Abstract: The present disclosure proposes a method and an apparatus for generating an action sequence of a robot. The method includes: obtaining a directed graph, in which the directed graph comprises a plurality of nodes for instructing actions of the robot, and directed edges connecting the nodes; obtaining target actions involved in a task, and an execution order of the target actions; in the directed graph, performing a search in directions indicated by the directed edges to obtain a target path, in which nodes on the target path comprises target nodes corresponding to the target actions, and an order of the target path passing through the target nodes matches an execution order of the target actions; and generating the action sequence of the robot according to actions instructed by the target path and an execution order of the actions instructed by the target path.

Abstract: Methods for instruction execution and synchronization in a multi-thread processor are provided, wherein in the multi-thread processor, multiple threads are running and each of the threads can simultaneously execute a same instruction sequence. A source code or an object code is received and then compiled to generate the instruction sequence. Instructions for all of function calls within the instruction sequence are sorted according to a calling order. Each thread is provided a counter value pointing to one of the instructions in the instruction sequence. A main counter value is determined according to the counter values of the threads such that all of the threads simultaneously execute an instruction of the instruction sequence that the main counter value points to.

Abstract: Methods for instruction execution and synchronization in a multi-thread processor are provided, wherein in the multi-thread processor, multiple threads are running and each of the threads can simultaneously execute a same instruction sequence. A source code or an object code is received and then compiled to generate the instruction sequence. Instructions for all of function calls within the instruction sequence are sorted according to a calling order. Each thread is provided a counter value pointing to one of the instructions in the instruction sequence. A main counter value is determined according to the counter values of the threads such that all of the threads simultaneously execute an instruction of the instruction sequence that the main counter value points to.