Incamake
Politiki ya Diffusion ikoresha igitekerezo kimwe cyerekana inyuma yibyuma bitanga amashusho nka Stable Diffusion kugirango igenzure robot: aho guhanura igikorwa kimwe gikurikiraho, itanga urutonde rugufi rwibikorwa bizaza mugutunganya urusaku. Nibyingenzi kuko ikemura imiterere, ibintu byinshi-byimikorere ya manipulation nyayo kuruta uburyo bwa kera.
Politiki ya Diffusion yo Kugenzura Imashini ni iyimikorere ya mudasobwa-iyerekwa risobanura cyangwa ritanga itangazamakuru ryerekanwa ryo gusesengura, imikorere, no guhanga.
Kwibira cyane
Yatangijwe mu 2023 n’abashakashatsi bo muri Columbia, MIT, n’ikigo cy’ubushakashatsi cya Toyota, Politiki ya Diffusion ihindura imyigire ya visuomotor nkibisanzwe. Urebye amashusho ya kamera ya vuba hamwe na robo yerekana, itangirira ku rusaku rudasanzwe kandi ikora intambwe nyinshi zerekana ko zitanga 'ibikorwa' - vuga ibihe 8 kugeza 16 bikurikira byerekana ibihe byanyuma. Intsinzi nini ni multimodality: mugihe igikorwa gifite ibisubizo byinshi byemewe (ushobora gufata mug mugi uhereye ibumoso cyangwa iburyo), gusubira inyuma gakondo kubagereranya mubikorwa bibi byo hagati, mugihe ikwirakwizwa rishobora kwiyemeza muburyo bumwe. Yiga kandi byimazeyo mubyerekanwe byabantu (imyitwarire ikoronijwe) kandi ikemura neza hamwe nibikorwa byo murwego rwohejuru rwibikorwa, bigatuma ihitamo muburyo budasanzwe muri sisitemu nyinshi zigezweho.
Ubushishozi
Amahugurwa yongeraho urusaku rwa Gaussiya kugirango yerekane ibikorwa bikurikirana kandi yigisha umuyoboro (akenshi U-Net cyangwa transformateur) guhanura urwo rusaku, rushingiye kubireba kandi byemewe. Mugihe cyo kwiruka byerekana ingero zidasanzwe hejuru yintambwe (DDPM / DDIM) kugirango itange inzira yinzira. Guteganya uduce twongeyeho 'gusubira inyuma-gutambuka' gusubiramo bitanga umwanya uhoraho mugihe ugumye witonze kubintu bishya.
Kumenya Politiki yo Kugenzura Imashini
Politiki ya Diffusion ikoresha igitekerezo kimwe cyerekana inyuma yibyuma bitanga amashusho nka Stable Diffusion kugirango igenzure robot: aho guhanura igikorwa kimwe gikurikiraho, itanga urutonde rugufi rwibikorwa bizaza mugutunganya urusaku. Nibyingenzi kuko ikemura imiterere, ibintu byinshi-byimikorere ya manipulation nyayo kuruta uburyo bwa kera. Politiki ya Diffusion yo Kugenzura Imashini ni iyimikorere ya mudasobwa-iyerekwa risobanura cyangwa ritanga itangazamakuru ryerekanwa ryo gusesengura, imikorere, no guhanga. Kugirango wubake byimbitse, fata Politiki ya Diffusion yo kugenzura robot nkicyitegererezo gikora, ntabwo ari ikintu kimwe: gusobanura ibyagezweho, gusobanura ibitekerezo, no gutandukanya ibyo sisitemu ishobora gukora byizewe nibisaba guca imanza zinzobere.
Mubimenyerezo, amakipe akomeye akoresha Politiki ya Diffusion yo kugenzura imashini iringaniza neza hamwe nibikorwa bifatika nkubwiza bwamakuru, itandukaniro ryamatara, hamwe na label ihamye. Bandika ibipimo ngenderwaho byerekana intsinzi, bagerageza kurwanya amakuru afatika hamwe nakazi keza, kandi bagasubiramo bashingiye kubikorwa byagaragaye ko batsinzwe aho gutsinda inshuro imwe. Aha niho imyumvire yubumenyi ihinduka mubushobozi burambye kubicuruzwa, politiki, nibikorwa.
AI igaragara irashobora gukora igenzura, gutahura, no gutondekanya imirimo kurwego. Mugihe kimwe, uburenganzira bwishusho no kwemererwa birashobora guhinduka ibyago byemewe n'amategeko niba ibimenyetso bidasobanutse. Uburyo bukomeye cyane ni uguhuza umuvuduko wikigereranyo hamwe na disipuline yimiyoborere: kuyobora abaderevu, gufata ibimenyetso, gutangaza ibyemezo byicyemezo, no gukomeza kuvugurura uburyo bwo kwirinda nkimyitwarire yicyitegererezo, ibyo abakoresha bategereje, nibisabwa n'amategeko bigenda bihinduka.
Ingaruka z'Ingamba
AI igaragara irashobora gukora igenzura, gutahura, no gutondekanya imirimo kurwego.
AI igaragara irashobora gukora igenzura, gutahura, no gutondekanya imirimo kurwego. Mubikorwa byujuje ubuziranenge, ibi bihindurwa mumategeko agenga imikorere, imipaka nyirubwite, hamwe n'imihango yo gusubiramo kenshi kugirango amakipe ashobore kwigirira ikizere aho gupima ibidasobanutse.
Amakipe arema arashobora prototype ibitekerezo byihuse hamwe nintoki nkeya.
Amakipe arema arashobora prototype ibitekerezo byihuse hamwe nintoki nkeya. Mubikorwa byujuje ubuziranenge, ibi bihindurwa mumategeko agenga imikorere, imipaka nyirubwite, hamwe n'imihango yo gusubiramo kenshi kugirango amakipe ashobore kwigirira ikizere aho gupima ibidasobanutse.
Ibikorwa birashobora gukoresha amashusho nibimenyetso bya videwo byari bigoye gutunganya.
Ibikorwa birashobora gukoresha amashusho nibimenyetso bya videwo byari bigoye gutunganya. Mubikorwa byujuje ubuziranenge, ibi bihindurwa mumategeko agenga imikorere, imipaka nyirubwite, hamwe n'imihango yo gusubiramo kenshi kugirango amakipe ashobore kwigirira ikizere aho gupima ibidasobanutse.
Gushyira mu bikorwa Isi
Ukuboko kwa robo gusunika agace kameze nka T mu ntego, igipimo aho Politiki ya Diffusion yarushije cyane uburyo bwakoronijwe mbere.
Imashini za bimanual ziga imirimo yigikoni yoroshye nko guhinduranya ibiryo cyangwa guteranya ibice bivuye kuri teleoperation yabantu
Gutoragura-bin gutora aho ibyemezo byinshi byemewe bihari kandi politiki yiyemeza imwe aho kugereranya
Igikorwa-umutwe module imbere yerekwa-ururimi-ibikorwa-sisitemu itanga uburyo bworoshye-bwihuta bwimikorere kubiganza byoroshye
Uburyo bwo Gushyira mu bikorwa
Politiki yo Gutandukanya Igenzura rya Robo mubikorwa
Ukuboko kwa robo gusunika agace kameze nka T mu ntego, igipimo aho Politiki ya Diffusion yarushije cyane uburyo bwakoronijwe mbere.
Ukuboko kwa robo gusunika agace kameze nka T muburyo bugenewe intego, igipimo aho Politiki ya Diffusion yarushije cyane uburyo bwambere bwo gukurikiza imyitwarire yamakipe Amakipe akunze kubona ibisubizo byiza iyo asobanuye ibipimo ngenderwaho byimbere, agakomeza inzira yo kuzamuka kwabantu kubibazo byimanza, kandi agakurikirana inyungu zumusaruro hamwe nibiciro byamakosa mugihe runaka.
Politiki yo Gutandukanya Igenzura rya Robo mubikorwa
Imashini za bimanual ziga imirimo yigikoni yoroshye nko guhinduranya ibiryo cyangwa guteranya ibice bivuye kuri teleoperation yabantu.
Imashini za robimual yiga imirimo yigikoni yoroshye nko guhanagura ibiryo cyangwa guteranya ibice biva kuri teleoperation yabantu Amakipe akunze kubona umusaruro mwiza iyo asobanuye ibipimo ngenderwaho byimbere, agakomeza inzira yo kuzamura abantu kubibazo, kandi akurikirana inyungu zibyara umusaruro nibiciro byigihe.
Politiki yo Gutandukanya Igenzura rya Robo mubikorwa
Gutoragura-bin gutora aho ibyemezo byinshi byemewe bihari kandi politiki yiyemeza imwe aho kugereranya.
Gutoragura-bin gutoranya aho ibyemezo byinshi byemewe bihari kandi politiki ikiyemeza imwe aho kugirango ugereranye Amakipe ubusanzwe abona ibisubizo byiza iyo asobanuye ibipimo ngenderwaho byimbere imbere, agakomeza inzira yo kuzamura abantu kubibazo byimanza, kandi akurikirana inyungu zibyara umusaruro nibiciro byamakosa mugihe.
Politiki yo Gutandukanya Igenzura rya Robo mubikorwa
Igikorwa-umutwe module imbere yerekwa-ururimi-ibikorwa-sisitemu itanga uburyo bworoshye-bwihuta bwimikorere kubiganza byoroshye.
Igikorwa-umutwe module imbere yicyerekezo-ururimi-ibikorwa-sisitemu itanga uburyo bworoshye-bwihuta bwikiganza cyamaboko yuburiganya Amakipe akunze kubona ibisubizo byiza iyo asobanuye ibipimo ngenderwaho byimbere imbere, agakomeza inzira yo kuzamura abantu kubibazo byimbere, kandi akurikirana inyungu zibyara umusaruro nibiciro byamakosa mugihe runaka.
Ingaruka & Kurinda
Uburenganzira bwishusho hamwe no kwemererwa birashobora guhinduka ibyago byemewe n'amategeko niba ibimenyetso bidasobanutse.
Imikorere yicyitegererezo irashobora gutandukana kumurika, demografiya, nibidukikije.
Ibyiza byibinyoma birashobora kutamenyekana keretse niba ibyiringiro byateganijwe bikurikiranwa.
Igishushanyo mbonera
Sobanura ibipimo byo kwemererwa kugiciro, kwibutsa, nibiciro byamakosa.
Sobanura ibipimo byo kwemererwa kugiciro, kwibutsa, nibiciro byamakosa. Fata buri ntambwe nk irembo ryibimenyetso: niba ibipimo bitujujwe, hagarika kuzenguruka, funga icyuho, hanyuma noneho wagure imikoreshereze.
Gerageza hamwe namakuru ajyanye nuburyo nyabwo bwo gukora.
Gerageza hamwe namakuru ajyanye nuburyo nyabwo bwo gukora. Fata buri ntambwe nk irembo ryibimenyetso: niba ibipimo bitujujwe, hagarika kuzenguruka, funga icyuho, hanyuma noneho wagure imikoreshereze.
Ongeraho isubiramo ryabantu kubwizere buke cyangwa guhanura cyane.
Ongeraho isubiramo ryabantu kubwizere buke cyangwa guhanura cyane. Fata buri ntambwe nk irembo ryibimenyetso: niba ibipimo bitujujwe, hagarika kuzenguruka, funga icyuho, hanyuma noneho wagure imikoreshereze.
Kurikirana icyitegererezo cya drift hanyuma uhindurwe nyuma ya kamera cyangwa dataset ihinduka.
Kurikirana icyitegererezo cya drift hanyuma uhindurwe nyuma ya kamera cyangwa dataset ihinduka. Fata buri ntambwe nk irembo ryibimenyetso: niba ibipimo bitujujwe, hagarika kuzenguruka, funga icyuho, hanyuma noneho wagure imikoreshereze.