Abstract: Methods for designing a mode-selective optical device including one or more optical interfaces defining an optical cavity include: defining a loss function within a simulation space encompassing the optical device, the loss function corresponding to an electromagnetic field having an operative wavelength within the optical device resulting from an interaction between an input electromagnetic field at the operative wavelength and the one or more optical interfaces of the optical device; defining an initial structure for each of the one or more optical interfaces, each initial structure being defined using a plurality of voxels; determining values for at least one structural parameter and/or at least one functional parameter of the one or more optical interfaces by solving Maxwell's equations; and defining a final structure of the one or more optical interfaces based on the values for the one or more structural and/or functional parameters.

Abstract: A technique for optimizing a physical device includes receiving an initial description of the physical device that describes the physical device with voxels that each describes one or more structural parameters of the physical device. The initial description includes a characterization including a desired output signal generated at an output region of the physical device in response to a source signal at a source region of the physical device. A field response is forward simulated from the source region to the output region to generate a forward simulated output signal. Structural parameter weights of the voxels are adjusted with an adaptive algorithm configured to reduce an error between the forward simulated output signal and the desired output signal. The structural parameters of the voxels are revised based upon the adjusting. The forward simulating, adjusting, and revising are iteratively repeated and a revised/optimized description of the physical device is generated.

Abstract: Systems, methods, devices, and other techniques are described for planning motions of one or more robots to perform at least one specified task. In some implementations, a task to execute with a robotic system using a tool is identified. A partially constrained pose is identified for the tool that is to apply during execution of the task. A set of possible constraints for the unconstrained pose parameter are selected for each unconstrained pose parameter. The sets of possible constraints are evaluated for the unconstrained pose parameters with respect to one or more task execution criteria. A nominal pose is determined for the tool based on a result of evaluating the sets of possible constraints for the unconstrained pose parameters with respect to the one or more task execution criteria. The robotic system is then directed to execute the task, including positioning the tool according to the nominal pose.

Abstract: Systems and methods related to roadmaps for mobile robots are provided. A computing device can determine a roadmap of an environment. The roadmap can include lanes and a designated region that is adjacent to a first lane of the plurality of lanes and suitable for robotic traversal when unoccupied. The computing device can determine a first route between first and second points in the environment that uses the first lane. The computing device can send a direction to use the first route to a first robot. The computing device can receive, from the first robot, sensor data indicative of an occupied status of the designated region. The computing device can determine a second route between the first and second points through the designated region based on the occupied status of the designated region. The computing device can send a direction to use the second route to a second robot.

Abstract: Described herein are three-dimensional (3D) printer systems and methods, which may provide for “continuous pull” 3D printing. An illustrative 3D printer includes: a resin container, a base plate, a light source arranged below the resin container and operable to cure resin in the resin container; and a control system operable to: (a) receive model data specifying a 3D structure; (b) determine 2D images corresponding to layers of the 3D object; and (c) generate control signals to operate the light source and the base plate to sequentially form the layers of the 3D object onto the base plate, wherein the base plate moves a formed portion of the 3D object upward after formation of each layer, and wherein at least a surface of a formed portion of the 3D object remains in contact with the resin in the resin container throughout the formation of the layers of the 3D object.

Abstract: A free space optical communication system transmits and receives optical signals in a colorless manner using an optical circulator. The system installs the optical circulator with a single mode (SM) fiber at port 1, a double clad (DC) fiber at port 2, and a multimode (MM) fiber at port 3. The system injects a first optical signal into a core of the SM fiber. The system then routes the first optical signal at port 1, using the optical circulator, into a SM core of the DC fiber via Port 2. Further, the system injects a second optical signal into a first cladding of the DC fiber. The system then routes the second optical signal at port 2, using the optical circulator, into the MM fiber via Port 3.

Abstract: A physical voxel, a volumetric testbed, and method for physically simulating a photonic device are described herein. The volumetric testbed comprises a simulation stage and a controller. The simulation stage includes a three-dimensional array of physical voxels configurable to represent the photonic device operating in response to electromagnetic radiation. The physical voxels includes a field detector to measure a local field response and an impedance adjuster to adjust an impedance to the electromagnetic radiation. The controller is coupled to memory, which stores instructions that when executed by one or more processors included in the controller causes the volumetric testbed to perform operations including determining a global field response of the photonic device and adjusting the impedance of the physical voxels to refine a design of the photonic device.

Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

Abstract: Methods, systems, and apparatus, including computer-readable media, for robot grasp learning. In some implementations, grasp data describing grasp attempts by robots is received. A set of the grasp attempts that represent unsuccessful grasp attempts is identified. Based on the set of grasp attempts representing unsuccessful grasp attempts, a grasp model based on sensor data for the unsuccessful grasp attempts. After training the grasp model, a performance level of the trained grasp model is verified based on one or more simulations of grasp attempts. In response to verifying the performance level of the trained grasp model, the trained grasp model is provided to one or more robots.

Abstract: Methods, systems, and apparatus for receiving a command for controlling a robot, the command referencing an object, receiving sensor data for a portion of an environment of the robot, identifying, from the sensor data, a gesture of a human that indicates a spatial region located outside of the portion of the environment described by the sensor data, searching map data for the object, determining, based at least on searching the map data for the object referenced in the command, that the object referenced in the command is present in the spatial region, and in response to determining that the object referenced in the command is present in the spatial region, controlling the robot to perform an action with respect to the object referenced in the command.

Abstract: Methods, systems, and apparatus, including computer-readable media storing executable instructions, for enhancing robot learning. In some implementations, a robot stores first embeddings generated using a first machine learning model, and the first embeddings include one or more first private embeddings that are not shared with other robots. The robot receives a second machine learning model from a server system over a communication network. The robot generates a second private embedding for each of the one or more first private embeddings using the second machine learning model. The robot adds the second private embeddings to the cache of the robot and removes the one or more first private embeddings from the cache of the robot.

Abstract: In one embodiment, a method includes receiving, from a first sensor on a robot, first sensor data indicative of an environment of the robot. The method also includes identifying, based on the first sensor data, an object of an object type in the environment of the robot, where the object type is associated with a classifier that takes sensor data from a predetermined pose relative to the object as input. The method further includes causing the robot to position a second sensor on the robot at the predetermined pose relative to the object. The method additionally includes receiving, from the second sensor, second sensor data indicative of the object while the second sensor is positioned at the predetermined pose relative to the object. The method further includes determining, by inputting the second sensor data into the classifier, a property of the object.

Abstract: Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.

Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

Abstract: An apparatus includes a holder to support an indenter relative to a sample, a depth sensor, and a controller. The operations include applying a first force on the sample with the indenter and determining a first depth of the indenter based on data generated by the sensor, moving the indenter from the first depth to a greater predetermined depth, then applying the first force on the sample with the indenter and determining a second depth of the indenter based on second data generated by the sensor, and determining a value indicative of hardness of the sample based on a difference between the first depth and the second depth. The apparatuses described can use a single scale for hardness that enables hardness values for different materials to be compared to one another.

Abstract: Methods, systems, and apparatus for an infrared and visible imaging system. In some implementations, Image data from a visible-light camera is obtained. A position of a device is determined based at least in part on the image data from the visible-light camera. An infrared camera is positioned so that the device is in a field of view of the infrared camera, with the field of view of the infrared camera being narrower than the field of view of the visible-light camera. Infrared image data from the infrared camera that includes regions representing the device is obtained. Infrared image data from the infrared camera that represents the device is recorded. Position data is also recorded that indicates the location and pose of the infrared camera when the infrared image data is acquired by the infrared camera.

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.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, of training a global policy neural network. One of the methods includes initializing a plurality of instances of the robotic task. For each instance of the robotic task, the method includes generating a trajectory of state-action pairs by selecting actions to be performed by the robotic agent while performing the instance of the robotic task in accordance with current values of the parameters of the global policy neural network, and optimizing a local policy controller that is specific to the instance on the trajectory of state-action pairs for the instance. The method further includes generating training data for the global policy neural network using the local policy controllers, and training the global policy neural network on the training data to adjust the current values of the parameters of the global policy neural network.

Abstract: Methods and systems for detecting sensor orientation characteristics using marker-based localization are disclosed herein. In one aspect, a robotic device can: receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers based on the sensor data and a current position of the sensor; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; and determine, based on the difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane.