公开(公告)号：US12194632B2

公开(公告)日：2025-01-14

申请号：US18378241

申请日：2023-10-10

Applicant: NVIDIA Corporation

Inventor： Shariq Iqbal ,  Jonathan Tremblay ,  Thang Hong To ,  Jia Cheng ,  Erik Leitch ,  Duncan J. McKay ,  Stanley Thomas Birchfield

IPC: G06F17/00 ,  B25J9/16 ,  G06N3/08 ,  G06T7/73

Abstract: In at least one embodiment, under the control of a robotic control system, a gripper on a robot is positioned to grasp a 3-dimensional object. In at least one embodiment, the relative position of the object and the gripper is determined, at least in part, by using a camera mounted on the gripper.

公开(公告)号：US12175703B2

公开(公告)日：2024-12-24

申请号：US17470979

申请日：2021-09-09

Applicant: NVIDIA Corporation

Inventor： Stanley Thomas Birchfield ,  Jonathan Tremblay ,  Yunzhi Lin ,  Stephen Walter Tyree

IPC: G06T7/73 ,  B25J9/16 ,  G06N3/08 ,  G06T7/60

Abstract: Apparatuses, systems, and techniques to determine a pose and relative dimensions of an object from an image. In at least one embodiment, a pose and relative dimensions of an object are determined from an image based at least in part on, for example, features of the image.

公开(公告)号：US12109701B2

公开(公告)日：2024-10-08

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 ,  G05B13/04 ,  G06N3/08 ,  G06N5/046 ,  G06N20/00

CPC classification number: B25J9/163 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1697 ,  G05B13/027 ,  G05B13/04 ,  G06N3/08 ,  G06N5/046 ,  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.

公开(公告)号：US12017352B2

公开(公告)日：2024-06-25

申请号：US17176672

申请日：2021-02-16

Applicant: NVIDIA Corporation

Inventor： Visak Chadalavada Vijay Kumar ,  David Hoeller ,  Balakumar Sundaralingam ,  Jonathan Tremblay ,  Stanley Thomas Birchfield

IPC: B25J9/02 ,  B25J9/16

CPC classification number: B25J9/023 ,  B25J9/163 ,  B25J9/1664 ,  G05B2219/39064

Abstract: Apparatuses, systems, and techniques to map coordinates in task space to a set of joint angles of an articulated robot. In at least one embodiment, a neural network is trained to map task-space coordinates to joint space coordinates of a robot by simulating a plurality of robots at various joint angles, and determining the position of their respective manipulators in task space.

公开(公告)号：US20230415336A1

公开(公告)日：2023-12-28

申请号：US17849861

申请日：2022-06-27

Applicant: NVIDIA Corporation

Inventor： Siddha Ganju ,  Elad Mentovich ,  James Stephen Fields, JR. ,  Ryan Kelsey Albright ,  Jonathan Tremblay ,  Stanley Thomas Birchfield

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/163 ,  G05B19/4155 ,  G05B2219/50391 ,  G05B2219/32226

Abstract: A robot device determines an error associated with equipment included in a data center environment. The robot device may compare the error to candidate errors for which the robot device is already trained to resolve. Based on a result of the comparison, the robot device may perform, in a control environment, candidate maintenance operations in association with resolving the error. The robot device may learn a set of actions associated with successfully resolving the error, based on performing the candidate maintenance operations. The robot device may perform maintenance operations associated with the error. Performing the maintenance operations may include applying the learned set of actions.

公开(公告)号：US11830145B2

公开(公告)日：2023-11-28

申请号：US17479866

申请日：2021-09-20

Applicant: NVIDIA Corporation

Inventor： Kunal Gupta ,  Shalini De Mello ,  Charles Loop ,  Jonathan Tremblay ,  Stanley Thomas Birchfield

IPC: G06T17/20 ,  G06N3/08 ,  G06F18/214

CPC classification number: G06T17/205 ,  G06F18/214 ,  G06N3/08

Abstract: A manifold voxel mesh or surface mesh is manufacturable by carving a single block of material and a non-manifold mesh is not manufacturable. Conventional techniques for constructing or extracting a surface mesh from an input point cloud often produce a non-manifold voxel mesh. Similarly, extracting a surface mesh from a voxel mesh that includes non-manifold geometry produces a surface mesh that includes non-manifold geometry. To ensure that the surface mesh includes only manifold geometry, locations of the non-manifold geometry in the voxel mesh are detected and converted into manifold geometry. The result is a manifold voxel mesh from which a manifold surface mesh of the object may be extracted.

公开(公告)号：US20220379484A1

公开(公告)日：2022-12-01

申请号：US17331466

申请日：2021-05-26

Applicant: NVIDIA Corporation

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

IPC: B25J9/16 ,  G06T7/73 ,  G06K9/00 ,  B25J19/02 ,  B25J13/08 ,  G05B13/02 ,  G06N3/04

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

公开(公告)号：US20220277472A1

公开(公告)日：2022-09-01

申请号：US17470979

申请日：2021-09-09

Applicant: NVIDIA Corporation

Inventor： Stanley Thomas Birchfield ,  Jonathan Tremblay ,  Yunzhi Lin ,  Stephen Walter Tyree

IPC: G06T7/73 ,  G06N3/08 ,  B25J9/16 ,  G06T7/60

Abstract: Apparatuses, systems, and techniques to determine a pose and relative dimensions of an object from an image. In at least one embodiment, a pose and relative dimensions of an object are determined from an image based at least in part on, for example, features of the image.

公开(公告)号：US11375176B2

公开(公告)日：2022-06-28

申请号：US16780738

申请日：2020-02-03

Applicant: NVIDIA Corporation

Inventor： Hung-Yu Tseng ,  Shalini De Mello ,  Jonathan Tremblay ,  Sifei Liu ,  Jan Kautz ,  Stanley Thomas Birchfield

IPC: H04N13/282 ,  H04N13/268 ,  G06K9/62 ,  G06N3/08

Abstract: When an image is projected from 3D, the viewpoint of objects in the image, relative to the camera, must be determined. Since the image itself will not have sufficient information to determine the viewpoint of the various objects in the image, techniques to estimate the viewpoint must be employed. To date, neural networks have been used to infer such viewpoint estimates on an object category basis, but must first be trained with numerous examples that have been manually created. The present disclosure provides a neural network that is trained to learn, from just a few example images, a unique viewpoint estimation network capable of inferring viewpoint estimations for a new object category.

公开(公告)号：US20210125036A1

公开(公告)日：2021-04-29

申请号：US16667708

申请日：2019-10-29

Applicant: NVIDIA Corporation

Inventor： Jonathan Tremblay ,  Ming-Yu Liu ,  Dieter Fox ,  Philip Ammirato

IPC: G06N3/04 ,  G10L15/16 ,  G06K9/46 ,  G06K9/66 ,  G05D1/00 ,  G06N3/08

Abstract: Apparatuses, systems, and techniques to determine orientation of an objects in an image. In at least one embodiment, images are processed using a neural network trained to determine orientation of an object.