Nvidia Corporation

Yu Xiang

Dieter Fox

Arsalan Mousavian

Balakumar Sundaralingam

Wei Yang

Yu-Wei Chao

Maya Cakmak

Luyang Zhu

Chris Paxton

A system may simulate human motion for human-robot interactions, such as may involve a handover of an object. Motion capture can be performed for a hand grasping and moving an object to a location and orientation appropriate for a handover, without a need for a robot to be present or an actual handover to occur. This motion data can be used to separately model the hand and the object for use in a handover simulation, where a component such as a physics engine may be used to ensure realistic modeling of the motion or behavior. During a simulation, a robot control model or algorithm can predict an optimal location and orientation to grasp an object, and an optimal path to move to that location and orientation, using a control model or algorithm trained, based at least in part, using the motion models for the hand and object.

Simulating physical interactions for automated systems

Apparatuses, systems, and techniques to estimate or predict depth information for image data. In at least one embodiment, depth information is predicted based at least in part on color information and geometry information associated with an image.

Machine learning techniques for predicting depth information in image data

In an embodiment, a system provides object tracking and 6D pose estimations to a robot that performs different tasks such as manipulation and navigation. In an embodiment the 6D object pose is determined using a Rao-Blackwellized particle filtering framework, where the 3-D rotation and the 3-D translation of the object is decoupled. In an embodiment, the system provides the 3-D translation of an object along with a full distribution over the 3-D rotation. In an embodiment, the 3-D rotation is determined by discretizing the rotation space, and training an autoencoder network to construct a codebook of feature embeddings for the discretized rotations. In an embodiment, the system is able to track objects with arbitrary symmetries while also maintaining adequate posterior distributions.

Object pose estimation

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Seattle, WA, United States of America

Yu Xiang