公开(公告)号：US20220341906A1

公开(公告)日：2022-10-27

申请号：US17240232

申请日：2021-04-26

Applicant: X Development LLC

Inventor： Daniel Lam ,  Justine Rembisz ,  Asa Weiss ,  Benjamin Holson

IPC: G01N33/00 ,  G05D1/02 ,  G01K3/14

Abstract: A method includes receiving data collected by at least one sensor on a robotic device, wherein the data is to be used for an ambient environment state representation, and wherein the data represents ambient environment measurements collected at locations of the at least one sensor when the robotic device is passively monitoring an environment such that robotic device navigation is not based on the ambient environment state representation. The method further includes determining the ambient environment state representation using the data collected by the at least one sensor on the robotic device. The method also includes identifying, based on the ambient environment state representation, one or more anomalous ambient environment measurements. The method additionally includes causing, based on the one or more identified anomalous ambient environment measurements, the robotic device to actively monitor the environment such that robotic device navigation is based on the ambient environment state representation.

公开(公告)号：US20220333999A1

公开(公告)日：2022-10-20

申请号：US17735522

申请日：2022-05-03

Applicant: X Development LLC

Inventor： Phillip Yee

IPC: G01K1/14 ,  G01K7/01 ,  G01K7/02 ,  G01K7/18 ,  G01K7/22 ,  H05K1/14 ,  H05K1/18 ,  H05K5/00 ,  H05K5/02 ,  H05K5/03

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for a device with improved ambient temperature detection. In some implementations, a device includes a housing that forms an interior space, and the housing includes an exterior surface, a pass-through region that defines a through-hole between the interior space to the exterior surface, and a recess at the exterior surface adjacent to the pass-through hole. The device includes a printed circuit board disposed within the interior space of the plastic housing. The device includes a flexible printed circuit substrate including a first end region that is connected to the printed circuit board that is disposed within the interior space of the housing, a second end region at an opposite end of the flexible printed circuit substrate than the first end region, that is disposed in the recess at the exterior surface of the housing, and a middle region that passes through the through-hole between the first end region and the second end region. The device includes a temperature sensor disposed at the second end region of the flexible printed circuit substrate in the recess at the exterior surface of the housing. The device includes a protective layer that is disposed on at least a portion of the exterior surface of the housing and that covers the recess and the through-hole.

公开(公告)号：US11476964B2

公开(公告)日：2022-10-18

申请号：US17529112

申请日：2021-11-17

Applicant: X Development LLC

Inventor： Jesse Lu ,  Brian Adolf ,  Martin Schubert

IPC: H04B10/07 ,  H04J14/02 ,  H04B10/073 ,  G06N3/08 ,  G05B19/4097 ,  G06F30/20 ,  H04J14/00 ,  H04B10/079

Abstract: Embodiments of techniques for inverse design of physical devices are described herein, in the context of generating designs for photonic integrated circuits (including a multi-channel photonic demultiplexer). In some embodiments, an initial design of the physical device is received, and a plurality of sets of operating conditions for fabrication of the physical device are determined. In some embodiments, the performance of the physical device as fabricated under the sets of operating conditions is simulated, and a total performance loss value is backpropagated to determine a gradient to be used to update the initial design. In some embodiments, instead of simulating fabrication of the physical device under the sets of operating conditions, a robustness loss is determined and combined with the performance loss to determine the gradient.

公开(公告)号：US11461589B1

公开(公告)日：2022-10-04

申请号：US16267077

申请日：2019-02-04

Applicant: X Development LLC

Inventor： Yunfei Bai

IPC: G06K9/62 ,  G06N3/04 ,  B25J9/16 ,  G06N3/08 ,  G06N20/00

Abstract: Mitigating the reality gap through training and utilization of at least one difference model. The difference model can be utilized to generate, for each of a plurality of instances of simulated state data generated by a robotic simulator, a corresponding instance of modified simulated state data. The difference model is trained so that a generated modified instance of simulated state data is closer to “real world data” than is a corresponding initial instance of simulated state data. Accordingly, the difference model can be utilized to mitigate the reality gap through modification of initially generated simulated state data, to make it more accurately reflect what would occur in a real environment. Moreover, the difference representation from the difference model can be used as input to the control policy to adapt the control learned from simulator to the real environment.

公开(公告)号：US11458630B2

公开(公告)日：2022-10-04

申请号：US16653858

申请日：2019-10-15

Applicant: X Development LLC

Inventor： Yunfei Bai ,  Yuchen Wu

IPC: B25J9/16

Abstract: Mitigating the reality gap through utilization of technique(s) that enable compliant robotic control and/or compliant robotic contact to be simulated effectively by a robotic simulator. The technique(s) can include, for example: (1) utilizing a compliant end effector model in simulated episodes of the robotic simulator; (2) using, during the simulated episodes, a soft constraint for a contact constraint of a simulated contact model of the robotic simulator; and/or (3) using proportional derivative (PD) control in generating joint control forces, for simulated joints of the simulated robot, during the simulated episodes. Implementations additionally or alternatively relate to determining parameter(s), for use in one or more of the techniques that enable effective simulation of compliant robotic control and/or compliant robotic contact.

公开(公告)号：US20220300679A1

公开(公告)日：2022-09-22

申请号：US17644393

申请日：2021-12-15

Applicant: X Development LLC

Inventor： LEO FRANCIS CASEY ,  Gaurav Desai ,  Page Furey Crahan ,  Peter Evans ,  Raymond Daly ,  Xinyue Li ,  Amanda McNary ,  Phillip Ellsworth Stahlfeld ,  David Charles Chou ,  Nicole Limtiaco

IPC: G06F30/20

Abstract: A computer-implemented method executed by one or more processors includes receiving a request for an output of an electrical grid simulation, the request including data indicating one or more input parameters for the simulation; in response to receiving the request, accessing a virtual model of an electrical grid, the virtual model including multiple different model configurations; selecting, based on the requested output from the simulation, and based on the one or more input parameters for the simulation, (i) a simulation mode including a resolution and scale of the simulation and (ii) one of the multiple different model configurations; executing an electrical grid simulation in the selected simulation mode using the selected model configuration; and based on results of the electrical grid simulation, providing the requested output of the electrical grid simulation.

公开(公告)号：US20220296754A1

公开(公告)日：2022-09-22

申请号：US17204193

申请日：2021-03-17

Applicant: X Development LLC

Inventor： Marc Strauss ,  Joshua Seal

IPC: A61L2/24 ,  B25J15/00 ,  A61L2/10

Abstract: An end effector of a robotic device is disclosed. The end effector includes a plurality of array segments, a plurality of UV light modules, and a first articulating member. Each array segment of the plurality of array segments is coupled to at least one other array segment of the plurality of array segments. Moreover, each UV light module is coupled to a different array segment of the plurality of array segments. The first articulating member is configured to cause at least one of the plurality of array segments to move relative to at least one other array segment.

公开(公告)号：US20220290989A1

公开(公告)日：2022-09-15

申请号：US17200023

申请日：2021-03-12

Applicant: X Development LLC

Inventor： Grigory Bronevetsky ,  Charlotte Leroy ,  Bin Ni ,  Hongxu Ma ,  Gengchen Mai

IPC: G01C15/00 ,  G06N3/04 ,  G01C13/00

Abstract: Implementations are described herein for leveraging teleconnections and location embeddings to predict geospatial measures for a geographic location of interest. In various implementations, a plurality of reference geographic locations may be identified that are disparate from a geographic location of interest and influence a geospatial measure in the geographic location of interest. One or more features may be extracted from each of the plurality of reference geographic locations. The extracted features and a location embedding generated for the geographic location of interest may be encoded into a joint embedding. A sequence encoder may be applied to the joint embedding to generate encoded data indicative of the predicted geospatial measure.

公开(公告)号：US20220284612A1

公开(公告)日：2022-09-08

申请号：US17749613

申请日：2022-05-20

Applicant: X Development LLC

Inventor： Barnaby John James

IPC: G06T7/571 ,  A01K61/13 ,  G06V40/10 ,  A01K29/00 ,  H04N7/18

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for visually detecting a halocline. In some implementations, a method includes moving a camera through different depths of water within a fish enclosure, capturing, at the different depths, images of fish, determining that changes in focus in the images correspond to changes in depth that the images were captured, and based on determining that the changes in focus in the images correspond to the changes in depths that the images were captured, detecting a halocline at a particular depth.

公开(公告)号：US20220284279A1

公开(公告)日：2022-09-08

申请号：US17190915

申请日：2021-03-03

Applicant: X Development LLC

Inventor： Sarah Ann Laszlo ,  Lam Thanh Nguyen

IPC: G06N3/08 ,  G06N3/04

Abstract: In one aspect, there is provided a method performed by one or more data processing apparatus that includes obtaining a point cloud dataset representing a brain of a biological organism. The point cloud dataset includes a collection of brain points that each define a respective spatial location in the brain. The method further includes identifying multiple brain points from the point cloud dataset as being located on a surface of the brain by repeatedly performing operations including initializing a current value of a position parameter and iteratively adjusting the current value of the position parameter until a termination criterion is satisfied. The termination criterion is satisfied if at least one brain point from the point cloud dataset is included in an interior of a shape parameterized by the current value of the position parameter. The operations further include, after determining that the termination criterion is satisfied, identifying each brain point from the point cloud dataset that is included in the interior of the shape parameterized by the current value of the position parameter as being located on the surface of the brain.