US 12,240,112 B2
Policy layers for machine control
Nathan Donald Ratliff, Seattle, WA (US); Karl Van Wyk, Lynnwood, WA (US); Man Xie, Marietta, GA (US); Anqi Li, Redmond, WA (US); and Muhammad Asif Rana, Union City, CA (US)
Assigned to NVIDIA Corporation, Santa Clara, CA (US)
Filed by NVIDIA Corporation, Santa Clara, CA (US)
Filed on Apr. 26, 2022, as Appl. No. 17/730,079.
Claims priority of provisional application 63/180,609, filed on Apr. 27, 2021.
Prior Publication US 2022/0371184 A1, Nov. 24, 2022
Int. Cl. B25J 9/16 (2006.01); G05B 13/02 (2006.01)
CPC B25J 9/1602 (2013.01) [B25J 9/1676 (2013.01); G05B 2219/39001 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A computer system comprising one or more processors and computer-readable memory storing instructions executable by the one or more processors to cause the computer system to at least:
identify a policy to cause a machine to execute at least one movement, the policy including at least a plurality of policy layers comprising:
a first policy layer to cause the machine to execute a first motion that reaches an unbiased state, the first motion to be limited by at least a first parameter associated with the machine and a second parameter associated with an area in which the machine is to operate, and
a second policy layer to cause the machine to execute a second motion without influencing the unbiased state associated with the first policy layer; and
execute the policy to cause the machine to execute the at least one movement, the at least one movement comprising at least the first motion and the second motion.