Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot in accordance with a real-time robotics control framework. One of the methods includes: receiving a definition of a custom real-time control function; and repeatedly executing the custom real-time control function at each predetermined tick of a real-time robotics system driving the robot, including: obtaining sensor measurements, computing a new position for an end effector of the robot based on the sensor measurements in order to satisfy a distance range specified by the custom real-time control function, computing new robot control signals to cause the robot to move the end effector to the new position, and providing the new robot control signals to the robot.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints. Each waypoint is associated with a target position and a target velocity. The method includes generating an alternative path from the initial path. Generating an alternative path includes generating a plurality of alternative paths including performing respective modifications to one or more waypoints in the initial plan, evaluating each alternative path according to a simulated total time duration required for the robot to traverse the alternative path, and selecting an alternative path having a total time duration that is less than a total time duration of the initial plan.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints and a footprint space for performing the particular task. The method includes receiving a sensor input from the sensor, and determining from the sensor input that the initial plan requires modification to complete the particular task. The method includes evaluating a plurality of alternative paths, including rejecting one or more alternative paths having any alternative waypoints that are outside the footprint space defined by the initial plan. The method includes selecting an alternative path having alternative waypoints that are all within the footprint space defined by the initial plan. The method includes following, by the robot, the alternative path.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing online robotic motion planning from pre-generated motion plans. A library of pre-generated motion plans for performing a particular task is maintained. Each pre-generated motion plan comprises a plurality of waypoints and one or more actions. One or more present observations of a robot in a workcell are obtained. The one or more observations are classified. A pre-generated candidate motion plan that matches the labels assigned to the present observations of the robot in the workcell is selected from the library of pre-generated motion plans. The pre-generated candidate motion plan is adapted according to the present observations of the robot in the workcell to generate a final motion plan to be executed by the robot.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot plan online adjustment. A method includes receiving an initial plan for performing a particular task with a robot having a sensor. The initial plan defines an initial path having a plurality of waypoints. Each waypoint is associated with a target position and a target velocity. The method includes generating an alternative path from the initial path. Generating an alternative path includes generating a plurality of alternative paths including performing respective modifications to one or more waypoints in the initial plan, evaluating each alternative path according to a simulated total time duration required for the robot to traverse the alternative path, and selecting an alternative path having a total time duration that is less than a total time duration of the initial plan.

Abstract: This specification describes how a system can detect that an envelope invariant with a corresponding condition has been violated and, in response to the detection, perform an automatic recovery action.

Abstract: Automatically configuring backup client systems and backup server systems in a backup environment includes the following steps: determining if a new backup client system is available in the backup environment; in case of an available new backup client system a backup configuration module performs the sub-steps of: determining data types the new backup client system has to backup; determining corresponding backup policies for the determined data types based on a backup policy table mapping data types with backup policies; selecting a backup server system for the determined data types based on a backup server table including connection details of available backup server systems; configuring the determined backup policies for the data types of the new backup client system on the selected backup server systems; and updating the backup server table with an identifier of the new backup client system and an identifier of the backup policy.

Abstract: Automatically configuring backup client systems and backup server systems in a backup environment includes the following steps: determining if a new backup client system is available in the backup environment; in case of an available new backup client system a backup configuration module performs the sub-steps of: determining data types the new backup client system has to backup; determining corresponding backup policies for the determined data types based on a backup policy table mapping data types with backup policies; selecting a backup server system for the determined data types based on a backup server table including connection details of available backup server systems; configuring the determined backup policies for the data types of the new backup client system on the selected backup server systems; and updating the backup server table with an identifier of the new backup client system and an identifier of the backup policy.

Abstract: Automatically configuring backup client systems and backup server systems in a backup environment includes the following steps: determining if a new backup client system is available in the backup environment; in case of an available new backup client system a backup configuration module performs the sub-steps of: determining data types the new backup client system has to backup; determining corresponding backup policies for the determined data types based on a backup policy table mapping data types with backup policies; selecting a backup server system for the determined data types based on a backup server table including connection details of available backup server systems; configuring the determined backup policies for the data types of the new backup client system on the selected backup server systems; and updating the backup server table with an identifier of the new backup client system and an identifier of the backup policy.

Abstract: Automatically configuring backup client systems and backup server systems in a backup environment includes the following steps: determining if a new backup client system is available in the backup environment; in case of an available new backup client system a backup configuration module performs the sub-steps of: determining data types the new backup client system has to backup; determining corresponding backup policies for the determined data types based on a backup policy table mapping data types with backup policies; selecting a backup server system for the determined data types based on a backup server table including connection details of available backup server systems; configuring the determined backup policies for the data types of the new backup client system on the selected backup server systems; and updating the backup server table with an identifier of the new backup client system and an identifier of the backup policy.