Overview
Diffusion Policy inoshandisa iyo yakafanana denoising zano kuseri kwemifananidzo jenareta seStable Diffusion kune marobhoti kutonga: pachinzvimbo chekufanotaura chiito chimwe chinotevera, chinoburitsa kupfupika kutevedzana kwezvichaitika mune ramangwana nekudzokorodza ruzha. Izvo zvine basa nekuti inobata yakashata, yakawanda-modal hunhu hwekunyengedza chaiko zvirinani kupfuura nzira dzechikuru.
Diffusion Policy yeRobhoti Kudzora ndeyekombuta-yekuona workflows inodudzira kana kugadzira midhiya yekuona yekuongorora, mashandiro, uye kugadzira.
Deep Dive
Yakaunzwa muna 2023 nevatsvagiri veColumbia, MIT, uye Toyota Research Institute, Diffusion Policy inodzokorodza kudzidza kwe visuomotor seyakagadziriswa denoising. Tichifunga ichangoburwa mifananidzo yekamera uye mamiriro erobhoti, inotanga kubva kune ruzha uye inomhanya akati wandei nhanho kuti ibudise 'chiito chunk' - taura 8 kusvika ku16 nguva dzinotevera dzekupedzisira-effector. Iko kuhwina kukuru ndeye multimodality: kana basa riine akati wandei mhinduro (iwe unogona kubata gagi kubva kuruboshwe kana kurudyi), tsika dzechinyakare dzinovaisa mukuita kwakashata kwepakati, nepo modhi yekuparadzira inogona kuita zvakachena kune imwe modhi. Inodzidzawo zvakadzikama kubva mukuratidzira kwevanhu (behaviour cloning) uye inogara zvakanaka nepamusoro-dimensional nzvimbo dzekuita, zvichiita kuti ive sarudzo yekusarudzika mumasisitimu mazhinji emazuva ano.
Technical Insight
Kudzidzira kunowedzera Gaussian ruzha kuratidza kutevedzana kwechiito uye inodzidzisa network (kazhinji U-Net kana transformer) kufanotaura ruzha irworwo, rwakamisikidzwa pane zvinoonekwa uye zvine chekuita nekutarisa. Panguva yekumhanya inodenha kubva kune zvisina kujairika samples pamusoro pematanho mashoma (DDPM/DDIM) kuburitsa chiito trajectory. Kufanotaura machunks pamwe ne 'receding-horizon' kuronga zvakare kunopa kuenderana kwechinguvana uchiramba uchiita zvekutarisa kutsva.
Mastering Diffusion Policy yeRobhoti Kudzora
Diffusion Policy inoshandisa iyo yakafanana denoising zano kuseri kwemifananidzo jenareta seStable Diffusion kune marobhoti kutonga: pachinzvimbo chekufanotaura chiito chimwe chinotevera, chinoburitsa kupfupika kutevedzana kwezvichaitika mune ramangwana nekudzokorodza ruzha. Izvo zvine basa nekuti inobata yakashata, yakawanda-modal hunhu hwekunyengedza chaiko zvirinani kupfuura nzira dzechikuru. Diffusion Policy yeRobhoti Kudzora ndeyekombuta-yekuona workflows inodudzira kana kugadzira midhiya yekuona yekuongorora, mashandiro, uye kugadzira. Kuvaka kunzwisisa kwakadzama, bata Diffusion Policy yeRobhoti Kudzora semuenzaniso wekushandisa, kwete chinhu chimwe chete: tsanangura zvaunoda mhedzisiro, kujekesa fungidziro, uye patsanura izvo zvinogona kuitwa nehurongwa hwakavimbika kubva kune izvo zvichiri kuda kutonga kwenyanzvi.
Mukuita, zvikwata zvakasimba zvinoshandisa Diffusion Policy yeRobhoti Kudzora chiyero chechokwadi nemashandiro anoita semhando yedata, kusiyana kwemwenje, uye kuenderana kwemazita. Ivo vanonyora zvakajeka maitiro ebudiriro, bvunzo vachipokana ne data rechokwadi uye mafambiro ebasa, uye iterate zvichibva pane zvakacherechedzwa maitiro ekutadza kwete kuhwina-nguva imwe chete yebhenji. Apa ndipo apo kunzwisisa kwe theoretical kunoshanduka kuve kugona kwakasimba pane chigadzirwa, mutemo, uye mashandiro.
Visual AI inogona kuita otomatiki yekuongorora, yekuona, uye yekumaka mabasa pachiyero. Panguva imwecheteyo, kodzero dzeMufananidzo uye kubvumirwa kunogona kuve njodzi dzepamutemo kana hunhu husina kujeka. Nzira yakatsiga ndeyekubatanidza kukurumidza kuyedza nekutonga: mhanyisa vatyairi vendege, tora humbowo, buritsa matanda esarudzo, uye urambe uchivandudza chengetedzo semaitiro emuenzaniso, zvinotarisirwa nemushandisi, uye zvinodikanwa zvekutonga.
Strategic Impact
Visual AI inogona kuita otomatiki yekuongorora, yekuona, uye yekumaka mabasa pachiyero.
Visual AI inogona kuita otomatiki yekuongorora, yekuona, uye yekumaka mabasa pachiyero. Mukutumirwa kwemhando yepamusoro, izvi zvinoshandurirwa kuita mitemo inoyerwa yekushanda, miganhu yevaridzi, uye tsika dzekudzokorora dzinodzokororwa kuitira kuti zvikwata zvikwire kuvimba pane kukwidza kusajeka.
Zvikwata zvekugadzira zvinogona prototype pfungwa nekukurumidza nekudzokororwa kwemaoko mashoma.
Zvikwata zvekugadzira zvinogona prototype pfungwa nekukurumidza nekudzokororwa kwemaoko mashoma. Mukutumirwa kwemhando yepamusoro, izvi zvinoshandurirwa kuita mitemo inoyerwa yekushanda, miganhu yevaridzi, uye tsika dzekudzokorora dzinodzokororwa kuitira kuti zvikwata zvikwire kuvimba pane kukwidza kusajeka.
Mashandisirwo anogona kushandisa masaini emifananidzo nemavhidhiyo ayo aimbove akaoma kugadzirisa.
Mashandisirwo anogona kushandisa masaini emifananidzo nemavhidhiyo ayo aimbove akaoma kugadzirisa. Mukutumirwa kwemhando yepamusoro, izvi zvinoshandurirwa kuita mitemo inoyerwa yekushanda, miganhu yevaridzi, uye tsika dzekudzokorora dzinodzokororwa kuitira kuti zvikwata zvikwire kuvimba pane kukwidza kusajeka.
Real-World Implementation
Ruoko rwerobhoti rwuchisundidzira chivharo chakaita saT kuti chipinde pachinangwa, bhenji uko Diffusion Policy yakanyatso pfuura maitiro ekutanga maitiro-cloning.
Marobhoti eBimanual anodzidza mabasa akapfava ekicheni senge kutenderedza chikafu kana kuunganidza zvikamu kubva kune vanhu teleoperation demos.
Cluttered-bin picking uko kune akawanda ma grasps aripo uye mutemo unozvipira kune imwe panzvimbo yeavhareji
Chiito-musoro module mukati mechiratidzo-mutauro-chiito masisitimu inogadzira yakatsetseka yakakwira-frequency kufamba kwemaoko ane hunyanzvi.
Maitiro Ekuita
Diffusion Policy yeRobhoti Kudzora mukuita
Ruoko rwerobhoti rwuchisundidzira chivharo chakaita saT kuti chipinde pachinangwa, bhenji uko Diffusion Policy yakanyatso pfuura maitiro ekutanga maitiro-cloning.
Robhoti ruoko ruchisundidzira chivharo chakaita saT kuita chinongedzo, bhenji uko Diffusion Policy yakanyatso pfuura maitiro ekuita-cloning nzira Matimu anowanzo kuwana mibairo iri nani kana achinge atsanangura emhando yepamusoro kumberi, chengetedza nzira yekukwira kwevanhu yemakesi ekumucheto, uye kuteedzera zvese zvakawanikwa zvechigadzirwa uye kukanganisa mutengo nekufamba kwenguva.
Diffusion Policy yeRobhoti Kudzora mukuita
Marobhoti eBimanual anodzidza mabasa akapfava emukicheni senge kutenderedza chikafu kana kuunganidza zvikamu kubva kune vanhu teleoperation demos.
Marobhoti eBimanual anodzidza mabasa akatetepa ekicheni senge kutenderedza chikafu kana kuunganidza zvikamu kubva kuvanhu teleoperation demos Matimu anowanzo kuwana mhedzisiro iri nani kana achinge atsanangura emhando yepamusoro kumberi, chengetedza nzira yekukwira kwevanhu yemakesi emupendero, uye kuteedzera zvese zvakawanikwa zvechigadzirwa nemitengo yekukanganisa nekufamba kwenguva.
Diffusion Policy yeRobhoti Kudzora mukuita
Cluttered-bin picking uko kune akawanda ma grasps aripo uye mutemo unozvipira kune imwe panzvimbo yeavhareji.
Cluttered-bin picking uko kune akawanda ma grasps aripo uye mutemo unozvipira kune imwe pachinzvimbo cheavhareji Matimu anowanzo kuwana mhedzisiro iri nani kana achinge atsanangura emhando yepamusoro kumberi, chengetedza nzira yekukwira kwevanhu yemakesi ekumucheto, uye kuteedzera zvese zvakawanikwa zvechigadzirwa uye mutengo wekukanganisa nekufamba kwenguva.
Diffusion Policy yeRobhoti Kudzora mukuita
Action-head module mukati mechiratidzo-mutauro-chiito masisitimu inogadzira yakatsetseka yakakwira-frequency kufamba kwemaoko ane hunyanzvi.
Action-head module mukati mechiratidzo-mutauro-chiito masisitimu inogadzira yakatsetseka yakakwira-frequency mafambiro emaoko ane hunyanzvi Matimu anowanzo kuwana mhedzisiro iri nani kana achinge atsanangura mabinduru emhando kumberi, chengetedza nzira yekukwira kwevanhu yemakesi emupendero, uye kuteedzera zvese zvakawanikwa zvechigadzirwa uye mutengo wekukanganisa nekufamba kwenguva.
Njodzi & Guardrails
Kodzero dzemifananidzo uye kubvumirwa kunogona kuve njodzi dzepamutemo kana provenance isina kujeka.
Kuita kwemuenzaniso kunogona kusiyanisa kupenya, huwandu hwevanhu, uye nharaunda.
Manyepo enhema anogona kusacherechedzwa kunze kwekunge zvikumbaridzo zvekuvimba zvikatariswa.
Implementation Roadmap
Tsanangura maitiro ekugamuchirwa echokwadi, kurangarira, uye mutengo wekukanganisa.
Tsanangura maitiro ekugamuchirwa echokwadi, kurangarira, uye mutengo wekukanganisa. Bata nhanho yega yega segedhi rehumbowo: kana maitiro asina kusangana, imbomira kuburitsa, vhara gaka, uye wobva wawedzera kushandiswa.
Edzai nedata rinoenderana nemamiriro chaiwo ekugadzira.
Edzai nedata rinoenderana nemamiriro chaiwo ekugadzira. Bata nhanho yega yega segedhi rehumbowo: kana maitiro asina kusangana, imbomira kuburitsa, vhara gaka, uye wobva wawedzera kushandiswa.
Wedzera ongororo yemunhu kune yakaderera-kusavimbika kana yakakwirira-inokanganisa kufanotaura.
Wedzera ongororo yemunhu kune yakaderera-kusavimbika kana yakakwirira-inokanganisa kufanotaura. Bata nhanho yega yega segedhi rehumbowo: kana maitiro asina kusangana, imbomira kuburitsa, vhara gaka, uye wobva wawedzera kushandiswa.
Tevera modhi kudonha uye simbisa mushure mekuchinja kwekamera kana dataset.
Tevera modhi kudonha uye simbisa mushure mekuchinja kwekamera kana dataset. Bata nhanho yega yega segedhi rehumbowo: kana maitiro asina kusangana, imbomira kuburitsa, vhara gaka, uye wobva wawedzera kushandiswa.