Abstract: Methods, apparatus, systems, and computer-readable media are provided for selecting a first robot for a robot task of a user, and during a first session between a computing device of the user and the first robot to perform the task, determining a need for the first robot to perform an alternative task. Based on determining the need, a second robot is selected to “replace” the first robot in performing the task. The second robot may replace the first robot in performing the task by directing the telepresence robot to navigate to a location proximal to the first robot and transitioning the first telepresence robot's session to the second telepresence robot.

Abstract: A passive illuminator includes a luminescent region with a semiconductor material that absorbs first photons having energy greater than or equal to a threshold energy. In response to absorbing the first photons, the semiconductor material emits second photons, through a spontaneous emission process, having less energy than the first photons. A waveguide is optically coupled to the luminescent region to transport the second photons a distance from the luminescent region. An extraction region optically coupled to the waveguide to emit the second photons, and the waveguide is disposed between the extraction region and the luminescent region.

Abstract: A technique and apparatus for monitoring a plant canopy over a field is disclosed. The technique includes receiving first sensor values from a plurality of plant canopy sensors disposed in or on a ground of the field under the plant canopy. The first sensor values are indicative of near-infrared (IR) light reflected or reradiated from the plant canopy. Second sensor values are also received from the plant canopy sensors. The second sensor values are indicative of red light that is incident through the plant canopy. A map of the plant canopy may be generated based upon the first and second sensor values.

Abstract: Aspects of the disclosure provide techniques for automatic repeat request (ARQ) in a free-space optical communication (FSOC) architecture. These techniques, including block-selective ARQ, adaptive retransmission delay, and random seed scrambling, can be used individually or in combination to combat problems involving frame loss or corruption. These techniques enable the system to rapidly recover by streamlining the retransmission process. For instance, block-selective ARQ acknowledges variable length blocks of frames in the return stream from the receiver to the transmitter. Adaptive retransmission delay allows the retransmission delay to grow in the absence of feedback by the receiver, up to some defined limit. And with random seed sampling, a scrambling sequence is incorporated to aid with frame syncing, which avoids the need for a line code. These aspects of the technology provide a robust communication process, and also reduce overhead costs associated with unnecessary retransmissions.

Abstract: Methods, apparatus, systems, and computer-readable media for assigning a real-time clock domain timestamp to sensor frames from a sensor component that operates in a non-real-time time-domain. In some implementations, a real-time component receives capture instances that each indicate capturing of a corresponding sensor data frame by the sensor component. In response to a capture output instance, the real-time component or an additional real-time component assigns a real-time timestamp to the capture output instance, where the real-time timestamp is based on the real-time clock domain. Separately, a non-real-time component receives the corresponding sensor data frames captured by the sensor component, along with corresponding metadata. For each sensor data frame, it is determined whether there is a real-time timestamp that corresponds to the data frame and, if so, the real-time timestamp is assigned to the sensor data frame.

Abstract: A system and method for a mobile hybrid transmitter/receiver (TX/RX) node for wireless resonant power delivery is disclosed. A hybrid TX/RX can be configured to travel to remote, wirelessly-powerable receivers and deliver power to them wirelessly. A hybrid TX/RX device can include a transmitter component (TX), a receiver (RX) component, and a power store for storing power for supply to remote receivers. The TX/RX device can be configured in an autonomous unmanned vehicle operational to travel between a fixed source transmitter devices and one or more specified locations that may be host to one or more remote receivers. In the location of the one or more remote receivers, the TX component may function to wirelessly transfer power from the power store to the one or more remote receivers. In the location of the fixed source transmitter device, RX component can be configured to receive power via wireless power transfer, and to use the received power to at least partially replenish the power store.

Abstract: Systems and methods are disclosed for determining tool offset data for a tool attached to a robot at an attachment point. In an embodiment, a method includes controlling the robot to contact a reference object with the tool. The reference object is a rigid object with a known location. A force feedback sensor of the robot indicates when the tool has contacted the reference object. Once contact is made, data indicating robot position during tool contact is received. Additionally, the robot temporarily stops movement of the tool to prevent damage to the tool or the reference object. Next, tool offset data is determined based on the position of the reference object relative to the robot and the received robot position data. The tool offset data describes the distance between at least one point on the tool and the attachment point.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for delegating object type and/or pose detection to a plurality of “targeted object recognition modules.” In some implementations, a method may be provided that includes: operating an object recognition client to facilitate object recognition for a robot; receiving, by the object recognition client, sensor data indicative of an observed object in an environment; providing, by the object recognition client, to each of a plurality of remotely-hosted targeted object recognition modules, data indicative of the observed object; receiving, by the object recognition client, from one or more of the plurality of targeted object recognition modules, one or more inferences about an object type or pose of the observed object; and determining, by the object recognition client, information about the observed object, such as its object type and/or pose, based on the one or more inferences.

Abstract: Aspects of the disclosure provide for a method of transmitting state information using free-space optical communication. The method includes using one or more processors of a first communication device to collect state information of the first communication device. A supervisor signal that carries the state information is transmitted from the first communication device along with a beacon beam in a first solid angle. The supervisor signal is a frequency different from the one or more frequencies of the beacon beam. When a communication link is established between the first communication device and a second communication device, a plurality of data packets is transmitted from the first communication device to the second communication device in a second solid angle smaller than the first solid angle. A subset of the plurality of data packets that do not carry client data carries the state information of the first communication device.

Abstract: Techniques described herein relate to generating a posteriori knowledge about where objects are typically located within environments to improve object location. In various implementations, output from vision sensor(s) of a robot may include visual frame(s) that capture at least a portion of an environment in which a robot operates/will operate. The visual frame(s) may be applied as input across a machine learning model to generate output that identifies potential location(s) of an object of interest. The robot's position/pose may be altered based on the output to relocate one or more of the vision sensors. One or more subsequent visual frames that capture at least a not-previously-captured portion of the environment may be applied as input across the machine learning model to generate subsequent output identifying the object of interest. The robot may perform task(s) that relate to the object of interest.

Abstract: A process for producing a light emitting diode device, the process including: forming a plurality of quantum dots on a surface of a layer including a first area and a second area, the forming including: exposing the first area of the surface to light having a first wavelength while exposing the first area to a quantum dot forming environment that causes the quantum dots in the first area to form at a first growth rate while the quantum dots have a dimension less than a first threshold dimension; exposing the second area of the surface to light having a second wavelength while exposing the second area to the quantum dot forming environment that causes the quantum dots in the second area to form at a third growth rate while the quantum dots have a dimension less than a second threshold dimension; and processing the layer to form the LED device.

Abstract: A system for collection of rainwater in the open ocean may include: (a) one or more ocean-going vessels, wherein each ocean-going vessel is configured for collection and storage of rainwater, wherein each ocean-going vessel is configured to drift with surface ocean currents in order to navigate to one or more delivery locations, wherein each delivery location is on or near to a land mass; and (b) one or more delivery stations located at the one or more delivery locations, wherein each delivery station is configured to receive stored rainwater from one or more of the ocean-going vessels.

Abstract: Methods, systems, and apparatus, including computer programs stored on a computer-readable storage medium, for selecting a modality for interfacing between a user and a robot. In some implementations, a system determines that a particular action requires user confirmation before being performed. The system receives position data indicating a level of proximity of a user to a robot and environmental data indicating environmental conditions sensed by the robot. The system selects a particular mode for obtaining confirmation of the action from among multiple modes of interfacing with users based on one or more of the position data and the environmental data. The system provides a request confirmation of the action using the particular mode for presentation to the user.

Abstract: Methods, apparatus, and computer-readable media for determining and utilizing human corrections to robot actions. In some implementations, in response to determining a human correction of a robot action, a correction instance is generated that includes sensor data, captured by one or more sensors of the robot, that is relevant to the corrected action. The correction instance can further include determined incorrect parameter(s) utilized in performing the robot action and/or correction information that is based on the human correction. The correction instance can be utilized to generate training example(s) for training one or model(s), such as neural network model(s), corresponding to those used in determining the incorrect parameter(s). In various implementations, the training is based on correction instances from multiple robots. After a revised version of a model is generated, the revised version can thereafter be utilized by one or more of the multiple robots.

Abstract: Holonomic bases, and drive shafts and roller assemblies that can be used in the holonomic bases. In some implementations, a holonomic base includes at least two pairs of roller assemblies, with each of the pairs being coupled to a corresponding drive shaft. In some of those implementations, each of the roller assemblies of each pair includes three roller segments that are each coupled to the corresponding drive shaft and that each include an exposed outward facing spherical zone that approximates a portion of the surface of a sphere. The roller segments of each roller assembly are in fixed relation to one another relative to the rotational axis of a drive shaft to which the roller assembly is coupled, but the roller segments each freely rotate about a corresponding roller segment rotational axis that extends outward from the drive shaft.

Abstract: An example method includes determining a plurality of frequency ranges corresponding to a plurality of types of errors, where the plurality of frequency ranges are associated with sounds occurring during operation of a robotic device. The method also includes detecting, based on sensor data from at least one audio sensor of the robotic device, a sound during a given operation of the robotic device. The method also includes determining that a frequency of the detected sound is within a particular frequency range of the plurality of frequency ranges. Based on the frequency being within the particular frequency range, the method also includes determining a type of error of the plurality of types of errors corresponding to the particular frequency range. The method also includes providing an output signal indicating an error of the determined type.

Abstract: Methods, systems, and apparatus for generating images that blend an appearance of a display with an environment of the display. In some aspects, output is provided from a display that occludes an object. A gaze direction is determined for an observer located within an environment of the display. An image is generated based on the determined gaze direction of the observer. The generated image is configured to blend an appearance of the display with the environment of the display. The generated image is displayed on the display directed to the observer.

Abstract: A light emitting device includes a substrate supporting a first light emitting element and a second light emitting element, the first light emitting element being configured to emit, in a first principal direction, light in a first wavelength band and the second light emitting element being configured to emit, in the first principal direction, light in a second wavelength band different from the first wavelength band, each light emitting element including: a light emitting diode layer, extending in a plane perpendicular to the first direction, having a thickness of 10 microns or less in the first direction and a maximum lateral dimension of 100 microns or less orthogonal to the first direction, the light emitting diode layer including a semiconductor material; and one or more layers configured to enhance an optical mode of the light emitted in the corresponding first or second wavelength band perpendicular to the plane and/or suppress an optical mode of the light emitted in the corresponding first or second w

Abstract: An example implementation includes a robotic system including a first wheel and a second wheel configured to rotate about a first axis. Each wheel of the first wheel and the second wheel includes a contact surface and a motor coupled to a rotatable component. Each motor is configured to rotate the rotatable component about a respective second axis. The rotatable component is frictionally engaged with the contact surface such that a rotation of the rotatable component about the respective second axis is translated to a rotation of the wheel about the first axis. The robotic system further includes a controller configured to operate the motor of the first wheel and the motor of the second wheel in order to cause the robotic system to maintain its balance and navigate within an environment based on data received from one or more sensors.

Abstract: Methods and systems for modifying the inertial parameters used in a virtual robot model that simulates the interactions of a real-world robot with an environment to better reflect the actual inertial properties of the real-world robot. In one aspect, a method includes obtaining joint physical parameter measurements for the joints of a real-world robot, determining simulated joint physical parameter values for each of the joint physical parameter measurements, and adjusting an estimate of inertial properties of the real-world robot used by the virtual robot dynamic model to reduce a difference between the simulated joint physical parameter values and the corresponding joint physical parameter measurements.