Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for converting between different representations of collision exclusion relationships. One of the methods includes identifying a plurality of cliques in a collision exclusion graph. A bitmask representing collision exclusion relationships between the particular object and other objects in the robotic operating environment is generated using the identified cliques. A simulation of executing a robotic control plan for a robot in the robotic operating environment is performed using the generated bitmasks to detect collisions.

Abstract: In one aspect, there is provided a computer-implemented method that includes: obtaining, by a robotic simulator, data representing a physical robotic operating environment having a physical robot therein, setting a first level of physical simulation fidelity that disables one or more simulation features of the robotic simulator, receiving a user specification of a task to be performed by the physical robot, executing a simulation of the task being performed by a virtual robot representing the physical robot in a virtual robotic operating environment at the first level of physical simulation fidelity, determining that the task succeeded at the first level of physical simulation fidelity, in response to the determining, enabling one or more of the disabled simulation features, and performing a rerun of the simulation of the task with the one or more of the disabled simulation features enabled.

Abstract: A method of configuring an integrated circuit including multiple hardware tiles, includes: establishing a data forwarding path through the multiple hardware tiles by configuring each hardware tile, except for a last hardware tile, of the multiple hardware tiles to be in a data forwarding state, in which configuring each hardware tile, except for the last hardware tile, to be in a forwarding state includes installing a respective forwarding state counter specifying a corresponding predefined length of time that the hardware tile is in the data forwarding state; supplying, along the data forwarding path, each hardware tile of the plurality of hardware tiles with a respective program data packet comprising program data for the hardware tile; and installing, for each hardware tile of the multiple hardware tiles, the respective program data.

Abstract: A fixed rate compressor is used to perform variable rate texture compression. A texture image is accessed. A block size used to compress the image is automatically varied over the image to achieve variable rate texture compression. The block size may be selected to reduce the compressed texture image size and adapted in local regions of the texture image based on quality considerations, such as a quality condition that an error for each block be less that a threshold error. The restriction on block size and block types may be selected to perform decompression with hardware conventionally used to perform decompression of fixed-rate blocks. The quality condition may be user-selectable by a user input to provide additional control over the tradeoffs between quality and compression.

Abstract: A fixed rate compressor is used to perform variable rate texture compression. A texture image is accessed. A block size used to compress the image is automatically varied over the image to achieve variable rate texture compression. The block size may be selected to reduce the compressed texture image size and adapted in local regions of the texture image based on quality considerations, such as a quality condition that an error for each block be less that a threshold error. The restriction on block size and block types may be selected to perform decompression with hardware conventionally used to perform decompression of fixed-rate blocks. The quality condition may be user-selectable by a user input to provide additional control over the tradeoffs between quality and compression.