公开(公告)号：US20220383019A1

公开(公告)日：2022-12-01

申请号：US17331451

申请日：2021-05-26

Applicant: NVIDIA Corporation

Inventor： Jonathan Tremblay ,  Fabio Tozeto Ramos ,  Yuke Zhu ,  Anima Anandkumar ,  Guanya Shi

IPC: G06K9/00 ,  G06N3/04 ,  G06K9/62

Abstract: Apparatuses, systems, and techniques generate poses of an object based on image data of the object obtained from a first viewpoint of the object and a second viewpoint of the object. The poses can be evaluated to determine a portion of the image data usable by an estimator to generate a pose of the object.

公开(公告)号：US20210146531A1

公开(公告)日：2021-05-20

申请号：US16780465

申请日：2020-02-03

Applicant: NVIDIA Corporation

Inventor： Jonathan Tremblay ,  Dieter Fox ,  Michelle Lee ,  Carlos Florensa ,  Nathan Donald Ratliff ,  Animesh Garg ,  Fabio Tozeto Ramos

IPC: B25J9/16 ,  G05B13/02 ,  G06N3/08 ,  G05B13/04 ,  G06N5/04 ,  G06N20/00

Abstract: A robot is controlled using a combination of model-based and model-free control methods. In some examples, the model-based method uses a physical model of the environment around the robot to guide the robot. The physical model is oriented using a perception system such as a camera. Characteristics of the perception system may be are used to determine an uncertainty for the model. Based at least in part on this uncertainty, the system transitions from the model-based method to a model-free method where, in some embodiments, information provided directly from the perception system is used to direct the robot without reliance on the physical model.