Theia Base Patch16 224 Cdiv

🚀 Theia

Theia是一個用於機器人學習的視覺基礎模型，它提煉了多個針對不同視覺任務訓練的現成視覺基礎模型。Theia豐富的視覺表徵對多樣化的視覺知識進行編碼，從而提升下游機器人學習的效果。該模型在論文 Theia: Distilling Diverse Vision Foundation Models for Robot Learning 中被提出，論文中的實驗表明，Theia在使用更少訓練數據和更小模型規模的情況下，性能優於其教師模型和先前的機器人學習模型。演示視頻可在項目頁面查看。

The AI Institute

🚀 快速開始

Theia是一個用於機器人學習的視覺基礎模型，它整合了多個現成視覺基礎模型的優勢，為下游機器人學習任務提供了豐富的視覺表徵，有效提升了學習效果。相關模型權重和代碼可在特定許可下使用。

✨ 主要特性

• 提煉多個針對不同視覺任務訓練的現成視覺基礎模型。
• 豐富的視覺表徵編碼多樣化視覺知識，提升下游機器人學習效果。
• 在使用更少訓練數據和更小模型規模的情況下，性能優於其教師模型和先前的機器人學習模型。

📚 詳細文檔

模型詳情

theia-base-patch16-224-cdiv 模型以 DeiT-Base 為骨幹網絡，同時提煉了 CLIP、DINOv2 和 ViT 的優勢。如需瞭解更多使用信息，請訪問 Theia 倉庫。

引用說明

如果您在研究中使用了 Theia，請使用以下 BibTeX 條目進行引用：

@article{shang2024theia,
  author    = {Shang, Jinghuan and Schmeckpeper, Karl and May, Brandon B. and Minniti, Maria Vittoria and Kelestemur, Tarik and Watkins, David and Herlant, Laura},
  title     = {Theia: Distilling Diverse Vision Foundation Models for Robot Learning},
  journal   = {arXiv},
  year      = {2024},
}

使用許可

Theia 發佈的預訓練模型權重和代碼可在 The AI Institute License 許可下使用，完整許可內容如下：

Copyright (c) 2024 Boston Dynamics AI Institute LLC

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the copyright notice included
with the software, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the copyright notice, this
list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
3. Modified versions of the software must be conspicuously marked as such.
4. The software may only be used for non-commercial research purposes.
For profit enterprises may use the software, subject to this limitation.

THIS SOFTWARE IS PROVIDED BY THE AI INSTITUTE AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-
INFRINGEMENT,TITLE, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE AI INSTITUTE OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, PUNITIVE OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, DAMAGES ARISING OUT OF CLAIMS OF
INTELLECTUAL PROPERTY RIGHTS INFRINGEMENT; PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

📄 許可證

本項目使用 The AI Institute License 許可。具體內容如上述使用許可部分所示。