by aiming at the device. Example systems and methods include determining a first position within a three-dimensional space, receiving a first directional input, and determining a first ray based on the first position and first directional input. Example systems and methods also include determining a second position within the three-dimensional space, receiving a second directional input, and determining a second ray based on the second position and second directional input. Example systems and methods may also include identifying a location within a three-dimensional space based on the first ray and the second ray.

公开(公告)号：US10573288B2

公开(公告)日：2020-02-25

申请号：US15834540

申请日：2017-12-07

Applicant: Google LLC

Inventor： Manuel Christian Clement ,  Stefan Welker

IPC: G10H3/00 ,  G10H7/00 ,  G10H1/14 ,  G10H1/00

Abstract: Methods and apparatus to use predicted actions in VR environments are disclosed. An example method includes predicting a predicted time of a predicted virtual contact of a virtual reality controller with a virtual object, determining, based on at least one parameter of the predicted virtual contact, a characteristic of a virtual output the object would make in response to the virtual contact, and initiating producing the virtual output before the predicted time of the virtual contact of the controller with the virtual object.

公开(公告)号：US12138810B2

公开(公告)日：2024-11-12

申请号：US18233261

申请日：2023-08-11

Applicant: GOOGLE LLC

Inventor： Johnny Lee ,  Stefan Welker

IPC: B25J9/16

Abstract: Utilization of user interface inputs, from remote client devices, in controlling robot(s) in an environment. Implementations relate to generating training instances based on object manipulation parameters, defined by instances of user interface input(s), and training machine learning model(s) to predict the object manipulation parameter(s). Those implementations can subsequently utilize the trained machine learning model(s) to reduce a quantity of instances that input(s) from remote client device(s) are solicited in performing a given set of robotic manipulations and/or to reduce the extent of input(s) from remote client device(s) in performing a given set of robotic operations. Implementations are additionally or alternatively related to mitigating idle time of robot(s) through the utilization of vision data that captures object(s), to be manipulated by a robot, prior to the object(s) being transported to a robot workspace within which the robot can reach and manipulate the object.

公开(公告)号：US20220355483A1

公开(公告)日：2022-11-10

申请号：US17753978

申请日：2019-11-19

Applicant: Google LLC

Inventor： Johnny Lee ,  Stefan Welker

IPC: B25J9/16 ,  B25J13/02 ,  B25J13/08

Abstract: An example method for providing a graphical user interface (GUI) of a computing device includes receiving an input indicating a target pose of the robot, providing for display on the GUI of the computing device a transparent representation of the robot as a preview of the target pose in combination with the textured model of the robot indicating the current state of the robot, generating a boundary illustration on the GUI representative of a limit of a range of motion of the robot, based on the target pose extending the robot beyond the boundary illustration, modifying characteristics of the transparent representation of the robot and of the boundary illustration on the GUI to inform of an invalid pose, and based on the target pose being a valid pose, sending instructions to the robot causing the robot to perform the target pose.

公开(公告)号：US20220152833A1

公开(公告)日：2022-05-19

申请号：US17535393

申请日：2021-11-24

Applicant: Google LLC

Inventor： Johnny Lee ,  Stefan Welker

IPC: B25J9/16

Abstract: Utilization of user interface inputs, from remote client devices, in controlling robot(s) in an environment. Implementations relate to generating training instances based on object manipulation parameters, defined by instances of user interface input(s), and training machine learning model(s) to predict the object manipulation parameter(s). Those implementations can subsequently utilize the trained machine learning model(s) to reduce a quantity of instances that input(s) from remote client device(s) are solicited in performing a given set of robotic manipulations and/or to reduce the extent of input(s) from remote client device(s) in performing a given set of robotic operations. Implementations are additionally or alternatively related to mitigating idle time of robot(s) through the utilization of vision data that captures object(s), to be manipulated by a robot, prior to the object(s) being transported to a robot workspace within which the robot can reach and manipulate the object.

公开(公告)号：US20210023711A1

公开(公告)日：2021-01-28

申请号：US16523655

申请日：2019-07-26

Applicant: Google LLC

Inventor： Johnny Lee ,  Stefan Welker

IPC: B25J9/16

Abstract: Utilization of user interface inputs, from remote client devices, in controlling robot(s) in an environment. Implementations relate to generating training instances based on object manipulation parameters, defined by instances of user interface input(s), and training machine learning model(s) to predict the object manipulation parameter(s). Those implementations can subsequently utilize the trained machine learning model(s) to reduce a quantity of instances that input(s) from remote client device(s) are solicited in performing a given set of robotic manipulations and/or to reduce the extent of input(s) from remote client device(s) in performing a given set of robotic operations. Implementations are additionally or alternatively related to mitigating idle time of robot(s) through the utilization of vision data that captures object(s), to be manipulated by a robot, prior to the object(s) being transported to a robot workspace within which the robot can reach and manipulate the object.

公开(公告)号：US20180108334A1

公开(公告)日：2018-04-19

申请号：US15834540

申请日：2017-12-07

Applicant: Google LLC

Inventor： Manuel Christian Clement ,  Stefan Welker

IPC: G10H3/00 ,  G10H1/14 ,  G10H7/00

Abstract: Methods and apparatus to use predicted actions in VR environments are disclosed. An example method includes predicting a predicted time of a predicted virtual contact of a virtual reality controller with a virtual object, determining, based on at least one parameter of the predicted virtual contact, a characteristic of a virtual output the object would make in response to the virtual contact, and initiating producing the virtual output before the predicted time of the virtual contact of the controller with the virtual object.