Manufar Watsawa don Sarrafa Robot
Manufar Watsawa tana aiki da ra'ayin ƙin yarda da ke bayan masu samar da hoto kamar Stable Diffusion zuwa sarrafa mutum-mutumi: maimakon tsinkayar aiki guda ɗaya na gaba, yana haifar da taƙaitaccen jerin ayyuka na gaba ta hanyar daidaita amo.
Dubawa
It matters because it handles the messy, multi-modal nature of real manipulation far better than older methods.
Zurfafa nutsewa
An gabatar da shi a cikin 2023 ta masu bincike a Columbia, MIT, da Cibiyar Bincike ta Toyota, Manufofin Yaɗuwa suna sake tsara koyo na visuomotor azaman ƙaƙƙarfan sharadi. Ganin hotunan kamara na baya-bayan nan da yanayin mutum-mutumi, yana farawa daga hayaniyar bazuwar kuma yana aiwatar da matakai da yawa don samar da 'aiki chunk' - faɗi sau 8 zuwa 16 na gaba na abubuwan da ke haifar da ƙarshen. Babban nasara shine multimodality: lokacin da ɗawainiya yana da ingantattun mafita (zaku iya ɗaukar mug daga hagu ko dama), ƙwanƙwasa na al'ada ya sanya su cikin mummunan aiki na tsakiya, yayin da samfurin watsawa na iya yin tsabta zuwa yanayin guda ɗaya. Har ila yau, yana koyo da ƙarfi daga zanga-zangar ɗan adam (halayyar ɗabi'a) kuma yana jurewa da kyau tare da manyan wuraren aiki, yana mai da shi zaɓi na asali a yawancin tsarin magudin zamani.
Fahimtar Fasaha
Horowa yana ƙara hayaniyar Gaussian don nuna jerin ayyuka kuma yana koyar da hanyar sadarwa (sau da yawa U-Net ko taswira) don tsinkayar wannan amo, mai sharadi akan abubuwan gani da gani. A lokacin gudu yana ƙaryata daga samfuran bazuwar akan ɗimbin matakai (DDPM/DDIM) don samar da yanayin aiki. Hasashen ɓangarorin da sake shirin 'koma-baya-horizon' yana ba da daidaito na ɗan lokaci yayin da ake mai da martani ga sabbin abubuwan lura.
Dabarun Tasiri
Gudu da sikelin
Kayayyakin AI na iya sarrafa aiki da bincike, ganowa, da ayyuka masu alama a sikelin.
Gina zaɓuɓɓuka
Ƙungiyoyin ƙirƙira za su iya samar da ra'ayoyi cikin sauri tare da ƙarancin bita da hannu.
Ƙungiya da aikin aiki
Ayyuka na iya amfani da siginar hoto da bidiyo waɗanda a baya suke da wahalar aiwatarwa.
Makomar Manufofin Yaduwa don Gudanar da Robot
Aiki yana yanke adadin matakan ƙididdigewa (ta hanyar ƙirar daidaito da daidaita kwarara) don haka manufofin suna gudana a babban ƙimar sarrafawa akan kayan aikin gaske. Ana toshe shugabannin ayyukan watsawa a kan manyan kasusuwan baya-bayan hangen nesa don samar da VLAs, kuma 3D-sani da bambance-bambancen daidaitattun bambance-bambancen suna inganta ingantaccen samfurin. Yi tsammanin tushen sarrafa yaduwa ya kasance babban sinadari a cikin 'kwakwalwa' na robot gabaɗaya da ke ba da ƙarfi da ayyuka na bi-manual.
Aiwatar da Gaskiyar Duniya
Hannun mutum-mutumi yana tura toshe mai siffa T zuwa wurin da aka yi niyya, ma'auni inda Manufofin Yadawa suka fi dacewa da hanyoyin da suka gabata-cloning.
Robots bimanual suna koyon ayyuka masu daɗi na dafa abinci kamar jujjuya abinci ko haɗa sassa daga nunin wayar hannu na ɗan adam
Ɗaukar ɓarna inda aka sami ingantattun fahimta da yawa kuma manufar ta ƙaddamar da ɗaya maimakon matsakaici.
Tsarin aikin-kai a cikin tsarin aikin-hangen gani-hannun-hannu wanda ke haifar da motsi mai tsayi mai santsi don hannaye masu ɓarna.
Hatsari & Tsare-tsare
Haƙƙoƙin hoto da yarda na iya zama haxarin doka idan ba a fayyace ba.
Ayyukan samfuri na iya bambanta a ko'ina cikin haske, ƙididdiga, da mahalli.
Ƙarya tabbataccen ƙila ba za a iya lura da shi ba sai dai idan an kula da ƙofofin amincewa.
Taswirar Hanya
Ƙayyade ma'auni na karɓa don daidaito, tunowa, da farashi na kuskure.
Gwada tare da bayanan da suka dace da ainihin yanayin samarwa.
Ƙara bita na ɗan adam don ƙarancin amincewa ko tsinkaya mai tasiri.
Bi diddigin ƙirar ƙira kuma sake ingantawa bayan canje-canjen kamara ko saitin bayanai.
Ci gaba da Bincike
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Jagora na gaba
Stable Diffusion
Tambayoyin da ake yawan yi
What is Diffusion Policy for Robot Control?
Manufar Watsawa tana aiki da ra'ayin ƙin yarda da ke bayan masu samar da hoto kamar Stable Diffusion zuwa sarrafa mutum-mutumi: maimakon tsinkayar aiki guda ɗaya na gaba, yana haifar da taƙaitaccen jerin ayyuka na gaba ta hanyar daidaita amo. Yana da mahimmanci saboda yana kula da ɓarna, yanayin gyare-gyare da yawa na ainihin magudi fiye da tsofaffin hanyoyin.
Menene Manufar Yadawa ke haifarwa a kowane wurin yanke shawara?
Manufar Watsawa tana samar da guntun aiki - lokuta da yawa na ayyuka na gaba - ta hanyar ƙin yarda, maimakon keɓewar umarni ɗaya.
Wace dabarar ƙira ce Manufofin Yaɗawa ke aro daga hoton AI?
Kamar samfurin yaɗa hoto, yana farawa daga hayaniya kuma yana yin watsi da shi, amma a nan fitarwa shine yanayin aikin da aka tsara akan abubuwan dubawa.
Wace matsala ce ta ayyuka masu yawa da yawa ke warware Manufofin Yaɗawa fiye da koma baya mai sauƙi?
Lokacin da ayyuka da yawa ke aiki (misali, riƙe hagu ko dama), koma baya yana mayar da su zuwa wani zaɓi mara kyau na tsakiya; watsawa na iya yin tsabta zuwa yanayin guda ɗaya.
A lokacin horo, menene hanyar sadarwa a cikin Manufofin Yaduwa da aka koya don tsinkaya?
Ana ƙara hayaniyar Gaussian don nuna ayyuka kuma cibiyar sadarwa ta koyi hasashen wannan amo (sharadi akan abubuwan lura), daidaitaccen maƙasudin ƙiyayya.
Menene sake shirin 'koma baya' a cikin Manufofin Yaduwa?
Manufar tana annabta guntun ayyuka amma lokaci-lokaci tana sake tsarawa ta amfani da sabbin abubuwan lura, daidaita daidaito na ɗan lokaci tare da amsawa.