Patents by Inventor Borja Ibarz Gabardos
Borja Ibarz Gabardos has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20190299410Abstract: Systems and methods for robotic path planning are disclosed. In some implementations of the present disclosure, a robot can generate a cost map associated with an environment of the robot. The cost map can comprise a plurality of pixels each corresponding to a location in the environment, where each pixel can have an associated cost. The robot can further generate a plurality of masks having projected path portions for the travel of the robot within the environment, where each mask comprises a plurality of mask pixels that correspond to locations in the environment. The robot can then determine a mask cost associated with each mask based at least in part on the cost map and select a mask based at least in part on the mask cost. Based on the projected path portions within the selected mask, the robot can navigate a space.Type: ApplicationFiled: April 5, 2019Publication date: October 3, 2019Inventors: Oleg Sinyavskiy, Jean-Baptiste Passot, Borja Ibarz Gabardos, Diana Vu Le
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Publication number: 20190249998Abstract: Systems and methods for robotic mapping are disclosed In some exemplary implementations, a robot can travel in an environment. From travelling in the environment, the robot can create a graph comprising a plurality of nodes, wherein each node corresponds to a scan taken by a sensor of the robot at a location in the environment. In some exemplary implementations, the robot can generate a map of the environment from the graph. In some cases, to facilitate map generation, the robot can constrain the graph to start and end at a substantially similar location. The robot can also perform scan matching on extended scan groups, determined from identifying overlap between scans, to further determine the location of features in a map.Type: ApplicationFiled: March 18, 2019Publication date: August 15, 2019Inventors: Jaldert Rombouts, Borja Ibarz Gabardos, Jean-Baptiste Passot, Andrew Smith
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Patent number: 10377040Abstract: Systems and methods assisting a robotic apparatus are disclosed. In some exemplary implementations, a robot can encounter situations where the robot cannot proceed and/or does not know with a high degree of certainty it can proceed. Accordingly, the robot can determine that it has encountered an error and/or assist event. In some exemplary implementations, the robot can receive assistance from an operator and/or attempt to resolve the issue itself. In some cases, the robot can be configured to delay actions in order to allow resolution of the error and/or assist event.Type: GrantFiled: February 2, 2017Date of Patent: August 13, 2019Assignee: Brain CorporationInventors: Oleg Sinyavskiy, Jean-Baptiste Passot, Borja Ibarz Gabardos, Diana Vu Le
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Patent number: 10379539Abstract: Systems and methods for dynamic route planning m autonomous navigation are disclosed. In some exemplary implementations, a robot can have one or more sensors configured to collect data about an environment including detected points on one or more objects in the environment. The robot can then plan a route in the environment, where the route can comprise one or more route poses. The route poses can include a footprint indicative at least in part of a pose, size, and shape of the robot along the route. Each route pose can have a plurality of points therein. Based on forces exerted on the points of each route pose by other route poses, objects in the environment, and others, each route pose can reposition. Based at least in part on interpolation performed on the route poses (some of which may be repositioned), the robot can dynamically route.Type: GrantFiled: June 18, 2018Date of Patent: August 13, 2019Assignee: Brain CorporationInventors: Borja Ibarz Gabardos, Jean-Baptiste Passot
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Patent number: 10369694Abstract: Robotic devices may be trained by a user guiding the robot along target action trajectory using an input signal. A robotic device may comprise an adaptive controller configured to generate control signal based on one or more of the user guidance, sensory input, performance measure, and/or other information. Training may comprise a plurality of trials, wherein for a given context the user and the robot's controller may collaborate to develop an association between the context and the target action. Upon developing the association, the adaptive controller may be capable of generating the control signal and/or an action indication prior and/or in lieu of user input. The predictive control functionality attained by the controller may enable autonomous operation of robotic devices obviating a need for continuing user guidance.Type: GrantFiled: April 23, 2018Date of Patent: August 6, 2019Assignee: Brain CorporationInventors: Patryk Laurent, Jean-Baptiste Passot, Oleg Sinyavskiy, Filip Ponulak, Borja Ibarz Gabardos, Eugene Izhikevich
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Publication number: 20190235512Abstract: The safe operation and navigation of robots is an active research topic for many real-world applications, such as the automation of large industrial equipment. This technological field often requires heavy machines with arbitrary shapes to navigate very close to obstacles, a challenging and largely unsolved problem. To address this issue, a new planning architecture is developed that allows wheeled vehicles to navigate safely and without human supervision in cluttered environments. The inventive methods and systems disclosed herein belong to the Model Predictive Control (MPC) family of local planning algorithms. The technological features disclosed herein works in the space of two-dimensional (2D) occupancy grids and plans in motor command space using a black box forward model for state inference. Compared to the conventional methods and systems, the inventive methods and systems disclosed herein include several properties that make it scalable and applicable to a production environment.Type: ApplicationFiled: January 29, 2019Publication date: August 1, 2019Inventors: Oleg Sinyavskiy, Borja Ibarz Gabardos, Jean-Baptiste Passot
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Patent number: 10322507Abstract: Robots have the capacity to perform a broad range of useful tasks, such as factory automation, cleaning, delivery, assistive care, environmental monitoring and entertainment. Enabling a robot to perform a new task in a new environment typically requires a large amount of new software to be written, often by a team of experts. It would be valuable if future technology could empower people, who may have limited or no understanding of software coding, to train robots to perform custom tasks. Some implementations of the present invention provide methods and systems that respond to users' corrective commands to generate and refine a policy for determining appropriate actions based on sensor-data input. Upon completion of learning, the system can generate control commands by deriving them from the sensory data. Using the learned control policy, the robot can behave autonomously.Type: GrantFiled: October 16, 2017Date of Patent: June 18, 2019Assignee: Brain CorporationInventors: Philip Meier, Jean-Baptiste Passot, Borja Ibarz Gabardos, Patryk Laurent, Oleg Sinyavskiy, Peter O'Connor, Eugene Izhikevich
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Patent number: 10293485Abstract: Systems and methods for robotic path planning are disclosed. In some implementations of the present disclosure, a robot can generate a cost map associated with an environment of the robot. The cost map can comprise a plurality of pixels each corresponding to a location in the environment, where each pixel can have an associated cost. The robot can further generate a plurality of masks having projected path portions for the travel of the robot within the environment, where each mask comprises a plurality of mask pixels that correspond to locations in the environment. The robot can then determine a mask cost associated with each mask based at least in part on the cost map and select a mask based at least in part on the mask cost. Based on the projected path portions within the selected mask, the robot can navigate a space.Type: GrantFiled: March 30, 2017Date of Patent: May 21, 2019Assignee: Brain CorporationInventors: Oleg Sinyavskiy, Jean-Baptiste Passot, Borja Ibarz Gabardos, Diana Vu Le
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Patent number: 10274325Abstract: Systems and methods for robotic mapping are disclosed. In some exemplary implementations, a robot can travel in an environment. From travelling in the environment, the robot can create a graph comprising a plurality of nodes, wherein each node corresponds to a scan taken by a sensor of the robot at a location in the environment. In some exemplary implementations, the robot can generate a map of the environment from the graph. In some cases, to facilitate map generation, the robot can constrain the graph to start and end at a substantially similar location. The robot can also perform scan matching on extended scan groups, determined from identifying overlap between scans, to further determine the location of features in a map.Type: GrantFiled: November 1, 2016Date of Patent: April 30, 2019Assignee: Brain CorporationInventors: Jaldert Rombouts, Borja Ibarz Gabardos, Jean-Baptiste Passot, Andrew Smith
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Publication number: 20190121365Abstract: Systems and methods for training a robot to autonomously travel a route. In one embodiment, a robot can detect an initial placement in an initialization location. Beginning from the initialization location, the robot can create a map of a navigable route and surrounding environment during a user-controlled demonstration of the navigable route. After the demonstration, the robot can later detect a second placement in the initialization location, and then autonomously navigate the navigable route. The robot can then subsequently detect errors associated with the created map. Methods and systems associated with the robot are also disclosed.Type: ApplicationFiled: October 23, 2018Publication date: April 25, 2019Inventors: Jean-Baptiste Passot, Andrew Smith, Botond Szatmary, Borja Ibarz Gabardos, Cody Griffin, Jaldert Rambouts, Oleg Sinyavskiy, Eugene Izhikevich
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Publication number: 20190030713Abstract: An apparatus and methods for training and/or operating a robotic device to perform a target task autonomously. The target task execution may be configured based on analysis of sensory context by the robot. Target action may comprise execution of two or more mutually exclusive actions for a given context. The robotic device may be operable in accordance with a persistent switching process. For a given sensor input, the switching process may be trained to select one of two or more alternative actions based on a prior action being executed. Switching process operation may comprise assigning priorities to the available tasks based on the sensory context; the task priorities may be modified during training based on input from a trainer. The predicted task priorities may be filtered by a “persistent winner-take-all process configured to switch from a current task to another task based on the priority breaching a switching threshold.Type: ApplicationFiled: October 3, 2018Publication date: January 31, 2019Inventors: Borja Ibarz Gabardos, Oleg Sinyavskiy
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Publication number: 20180364724Abstract: Systems and methods for dynamic route planning in autonomous navigation are disclosed. In some exemplary implementations, a robot can have one or more sensors configured to collect data about an environment including detected points on one or more objects in the environment. The robot can then plan a route in the environment, where the route can comprise one or more route poses. The route poses can include a footprint indicative at least in part of a pose, size, and shape of the robot along the route. Each route pose can have a plurality of points therein. Based on forces exerted on the points of each route pose by other route poses, objects in the environment, and others, each route poses can reposition. Based at least in part on interpolation performed on the route poses (some of which may be repositioned), the robot can dynamically route.Type: ApplicationFiled: June 18, 2018Publication date: December 20, 2018Inventors: Borja Ibarz Gabardos, Jean-Baptiste Passot
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Patent number: 10131052Abstract: An apparatus and methods for training and/or operating a robotic device to perform a target task autonomously. The target task execution may be configured based on analysis of sensory context by the robot. Target action may comprise execution of two or more mutually exclusive actions for a given context. The robotic device may be operable in accordance with a persistent switching process. For a given sensor input, the switching process may be trained to select one of two or more alternative actions based on a prior action being executed. Switching process operation may comprise assigning priorities to the available tasks based on the sensory context; the task priorities may be modified during training based on input from a trainer. The predicted task priorities may be filtered by a “persistent winner-take-all process configured to switch from a current task to another task based on the priority breaching a switching threshold.Type: GrantFiled: May 6, 2015Date of Patent: November 20, 2018Assignee: Brain CorporationInventors: Borja Ibarz Gabardos, Oleg Sinyavskiy
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Publication number: 20180319015Abstract: An apparatus and methods for training and/or operating a robotic device to perform a composite task comprising a plurality of subtasks. Subtasks may be arranged in a hierarchy. Individual tasks of the hierarchy may be operated by a respective learning controller. Individual learning controllers may interface to appropriate components of feature extractor configured to detect features in sensory input. Individual learning controllers may be trained to produce activation output based on occurrence of one or more relevant features and using training input. Output of a higher level controller may be provided as activation indication to one or more lower level controllers. Inactive activation indication may be utilized to deactivate one or more components thereby improving operational efficiency. Output of a given feature extractor may be shared between two or more learning controllers.Type: ApplicationFiled: July 10, 2018Publication date: November 8, 2018Inventors: Oleg Sinyavskiy, Jean-Baptiste Passot, Patryk Laurent, Borja Ibarz Gabardos, Eugene Izhikevich
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Publication number: 20180281191Abstract: Systems and methods for robotic path planning are disclosed. In some implementations of the present disclosure, a robot can generate a cost map associated with an environment of the robot. The cost map can comprise a plurality of pixels each corresponding to a location in the environment, where each pixel can have an associated cost. The robot can further generate a plurality of masks having projected path portions for the travel of the robot within the environment, where each mask comprises a plurality of mask pixels that correspond to locations in the environment. The robot can then determine a mask cost associated with each mask based at least in part on the cost map and select a mask based at least in part on the mask cost. Based on the projected path portions within the selected mask, the robot can navigate a space.Type: ApplicationFiled: March 30, 2017Publication date: October 4, 2018Inventors: Oleg Sinyavskiy, Jean-Baptiste Passot, Borja Ibarz Gabardos, Diana Vu Le
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Publication number: 20180215039Abstract: Systems and methods assisting a robotic apparatus are disclosed. In some exemplary implementations, a robot can encounter situations where the robot cannot proceed and/or does not know with a high degree of certainty it can proceed. Accordingly, the robot can determine that it has encountered an error and/or assist event. In some exemplary implementations, the robot can receive assistance from an operator and/or attempt to resolve the issue itself. In some cases, the robot can be configured to delay actions in order to allow resolution of the error and/or assist event.Type: ApplicationFiled: February 2, 2017Publication date: August 2, 2018Inventors: Oleg Sinyavskiy, Jean-Baptiste Passot, Borja Ibarz Gabardos, Diana Vu Le
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Patent number: 10016896Abstract: Systems and methods for detection of people are disclosed. In some exemplary implementations, a robot can have a plurality of sensor units. Each sensor unit can be configured to generate sensor data indicative of a portion of a moving body at a plurality of times. Based on at least the sensor data, the robot can determine that the moving body is a person by at least detecting the motion of the moving body and determining that the moving body has characteristics of a person. The robot can then perform an action based at least in part on the determination that the moving body is a person.Type: GrantFiled: June 30, 2016Date of Patent: July 10, 2018Assignee: BRAIN CORPORATIONInventors: Oleg Sinyavskiy, Borja Ibarz Gabardos, Jean-Baptiste Passot
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Patent number: 10001780Abstract: Systems and methods for dynamic route planning in autonomous navigation are disclosed. In some exemplary implementations, a robot can have one or more sensors configured to collect data about an environment including detected points on one or more objects in the environment. The robot can then plan a route in the environment, where the route can comprise one or more route poses. The route poses can include a footprint indicative at least in part of a pose, size, and shape of the robot along the route. Each route pose can have a plurality of points therein. Based on forces exerted on the points of each route pose by other route poses, objects in the environment, and others, each route pose can reposition. Based at least in part on interpolation performed on the route poses (some of which may be repositioned), the robot can dynamically route.Type: GrantFiled: November 2, 2016Date of Patent: June 19, 2018Assignee: Brain CorporationInventors: Borja Ibarz Gabardos, Jean-Baptiste Passot
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Publication number: 20180120856Abstract: Systems and methods for dynamic route planning in autonomous navigation are disclosed. In some exemplary implementations, a robot can have one or more sensors configured to collect data about an environment including detected points on one or more objects in the environment. The robot can then plan a route in the environment, where the route can comprise one or more route poses. The route poses can include a footprint indicative at least in part of a pose, size, and shape of the robot along the route. Each route pose can have a plurality of points therein. Based on forces exerted on the points of each route pose by other route poses, objects in the environment, and others, each route poses can reposition. Based at least in part on interpolation performed on the route poses (some of which may be repositioned), the robot can dynamically route.Type: ApplicationFiled: November 2, 2016Publication date: May 3, 2018Inventors: Borja Ibarz Gabardos, Jean-Baptiste Passot
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Publication number: 20180120116Abstract: Systems and methods for robotic mapping are disclosed. In some exemplary implementations, a robot can travel in an environment. From travelling in the environment, the robot can create a graph comprising a plurality of nodes, wherein each node corresponds to a scan taken by a sensor of the robot at a location in the environment. In some exemplary implementations, the robot can generate a map of the environment from the graph. In some cases, to facilitate map generation, the robot can constrain the graph to start and end at a substantially similar location. The robot can also perform scan matching on extended scan groups, determined from identifying overlap between scans, to further determine the location of features in a map.Type: ApplicationFiled: November 1, 2016Publication date: May 3, 2018Inventors: Jaldert Rombouts, Borja Ibarz Gabardos, Jean-Baptiste Passot, Andrew Smith