Continuous Updating of Plan for Robotic Object Manipulation Based on Received Sensor Data

摘要

Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.

主权项

1. A method comprising:
identifying an object from a plurality of objects within an environment of a robotic manipulator; causing the robotic manipulator to move the identified object to a different location within the environment; after the robotic manipulator moves the identified object to the different location, causing the robotic manipulator to perform a scan of an area of the environment vacated by the identified object by causing the robotic manipulator to change position while receiving sensor data from one or more sensors on the robotic manipulator, wherein the sensor data is indicative of at least one other object previously obscured by the identified object; identifying, based on the sensor data, a second object from the plurality of objects within the environment; and causing the robotic manipulator to move the second object.