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“一脑一形”本身就是最难的部分。你把一个大脑练到能控制好单臂，让它知道怎么焊、怎么避障、怎么调整姿态，这80%以上的通用能力就已经解决了。我们判断，一旦攻克首个全量场景，跨本体的适配难度有望降低至10%左右。
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In short: in my mind, errors are divided into two categories. Expected errors (think “user entered invalid data”), which are part of normal operation, aren’t the developer’s fault, and should be handled. Unexpected errors (think “null pointer exception”) are the developer’s fault, likely indicate a bug, and are allowed to crash.