{"id":109,"date":"2024-07-31T03:13:41","date_gmt":"2024-07-31T03:13:41","guid":{"rendered":"https:\/\/paskutinenaujiena.lt\/index.php\/2024\/07\/31\/mit-csail-moko-robotus-atlikti-darbus-naudojant-real-to-sim-to-real\/"},"modified":"2024-07-31T03:13:41","modified_gmt":"2024-07-31T03:13:41","slug":"mit-csail-moko-robotus-atlikti-darbus-naudojant-real-to-sim-to-real","status":"publish","type":"post","link":"https:\/\/paskutinenaujiena.lt\/index.php\/2024\/07\/31\/mit-csail-moko-robotus-atlikti-darbus-naudojant-real-to-sim-to-real\/","title":{"rendered":"MIT CSAIL moko robotus atlikti darbus naudojant \u201eReal-to-Sim-to-Real\u201c."},"content":{"rendered":"<p> <br \/>\n<\/p>\n<div>\n<table id=\"amazon-polly-audio-table\">\n<tr>\n<td id=\"amazon-polly-audio-tab\">\n<p>Klausykite \u0161io straipsnio<\/p>\n<div id=\"amazon-polly-by-tab\"><a href=\"https:\/\/aws.amazon.com\/polly\/\" target=\"_blank\" rel=\"noopener noreferrer\"><img decoding=\"async\" src=\"https:\/\/d12ee1u74lotna.cloudfront.net\/images\/Voiced_by_Amazon_Polly_EN.png\" width=\"100\" alt=\"\u012egarsino Amazon Polly\"\/><\/a><\/div>\n<\/td>\n<\/tr>\n<\/table>\n<p><iframe loading=\"lazy\" title=\"Precision Home Robotics w\/Real-to-Sim-to-Real\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/w-L90BhfDFo?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<p>Kad gal\u0117t\u0173 dirbti \u012fvairiomis realaus pasaulio s\u0105lygomis, robotai turi i\u0161mokti bendrosios politikos.  Tuo tikslu Masa\u010dusetso technologijos instituto kompiuteri\u0173 mokslo ir dirbtinio intelekto laboratorijos arba MIT CSAIL mokslininkai suk\u016br\u0117 model\u012f \u201eReal-to-Sim-to-Real\u201c.<\/p>\n<p>Daugelio k\u016br\u0117j\u0173 tikslas yra sukurti technin\u0119 ir programin\u0119 \u012frang\u0105, kad robotai gal\u0117t\u0173 dirbti visur bet kokiomis s\u0105lygomis.  Ta\u010diau robotas, kuris veikia vieno \u017emogaus namuose, neturi \u017einoti, kaip veikti visuose kaimyniniuose namuose.<\/p>\n<p>MIT CSAIL&#8217;s <a href=\"https:\/\/www.therobotreport.com\/tag\/mit-csail\/\" target=\"_blank\" rel=\"noopener\">komanda<\/a> nusprend\u0117 sutelkti d\u0117mes\u012f \u012f RialTo \u2013 metod\u0105, leid\u017eiant\u012f lengvai apmokyti robot\u0173 politik\u0105 konkre\u010dioms aplinkoms.  Tyr\u0117jai teig\u0117, kad tai pagerino politik\u0105 67 %, palyginti su mokymusi imituojant tiek pat demonstracij\u0173.<\/p>\n<p>Ji i\u0161mok\u0117 sistem\u0105 atlikti kasdienes u\u017eduotis, pavyzd\u017eiui, atidaryti skrudintuv\u0105, pad\u0117ti knyg\u0105 ant lentynos, pad\u0117ti l\u0117k\u0161t\u0119 ant lentynos, d\u0117ti puodel\u012f ant lentynos, atidaryti stal\u010di\u0173 ir atidaryti spintel\u0119.<\/p>\n<p>\u201eSiekiame, kad robotai veikt\u0173 i\u0161skirtinai gerai esant trikd\u017eiams, bla\u0161kymuisi, kintant ap\u0161vietimo s\u0105lygoms ir objekt\u0173 poz\u0173 pasikeitimams vienoje aplinkoje\u201c, \u2013 sak\u0117 Marcel Torne Villasevil, MIT CSAIL tyrim\u0173 asistentas Improbable AI laboratorijoje ir pagrindinis tyrimo autorius. naujas popierius apie darb\u0105.<\/p>\n<p>\u201eSi\u016blome metod\u0105, kaip sukurti skaitmeninius dvynius, naudojant naujausius kompiuterinio matymo pasiekimus\u201c, \u2013 paai\u0161kino jis.  \u201eTik savo telefonais kiekvienas gali u\u017efiksuoti skaitmenin\u0119 realaus pasaulio kopij\u0105, o robotai gali treniruotis imituotoje aplinkoje daug grei\u010diau nei realiame pasaulyje d\u0117l GPU lygiagretinimo.  M\u016bs\u0173 po\u017ei\u016bris pa\u0161alina didelio atlygio in\u017einerijos poreik\u012f, nes pasitelkiame kelet\u0105 realaus pasaulio demonstracij\u0173, kad b\u016bt\u0173 prad\u0117tas mokymo procesas.<\/p>\n<hr\/>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-568305\" src=\"https:\/\/www.therobotreport.com\/wp-content\/uploads\/2024\/07\/ROBO24_728x90_EarlyBirdEnding_Vs1.jpg\" alt=\"2024 m. \u201eRoboBusiness\u201c registracijos SVETAIN\u0116S Skelbimas atidarytas.\" width=\"728\" height=\"90\"\/>&#13;<br \/>\n<a href=\"https:\/\/www.robobusiness.com\/?utm_source=website&amp;utm_medium=editorial&amp;utm_campaign=June&amp;utm_id=Registration+oen\" target=\"_blank\" rel=\"noopener\">Registruokit\u0117s dabar ir sutaupykite<\/a>.<\/p>\n<hr\/>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_85 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Turinys:<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/paskutinenaujiena.lt\/index.php\/2024\/07\/31\/mit-csail-moko-robotus-atlikti-darbus-naudojant-real-to-sim-to-real\/#RialTo_kuria_politika_is_rekonstruotu_scenu\" >RialTo kuria politik\u0105 i\u0161 rekonstruot\u0173 scen\u0173<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/paskutinenaujiena.lt\/index.php\/2024\/07\/31\/mit-csail-moko-robotus-atlikti-darbus-naudojant-real-to-sim-to-real\/#Tyrejai_tikrina_modelio_veikima\" >Tyr\u0117jai tikrina modelio veikim\u0105<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/paskutinenaujiena.lt\/index.php\/2024\/07\/31\/mit-csail-moko-robotus-atlikti-darbus-naudojant-real-to-sim-to-real\/#MIT_CSAIL_tesia_robotu_mokymo_darbus\" >MIT CSAIL t\u0119sia robot\u0173 mokymo darbus<\/a><\/li><\/ul><\/nav><\/div>\n<h2><span class=\"ez-toc-section\" id=\"RialTo_kuria_politika_is_rekonstruotu_scenu\"><\/span>RialTo kuria politik\u0105 i\u0161 rekonstruot\u0173 scen\u0173<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>Torne vizija yra jaudinanti, ta\u010diau RialTo yra sud\u0117tingesn\u0117 nei tiesiog mojuoti telefonu ir bud\u0117ti nam\u0173 robotu.  Pirma, vartotojas naudoja savo \u012frengin\u012f, kad nuskaityt\u0173 pasirinkt\u0105 aplink\u0105 tokiais \u012frankiais kaip NeRFStudio, ARCode ar Polycam.<\/p>\n<p>Kai scena bus rekonstruota, vartotojai gali \u012fkelti j\u0105 \u012f RialTo s\u0105saj\u0105, kad atlikt\u0173 i\u0161samius koregavimus, prid\u0117t\u0173 reikiam\u0173 jung\u010di\u0173 prie robot\u0173 ir dar daugiau. <\/p>\n<p>Tada i\u0161 naujo apibr\u0117\u017eta scena eksportuojama ir \u012ftraukiama \u012f treniruokl\u012f.  \u010cia siekiama sukurti politik\u0105, pagr\u012fst\u0105 realaus pasaulio veiksmais ir steb\u0117jimais.  \u0160ios realaus pasaulio demonstracijos yra pakartotos <a href=\"https:\/\/www.therobotreport.com\/category\/software-simulation\/\" target=\"_blank\" rel=\"noopener\">modeliavimas<\/a>pateikdamas verting\u0173 duomen\u0173 mokymosi pastiprinimui (<a href=\"https:\/\/www.therobotreport.com\/tag\/reinforcement-learning\/\" target=\"_blank\" rel=\"noopener\">RL<\/a>). <\/p>\n<p>\u201eTai padeda sukurti stipri\u0105 politik\u0105, kuri gerai veikia tiek modeliuojant, tiek realiame pasaulyje\u201c, \u2013 sak\u0117 Torne.  &#8222;Patobulintas algoritmas, kuriame naudojamas sustiprinimo mokymasis, padeda vadovauti \u0161iam procesui, kad b\u016bt\u0173 u\u017etikrinta, jog politika b\u016bt\u0173 veiksminga, kai ji taikoma ne treniruoklyje.&#8221;<\/p>\n<h2><span class=\"ez-toc-section\" id=\"Tyrejai_tikrina_modelio_veikima\"><\/span>Tyr\u0117jai tikrina modelio veikim\u0105<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>Bandydama MIT CSAIL nustat\u0117, kad RialTo suk\u016br\u0117 stipri\u0105 politik\u0105 \u012fvairioms u\u017eduotims, nesvarbu, ar tai b\u016bt\u0173 kontroliuojama laboratorijos nustatymuose, ar labiau nenusp\u0117jamoje realaus pasaulio aplinkoje.  Atlikdami kiekvien\u0105 u\u017eduot\u012f, tyr\u0117jai i\u0161band\u0117 sistemos veikim\u0105 trimis vis sud\u0117tingesniais lygiais: atsitiktinai suskirstydami objekto pozas, prid\u0117dami reg\u0117jimo trukd\u017eius ir fizinius trikd\u017eius atliekant u\u017eduotis.<\/p>\n<p>\u201eNor\u0117dami \u012fdiegti robotus realiame pasaulyje, mokslininkai tradici\u0161kai r\u0117m\u0117si tokiais metodais, kaip imitacinis mokymasis i\u0161 ekspert\u0173 duomen\u0173, kurie gali b\u016bti brang\u016bs, arba sustiprintas mokymasis, kuris gali b\u016bti nesaugus\u201c, \u2013 sak\u0117 kompiuteri\u0173 moksl\u0173 daktar\u0117 Zoey Chen.  Va\u0161ingtono universiteto studentas, kuris nedalyvavo darbuose.  \u201eRialTo tiesiogiai sprend\u017eia tiek realaus pasaulio RL saugos apribojimus, tiek veiksmingus duomenimis pagr\u012fst\u0173 mokymosi metod\u0173 duomen\u0173 apribojimus, naudodamas nauj\u0105j\u012f \u201erealaus \u012f SIM \u012f real\u0173\u201c kanal\u0105.<\/p>\n<p>\u201e\u0160is naujas vamzdynas ne tik u\u017etikrina saug\u0173 ir patikim\u0105 mokym\u0105 simuliacijoje prie\u0161 \u012fdiegiant realiame pasaulyje, bet ir \u017eymiai pagerina duomen\u0173 rinkimo efektyvum\u0105\u201c, \u2013 prid\u016br\u0117 ji.  \u201eRialTo gali \u017eymiai padidinti robot\u0173 mokym\u0105si ir leid\u017eia robotams daug veiksmingiau prisitaikyti prie sud\u0117ting\u0173 realaus pasaulio scenarij\u0173.<\/p>\n<p>Suporuota su realaus pasaulio duomenimis, sistema pranoko tradicinius imitacinius mokymosi metodus, ypa\u010d tais atvejais, kai yra daug reg\u0117jimo bla\u0161kymo ar fizini\u0173 sutrikim\u0173, sak\u0117 mokslininkai.<\/p>\n<div id=\"attachment_580043\" style=\"width: 780px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/www.therobotreport.com\/wp-content\/uploads\/2024\/07\/RialTo-MIT-featured.jpg\"><img loading=\"lazy\" decoding=\"async\" aria-describedby=\"caption-attachment-580043\" class=\"wp-image-580043 size-full\" src=\"https:\/\/www.therobotreport.com\/wp-content\/uploads\/2024\/07\/RialTo-MIT-featured.jpg\" alt=\"MIT CSAIL RialTo sistema veikia ant roboto rankos, bandan\u010dio atidaryti spintel\u0119.\" width=\"770\" height=\"500\" srcset=\"https:\/\/www.therobotreport.com\/wp-content\/uploads\/2024\/07\/RialTo-MIT-featured.jpg 770w, https:\/\/www.therobotreport.com\/wp-content\/uploads\/2024\/07\/RialTo-MIT-featured-300x195.jpg 300w, https:\/\/www.therobotreport.com\/wp-content\/uploads\/2024\/07\/RialTo-MIT-featured-150x97.jpg 150w, https:\/\/www.therobotreport.com\/wp-content\/uploads\/2024\/07\/RialTo-MIT-featured-768x499.jpg 768w, https:\/\/www.therobotreport.com\/wp-content\/uploads\/2024\/07\/RialTo-MIT-featured-368x238.jpg 368w\" sizes=\"auto, (max-width: 770px) 100vw, 770px\"\/><\/a><\/p>\n<p id=\"caption-attachment-580043\" class=\"wp-caption-text\">MIT CSAIL RialTo sistema veikia ant roboto rankos, bandan\u010dio atidaryti spintel\u0119.  |  \u0160altinis: MIT CSAIL<\/p>\n<\/div>\n<h2><span class=\"ez-toc-section\" id=\"MIT_CSAIL_tesia_robotu_mokymo_darbus\"><\/span>MIT CSAIL t\u0119sia robot\u0173 mokymo darbus<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>Nors iki \u0161iol rezultatai yra daug \u017eadantys, RialTo n\u0117ra be apribojim\u0173.  \u0160iuo metu sistema u\u017etrunka tris dienas, kol ji bus visi\u0161kai apmokyta.  Kad tai paspartint\u0173, komanda tikisi patobulinti pagrindinius algoritmus naudodama pamat\u0173 modelius.<\/p>\n<p>Modeliavimo mokymas taip pat turi apribojim\u0173.  Deformuojam\u0173 objekt\u0173 ar skys\u010di\u0173 tiesioginis perk\u0117limas ir imitavimas vis dar yra sud\u0117tingas.  MIT CSAIL komanda teig\u0117, kad planuoja remtis ankstesn\u0117mis pastangomis, siekdama i\u0161saugoti atsparum\u0105 \u012fvairiems trikd\u017eiams ir gerinti modelio prisitaikym\u0105 prie naujos aplinkos. <\/p>\n<p>\u201eKitas m\u016bs\u0173 tikslas yra naudoti i\u0161 anksto parengtus modelius, pagreitinti mokymosi proces\u0105, suma\u017einti \u017emogaus ind\u0117l\u012f ir pasiekti platesnes apibendrinimo galimybes\u201c, &#8211; sak\u0117 Torne.<\/p>\n<p>Tornas para\u0161\u0117 <a href=\"https:\/\/real-to-sim-to-real.github.io\/RialTo\/\" target=\"_blank\" rel=\"noopener\">popierius<\/a> kartu su vyresniaisiais autoriais Abhishek Gupta, Va\u0161ingtono universiteto docentu ir <a href=\"https:\/\/people.csail.mit.edu\/pulkitag\/\" target=\"_blank\" rel=\"noopener\">Pulkit Agrawal<\/a>MIT Elektros in\u017einerijos ir kompiuteri\u0173 mokslo (EECS) katedros docentas.<\/p>\n<p>Taip pat priskiriami keturi kiti CSAIL nariai \u0161ioje laboratorijoje: EECS Ph.D.  studentas Anthony Simeonovas SM &#8217;22, mokslinis asistentas Zechu Li, bakalauro studentas April Chan ir Tao Chen Ph.D.  \u201e24.  \u0160\u012f darb\u0105 i\u0161 dalies par\u0117m\u0117 \u201eSony Research Award\u201c, JAV vyriausyb\u0117 ir <a href=\"https:\/\/www.therobotreport.com\/tag\/hyundai\/\" target=\"_blank\" rel=\"noopener\">Hyundai Motor Co.<\/a>padedant i\u0161 <a href=\"https:\/\/weirdlab.cs.washington.edu\/\" target=\"_blank\" rel=\"noopener\">KEISTAS<\/a> (Va\u0161ingtono \u012fk\u016bnytas intelektas ir robot\u0173 pl\u0117tra) Lab. <\/p>\n<p><!--<rdf:RDF xmlns:rdf=\"http:\/\/www.w3.org\/1999\/02\/22-rdf-syntax-ns#\"\n\t\t\txmlns:dc=\"http:\/\/purl.org\/dc\/elements\/1.1\/\"\n\t\t\txmlns:trackback=\"http:\/\/madskills.com\/public\/xml\/rss\/module\/trackback\/\">\n\t\t<rdf:Description rdf:about=\"https:\/\/www.therobotreport.com\/mit-csail-teaches-robots-to-do-chores-using-real-to-sim-to-real\/\"\n    dc:identifier=\"https:\/\/www.therobotreport.com\/mit-csail-teaches-robots-to-do-chores-using-real-to-sim-to-real\/\"\n    dc:title=\"MIT CSAIL teaches robots to do chores using Real-to-Sim-to-Real\"\n    trackback:ping=\"https:\/\/www.therobotreport.com\/mit-csail-teaches-robots-to-do-chores-using-real-to-sim-to-real\/trackback\/\" \/>\n<\/rdf:RDF>-->\n<\/div>\n<p><br \/>\n<br \/><a href=\"https:\/\/www.therobotreport.com\/mit-csail-teaches-robots-to-do-chores-using-real-to-sim-to-real\/\">Source link <\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Klausykite \u0161io straipsnio Kad gal\u0117t\u0173 dirbti \u012fvairiomis realaus pasaulio s\u0105lygomis, robotai turi i\u0161mokti bendrosios politikos. Tuo tikslu Masa\u010dusetso technologijos instituto kompiuteri\u0173 mokslo ir dirbtinio intelekto laboratorijos arba MIT CSAIL mokslininkai suk\u016br\u0117 model\u012f \u201eReal-to-Sim-to-Real\u201c. Daugelio k\u016br\u0117j\u0173 tikslas yra sukurti technin\u0119 ir programin\u0119 \u012frang\u0105, kad robotai gal\u0117t\u0173 dirbti visur bet kokiomis s\u0105lygomis. Ta\u010diau robotas, kuris veikia vieno [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":110,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"categories":[5],"tags":[],"class_list":["post-109","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-robotai-versle-namuose"],"aioseo_notices":[],"aioseo_head":"\n\t\t<!-- All in One SEO 4.9.9 - aioseo.com -->\n\t<meta name=\"description\" content=\"Paskutin\u0117 naujiena \u2013 tai svarbiausia ir naujausia informacija, kuri apib\u016bdina k\u0105 tik \u012fvykus\u012f ar besivystant\u012f \u012fvyk\u012f. \u0160ios naujienos yra itin reik\u0161mingos, nes jos leid\u017eia visuomenei sekti aktualijas beveik realiuoju laiku ir reaguoti \u012f jas. 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