{"id":3701,"date":"2024-05-07T09:33:32","date_gmt":"2024-05-07T01:33:32","guid":{"rendered":"https:\/\/nullthought.net\/?p=3701"},"modified":"2025-02-23T11:08:03","modified_gmt":"2025-02-23T03:08:03","slug":"transformer%e6%98%af%e4%b8%aa%e6%a1%86%ef%bc%8c%e5%95%a5%e9%83%bd%e5%be%80%e9%87%8c%e8%a3%85%f0%9f%98%80","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=3701","title":{"rendered":"Transformer\u662f\u4e2a\u6846\uff0c\u5565\u90fd\u5f80\u91cc\u88c5\ud83d\ude00"},"content":{"rendered":"\n<p>Transformer\u662f\u4e2a\u6846\uff0c\u5565\u90fd\u5f80\u91cc\u88c5\ud83d\ude00\uff0c\u53ea\u8981\u662f\u5e7f\u4e49\u7684\u65f6\u5e8f\u6570\u636e\u5c31\u884c\uff0c\u81ea\u7136\u8bed\u8a00\u3001\u97f3\u9891\u3001\u89c6\u9891\u3001\u4f20\u611f\u6570\u636e\uff0c\u4ee5\u53ca\u8fd9\u7bc7\u8bba\u6587\u300a<a href=\"https:\/\/arxiv.org\/abs\/2304.13705\" target=\"_blank\" rel=\"noreferrer noopener\">Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware<\/a>\u300b\u7814\u7a76\u7684\u673a\u5668\u4eba\u52a8\u4f5c\u3002\u5f53\u7136\uff0c\u524d\u63d0\u662f\u65f6\u5e8f\u6570\u636e\u4e2d<a href=\"https:\/\/nullthought.net\/?p=3423\" target=\"_blank\" rel=\"noreferrer noopener\">\u5929\u7136\u9690\u542b\u201c\u7406\u6027\u201d<\/a>\u3002\u7406\u6027\u5373\u6a21\u5f0f\u3001\u6a21\u6001\u3001\u89c4\u5f8b\u7b49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"461\" height=\"1024\" src=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/05\/Learning-Fine-Grained-Bimanual-Manipulation-with-Low-Cost-Hardware-2304.13705v1-461x1024.jpg\" alt=\"\" class=\"wp-image-3702\" srcset=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/05\/Learning-Fine-Grained-Bimanual-Manipulation-with-Low-Cost-Hardware-2304.13705v1-461x1024.jpg 461w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/05\/Learning-Fine-Grained-Bimanual-Manipulation-with-Low-Cost-Hardware-2304.13705v1-135x300.jpg 135w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/05\/Learning-Fine-Grained-Bimanual-Manipulation-with-Low-Cost-Hardware-2304.13705v1-768x1707.jpg 768w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/05\/Learning-Fine-Grained-Bimanual-Manipulation-with-Low-Cost-Hardware-2304.13705v1-691x1536.jpg 691w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/05\/Learning-Fine-Grained-Bimanual-Manipulation-with-Low-Cost-Hardware-2304.13705v1-922x2048.jpg 922w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/05\/Learning-Fine-Grained-Bimanual-Manipulation-with-Low-Cost-Hardware-2304.13705v1.jpg 1080w\" sizes=\"auto, (max-width: 461px) 100vw, 461px\" \/><figcaption class=\"wp-element-caption\"><a href=\"https:\/\/arxiv.org\/abs\/2304.13705\" target=\"_blank\" rel=\"noreferrer noopener\">Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware<\/a><\/figcaption><\/figure>\n\n\n\n<p>\u8fd9\u7bc7\u8bba\u6587\u7684\u4e00\u4e2a\u884d\u751f\u6210\u679c\u662f<a href=\"https:\/\/huggingface.co\/lerobot\" target=\"_blank\" rel=\"noreferrer noopener\">LeRobot<\/a>\uff0cLeRobot \u65e8\u5728\u4e3a\u73b0\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\u63d0\u4f9b\u6a21\u578b\u3001\u6570\u636e\u96c6\u548c\u5de5\u5177\uff0c\u8fd9\u4e9b\u90fd\u662f\u57fa\u4e8e PyTorch \u7684\u3002\u5176\u76ee\u6807\u662f\u964d\u4f4e\u8fdb\u5165\u673a\u5668\u4eba\u9886\u57df\u7684\u95e8\u69db\uff0c\u4ee5\u4fbf\u6bcf\u4e2a\u4eba\u90fd\u80fd\u8d21\u732e\u5e76\u4ece\u5171\u4eab\u6570\u636e\u96c6\u548c\u9884\u8bad\u7ec3\u6a21\u578b\u4e2d\u53d7\u76ca\u3002\ud83d\udc4d\ud83d\udc4d<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>\u76f8\u5173\u9605\u8bfb\uff1a<a href=\"https:\/\/cn.wsj.com\/articles\/chatgpt%E7%9A%84%E5%BA%95%E5%B1%82%E6%8A%80%E6%9C%AF%E5%8D%B3%E5%B0%86%E6%94%B9%E5%8F%98%E4%B8%96%E7%95%8C-9d3e0013\" target=\"_blank\" rel=\"noreferrer noopener\">ChatGPT\u7684\u5e95\u5c42\u6280\u672f\u5373\u5c06\u6539\u53d8\u4e16\u754c<\/a><\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"has-small-font-size\">\u804a\u5929\u673a\u5668\u4eba\u53ea\u662f\u5f00\u59cb\uff0c\u201ctransformer\u201d\u5c06\u5e26\u6765\u4e00\u7cfb\u5217\u91cd\u8981\u5f97\u591a\u7684\u5e94\u7528\u3002\u6211\u4eec\u5c06\u89c1\u8bc1\u4eba\u5de5\u667a\u80fd\u5728\u73af\u4fdd\u3001\u533b\u7597\u3001\u81ea\u52a8\u9a7e\u9a76\u7b49\u8bf8\u591a\u9886\u57df\u5927\u653e\u5f02\u5f69\u3002<br>&#8230;&#8230;<br>\u5728\u5f53\u524d\u8fd9\u6ce2AI\u70ed\u6f6e\u4e2d\uff0c\u6211\u4eec\u5f80\u5f80\u628aAI\u7b49\u540c\u4e8e\u80fd\u5199\u3001\u80fd\u8bf4\u3001\u80fd\u7f16\u7a0b\u3001\u80fd\u62cd\u7167\u7684\u8ba1\u7b97\u673a\uff0c\u8fd9\u4e9b\u8868\u8fbe\u5f62\u5f0f\u5927\u90fd\u5efa\u7acb\u5728\u4e00\u79cd\u88ab\u79f0\u4e3a\u201ctransformer\u201d\u7684\u5e95\u5c42\u6280\u672f\u4e4b\u4e0a\uff0c\u800c\u8fd9\u79cd\u6280\u672f\u7684\u5e94\u7528\u8303\u56f4\u6bd4\u6211\u4eec\u6240\u60f3\u8c61\u7684\u8981\u5e7f\u6cdb\u5f97\u591a\u3002<br>\u8c37\u6b4c\u7684\u7814\u7a76\u4eba\u5458\u57282017\u5e74\u53d1\u8868\u7684<strong><a href=\"https:\/\/arxiv.org\/abs\/1706.03762\" target=\"_blank\" rel=\"noreferrer noopener\">\u4e00\u7bc7\u8bba\u6587\u4e2d\u9996\u6b21\u5ba3\u5e03\u4e86\u201ctransformer\u201d\u8fd9\u4e00\u6280\u672f<\/a><\/strong>\uff0c\u540e\u8005\u662f\u4e00\u79cdAI\u7b97\u6cd5\uff0c\u80fd\u8ba9\u8ba1\u7b97\u673a\u7406\u89e3\u4efb\u4f55\u6570\u636e\u96c6\uff08\u65e0\u8bba\u662f\u6587\u5b57\u3001\u9a7e\u9a76\u6570\u636e\uff0c\u8fd8\u662f\u86cb\u767d\u8d28\u4e2d\u7684\u6c28\u57fa\u9178\uff09\u7684\u5e95\u5c42\u7ed3\u6784\uff0c\u4ece\u800c\u81ea\u884c\u751f\u6210\u7c7b\u4f3c\u7684\u8f93\u51fa\u3002<br>&#8230;&#8230;<br>\u5bf9\u8bed\u5883\u7684\u6df1\u5ea6\u7406\u89e3\u4f7f\u57fa\u4e8e\u201ctransformer\u201d\u7684AI\u7cfb\u7edf\u4e0d\u4ec5\u80fd\u591f\u8bc6\u522b\u89c4\u5f8b\uff0c\u800c\u4e14\u80fd\u591f\u5bf9\u63a5\u4e0b\u6765\u53ef\u80fd\u51fa\u73b0\u7684\u60c5\u51b5\u4f5c\u51fa\u5408\u7406\u9884\u6d4b\u2014\u2014\u4ece\u800c\u81ea\u5df1\u751f\u6210\u65b0\u7684\u4fe1\u606f\u3002\u8fd9\u79cd\u80fd\u529b\u8fd8\u53ef\u4ee5\u5ef6\u4f38\u5230\u6587\u5b57\u4ee5\u5916\u7684\u6570\u636e\u3002<br>&#8230;&#8230;<br>\u4eca\u5e7410\u6708\uff0c\u9ebb\u7701\u7406\u5de5\u5b66\u9662(Massachusetts Institute of Technology)\u7684\u7814\u7a76\u4eba\u5458\u5ba3\u5e03\uff0c\u4ed6\u4eec\u6b63\u5728\u8bd5\u56fe\u91c7\u7528\u4e00\u9879\u57fa\u4e8e\u201ctransformer\u201d\u7684\u7c7b\u4f3c\u7b56\u7565\u6765\u521b\u9020\u673a\u5668\u4eba\u5927\u8111\uff0c\u8fd9\u79cd\u5927\u8111\u53ef\u4ee5\u4ece\u5404\u79cd\u6765\u6e90\u83b7\u53d6\u5927\u91cf\u6570\u636e\uff0c\u7136\u540e\u5728\u5404\u79cd\u73af\u5883\u4e2d\u7075\u6d3b\u8fd0\u884c\u3002\u4e3e\u4f8b\u6765\u8bf4\uff0c\u7814\u7a76\u4eba\u5458\u62cd\u6444\u4e86\u51e0\u6bb5\u666e\u901a\u673a\u68b0\u81c2\u628a\u72d7\u98df\u653e\u8fdb\u7897\u4e2d\u7684\u89c6\u9891\uff0c\u7136\u540e\u7528\u8fd9\u4e9b\u89c6\u9891\u6765\u8bad\u7ec3\u53e6\u4e00\u4e2a\u7531AI\u9a71\u52a8\u7684\u673a\u5668\u4eba\u5b8c\u6210\u7c7b\u4f3c\u4efb\u52a1\u3002<br>&#8230;&#8230;<br>\u4e0e\u673a\u5668\u4eba\u6280\u672f\u9886\u57df\u4e00\u6837\uff0c\u5f00\u53d1\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u7814\u7a76\u4eba\u5458\u548c\u516c\u53f8\u4e5f\u5728\u6478\u7d22\u5982\u4f55\u4f7f\u7528\u57fa\u4e8e\u201ctransformer\u201d\u7684\u201c\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u201d\uff0c\u8fd9\u79cd\u6a21\u578b\u4e0d\u4ec5\u80fd\u591f\u5904\u7406\u548c\u6574\u5408\u8bed\u8a00\uff0c\u800c\u4e14\u80fd\u591f\u5904\u7406\u548c\u6574\u5408\u56fe\u50cf\u3002<br>&#8230;&#8230;<\/p>\n<\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Transformer\u662f\u4e2a\u6846\uff0c\u5565\u90fd\u5f80\u91cc\u88c5\ud83d\ude00\uff0c\u53ea\u8981\u662f\u5e7f\u4e49\u7684\u65f6\u5e8f\u6570\u636e\u5c31\u884c\uff0c\u81ea\u7136\u8bed\u8a00\u3001\u97f3\u9891\u3001\u89c6\u9891\u3001\u4f20\u611f\u6570\u636e\uff0c\u4ee5\u53ca\u8fd9\u7bc7 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center 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