Politiki yo Gutandukanya Igenzura rya Robo
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.
Incamake
It matters because it handles the messy, multi-modal nature of real manipulation far better than older methods.
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.
Ingaruka z'Ingamba
Umuvuduko n'igipimo
AI igaragara irashobora gukora igenzura, gutahura, no gutondekanya imirimo kurwego.
Build choices
Amakipe arema arashobora prototype ibitekerezo byihuse hamwe nintoki nkeya.
Itsinda hamwe nakazi
Ibikorwa birashobora gukoresha amashusho nibimenyetso bya videwo byari bigoye gutunganya.
Kazoza ka Politiki yo Gutandukanya Igenzura rya Robo
Akazi ni ukugabanya umubare wintambwe zerekana (binyuze muburyo buhoraho no guhuza imigezi) bityo politiki ikora ku kigero cyo hejuru ku byuma nyabyo. Imitwe y'ibikorwa ya Diffusion iri guhindurwa kumurongo munini wururimi-rwerekana imiterere ya VLAs, kandi 3D-ibizi kandi ihwanye neza itezimbere imikorere yicyitegererezo. Tegereza ikwirakwizwa rishingiye ku gukwirakwiza kugirango ukomeze kuba ingenzi muri robot rusange yubwonko 'ubwonko' bukora imirimo itoroshye kandi yimikorere.
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
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.
Gerageza hamwe namakuru ajyanye nuburyo nyabwo bwo gukora.
Ongeraho isubiramo ryabantu kubwizere buke cyangwa guhanura cyane.
Kurikirana icyitegererezo cya drift hanyuma uhindurwe nyuma ya kamera cyangwa dataset ihinduka.
Komeza Ubushakashatsi
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Ubuyobozi bukurikira
Stable Diffusion
Ibibazo bikunze kubazwa
What is Diffusion Policy for Robot Control?
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 itanga iki kuri buri cyemezo?
Politiki ya Diffusion itanga ibikorwa - ibihe byinshi bizaza mugihe cyibikorwa - mukwanga, aho kuba itegeko rimwe ryonyine.
Ni ubuhe buryo bwo kubyara Politiki ya Diffusion itira ishusho AI?
Nka shusho yo gukwirakwiza amashusho, itangirira ku rusaku kandi ikabigaragaza, ariko hano ibisohoka nigikorwa cyerekezo cyateganijwe kubireba.
Ni ikihe kibazo cyimirimo myinshi itandukanye Politiki ya Diffusion ikemura neza kuruta gusubira inyuma?
Iyo ibikorwa byinshi bifite ishingiro (urugero, fata ibumoso cyangwa iburyo), gusubira inyuma kubigereranya muburyo bubi bwo hagati; gukwirakwiza birashobora kwiyemeza neza muburyo bumwe.
Mugihe cy'amahugurwa, ni uruhe rusobe muri Politiki ya Diffusion yigishijwe guhanura?
Urusaku rwa Gaussiya rwongewe kubikorwa byerekanwe kandi urusobe rwiga guhanura urwo rusaku (rushingiye ku kwitegereza), intego isanzwe yo kwerekana.
Niki 'gusubira inyuma-gutambuka' gusubiramo muri Politiki ya Diffusion?
Politiki iteganya igice cyibikorwa ariko rimwe na rimwe ikongera igategura ukoresheje indorerezi nshya, ikaringaniza guhuza nigihe gito na reaction.