Amụma mgbasa ozi maka njikwa Robot
Amụma mgbasa ozi na-emetụta otu echiche nkwuwa okwu dị n'azụ ndị na-emepụta ihe oyiyi dị ka Stable Diffusion na njikwa robot: kama ịkọ otu ihe na-esote, ọ na-ewepụta usoro dị mkpirikpi nke omume ga-eme n'ọdịnihu site na imezi mkpọtụ.
Nchịkọta
It matters because it handles the messy, multi-modal nature of real manipulation far better than older methods.
Ime miri emi
Ewebata na 2023 site n'aka ndị nyocha na Columbia, MIT, na Toyota Research Institute, amụma mgbasa na-emegharị mmụta visuomotor dị ka nkwuputa ọnọdụ. Nyere onyonyo igwefoto n'oge na-adịbeghị anya yana steeti robot, ọ na-amalite site na mkpọtụ na-enweghị usoro wee na-agba ọtụtụ usoro nkwutọ iji mepụta 'mmemme mgbochị' - kwuo usoro 8 ruo 16 na-esote nke njedebe-mmetụta. Nnukwu mmeri bụ multimodality: mgbe ọrụ nwere ọtụtụ ngwọta dị mma (ị nwere ike ijide otu iko site n'aka ekpe ma ọ bụ aka nri), nlọghachi azụ omenala na-eme ka ha ghọọ ihe ọjọọ n'etiti, ebe ụdị mgbasa ozi nwere ike ime nke ọma na otu ọnọdụ. Ọ na-amụtakwa nke ọma site na ngosipụta nke mmadụ (omume cloning) ma na-anagide oghere ime ihe dị elu, na-eme ka ọ bụrụ nhọrọ ndabara n'ọtụtụ usoro aghụghọ ọgbara ọhụrụ.
Nghọta nka nka
Ọzụzụ na-agbakwụnye mkpọtụ Gaussian iji gosipụta usoro omume ma kuziere netwọkụ (mgbe ọ bụ U-Net ma ọ bụ ihe ntụgharị) ịkọ mkpọtụ ahụ, dabere na nleba anya na nleba anya. N'oge agba ọsọ ọ na-ajụ site na ihe nlele na-enweghị usoro karịa njuaka nke usoro (DDPM/DDIM) iji wepụta ọnọdụ omume. Ịma amụma gbakwunyere nhazigharị 'ịla azụ-horizon' na-enye nkwụsi ike nwa oge ka ị na-emeghachi omume na nleba anya ọhụrụ.
Mmetụta atụmatụ
Ọsọ na ọnụ ọgụgụ
Visual AI nwere ike megharịa nyocha, nchọpụta na mkpado ọrụ n'ọtụtụ.
Mee nhọrọ
Otu ndị na-emepụta ihe nwere ike imepụta echiche ngwa ngwa site na ngbanwe akwụkwọ ntuziaka ole na ole.
Team na usoro ọrụ
Ọrụ nwere ike iji onyonyo na akara vidiyo siri ike ịhazi.
Ọdịnihu nke amụma mgbasa maka njikwa Robot
Ọrụ na-ebelata ọnụ ọgụgụ nke denoising nzọụkwụ (site na agbanwe agbanwe ụdị na eruba dakọtara) otú atumatu na-agba ọsọ na elu akara ọnụego na ezigbo ngwaike. A na-agbanye isi ihe omume mgbasa ozi na nnukwu ọkpụkpụ azụ n'asụsụ ọhụụ iji mepụta VLAs, yana 3D-maara na ụdị nhata na-eme ka arụmọrụ nlele dị mma. Na-atụ anya njikwa gbadoro ụkwụ na mgbasa ka ọ ga-abụ isi ihe dị na 'ụbụrụ' robot izugbe na-enye ike na-arụ ọrụ nke ọma na nke bimanual.
Mmejuputa n'ezie n'ụwa
Ogwe aka robot na-ebugharị ihe mgbochi T n'ime ebumnuche ebumnuche, akara akara ebe amụma mgbasa pụtara nke ọma karịa ụzọ omume-cloning mbụ.
Robots bimanual na-amụta ọrụ kichin siri ike dị ka ịtụgharị nri ma ọ bụ ikpokọta akụkụ site na ngosi teleoperation mmadụ.
Ịhọrọ ntụtụ ebe ọtụtụ njide dị mma dị yana amụma ahụ na-eme otu kama ịme nkezi.
Modul isi ihe n'ime sistemu omume-asụsụ ọhụụ na-emepụta ngagharị dị elu dị larịị maka aka aghụghọ.
Ihe ize ndụ & okporo ụzọ nche
Ikike onyonyo na nkwenye nwere ike bụrụ ihe egwu dị n'iwu ma ọ bụrụ na edoghị anya.
Ọrụ nlereanya nwere ike ịdịgasị iche n'ofe ọkụ, igwe mmadụ, na gburugburu.
Enwere ike ghara ịhụ ihe dị mma ma ọ bụrụ na enyochaghị oke ntụkwasị obi.
Map mmejuputa
Kọwaa ụkpụrụ nnabata maka nkenke, icheta, na ụgwọ njehie.
Nwalee na data dabara na ọnọdụ mmepụta n'ezie.
Tinye nyocha mmadụ maka obere obi ike ma ọ bụ amụma mmetụta dị elu.
Sochie ihe nlere anya wee megharịa ka emechara mgbanwe igwefoto ma ọ bụ dataset.
Nọgide na-eme nchọpụta
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Ntuziaka na-esote
Stable Diffusion
Ajụjụ a na-ajụkarị
What is Diffusion Policy for Robot Control?
Amụma mgbasa ozi na-emetụta otu echiche nkwuwa okwu dị n'azụ ndị na-emepụta ihe oyiyi dị ka Stable Diffusion na njikwa robot: kama ịkọ otu ihe na-esote, ọ na-ewepụta usoro dị mkpirikpi nke omume ga-eme n'ọdịnihu site na imezi mkpọtụ. Ọ dị mkpa n'ihi na ọ na-ejikwa ụdị aghụghọ dị iche iche na-adịghị mma, nke dị n'ezie nke ọma karịa ụzọ ochie.
Kedu ihe amụma mgbasa ozi na-emepụta n'oge mkpebi ọ bụla?
Amụma mgbasa ozi na-ewepụta mkpirisi omume - ọtụtụ oge omume ga-eme n'ọdịnihu - site n'ịkatọ, karịa otu iwu dịpụrụ adịpụ.
Kedu usoro mmepụta ka amụma mgbasa ozi na-agbaziri site na onyonyo AI?
Dị ka ụdị mgbasa ozi onyonyo, ọ na-amalite site na mkpọtụ wee na-ekwu okwu ugboro ugboro, mana ebe a na-arụpụta bụ ihe omume etinyere na nlebanya.
Kedu nsogbu nke ọrụ multi-modal na-edozi amụma mgbasa ozi ka mma karịa nlọghachi azụ dị mfe?
Mgbe ọtụtụ omume dị irè (dịka ọmụmaatụ, ijide aka ekpe ma ọ bụ aka nri), nlọghachi azụ na-eme ka ha bụrụ nhọrọ etiti dara ogbenye; mgbasa nwere ike ime nke ọma na otu ụdị.
N'oge ọzụzụ, kedu ihe netwọk n'ime amụma mgbasa ozi kụziri ịkọ?
A na-agbakwunye mkpọtụ Gaussian iji gosipụta omume na netwọkụ na-amụta ịkọ mkpọtụ ahụ (ọnọdụ na nleba anya), ebumnuche na-ekwupụta ọkọlọtọ.
Kedu ihe bụ nhazigharị 'ịla azụ-horizon' na amụma mgbasa?
Amụma a na-ebu amụma maka mkpirisi omume mana ọ na-emeghachi atụmatụ kwa oge site na iji nleba anya ọhụrụ, na-edozi nkwụsi ike nwa oge na mmeghachi omume.