Theia Base Patch16 224 Cddsv

🚀 Theia

Theia是一款用于机器人学习的视觉基础模型，它提炼了多个针对不同视觉任务训练的现成视觉基础模型。Theia丰富的视觉表征对多样的视觉知识进行编码，从而提升下游机器人学习的效果。该模型在论文Theia: Distilling Diverse Vision Foundation Models for Robot Learning中被提出，论文中的实验表明，Theia在使用更少训练数据和更小模型规模的情况下，性能优于其教师模型和先前的机器人学习模型。演示视频可在项目页面查看。

The AI Institute

🚀 快速开始

Theia是一款用于机器人学习的视觉基础模型，它通过提炼多个视觉基础模型，为下游机器人学习提供了丰富的视觉表征，提升了学习效果。

✨ 主要特性

• 提炼多个现成的视觉基础模型，编码多样的视觉知识。
• 在使用更少训练数据和更小模型规模的情况下，性能优于教师模型和先前的机器人学习模型。

📚 详细文档

模型详情

theia-tiny-patch16-224-cddsv 模型以 DeiT-Tiny 为骨干网络，同时提炼了 CLIP、Depth Anything、DINOv2、Segment Anything 和 ViT。有关使用的更多信息，请访问 Theia 仓库。

引用

如果您在研究中使用了 Theia，请使用以下 BibTeX 条目进行引用：

@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},
}

使用说明

Theia 发布的预训练模型权重和代码可在 The AI Institute 许可证 下使用，完整许可证内容如下：

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.

📄 许可证

本项目使用 The AI Institute 许可证。许可证主要内容如下：

• 允许源代码和二进制形式的再分发和使用，但需保留版权声明、条件列表和免责声明。
• 修改版本需显著标记。
• 软件仅可用于非商业研究目的。