liqiang
b119135836
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62 lines
15 KiB
XML
62 lines
15 KiB
XML
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<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>
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<rect x="26" y="60" width="143" height="130" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2" />
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<text x="97" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.7" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold"><tspan x="97" dy="71.33">① Căn chỉnh môi</tspan><tspan x="97" dy="12.64">trường</tspan></text>
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<text x="97" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.96" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="97" dy="96.21">Căn chỉnh</tspan><tspan x="97" dy="11.84">camera mô</tspan><tspan x="97" dy="11.84">phỏng/thật</tspan></text>
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<text x="97" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.96" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="97" dy="131.72">Xác minh lớp phủ</tspan><tspan x="97" dy="11.84">trực quan</tspan></text>
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<text x="97" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.96" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="97" dy="155.39">Kiểm tra sự</tspan><tspan x="97" dy="11.84">trùng hợp hình</tspan><tspan x="97" dy="11.84">ảnh</tspan></text>
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<rect x="176" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="248" y="84.5" 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 Thay thế nền</text>
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<text x="248" y="0" 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"><tspan x="248" dy="101.24">Công nghệ</tspan><tspan x="248" dy="16.2">Greenscreen</tspan></text>
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<text x="248" y="133.64" 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">Cắt ảnh nền thật</text>
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<text x="248" y="0" 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"><tspan x="248" dy="149.84">Lớp phủ để hiển</tspan><tspan x="248" dy="16.2">thị mô phỏng</tspan></text>
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<line x1="169" y1="125" x2="176" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)" />
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<rect x="326" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="398" y="72.87" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14.57" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">③ Domain</text>
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<text x="398" y="88.61" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14.57" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Randomization</text>
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<text x="398" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.66" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="398" dy="103.85">Robot màu ngẫu</tspan><tspan x="398" dy="14.75">nhiên</tspan></text>
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<text x="398" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.66" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="398" dy="133.36">Kết cấu/ánh sáng</tspan><tspan x="398" dy="14.75">đối tượng/FOV</tspan></text>
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<text x="398" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.66" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="398" dy="162.86">Ngẫu nhiên tham</tspan><tspan x="398" dy="14.75">số vật lý</tspan></text>
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<line x1="319" y1="125" x2="326" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)" />
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<rect x="476" y="60" width="143" height="130" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2" />
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<text x="548" y="93.68" 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 Đào tạo RL</text>
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<text x="548" y="0" 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"><tspan x="548" dy="109.88">PPO · Môi trường</tspan><tspan x="548" dy="15.12">song song 1024</tspan></text>
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<text x="548" y="140.66" 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 Wanbu</text>
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<text x="548" y="156.86" 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 (4090 đơn)</text>
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<line x1="469" y1="125" x2="476" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)" />
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<rect x="626" y="60" width="143" height="130" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="698" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14.57" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold"><tspan x="698" dy="72.87">⑤ Triển khai</tspan><tspan x="698" dy="15.74">thực tế</tspan></text>
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<text x="698" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.66" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="698" dy="103.85">Tần số điều</tspan><tspan x="698" dy="14.75">khiển 15Hz</tspan></text>
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<text x="698" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.66" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="698" dy="133.36">~2.5cm Lấy khối</tspan><tspan x="698" dy="14.75">lập phương</tspan></text>
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<text x="698" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.66" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="698" dy="162.86">Không có mẫu</tspan><tspan x="698" dy="14.75">thành công</tspan></text>
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<line x1="619" y1="125" x2="626" y2="125" stroke="#999999" stroke-width="2" marker-end="url(#ah-sm)" />
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<rect x="30" y="245" width="740" height="100" rx="4" fill="#f5f5f5" stroke="#333333" stroke-width="2" />
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<text x="400" y="241" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Chi tiết kỹ thuật chính</text>
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<text x="142" y="272.32" 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">liên kết môi trường</text>
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<text x="142" y="0" 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"><tspan x="142" dy="288.52">Vị trí camera mô</tspan><tspan x="142" dy="15.12">phỏng/thật</tspan></text>
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<text x="142" y="318.76" 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">Phải khớp chính xác</text>
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<text x="317" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold"><tspan x="317" dy="251.8">Ngẫu nhiên miền</tspan><tspan x="317" dy="10.8">thị giác</tspan></text>
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<text x="317" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="317" dy="295">Thay thế nền + ngẫu</tspan><tspan x="317" dy="10.8">nhiên hóa kết cấu</tspan></text>
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<text x="317" y="338.2" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Cầu nối tầm nhìn Gap</text>
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<text x="492" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold"><tspan x="492" dy="273.4">Ngẫu nhiên tham số</tspan><tspan x="492" dy="10.8">vật lý</tspan></text>
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<text x="492" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="492" dy="316.6">ma sát/khối lượng/độ</tspan><tspan x="492" dy="10.8">cứng</tspan></text>
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<text x="492" y="349" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Vật lý cầu nối Gap</text>
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<text x="660" y="272.32" 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">hiệu quả đào tạo</text>
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<text x="660" y="0" 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"><tspan x="660" dy="288.52">Mô phỏng 1024 song song</tspan><tspan x="660" dy="15.12">GPU</tspan></text>
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<text x="660" y="318.76" 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 đạt >90%</text>
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<rect x="30" y="360" width="740" height="95" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="400" y="372.88" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14.57" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Ngăn xếp công nghệ LeRobot + ManiSkill</text>
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<text x="142" y="392.38" 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">giả lập</text>
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<text x="142" y="408.58" 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>
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<text x="142" y="423.7" 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">Kết xuất song song GPU</text>
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<text x="317" y="387.04" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.66" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">khung đào tạo</text>
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<text x="317" y="411.44" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.2" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">LeRobot + PPO</text>
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<text x="317" y="433.47" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.2" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Đầu vào RGB thuần túy</text>
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<text x="492" y="399.63" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.66" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">Cánh tay robot</text>
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<text x="492" y="422.45" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.2" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">SO100</text>
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<text x="492" y="444.48" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="10.2" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">6-DOF</text>
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<text x="660" y="377.26" 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">giới hạn</text>
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<text x="660" y="0" 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"><tspan x="660" dy="393.46">Đối tượng ngoài phân bố</tspan><tspan x="660" dy="15.12">đào tạo</tspan></text>
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<text x="660" y="0" 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"><tspan x="660" dy="423.7">Tỷ lệ thành công giảm</tspan><tspan x="660" dy="15.12">đáng kể</tspan></text>
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