US 12,138,793 B2
Machine learning methods and apparatus for robotic manipulation and that utilize multi-task domain adaptation
Yunfei Bai, Union City, CA (US); Kuan Fang, Stanford, CA (US); Stefan Hinterstoisser, Muenchen, CA (US); and Mrinal Kalakrishnan, San Francisco, CA (US)
Assigned to GOOGLE LLC, Mountain View, CA (US)
Filed by GOOGLE LLC, Mountain View, CA (US)
Filed on Aug. 7, 2020, as Appl. No. 16/987,771.
Application 16/987,771 is a continuation of application No. 15/913,212, filed on Mar. 6, 2018, granted, now 10,773,382.
Claims priority of provisional application 62/559,279, filed on Sep. 15, 2017.
Prior Publication US 2020/0361082 A1, Nov. 19, 2020
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1669 (2013.01); B25J 9/1671 (2013.01); B25J 9/1697 (2013.01); G05B 2219/39316 (2013.01); G05B 2219/39536 (2013.01); G05B 2219/39543 (2013.01); G05B 2219/40514 (2013.01); Y10S 901/02 (2013.01); Y10S 901/31 (2013.01); Y10S 901/47 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method implemented by one or more processors of a robot, comprising:
identifying an image captured by a vision component associated with the robot;
identifying a target object captured by the image;
generating a target object input that denotes position of the target object in the image;
generating a candidate end effector motion vector defining motion to move a grasping end effector of the robot from a current pose to an additional pose;
identifying a current image captured by the vision component, the current image capturing the grasping end effector and at least the target object;
processing the current image, the candidate end effector motion vector, and the target object input using a trained instance grasping model;
generating, based on the processing, a prediction of successful grasp of the target object with application of the motion defined by the candidate end effector motion vector;
generating an end effector command based on the prediction of successful grasp of the target object; and
providing the end effector command to one or more actuators of the robot.