{"id":75726,"date":"2024-09-05T00:11:07","date_gmt":"2024-09-04T20:41:07","guid":{"rendered":"https:\/\/nabfollower.com\/blog\/see-clearly-operate-confidently-self-supervised-approach-to-robotic-surgery-189i\/"},"modified":"2024-09-05T00:11:07","modified_gmt":"2024-09-04T20:41:07","slug":"see-clearly-operate-confidently-self-supervised-approach-to-robotic-surgery-189i","status":"publish","type":"post","link":"https:\/\/nabfollower.com\/blog\/see-clearly-operate-confidently-self-supervised-approach-to-robotic-surgery-189i\/","title":{"rendered":"\u0628\u0647 \u0648\u0636\u0648\u062d \u0628\u0628\u06cc\u0646\u06cc\u062f\u060c \u0628\u0627 \u0627\u0637\u0645\u06cc\u0646\u0627\u0646 \u0639\u0645\u0644 \u06a9\u0646\u06cc\u062f &#8211; \u0631\u0648\u06cc\u06a9\u0631\u062f \u062e\u0648\u062f \u0646\u0638\u0627\u0631\u062a\u06cc \u0628\u0631\u0627\u06cc \u062c\u0631\u0627\u062d\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9"},"content":{"rendered":"<p>Summarize this content to 400 words in Persian Lang \u0631\u0648\u0632 \u0647\u0641\u062a\u0645 \u062e\u0648\u0627\u0646\u062f\u0646\u060c \u062f\u0631\u06a9\u060c \u0648 \u0646\u0648\u0634\u062a\u0646 \u062f\u0631 \u0645\u0648\u0631\u062f \u0645\u0642\u0627\u0644\u0647 Arxiv.<\/p>\n<p>\u0645\u0642\u0627\u0644\u0647 \u0627\u0645\u0631\u0648\u0632 \u00abDARES: Depth Anything in Robotic Endoscopic Surgery with Self-supervised Vector-LoRA of the Foundation\u00bb \u0627\u0633\u062a.<br \/>\nhttps:\/\/arxiv.org\/html\/2408.17433v1#S4<\/p>\n<p>  \u062c\u0631\u0627\u062d\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u0648 \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642<\/p>\n<p>\u062c\u0631\u0627\u062d\u06cc \u0628\u0627 \u06a9\u0645\u06a9 \u0631\u0628\u0627\u062a\u06cc\u06a9 (RAS) \u0627\u0646\u0642\u0644\u0627\u0628\u06cc \u062f\u0631 \u0632\u0645\u06cc\u0646\u0647 \u067e\u0632\u0634\u06a9\u06cc \u0627\u06cc\u062c\u0627\u062f \u06a9\u0631\u062f\u0647 \u0627\u0633\u062a \u0648 \u062f\u0642\u062a \u0648 \u062d\u062f\u0627\u0642\u0644 \u062a\u0647\u0627\u062c\u0645 \u0631\u0627 \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc \u062f\u0647\u062f. <\/p>\n<p>\u0628\u0627 \u0627\u06cc\u0646 \u062d\u0627\u0644\u060c \u06cc\u06a9\u06cc \u0627\u0632 \u062c\u0646\u0628\u0647 \u0647\u0627\u06cc \u0645\u0647\u0645 RAS \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642 \u062f\u0642\u06cc\u0642 \u0628\u0631\u0627\u06cc \u0628\u0627\u0632\u0633\u0627\u0632\u06cc \u0648 \u062a\u062c\u0633\u0645 \u0633\u0647 \u0628\u0639\u062f\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0628\u0631\u0646\u0627\u0645\u0647 \u0631\u06cc\u0632\u06cc \u062c\u0631\u0627\u062d\u06cc\u060c \u0642\u0631\u0627\u0631 \u062f\u0627\u062f\u0646 \u0627\u0628\u0632\u0627\u0631 \u0648 \u0646\u062a\u06cc\u062c\u0647 \u06a9\u0644\u06cc \u062c\u0631\u0627\u062d\u06cc \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f. <\/p>\n<p>\u062f\u0631 \u062d\u0627\u0644\u06cc \u06a9\u0647 \u0645\u062f\u0644\u200c\u0647\u0627\u06cc \u0641\u0648\u0646\u062f\u0627\u0633\u06cc\u0648\u0646 \u0645\u0627\u0646\u0646\u062f \u0645\u062f\u0644\u200c\u0647\u0627\u06cc Depth Anything Models (DAM) \u0642\u0648\u0644 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f\u060c \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u0633\u062a\u0642\u06cc\u0645 \u0627\u0632 \u0622\u0646\u0647\u0627 \u062f\u0631 \u0633\u0646\u0627\u0631\u06cc\u0648\u0647\u0627\u06cc \u062c\u0631\u0627\u062d\u06cc \u0627\u063a\u0644\u0628 \u06a9\u0648\u062a\u0627\u0647\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<p>\u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u06cc\u06a9 \u0631\u0648\u06cc\u06a9\u0631\u062f \u062c\u062f\u06cc\u062f \u0628\u0647 \u0646\u0627\u0645 DARES (\u0639\u0645\u0642 \u0647\u0631 \u0686\u06cc\u0632\u06cc \u062f\u0631 \u062c\u0631\u0627\u062d\u06cc \u0622\u0646\u062f\u0648\u0633\u06a9\u0648\u067e\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9) \u0631\u0627 \u067e\u06cc\u0634\u0646\u0647\u0627\u062f \u0645\u06cc\u200c\u06a9\u0646\u062f \u06a9\u0647 \u0627\u0632 \u062a\u06a9\u0646\u06cc\u06a9 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062e\u0648\u062f \u0646\u0638\u0627\u0631\u062a\u06cc \u0628\u0647 \u0646\u0627\u0645 Vector-LoRA (\u062a\u0637\u0628\u06cc\u0642 \u0628\u0627 \u0631\u062a\u0628\u0647 \u067e\u0627\u06cc\u06cc\u0646 \u0628\u0631\u062f\u0627\u0631\u06cc) \u0628\u0631\u0627\u06cc DAM V2 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u06cc\u0646 \u0631\u0648\u06cc\u06a9\u0631\u062f \u0628\u0647 \u0645\u062d\u062f\u0648\u062f\u06cc\u062a\u200c\u0647\u0627\u06cc \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u062a\u0646\u0638\u06cc\u0645 \u062f\u0642\u06cc\u0642 \u0633\u0646\u062a\u06cc \u0645\u06cc\u200c\u067e\u0631\u062f\u0627\u0632\u062f\u060c \u06a9\u0647 \u0627\u063a\u0644\u0628 \u0645\u0646\u062c\u0631 \u0628\u0647 \u0641\u0631\u0627\u0645\u0648\u0634\u06cc \u0628\u06cc\u0634 \u0627\u0632 \u062d\u062f \u0648 \u0641\u0627\u062c\u0639\u0647\u200c\u0628\u0627\u0631 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<p>  \u0686\u0627\u0644\u0634 \u0647\u0627\u06cc \u0628\u0631\u0622\u0648\u0631\u062f \u0639\u0645\u0642 \u062f\u0631 RAS<\/p>\n<p>\u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0645\u062d\u062f\u0648\u062f: \u0628\u0647 \u062f\u0633\u062a \u0622\u0648\u0631\u062f\u0646 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0639\u0645\u0642 \u0628\u0631\u0686\u0633\u0628 \u0628\u0631\u0627\u06cc \u0622\u0645\u0648\u0632\u0634 \u062f\u0631 \u0645\u062d\u06cc\u0637 \u0647\u0627\u06cc \u062c\u0631\u0627\u062d\u06cc \u06cc\u06a9 \u0686\u0627\u0644\u0634 \u0645\u0647\u0645 \u0627\u0633\u062a.<\/p>\n<p>\u0641\u0631\u0627\u0645\u0648\u0634\u06cc \u0641\u0627\u062c\u0639\u0647 \u0628\u0627\u0631: \u062a\u0646\u0638\u06cc\u0645 \u062f\u0642\u06cc\u0642 \u0645\u062f\u0644 \u0647\u0627\u06cc \u067e\u0627\u06cc\u0647 \u0628\u0631 \u0631\u0648\u06cc \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u062c\u0631\u0627\u062d\u06cc \u0645\u062d\u062f\u0648\u062f \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0628\u0627\u0639\u062b \u0634\u0648\u062f \u0645\u062f\u0644 \u062f\u0627\u0646\u0634 \u0642\u0628\u0644\u06cc \u0631\u0627 \u0641\u0631\u0627\u0645\u0648\u0634 \u06a9\u0646\u062f.<\/p>\n<p>\u062a\u0648\u0632\u06cc\u0639 \u06cc\u06a9\u0646\u0648\u0627\u062e\u062a \u067e\u0627\u0631\u0627\u0645\u062a\u0631: \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0633\u0646\u062a\u06cc LoRA \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627 \u0631\u0627 \u0628\u0647 \u0637\u0648\u0631 \u06cc\u06a9\u0646\u0648\u0627\u062e\u062a \u062f\u0631 \u0644\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u0634\u0628\u06a9\u0647 \u062a\u0648\u0632\u06cc\u0639 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f \u0648 \u0633\u0644\u0633\u0644\u0647 \u0645\u0631\u0627\u062a\u0628 \u0648\u06cc\u0698\u06af\u06cc\u200c\u0647\u0627\u06cc \u0630\u0627\u062a\u06cc \u0631\u0627 \u0646\u0627\u062f\u06cc\u062f\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u0646\u062f.<\/p>\n<p>  \u062c\u0631\u0627\u062a: \u0631\u0648\u06cc\u06a9\u0631\u062f\u06cc \u0628\u062f\u06cc\u0639<\/p>\n<p>DARES \u0628\u0627 \u062a\u0631\u06a9\u06cc\u0628\u06cc \u0627\u0632 \u062a\u06a9\u0646\u06cc\u06a9 \u0647\u0627 \u0628\u0627 \u0627\u06cc\u0646 \u0686\u0627\u0644\u0634 \u0647\u0627 \u0645\u0642\u0627\u0628\u0644\u0647 \u0645\u06cc \u06a9\u0646\u062f:<\/p>\n<p>\u0648\u06a9\u062a\u0648\u0631-LoRA: \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0628\u06cc\u0634\u062a\u0631\u06cc \u0631\u0627 \u062f\u0631 \u0644\u0627\u06cc\u0647 \u0647\u0627\u06cc \u0642\u0628\u0644\u06cc \u0645\u062f\u0644 DAM V2 \u0627\u062f\u063a\u0627\u0645 \u0645\u06cc \u06a9\u0646\u062f \u0648 \u0628\u0647 \u062a\u062f\u0631\u06cc\u062c \u062a\u0639\u062f\u0627\u062f \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627 \u0631\u0627 \u062f\u0631 \u0644\u0627\u06cc\u0647 \u0647\u0627\u06cc \u0628\u0639\u062f\u06cc \u06a9\u0627\u0647\u0634 \u0645\u06cc \u062f\u0647\u062f. \u0627\u06cc\u0646 \u0627\u0645\u0631 \u0627\u0645\u06a9\u0627\u0646 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u06a9\u0627\u0631\u0622\u0645\u062f\u062a\u0631 \u0631\u0627 \u0641\u0631\u0627\u0647\u0645 \u0645\u06cc \u06a9\u0646\u062f\u060c \u0628\u0647 \u0648\u06cc\u0698\u0647 \u062f\u0631 \u0645\u0631\u0627\u062d\u0644 \u0627\u0648\u0644\u06cc\u0647 \u06a9\u0647 \u0648\u06cc\u0698\u06af\u06cc \u0647\u0627\u06cc \u06a9\u0644\u06cc \u0622\u0645\u0648\u062e\u062a\u0647 \u0645\u06cc \u0634\u0648\u0646\u062f.<\/p>\n<p>\u0627\u0641\u062a \u0628\u0627\u0632\u067e\u0631\u062f\u0627\u062e\u062a \u0645\u062c\u062f\u062f SSIM \u062f\u0631 \u0645\u0642\u06cc\u0627\u0633 \u0686\u0646\u062f\u06af\u0627\u0646\u0647: \u062f\u0631\u06a9 \u0639\u0645\u0642 \u0631\u0627 \u0628\u0627 \u062a\u0637\u0628\u06cc\u0642 \u0628\u0647\u062a\u0631 \u0645\u062f\u0644 \u0641\u0648\u0646\u062f\u0627\u0633\u06cc\u0648\u0646 \u0628\u0627 \u0646\u06cc\u0627\u0632\u0647\u0627\u06cc \u062e\u0627\u0635 \u0645\u062d\u06cc\u0637 \u062c\u0631\u0627\u062d\u06cc \u0628\u0647\u0628\u0648\u062f \u0645\u06cc \u0628\u062e\u0634\u062f. \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f\u0646 \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642 \u0631\u0627 \u0628\u0627 \u062f\u0631 \u0646\u0638\u0631 \u06af\u0631\u0641\u062a\u0646 \u062f\u0631\u062e\u0634\u0646\u062f\u06af\u06cc \u0648 \u0634\u0628\u0627\u0647\u062a \u0633\u0627\u062e\u062a\u0627\u0631\u06cc \u0628\u06cc\u0646 \u062a\u0635\u0627\u0648\u06cc\u0631 \u062f\u0631 \u0645\u0642\u06cc\u0627\u0633\u200c\u0647\u0627\u06cc \u0686\u0646\u062f\u06af\u0627\u0646\u0647 \u0627\u0641\u0632\u0627\u06cc\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f.<\/p>\n<p>  \u0627\u062c\u0631\u0627\u06cc \u0646\u0645\u0648\u0646\u0647<\/p>\n<p>\u0628\u06cc\u0627\u06cc\u06cc\u062f \u0633\u0639\u06cc \u06a9\u0646\u06cc\u0645 \u06cc\u06a9 \u0642\u0637\u0639\u0647 \u06a9\u062f \u0633\u0627\u062f\u0647 \u0631\u0627 \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0645\u0641\u0627\u0647\u06cc\u0645 \u0627\u0635\u0644\u06cc DARES \u0631\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f. <\/p>\n<p>\u062a\u0648\u062c\u0647 \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u06cc\u062f \u06a9\u0647 \u0627\u06cc\u0646 \u06cc\u06a9 \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u0633\u0627\u062f\u0647 \u0627\u0633\u062a.<\/p>\n<p>import torch<br \/>\nimport torch.nn as nn<\/p>\n<p># Define Vector-LoRA layer<br \/>\nclass VectorLoRA(nn.Module):<br \/>\n    def __init__(self, in_features, out_features, rank):<br \/>\n        super(VectorLoRA, self).__init__()<br \/>\n        self.A = nn.Parameter(torch.randn(in_features, rank))<br \/>\n        self.B = nn.Parameter(torch.randn(rank, out_features))<\/p>\n<p>    def forward(self, x):<br \/>\n        return torch.matmul(x, self.A) @ self.B<\/p>\n<p># Example usage<br \/>\nin_features = 512<br \/>\nout_features = 1024<br \/>\nrank = 256<br \/>\nvector_lora = VectorLoRA(in_features, out_features, rank)<br \/>\ninput_tensor = torch.randn(1, in_features)<br \/>\noutput_tensor = vector_lora(input_tensor)<\/p>\n<p>  \u0646\u062a\u0627\u06cc\u062c \u0648 \u0627\u0631\u0632\u06cc\u0627\u0628\u06cc<\/p>\n<p>\u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 DARES \u0631\u0627 \u0631\u0648\u06cc \u0645\u062c\u0645\u0648\u0639\u0647 \u062f\u0627\u062f\u0647 SCARED \u0627\u0631\u0632\u06cc\u0627\u0628\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0639\u0645\u0644\u06a9\u0631\u062f \u0628\u0631\u062a\u0631 \u0631\u0627 \u062f\u0631 \u0645\u0642\u0627\u06cc\u0633\u0647 \u0628\u0627 \u0633\u0627\u06cc\u0631 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc SOTA \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f. \u0646\u062a\u0627\u06cc\u062c \u067e\u06cc\u0634\u0631\u0641\u062a\u200c\u0647\u0627\u06cc \u0642\u0627\u0628\u0644\u200c\u062a\u0648\u062c\u0647\u06cc \u0631\u0627 \u062f\u0631 \u062f\u0642\u062a \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642 \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f\u060c \u0628\u0647 \u0648\u06cc\u0698\u0647 \u0632\u0645\u0627\u0646\u06cc \u06a9\u0647 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u0633\u062a\u0642\u06cc\u0645 \u0627\u0632 DAM V2 \u06cc\u0627 \u062a\u0646\u0638\u06cc\u0645 \u062f\u0642\u06cc\u0642 \u0622\u0646 \u0628\u062f\u0648\u0646 \u0633\u0627\u0632\u06af\u0627\u0631\u06cc Vector-LoRA \u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<p>Vector-LoRA \u0628\u0627 \u062a\u0637\u0628\u06cc\u0642 \u0631\u062a\u0628\u0647 \u0645\u0627\u062a\u0631\u06cc\u0633\u200c\u0647\u0627\u06cc \u0628\u0627 \u0631\u062a\u0628\u0647 \u067e\u0627\u06cc\u06cc\u0646 \u062f\u0631 \u0633\u0631\u0627\u0633\u0631 \u0644\u0627\u06cc\u0647\u200c\u0647\u0627\u060c \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u06a9\u0627\u0631\u0622\u0645\u062f\u062a\u0631\u06cc \u0631\u0627 \u0627\u0645\u06a9\u0627\u0646\u200c\u067e\u0630\u06cc\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u062f\u0631 \u062d\u0627\u0644\u06cc \u06a9\u0647 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f\u0646 \u0628\u0627\u0632\u067e\u0631\u062f\u0627\u062e\u062a \u0645\u062c\u062f\u062f SSIM \u062f\u0631 \u0645\u0642\u06cc\u0627\u0633 \u0686\u0646\u062f\u06af\u0627\u0646\u0647\u060c \u062f\u0631\u06a9 \u0639\u0645\u0642 \u0631\u0627 \u0628\u0647\u0628\u0648\u062f \u0645\u06cc\u200c\u0628\u062e\u0634\u062f. <\/p>\n<p>\u0627\u06cc\u0646 \u0631\u0648\u06cc\u06a9\u0631\u062f \u062f\u0627\u0631\u0627\u06cc \u067e\u062a\u0627\u0646\u0633\u06cc\u0644 \u0632\u06cc\u0627\u062f\u06cc \u0628\u0631\u0627\u06cc \u067e\u06cc\u0634\u0631\u0641\u062a \u0642\u0627\u0628\u0644\u06cc\u062a\u200c\u0647\u0627\u06cc RAS \u0628\u0627 \u0641\u0639\u0627\u0644 \u06a9\u0631\u062f\u0646 \u0628\u0627\u0632\u0633\u0627\u0632\u06cc \u0648 \u062a\u062c\u0633\u0645 \u0633\u0647 \u0628\u0639\u062f\u06cc \u062f\u0642\u06cc\u0642\u200c\u062a\u0631 \u0627\u0633\u062a \u06a9\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0645\u0646\u062c\u0631 \u0628\u0647 \u0628\u0631\u0646\u0627\u0645\u0647\u200c\u0631\u06cc\u0632\u06cc \u0648 \u0646\u062a\u0627\u06cc\u062c \u062c\u0631\u0627\u062d\u06cc \u0628\u0647\u062a\u0631 \u0634\u0648\u062f.<\/p>\n<p>\u0631\u0648\u0632 \u0647\u0641\u062a\u0645 \u062e\u0648\u0627\u0646\u062f\u0646\u060c \u062f\u0631\u06a9\u060c \u0648 \u0646\u0648\u0634\u062a\u0646 \u062f\u0631 \u0645\u0648\u0631\u062f \u0645\u0642\u0627\u0644\u0647 Arxiv.<\/p>\n<p>\u0645\u0642\u0627\u0644\u0647 \u0627\u0645\u0631\u0648\u0632 \u00abDARES: Depth Anything in Robotic Endoscopic Surgery with Self-supervised Vector-LoRA of the Foundation\u00bb \u0627\u0633\u062a.<br \/>\nhttps:\/\/arxiv.org\/html\/2408.17433v1#S4<\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_84 counter-hierarchy ez-toc-counter-rtl ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u0641\u0647\u0631\u0633\u062a \u0645\u0637\u0627\u0644\u0628<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/nabfollower.com\/blog\/see-clearly-operate-confidently-self-supervised-approach-to-robotic-surgery-189i\/#%D8%AC%D8%B1%D8%A7%D8%AD%DB%8C_%D8%B1%D8%A8%D8%A7%D8%AA%DB%8C%DA%A9_%D9%88_%D8%AA%D8%AE%D9%85%DB%8C%D9%86_%D8%B9%D9%85%D9%82\" >\u062c\u0631\u0627\u062d\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u0648 \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/nabfollower.com\/blog\/see-clearly-operate-confidently-self-supervised-approach-to-robotic-surgery-189i\/#%DA%86%D8%A7%D9%84%D8%B4_%D9%87%D8%A7%DB%8C_%D8%A8%D8%B1%D8%A2%D9%88%D8%B1%D8%AF_%D8%B9%D9%85%D9%82_%D8%AF%D8%B1_RAS\" >\u0686\u0627\u0644\u0634 \u0647\u0627\u06cc \u0628\u0631\u0622\u0648\u0631\u062f \u0639\u0645\u0642 \u062f\u0631 RAS<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/nabfollower.com\/blog\/see-clearly-operate-confidently-self-supervised-approach-to-robotic-surgery-189i\/#%D8%AC%D8%B1%D8%A7%D8%AA_%D8%B1%D9%88%DB%8C%DA%A9%D8%B1%D8%AF%DB%8C_%D8%A8%D8%AF%DB%8C%D8%B9\" >\u062c\u0631\u0627\u062a: \u0631\u0648\u06cc\u06a9\u0631\u062f\u06cc \u0628\u062f\u06cc\u0639<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/nabfollower.com\/blog\/see-clearly-operate-confidently-self-supervised-approach-to-robotic-surgery-189i\/#%D8%A7%D8%AC%D8%B1%D8%A7%DB%8C_%D9%86%D9%85%D9%88%D9%86%D9%87\" >\u0627\u062c\u0631\u0627\u06cc \u0646\u0645\u0648\u0646\u0647<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/nabfollower.com\/blog\/see-clearly-operate-confidently-self-supervised-approach-to-robotic-surgery-189i\/#%D9%86%D8%AA%D8%A7%DB%8C%D8%AC_%D9%88_%D8%A7%D8%B1%D8%B2%DB%8C%D8%A7%D8%A8%DB%8C\" >\u0646\u062a\u0627\u06cc\u062c \u0648 \u0627\u0631\u0632\u06cc\u0627\u0628\u06cc<\/a><\/li><\/ul><\/nav><\/div>\n<h2><span class=\"ez-toc-section\" id=\"%D8%AC%D8%B1%D8%A7%D8%AD%DB%8C_%D8%B1%D8%A8%D8%A7%D8%AA%DB%8C%DA%A9_%D9%88_%D8%AA%D8%AE%D9%85%DB%8C%D9%86_%D8%B9%D9%85%D9%82\"><\/span>\n<p>  \u062c\u0631\u0627\u062d\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u0648 \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>\u062c\u0631\u0627\u062d\u06cc \u0628\u0627 \u06a9\u0645\u06a9 \u0631\u0628\u0627\u062a\u06cc\u06a9 (RAS) \u0627\u0646\u0642\u0644\u0627\u0628\u06cc \u062f\u0631 \u0632\u0645\u06cc\u0646\u0647 \u067e\u0632\u0634\u06a9\u06cc \u0627\u06cc\u062c\u0627\u062f \u06a9\u0631\u062f\u0647 \u0627\u0633\u062a \u0648 \u062f\u0642\u062a \u0648 \u062d\u062f\u0627\u0642\u0644 \u062a\u0647\u0627\u062c\u0645 \u0631\u0627 \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc \u062f\u0647\u062f. <\/p>\n<p>\u0628\u0627 \u0627\u06cc\u0646 \u062d\u0627\u0644\u060c \u06cc\u06a9\u06cc \u0627\u0632 \u062c\u0646\u0628\u0647 \u0647\u0627\u06cc \u0645\u0647\u0645 RAS \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642 \u062f\u0642\u06cc\u0642 \u0628\u0631\u0627\u06cc \u0628\u0627\u0632\u0633\u0627\u0632\u06cc \u0648 \u062a\u062c\u0633\u0645 \u0633\u0647 \u0628\u0639\u062f\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0628\u0631\u0646\u0627\u0645\u0647 \u0631\u06cc\u0632\u06cc \u062c\u0631\u0627\u062d\u06cc\u060c \u0642\u0631\u0627\u0631 \u062f\u0627\u062f\u0646 \u0627\u0628\u0632\u0627\u0631 \u0648 \u0646\u062a\u06cc\u062c\u0647 \u06a9\u0644\u06cc \u062c\u0631\u0627\u062d\u06cc \u06a9\u0645\u06a9 \u0645\u06cc \u06a9\u0646\u062f. <\/p>\n<p>\u062f\u0631 \u062d\u0627\u0644\u06cc \u06a9\u0647 \u0645\u062f\u0644\u200c\u0647\u0627\u06cc \u0641\u0648\u0646\u062f\u0627\u0633\u06cc\u0648\u0646 \u0645\u0627\u0646\u0646\u062f \u0645\u062f\u0644\u200c\u0647\u0627\u06cc Depth Anything Models (DAM) \u0642\u0648\u0644 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f\u060c \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u0633\u062a\u0642\u06cc\u0645 \u0627\u0632 \u0622\u0646\u0647\u0627 \u062f\u0631 \u0633\u0646\u0627\u0631\u06cc\u0648\u0647\u0627\u06cc \u062c\u0631\u0627\u062d\u06cc \u0627\u063a\u0644\u0628 \u06a9\u0648\u062a\u0627\u0647\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<p>\u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u06cc\u06a9 \u0631\u0648\u06cc\u06a9\u0631\u062f \u062c\u062f\u06cc\u062f \u0628\u0647 \u0646\u0627\u0645 DARES (\u0639\u0645\u0642 \u0647\u0631 \u0686\u06cc\u0632\u06cc \u062f\u0631 \u062c\u0631\u0627\u062d\u06cc \u0622\u0646\u062f\u0648\u0633\u06a9\u0648\u067e\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9) \u0631\u0627 \u067e\u06cc\u0634\u0646\u0647\u0627\u062f \u0645\u06cc\u200c\u06a9\u0646\u062f \u06a9\u0647 \u0627\u0632 \u062a\u06a9\u0646\u06cc\u06a9 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u062e\u0648\u062f \u0646\u0638\u0627\u0631\u062a\u06cc \u0628\u0647 \u0646\u0627\u0645 Vector-LoRA (\u062a\u0637\u0628\u06cc\u0642 \u0628\u0627 \u0631\u062a\u0628\u0647 \u067e\u0627\u06cc\u06cc\u0646 \u0628\u0631\u062f\u0627\u0631\u06cc) \u0628\u0631\u0627\u06cc DAM V2 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u06cc\u0646 \u0631\u0648\u06cc\u06a9\u0631\u062f \u0628\u0647 \u0645\u062d\u062f\u0648\u062f\u06cc\u062a\u200c\u0647\u0627\u06cc \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u062a\u0646\u0638\u06cc\u0645 \u062f\u0642\u06cc\u0642 \u0633\u0646\u062a\u06cc \u0645\u06cc\u200c\u067e\u0631\u062f\u0627\u0632\u062f\u060c \u06a9\u0647 \u0627\u063a\u0644\u0628 \u0645\u0646\u062c\u0631 \u0628\u0647 \u0641\u0631\u0627\u0645\u0648\u0634\u06cc \u0628\u06cc\u0634 \u0627\u0632 \u062d\u062f \u0648 \u0641\u0627\u062c\u0639\u0647\u200c\u0628\u0627\u0631 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<h2><span class=\"ez-toc-section\" id=\"%DA%86%D8%A7%D9%84%D8%B4_%D9%87%D8%A7%DB%8C_%D8%A8%D8%B1%D8%A2%D9%88%D8%B1%D8%AF_%D8%B9%D9%85%D9%82_%D8%AF%D8%B1_RAS\"><\/span>\n<p>  \u0686\u0627\u0644\u0634 \u0647\u0627\u06cc \u0628\u0631\u0622\u0648\u0631\u062f \u0639\u0645\u0642 \u062f\u0631 RAS<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<ul>\n<li>\n<strong>\u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0645\u062d\u062f\u0648\u062f:<\/strong> \u0628\u0647 \u062f\u0633\u062a \u0622\u0648\u0631\u062f\u0646 \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u0639\u0645\u0642 \u0628\u0631\u0686\u0633\u0628 \u0628\u0631\u0627\u06cc \u0622\u0645\u0648\u0632\u0634 \u062f\u0631 \u0645\u062d\u06cc\u0637 \u0647\u0627\u06cc \u062c\u0631\u0627\u062d\u06cc \u06cc\u06a9 \u0686\u0627\u0644\u0634 \u0645\u0647\u0645 \u0627\u0633\u062a.<\/li>\n<li>\n<strong>\u0641\u0631\u0627\u0645\u0648\u0634\u06cc \u0641\u0627\u062c\u0639\u0647 \u0628\u0627\u0631:<\/strong> \u062a\u0646\u0638\u06cc\u0645 \u062f\u0642\u06cc\u0642 \u0645\u062f\u0644 \u0647\u0627\u06cc \u067e\u0627\u06cc\u0647 \u0628\u0631 \u0631\u0648\u06cc \u062f\u0627\u062f\u0647 \u0647\u0627\u06cc \u062c\u0631\u0627\u062d\u06cc \u0645\u062d\u062f\u0648\u062f \u0645\u06cc \u062a\u0648\u0627\u0646\u062f \u0628\u0627\u0639\u062b \u0634\u0648\u062f \u0645\u062f\u0644 \u062f\u0627\u0646\u0634 \u0642\u0628\u0644\u06cc \u0631\u0627 \u0641\u0631\u0627\u0645\u0648\u0634 \u06a9\u0646\u062f.<\/li>\n<li>\n<strong>\u062a\u0648\u0632\u06cc\u0639 \u06cc\u06a9\u0646\u0648\u0627\u062e\u062a \u067e\u0627\u0631\u0627\u0645\u062a\u0631:<\/strong> \u0631\u0648\u0634\u200c\u0647\u0627\u06cc \u0633\u0646\u062a\u06cc LoRA \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627 \u0631\u0627 \u0628\u0647 \u0637\u0648\u0631 \u06cc\u06a9\u0646\u0648\u0627\u062e\u062a \u062f\u0631 \u0644\u0627\u06cc\u0647\u200c\u0647\u0627\u06cc \u0634\u0628\u06a9\u0647 \u062a\u0648\u0632\u06cc\u0639 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f \u0648 \u0633\u0644\u0633\u0644\u0647 \u0645\u0631\u0627\u062a\u0628 \u0648\u06cc\u0698\u06af\u06cc\u200c\u0647\u0627\u06cc \u0630\u0627\u062a\u06cc \u0631\u0627 \u0646\u0627\u062f\u06cc\u062f\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u0646\u062f.<\/li>\n<\/ul>\n<h2><span class=\"ez-toc-section\" id=\"%D8%AC%D8%B1%D8%A7%D8%AA_%D8%B1%D9%88%DB%8C%DA%A9%D8%B1%D8%AF%DB%8C_%D8%A8%D8%AF%DB%8C%D8%B9\"><\/span>\n<p>  \u062c\u0631\u0627\u062a: \u0631\u0648\u06cc\u06a9\u0631\u062f\u06cc \u0628\u062f\u06cc\u0639<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>DARES \u0628\u0627 \u062a\u0631\u06a9\u06cc\u0628\u06cc \u0627\u0632 \u062a\u06a9\u0646\u06cc\u06a9 \u0647\u0627 \u0628\u0627 \u0627\u06cc\u0646 \u0686\u0627\u0644\u0634 \u0647\u0627 \u0645\u0642\u0627\u0628\u0644\u0647 \u0645\u06cc \u06a9\u0646\u062f:<\/p>\n<ol>\n<li>\n<strong>\u0648\u06a9\u062a\u0648\u0631-LoRA:<\/strong> \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0628\u06cc\u0634\u062a\u0631\u06cc \u0631\u0627 \u062f\u0631 \u0644\u0627\u06cc\u0647 \u0647\u0627\u06cc \u0642\u0628\u0644\u06cc \u0645\u062f\u0644 DAM V2 \u0627\u062f\u063a\u0627\u0645 \u0645\u06cc \u06a9\u0646\u062f \u0648 \u0628\u0647 \u062a\u062f\u0631\u06cc\u062c \u062a\u0639\u062f\u0627\u062f \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627 \u0631\u0627 \u062f\u0631 \u0644\u0627\u06cc\u0647 \u0647\u0627\u06cc \u0628\u0639\u062f\u06cc \u06a9\u0627\u0647\u0634 \u0645\u06cc \u062f\u0647\u062f. \u0627\u06cc\u0646 \u0627\u0645\u0631 \u0627\u0645\u06a9\u0627\u0646 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u06a9\u0627\u0631\u0622\u0645\u062f\u062a\u0631 \u0631\u0627 \u0641\u0631\u0627\u0647\u0645 \u0645\u06cc \u06a9\u0646\u062f\u060c \u0628\u0647 \u0648\u06cc\u0698\u0647 \u062f\u0631 \u0645\u0631\u0627\u062d\u0644 \u0627\u0648\u0644\u06cc\u0647 \u06a9\u0647 \u0648\u06cc\u0698\u06af\u06cc \u0647\u0627\u06cc \u06a9\u0644\u06cc \u0622\u0645\u0648\u062e\u062a\u0647 \u0645\u06cc \u0634\u0648\u0646\u062f.<\/li>\n<li>\n<strong>\u0627\u0641\u062a \u0628\u0627\u0632\u067e\u0631\u062f\u0627\u062e\u062a \u0645\u062c\u062f\u062f SSIM \u062f\u0631 \u0645\u0642\u06cc\u0627\u0633 \u0686\u0646\u062f\u06af\u0627\u0646\u0647:<\/strong> \u062f\u0631\u06a9 \u0639\u0645\u0642 \u0631\u0627 \u0628\u0627 \u062a\u0637\u0628\u06cc\u0642 \u0628\u0647\u062a\u0631 \u0645\u062f\u0644 \u0641\u0648\u0646\u062f\u0627\u0633\u06cc\u0648\u0646 \u0628\u0627 \u0646\u06cc\u0627\u0632\u0647\u0627\u06cc \u062e\u0627\u0635 \u0645\u062d\u06cc\u0637 \u062c\u0631\u0627\u062d\u06cc \u0628\u0647\u0628\u0648\u062f \u0645\u06cc \u0628\u062e\u0634\u062f. \u0627\u06cc\u0646 \u062a\u0627\u0628\u0639 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f\u0646 \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642 \u0631\u0627 \u0628\u0627 \u062f\u0631 \u0646\u0638\u0631 \u06af\u0631\u0641\u062a\u0646 \u062f\u0631\u062e\u0634\u0646\u062f\u06af\u06cc \u0648 \u0634\u0628\u0627\u0647\u062a \u0633\u0627\u062e\u062a\u0627\u0631\u06cc \u0628\u06cc\u0646 \u062a\u0635\u0627\u0648\u06cc\u0631 \u062f\u0631 \u0645\u0642\u06cc\u0627\u0633\u200c\u0647\u0627\u06cc \u0686\u0646\u062f\u06af\u0627\u0646\u0647 \u0627\u0641\u0632\u0627\u06cc\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f.<\/li>\n<\/ol>\n<h2><span class=\"ez-toc-section\" id=\"%D8%A7%D8%AC%D8%B1%D8%A7%DB%8C_%D9%86%D9%85%D9%88%D9%86%D9%87\"><\/span>\n<p>  \u0627\u062c\u0631\u0627\u06cc \u0646\u0645\u0648\u0646\u0647<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>\u0628\u06cc\u0627\u06cc\u06cc\u062f \u0633\u0639\u06cc \u06a9\u0646\u06cc\u0645 \u06cc\u06a9 \u0642\u0637\u0639\u0647 \u06a9\u062f \u0633\u0627\u062f\u0647 \u0631\u0627 \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u06a9\u0646\u06cc\u0645 \u06a9\u0647 \u0645\u0641\u0627\u0647\u06cc\u0645 \u0627\u0635\u0644\u06cc DARES \u0631\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc \u062f\u0647\u062f. <\/p>\n<blockquote>\n<p>\u062a\u0648\u062c\u0647 \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u06cc\u062f \u06a9\u0647 \u0627\u06cc\u0646 \u06cc\u06a9 \u067e\u06cc\u0627\u062f\u0647 \u0633\u0627\u0632\u06cc \u0633\u0627\u062f\u0647 \u0627\u0633\u062a.\n<\/p>\n<\/blockquote>\n<div class=\"highlight js-code-highlight\">\n<pre class=\"highlight python\"><code><span class=\"kn\">import<\/span> <span class=\"n\">torch<\/span>\n<span class=\"kn\">import<\/span> <span class=\"n\">torch.nn<\/span> <span class=\"k\">as<\/span> <span class=\"n\">nn<\/span>\n\n<span class=\"c1\"># Define Vector-LoRA layer\n<\/span><span class=\"k\">class<\/span> <span class=\"nc\">VectorLoRA<\/span><span class=\"p\">(<\/span><span class=\"n\">nn<\/span><span class=\"p\">.<\/span><span class=\"n\">Module<\/span><span class=\"p\">):<\/span>\n    <span class=\"k\">def<\/span> <span class=\"nf\">__init__<\/span><span class=\"p\">(<\/span><span class=\"n\">self<\/span><span class=\"p\">,<\/span> <span class=\"n\">in_features<\/span><span class=\"p\">,<\/span> <span class=\"n\">out_features<\/span><span class=\"p\">,<\/span> <span class=\"n\">rank<\/span><span class=\"p\">):<\/span>\n        <span class=\"nf\">super<\/span><span class=\"p\">(<\/span><span class=\"n\">VectorLoRA<\/span><span class=\"p\">,<\/span> <span class=\"n\">self<\/span><span class=\"p\">).<\/span><span class=\"nf\">__init__<\/span><span class=\"p\">()<\/span>\n        <span class=\"n\">self<\/span><span class=\"p\">.<\/span><span class=\"n\">A<\/span> <span class=\"o\">=<\/span> <span class=\"n\">nn<\/span><span class=\"p\">.<\/span><span class=\"nc\">Parameter<\/span><span class=\"p\">(<\/span><span class=\"n\">torch<\/span><span class=\"p\">.<\/span><span class=\"nf\">randn<\/span><span class=\"p\">(<\/span><span class=\"n\">in_features<\/span><span class=\"p\">,<\/span> <span class=\"n\">rank<\/span><span class=\"p\">))<\/span>\n        <span class=\"n\">self<\/span><span class=\"p\">.<\/span><span class=\"n\">B<\/span> <span class=\"o\">=<\/span> <span class=\"n\">nn<\/span><span class=\"p\">.<\/span><span class=\"nc\">Parameter<\/span><span class=\"p\">(<\/span><span class=\"n\">torch<\/span><span class=\"p\">.<\/span><span class=\"nf\">randn<\/span><span class=\"p\">(<\/span><span class=\"n\">rank<\/span><span class=\"p\">,<\/span> <span class=\"n\">out_features<\/span><span class=\"p\">))<\/span>\n\n    <span class=\"k\">def<\/span> <span class=\"nf\">forward<\/span><span class=\"p\">(<\/span><span class=\"n\">self<\/span><span class=\"p\">,<\/span> <span class=\"n\">x<\/span><span class=\"p\">):<\/span>\n        <span class=\"k\">return<\/span> <span class=\"n\">torch<\/span><span class=\"p\">.<\/span><span class=\"nf\">matmul<\/span><span class=\"p\">(<\/span><span class=\"n\">x<\/span><span class=\"p\">,<\/span> <span class=\"n\">self<\/span><span class=\"p\">.<\/span><span class=\"n\">A<\/span><span class=\"p\">)<\/span> <span class=\"o\">@<\/span> <span class=\"n\">self<\/span><span class=\"p\">.<\/span><span class=\"n\">B<\/span>\n\n<span class=\"c1\"># Example usage\n<\/span><span class=\"n\">in_features<\/span> <span class=\"o\">=<\/span> <span class=\"mi\">512<\/span>\n<span class=\"n\">out_features<\/span> <span class=\"o\">=<\/span> <span class=\"mi\">1024<\/span>\n<span class=\"n\">rank<\/span> <span class=\"o\">=<\/span> <span class=\"mi\">256<\/span>\n<span class=\"n\">vector_lora<\/span> <span class=\"o\">=<\/span> <span class=\"nc\">VectorLoRA<\/span><span class=\"p\">(<\/span><span class=\"n\">in_features<\/span><span class=\"p\">,<\/span> <span class=\"n\">out_features<\/span><span class=\"p\">,<\/span> <span class=\"n\">rank<\/span><span class=\"p\">)<\/span>\n<span class=\"n\">input_tensor<\/span> <span class=\"o\">=<\/span> <span class=\"n\">torch<\/span><span class=\"p\">.<\/span><span class=\"nf\">randn<\/span><span class=\"p\">(<\/span><span class=\"mi\">1<\/span><span class=\"p\">,<\/span> <span class=\"n\">in_features<\/span><span class=\"p\">)<\/span>\n<span class=\"n\">output_tensor<\/span> <span class=\"o\">=<\/span> <span class=\"nf\">vector_lora<\/span><span class=\"p\">(<\/span><span class=\"n\">input_tensor<\/span><span class=\"p\">)<\/span>\n<\/code><\/pre>\n<\/div>\n<h2><span class=\"ez-toc-section\" id=\"%D9%86%D8%AA%D8%A7%DB%8C%D8%AC_%D9%88_%D8%A7%D8%B1%D8%B2%DB%8C%D8%A7%D8%A8%DB%8C\"><\/span>\n<p>  \u0646\u062a\u0627\u06cc\u062c \u0648 \u0627\u0631\u0632\u06cc\u0627\u0628\u06cc<br \/>\n<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>\u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 DARES \u0631\u0627 \u0631\u0648\u06cc \u0645\u062c\u0645\u0648\u0639\u0647 \u062f\u0627\u062f\u0647 SCARED \u0627\u0631\u0632\u06cc\u0627\u0628\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0639\u0645\u0644\u06a9\u0631\u062f \u0628\u0631\u062a\u0631 \u0631\u0627 \u062f\u0631 \u0645\u0642\u0627\u06cc\u0633\u0647 \u0628\u0627 \u0633\u0627\u06cc\u0631 \u0631\u0648\u0634\u200c\u0647\u0627\u06cc SOTA \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f. \u0646\u062a\u0627\u06cc\u062c \u067e\u06cc\u0634\u0631\u0641\u062a\u200c\u0647\u0627\u06cc \u0642\u0627\u0628\u0644\u200c\u062a\u0648\u062c\u0647\u06cc \u0631\u0627 \u062f\u0631 \u062f\u0642\u062a \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642 \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f\u060c \u0628\u0647 \u0648\u06cc\u0698\u0647 \u0632\u0645\u0627\u0646\u06cc \u06a9\u0647 \u0628\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u0633\u062a\u0642\u06cc\u0645 \u0627\u0632 DAM V2 \u06cc\u0627 \u062a\u0646\u0638\u06cc\u0645 \u062f\u0642\u06cc\u0642 \u0622\u0646 \u0628\u062f\u0648\u0646 \u0633\u0627\u0632\u06af\u0627\u0631\u06cc Vector-LoRA \u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<p>Vector-LoRA \u0628\u0627 \u062a\u0637\u0628\u06cc\u0642 \u0631\u062a\u0628\u0647 \u0645\u0627\u062a\u0631\u06cc\u0633\u200c\u0647\u0627\u06cc \u0628\u0627 \u0631\u062a\u0628\u0647 \u067e\u0627\u06cc\u06cc\u0646 \u062f\u0631 \u0633\u0631\u0627\u0633\u0631 \u0644\u0627\u06cc\u0647\u200c\u0647\u0627\u060c \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u06a9\u0627\u0631\u0622\u0645\u062f\u062a\u0631\u06cc \u0631\u0627 \u0627\u0645\u06a9\u0627\u0646\u200c\u067e\u0630\u06cc\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u062f\u0631 \u062d\u0627\u0644\u06cc \u06a9\u0647 \u0627\u0632 \u062f\u0633\u062a \u062f\u0627\u062f\u0646 \u0628\u0627\u0632\u067e\u0631\u062f\u0627\u062e\u062a \u0645\u062c\u062f\u062f SSIM \u062f\u0631 \u0645\u0642\u06cc\u0627\u0633 \u0686\u0646\u062f\u06af\u0627\u0646\u0647\u060c \u062f\u0631\u06a9 \u0639\u0645\u0642 \u0631\u0627 \u0628\u0647\u0628\u0648\u062f \u0645\u06cc\u200c\u0628\u062e\u0634\u062f. <\/p>\n<p>\u0627\u06cc\u0646 \u0631\u0648\u06cc\u06a9\u0631\u062f \u062f\u0627\u0631\u0627\u06cc \u067e\u062a\u0627\u0646\u0633\u06cc\u0644 \u0632\u06cc\u0627\u062f\u06cc \u0628\u0631\u0627\u06cc \u067e\u06cc\u0634\u0631\u0641\u062a \u0642\u0627\u0628\u0644\u06cc\u062a\u200c\u0647\u0627\u06cc RAS \u0628\u0627 \u0641\u0639\u0627\u0644 \u06a9\u0631\u062f\u0646 \u0628\u0627\u0632\u0633\u0627\u0632\u06cc \u0648 \u062a\u062c\u0633\u0645 \u0633\u0647 \u0628\u0639\u062f\u06cc \u062f\u0642\u06cc\u0642\u200c\u062a\u0631 \u0627\u0633\u062a \u06a9\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0645\u0646\u062c\u0631 \u0628\u0647 \u0628\u0631\u0646\u0627\u0645\u0647\u200c\u0631\u06cc\u0632\u06cc \u0648 \u0646\u062a\u0627\u06cc\u062c \u062c\u0631\u0627\u062d\u06cc \u0628\u0647\u062a\u0631 \u0634\u0648\u062f.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Summarize this content to 400 words in Persian Lang \u0631\u0648\u0632 \u0647\u0641\u062a\u0645 \u062e\u0648\u0627\u0646\u062f\u0646\u060c \u062f\u0631\u06a9\u060c \u0648 \u0646\u0648\u0634\u062a\u0646 \u062f\u0631 \u0645\u0648\u0631\u062f \u0645\u0642\u0627\u0644\u0647 Arxiv. \u0645\u0642\u0627\u0644\u0647 \u0627\u0645\u0631\u0648\u0632 \u00abDARES: Depth Anything in Robotic Endoscopic Surgery with Self-supervised Vector-LoRA of the Foundation\u00bb \u0627\u0633\u062a. https:\/\/arxiv.org\/html\/2408.17433v1#S4 \u062c\u0631\u0627\u062d\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u0648 \u062a\u062e\u0645\u06cc\u0646 \u0639\u0645\u0642 \u062c\u0631\u0627\u062d\u06cc \u0628\u0627 \u06a9\u0645\u06a9 \u0631\u0628\u0627\u062a\u06cc\u06a9 (RAS) \u0627\u0646\u0642\u0644\u0627\u0628\u06cc \u062f\u0631 \u0632\u0645\u06cc\u0646\u0647 \u067e\u0632\u0634\u06a9\u06cc \u0627\u06cc\u062c\u0627\u062f \u06a9\u0631\u062f\u0647 \u0627\u0633\u062a \u0648 \u062f\u0642\u062a &hellip;<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"fifu_image_url":"","fifu_image_alt":"","footnotes":""},"categories":[339],"tags":[],"class_list":["post-75726","post","type-post","status-publish","format-standard","hentry","category-dev"],"_links":{"self":[{"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/posts\/75726","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/comments?post=75726"}],"version-history":[{"count":0,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/posts\/75726\/revisions"}],"wp:attachment":[{"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/media?parent=75726"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/categories?post=75726"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nabfollower.com\/blog\/wp-json\/wp\/v2\/tags?post=75726"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}