liqiang
b119135836
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41 lines
8.4 KiB
XML
41 lines
8.4 KiB
XML
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<rect x="35" y="60" width="250" height="160" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="160" y="80" 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">Lingkungan simulasi</text>
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<text x="160" y="105" 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">✓ Paralel 1000+ lingkungan</text>
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<text x="160" y="127" 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">✓ Tidak ada risiko kerusakan perangkat keras</text>
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<text x="160" y="149" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="12" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">✓ Kontrol presisi terhadap kondisi eksperimental</text>
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<text x="160" y="171" 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">✓ Iterasi cepat ~1 jam pelatihan</text>
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<rect x="495" y="60" width="250" height="160" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2" />
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<text x="620" y="80" 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">Lingkungan nyata</text>
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<text x="620" y="105" 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">✗ Kesalahan pendekatan fisik</text>
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<text x="620" y="127" 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">✗ Rendering visual yang tidak realistis</text>
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<text x="620" y="149" 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">✗ Hilangnya noise sensor</text>
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<text x="620" y="171" 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">✗ Dinamika aktuator yang disederhanakan</text>
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<rect x="310" y="90" width="160" height="100" rx="4" fill="#f5f5f5" stroke="#333333" stroke-width="2" />
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<text x="390" y="110" 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">Reality Gap</text>
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<text x="390" y="132" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Lapisan fisik</text>
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<text x="390" y="152" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Lapisan visual</text>
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<text x="390" y="172" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Lapisan kontrol</text>
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<line x1="287" y1="130" x2="308" y2="130" stroke="#333333" stroke-width="2" marker-end="url(#ah)" />
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<line x1="472" y1="130" x2="493" y2="130" stroke="#333333" stroke-width="2" marker-end="url(#ah)" />
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<rect x="35" y="240" width="710" height="115" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="390" y="262" 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">Domain Randomization: Membuat simulasi mencakup realitas</text>
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<text x="166" y="290" 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">Pengacakan fisik</text>
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<text x="166" y="308" 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">Koefisien gesekan 0.1-1.0</text>
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<text x="166" y="324" 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">Massa objek ±50%</text>
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<text x="166" y="340" 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">Variasi kekakuan sendi</text>
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<text x="389" y="290" 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">Pengacakan visual</text>
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<text x="389" y="308" 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">Intensitas cahaya 0.2-2.0</text>
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<text x="389" y="324" 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">Warna material acak</text>
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<text x="389" y="340" 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">Posisi kamera ±5cm</text>
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<text x="612" y="290" 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">Pengacakan dinamika</text>
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<text x="612" y="308" 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">Penundaan kontrol 0-50ms</text>
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<text x="612" y="324" 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">Tingkat noise ±10%</text>
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<text x="612" y="340" 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">Variasi respons aktuator</text>
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<rect x="35" y="367" width="710" height="60" rx="4" fill="#f5f5f5" stroke="#333333" stroke-width="2" />
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<text x="390" y="385" 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">Ide inti: Distribusi pelatihan yang sangat beragam → Dunia nyata hanyalah "satu sampel"</text>
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<text x="390" y="407" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Kasus sukses: OpenAI Dactyl (Rubik's cube) · ETH ANYmal (medan kompleks) · Efektivitas bergantung pada desain rentang pengacakan</text>
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