liqiang
b119135836
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70 lines
12 KiB
XML
70 lines
12 KiB
XML
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<text x="130" y="193" 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">224×224 RGB</text>
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<text x="130" y="248" 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">224×224 RGB</text>
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<text x="45" y="290" font-family="'Courier New', Courier, monospace" font-size="8.5" fill="#333333" text-anchor="start" dominant-baseline="central">Vektor status sendi 14 dimensi</text>
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<text x="450" y="125" 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">Encoder visi</text>
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<text x="450" y="145" 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">SigLIP → token visual</text>
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<rect x="295" y="170" width="280" height="50" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="450" y="190" 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">Model bahasa</text>
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<text x="450" y="210" 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">Backbone Llama 2 7B</text>
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<rect x="295" y="235" width="280" height="78" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2" />
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<text x="435" y="252" 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">Decoder aksi</text>
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<text x="435" y="272" 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">→ Vektor kontrol kontinu 14 dimensi</text>
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<text x="435" y="298" font-family="'Courier New', Courier, monospace" font-size="8" fill="#333333" text-anchor="middle" dominant-baseline="central">Action chunking: menghasilkan 25 aksi berturut-turut sekaligus</text>
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<line x1="240" y1="257" x2="278" y2="257" stroke="#333333" stroke-width="2" marker-end="url(#ah)" />
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<rect x="300" y="345" width="260" height="32" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="430" y="361" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14.5" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Instruksi: "Masukkan kaleng ke dalam panci"</text>
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<rect x="690" y="65" width="230" height="250" rx="6" fill="#ffffff" stroke="#333333" stroke-width="2" stroke-dasharray="8,4" />
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<text x="805" y="88" 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">Mesin fisika SAPIEN</text>
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<rect x="705" y="105" width="200" height="55" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="805" y="125" 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">Robot lengan ganda</text>
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<text x="805" y="145" 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">Masing-masing 7 DOF = aksi 14 dimensi</text>
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<rect x="705" y="175" width="200" height="55" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2" />
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<text x="805" y="195" 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">Pengacakan lingkungan</text>
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<text x="805" y="215" 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">Posisi 60cm / orientasi ±22.5°</text>
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<text x="805" y="265" 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">Deteksi tabrakan + simulasi fisika</text>
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<text x="805" y="285" 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">Benda tegar / benda lunak / gesekan</text>
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<text x="640" y="210.0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#666666" text-anchor="middle">Aksi</text>
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<text x="640" y="120.0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#666666" text-anchor="middle">Observasi</text>
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<text x="440.0" y="408" 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">Metrik evaluasi</text>
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<text x="150" y="445" 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">Tingkat keberhasilan</text>
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<text x="150" y="465" 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">Kaleng di dalam panci</text>
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<text x="150" y="483" 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">dan tidak jatuh</text>
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<rect x="260" y="425" width="180" height="75" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="350" y="445" 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">Waktu penyelesaian</text>
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<text x="350" y="465" 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">25 langkah × 25 aksi</text>
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<text x="350" y="483" 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">= 625 langkah kontrol</text>
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<rect x="460" y="425" width="180" height="75" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="550" y="445" 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">Kemampuan generalisasi</text>
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<text x="550" y="465" 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">Lintas posisi/orientasi</text>
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<text x="550" y="483" 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">/Varian penampilan</text>
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<text x="750" y="445" 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">Sim-to-Real</text>
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<text x="750" y="465" 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">Pengacakan domain</text>
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<text x="750" y="483" 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">→ Migrasi nyata</text>
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