Icyerekezo-Ururimi-Igikorwa Cyitegererezo cya Robo
Icyerekezo-Ururimi-Igikorwa (VLA) ni imiyoboro minini ya neural ifata amashusho ya kamera hiyongereyeho amabwiriza yanditse kandi isohora mu buryo butaziguye amategeko ya moteri.
Incamake
They matter because they bring the broad common sense of foundation models to physical machines, letting one model control a robot across many tasks instead of hand-coding each behavior.
Kwibira cyane
Icyitegererezo cya VLA gihuza imigezi itatu: iyerekwa (amakadiri ya kamera), ururimi (intego nka 'shyira igikombe mumwobo'), nigikorwa (inguni zifatanije, gripper ifunguye / gufunga, cyangwa umuvuduko wanyuma). Google RT-2 ya DeepMind yari ikintu cyihariye: cyafashe icyitegererezo cyururimi rwicyerekezo cyahuguwe kumashusho yurubuga ndetse ninyandiko, hanyuma gihuza neza na trayektori za robo kuburyo umuyoboro umwe ushobora gusubiza 'imbuto ni izihe?' nayo isohora ibikorwa byerekanwe nkinyandiko. Gufungura moderi nka OpenVLA (ibipimo 7B) na pi-0 ya Physical Intelligence. Icy'ingenzi, iyi moderi yerekana kwimura 'kugaragara': ubumenyi bwurubuga (kumenya ikirango kiranga, gusobanukirwa 'umuto') bitwara manipulation, bityo robot ikabika mubintu n'amabwiriza itigeze ibona mugihe cy'amahugurwa ya robo.
Ubushishozi
VLAs nyinshi zerekana ibikorwa bikomeza mubimenyetso kugirango transformateur ibashe kubihanangiriza, nkamagambo. Ikarita ya RT-2 buri cyiciro cyibikorwa kuri kimwe muri 256 bin kandi ikohereza nkumugozi winyandiko. Ibishushanyo bishya nka pi-0 bihuza ikwirakwizwa cyangwa guhuza-guhuza 'ibikorwa byinzobere' ibikorwa kumutwe wururimi rwakonjeshejwe-ururimi rwumugongo, bikabyara ibintu byinshi byihuta cyane (urugero, 50 Hz) aho kuba intambwe imwe yihariye, kunoza ubuhanga.
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.
Ejo hazaza h'icyerekezo-Ururimi-Igikorwa Cyitegererezo cya Robo
Tegereza imibare nini yambukiranya (Gufungura X-Embodiment imbaraga zimaze guhuza amakuru kuva mubwoko bwa robot 22+) bityo moderi imwe itwara intwaro, humanoide, hamwe na mobile mobile. Ubushakashatsi butera umwanzuro wihuse kugirango ugenzure igihe nyacyo, 3D ikungahaye cyane kandi yoroheje, hamwe n'iminyururu yo gutekereza aho icyitegererezo 'gitekereza' mbere yo gukora. Intego ni politiki imwe rusange ushobora gusaba mucyongereza cyoroshye, hamwe no kuguruka-kuguruka, cyane nko kuganira numufasha.
Gushyira mu bikorwa Isi
RT-2 igenzura Google robot yo mu gikoni 'kwimura igitoki kuri numero 3' ukoresheje imibare yize mumyandikire y'urubuga, ntabwo yerekana demo
OpenVLA, ifungura-isoko ya 7B moderi, ihujwe neza na laboratoire kugirango ikore tabletop itora-kandi-ku mwanya wintwaro zihenze
Imyitozo ngororamubiri ya pi-0 yo kumesa no gukuraho ameza ubohesha ubumenyi-buke buva mu nyigisho imwe
Ukuboko kwububiko kwabwiwe 'hitamo ikintu cyoroshye cyane' hanyuma ushishoze ikintu kiri muburyo bugaragara
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
CLIP na Icyerekezo-Ururimi Icyitegererezo
Ibibazo bikunze kubazwa
What is Vision-Language-Action Models for Robotics?
Icyerekezo-Ururimi-Igikorwa (VLA) ni imiyoboro minini ya neural ifata amashusho ya kamera hiyongereyeho amabwiriza yanditse kandi isohora mu buryo butaziguye amategeko ya moteri. Bifite akamaro kuko bazana imyumvire yagutse yuburyo bwishingiro kumashini zifatika, bakareka icyitegererezo kimwe kigenzura robot mumirimo myinshi aho kwandikisha intoki buri myitwarire.
Ni ubuhe bwoko butatu bwo kwinjiza / gusohoka busobanura Icyerekezo-Ururimi-Igikorwa (VLA)?
VLA ifata icyerekezo (amashusho) hiyongereyeho intego yururimi kandi isohora ibikorwa (amategeko ya moteri), guhuza imyumvire, amabwiriza-gukurikira, no kugenzura.
Nigute Google RT-2 ya DeepMind yagaragazaga ibikorwa bya robo kugirango transformateur ibashe kubyara?
RT-2 yahujije buri gipimo cyibikorwa mu bimenyetso byihariye (urugero, bin 256) hanyuma irasohora nk'umugozi, ureka imashini yerekana imvugo yerekana ibikorwa nk'amagambo.
Bisobanura iki 'kwimuka kugaragara' bisobanura murwego rwa VLA?
Kuberako VLAs itangirira kumurongo wururimi rwicyerekezo yatojwe kurubuga, ubumenyi nko kumenya ibirango cyangwa gusobanukirwa 'umuto' bimurira mubikorwa bya manipulation bitigeze bigaragara mumibare ya robo.
Ni izihe nyungu zingenzi zo gukwirakwiza pi-0 / guhuza ibikorwa byumutwe ugereranije nibimenyetso bimwe byihariye?
Aho kugirango intambwe imwe yihariye icyarimwe, pi-0 itanga ibikorwa bikomeza kumurongo mwinshi, bigafasha kugenda neza kandi byoroshye.
Kuki Dataset ifunguye X-Embodiment ifite akamaro kuri VLAs?
Gufungura X-Embodiment ikomatanya inzira ziva muri robo nyinshi zitandukanye, ifasha politiki yo guhugura ihererekanya intwaro, ibirindiro bigendanwa, nibindi bikoresho.