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
68 lines
14 KiB
XML
68 lines
14 KiB
XML
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 40 780 480" width="780" height="480" 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="55" y="55" width="210" height="50" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
|
<text x="160" y="73" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="20" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">RT-2</text>
|
|
<text x="160" y="93" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"></text>
|
|
<rect x="63" y="115" width="194" height="50" rx="3" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
|
<text x="160" y="133" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">시각-언어 백본</text>
|
|
<text x="160" y="151" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">대규모 사전 학습 VLM</text>
|
|
<rect x="63" y="173" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
|
<text x="160" y="191" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">행동 이산화</text>
|
|
<text x="160" y="209" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">연속 행동 → 토큰</text>
|
|
<line x1="160" y1="165" x2="160" y2="173" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
|
<rect x="63" y="231" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
|
<text x="160" y="249" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">자기회귀 출력</text>
|
|
<text x="160" y="267" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">토큰 단위 생성</text>
|
|
<line x1="160" y1="223" x2="160" y2="231" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
|
<text x="160" y="294" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">VLM을 직접 미세 조정</text>
|
|
<text x="160" y="312" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">사전 학습 일반화 능력 활용</text>
|
|
<text x="160" y="330" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">새 물체/지시로 제로샷 전이</text>
|
|
<rect x="290" y="55" width="210" height="50" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
|
<text x="395" y="73" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="20" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">OpenVLA</text>
|
|
<text x="395" y="93" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"></text>
|
|
<rect x="298" y="115" width="194" height="50" rx="3" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
|
<text x="395" y="133" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">시각 인코더</text>
|
|
<text x="395" y="151" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">DINOv2 + SigLIP</text>
|
|
<rect x="298" y="173" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
|
<text x="395" y="191" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">언어 모델</text>
|
|
<text x="395" y="209" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Llama 2 7B</text>
|
|
<line x1="395" y1="165" x2="395" y2="173" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
|
<rect x="298" y="231" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
|
<text x="395" y="249" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">행동 헤드</text>
|
|
<text x="395" y="267" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">불연속 행동 토큰</text>
|
|
<line x1="395" y1="223" x2="395" y2="231" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
|
<text x="395" y="294" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">완전 오픈 소스 · 커뮤니티 재현 가능</text>
|
|
<text x="395" y="312" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="12.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Open X-Embodiment로 사전 학습</text>
|
|
<text x="395" y="330" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="12.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">원래는 단일 단계 자기회귀, ~6Hz</text>
|
|
<rect x="525" y="55" width="210" height="50" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
|
<text x="630" y="73" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="20" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">π₀</text>
|
|
<text x="630" y="93" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"></text>
|
|
<rect x="533" y="115" width="194" height="50" rx="3" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
|
<text x="630" y="133" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">시각-언어 백본</text>
|
|
<text x="630" y="151" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">PaliGemma</text>
|
|
<rect x="533" y="173" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
|
<text x="630" y="191" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">행동 전문가</text>
|
|
<text x="630" y="209" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">플로 매칭으로 노이즈 제거</text>
|
|
<line x1="630" y1="165" x2="630" y2="173" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
|
<rect x="533" y="231" width="194" height="50" rx="3" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
|
<text x="630" y="249" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">행동 출력</text>
|
|
<text x="630" y="267" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">연속 행동 궤적</text>
|
|
<line x1="630" y1="223" x2="630" y2="231" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)"/>
|
|
<text x="630" y="294" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">연속 궤적 생성 경로</text>
|
|
<text x="630" y="312" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.5" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">50Hz · 청크당 25~50개 행동</text>
|
|
<text x="630" y="330" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">능숙한 조작이 더 부드러움</text>
|
|
<rect x="35" y="365" width="710" height="135" rx="4" fill="#f5f5f5" stroke="#333333" stroke-width="2"/>
|
|
<text x="390" y="387" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="20" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">2계층 제어 아키텍처</text>
|
|
<rect x="55" y="407" width="300" height="40" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2"/>
|
|
<text x="205" y="420" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">장기 계획 (0.1-1Hz)</text>
|
|
<text x="205" y="437" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">범용 VLM / Gemini Robotics-ER 1.5</text>
|
|
<line x1="357" y1="427" x2="400" y2="427" stroke="#333333" stroke-width="2" marker-end="url(#ah)"/>
|
|
<text x="378.5" y="420" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="12" fill="#666666" text-anchor="middle">하위 목표</text>
|
|
<rect x="402" y="407" width="300" height="40" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2"/>
|
|
<text x="552" y="420" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">VLA 제어 (1-10Hz)</text>
|
|
<text x="552" y="437" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', '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>
|
|
<text x="390" y="465" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">공통 기반: 모방 학습 + 대규모 교차 체화 시연 데이터로 데이터 병목 해소</text>
|
|
<text x="390" y="485" font-family="Arial, 'Apple SD Gothic Neo', 'Noto Sans KR', 'Malgun Gothic', 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">두 행동 표현 경로: 불연속 행동 토큰(RT-2 / OpenVLA) · 연속 궤적 생성(π₀)</text>
|
|
</svg>
|