US 11,725,924 B2
Controlling mechanical systems based on natural language input
Shiwali Mohan, Palo Alto, CA (US); Matthew Klenk, San Francisco, CA (US); Matthew Shreve, Campbell, CA (US); Aaron Ang, Mountain View, CA (US); John Turner Maxwell, III, Santa Clara, CA (US); and Kent Evans, Cupertino, CA (US)
Assigned to Palo Alto Research Center Incorporated, Palo Alto, CA (US)
Filed by PALO ALTO RESEARCH CENTER INCORPORATED, Palo Alto, CA (US)
Filed on Nov. 3, 2021, as Appl. No. 17/518,417.
Claims priority of provisional application 63/231,682, filed on Aug. 10, 2021.
Prior Publication US 2023/0051136 A1, Feb. 16, 2023
Int. Cl. G05B 15/02 (2006.01); G01B 7/00 (2006.01); G01B 7/02 (2006.01); G06F 40/10 (2020.01); G06F 40/40 (2020.01); G06F 18/2137 (2023.01); B25J 13/00 (2006.01); B25J 13/08 (2006.01); B25J 9/16 (2006.01)
CPC G01B 7/003 (2013.01) [B25J 9/163 (2013.01); B25J 9/1664 (2013.01); B25J 13/003 (2013.01); B25J 13/089 (2013.01); G01B 7/023 (2013.01); G05B 15/02 (2013.01); G06F 18/21375 (2023.01); G06F 40/10 (2020.01); G06F 40/40 (2020.01)] 18 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining an enhanced state graph, wherein:
the enhanced state graph represents a set of objects within an environment and a set of positions of the set of objects within the environment;
the enhanced state graph comprises a set of object nodes to represent the set of objects;
the enhanced state graph comprises a set of property nodes to represent a set of properties of the set of objects; and
the enhanced state graph comprises a set of goal nodes to represent a set of objectives associated with a subset of the set of objects;
generating a set of instructions for a set of mechanical systems based on the enhanced state graph, wherein the set of mechanical systems is configured to interact with one or more of the set of objects within the environment;
operating the set of mechanical systems to achieve the set of objectives based on the set of instructions;
determining a portion of the environment based on the set of goal nodes, wherein the portion of the environment is associated with the set of objectives; and
determining whether the set of instructions cause the set of mechanical systems to operate within the portion of the environment.