Part 5/12:
Trunk: Serving as the core processing unit, the trunk analyzes this unified data to understand patterns and relationships.
Heads: These generate specific actions or commands tailored to individual robots, based on the processed information.
This modular setup means that while each robot can have its unique interface (stems and heads), they all share the common understanding maintained by the trunk. Consequently, a single pre-trained HPT model can be deployed across various robot types and tasks, significantly reducing the need for task-specific retraining.