Politigu tasaare ngir doxal robot
Politigu Diffusion dafay jëfandikoo benn xalaat biy dindi bruit bi ci ginaaw generatëri nataal yu melni Stable Diffusion ngir doxal robot: ludul wax luy waaja am ci benn jëf bu ci topp, dafay defar ay jëf yu gàtt yu jëm ci ëlëg ci gëna setal bruit.
Résumé
It matters because it handles the messy, multi-modal nature of real manipulation far better than older methods.
Plongeur bu xóot
Gëstukat yu Columbia, MIT, ak Daaray Gëstu Toyota ñoo ko dugal ci atum 2023, Politigu Tasaaro dafay soppi njàngum visuomotor ni denoising bu am sart. Buñu sukkandikoo ci nataali kamera yu bees yi ak tolluwaayu robot bi, dafay tàmbali ci bruit bu bari ba noppi def ay jéego yu bari ngir génne benn 'action chunk' - wax 8 ba 16 jéego yu ci topp ci pose effector. Ndam li gëna mag mooy multimodality: su benn liggéey amee ay pexe yu baax (mën nga jël kaas ci cammoy wala ndeyjoor), regression cosaan daf leen di moyenne ci jëf ju baaxul ci digg, fekk modelu diffusion mën na def benn mode. Dafay jàng itam bu baax ci nit ñi (klonaasu jeffin) ba noppi mëna jànkoonte bu baax ak barabi jëf yu kawe, moo tax mu nekk tànneef buñ jagleel sistemu manipulasioŋ yu bari ci jamono jii.
Gis-gis xarala
Taggat yaram dafay yokk bruit Gaussian ci jëf yuñ wane, ba noppi jàngal ab reso (dafay faral di nekk U-Net wala transformateur) ngir xam luy waaja am ci bruit bi, lépp di aju ci seetlu yi ñuy gis ak yi ñuy gis. Ci jamonoy doxal dafay dindi bruit ci misaal yu bari ci jéego yu néew (DDPM/DDIM) ngir am trajectoire jëf. Xalaatal ay pàcc boole ci waajalaat 'horizon buy dellu ginaaw' dafay joxe deggoo ci diir bi boole ci des ci seetlu yu bees yi.
njeextalu pexe
Gaawaay ak yaatuwaay
Visual IA mën na otomatise saytu, gis ak etiketu liggéey ci eskaal.
Tabax tànneef
Ekipu kreatif yi mën nañu defar konsept yu gëna gaaw te duñu def lu bari ci loxo.
Ekip ak def liggéey
Liggéeyukaay yi mën nañu jëfandikoo siñaal nataal wala wideo yu jafewoon lool ci liggéey.
Ëlëgu politiku tasaare ngir doxal Robot
Liggéey bi mooy wàññi limu jéego yiy dindi bruit (jaaraleko ci xeetu méngoo ak méngoo) suko defee politik yi di dox ci njëg yu yéeg ci hardware dëgg. Boppu jëfu diffusion ñu ngi koy boole ci yaxu ndigg yu yaatu yu làkku gis-gis ngir sos VLAs, ak 3D-xam ak variants equivariant yokk njariñu misaal. Xaarandil ni seytu bi lalu ci diffusion mooy des ci ingredient bi gëna am solo ci 'yuur' robot generalist biy dooleel liggéey yu xarañ ak ñaari loxo.
Doxal ci àdduna dëgg
Benn loxo robot buy puus benn blok bu am formu T ci biir pose biñ bëgga jëfandikoo, muy benn référence boo xamni Politigu Diffusion moo gëna xarañ ci anamu klonaas yu njëkk ya.
Robot bimanuel di jàng liggéey yu yomb ci waañ, lu ci melni wëlbati ñam wala dajale ay pàcc ci demo teleoperaasioŋ nit
Cluttered-bin picking fu bari ay jàpp yu baax te politik bi dafay jël benn ci barabu moyenne
Module boppu-jëf ci biir sistemu gis-làkk-jëf di defar yëngu bu neex ak fréquence bu kawe ngir loxo yu xarañ
Risk yi ak balustrade yi
Yelleefi nataal ak nangu mën na nekk risku yoon sudee fi ñu bawoo leerul.
Performance model bi mën na wuute ci leeraay bi, demographie bi ak environmaa bi.
Njuumteg positive yi mën nañu dem te kenn duko seetlu fileek xool wuñu buntu wóolu sa bopp.
Roadmap ngir samp gi
Mandargal kritërium nangug njub, woowaat ak njëgu njuumte.
Saytu ak done yu méngoo ak anam yi ñuy liggéeyee dëgg.
Yokk jàngat nit ngir xam fu wóorul dara wala am njeexital yu rëy.
Toppal model drift bi nga baaxal ko ginaaw bi kamera bi wala done yi soppeekoo.
Weyal di banneexu
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Gis bi ci topp
Stable Diffusion
Laaj yi ñuy faral di laaj
What is Diffusion Policy for Robot Control?
Politigu Diffusion dafay jëfandikoo benn xalaat biy dindi bruit bi ci ginaaw generatëri nataal yu melni Stable Diffusion ngir doxal robot: ludul wax luy waaja am ci benn jëf bu ci topp, dafay defar ay jëf yu gàtt yu jëm ci ëlëg ci gëna setal bruit. Dafa am solo ndax moo gëna mëna jëflante ak jafe-jafe yi, nature multi-modal ci manipulation dëgg, moo gëna baax ci pexe yu yàgg yi.
Lan la Politigu Tasaaro di jur ci barab bu nekk ci dogal?
Politigu Diffusion dafay defar benn jëf - ay jéego yu bari ci ëlëg - ci denoising, du benn komand buñ tàqale.
Ban pexem defar la Politigu Diffusion leble ci IA nataal?
Dafa melni xeetu diffusion nataal, dafay tàmbali ci bruit ak denoises yu bari, waaye fii génne gi dafay nekk trajectoire jëf bu lalu ci seetlu yi.
Ban jafe-jafe ci liggéey yu bari-modal la Politigu Diffusion gëna mëna saafara regression bu yomb?
Su amee jëf yu bari yu baax (lu melni jàpp cammoy wala ndijoor), regression daf leen di moyenne ci tànneef bu baaxul ci digg bi; diffusion mën na def lu sell ci benn anam.
Ci diiru tàggat-yaram, lan mooy reso bi ci Politigu Diffusion bi ñuy jàngal ñu wax luy am?
Bruit Gaussian dañu koy yokk ci jëf yiñ wane, reso bi jàng xam luy waaja am ci bruit bi (kondisioŋ ci seetlu yi), mébetu denoising biñ miin.
Luy waajal 'horizon buy dellu ginaaw' ci politiku tasaare?
Politik bi dafay wax luy waaja am ci ay jëf waaye saa yu nekk dafay waajal ay seetlu yu bees, di ekilibre diggante jamono ak tontu.