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="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">① 环境对齐</text>
|
||
<text x="97" y="101" 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">仿真/真实摄像头对齐</text>
|
||
<text x="97" 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">可视化叠加验证</text>
|
||
<text x="97" 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">图像重合度检查</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="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">② 背景替换</text>
|
||
<text x="248" y="101" 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">Greenscreen 技术</text>
|
||
<text x="248" 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">真实背景图裁剪</text>
|
||
<text x="248" 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">叠加到仿真渲染</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 Domain</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">Randomization</text>
|
||
<text x="398" y="117" 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">机器人颜色随机</text>
|
||
<text x="398" y="135" 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">物体纹理/光照/FOV</text>
|
||
<text x="398" y="153" 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">物理参数随机化</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 训练</text>
|
||
<text x="548" y="101" 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">PPO · 1024 并行环境</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 万步</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（单张 4090）</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="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">⑤ 真实部署</text>
|
||
<text x="698" y="101" 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">15Hz 控制频率</text>
|
||
<text x="698" 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">~2.5cm 立方体抓取</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">零样本成功</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">关键技术细节</text>
|
||
<text x="142" 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">环境对齐</text>
|
||
<text x="142" 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">仿真/真实摄像头位置</text>
|
||
<text x="142" 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">必须精确匹配</text>
|
||
<text x="317" 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">视觉域随机化</text>
|
||
<text x="317" 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">背景替换+纹理随机</text>
|
||
<text x="317" 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">弥合视觉 Gap</text>
|
||
<text x="492" 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">物理参数随机化</text>
|
||
<text x="492" 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/质量/刚度</text>
|
||
<text x="492" 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">弥合物理 Gap</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">训练效率</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 并行 GPU 仿真</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 达到 >90%</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 技术栈</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">仿真器</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 并行渲染</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">训练框架</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">纯 RGB 输入</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">机械臂</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">局限性</text>
|
||
<text x="660" 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">物体超出训练分布</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">成功率显著下降</text>
|
||
</svg> |
