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SayCan综合得分(绿条)=LLMs(蓝条)+Affordance函数(红条)
SayCan综合得分(绿条)=LLMs(蓝条)+Affordance函数(红条)
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机械设备行业专题研究:人形机器人需要怎样的大模型?-231204(23页).pdf
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图6.大语言模型(LLMs)自进化概念框架
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2025-02-24
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图2.大语言模型(LLMs)与大脑相似性估计框架的示意
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2025-01-20
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图1.大语言模型(LLMs)自进化概念框架
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Affordance 函数可以淘汰不可执行的决策,提高自主可靠性。由于 Say 部分只是从语义层面对抽象指令进行分解,并未考虑现实基础,其分解出的子命令可能在现实中不可执行。以“你将怎样把海绵放回柜子上”这一高级指令为例,图中蓝条表示 LLMs 给出的可行概率,红条表示成功执行选定动作的概率,绿条是 SayCan 给出的综合得分。在第一步中,尽管 LLMs 认为“拿取海绵”是正确的动作,但 Affordance 函数根据视觉信息认为这是不可能一步执行的,因此选择了“寻找海绵”。由此可见,SayCan 大模型可以帮助机器人做出可靠决策。
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机械设备行业专题研究:人形机器人需要怎样的大模型?-231204(23页).pdf
大脑负责任务级交互的实现,小脑负责低层级运控
实现任级级交互可大大提高人形机器人通用性
软硬件相互配合才能实现机器人发展的正循环
Altas可实现空中抛物等操作
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