Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for selective human-robot interaction. In some implementations, sensor data describing an environment of a robot is received, and a person in the environment of the robot is detected based on the sensor data. Scores indicative of properties of the detected person are generated based on the sensor data and processed using a machine learning model. Processing the scores can produce one or more outputs indicative of a likelihood that the detected person will perform a predetermined action in response to communication from the robot. Based on the one or more outputs of the machine learning model, the robot initiates communication with the detected person.

Abstract: Systems and methods for augmenting a data set are provided. An example method may include locating a foreground object disposed within a seed image, identifying an object class corresponding to the foreground object, and, based on the identified object class, determining a target value for an object property of the foreground object. The example method may also include applying a transformation function to transform the foreground object into a transformed object, where the transformation function modifies the object property of the foreground object from having an initial value to having the target value. The example method may further include transplanting the transformed object into a background image so as to produce an augmented image and augmenting an initial set of images with the augmented image so as to produce an augmented set of images for training a predictive model.

Abstract: An electroencephalogram (EEG) sensor is disclosed. The EEG sensor includes a housing defining a chamber capable of storing a gel, the housing includes a first and a second chamber wall, the walls each comprising a corresponding access port located on a common axis extending through the housing; an electrically-conductive probe with a probe tip extending at least partially through the chamber along the axis, at least a portion of the probe tip being exposed to the chamber; an electrical terminal located at an outer surface of the second chamber wall, the electrical terminal being in electrical communication with the probe tip through the access port at the second chamber wall; and a compliant member mechanically coupled to the access port at the first chamber wall capable of compressing, thereby providing a dispense pathway from the chamber through the access port at the first chamber wall.

Abstract: A method for analyzing electroencephalogram (EEG) signals is disclosed. EEG signals are received from a sensor coupled to a user. Contextual information from one or both of the user and the user's environment is also received. The EEG signals are processed in real time using a machine learning model to predict an action of the user, which is associated with the contextual information. Output associated with the predicted action is then generated.

Abstract: Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.

Abstract: A flexible sensor that includes a printed circuit board (PCB), a capacitive structure on the PCB, and mechanical coupling sites. The PCB includes a slot extending from an outer edge of the PCB to an inner portion of the PCB, and the slot defines a first edge and a second edge facing the first edge. The first and second edges are separated by a gap when the PCB is in an unflexed state. The slot is configured to permit the PCB to flex so as to vary a relative position of the first edge with respect to the second edge. The capacitive structure on the PCB includes a first edge electrode on a portion of the first edge of the PCB, and a second edge electrode on a portion of a second edge of PCB. The second edge electrode is aligned with the first edge electrode across the slot.

Abstract: Systems, methods, devices, and other techniques for a dynamic fabrication system. In some implementations, a computing system obtains a digital model of a physical structure. A fabrication plan for the physical structure is generated. The fabrication plan is provided to a fabrication system to execute the automated fabrication procedure according to the fabrication plan. A set of operations are performed for each of at least a subset of tasks from a set of tasks executed by the fabrication system during an automated fabrication procedure to identify an adjusted fabrication plan. The fabrication system is directed to continue execution of the automated fabrication procedure according to the adjusted fabrication plan.

Abstract: Methods, systems, and apparatus, including an apparatus that includes a motorized base configured to move the apparatus; an upper portion coupled to the motorized base; one or more load-sensing devices located between the motorized base and the upper portion, the one or more load-sensing devices being configured to (i) detect forces between the upper portion and the motorized base, and (ii) provide force information based on the detected forces between different portions of the upper portion and the motorized base; and one or more processors performs operations of: obtaining the force information provided by the one or more load-sensing devices; determining a difference between the forces indicated by the force information from the one or more load-sensing devices; determining, based the difference in the forces, a movement to be performed by the apparatus; and providing control information to cause the motorized base to perform the determined movement.

Abstract: Example methods and systems for augmented reality interfaces to display virtual representations of robotic device actions are provided. An example method includes receiving information that indicates an action or an intent of a robotic device to perform a task, and the action or the intent includes one or more of a planned trajectory of the robotic device to perform at least a portion of the task and an object to be handled by the robotic device to perform at least a portion of the task. The method also includes providing, for display by a computing device on an augmented reality interface, a virtual representation of the action or the intent, and the virtual representation includes as annotations on the augmented reality interface at least a portion of the planned trajectory of the robotic device or highlighting the object to be handled by the robotic device.

Abstract: Methods, systems, and apparatus, including computer programs stored on computer storage devices, for multi-tiered command processing are disclosed. One of the methods includes operating an audio processing system to detect voice commands in a set of first commands controlling behavior of the robot and in a set of second commands controlling behavior of the robot, wherein the system detects commands in the set of first commands using a local recognition model that does not require communication over a network, and detects commands in the set of second commands with a server over a network; executing one or more applications to respond to commands in a set of application commands that include commands different from the first commands and second commands; and detecting and carrying out commands, according to a predetermined hierarchy that prioritizes detection of the first commands first, the second commands second, and the application commands third.

Abstract: Implementations relate to detecting/replacing transient obstructions from high-elevation digital images, and/or to fusing data from high-elevation digital images having different spatial, temporal, and/or spectral resolutions. In various implementations, first and second temporal sequences of high-elevation digital images capturing a geographic area may be obtained. These temporal sequences may have different spatial, temporal, and/or spectral resolutions (or frequencies). A mapping may be generated of the pixels of the high-elevation digital images of the second temporal sequence to respective sub-pixels of the first temporal sequence. A point in time at which a synthetic high-elevation digital image of the geographic area may be selected. The synthetic high-elevation digital image may be generated for the point in time based on the mapping and other data described herein.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for downloading targeted object recognition modules that are selected from a library of candidate targeted object recognition modules based on various signals. In some implementations, an object recognition client may be operated to facilitate object recognition for a robot. It may download targeted object recognition module(s). Each targeted object recognition module may facilitate inference of an object type or pose of an observed object. The targeted object module(s) may be selected from a library of targeted object recognition modules based on various signals, such as a task to be performed by the robot. The object recognition client may obtain vision data capturing at least a portion of an environment in which the robot operates. The object recognition client may determine, based on the vision data and the downloaded object recognition module(s), information about an observed object in the environment.

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

Abstract: Techniques are described for using stenography to protect sensitive information within conversational audio data by generating a pseudo-language representation of conversational audio data. In some implementations, audio data corresponding to an utterance is received. The audio data is classified as likely sensitive audio data. A particular set of sentiments associated with the audio data is determined. Data indicating the particular set of sentiments associated with the audio data is provided to a model. The model is trained to output, for each of different sets of sentiments, desensitized, pseudo-language audio data that exhibits the set of sentiments, and is not classified as likely sensitive audio data. A particular desensitized, pseudo-language audio data is received from the model. The audio data is replaced with the particular desensitized, pseudo-language audio data and stored within an audio data repository.

Abstract: An example device includes an inner element, an outer surrounding element, and a plurality of connecting flexural elements coupled between the inner element and the outer surrounding element. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The outer surrounding element surrounds the inner element. The plurality of connecting flexural elements allow the inner element to move relative to the outer surrounding element.

Abstract: In embodiments, obtaining a plurality of image sets associated with a geographical region and a time period, wherein each image set of the plurality of image sets comprises multi-spectral and time series images that depict a respective particular portion of the geographical region during the time period, and predicting presence of a crop at particular locations within the particular portion of the geographical region associated with an image set of the plurality of image sets. Determining crop boundary locations within the particular portion of the geographical region based on the predicted presence of the crop at the particular locations, and generating a crop indicative image comprising at least one image of the multi-spectral and time series images of the image set overlaid with indication of crop areas, wherein the crop areas are defined by the determined crop boundary locations.

Abstract: In some embodiments, a design verification system is provided that is configured to perform actions for ensuring fabricability of a segmented design. The design verification system searches a proposed segmented design for a paintbrush pattern to determine a positive paintbrush loss, and searches for an inverse paintbrush pattern to determine a negative paintbrush loss. The design verification system combines the positive paintbrush loss and the negative paintbrush loss to obtain a total paintbrush loss that indicates whether or not the proposed segmented design is fabricable. If the total paintbrush loss indicates that the proposed segmented design is not fabricable, the design verification system updates the proposed segmented design based on a gradient of the total paintbrush loss.

Abstract: The disclosure provides for a communication system that includes one or more sensors and one or more processors. The one or more processors are configured to receive, during a first timeframe, a first indication of an error rate of a communication link, a second indication of an amount of received power at a remote communication system, and one or more measurements related to the state of the communication system. The one or more processors are then configured to estimate a plurality of disturbance values to the communication system according to the one or more measurements and the second indication. Each disturbance value is associated with a set of components of the communication system. The one or more processors are configured to adjust a beam divergence of a beacon beam or a communication beam transmitted from the communication system based on the plurality of disturbance values and the first indication.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for changing a distributed mode loudspeaker's fundamental frequency. One of the systems may include a light emitting diode display that includes an array of pixels, each pixel including, for each color of multiple colors, a directional light emitter and a wide-angle light emitter, a first combination of all the directional light emitters configured to generate a first display image viewable within a first viewing angle, and a second combination of all the wide-angle light emitters configured to generate a second display image concurrently with the generation of the first display image that is viewable within a second viewing angle. The first display image is a different image than the second display image and the first viewing angle is a narrower viewing angle than, and included within, the second viewing angle.

Abstract: An example system includes a vehicle, a light projector connected to the vehicle, and a control system. The control system is configured to determine a planned operating region for the vehicle within an environment. The control system is also configured to determine that the planned operating region is within a threshold distance of an object within the environment and, in response, determine a caution region to illuminate with the light projector near the object. The control system is further configured to cause the light projector to project an indication of the caution region near the object. The projected indication remains fixed in relation to the object as the vehicle moves toward the planned operating region.