| | \documentclass[table]{hfstyle/hf} |
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| | \usepackage[utf8]{inputenc} |
| | \usepackage[T1]{fontenc} |
| | \usepackage{graphicx} |
| | \usepackage{booktabs} |
| | \usepackage{url} |
| | \usepackage{lineno} |
| | \usepackage{enumitem} |
| | \usepackage{listings} |
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| | \usepackage{amsmath} |
| | \usepackage{amsfonts} |
| | \usepackage{amssymb} |
| | \usepackage{nicefrac} |
| | \usepackage{siunitx} |
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| | \usepackage{multirow} |
| | \usepackage{bigdelim} |
| | \usepackage{longtable} |
| | \usepackage{tabularray} |
| | \usepackage{wrapfig} |
| | \usepackage{caption} |
| | \usepackage{subcaption} |
| | \usepackage{makecell} |
| | \usepackage{adjustbox} |
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| | \usepackage[most]{tcolorbox} |
| | \usepackage[table,xcdraw,dvipsnames]{xcolor} |
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| | \usepackage{xspace} |
| | \usepackage{soul} |
| | \usepackage{csquotes} |
| | \usepackage{arydshln} |
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| | \usepackage{natbib} |
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| | \usepackage{todonotes} |
| | \usepackage[absolute]{textpos} |
| | \usepackage{pifont} |
| | \usepackage{bold-extra} |
| | \usepackage{pgf-pie} |
| | \usepackage{epigraph} |
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| | \usepackage{algorithm} |
| | \usepackage{algpseudocode} |
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| | \usepackage{hyperref} |
| | \definecolor{linkcolor}{RGB}{0, 0, 128} |
| | \hypersetup{ |
| | colorlinks = true, |
| | citecolor = linkcolor, |
| | linkcolor = linkcolor, |
| | urlcolor = linkcolor, |
| | } |
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| | \newcommand{\cmark}{\ding{51}} |
| | \newcommand{\xmark}{\ding{55}} |
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| | \setlist[itemize]{leftmargin=*,itemsep=0em,parsep=0.3em,topsep=0.3em} |
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| | \DeclareUnicodeCharacter{2212}{\ensuremath{-}} |
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| | \addtolength{\extrarowheight}{\belowrulesep} |
| | \aboverulesep=0pt |
| | \belowrulesep=0pt |
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| | \definecolor{maroon}{HTML}{F26035} |
| | \definecolor{yellow}{HTML}{FDBC42} |
| | \definecolor{lavender}{HTML}{734f96} |
| | \definecolor{darkergrey}{HTML}{444444} |
| | \definecolor{midgrey}{HTML}{e6eded} |
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| | \definecolor{neutralEight}{HTML}{343434} |
| | \definecolor{neutralFive}{HTML}{838383} |
| | \definecolor{neutralThree}{HTML}{bebebe} |
| | \definecolor{neutralOne}{HTML}{dedede} |
| | \definecolor{lightgrey}{HTML}{fafcfc} |
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| | \usepackage{tikz} |
| | \newcommand{\cblock}[3]{ |
| | \hspace{-1.5mm} |
| | \begin{tikzpicture} |
| | [ |
| | node/.style={square, minimum size=10mm, thick, line width=0pt}, |
| | ] |
| | \node[fill={rgb,255:red,#1;green,#2;blue,#3}] () [] {}; |
| | \end{tikzpicture} |
| | } |
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| | \newcommand{\norm}[1]{\left\lVert#1\right\rVert} |
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| | \definecolor{maroon}{HTML}{F26035} |
| | \definecolor{yellow}{HTML}{FDBC42} |
| | \definecolor{darkred}{RGB}{156, 39, 33} |
| | \definecolor{darkblue}{RGB}{31, 90, 153} |
| | \definecolor{forestgreen}{rgb}{0.13, 0.55, 0.13} |
| | \definecolor{olmoDarkBlue}{HTML}{012e59} |
| | \definecolor{olmoBlue}{HTML}{265ed4} |
| | \definecolor{olmoLightBlue}{HTML}{012e59} |
| | \definecolor{olmoTeal}{HTML}{00d5ff} |
| | \definecolor{olmoYellow}{HTML}{ffbb00} |
| | \definecolor{olmoOrange}{HTML}{ff9100} |
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| | \newcommand{\nol}[1]{{\color{purple} [nol]: #1}} |
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| | \definecolor{codegreen}{rgb}{0,0.6,0} |
| | \definecolor{codegray}{rgb}{0.5,0.5,0.5} |
| | \definecolor{codepurple}{rgb}{0.58,0,0.82} |
| | \definecolor{backcolour}{rgb}{0.95,0.95,0.92} |
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| | \lstdefinestyle{mycodestyle}{ |
| | backgroundcolor=\color{backcolour}, |
| | commentstyle=\color{codegreen}, |
| | keywordstyle=\color{magenta}, |
| | numberstyle=\tiny\color{codegray}, |
| | stringstyle=\color{codepurple}, |
| | basicstyle=\ttfamily\footnotesize, |
| | breakatwhitespace=false, |
| | breaklines=true, |
| | captionpos=b, |
| | keepspaces=true, |
| | numbers=left, |
| | numbersep=5pt, |
| | showspaces=false, |
| | showstringspaces=false, |
| | showtabs=false, |
| | tabsize=2 |
| | } |
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| | \lstset{style=mycodestyle} |
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| | \usepackage{setspace} |
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| | \usepackage{nicematrix} |
| | \newcolumntype{L}[1]{>{\raggedright\let\newline\\\arraybackslash\hspace{0pt}}m{#1}} |
| | \newcolumntype{C}[1]{>{\centering\let\newline\\\arraybackslash\hspace{0pt}}m{#1}} |
| | \newcolumntype{R}[1]{>{\raggedleft\let\newline\\\arraybackslash\hspace{0pt}}m{#1}} |
| | \newcolumntype{P}[1]{>{\centering\let\newline\\\arraybackslash\columncolor{ai2lightpink}}m{#1}} |
| | \addtolength{\extrarowheight}{\belowrulesep} |
| | \aboverulesep=0pt |
| | \belowrulesep=0pt |
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| | \newcommand{\orr}[1]{\textcolor{red}{[OZ:#1]}} |
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| | \tcbuselibrary{minted} |
| | \usemintedstyle{colorful} |
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| | \renewcommand{\theFancyVerbLine}{\color{olmoBlue}\footnotesize\arabic{FancyVerbLine}} |
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| | \setminted[python]{ |
| | linenos, |
| | breaklines, |
| | fontsize=\footnotesize, |
| | xleftmargin=2em |
| | } |
| | \crefname{tcb@cnt@pbox}{code}{code} |
| | \Crefname{tcb@cnt@pbox}{Code}{Code} |
| | \crefname{assumption}{assumption}{assumption} |
| | \Crefname{assumption}{Assumption}{Assumptions} |
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| | \newtcolorbox[auto counter]{pbox}[2][]{ |
| | breakable, |
| | colback=white, |
| | title=\textbf{Code~\thetcbcounter: #2}, |
| | #1,fonttitle=\sffamily, |
| | fontupper=\sffamily, |
| | arc=10pt, |
| | colframe=hf4, |
| | coltitle=hf3, |
| | colbacktitle=hf4, |
| | toptitle=0.25cm, |
| | bottomtitle=0.125cm |
| | } |
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| | \input{preamble} |
| | \input{math_commands} |
| | \input{handles} |
| | \input{snippets/code_specs} |
| |
|
| | \title{ |
| | Robot Learning: A Tutorial |
| | } |
| |
|
| | \newcommand{\huggingface}{\raisebox{-1.5pt}{\includegraphics[height=1.05em]{logos/hf.pdf}}\xspace} |
| | \newcommand{\coreContrib}{\raisebox{.33em}{\hspace{.05em}\includegraphics[height=.5em]{logos/core.png}}\xspace} |
| |
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| | \newcommand{\hf}{\raisebox{.28em}{\hspace{.05em}\includegraphics[height=1em]{logos/hf.pdf}}\xspace} |
| | \newcommand{\ensps}{\raisebox{.3em}{\hspace{.05em}\includegraphics[height=.65em]{logos/ensps_logo.pdf}}\xspace} |
| | \newcommand{\oxford}{\raisebox{.3em}{\hspace{.05em}\includegraphics[height=1em]{logos/oxford_logo.png}}\xspace} |
| |
|
| | \authorOne[]{Francesco Capuano \oxford \hf} |
| | \authorOne[]{Caroline Pascal\hf} |
| | \authorOne[]{Adil Zouitine\hf} |
| | \authorOne[]{Thomas Wolf\hf} |
| | \authorOne[]{Michel Aractingi\hf} |
| |
|
| | \contribution[]{\oxford University of Oxford, \hf Hugging Face} |
| |
|
| | \newcommand{\fix}{\marginpar{FIX}} |
| | \newcommand{\new}{\marginpar{NEW}} |
| |
|
| | \abstract{ |
| | \input{sections/00_abstract} |
| | } |
| |
|
| | \begin{document} |
| |
|
| |
|
| | \maketitle |
| |
|
| | \tableofcontents |
| | \input{sections/A_foreword.tex} |
| |
|
| | \newpage |
| | \input{sections/01_introduction} |
| |
|
| | \newpage |
| | \input{sections/02_classic_robotics} |
| |
|
| | \newpage |
| | \input{sections/03_reinforcement_learning.tex} |
| |
|
| | \newpage |
| | \input{sections/04_imitation_learning.tex} |
| |
|
| | \newpage |
| | \input{sections/05_foundation_models.tex} |
| |
|
| | \newpage |
| | \input{sections/07_conclusions.tex} |
| |
|
| | \bibliographystyle{hfstyle/plainnat} |
| | \bibliography{main} |
| |
|
| | \end{document} |
| |
|