Abstract: Method and apparatus for object detection by a robot are provided. The method comprises analyzing using a set of trained detection models, one or more first images of an environment of the robot to detect one or more objects in the environment of the robot, generating at least one fine-tuned model by training one or more of the trained detection models in the set, wherein the training is based on a second image of the environment of the robot and annotations associated with the second image, wherein the annotations identify one or more objects in the second image, updating the set of trained detection models to include the generated at least one fine-tuned model, and analyzing using the updated set of trained detection models, one or more third images of the environment of the robot to detect one or more objects in the environment.

Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

Abstract: Provided herein are methods of producing a photoreceptor precursor (PRP) cell population derived from stem cells. Further provided herein are methods of using the PRP cell populations, such as for therapeutics.

Abstract: A user is provided with a GUI that may allow the user to change functionality associated with a non-powered card, a powered card or other device (e.g., a mobile telephonic device). The functionality associated with the device may be displayed by the GUI as a list of third-party applications that may be executed when the user's powered card or other device is used to complete a purchase transaction. The GUI allows the user to rate the user's experience with the executed application and then propagate the user's rating to a ratings database. The ratings database is accessible so that other users may view the rating of each user.

Abstract: Provided herein are methods of producing a photoreceptor precursor (PRP) cell population derived from stem cells. Further provided herein are methods of using the PRP cell populations, such as for therapeutics.

Abstract: Advanced payment applications are provided to improve the functionality of cards and devices. For example, a user interface may be placed on a card (e.g., a physical button) or a telephonic device (e.g., a virtual button on a capacitive touch screen). Manual input provided to this user interface may, for example, cause a purchase to be paid by credit and points may be earned for the purchase. A different manual input may, for example, cause a purchase to be paid by credit and points not be earned for the purchase in exchange for one or more chances to win a prize in a random lottery. An instant winner functionality may be provided on a card. For example, a card may randomly become an instant winner based on, for example, time and/or use.

Abstract: A method of constrained mobility mapping includes receiving from at least one sensor of a robot at least one original set of sensor data and a current set of sensor data. Here, each of the at least one original set of sensor data and the current set of sensor data corresponds to an environment about the robot. The method further includes generating a voxel map including a plurality of voxels based on the at least one original set of sensor data. The plurality of voxels includes at least one ground voxel and at least one obstacle voxel. The method also includes generating a spherical depth map based on the current set of sensor data and determining that a change has occurred to an obstacle represented by the voxel map based on a comparison between the voxel map and the spherical depth map. The method additional includes updating the voxel map to reflect the change to the obstacle.

Abstract: A user is provided with a GUI that may allow the user to change functionality associated with a non-powered card, a powered card or other device (e.g., a mobile telephonic device). The functionality associated with the device may be displayed by the GUI as a list of third-party applications that are currently featured third-party applications or as a list of third-party applications that have been previously featured applications.

Abstract: A kiosk may be provided that contains a number of blank cards. A graphical user interface of the kiosk may allow a user to define products that may be associated with a blank card contained within the kiosk. Aesthetic and functional features may be applied to a blank card by a kiosk and dispensed to a user of the kiosk as a fully functional card. An interrogation device of a kiosk may retrieve products associated with a current card and may associate the retrieved products with a new card to be dispensed from the kiosk. A kiosk may access a network to preauthorize any products that may be associated with a card dispensed from or programmed by the kiosk.

Abstract: A user is provided with a GUI that may allow the user to change functionality associated with a non-battery-powered card, a battery-powered card, a payment sticker, or another device (e.g., a mobile telephonic device). The GUI may be provided by a website so that a user views the GUI from a web-browser. At any time, for example, a user may change additional functionality performed at a point-of-sale purchase. A user may change the additional functionality for a card or a button of a card. A user may switch to associate a game of chance or skill to the purchase.

Abstract: A method for online authoring of robot autonomy applications includes receiving sensor data of an environment about a robot while the robot traverses through the environment. The method also includes generating an environmental map representative of the environment about the robot based on the received sensor data. While generating the environmental map, the method includes localizing a current position of the robot within the environmental map and, at each corresponding target location of one or more target locations within the environment, recording a respective action for the robot to perform. The method also includes generating a behavior tree for navigating the robot to each corresponding target location and controlling the robot to perform the respective action at each corresponding target location within the environment during a future mission when the current position of the robot within the environmental map reaches the corresponding target location.

Abstract: A system for correcting vision in an eye that uses a premium, customized IOL, the system comprising: (1) optical aberrometer means for measuring wavefront aberrations of the eye; (2) computer means for designing a wavefront-customized correction profile for the IOL; (3) manufacturing means for creating a customized IOL with the wavefront-corrected profile; and (4) surgical means for implanting the customized IOL in the eye. Alternatively an uncorrected IOL is first implanted and aligned in the eye, followed by in-situ scanning a femtosecond laser spot across the implanted IOL to locally change an index of Refraction of the IOL material in-situ.

Abstract: Provided herein are methods of producing an RPE cell population from a starting cell suspension, such as a single cell suspension, of pluripotent stem cells (PSCs). Such a method may comprise culturing the starting single cell suspension of PSCs in differentiation media to produce human RPE cells.

Abstract: This invention, a Purkinjenator™ optical system, is an eye-tracker and methodology for tracking Purkinje reflection images from a human eye in real-time, which allows for the XYZ position and tip/tilt of structures inside the eye to be determined in real-time. When used in combination with programmable groups of IR LED light sources, unique patterns of Purkinje reflections from internal surfaces (and corneal surfaces) can be identified. Thus, XYZ positioning and tip/tilt of internal structures can be accurately and rapidly determined. An Optical Coherence Tomography (OCT) optical system can be combined with the Purkinjenator™ optical system to provide Z-axis distance information.

Abstract: Systems and methods related to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object.

Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector engaged with a constrained object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set includes position parameters defining a position of the end effector. The operations further include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector within a workspace. The operations also include assigning a first impedance value to the end effector along the at least one axis of freedom and assigning a second impedance value to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.

Abstract: A robot includes a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable. A method of controlling a robotic arm includes controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.

Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

Abstract: This invention relates to optical methods and optical systems for making both on-axis and wide-field, peripheral off-axis wavefront measurements of an eye; and for designing and manufacturing wavefront-guided customized contact lens useful for myopia control. The wide-field optical instrument can comprise either (1) a multi-axis optical configuration using multiple off-axis beamlets, or (2) an instrument comprising a rotatable scanning mirror that generates off-axis probe beams.