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- Published on
이산 액션 토큰의 한계를 넘어, 행동을 연속값으로 생성하는 두 흐름을 살펴봅니다. Diffusion Policy는 행동을 디노이징으로 생성하고, π0는 flow-matching으로 고주파 연속 액션을 만듭니다. 두 접근의 아이디어, 아키텍처, 제어 주파수, 강점과 한계를 정리합니다.- Published on
비전-언어-행동(VLA) 모델은 카메라 영상과 자연어 지시를 받아 로봇의 행동을 직접 출력합니다. RT-2, Open X-Embodiment, OpenVLA를 중심으로 VLA 패러다임의 아이디어, 아키텍처, 액션 토큰화, 강점과 한계를 정리합니다.