Skill libraries and recorded transfers
Donor is the earlier task supplying the library. Recipient is the new task receiving the code.
✓ Code retained in every run
Some Code retained in some runs
— Skill absent from that donor library
Swipe or scroll horizontally to view all transfer directions.
| Skill Grouped by function | DonorTwo inverted cups | DonorTwo upright cups | DonorThree-cup stack | DonorCup onto holder | DonorCap onto branch | DonorMarker into container | DonorBattery into bowl | |||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 3-cup stackRecipient | 2 upright cupsRecipient | 3 upright cupsRecipient | 2 inverted cupsRecipient | 5-cup stackRecipient | 5-cup stack Random layoutRecipient | 6-cup stackRecipient | 6-cup stack Random layoutRecipient | Cap onto branchRecipient | Cup onto holderRecipient | Battery into bowlRecipient | Marker into containerRecipient | |
| Robot interface & calibration | ||||||||||||
| Robot connection & commands | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Gen3 kinematics | — | — | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Kinematic model & fitting | ✓ | ✓ | — | — | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Forward-kinematics fitting | — | — | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Calibration data | ✓ | ✓ | — | — | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Camera-rig calibration | — | — | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Motion & safeguards | ||||||||||||
| Motion planning | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Joint-speed control | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Cup-clearance replay | — | — | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Simulation replay checks | ✓ | ✓ | — | — | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Safety watchdog | — | — | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Stop, return home & watchdog | ✓ | ✓ | — | — | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Cameras & perception | ||||||||||||
| Cameras & height maps | — | — | — | — | — | — | — | — | — | — | ✓ | — |
| Cameras & live view | — | — | — | — | ✓ | ✓ | ✓ | ✓ | — | — | — | — |
| Cameras & point clouds | — | — | — | — | — | — | — | — | ✓ | ✓ | — | ✓ |
| Live camera display | ✓ | ✓ | ✓ | ✓ | — | — | — | — | — | ✓ | — | — |
| Side-depth cup finder | — | — | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Side-view cup position & height | ✓ | ✓ | — | — | ✓ | ✓ | ✓ | ✓ | — | — | — | — |
| Wrist-camera cup refinement | ✓ | ✓ | — | — | — | — | — | — | — | — | — | — |
| Wrist-depth refinement | — | — | — | — | ✓ | ✓ | ✓ | ✓ | — | — | — | — |
| Wrist-view refinement | — | — | — | — | — | — | — | — | — | Some | — | — |
| Marker & container detection | — | — | — | — | — | — | — | — | — | — | ✓ | — |
| Battery & bowl perception | — | — | — | — | — | — | — | — | — | — | — | ✓ |
| Holder finger & cup perception | — | — | — | — | — | — | — | — | ✓ | — | — | — |
| Holder & cap perception | — | — | — | — | — | — | — | — | — | Some | — | — |
| Task rules from demonstrations | ||||||||||||
| Rule extraction from demonstrations | ✓ | ✓ | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Cup-stack rule & demo helpers | — | — | — | — | ✓ | ✓ | ✓ | ✓ | — | — | — | — |
| Marker rule & demo helpers | — | — | — | — | — | — | — | — | — | — | ✓ | — |
| Battery rule & demo helpers | — | — | — | — | — | — | — | — | — | — | — | ✓ |
| Cup-holder rule & demo helpers | — | — | — | — | — | — | — | — | ✓ | — | — | — |
| Branch rule & demo helpers | — | — | — | — | — | — | — | — | — | Some | — | — |
| Grasping, placement & verification | ||||||||||||
| Cup grasping & nesting | — | — | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Cup grasping / placement checks | ✓ | ✓ | — | — | — | — | — | — | — | — | — | — |
| Cup grasping & pyramid placement | — | — | — | — | ✓ | ✓ | ✓ | ✓ | — | — | — | — |
| Marker grasping & placement | — | — | — | — | — | — | — | — | — | — | ✓ | — |
| Battery grasping & placement | — | — | — | — | — | — | — | — | — | — | — | ✓ |
| Cup placement over a holder’s finger | — | — | — | — | — | — | — | — | ✓ | — | — | — |
| Cap grasping & hanging | — | — | — | — | — | — | — | — | — | Some | — | — |
| Container-placement verification | — | — | — | — | — | — | — | — | — | — | ✓ | — |
| Placement verification | — | — | — | — | — | — | — | — | ✓ | — | — | ✓ |
| Complete task programs | ||||||||||||
| Upright-cup task program | — | — | ✓ | ✓ | — | — | — | — | — | — | — | — |
| Task-program scaffold | ✓ | ✓ | — | — | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |