liqiang
b119135836
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67 lines
13 KiB
XML
67 lines
13 KiB
XML
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<text x="160" y="133" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="15" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Látás-nyelvi gerinc</text>
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<text x="160" y="151" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Nagy léptékben előtréningezett VLM</text>
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<text x="160" y="191" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Diszkrét műveletek</text>
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<text x="160" y="209" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Folytonos művelet → token</text>
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<rect x="63" y="231" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<text x="160" y="267" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Tokenenkénti generálás</text>
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<text x="160" y="294" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">A VLM közvetlen finomhangolása</text>
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<text x="160" y="312" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Az előtréning általánosítása</text>
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<text x="160" y="330" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">nulla-shot: új tárgyak és utasítások</text>
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<text x="395" y="73" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="20" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">OpenVLA</text>
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<text x="395" y="93" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"></text>
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<rect x="298" y="115" width="194" height="50" rx="3" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
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<text x="395" y="133" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Látáskódoló</text>
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<text x="395" y="151" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">DINOv2 + SigLIP</text>
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<rect x="298" y="173" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<text x="395" y="191" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Nyelvi modell</text>
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<text x="395" y="209" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Llama 2 7B</text>
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<rect x="298" y="231" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<text x="395" y="249" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Műveleti fej</text>
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<text x="395" y="267" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Diszkrét művelettoken</text>
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<text x="395" y="294" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Nyílt forrású · reprodukálható</text>
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<text x="395" y="312" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Open X-Embodiment előtréning</text>
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<text x="395" y="330" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Eredeti egylépéses AR: ~6 Hz</text>
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<text x="630" y="73" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="20" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">π₀</text>
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<text x="630" y="93" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"></text>
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<rect x="533" y="115" width="194" height="50" rx="3" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
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<text x="630" y="133" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="15" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Látás-nyelvi gerinc</text>
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<text x="630" y="151" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">PaliGemma</text>
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<rect x="533" y="173" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<text x="630" y="191" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Műveleti szakértő</text>
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<rect x="533" y="231" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<text x="630" y="249" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Műveleti kimenet</text>
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<text x="630" y="267" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Folytonos műveleti trajektória</text>
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<line x1="630" y1="223" x2="630" y2="231" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
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<text x="630" y="294" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Folytonos trajektória útvonala</text>
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<text x="630" y="312" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Műveletdarabolás: 25–50/chunk, 50 Hz</text>
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<text x="630" y="330" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Simább, ügyesebb manipuláció</text>
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<text x="390" y="387" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="20" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Kétrétegű vezérlési architektúra</text>
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<rect x="55" y="407" width="300" height="40" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<text x="205" y="420" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Hosszú távú tervezés (0,1–1 Hz)</text>
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<text x="205" y="437" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Általános VLM / Gemini Robotics-ER 1.5</text>
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<text x="378.5" y="420" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="12" fill="#666666" text-anchor="middle">Részcél</text>
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<rect x="402" y="407" width="300" height="40" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
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<text x="552" y="420" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">VLA-vezérlés (1–10 Hz)</text>
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<text x="552" y="437" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">RT-2 / OpenVLA / π₀</text>
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<text x="390" y="465" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="12.5" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Közös alap: utánzásos tanulás + nagy, több robottestet lefedő demonstrációs adatok</text>
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<text x="390" y="485" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Két reprezentáció: diszkrét művelettoken (RT-2/OpenVLA) · folytonos trajektória (π₀)</text>
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