公开(公告)号：US20240091951A1

公开(公告)日：2024-03-21

申请号：US18367827

申请日：2023-09-13

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Nikhil Narsingh CHAVAN DAFLE ,  Vasileios VASILOPOULOS ,  Shubham AGRAWAL ,  Jinwook HUH ,  Suveer GARG ,  Pedro PIACENZA ,  Isaac Hisano KASAHARA ,  Kazim Selim ENGIN ,  Zhanpeng HE ,  Shuran SONG ,  Ibrahim Volkan ISLER

IPC: B25J9/16 ,  G06T7/60 ,  G06T7/73

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J9/163 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: Systems, methods, and apparatuses for controlling a robot including a manipulator, including: determining three-dimensional (3D) geometry information about a target object based on an image of the target object; determining 3D geometry information about a scene in which the target object is to be placed based on at least one image of the scene; obtaining affordance information by providing the 3D geometry information about the target object and the 3D geometry information about the scene to at least one neural network model; commanding the robot to grasp the target object using the manipulator according to a grasp orientation corresponding to the affordance information; and commanding the robot to position the manipulator according to a placement direction corresponding to the affordance information in order to place the target object at a location in the scene.