Patent attributes
Methods, apparatus, systems, and computer-readable media are provided for selecting robot poses to account for cost. In various implementations, a plurality of candidate instruction sets may be determined. Each candidate instruction set may be configured to cause a robot to assume a different respective set of poses while traversing a reference point along a path. In various implementations, a cost incurred while the robot implements the candidate instruction set to traverse the reference point along the path may be calculated. A candidate instruction set associated with an incurred cost that satisfies a first criterion may be selected from the plurality of candidate instruction sets. In some implementations, the selected candidate instruction set and incurred cost may be associated with the path.
