Abstract: Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.

Abstract: Methods and apparatus for localizing a robot in an environment are provided. The method comprises determining, for a first configuration of the robot at a first time, first sensor data that is not occluded by a portion of the robot, determining, for a second configuration of the robot at a second time, second sensor data that is not occluded by a portion of the robot, determining first overlapping data corresponding to second sensor data that overlaps the first sensor data when the robot is in the first configuration, and localizing the robot in the environment based on the first overlapping data and the second overlapping data.

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.

Abstract: A method includes receiving, while a robot traverses a building environment, sensor data captured by one or more sensors of the robot. The method includes receiving a building information model (BIM) for the environment that includes semantic information identifying one or more permanent objects within the environment. The method includes generating a plurality of localization candidates for a localization map of the environment. Each localization candidate corresponds to a feature of the environment identified by the sensor data and represents a potential localization reference point. The localization map is configured to localize the robot within the environment when the robot moves throughout the environment.

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.