Abstract: Systems and methods for performing real-time multi-robot collaboration in dynamic environments are provided. A system may obtain sensor data of an environment of the robot, and generate tokenized sensor data from the sensor data. The system may input the tokenized sensor data into a robotics foundational model (RFM) associated with the robot causing the RFM to generate insight data used for making decisions associated with performing the mission. Generating the insight data includes generating one or more beliefs about the environment and generating one or more risk-reward maps indicating potential risks and/or a. The system implement a token sharing policy causing the robot to generate tokenized insight data and transmit the tokenized insight data to recipient robots of the robot fleet.

Abstract: A method of and system for priority-based instruction handling in a human-robot interactive system can include receiving a plurality of instructions from a plurality of users, processing the instructions through a priority-based instruction manager, generating prioritized instruction embeddings, inputting the prioritized instruction embeddings into a sequence decision model, and generating at least one robot command. The priority-based instruction manager can be in communication with a database, where the database can include context information about members of the user set. The prioritized instruction embeddings can include the output of a scalar weighting function calculated by the priority-based instruction manager.

Abstract: Systems and methods for generating virtual test environments (VTEs) to optimize performance of robots are provided. A system may generate, at a simulation platform via a language model, a VTE configured for testing performance of a robotics foundational model (RFM) during a virtual mission. The system may test the performance of the RFM in the VTE including: (a) causing the RFM to perform the virtual mission; (b) obtaining virtual operational data associated with the performance of the RFM during the virtual mission; and (c) analyzing the virtual operational data to determine virtual operational characteristic for further testing. Based upon determining virtual operational characteristic for further testing, the system may provide the virtual operational data to the language model as an input causing the language model to reconfigure the VTE for further testing the virtual operational characteristic, and repeat steps (a)-(c).

Abstract: In order to construct dynamic environment data with an automated annotation, a 3D model of an environment is first constructed using sensors located on a machine moving through the environment. The sensors include a first sensor to obtain point cloud data of the environment, a second sensor to obtain 2D images of an object or feature in the environment from different perspectives, and a third sensor to monitor positions and orientations of the machine. Once the 3D model is constructed, an annotated one of the 2D images and a non-annotated one of the 2D images are projected onto the 3D model and aligned with one another. The annotation is then transferred from the annotated 2D image to the non-annotated 2D image to convert the non-annotated 2D image into a second annotated 2D image. The second annotated 2D image is re-projected onto a 2D plane.

Abstract: A mapping system for an autonomous mobile robot includes a 3D convolutional encoder network that generates 3D feature maps from 3D point cloud data. The network sequentially compresses the feature dimension of the 3D input data to reduce the computational complexity and enable feature extraction to be performed in substantially real-time. Skip connections connect the outputs of the encoder layers of the convolutional encoder network to counterpart decoder layers of a 2D convolutional decoder network. An attention-based 3D to 2D projection layer receives the 3D feature maps generated by the encoder layers via the skip connections and projects the 3D feature maps onto 2D BEV feature maps which are provided to the counterpart decoder layers as input. The projection layer automatically estimates ground level of 3D feature maps and filters out overhanging objects that are irrelevant to ground-level navigation.

Abstract: Systems and methods for real-time localization and pose correction of a robot are provided. An example system may obtain sensor data of a localized environment, odometry data indicating the robot's movement in the localized environment, and environmental data including a global two-dimensional model depicting a global environment. The system may generate a localized three-dimensional model depicting the localized environment, and generate a localized two-dimensional model of the localized environment based upon transforming the localized three-dimensional model. The system may obtain an indication of an estimated pose of the robot in the localized environment, perform a registration of the localized two-dimensional model with the global two-dimensional model based upon the estimated pose, and generate corrected pose data indicating a corrected pose of the robot. The system may configure the robot using the corrected pose data to identify the corrected pose of the robot within the global environment.

Abstract: An object-goal navigation framework for an autonomous mobile robot uses a dynamic Scene Graph (DSG) and a Relational Semantic Network (RSN) for semantic-guided object-goal navigation. The DSG is a hierarchical world representation generated from a prior spatial configuration of the environment. The RSN encodes relational semantic knowledge between objects and the regions or rooms in the environment. The object-goal navigation problem is then solved using a probabilistic planning framework with relational semantic knowledge. Using DSG and RSN, the global planning problem is formulated as a Markov decision process (MDP). The computed global planning policy directs the robot to visit a room or perform local searches. A finite state local controller is then used to execute the global planning policy and search for the target object.

Abstract: Systems and methods for real-time terrain classification via an autonomous robot are provided. An example method may obtain environmental data indicating one or more characteristics of a physical environment including terrain, and classify the terrain based upon the environmental data. Based upon a first classification of the terrain, the method may determine a terrain assessment task associated with reclassifying at least the portion of the terrain and determine whether performing the terrain assessment task will exceed a performance threshold indicating an adverse effect on performing a mission task. Based upon determining whether performing the terrain assessment task will exceed the performance threshold, the method may generate terrain assessment task configuration data for configuring the autonomous robot and transmit the terrain assessment task configuration data to the autonomous robot causing configuration of the autonomous robot associated with the terrain assessment task.

Abstract: Sparse centralized real-time mapping for efficient belief state representations of complex geometry in unstructured environments is provided by a space mapping system which collects, from sensors, point cloud data having auxiliary identifying data, performs real-time voxelization and probabilistic modeling using a probability theory to account for uncertainty in the point cloud data, based on the auxiliary identifying data, to create a sparse 3D belief space representation map of the point cloud data, generates a 2D map from the sparse 3D belief space representation map, wherein the space mapping system includes at least one graphic processing unit (GPU) and at least one central processing unit (CPU) to perform the probabilistic modeling, and dynamically allocates processing operations of at least one of the voxelization and the probabilistic modeling of the point cloud data between the GPU and the CPU during operations to create the sparse 3D belief space representation map.

Abstract: A ML-based system and method for determining traversability with uncertainty object estimation for one or more robot devices to navigate through one or more terrains, is disclosed. The ML-based method comprises: (a) obtaining optimum-fidelity scan data in a form of point cloud from scanner devices; (b) generating an elevation map of the environments by applying an elevation mapping model and free-space detection model on the point cloud; (c) generating a dense point cloud with ground-truth map features from the elevation map of the environments; (d) generating a synthetic point cloud based on the dense point cloud of the environments; (e) predicting traversability features from the synthetic point cloud associated with the environments using a ML model; and (f) determining the traversability with the uncertainty object estimation, which adapts the robot devices to navigate on the terrains, based on the traversability features predicted from the ML model.

Abstract: A method for controlling an electronic power steering system may include receiving, at an electronic power steering controller, at least one signal from at least one sensor and generating, by the electronic power steering controller using the at least one signal, a first autonomous steering command. The method may also include receiving, from a domain controller at the electronic power steering controller, a second autonomous steering command and comparing, by the electronic power steering controller, the first autonomous steering command and the second autonomous steering command. The method may also include selectively controlling, by the electronic power steering controller, the electronic power steering system using one of the first autonomous steering command and the second autonomous steering command, based on the comparison of the first autonomous steering command and the second autonomous steering command.

Abstract: A method for controlling an electronic power steering system may include receiving, at an electronic power steering controller, at least one signal from at least one sensor and generating, by the electronic power steering controller using the at least one signal, a first autonomous steering command. The method may also include receiving, from a domain controller at the electronic power steering controller, a second autonomous steering command and comparing, by the electronic power steering controller, the first autonomous steering command and the second autonomous steering command. The method may also include selectively controlling, by the electronic power steering controller, the electronic power steering system using one of the first autonomous steering command and the second autonomous steering command, based on the comparison of the first autonomous steering command and the second autonomous steering command.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for a content platform that receives a request to provide a digital component. The request includes information about users to which the digital component is directed. Futurized queries are obtained from serving logs of a serving system that is configured to execute an existing digital component using serving code that directs digital content to the set of users. The futurized queries are loaded as data structures in memory of a forecasting system. The system uses an instruction set derived from the serving code to determine that similarity between the particular futurized query and the request exceeds a threshold similarity. The system then generates a forecast output as a response to the request based on futurized queries that exceed the threshold similarity. The forecast output includes data describing future provision of the digital component.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for a content platform that receives a request to provide a digital component. The request includes information about users to which the digital component is directed. Futurized queries are obtained from serving logs of a serving system that is configured to execute an existing digital component using serving code that directs digital content to the set of users. The futurized queries are loaded as data structures in memory of a forecasting system. The system uses an instruction set derived from the serving code to determine that similarity between the particular futurized query and the request exceeds a threshold similarity. The system then generates a forecast output as a response to the request based on futurized queries that exceed the threshold similarity. The forecast output includes data describing future provision of the digital component.

Abstract: An eddy current probe comprises a first planar coil, a second planar coil and a flexible substrate. The first coil comprises a first conductor having a spiral geometry, and the second coil comprises a second conductor having a spiral geometry. The first conductor is arranged concentrically with the second conductor, with the first conductor being juxtaposed with the second conductor, and the concentrically arranged first and second conductors are embedded within the flexible substrate.

Abstract: A system for synchronizing unstructured documents includes sub-nodes (110, 120, 130) and a network connecting the sub-nodes together. Each sub-node includes a database server (113, 123, 133), an FTP (file transfer protocol) server, and client computers (111, 121, 131). The database server includes a summary table (400) for storing a summary of all unstructured documents, and has the function of synchronizing with summary tables stored in other sub-nodes. The FTP server stores unstructured documents, and has the function of downloading unstructured documents from the FTP servers of other sub-nodes. Each client computer includes a client proxy. The client proxy includes a database processing module for generating instructions on updating, searching, and deleting data stored in the database server, a file processing module for generating instructions on downloading unstructured documents from the FTP servers of other sub-nodes, and a client processing module for receiving sync orders from users.

Abstract: Embodiments of the invention include a system for displaying an audit diagram. The system includes a monitor capable of electronically displaying the audit diagram. The monitor includes a text equivalent constructed from an input text, and a conversion representation including an operator indicator, a result arrow, and a rule arrow.

Abstract: The invention described herein includes a method of analyzing a population of individuals. The method includes entering the population of individuals into an information processing system. Each individual includes one or more properties. Each property includes one or more conditions and a numerical value. The method also includes displaying the population of the individuals in a visual map. The visual map is divided into parallel property zones of properties. The individuals are represented in the map as parallel lines wherein the lines are orthogonal to the property zones.

Abstract: Nonalcoholic steatohepatitis (NASH) is a disease of the liver characterized by inflammation and damage to the liver cells. Typically, steatohepatitis involves inflammation of the liver related to fat accumulation, and mimics alcoholic hepatitis but is observed in patients who seldom or never consume alcohol. Nonalcoholic steatohepatitis can lead to serious liver damage, and ultimately cirrhosis. The present invention provides methods and compositions useful for the treatment or alleviation of nonalcoholic steatohepatitis and the pharmaceutical formulations for their administration to a human. Specifically, compositions comprised of lecithin, antioxidants and vitamin B complex are administered parenterally, most preferably by oral administration. Specific therapeutic formulations include admixtures of these compounds and specific dosage formulations include daily oral administrations of these compounds in tablet or powder forms.

Abstract: Systems, methods, and structures are described to support enhanced population analysis are discussed. The population includes individuals with each individual including a set of properties. The system of the present invention is useful for exploring population structure including individuals with missing values, individuals that are documents in databases, and individuals that are products and services sold using a computer display.