Nvidia Corporation

Tucker Ryer Hermans

Dieter Fox

Miles Macklin

Yashraj Shyam Narang

Isabella Huang

Fabio Tozeto Ramos

Ankur Handa

Christopher Jason Paxton

Clemens Eppner

Balakumar Sundaralingam

Weiyu Liu

Apparatuses, systems, and techniques to generate a predicted outcome of an object resulting from a robotic component applying a force. In at least one embodiment, a predicted outcome of an object resulting from a robotic component applying a force is generated based on, for example, a neural network.

Predicting grasp outcomes

A robotic system is provided for performing rearrangement tasks guided by a natural language instruction. The system can include a number of neural networks used to determine a selected rearrangement of the objects in accordance with the natural language instruction. A target object predictor network processes a point cloud of the scene and the natural language instruction to identify a set of query objects that are to-be-rearranged. A language conditioned prior network processes the point cloud, natural language instruction, and the set of query objects to sample a distribution of rearrangements to generate a number of sets of pose offsets for the set of query objects. A discriminator network then processes the samples to generate scores for the samples. The samples may be refined until a score for at least one of the sample generated by the discriminator network is above a threshold value.

Semantic rearrangement of unknown objects from natural language commands

Candidate grasping models of a deformable object are applied to generate a simulation of a response of the deformable object to the grasping model. From the simulation, grasp performance metrics for stress, deformation controllability, and instability of the response to the grasping model are obtained, and the grasp performance metrics are correlated with robotic grasp features.

Method for assessing the quality of a robotic grasp on 3D deformable objects

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Salt Lake City, UT, United States of America

Tucker Ryer Hermans