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:
determining a virtual environment by one or more processors based on sensor data received from one or more sensors on a robotic manipulator, the virtual environment representing a physical environment containing a plurality of physical objects; developing a plan, based on the virtual environment, to cause the robotic manipulator to move one or more of the physical objects in the physical environment; causing the robotic manipulator to pick up at least one object of the plurality of physical objects with the robotic manipulator, move the at least one object to a drop-off location, and drop off the at least one object at the drop-off location according to the plan; after the robotic manipulator drops off the at least one object at the drop-off location, causing the robotic manipulator to perform a scan of an area of the physical environment vacated by the at least one object by moving the robotic manipulator while receiving updated sensor data from the one or more sensors on the robotic manipulator, wherein the updated sensor data is indicative of at least one other physical object previously obscured by the at least one object; 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 another action according to the modified plan.