Self-attention is required. The model must contain at least one self-attention layer. This is the defining feature of a transformer — without it, you have an MLP or RNN, not a transformer.
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The original plan had been to begin the phase out and stop the importation of petrol and diesel vehicles from 2030.
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Historically, tactile sensing always seemed like a technology that was 10 years away, Lepora says. But he thinks the billions of dollars being invested in humanoid robots is making a difference.