代码复现3—VLN-CE

想学习VLN相关的知识，并亲手搭建一套系统，该如何入手？

想学习VLN相关的知识，并亲手搭建一套系统，该如何入手？

VLM、VLA、VLN三者区别详解：从视觉理解到具身智能导航

在多模态大模型与具身智能快速发展的今天，VLM（视觉语言模型）、VLA（视觉语言动作模型）和VLN（视觉语言导航）常被混淆。VLM负责图文理解与跨模态对齐，输出语义描述或特征；VLA在VLM基础上扩展动作输出头，将感知直接映射为机器人可执行的控制信号；VLN则聚焦长程空间决策，要求智能体根据指令在真实或仿真环境中自主导航。理解三者的差异，是开展机器人操作、导航研究与工程落地的关键。从技术原理看，VLA和VLN都根植于VLM的视觉语言基础，但分别面向操作成功率与导航成功率（SR/SPL）等不同评价体系。在应用

2020ECVV《VLN-CE》阅读笔记

文章提出了连续环境中的VLN，并提供了基线模型，同时开展了消融实验，说明各个模态的重要性。

VLN-CE:使用栖息地的连续环境中的视觉和语言导航

超越导航图：连续环境中的视觉和语言导航 该存储库是“的正式实施。 [] 连续环境中的视觉和语言导航（VLN-CE）是一种指令指导的导航任务，具有众包指令，现实环境和不受约束的代理导航。 此仓库是与VLN-CE任务进行交互的起点，并提供了各种各样的基准代理，包括Seq2Seq模型和跨模态注意模型。 可以通过两种模仿学习方法来训练模型：教师强迫（行为克隆）和DAgger。 VLN-CE在人居平台之上实施。 设置 该项目是使用Python 3.6开发的。 如果您使用或 ，则可以创建一个环境： conda create -n vlnce python3.6 conda activate vlnce 栖息地和其他依赖 VLN-CE广泛使用了FAIR开发的人居模拟器和人居实验室。 您首先需要同时安装和 。 如果您使用的是conda，则可以通过以下方式轻松安装Habitat-Sim： conda

电子结构设计（EMD）十年知识总结

客官，你的面相是做结构设计的奇才~1. 材料选择【一出手的0.1s就败了】2. 钣金件设计【折来折去有啥难】3. 塑胶件设计【看着好复杂】4. 型材件设计【凭啥不让我设计】5. 电子结构（PCBA）设计【静电肿么要我背锅】6. 包装设计【要的就是金玉其外，败絮其中】7. 外观（工业）设计【好不好看，谁说了算】8. 标签设计【】9. 标准件选择【一个螺丝难倒英雄汉/提起螺丝，英雄气短】10. 计算仿...

【原创，解决CLodop安装后无法调用的问题】已经安装过CLodop，但是网页上仍然提示“clodop云打印服务(localhost本地)未安装启动，点击这里执行安装....”

在某些国内web网站中，需要安装一个名为“CLodop”的插件；但在实际使用过程中，即使安装了CLodop插件，网页试图调用它时还是会提示“clodop云打印服务(localhost本地)未安装启动，点击这里执行安装...”,且无法完成相关打印任务 本文属原创博客，分析了解决CLodop无法被调用的问题，并附上了原理和解决方法，本质上是和跨域请求以及CORS类安全组策略相关

2023最新版kali安装教程

2023最新版kali安装教程 打开kali官网(https://www.kali.org/)，下载kali镜像

从零完成 STM32 + ESP-01S + 云服务器 TCP 通信测试

STM32 通过 USART3 控制 ESP-01S 接入手机 2.4 GHz 热点，随后连接公网云服务器 8.152.204.86:9002。云端在同一 TCP 连接中连续收到 seq=1～6 的测试报文，5 个发送间隔平均约 5.4 秒，说明本次 TCP 上行链路已经打通。

基于STM32的智能快递柜设计（全部资料）

本文设计了一种基于STM32F407ZGT6的智能快递柜系统，通过模块化硬件设计和软件算法优化，实现了24小时无人值守、温湿度智能调控、远程监控等功能。系统集成OLED显示、GSM通信、舵机控制、超声波检测等模块，存取响应时间≤3秒，识别准确率达99.2%，较传统模式效率提升60%。测试表明系统运行稳定，用户满意度达92%，具有成本低、安全性高、可扩展性强等特点，为智慧物流末端配送提供了创新解决方案。未来可引入AI算法、太阳能供电等功能进一步优化系统性能。

DaVinci Developer和DaVinci Configurator：AutoSAR开发与配置工具

a. 组件创建：DaVinci Developer允许开发人员创建不同类型的AutoSAR软件组件，如应用软件组件（Application Software Component，SWC）、基础软件组件（Basic Software Component，BSWC）等。除了以上功能，DaVinci Developer和DaVinci Configurator还提供了丰富的文档和代码生成功能，以支持开发人员和配置人员进行文档编写、代码生成和文档浏览等任务。用户可以根据具体需求对软件组件进行灵活的配置。

【控制模块路径跟踪算法】PID控制算法实现路径跟踪（附C++代码）

认知有限，望大家多多包涵，有什么问题也希望能够与大家多交流，共同成长！本文先对PID控制算法实现路径跟踪–飞思卡尔的方法做个简单的介绍，具体内容后续再更，其他模块可以参考去我其他文章提示：以下是本篇文章正文内容PID属于无模型控制，调节三个环节的参数会产生什么影响根据控制对象的不同也会有很大差别PID形象解释小明接到这样一个任务：有一个水缸点漏水(而且漏水的速度还不一定固定不变)，要求水面高度维持在某个位置，一旦发现水面高度低于要求位置，就要往水缸里加水。

PCL 点云格式转换【2024最新版】

常见点云格式转化汇总包括txt、stl、csv、ply、obj、xyz、las等。博客长期更新，本文最近一次更新时间为：2024年9月14日，代码更新至PCL1.14.1版本。

老版QQ原生表情gif动态

这是老版的QQ表情，不过全是动态的的，Windows照片查看器是不会动的，可以右击用浏览器打开查看，再说一遍是老版的，只是分享给宁愿用老版也要动态的人。

深度学习工具包 DeepLearningToolbox

深度学习工具包Deprecation notice.-----This toolbox is outdated and no longer maintained.There are much better tools available for deep learning than this toolbox, e.g. [Theano](http://deeplearning.net/software/theano/), [torch](http://torch.ch/) or [tensorflow](http://www.tensorflow.org/)I would suggest you use one of the tools mentioned above rather than use this toolbox.Best, Rasmus.DeepLearnToolbox================A Matlab toolbox for Deep Learning.Deep Learning is a new subfield of machine learning that focuses on learning deep hierarchical models of data.It is inspired by the human brain&#39;s apparent deep (layered, hierarchical) architecture.A good overview of the theory of Deep Learning theory is[Learning Deep Architectures for AI](http://www.iro.umontreal.ca/~bengioy/papers/ftml_book.pdf)For a more informal introduction, see the following videos by Geoffrey Hinton and Andrew Ng.* [The Next Generation of Neural Networks](http://www.youtube.com/watch?v=AyzOUbkUf3M) (Hinton, 2007)* [Recent Developments in Deep Learning](http://www.youtube.com/watch?v=VdIURAu1-aU) (Hinton, 2010)* [Unsupervised Feature Learning and Deep Learning](http://www.youtube.com/watch?v=ZmNOAtZIgIk) (Ng, 2011)If you use this toolbox in your research please cite [Prediction as a candidate for learning deep hierarchical models of data](http://www2.imm.dtu.dk/pubdb/views/publication_details.php?id=6284)```@MASTERSTHESIS\{IMM2012-06284, author = "R. B. Palm", title = "Prediction as a candidate for learning deep hierarchical models of data", year = "2012",}```Contact: rasmusbergpalm at gmail dot comDirectories included in the toolbox-----------------------------------`NN/` - A library for Feedforward Backpropagation Neural Networks`CNN/` - A library for Convolutional Neural Networks`DBN/` - A library for Deep Belief Networks`SAE/` - A library for Stacked Auto-Encoders`CAE/` - A library for Convolutional Auto-Encoders`util/` - Utility functions used by the libraries`data/` - Data used by the examples`tests/` - unit tests to verify toolbox is workingFor references on each library check REFS.mdSetup-----1. Download.2. addpath(genpath(&#39;DeepLearnToolbox&#39;));Example: Deep Belief Network---------------------```matlabfunction test_example_DBNload mnist_uint8;train_x = double(train_x) / 255;test_x = double(test_x) / 255;train_y = double(train_y);test_y = double(test_y);%% ex1 train a 100 hidden unit RBM and visualize its weightsrand(&#39;state&#39;,0)dbn.sizes = [100];opts.numepochs = 1;opts.batchsize = 100;opts.momentum = 0;opts.alpha = 1;dbn = dbnsetup(dbn, train_x, opts);dbn = dbntrain(dbn, train_x, opts);figure; visualize(dbn.rbm{1}.W&#39;); % Visualize the RBM weights%% ex2 train a 100-100 hidden unit DBN and use its weights to initialize a NNrand(&#39;state&#39;,0)%train dbndbn.sizes = [100 100];opts.numepochs = 1;opts.batchsize = 100;opts.momentum = 0;opts.alpha = 1;dbn = dbnsetup(dbn, train_x, opts);dbn = dbntrain(dbn, train_x, opts);%unfold dbn to nnnn = dbnunfoldtonn(dbn, 10);nn.activation_function = &#39;sigm&#39;;%train nnopts.numepochs = 1;opts.batchsize = 100;nn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.10, &#39;Too big error&#39;);```Example: Stacked Auto-Encoders---------------------```matlabfunction test_example_SAEload mnist_uint8;train_x = double(train_x)/255;test_x = double(test_x)/255;train_y = double(train_y);test_y = double(test_y);%% ex1 train a 100 hidden unit SDAE and use it to initialize a FFNN% Setup and train a stacked denoising autoencoder (SDAE)rand(&#39;state&#39;,0)sae = saesetup([784 100]);sae.ae{1}.activation_function = &#39;sigm&#39;;sae.ae{1}.learningRate = 1;sae.ae{1}.inputZeroMaskedFraction = 0.5;opts.numepochs = 1;opts.batchsize = 100;sae = saetrain(sae, train_x, opts);visualize(sae.ae{1}.W{1}(:,2:end)&#39;)% Use the SDAE to initialize a FFNNnn = nnsetup([784 100 10]);nn.activation_function = &#39;sigm&#39;;nn.learningRate = 1;nn.W{1} = sae.ae{1}.W{1};% Train the FFNNopts.numepochs = 1;opts.batchsize = 100;nn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.16, &#39;Too big error&#39;);```Example: Convolutional Neural Nets---------------------```matlabfunction test_example_CNNload mnist_uint8;train_x = double(reshape(train_x&#39;,28,28,60000))/255;test_x = double(reshape(test_x&#39;,28,28,10000))/255;train_y = double(train_y&#39;);test_y = double(test_y&#39;);%% ex1 Train a 6c-2s-12c-2s Convolutional neural network %will run 1 epoch in about 200 second and get around 11% error. %With 100 epochs you&#39;ll get around 1.2% errorrand(&#39;state&#39;,0)cnn.layers = { struct(&#39;type&#39;, &#39;i&#39;) %input layer struct(&#39;type&#39;, &#39;c&#39;, &#39;outputmaps&#39;, 6, &#39;kernelsize&#39;, 5) %convolution layer struct(&#39;type&#39;, &#39;s&#39;, &#39;scale&#39;, 2) %sub sampling layer struct(&#39;type&#39;, &#39;c&#39;, &#39;outputmaps&#39;, 12, &#39;kernelsize&#39;, 5) %convolution layer struct(&#39;type&#39;, &#39;s&#39;, &#39;scale&#39;, 2) %subsampling layer};cnn = cnnsetup(cnn, train_x, train_y);opts.alpha = 1;opts.batchsize = 50;opts.numepochs = 1;cnn = cnntrain(cnn, train_x, train_y, opts);[er, bad] = cnntest(cnn, test_x, test_y);%plot mean squared errorfigure; plot(cnn.rL);assert(er<0.12, &#39;Too big error&#39;);```Example: Neural Networks---------------------```matlabfunction test_example_NNload mnist_uint8;train_x = double(train_x) / 255;test_x = double(test_x) / 255;train_y = double(train_y);test_y = double(test_y);% normalize[train_x, mu, sigma] = zscore(train_x);test_x = normalize(test_x, mu, sigma);%% ex1 vanilla neural netrand(&#39;state&#39;,0)nn = nnsetup([784 100 10]);opts.numepochs = 1; % Number of full sweeps through dataopts.batchsize = 100; % Take a mean gradient step over this many samples[nn, L] = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.08, &#39;Too big error&#39;);%% ex2 neural net with L2 weight decayrand(&#39;state&#39;,0)nn = nnsetup([784 100 10]);nn.weightPenaltyL2 = 1e-4; % L2 weight decayopts.numepochs = 1; % Number of full sweeps through dataopts.batchsize = 100; % Take a mean gradient step over this many samplesnn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, &#39;Too big error&#39;);%% ex3 neural net with dropoutrand(&#39;state&#39;,0)nn = nnsetup([784 100 10]);nn.dropoutFraction = 0.5; % Dropout fraction opts.numepochs = 1; % Number of full sweeps through dataopts.batchsize = 100; % Take a mean gradient step over this many samplesnn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, &#39;Too big error&#39;);%% ex4 neural net with sigmoid activation functionrand(&#39;state&#39;,0)nn = nnsetup([784 100 10]);nn.activation_function = &#39;sigm&#39;; % Sigmoid activation functionnn.learningRate = 1; % Sigm require a lower learning rateopts.numepochs = 1; % Number of full sweeps through dataopts.batchsize = 100; % Take a mean gradient step over this many samplesnn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, &#39;Too big error&#39;);%% ex5 plotting functionalityrand(&#39;state&#39;,0)nn = nnsetup([784 20 10]);opts.numepochs = 5; % Number of full sweeps through datann.output = &#39;softmax&#39;; % use softmax outputopts.batchsize = 1000; % Take a mean gradient step over this many samplesopts.plot = 1; % enable plottingnn = nntrain(nn, train_x, train_y, opts);[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, &#39;Too big error&#39;);%% ex6 neural net with sigmoid activation and plotting of validation and training error% split training data into training and validation datavx = train_x(1:10000,:);tx = train_x(10001:end,:);vy = train_y(1:10000,:);ty = train_y(10001:end,:);rand(&#39;state&#39;,0)nn = nnsetup([784 20 10]); nn.output = &#39;softmax&#39;; % use softmax outputopts.numepochs = 5; % Number of full sweeps through dataopts.batchsize = 1000; % Take a mean gradient step over this many samplesopts.plot = 1; % enable plottingnn = nntrain(nn, tx, ty, opts, vx, vy); % nntrain takes validation set as last two arguments (optionally)[er, bad] = nntest(nn, test_x, test_y);assert(er < 0.1, &#39;Too big error&#39;);```[](https://bitdeli.com/free "Bitdeli Badge")

怀旧版电脑GBC模拟器

再现原版GBC掌机的界面，电脑运行连游戏界面都一样大小，很怀旧，很真实，（英文版）强烈推荐，很小的文件，很难才找到的。

假人有限元模型

假人模型，车辆碰撞假人有限元模型，适合做乘员安全的研究者利用