liqiang
b119135836
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69 lines
14 KiB
XML
69 lines
14 KiB
XML
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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="0" font-family="'Courier New', Courier, monospace" font-size="10" fill="#333333" text-anchor="start" dominant-baseline="central"><tspan x="45" dy="284.6">Vectơ trạng thái khớp</tspan><tspan x="45" dy="10.8">chiều 14</tspan></text>
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<text x="435" y="0" 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"><tspan x="435" dy="181.36">Mô hình Hành động-Ngôn ngữ-Tầm</tspan><tspan x="435" dy="17.28">nhìn (VLA)</tspan></text>
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<rect x="295" y="105" width="280" height="50" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2" />
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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">bộ mã hóa hình ảnh</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 → Tầm nhìn tokens</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">mô hình ngôn ngữ</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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<line x1="435" y1="222" x2="435" y2="233" stroke="#333333" stroke-width="2" marker-end="url(#ah-compact)" />
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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="254.56" 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">bộ giải mã hành động</text>
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<text x="435" y="270.76" 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">→ Vectơ điều khiển liên tục chiều 14</text>
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<text x="435" y="0" font-family="'Courier New', Courier, monospace" font-size="11" fill="#333333" text-anchor="middle" dominant-baseline="central"><tspan x="435" dy="284.26">Phân chia hành động: 1 lần tạo ra các hành</tspan><tspan x="435" dy="11.88">động liên tiếp 25</tspan></text>
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<text x="430" y="361" 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">Hướng dẫn: "Đặt lọ vào nồi"</text>
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<rect x="630" 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="745" 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">Động cơ vật lý SAPIEN</text>
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<text x="745" y="118.18" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="15.15" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold">robot hai tay</text>
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<text x="745" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.26" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="745" dy="133.52">Mỗi bậc tự do 7 = hành</tspan><tspan x="745" dy="14.32">động chiều 14</tspan></text>
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<rect x="645" y="175" width="200" height="55" rx="6" fill="#d0d0d0" stroke="#333333" stroke-width="2" />
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<text x="745" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="14.49" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold"><tspan x="745" dy="187.83">ngẫu nhiên hóa môi</tspan><tspan x="745" dy="15.65">trường</tspan></text>
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<text x="745" y="218.15" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="12.68" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">Vị trí60cm/Hướng±22.5°</text>
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<rect x="645" y="245" width="200" height="55" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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<text x="745" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.11" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold"><tspan x="745" dy="255.7">Phát hiện va chạm + mô</tspan><tspan x="745" dy="12">phỏng vật lý</tspan></text>
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<text x="745" 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="745" dy="279.1">Thân cứng/thân mềm/ma</tspan><tspan x="745" dy="10.8">sát</tspan></text>
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<text x="609.0" y="210.0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#666666" text-anchor="middle">hoạt động</text>
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<line x1="630" y1="130" x2="592" y2="130" stroke="#333333" stroke-width="2" marker-end="url(#ah)" />
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<text x="611.0" y="120.0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="16" fill="#666666" text-anchor="middle">quan sát</text>
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<line x1="20" y1="385" x2="860" y2="385" stroke="#999999" stroke-width="2" stroke-dasharray="8,4" />
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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">Chỉ số đánh giá</text>
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<rect x="60" y="425" width="180" height="75" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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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">tỷ lệ thành công</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">lọ trong nồi</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">và không bị rơi</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="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.01" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold"><tspan x="350" dy="437.02">thời gian hoàn</tspan><tspan x="350" dy="14.05">thành</tspan></text>
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<text x="350" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.39" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="350" dy="464.25">Các bước 25 × Hành</tspan><tspan x="350" dy="12.3">động 25</tspan></text>
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<text x="350" y="488.85" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.39" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">= Bước điều khiển 625</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="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="13.01" fill="#333333" text-anchor="middle" dominant-baseline="central" font-weight="bold"><tspan x="550" dy="437.02">khả năng khái quát</tspan><tspan x="550" dy="14.05">hóa</tspan></text>
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<text x="550" y="0" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.39" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal"><tspan x="550" dy="464.25">Trên khắp các địa</tspan><tspan x="550" dy="12.3">điểm/định hướng</tspan></text>
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<text x="550" y="488.85" font-family="Arial, 'Helvetica Neue', Helvetica, 'PingFang SC', 'Microsoft YaHei', sans-serif" font-size="11.39" fill="#666666" text-anchor="middle" dominant-baseline="central" font-weight="normal">/biến thể ngoại hình</text>
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<rect x="660" y="425" width="180" height="75" rx="6" fill="#f0f0f0" stroke="#333333" stroke-width="2" />
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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">ngẫu nhiên tên miền</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">→ Di cư thực sự</text>
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