Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for collecting and applying visibility statistics in online advertising are disclosed. Ad block visibility data relating to initial visibility characteristics and subsequent visibility characteristics of ad blocks on webpages are collected from a sample of browser sessions and aggregated to provide a representative historical view of ad block visibility characteristics on those webpages. The collected visibility data are used to build a predictive model of ad block visibility characteristics for future sessions. Ad selection can be based on the predicted visibility characteristics for ad blocks on a webpage as rendered on a particular requesting client device. Ad targeting and pricing can be specified in terms of predicted visibility characteristics of ad blocks.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer-readable storage medium, and including a method for predicting visibility of web pages. The method comprises identifying web pages that include slots for presenting content. The method further comprises, for each slot, creating a fingerprint based on a URL associated with the page and structural information associated with the slot's location on the page, determining a likelihood of the slot being visible when the web page is initially presented, the likelihood in the form of a predictive model, and saving the fingerprint and predictive model in a data structure. The method further comprises receiving a request for content from a web page, creating fingerprints associated with the web page, and comparing the fingerprints to fingerprints in the data structure. When a matching fingerprint is located, prediction data is used that is associated with a matching fingerprint for the web page.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer-readable storage medium, and including a method for predicting visibility of web pages. The method comprises identifying web pages that include slots for presenting content. The method further comprises, for each slot, creating a fingerprint based on a URL associated with the page and structural information associated with the slot's location on the page, determining a likelihood of the slot being visible when the web page is initially presented, the likelihood in the form of a predictive model, and saving the fingerprint and predictive model in a data structure. The method further comprises receiving a request for content from a web page, creating fingerprints associated with the web page, and comparing the fingerprints to fingerprints in the data structure. When a matching fingerprint is located, prediction data is used that is associated with a matching fingerprint for the web page.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer-readable storage medium, and including a method for predicting visibility of web pages. The method comprises identifying web pages that include slots for presenting content. The method further comprises, for each slot, creating a fingerprint based on a URL associated with the page and structural information associated with the slot's location on the page, determining a likelihood of the slot being visible when the web page is initially presented, the likelihood in the form of a predictive model, and saving the fingerprint and predictive model in a data structure. The method further comprises receiving a request for content from a web page, creating fingerprints associated with the web page, and comparing the fingerprints to fingerprints in the data structure. When a matching fingerprint is located, prediction data is used that is associated with a matching fingerprint for the web page.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.