Abstract: This specification relates to robots and audio processing in robots. In general, one innovative aspect of the subject matter described in this specification can be embodied in a robot that includes: a body and one or more physically moveable components; a plurality of accessory input subsystems and one or more other sensor subsystems; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: receiving one or more sensor inputs from the one or more other sensor subsystems; determining a predicted direction of a detected sound emitter based on the one or more sensor inputs of the one or more other sensor subsystems; calculating a spatial filter based on the predicted direction; obtaining, by the plurality of accessory input subsystems, respective audio inputs; and processing the respective audio inputs according to the calculated spatial filter.

Abstract: This specification relates to robots and audio processing in robots. In general, one innovative aspect of the subject matter described in this specification can be embodied in a robot that includes: a body and one or more physically moveable components; a plurality of accessory input subsystems and one or more other sensor subsystems; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: receiving one or more sensor inputs from the one or more other sensor subsystems; determining a predicted direction of a detected sound emitter based on the one or more sensor inputs of the one or more other sensor subsystems; calculating a spatial filter based on the predicted direction; obtaining, by the plurality of accessory input subsystems, respective audio inputs; and processing the respective audio inputs according to the calculated spatial filter.

Abstract: This specification relates to robots and audio processing in robots. One aspect of the subject matter includes: a body and one or more physically moveable components; a plurality of microphones; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: obtaining map data of an environment of the robot; selecting a test location from the map data; navigating to the selected test location; receiving a sound wave propagating through the environment of the robot; computing one or more acoustic transfer functions for the test signal, wherein each acoustic transfer function represents how the test signal was transformed by the environment of the robot during its propogation through the environment of the robot; and storing each of the transfer functions in association with the test location.

Abstract: This specification relates to robots and audio processing in robots. In general, one innovative aspect of the subject matter described in this specification can be embodied in a robot that includes: a body and one or more physically moveable components; a plurality of microphones and one or more other sensor subsystems; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: receiving one or more sensor inputs from the one or more other sensor subsystems; determining a predicted direction of a detected sound emitter based on the one or more sensor inputs of the one or more other sensor subsystems; calculating a spatial filter based on the predicted direction; obtaining, by the plurality of microphones, respective audio inputs; and processing the respective audio inputs according to the calculated spatial filter.

Abstract: This specification relates to robots and audio processing in robots. One aspect of the subject matter includes: a body and one or more physically moveable components; a plurality of microphones; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: obtaining map data of an environment of the robot; selecting a test location from the map data; navigating to the selected test location; receiving a sound wave propagating through the environment of the robot; computing one or more acoustic transfer functions for the test signal, wherein each acoustic transfer function represents how the test signal was transformed by the environment of the robot during its propogation through the environment of the robot; and storing each of the transfer functions in association with the test location.

Abstract: This specification relates to robots and audio processing in robots. In general, one innovative aspect of the subject matter described in this specification can be embodied in a robot that includes: a body and one or more physically moveable components; a plurality of microphones and one or more other sensor subsystems; one or more processors; and one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations. The operations can include: receiving one or more sensor inputs from the one or more other sensor subsystems; determining a predicted direction of a detected sound emitter based on the one or more sensor inputs of the one or more other sensor subsystems; calculating a spatial filter based on the predicted direction; obtaining, by the plurality of microphones, respective audio inputs; and processing the respective audio inputs according to the calculated spatial filter.

Abstract: Exemplary methods, apparatuses, and systems generate an object in a portion of an electronic display. The object is generated as a shape formed by a pattern of a first plurality of pixels being illuminated for a first sequence of frames and a second plurality of pixels not being illuminated for the first sequence of frames. During the first sequence of frames, each set of illuminated pixels from the first plurality of pixels is separated from another set of illuminated pixels by a set of non-illuminated pixels of the second plurality of pixels. In response to an event, the object in the portion of the electronic display is generated by illuminating pixels of the second plurality of pixels for a second sequence of frames and not illuminating pixels within the first plurality of pixels for the second sequence of frames.