Google Inc.

X Development LLC

Peter Pastor Sampedro

Sergey Levine

Mrinal Kalakrishnan

Adrian Li

Vincent Louis Dureau

Kurt Konolige

Sudheendra Vijayanarasimhan

Eric Jang

Ali Yahya Valdovinos

Alex Krizhevsky

Umashankar Nagarajan

Julian Ibarz

Karol Hausman

Ali Yahya Valdovinoa

Mengyuan Yan

Cristian Bodnar

Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.

Operating multiple testing robots based on robot instructions and/or environmental parameters received in a request

Deep machine learning methods and apparatus related to semantic robotic grasping are provided. Some implementations relate to training a training a grasp neural network, a semantic neural network, and a joint neural network of a semantic grasping model. In some of those implementations, the joint network is a deep neural network and can be trained based on both: grasp losses generated based on grasp predictions generated over a grasp neural network, and semantic losses generated based on semantic predictions generated over the semantic neural network. Some implementations are directed to utilization of the trained semantic grasping model to servo, or control, a grasping end effector of a robot to achieve a successful grasp of an object having desired semantic feature(s).

Machine learning methods and apparatus for semantic robotic grasping

Techniques are described herein for robotic control using value distributions. In various implementations, as part of performing a robotic task, state data associated with the robot in an environment may be generated based at least in part on vision data captured by a vision component of the robot. A plurality of candidate actions may be sampled, e.g., from continuous action space. A trained critic neural network model that represents a learned value function may be used to process a plurality of state-action pairs to generate a corresponding plurality of value distributions. Each state-action pair may include the state data and one of the plurality of sampled candidate actions. The state-action pair corresponding to the value distribution that satisfies one or more criteria may be selected from the plurality of state-action pairs. The robot may then be controlled to implement the sampled candidate action of the selected state-action pair.

Robotic control using value distributions

Deep machine learning methods and apparatus related to manipulation of an object by an end effector of a robot. Some implementations relate to training a deep neural network to predict a measure that candidate motion data for an end effector of a robot will result in a successful grasp of one or more objects by the end effector. Some implementations are directed to utilization of the trained deep neural network to servo a grasping end effector of a robot to achieve a successful grasp of an object by the grasping end effector. For example, the trained deep neural network may be utilized in the iterative updating of motion control commands for one or more actuators of a robot that control the pose of a grasping end effector of the robot, and to determine when to generate grasping control commands to effectuate an attempted grasp by the grasping end effector.

Deep machine learning methods and apparatus for robotic grasping

Deep machine learning methods and apparatus related to the manipulation of an object by an end effector of a robot are described herein. Some implementations relate to training an action prediction network to predict a probability density which can include candidate actions of successful grasps by the end effector given an input image. Some implementations are directed to utilization of an action prediction network to visually servo a grasping end effector of a robot to achieve a successful grasp of an object by the grasping end effector.

Action prediction networks for robotic grasping

Deep machine learning methods and apparatus related to manipulation of an object by an end effector of a robot. Some implementations relate to training a semantic grasping model to predict a measure that indicates whether motion data for an end effector of a robot will result in a successful grasp of an object; and to predict an additional measure that indicates whether the object has desired semantic feature(s). Some implementations are directed to utilization of the trained semantic grasping model to servo a grasping end effector of a robot to achieve a successful grasp of an object having desired semantic feature(s).

Methods and apparatus related to robot collision avoidance. One method may include: receiving robot instructions to be performed by a robot; at each of a plurality of control cycles of processor(s) of the robot: receiving trajectories to be implemented by actuators of the robot, wherein the trajectories define motion states for the actuators of the robot during the control cycle or a next control cycle, and wherein the trajectories are generated based on the robot instructions; determining, based on a current motion state of the actuators and the trajectories to be implemented, whether implementation of the trajectories by the actuators prevents any collision avoidance trajectory from being achieved; and selectively providing the trajectories or collision avoidance trajectories for operating the actuators of the robot during the control cycle or the next control cycle depending on a result of the determining.

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Oakland, CA, United States of America

Peter Pastor Sampedro