liqiang
b119135836
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67 lines
13 KiB
XML
67 lines
13 KiB
XML
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<text x="160" 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">RT-2</text>
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<rect x="63" y="115" width="194" height="50" rx="3" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
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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">vision-language backbone</text>
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<text x="160" 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">large-scale pretrained VLM</text>
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<rect x="63" y="173" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
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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">action discretization</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">continuous action → 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="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">autoregressive output</text>
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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">token-by-token generation</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">direct fine-tuning on VLM</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">leveraging pretrained generalization</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">zero-shot transfer to novel objects/instructions</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">vision encoder</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">language model</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">action head</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">discrete action token</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">fully open-source · community reproducible</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 pretraining</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">original single-step autoregressive ~6Hz</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">vision-language backbone</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">action expert</text>
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<text x="630" 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">flow matching denoising</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">action output</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">continuous action trajectory</text>
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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">continuous trajectory generation route</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">action chunking 25-50/chunk at 50Hz</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">better dexterous manipulation smoothness</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">two-layer control architecture</text>
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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">long-horizon planning (0.1-1Hz)</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">general 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">subgoal</text>
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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 control (1-10Hz)</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">common foundation: imitation learning + large-scale cross-embodiment demonstration data, breaking data bottleneck</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">two action representation routes: discrete action token (RT-2 / OpenVLA) · continuous trajectory generation (π₀)</text>
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