问题在于，具身智能没有大模型那样的数据体量去覆盖所有光照变化。但换个思路，如果模型能关注局部信息——比如只锁定每瓶水的外观特征，而不关心背景、光线、桌子颜色——就能避免被全局变化干扰。这正是我们做“热力图”的出发点：让模型聚焦操作对象本身，而不是整个画面。
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，这一点在爱思助手下载最新版本中也有详细论述
For implementers, the locking model adds a fair amount of non-trivial internal bookkeeping. Every operation must check lock state, readers must be tracked, and the interplay between locks, cancellation, and error states creates a matrix of edge cases that must all be handled correctly.
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