liqiang
b119135836
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62 lines
14 KiB
XML
62 lines
14 KiB
XML
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<rect x="26" y="60" width="143" height="130" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
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<text x="97" y="80" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="8.5" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">① Согласование окружения</text>
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<text x="97" y="101" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="5.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Соответствие симуляции и реальной камеры</text>
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<text x="97" y="119" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="7.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Проверка визуального наложения</text>
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<text x="97" y="137" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="7" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Проверка перекрытия изображений</text>
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<rect x="176" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<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 Замена фона</text>
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<text x="248" 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">Технология зелёного экрана</text>
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<text x="248" y="119" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="6" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Обрезка реального фонового изображения</text>
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<text x="248" y="137" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="7" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Наложение на рендеринг симуляции</text>
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<rect x="326" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<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 Домен</text>
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<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">Рандомизация</text>
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<text x="398" y="117" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="9" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Рандомизация цвета робота</text>
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<text x="398" y="135" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="7.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Текстура объекта/освещение/FOV</text>
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<text x="398" y="153" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="6.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Рандомизация физических параметров</text>
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<line x1="319" y1="125" x2="326" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
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<rect x="476" y="60" width="143" height="130" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
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<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 Обучение RL</text>
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<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 параллельных сред</text>
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<text x="548" 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">25-40 миллионов шагов</text>
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<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">~1ч (один 4090)</text>
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<line x1="469" y1="125" x2="476" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
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<rect x="626" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<text x="698" y="80" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="8.5" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">⑤ Реальное развертывание</text>
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<text x="698" y="101" 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">15Гц частота управления</text>
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<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">~2.5см захват куба</text>
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<text x="698" 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">Успех без примеров (zero-shot)</text>
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<rect x="30" y="245" width="740" height="100" rx="4" fill="#f5f5f5" stroke="#333333" stroke-width="2"/>
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<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">Ключевые технические детали</text>
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<text x="85.6" y="293" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="9" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Согласование сцены</text>
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<text x="120" y="311" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="9" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Соответствие сим./реальной камеры</text>
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<text x="67.6" y="327" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="7" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Точное совпадение</text>
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<text x="286.8" y="293" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="15.57" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Визуальная рандомизация</text>
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<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">Фон + текстура</text>
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<text x="258.7" y="327" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.09" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Преодоление визуального разрыва</text>
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<text x="495.6" y="293" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="15.57" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Рандомизация физики</text>
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<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">Трение/масса/жёсткость</text>
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<text x="502.7" y="327" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.09" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Преодоление физического разрыва</text>
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<text x="696.2" y="293" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Эффективность обучения</text>
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<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 параллельных сред</text>
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<text x="714" y="327" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="7.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">~1ч для достижения >90%</text>
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<rect x="30" y="360" width="740" height="95" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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<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">Стек технологий LeRobot + ManiSkill</text>
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<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">симулятор</text>
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<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>
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<text x="142" y="440" 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">Параллельный рендеринг на GPU</text>
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<text x="293.9" 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">фреймворк обучения</text>
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<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>
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<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">чистый RGB вход</text>
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<text x="493.2" 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">роботизированная рука</text>
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<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>
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<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>
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<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">ограничения</text>
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<text x="660" y="424" 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">объекты вне обучающего распределения</text>
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<text x="660" y="440" 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">процент успеха значительно снижается</text>
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