刘年丰：最本质的原因就是因为，我们现在具身模型主流使用的VLA，是沿袭的动态模型沿袭了大语言模型——对整张图片做全局信息映射。
Self-attention is required. The model must contain at least one self-attention layer. This is the defining feature of a transformer — without it, you have an MLP or RNN, not a transformer.
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Organ donation: 'Mum said we don't do it. So we don't'
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