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
69 lines
12 KiB
XML
69 lines
12 KiB
XML
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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">14-dimensional joint state vector</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">Vision encoder</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 → visual tokens</text>
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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">Language model</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">Llama 2 7B backbone</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">→ 14-dimensional continuous control vector</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: generate 25 consecutive actions at once</text>
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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">Instruction: "Put the can into the pot"</text>
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<text x="745" 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">7 DOF each = 14-dimensional action</text>
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<text x="745" 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">Position 60cm / orientation ±22.5°</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">Can inside pot</text>
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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">Completion time</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 steps × 25 actions</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">Cross-position/orientation</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">Domain randomization</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">→ Real migration</text>
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