第一是泛化：料箱颜色、尺寸、新旧程度都不同，能不能用同一个模型稳定完成识别、抓取与搬运。第二是导航：搬起之后从A点到B点怎么走，路径规划、避障，途中被打断后能不能续做。第三是策略理解：比如“从面前100个箱子里搬走50个”，机器人能不能理解数量、以及该选择哪50个箱子，到目的地怎么码放，以及放下后要不要把物体取出等等，每个环节都存在问题。
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The problem gets worse in pipelines. When you chain multiple transforms — say, parse, transform, then serialize — each TransformStream has its own internal readable and writable buffers. If implementers follow the spec strictly, data cascades through these buffers in a push-oriented fashion: the source pushes to transform A, which pushes to transform B, which pushes to transform C, each accumulating data in intermediate buffers before the final consumer has even started pulling. With three transforms, you can have six internal buffers filling up simultaneously.
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the concept was well-known in the computer industry. As IBM designed the 2984,