liqiang
b119135836
Build latest book artifacts / build (push) Canceled after 0s
dependency resolution / resolve (3.11) (push) Canceled after 0s
dependency resolution / resolve (3.13) (push) Canceled after 0s
deploy-pages / build (push) Canceled after 0s
deploy-pages / deploy (push) Canceled after 0s
i18n consistency check / check (push) Canceled after 0s
provider adoption tests / test (chapter2/context-compression) (push) Canceled after 0s
provider adoption tests / test (chapter2/prompt-injection) (push) Canceled after 0s
provider adoption tests / test (chapter2/system-hint) (push) Canceled after 0s
provider adoption tests / test (chapter3/log-sanitization) (push) Canceled after 0s
web-search-agent tests / test (push) Canceled after 0s
web-search-agent tests / agentbook (push) Canceled after 0s
62 lines
13 KiB
XML
62 lines
13 KiB
XML
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 40 800 470" width="800" height="470" style="background:#ffffff">
|
||
<defs><marker id="ah" markerWidth="12" markerHeight="8" refX="12" refY="4" orient="auto"><polygon points="0 0, 12 4, 0 8" fill="#333333"/></marker><marker id="ah-light" markerWidth="12" markerHeight="8" refX="12" refY="4" orient="auto"><polygon points="0 0, 12 4, 0 8" fill="#999999"/></marker><marker id="ah-sm" markerWidth="6" markerHeight="4" refX="6" refY="2" orient="auto"><polygon points="0 0, 6 2, 0 4" fill="#999999"/></marker></defs>
|
||
|
||
<rect x="26" y="60" width="143" height="130" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
||
<text x="97" y="80" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.5" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">① 環境アライメント</text>
|
||
<text x="97" y="101" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="8.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">シミュレーション/実機のカメラ位置合わせ</text>
|
||
<text x="97" y="119" 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">視覚オーバーレイの検証</text>
|
||
<text x="97" y="137" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">画像の重なりを確認</text>
|
||
<rect x="176" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
||
<text x="248" y="80" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="9.5" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">② 背景の置き換え</text>
|
||
<text x="248" y="101" 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">グリーンスクリーン技術</text>
|
||
<text x="248" y="119" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="8.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">実背景画像の切り抜き</text>
|
||
<text x="248" y="137" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="8.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">シミュレーションのレンダリングに重ねる</text>
|
||
<line x1="169" y1="125" x2="176" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
||
<rect x="326" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
||
<text x="398" y="80" 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">③ ドメイン</text>
|
||
<text x="398" y="96" 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">ランダム化</text>
|
||
<text x="398" y="117" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">ロボットの色をランダム化</text>
|
||
<text x="398" y="135" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">物体のテクスチャ/照明/FOV</text>
|
||
<text x="398" y="153" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="8.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">物理パラメータのランダム化</text>
|
||
<line x1="319" y1="125" x2="326" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
||
<rect x="476" y="60" width="143" height="130" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
||
<text x="548" y="80" 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">④ RL 学習</text>
|
||
<text x="548" y="101" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="8.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">PPO · 1024 並列環境</text>
|
||
<text x="548" y="119" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="15" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">2500〜4000万ステップ</text>
|
||
<text x="548" y="137" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="15" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">~1h（4090 1枚）</text>
|
||
<line x1="469" y1="125" x2="476" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
||
<rect x="626" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
||
<text x="698" y="80" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">⑤ 実機デプロイ</text>
|
||
<text x="698" y="101" 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">15Hz の制御周波数</text>
|
||
<text x="698" y="119" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="12.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">~2.5cm のキューブ把持</text>
|
||
<text x="698" y="137" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="15" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">ゼロショットで成功</text>
|
||
<line x1="619" y1="125" x2="626" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
||
<rect x="30" y="245" width="740" height="100" rx="4" fill="#f5f5f5" stroke="#333333" stroke-width="2"/>
|
||
<text x="400" y="267" 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">主要な技術的詳細</text>
|
||
<text x="120" y="293" 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">シーンアライメント</text>
|
||
<text x="120" y="311" 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">シミュレーション/実機のカメラを一致</text>
|
||
<text x="120" y="327" 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">精密に一致</text>
|
||
<text x="300" y="293" 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">視覚のランダム化</text>
|
||
<text x="300" y="311" 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">背景 + テクスチャ</text>
|
||
<text x="300" y="327" 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">視覚ギャップを埋める</text>
|
||
<text x="480" y="293" 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">物理のランダム化</text>
|
||
<text x="480" y="311" 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">摩擦/質量/剛性</text>
|
||
<text x="480" y="327" 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">物理ギャップを埋める</text>
|
||
<text x="660" y="293" 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">学習効率</text>
|
||
<text x="660" y="311" 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">1024 並列環境</text>
|
||
<text x="660" y="327" 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">~1h で90%超に到達</text>
|
||
<rect x="30" y="360" width="740" height="95" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
||
<text x="400" y="380" 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">LeRobot + ManiSkill 技術スタック</text>
|
||
<text x="142" y="405" 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">シミュレータ</text>
|
||
<text x="142" y="424" 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">ManiSkill</text>
|
||
<text x="142" y="440" 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">GPU 並列レンダリング</text>
|
||
<text x="317" y="405" 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">学習フレームワーク</text>
|
||
<text x="317" y="424" 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">LeRobot + PPO</text>
|
||
<text x="317" y="440" 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">純粋な RGB 入力</text>
|
||
<text x="492" y="405" 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">ロボットアーム</text>
|
||
<text x="492" y="424" 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">SO100</text>
|
||
<text x="492" y="440" 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">6-DOF</text>
|
||
<text x="660" y="405" 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">限界</text>
|
||
<text x="660" y="424" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">学習分布外の物体</text>
|
||
<text x="660" y="440" 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">成功率が大幅に低下</text>
|
||
</svg> |
