US Patent 10981272 Robot grasp learning

Methods, systems, and apparatus, including computer-readable media, for robot grasp learning. In some implementations, grasp data describing grasp attempts by robots is received. A set of the grasp attempts that represent unsuccessful grasp attempts is identified. Based on the set of grasp attempts representing unsuccessful grasp attempts, a grasp model based on sensor data for the unsuccessful grasp attempts. After training the grasp model, a performance level of the trained grasp model is verified based on one or more simulations of grasp attempts. In response to verifying the performance level of the trained grasp model, the trained grasp model is provided to one or more robots.