Abstract: Various embodiments enable a robot, or other autonomous or semi-autonomous device or system, to receive data involving the performance of a task in the physical world. The data can be provided as input to a perception network to infer a set of percepts about the task, which can correspond to relationships between objects observed during the performance. The percepts can be provided as input to a plan generation network, which can infer a set of actions as part of a plan. Each action can correspond to one of the observed relationships. The plan can be reviewed and any corrections made, either manually or through another demonstration of the task. Once the plan is verified as correct, the plan (and any related data) can be provided as input to an execution network that can infer instructions to cause the robot, and/or another robot, to perform the task.

Abstract: In various examples, methods and systems are provided for estimating depth values for images (e.g., from a monocular sequence). Disclosed approaches may define a search space of potential pixel matches between two images using one or more depth hypothesis planes based at least on a camera pose associated with one or more cameras used to generate the images. A machine learning model(s) may use this search space to predict likelihoods of correspondence between one or more pixels in the images. The predicted likelihoods may be used to compute depth values for one or more of the images. The predicted depth values may be transmitted and used by a machine to perform one or more operations.

Abstract: Various examples of the present disclosure include a stereoscopic deep neural network (DNN) that produces accurate and reliable results in real-time. Both LIDAR data (supervised training) and photometric error (unsupervised training) may be used to train the DNN in a semi-supervised manner. The stereoscopic DNN may use an exponential linear unit (ELU) activation function to increase processing speeds, as well as a machine learned argmax function that may include a plurality of convolutional layers having trainable parameters to account for context. The stereoscopic DNN may further include layers having an encoder/decoder architecture, where the encoder portion of the layers may include a combination of three-dimensional convolutional layers followed by two-dimensional convolutional layers.

Abstract: Various examples of the present disclosure include a stereoscopic deep neural network (DNN) that produces accurate and reliable results in real-time. Both LIDAR data (supervised training) and photometric error (unsupervised training) may be used to train the DNN in a semi-supervised manner. The stereoscopic DNN may use an exponential linear unit (ELU) activation function to increase processing speeds, as well as a machine learned argmax function that may include a plurality of convolutional layers having trainable parameters to account for context. The stereoscopic DNN may further include layers having an encoder/decoder architecture, where the encoder portion of the layers may include a combination of three-dimensional convolutional layers followed by two-dimensional convolutional layers.

Abstract: Various embodiments enable a robot, or other autonomous or semi-autonomous device or system, to receive data involving the performance of a task in the physical world. The data can be provided as input to a perception network to infer a set of percepts about the task, which can correspond to relationships between objects observed during the performance. The percepts can be provided as input to a plan generation network, which can infer a set of actions as part of a plan. Each action can correspond to one of the observed relationships. The plan can be reviewed and any corrections made, either manually or through another demonstration of the task. Once the plan is verified as correct, the plan (and any related data) can be provided as input to an execution network that can infer instructions to cause the robot, and/or another robot, to perform the task.

Abstract: Various examples of the present disclosure include a stereoscopic deep neural network (DNN) that produces accurate and reliable results in real-time. Both LIDAR data (supervised training) and photometric error (unsupervised training) may be used to train the DNN in a semi-supervised manner. The stereoscopic DNN may use an exponential linear unit (ELU) activation function to increase processing speeds, as well as a machine learned argmax function that may include a plurality of convolutional layers having trainable parameters to account for context. The stereoscopic DNN may further include layers having an encoder/decoder architecture, where the encoder portion of the layers may include a combination of three-dimensional convolutional layers followed by two-dimensional convolutional layers.

Abstract: Apparatuses, systems, and techniques are presented to determine distance for one or more objects. In at least one embodiment, a disparity network is trained to determine distance data from input stereoscopic images using a loss function that includes at least one of a gradient loss term and an occlusion loss term.

Abstract: Various examples of the present disclosure include a stereoscopic deep neural network (DNN) that produces accurate and reliable results in real-time. Both LIDAR data (supervised training) and photometric error (unsupervised training) may be used to train the DNN in a semi-supervised manner. The stereoscopic DNN may use an exponential linear unit (ELU) activation function to increase processing speeds, as well as a machine learned argmax function that may include a plurality of convolutional layers having trainable parameters to account for context. The stereoscopic DNN may further include layers having an encoder/decoder architecture, where the encoder portion of the layers may include a combination of three-dimensional convolutional layers followed by two-dimensional convolutional layers.

Abstract: Apparatuses, systems, and techniques are presented to determine a pose of an object. In at least one embodiment, a network is trained to predict a pose of an autonomous object based, at least in part, on only one image of the autonomous object.

Abstract: A computer system generates a tactile force model for a tactile force sensor by performing a number of calibration tasks. In various embodiments, the calibration tasks include pressing the tactile force sensor while the tactile force sensor is attached to a pressure gauge, interacting with a ball, and pushing an object along a planar surface. Data collected from these calibration tasks is used to train a neural network. The resulting tactile force model allows the computer system to convert signals received from the tactile force sensor into a force magnitude and direction with greater accuracy than conventional methods. In an embodiment, force on the tactile force sensor is inferred by interacting with an object, determining the motion of the object, and estimating the forces on the object based on a physical model of the object.

Abstract: Various examples of the present disclosure include a stereoscopic deep neural network (DNN) that produces accurate and reliable results in real-time. Both LIDAR data (supervised training) and photometric error (unsupervised training) may be used to train the DNN in a semi-supervised manner. The stereoscopic DNN may use an exponential linear unit (ELU) activation function to increase processing speeds, as well as a machine learned argmax function that may include a plurality of convolutional layers having trainable parameters to account for context. The stereoscopic DNN may further include layers having an encoder/decoder architecture, where the encoder portion of the layers may include a combination of three-dimensional convolutional layers followed by two-dimensional convolutional layers.

Abstract: Various embodiments enable a robot, or other autonomous or semi-autonomous device or system, to receive data involving the performance of a task in the physical world. The data can be provided as input to a perception network to infer a set of percepts about the task, which can correspond to relationships between objects observed during the performance. The percepts can be provided as input to a plan generation network, which can infer a set of actions as part of a plan. Each action can correspond to one of the observed relationships. The plan can be reviewed and any corrections made, either manually or through another demonstration of the task. Once the plan is verified as correct, the plan (and any related data) can be provided as input to an execution network that can infer instructions to cause the robot, and/or another robot, to perform the task.

Abstract: Robotic task program synthesis embodiments are presented that generally synthesize a robotic task program based on received examples of repositioning tasks. In one implementation, the exemplary repositioning tasks are human demonstrations of object manipulation in an actual or displayed robot workspace. A domain specific language (DSL) designed for object repositioning tasks is employed for the robotic control program. In general, candidate robotic task programs are generated from the example tasks. Each candidate program includes instructions for causing the robot to reposition objects, and represents a different permutation of instructions consistent with the received example tasks. The candidate programs are ranked, and whenever the top ranking program accomplishes the repositioning specified in each example task, it is designated as the synthesized robotic task program.

Abstract: Robotic task demonstration interface embodiments are presented that generally employ a user interface to synthesize a robotic control program based on user demonstrations of object repositioning tasks, where the user manipulates objects in a displayed workspace to indicate what tasks that it is desired for a robot to perform on objects in the actual workspace associated with the robot. For example, this can involve a user repositioning objects displayed on a touch screen of a tablet computer. The configuration of the displayed workspace can be changed and additional repositioning examples performed. A robotic control program is synthesized for instructing the robot to perform the tasks indicated in the object repositioning demonstrations. The resulting learned robotic control program can be executed virtually for validation purposes, before applying it to the robot.

Abstract: Robotic task program synthesis embodiments are presented that generally synthesize a robotic task program based on received examples of repositioning tasks. In one implementation, the exemplary repositioning tasks are human demonstrations of object manipulation in an actual or displayed robot workspace. A domain specific language (DSL) designed for object repositioning tasks is employed for the robotic control program. In general, candidate robotic task programs are generated from the example tasks. Each candidate program includes instructions for causing the robot to reposition objects, and represents a different permutation of instructions consistent with the received example tasks. The candidate programs are ranked, and whenever the top ranking program accomplishes the repositioning specified in each example task, it is designated as the synthesized robotic task program.