{"id":34159,"date":"2024-12-01T05:57:07","date_gmt":"2024-11-30T21:57:07","guid":{"rendered":"https:\/\/17aitech.com\/?p=34159"},"modified":"2024-12-01T05:57:07","modified_gmt":"2024-11-30T21:57:07","slug":"%e5%8c%97%e5%a4%a7%e6%8e%a8%e5%87%ba%e5%85%a8%e6%96%b0%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%a4%9a%e6%a8%a1%e6%80%81%e5%a4%a7%e6%a8%a1%e5%9e%8b%ef%bc%81%e9%9d%a2%e5%90%91%e9%80%9a%e7%94%a8%e5%92%8c%e6%9c%ba","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=34159","title":{"rendered":"\u5317\u5927\u63a8\u51fa\u5168\u65b0\u673a\u5668\u4eba\u591a\u6a21\u6001\u5927\u6a21\u578b\uff01\u9762\u5411\u901a\u7528\u548c\u673a\u5668\u4eba\u573a\u666f\u7684\u9ad8\u6548\u63a8\u7406\u548c\u64cd\u4f5c"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-06-20-5\" target=\"_blank\">\u5317\u5927\u63a8\u51fa\u5168\u65b0\u673a\u5668\u4eba\u591a\u6a21\u6001\u5927\u6a21\u578b\uff01\u9762\u5411\u901a\u7528\u548c\u673a\u5668\u4eba\u573a\u666f\u7684\u9ad8\u6548\u63a8\u7406\u548c\u64cd\u4f5c<\/a><\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-443f5af3af601b46cab8727e0743ac88.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-443f5af3af601b46cab8727e0743ac88.png\"><\/a><\/section>\n<blockquote data-author-name=\"\" data-content-utf8-length=\"166\" data-source-title=\"\" data-type=\"2\" data-url=\"\">\n<section>\n<section>AIxiv\u4e13\u680f\u662f<mark data-type=\"institutions\" data-id=\"9e96434f-5827-41e3-9b3c-36d39bc0d446\">\u673a\u5668\u4e4b\u5fc3<\/mark>\u53d1\u5e03\u5b66\u672f\u3001\u6280\u672f\u5185\u5bb9\u7684\u680f\u76ee\u3002\u8fc7\u53bb\u6570\u5e74\uff0c<mark data-type=\"institutions\" data-id=\"9e96434f-5827-41e3-9b3c-36d39bc0d446\">\u673a\u5668\u4e4b\u5fc3<\/mark>AIxiv\u4e13\u680f\u63a5\u6536\u62a5\u9053\u4e862000\u591a\u7bc7\u5185\u5bb9\uff0c\u8986\u76d6\u5168\u7403\u5404\u5927\u9ad8\u6821\u4e0e\u4f01\u4e1a\u7684\u9876\u7ea7\u5b9e\u9a8c\u5ba4\uff0c\u6709\u6548\u4fc3\u8fdb\u4e86\u5b66\u672f\u4ea4\u6d41\u4e0e\u4f20\u64ad\u3002\u5982\u679c\u60a8\u6709\u4f18\u79c0\u7684\u5de5\u4f5c\u60f3\u8981\u5206\u4eab\uff0c\u6b22\u8fce\u6295\u7a3f\u6216\u8005\u8054\u7cfb\u62a5\u9053\u3002\u6295\u7a3f\u90ae\u7bb1\uff1aliyazhou@jiqizhixin.com\uff1bzhaoyunfeng@jiqizhixin.com<\/section>\n<\/section>\n<\/blockquote>\n<section><\/section>\n<section><strong>\u672c\u6587\u7531 HMI Lab \u5b8c\u6210\u3002<strong>HMI Lab<\/strong>\u4f9d\u6258<mark data-type=\"institutions\" data-id=\"0fa34865-bbff-4cad-b557-49cf48b4542e\">\u5317\u4eac\u5927\u5b66<\/mark>\u89c6\u9891\u4e0e\u89c6\u89c9\u6280\u672f\u56fd\u5bb6\u5de5\u7a0b\u7814\u7a76\u4e2d\u5fc3\u548c\u591a\u5a92\u4f53\u4fe1\u606f\u5904\u7406\u5168\u56fd\u91cd\u70b9\u5b9e\u9a8c\u5ba4\u4e24\u5927\u5e73\u53f0\uff0c\u957f\u671f\u4ece\u4e8b<mark data-type=\"tech_methods\" data-id=\"1a0e9c5e-6502-4cd7-8683-6b5ca6c48be2\">\u673a\u5668\u5b66\u4e60<\/mark>\u3001<mark data-type=\"tech_methods\" data-id=\"4468592f-93e9-4575-be91-fd64c0c6afe0\">\u591a\u6a21\u6001\u5b66\u4e60<\/mark>\u548c\u5177\u8eab\u667a\u80fd\u65b9\u5411\u7684\u7814\u7a76\u3002\u672c\u5de5\u4f5c\u7b2c\u4e00\u4f5c\u8005\u4e3a\u5218\u5bb6\u94ed\u535a\u58eb\uff0c\u7814\u7a76\u65b9\u5411\u4e3a\u9762\u5411\u5f00\u653e\u4e16\u754c\u7684\u591a\u6a21\u6001\u5177\u8eab\u5927\u6a21\u578b\u4e0e\u6301\u7eed\u6027\u5b66\u4e60\u6280\u672f\u3002\u672c\u5de5\u4f5c\u7b2c\u4e8c\u4f5c\u8005\u4e3a\u5218\u68a6\u771f\uff0c\u7814\u7a76\u65b9\u5411\u4e3a\u89c6\u89c9\u57fa\u7840\u6a21\u578b\u4e0e\u673a\u5668\u4eba\u64cd\u7eb5\u3002\u6307\u5bfc\u8001\u5e08\u4e3a\u4ec9\u5c1a\u822a\uff0c<mark data-type=\"institutions\" data-id=\"0fa34865-bbff-4cad-b557-49cf48b4542e\">\u5317\u4eac\u5927\u5b66<\/mark>\u8ba1\u7b97\u673a\u5b66\u9662\u7814\u7a76\u5458\u3001\u535a\u58eb\u751f\u5bfc\u5e08\u3001\u535a\u96c5\u9752\u5e74\u5b66\u8005\u3002\u4ece\u4e8b\u591a\u6a21\u6001\u5927\u6a21\u578b\u4e0e\u5177\u8eab\u667a\u80fd\u7814\u7a76\uff0c\u53d6\u5f97\u4e86\u4e00\u7cfb\u5217\u91cd\u8981\u7814\u7a76\u6210\u679c\uff0c\u5728<mark data-type=\"concepts\" data-id=\"2d28aa9c-942d-471d-bd96-8bfefb7144e0\">\u4eba\u5de5\u667a\u80fd<\/mark>\u9876\u7ea7\u671f\u520a\u548c\u4f1a\u8bae\u4e0a\u53d1\u8868\u8bba\u6587 80 \u4f59\u7bc7\uff0c\u8c37\u6b4c\u5f15\u7528 9700 \u4f59\u6b21\u3002\u8363\u83b7\u4e16\u754c<mark data-type=\"concepts\" data-id=\"2d28aa9c-942d-471d-bd96-8bfefb7144e0\">\u4eba\u5de5\u667a\u80fd<\/mark>\u9876\u4f1a AAAI \u6700\u4f73\u8bba\u6587\u5956\uff0c\u4f4d\u5217\u4e16\u754c\u6700\u5927\u5b66\u672f\u6e90\u4ee3\u7801\u4ed3\u5e93 Trending Research \u7b2c\u4e00\u4f4d\u3002<\/strong><\/section>\n<p>\u4e3a\u4e86\u8d4b\u4e88\u673a\u5668\u4eba\u7aef\u5230\u7aef\u7684\u63a8\u7406\u548c\u64cd\u7eb5\u80fd\u529b\uff0c\u672c\u6587\u521b\u65b0\u6027\u5730\u5c06\u89c6\u89c9\u7f16\u7801\u5668\u4e0e\u9ad8\u6548\u7684\u72b6\u6001\u7a7a\u95f4<mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\u96c6\u6210\uff0c\u6784\u5efa\u4e86\u5168\u65b0\u7684 RoboMamba \u591a\u6a21\u6001\u5927\u6a21\u578b\uff0c\u4f7f\u5176\u5177\u5907\u89c6\u89c9\u5e38\u8bc6\u4efb\u52a1\u548c\u673a\u5668\u4eba\u76f8\u5173\u4efb\u52a1\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5e76\u90fd\u53d6\u5f97\u4e86\u5148\u8fdb\u7684\u6027\u80fd\u8868\u73b0\u3002\u540c\u65f6\uff0c\u672c\u6587\u53d1\u73b0\u5f53 RoboMamba \u5177\u5907\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\u540e\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u6781\u4f4e\u7684\u8bad\u7ec3\u6210\u672c\u4f7f\u5f97 RoboMamba \u638c\u63e1\u591a\u79cd\u64cd\u7eb5\u4f4d\u59ff\u9884\u6d4b\u80fd\u529b\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-4d7e3c29b06cf2edd5193d1dc6830a23.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-4d7e3c29b06cf2edd5193d1dc6830a23.png\"><\/a><\/p>\n<ul>\n<li>\n<p>\u8bba\u6587\uff1aRoboMamba: Multimodal State Space Model for Efficient Robot Reasoning and Manipulation<\/p>\n<\/li>\n<li>\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2406.04339<\/p>\n<\/li>\n<li>\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/sites.google.com\/view\/robomamba-web<\/p>\n<\/li>\n<li>\n<p>Github\uff1ahttps:\/\/github.com\/lmzpai\/roboMamba<\/p>\n<\/li>\n<\/ul>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-f3f5c28d632c633574adf07334084cf9.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-f3f5c28d632c633574adf07334084cf9.png\"><\/a><\/p>\n<section><em><sup>\u56fe 1. RoboMamba \u5177\u5907\u7684\u673a\u5668\u4eba\u76f8\u5173\u80fd\u529b\uff0c\u5176\u4e2d\u5305\u62ec\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u3001\u63d0\u793a\u6027\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u3001\u957f\u7a0b\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u3001\u53ef\u64cd\u7eb5\u6027\u5224\u65ad\u3001\u53ef\u64cd\u7eb5\u6027\u751f\u6210\u3001\u672a\u6765\u4e0e\u8fc7\u53bb\u9884\u6d4b\u3001\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u9884\u6d4b\u7b49\u3002<\/sup><\/em><\/section>\n<section><\/section>\n<section><strong>\u6458\u8981<\/strong><\/section>\n<section><\/section>\n<section>\u673a\u5668\u4eba\u64cd\u7eb5\u7684\u4e00\u4e2a\u57fa\u672c\u76ee\u6807\u662f\u4f7f\u6a21\u578b\u80fd\u591f\u7406\u89e3\u89c6\u89c9\u573a\u666f\u5e76\u6267\u884c\u52a8\u4f5c\u3002\u5c3d\u7ba1\u73b0\u6709\u7684\u673a\u5668\u4eba\u591a\u6a21\u6001\u5927\u6a21\u578b\uff08MLLM\uff09\u53ef\u4ee5\u5904\u7406\u4e00\u7cfb\u5217\u57fa\u672c\u4efb\u52a1\uff0c\u4f46\u5b83\u4eec\u4ecd\u7136\u9762\u4e34\u4e24\u4e2a\u65b9\u9762\u7684\u6311\u6218\uff1a1) \u5904\u7406\u590d\u6742\u4efb\u52a1\u7684\u63a8\u7406\u80fd\u529b\u4e0d\u8db3\uff1b2) MLLM \u5fae\u8c03\u548c\u63a8\u7406\u7684\u8ba1\u7b97\u6210\u672c\u8f83\u9ad8\u3002\u6700\u8fd1\u63d0\u51fa\u7684\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08SSM\uff09\uff0c\u5373 Mamba\uff0c\u5176\u5177\u5907\u7ebf\u6027\u63a8\u7406\u590d\u6742\u5ea6\u540c\u65f6\u5728\u5e8f\u5217\u5efa\u6a21\u4e2d\u5c55\u793a\u4e86\u4ee4\u4eba\u671f\u5f85\u7684\u80fd\u529b\u3002\u53d7\u6b64\u542f\u53d1\uff0c\u6211\u4eec\u63a8\u51fa\u4e86\u7aef\u5230\u7aef\u673a\u5668\u4eba MLLM\u2014RoboMamba\uff0c\u5b83\u5229\u7528 Mamba \u6a21\u578b\u63d0\u4f9b\u673a\u5668\u4eba\u63a8\u7406\u548c\u884c\u52a8\u80fd\u529b\uff0c\u540c\u65f6\u4fdd\u6301\u9ad8\u6548\u7684\u5fae\u8c03\u548c\u63a8\u7406\u80fd\u529b\u3002<\/section>\n<section><\/section>\n<section>\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u5c06\u89c6\u89c9\u7f16\u7801\u5668\u4e0e Mamba \u96c6\u6210\u5728\u4e00\u8d77\uff0c\u901a\u8fc7\u5171\u540c\u8bad\u7ec3\u5c06\u89c6\u89c9\u6570\u636e\u4e0e\u8bed\u8a00\u5d4c\u5165\u5bf9\u9f50\uff0c\u4f7f\u6211\u4eec\u7684\u6a21\u578b\u5177\u6709\u89c6\u89c9\u5e38\u8bc6\u548c\u4e0e\u673a\u5668\u4eba\u76f8\u5173\u7684\u63a8\u7406\u80fd\u529b\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u589e\u5f3a RoboMamba \u7684\u64cd\u7eb5\u4f4d\u59ff\u9884\u6d4b\u80fd\u529b\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u4e00\u79cd\u4ec5\u4f7f\u7528\u7b80\u5355 Policy Head \u7684\u9ad8\u6548\u5fae\u8c03\u7b56\u7565\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u4e00\u65e6 RoboMamba \u62e5\u6709\u8db3\u591f\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5b83\u53ef\u4ee5\u901a\u8fc7\u6781\u5c11\u7684\u5fae\u8c03<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff08\u6a21\u578b\u7684 0.1%\uff09\u548c\u5fae\u8c03\u65f6\u95f4\uff0820 \u5206\u949f\uff09\u6765\u638c\u63e1\u591a\u79cd\u64cd\u4f5c\u6280\u80fd\u3002\u5728\u5b9e\u9a8c\u4e2d\uff0cRoboMamba \u5728\u901a\u7528\u548c\u673a\u5668\u4eba\u8bc4\u4f30<mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u4e0a\u5c55\u793a\u4e86\u51fa\u8272\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5982\u56fe 2 \u6240\u793a\u3002\u540c\u65f6\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5728\u6a21\u62df\u548c\u73b0\u5b9e\u4e16\u754c\u5b9e\u9a8c\u4e2d\u5c55\u793a\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u64cd\u7eb5\u4f4d\u59ff\u9884\u6d4b\u80fd\u529b\uff0c\u5176\u63a8\u7406\u901f\u5ea6\u6bd4\u73b0\u6709\u7684\u673a\u5668\u4eba MLLMs \u5feb 7 \u500d\u3002<\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-92e10870078b3571528515b385dc180a.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-92e10870078b3571528515b385dc180a.png\"><\/a><\/p>\n<section><em><sup>\u56fe 2. \u6982\u8ff0\uff1aRobomamba \u662f\u4e00\u79cd\u9ad8\u6548\u7684\u673a\u5668\u4eba\u591a\u6a21\u6001\u5927\u6a21\u578b\uff0c\u540c\u65f6\u5177\u5907\u5f3a\u5927\u7684\u63a8\u7406\u548c\u64cd\u4f5c\u80fd\u529b\u3002RoboMamba-2.8B \u5728\u901a\u7528 MLLM <mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u4e0a\u5b9e\u73b0\u4e86\u4e0e\u5176\u4ed6 7B MLLM \u53ef\u7ade\u4e89\u7684\u63a8\u7406\u6027\u80fd\uff0c\u540c\u65f6\u5728\u673a\u5668\u4eba\u4efb\u52a1\u4e2d\u5c55\u793a\u4e86\u957f\u7a0b\u63a8\u7406\u80fd\u529b\u3002\u968f\u540e\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u6781\u5176\u9ad8\u6548\u7684\u5fae\u8c03\u7b56\u7565\uff0c\u4f7f RoboMamba \u5177\u5907\u64cd\u7eb5\u4f4d\u59ff\u9884\u6d4b\u80fd\u529b\uff0c\u53ea\u9700 20 \u5206\u949f\u5373\u53ef\u5fae\u8c03\u4e00\u4e2a\u7b80\u5355\u7684\u7b56\u7565\u5934\u3002<\/sup><\/em><\/section>\n<section><\/section>\n<section>\u672c\u6587\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u6211\u4eec\u521b\u65b0\u5730\u5c06\u89c6\u89c9\u7f16\u7801\u5668\u4e0e\u9ad8\u6548\u7684 Mamba <mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\u96c6\u6210\uff0c\u6784\u5efa\u4e86\u5168\u65b0\u7684\u7aef\u5230\u7aef\u673a\u5668\u4eba\u591a\u6a21\u6001\u5927\u6a21\u578b\uff0cRoboMamba\uff0c\u5176\u5177\u5907\u89c6\u89c9\u5e38\u8bc6\u548c\u673a\u5668\u4eba\u76f8\u5173\u7684\u5168\u9762\u63a8\u7406\u80fd\u529b\u3002<\/section>\n<\/li>\n<li>\n<section>\u4e3a\u4e86\u4f7f RoboMamba \u5177\u5907\u672b\u7aef\u6267\u884c\u5668\u64cd\u7eb5\u4f4d\u59ff\u9884\u6d4b\u80fd\u529b\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u4e00\u79cd\u4f7f\u7528\u7b80\u5355 Policy Head \u7684\u9ad8\u6548\u5fae\u8c03\u7b56\u7565\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u4e00\u65e6 RoboMamba \u8fbe\u5230\u8db3\u591f\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5b83\u53ef\u4ee5\u4ee5\u6781\u4f4e\u7684\u6210\u672c\u638c\u63e1\u64cd\u7eb5\u4f4d\u59ff\u9884\u6d4b\u6280\u80fd\u3002<\/section>\n<\/li>\n<li>\n<section>\u5728\u6211\u4eec\u7684\u5927\u91cf\u5b9e\u9a8c\u4e2d\uff0cRoboMamba \u5728\u901a\u7528\u548c\u673a\u5668\u4eba\u63a8\u7406\u8bc4\u4f30<mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u4e0a\u8868\u73b0\u51fa\u8272\uff0c\u5e76\u5728\u6a21\u62df\u5668\u548c\u771f\u5b9e\u4e16\u754c\u5b9e\u9a8c\u4e2d\u5c55\u793a\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u4f4d\u59ff\u9884\u6d4b\u7ed3\u679c\u3002<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section><strong>\u7814\u7a76\u80cc\u666f<\/strong><\/section>\n<section><\/section>\n<section>\u6570\u636e\u7684 scaling up \u663e\u8457\u63a8\u52a8\u4e86\u5927<mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\uff08LLMs\uff09\u7814\u7a76\u7684\u53d1\u5c55\uff0c\u5c55\u793a\u4e86\u5728<mark data-type=\"tech_tasks\" data-id=\"c8ff5114-6cbb-49ca-8a89-3ee2826be0b4\">\u81ea\u7136\u8bed\u8a00\u5904\u7406<\/mark>\uff08NLP\uff09\u4e2d\u63a8\u7406\u548c\u6cdb\u5316\u80fd\u529b\u7684\u663e\u8457\u8fdb\u6b65\u3002\u4e3a\u4e86\u7406\u89e3\u591a\u6a21\u6001\u4fe1\u606f\uff0c\u591a\u6a21\u6001\u5927<mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\uff08MLLMs\uff09\u5e94\u8fd0\u800c\u751f\uff0c\u8d4b\u4e88 LLMs \u89c6\u89c9\u6307\u4ee4\u8ddf\u968f\u548c\u573a\u666f\u7406\u89e3\u7684\u80fd\u529b\u3002\u53d7 MLLMs \u5728\u901a\u7528\u73af\u5883\u4e2d\u5f3a\u5927\u80fd\u529b\u7684\u542f\u53d1\uff0c\u8fd1\u671f\u7814\u7a76\u65e8\u5728\u5c06 MLLMs \u5e94\u7528\u4e8e\u673a\u5668\u4eba\u64cd\u4f5c\u9886\u57df\u3002\u4e00\u4e9b\u7814\u7a76\u5de5\u4f5c\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u7406\u89e3\u81ea\u7136\u8bed\u8a00\u548c\u89c6\u89c9\u573a\u666f\uff0c\u81ea\u52a8\u751f\u6210\u4efb\u52a1\u8ba1\u5212\u3002\u53e6\u4e00\u4e9b\u7814\u7a76\u5de5\u4f5c\u5219\u662f\u5229\u7528 MLLMs \u7684\u56fa\u6709\u80fd\u529b\uff0c\u4f7f\u5176\u5177\u5907\u9884\u6d4b\u64cd\u4f5c\u4f4d\u59ff\u7684\u80fd\u529b\u3002<\/section>\n<section><\/section>\n<section>\u673a\u5668\u4eba\u64cd\u4f5c\u6d89\u53ca\u5728\u52a8\u6001\u73af\u5883\u4e2d\u4e0e\u7269\u4f53\u4ea4\u4e92\uff0c\u9700\u8981\u7c7b\u4eba\u63a8\u7406\u80fd\u529b\u4ee5\u7406\u89e3\u573a\u666f\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u4ee5\u53ca\u5f3a\u5927\u7684\u64cd\u7eb5\u4f4d\u59ff\u9884\u6d4b\u80fd\u529b\u3002\u867d\u7136\u73b0\u6709\u57fa\u4e8e\u673a\u5668\u4eba MLLM \u53ef\u4ee5\u5904\u7406\u4e00\u7cfb\u5217\u57fa\u7840\u4efb\u52a1\uff0c\u4f46\u5b83\u4eec\u5728\u4e24\u4e2a\u65b9\u9762\u4ecd\u7136\u9762\u4e34\u6311\u6218\u3002<\/section>\n<section><\/section>\n<section>1\uff09\u9996\u5148\uff0c\u9884\u8bad\u7ec3\u7684 MLLMs \u5728\u673a\u5668\u4eba\u573a\u666f\u4e2d\u7684\u63a8\u7406\u80fd\u529b\u88ab\u53d1\u73b0\u662f\u4e0d\u8db3\u7684\u3002\u6b63\u5982\u56fe 2<\/section>\n<section>\u6240\u793a\uff0c\u5f53\u5fae\u8c03\u540e\u7684\u673a\u5668\u4eba MLLMs \u9047\u5230\u590d\u6742\u63a8\u7406\u4efb\u52a1\u65f6\uff0c\u8fd9\u79cd\u7f3a\u9677\u4f1a\u5e26\u6765\u6311\u6218\u3002<\/section>\n<section>2\uff09\u5176\u6b21\uff0c\u7531\u4e8e\u73b0\u6709 MLLM <mark data-type=\"tech_methods\" data-id=\"60bee267-89dc-4606-ba24-6b3f7d1f6189\">\u6ce8\u610f\u529b\u673a\u5236<\/mark>\u7684\u8ba1\u7b97\u590d\u6742\u5ea6\u8f83\u9ad8\uff0c\u5fae\u8c03 MLLMs \u5e76\u4f7f\u7528\u5b83\u4eec\u751f\u6210\u673a\u5668\u4eba\u64cd\u4f5c\u52a8\u4f5c\u4f1a\u4ea7\u751f\u66f4\u9ad8\u7684\u8ba1\u7b97\u6210\u672c\u3002<\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u5e73\u8861\u63a8\u7406\u80fd\u529b\u548c\u6548\u7387\uff0cNLP \u9886\u57df\u51fa\u73b0\u4e86\u51e0\u9879\u7814\u7a76\u3002\u5c24\u5176\u662f\uff0cMamba \u5f15\u5165\u4e86\u521b\u65b0\u7684\u9009\u62e9\u6027\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08SSM\uff09\uff0c\u5728\u4fdd\u6301\u7ebf\u6027\u590d\u6742\u5ea6\u7684\u540c\u65f6\uff0c\u4fc3\u8fdb\u4e86\u4e0a\u4e0b\u6587<mark data-type=\"concepts\" data-id=\"1ccbfcc7-1b56-44d6-b64b-729d855abcb1\">\u611f\u77e5<\/mark>\u7684\u63a8\u7406\u3002<\/section>\n<section><\/section>\n<section>\u53d7\u6b64\u542f\u53d1\uff0c\u6211\u4eec\u63d0\u51fa\u4e00\u4e2a\u95ee\u9898\uff1a\u201c\u6211\u4eec\u80fd\u5426\u5f00\u53d1\u51fa\u4e00\u79cd\u9ad8\u6548\u7684\u673a\u5668\u4eba MLLM\uff0c\u65e2\u5177\u5907\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\uff0c\u53c8\u80fd\u4ee5\u975e\u5e38\u7ecf\u6d4e\u7684\u65b9\u5f0f\u83b7\u5f97\u673a\u5668\u4eba\u64cd\u4f5c\u6280\u80fd\uff1f\u201d<\/section>\n<section><\/section>\n<section><strong>RoboMamba \u65b9\u6cd5<\/strong><\/section>\n<section><\/section>\n<section><strong>1. \u80cc\u666f\u77e5\u8bc6<\/strong><\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u95ee\u9898\u9648\u8ff0<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u5bf9\u4e8e\u673a\u5668\u4eba<mark data-type=\"tech_tasks\" data-id=\"0d8b9fe4-3e3e-45c8-b493-c66ded06d8de\">\u89c6\u89c9\u63a8\u7406<\/mark>\uff0c\u6211\u4eec\u7684 RoboMamba \u57fa\u4e8e\u56fe\u50cf<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-43ddd4d0956c8f6a044ad4a8c7ae14d2.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-43ddd4d0956c8f6a044ad4a8c7ae14d2.png\"><\/a>\u548c\u8bed\u8a00\u95ee\u9898<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-8128b22a5ca5a390483a2e6b8edbd9ee.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-8128b22a5ca5a390483a2e6b8edbd9ee.png\"><\/a>\u751f\u6210\u8bed\u8a00\u7b54\u6848<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-3e205dfa35a09276085285b23d34b375.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-3e205dfa35a09276085285b23d34b375.png\"><\/a>\uff0c\u8868\u793a\u4e3a<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-cce49b3dbc5ded7bf00ba288a40fef32.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-cce49b3dbc5ded7bf00ba288a40fef32.png\"><\/a>\u3002\u63a8\u7406\u7b54\u6848\u901a\u5e38\u5305\u542b\u5355\u72ec\u7684\u5b50\u4efb\u52a1<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-439c1734b8ef2c41ca517fa829743986.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-439c1734b8ef2c41ca517fa829743986.png\"><\/a>\u5bf9\u4e8e\u4e00\u4e2a\u95ee\u9898<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-acb8d72150288f3ebd0001fdf186ef8c.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-acb8d72150288f3ebd0001fdf186ef8c.png\"><\/a>\u3002\u4f8b\u5982\uff0c\u5f53\u9762\u5bf9\u4e00\u4e2a\u8ba1\u5212\u95ee\u9898\uff0c\u5982 \u201c\u5982\u4f55\u6536\u62fe\u684c\u5b50\uff1f\u201d\uff0c\u53cd\u5e94\u901a\u5e38\u5305\u62ec \u201c\u7b2c\u4e00\u6b65\uff1a\u6361\u8d77\u7269\u4f53\u201d \u548c \u201c\u7b2c\u4e8c\u6b65\uff1a\u628a\u7269\u4f53\u653e\u5165\u76d2\u5b50\u201d \u7b49\u6b65\u9aa4\u3002\u5bf9\u4e8e\u52a8\u4f5c\u9884\u6d4b\uff0c\u6211\u4eec\u5229\u7528\u4e00\u4e2a\u9ad8\u6548\u7b80\u5355\u7684\u7b56\u7565\u5934 \u03c0 \u6765\u9884\u6d4b\u52a8\u4f5c<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-54596fd2e58976aed3047558aa5e1ebc.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-54596fd2e58976aed3047558aa5e1ebc.png\"><\/a>\u3002\u6839\u636e\u4e4b\u524d\u7684\u5de5\u4f5c\uff0c\u6211\u4eec\u4f7f\u7528 6-DoF \u6765\u8868\u8fbe Franka Emika Panda \u673a\u68b0\u81c2\u7684\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u30026 \u81ea\u7531\u5ea6\u5305\u62ec\u672b\u7aef\u6267\u884c\u5668\u4f4d\u7f6e<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-a681b3428ed1ccbe361e5a4f52d85e92.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-a681b3428ed1ccbe361e5a4f52d85e92.png\"><\/a>\u8868\u793a\u4e09\u7ef4\u5750\u6807\uff0c\u65b9\u5411<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-5143c99715e7256b8817e54a4ddba3cc.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-5143c99715e7256b8817e54a4ddba3cc.png\"><\/a>\u8868\u793a\u65cb\u8f6c\u77e9\u9635\u3002\u5982\u679c\u8bad\u7ec3\u6293\u53d6\u4efb\u52a1\uff0c\u6211\u4eec\u5c06\u6293\u5939\u72b6\u6001\u6dfb\u52a0\u5230\u4f4d\u59ff\u9884\u6d4b\u4e2d\uff0c\u4ece\u800c\u5b9e\u73b0 7-DoF \u63a7\u5236\u3002<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u72b6\u6001\u7a7a\u95f4\u6a21\u578b (SSM)<\/section>\n<\/li>\n<\/ul>\n<section>\u672c\u6587\u9009\u62e9 Mamba \u4f5c\u4e3a\u5927<mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\u3002Mamba \u7531\u8bb8\u591a Mamba block \u7ec4\u6210\uff0c\u6700\u5173\u952e\u7684\u7ec4\u6210\u90e8\u5206\u662f SSM\u3002SSM \u662f\u57fa\u4e8e\u8fde\u7eed\u7cfb\u7edf\u8bbe\u8ba1\u7684\uff0c\u901a\u8fc7\u9690\u85cf\u72b6\u6001<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-078e1246cef09cd016248b1b8ee621bc.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-078e1246cef09cd016248b1b8ee621bc.png\"><\/a>\uff0c\u5c06 1D \u8f93\u5165\u5e8f\u5217<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-df2ad81a05d1ea267596a2b3a5a27da8.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-df2ad81a05d1ea267596a2b3a5a27da8.png\"><\/a>\u6295\u5f71\u5230 1D \u8f93\u51fa\u5e8f\u5217<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-d624d8902d604d0fcab76ab116a905a9.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-d624d8902d604d0fcab76ab116a905a9.png\"><\/a>\u3002SSM \u7531\u4e09\u4e2a\u5173\u952e<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u7ec4\u6210\uff1a\u72b6\u6001\u77e9\u9635<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-669f09b9f325dfa49a7338417c22c957.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-669f09b9f325dfa49a7338417c22c957.png\"><\/a>\uff0c\u8f93\u5165\u77e9\u9635<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-a6e967fb525c631f5056fc8e4291024a.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-a6e967fb525c631f5056fc8e4291024a.png\"><\/a>\uff0c\u8f93\u51fa\u77e9\u9635<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-254fa6f5d9cb7c1abebe550c228b8598.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-254fa6f5d9cb7c1abebe550c228b8598.png\"><\/a>\u3002SSM \u53ef\u4ee5\u8868\u793a\u4e3a:<\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-52151262919669a1af416db1f3ba79b1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-52151262919669a1af416db1f3ba79b1.png\"><\/a><\/p>\n<section>\u6700\u8fd1\u7684 SSM (\u4f8b\u5982\uff0cMamba) \u88ab\u6784\u9020\u4e3a\u4f7f\u7528\u65f6\u95f4\u5c3a\u5ea6<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u2206\u7684\u79bb\u6563\u8fde\u7eed\u7cfb\u7edf\u3002\u8be5<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u5c06\u8fde\u7eed<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark> A \u548c B \u8f6c\u6362\u4e3a\u79bb\u6563<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-abb321b7f98b216a7a20fe7eeb6fcf0b.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-abb321b7f98b216a7a20fe7eeb6fcf0b.png\"><\/a>\u548c<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-21e4074b9036fd8966f9df3ffb43ec7f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-21e4074b9036fd8966f9df3ffb43ec7f.png\"><\/a>\u3002\u79bb\u6563\u5316\u91c7\u7528\u96f6\u9636\u4fdd\u6301\u65b9\u6cd5\uff0c\u5b9a\u4e49\u5982\u4e0b:<\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-530deecdec69fb49e1af0e084ea0b07d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-530deecdec69fb49e1af0e084ea0b07d.png\"><\/a><\/p>\n<section>Mamba \u5f15\u5165\u4e86\u9009\u62e9\u6027\u626b\u63cf\u673a\u5236 (S6)\uff0c\u5728\u6bcf\u4e2a Mamba block \u4e2d\u5f62\u6210\u5176 SSM \u64cd\u4f5c\u3002SSM <mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u66f4\u65b0\u4e3a<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-10752540a7cdbc3f0e087b14dc0c2ee8.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-10752540a7cdbc3f0e087b14dc0c2ee8.png\"><\/a>\uff0c\u5b9e\u73b0\u66f4\u597d\u7684\u5185\u5bb9<mark data-type=\"concepts\" data-id=\"1ccbfcc7-1b56-44d6-b64b-729d855abcb1\">\u611f\u77e5<\/mark>\u63a8\u7406\u3002\u4e0b\u56fe 3 \u4e2d\u5c55\u793a\u4e86 Mamba block \u7684\u8be6\u7ec6\u4fe1\u606f\u3002<\/section>\n<section><\/section>\n<section><strong>2. RoboMamba \u6a21\u578b\u7ed3\u6784<\/strong><\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-1edceb9d929b6b9acdeedfab9ed7c219.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-1edceb9d929b6b9acdeedfab9ed7c219.png\"><\/a><\/p>\n<section><em><sup>\u56fe 3. <strong>Robomamba \u6574\u4f53\u6846\u67b6\u3002<\/strong>RoboMamba \u901a\u8fc7\u89c6\u89c9\u7f16\u7801\u5668\u548c\u6295\u5f71\u5c42\u5c06\u56fe\u50cf\u6295\u5f71\u5230 Mamba \u7684\u8bed\u8a00\u5d4c\u5165\u7a7a\u95f4\uff0c\u7136\u540e\u4e0e\u6587\u672c tokens \u8fde\u63a5\uff0c\u5e76\u8f93\u5165\u5230 Mamba \u6a21\u578b\u4e2d\u3002\u4e3a\u4e86\u9884\u6d4b\u672b\u7aef\u6267\u884c\u5668\u7684\u4f4d\u7f6e\u548c\u65b9\u5411\uff0c\u6211\u4eec\u5f15\u5165\u7b80\u5355\u7684 MLP \u7b56\u7565\u5934\uff0c\u5e76\u4f7f\u7528<mark data-type=\"concepts\" data-id=\"0a4cedf0-0ee0-4406-946e-2877950da91d\">\u6c60\u5316<\/mark>\u64cd\u4f5c\u4ece\u8bed\u8a00\u8f93\u51fa tokens \u751f\u6210\u7684\u5168\u5c40 token \u4f5c\u4e3a\u8f93\u5165\u3002<strong>RoboMamba \u7684\u8bad\u7ec3\u7b56\u7565\u3002<\/strong>\u4e3a\u4e86\u8fdb\u884c\u6a21\u578b\u8bad\u7ec3\uff0c\u6211\u4eec\u5c06\u8bad\u7ec3\u6d41\u7a0b\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\u3002\u5728 Stage 1\uff0c\u6211\u4eec\u5f15\u5165\u5bf9\u9f50\u9884\u8bad\u7ec3\uff08Stage 1.1\uff09\u548c\u6307\u4ee4\u5171\u540c\u8bad\u7ec3\uff08Stage 1.2\uff09\uff0c\u4ee5\u4f7f RoboMamba \u5177\u5907<mark data-type=\"tech_tasks\" data-id=\"71c0e89a-b00f-4c49-8172-eee5f37aa020\">\u5e38\u8bc6\u63a8\u7406<\/mark>\u548c\u673a\u5668\u4eba\u76f8\u5173\u7684\u63a8\u7406\u80fd\u529b\u3002\u5728 Stage 2\uff0c\u6211\u4eec\u63d0\u51fa\u673a\u5668\u4eba\u64cd\u4f5c\u5fae\u8c03\uff0c\u4ee5\u9ad8\u6548\u5730\u8d4b\u4e88 RoboMamba Low-Level \u64cd\u4f5c\u6280\u80fd\u3002<\/sup><\/em><\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u4f7f RoboMamba \u5177\u5907<mark data-type=\"tech_tasks\" data-id=\"0d8b9fe4-3e3e-45c8-b493-c66ded06d8de\">\u89c6\u89c9\u63a8\u7406<\/mark>\u548c\u64cd\u4f5c\u80fd\u529b\uff0c\u6211\u4eec\u4ece\u9884\u8bad\u7ec3\u7684\u5927<mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\uff08LLMs\uff09\u548c\u89c6\u89c9\u6a21\u578b\u5f00\u59cb\uff0c\u6784\u5efa\u4e86\u4e00\u4e2a\u9ad8\u6548\u7684 MLLM \u67b6\u6784\u3002\u5982\u4e0a\u56fe 3 \u6240\u793a\uff0c\u6211\u4eec\u5229\u7528 CLIP \u89c6\u89c9\u7f16\u7801\u5668\u4ece\u8f93\u5165\u56fe\u50cf I \u4e2d\u63d0\u53d6\u89c6\u89c9\u7279\u5f81<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-82759f727ae0f8103150d9218eace5ee.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-82759f727ae0f8103150d9218eace5ee.png\"><\/a>\uff0c\u5176\u4e2d B \u548c N \u5206\u522b\u8868\u793a batch size \u548c token \u6570\u3002\u4e0e\u6700\u8fd1\u7684 MLLMs \u4e0d\u540c\uff0c\u6211\u4eec\u4e0d\u91c7\u7528\u89c6\u89c9\u7f16\u7801\u5668\u96c6\u6210\u6280\u672f\uff0c\u8fd9\u79cd\u6280\u672f\u4f7f\u7528\u4e86\u591a\u79cd\u9aa8\u5e72\u7f51\u7edc\uff08\u5373 DINOv2\u3001CLIP-ConvNeXt\u3001CLIP-ViT\uff09\u8fdb\u884c\u56fe\u50cf\u7279\u5f81\u63d0\u53d6\u3002\u96c6\u6210\u5f15\u5165\u4e86\u989d\u5916\u7684\u8ba1\u7b97\u6210\u672c\uff0c\u4e25\u91cd\u5f71\u54cd\u4e86\u673a\u5668\u4eba MLLM \u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u5b9e\u7528\u6027\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u8bc1\u660e\u4e86\uff0c\u5f53\u9ad8\u8d28\u91cf\u6570\u636e\u548c\u9002\u5f53\u7684\u8bad\u7ec3\u7b56\u7565\u7ed3\u5408\u65f6\uff0c\u7b80\u5355\u4e14\u76f4\u63a5\u7684\u6a21\u578b\u8bbe\u8ba1\u4e5f\u80fd\u5b9e\u73b0\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\u3002\u4e3a\u4e86\u4f7f LLM \u7406\u89e3\u89c6\u89c9\u7279\u5f81\uff0c\u6211\u4eec\u4f7f\u7528\u591a\u5c42<mark data-type=\"concepts\" data-id=\"1ccbfcc7-1b56-44d6-b64b-729d855abcb1\">\u611f\u77e5<\/mark>\u5668\uff08MLP\uff09\u5c06\u89c6\u89c9\u7f16\u7801\u5668\u8fde\u63a5\u5230 LLM\u3002\u901a\u8fc7\u8fd9\u4e2a\u7b80\u5355\u7684\u8de8\u6a21\u6001\u8fde\u63a5\u5668\uff0cRoboMamba \u53ef\u4ee5\u5c06\u89c6\u89c9\u4fe1\u606f\u8f6c\u6362\u4e3a\u8bed\u8a00\u5d4c\u5165\u7a7a\u95f4<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-bc6299c52c05ac6213abbaa293c816f5.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-bc6299c52c05ac6213abbaa293c816f5.png\"><\/a>\u3002<\/section>\n<section><\/section>\n<section>\u8bf7\u6ce8\u610f\uff0c\u6a21\u578b\u6548\u7387\u5728\u673a\u5668\u4eba\u9886\u57df\u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u673a\u5668\u4eba\u9700\u8981\u6839\u636e\u4eba\u7c7b\u6307\u4ee4\u5feb\u901f\u54cd\u5e94\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u9009\u62e9 Mamba \u4f5c\u4e3a\u6211\u4eec\u7684\u5927<mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\uff0c\u56e0\u4e3a\u5b83\u5177\u6709\u4e0a\u4e0b\u6587<mark data-type=\"concepts\" data-id=\"1ccbfcc7-1b56-44d6-b64b-729d855abcb1\">\u611f\u77e5<\/mark>\u63a8\u7406\u80fd\u529b\u548c\u7ebf\u6027\u8ba1\u7b97\u590d\u6742\u5ea6\u3002\u6587\u672c\u63d0\u793a\u4f7f\u7528\u9884\u8bad\u7ec3\u7684\u5206\u8bcd\u5668\u7f16\u7801\u4e3a\u5d4c\u5165\u7a7a\u95f4<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-5cbec219174b4e0d92d985a502312be0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-5cbec219174b4e0d92d985a502312be0.png\"><\/a>\uff0c\u7136\u540e\u4e0e\u89c6\u89c9 token \u8fde\u63a5\uff08cat\uff09\u5e76\u8f93\u5165 Mamba\u3002\u6211\u4eec\u5229\u7528 Mamba \u5f3a\u5927\u7684\u5e8f\u5217\u5efa\u6a21\u6765\u7406\u89e3\u591a\u6a21\u6001\u4fe1\u606f\uff0c\u5e76\u4f7f\u7528\u6709\u6548\u7684\u8bad\u7ec3\u7b56\u7565\u6765\u5f00\u53d1<mark data-type=\"tech_tasks\" data-id=\"0d8b9fe4-3e3e-45c8-b493-c66ded06d8de\">\u89c6\u89c9\u63a8\u7406<\/mark>\u80fd\u529b\uff08\u5982\u4e0b\u4e00\u8282\u6240\u8ff0\uff09\u3002\u8f93\u51fa token (<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-32a0aef4954a56f9ca9f6002d6dc7db8.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-32a0aef4954a56f9ca9f6002d6dc7db8.png\"><\/a>) \u7136\u540e\u88ab\u89e3\u7801\uff08det\uff09\uff0c\u751f\u6210\u81ea\u7136\u8bed\u8a00\u54cd\u5e94<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-298810eb8b0b6512a74ecfb65ebb0962.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-298810eb8b0b6512a74ecfb65ebb0962.png\"><\/a>\u3002\u6a21\u578b\u7684\u524d\u5411\u8fc7\u7a0b\u53ef\u4ee5\u8868\u793a\u5982\u4e0b\uff1a<\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-51b94e1b8f23e826f0cd6b2a81dd2c7e.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-51b94e1b8f23e826f0cd6b2a81dd2c7e.png\"><\/a><\/p>\n<section><strong>3.RoboMamba \u901a\u7528\u89c6\u89c9\u548c\u673a\u5668\u4eba\u63a8\u7406\u80fd\u529b\u8bad\u7ec3<\/strong><\/section>\n<section><\/section>\n<section>\u5728\u6784\u5efa\u4e86 RoboMamba \u67b6\u6784\u540e\uff0c\u63a5\u4e0b\u6765\u7684\u76ee\u6807\u662f\u8bad\u7ec3\u6211\u4eec\u7684\u6a21\u578b\u5b66\u4e60\u901a\u7528<mark data-type=\"tech_tasks\" data-id=\"0d8b9fe4-3e3e-45c8-b493-c66ded06d8de\">\u89c6\u89c9\u63a8\u7406<\/mark>\u548c\u673a\u5668\u4eba\u76f8\u5173\u7684\u63a8\u7406\u80fd\u529b\u3002\u5982\u56fe 3 \u6240\u793a\uff0c\u6211\u4eec\u5c06 Stage 1 \u7684\u8bad\u7ec3\u5206\u4e3a\u4e24\u4e2a\u5b50\u6b65\u9aa4\uff1a\u5bf9\u9f50\u9884\u8bad\u7ec3\uff08Stage 1.1\uff09\u548c\u6307\u4ee4\u5171\u540c\u8bad\u7ec3\uff08Stage 1.2\uff09\u3002\u5177\u4f53\u800c\u8a00\uff0c\u4e0e\u4ee5\u5f80\u7684 MLLM \u8bad\u7ec3\u65b9\u6cd5\u4e0d\u540c\uff0c\u6211\u4eec\u7684\u76ee\u6807\u662f\u4f7f RoboMamba \u80fd\u591f\u7406\u89e3\u901a\u7528\u89c6\u89c9\u548c\u673a\u5668\u4eba\u573a\u666f\u3002\u9274\u4e8e\u673a\u5668\u4eba\u9886\u57df\u6d89\u53ca\u8bb8\u591a\u590d\u6742\u4e14\u65b0\u9896\u7684\u4efb\u52a1\uff0cRoboMamba \u9700\u8981\u66f4\u5f3a\u7684\u6cdb\u5316\u80fd\u529b\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u5728 Stage 1.2 \u9636\u6bb5\u91c7\u7528\u4e86\u5171\u540c\u8bad\u7ec3\u7b56\u7565\uff0c\u5c06\u9ad8\u5c42\u6b21\u7684\u673a\u5668\u4eba\u6570\u636e\uff08\u4f8b\u5982\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\uff09\u4e0e\u901a\u7528\u6307\u4ee4\u6570\u636e\u7ed3\u5408\u8d77\u6765\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u5171\u540c\u8bad\u7ec3\u4e0d\u4ec5\u53ef\u4ee5\u83b7\u5f97\u66f4\u5177\u6cdb\u5316\u80fd\u529b\u7684\u673a\u5668\u4eba\u7b56\u7565\uff0c\u8fd8\u7531\u4e8e\u673a\u5668\u4eba\u6570\u636e\u4e2d\u7684\u590d\u6742\u63a8\u7406\u4efb\u52a1\u800c\u5e26\u6765\u7684\u901a\u7528\u573a\u666f\u63a8\u7406\u80fd\u529b\u589e\u5f3a\u3002\u8bad\u7ec3\u7ec6\u8282\u5982\u4e0b\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>Stage 1.1\uff1a\u5bf9\u9f50\u9884\u8bad\u7ec3\u3002<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u6211\u4eec\u91c7\u7528 LLaVA \u8fc7\u6ee4\u7684 558k \u56fe\u50cf &#8211; \u6587\u672c\u914d\u5bf9\u6570\u636e\u96c6\u8fdb\u884c\u8de8\u6a21\u6001\u5bf9\u9f50\u3002\u5982\u56fe 3 \u6240\u793a\uff0c\u6211\u4eec\u51bb\u7ed3 CLIP \u7f16\u7801\u5668\u548c Mamba <mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\u7684<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff0c\u4ec5\u66f4\u65b0\u6295\u5f71\u5c42\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u6211\u4eec\u53ef\u4ee5\u5c06\u56fe\u50cf\u7279\u5f81\u4e0e\u9884\u8bad\u7ec3\u7684 Mamba <mark data-type=\"tech_tasks\" data-id=\"2feeb7b3-2bea-4238-9c79-0d235ffc71cc\">\u8bcd\u5d4c\u5165<\/mark>\u5bf9\u9f50\u3002<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>Stage 1.2\uff1a\u6307\u4ee4\u5171\u540c\u8bad\u7ec3\u3002<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u5728\u8fd9\u4e00\u9636\u6bb5\uff0c\u6211\u4eec\u9996\u5148\u9075\u5faa\u5148\u524d MLLM \u7684\u5de5\u4f5c\u8fdb\u884c\u901a\u7528\u89c6\u89c9\u6307\u4ee4\u6570\u636e\u6536\u96c6\u3002\u6211\u4eec\u91c7\u7528\u4e86 655K LLaVA \u6df7\u5408\u6307\u4ee4\u6570\u636e\u96c6\u548c 400K LRV-Instruct \u6570\u636e\u96c6\uff0c\u5206\u522b\u7528\u4e8e\u5b66\u4e60\u89c6\u89c9\u6307\u4ee4\u8ddf\u968f\u548c\u51cf\u8f7b\u5e7b\u89c9\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u51cf\u8f7b\u5e7b\u89c9\u5728\u673a\u5668\u4eba\u573a\u666f\u4e2d\u8d77\u7740\u91cd\u8981\u4f5c\u7528\uff0c\u56e0\u4e3a\u673a\u5668\u4eba MLLM \u9700\u8981\u57fa\u4e8e\u771f\u5b9e\u573a\u666f\u751f\u6210\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\uff0c\u800c\u4e0d\u662f\u60f3\u8c61\u4e2d\u7684\u573a\u666f\u3002\u4f8b\u5982\uff0c\u73b0\u6709\u7684 MLLMs \u53ef\u80fd\u516c\u5f0f\u5316\u5730\u56de\u7b54 \u201c\u6253\u5f00\u5fae\u6ce2\u7089\u201d \u65f6\u8bf4 \u201c\u6b65\u9aa4 1\uff1a\u627e\u5230\u628a\u624b\u201d\uff0c\u4f46\u8bb8\u591a\u5fae\u6ce2\u7089\u6ca1\u6709\u628a\u624b\u3002\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u7ed3\u5408\u4e86 800K RoboVQA \u6570\u636e\u96c6\uff0c\u4ee5\u5b66\u4e60\u9ad8\u5c42\u6b21\u7684\u673a\u5668\u4eba\u6280\u80fd\uff0c\u5982\u957f\u7a0b\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u3001\u53ef\u64cd\u7eb5\u6027\u5224\u65ad\u3001\u53ef\u64cd\u7eb5\u6027\u751f\u6210\u3001\u672a\u6765\u4e0e\u8fc7\u53bb\u9884\u6d4b\u7b49\u3002\u5728\u5171\u540c\u8bad\u7ec3\u671f\u95f4\uff0c\u5982\u56fe 3 \u6240\u793a\uff0c\u6211\u4eec\u51bb\u7ed3 CLIP \u7f16\u7801\u5668\u7684<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff0c\u5e76\u5728 1.8m \u5408\u5e76\u6570\u636e\u96c6\u4e0a\u5fae\u8c03\u6295\u5f71\u5c42\u548c Mamba\u3002\u6240\u6709\u6765\u81ea Mamba <mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\u7684\u8f93\u51fa\u90fd\u4f7f\u7528<mark data-type=\"concepts\" data-id=\"1786086f-5b63-4eee-b9ed-dad4d64cdc86\">\u4ea4\u53c9\u71b5<\/mark>\u635f\u5931\u8fdb\u884c\u76d1\u7763\u3002<\/section>\n<section><\/section>\n<section><strong>4.RoboMamba \u64cd\u7eb5\u80fd\u529b\u5fae\u8c03\u8bad\u7ec3<\/strong><\/section>\n<section><\/section>\n<section>\u5728 RoboMamba \u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u5728\u672c\u8282\u4ecb\u7ecd\u4e86\u6211\u4eec\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u5fae\u8c03\u7b56\u7565\uff0c\u5728\u56fe 3 \u4e2d\u79f0\u4e3a\u8bad\u7ec3 Stage 2\u3002\u73b0\u6709\u7684\u57fa\u4e8e MLLM \u7684\u673a\u5668\u4eba\u64cd\u4f5c\u65b9\u6cd5\u5728\u64cd\u4f5c\u5fae\u8c03\u9636\u6bb5\u9700\u8981\u66f4\u65b0\u6295\u5f71\u5c42\u548c\u6574\u4e2a LLM\u3002\u867d\u7136\u8fd9\u79cd\u8303\u5f0f\u53ef\u4ee5\u8d4b\u4e88\u6a21\u578b\u52a8\u4f5c\u4f4d\u59ff\u9884\u6d4b\u80fd\u529b\uff0c\u4f46\u5b83\u4e5f\u7834\u574f\u4e86 MLLM \u7684\u56fa\u6709\u80fd\u529b\uff0c\u5e76\u4e14\u9700\u8981\u5927\u91cf\u7684\u8bad\u7ec3\u8d44\u6e90\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u5fae\u8c03\u7b56\u7565\uff0c\u5982\u56fe 3 \u6240\u793a\u3002\u6211\u4eec\u51bb\u7ed3 RoboMamba \u7684\u6240\u6709<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff0c\u5e76\u5f15\u5165\u4e00\u4e2a\u7b80\u5355\u7684 Policy head \u6765\u5efa\u6a21 Mamba \u7684\u8f93\u51fa token\u3002Policy head \u5305\u542b\u4e24\u4e2a MLP \u5206\u522b\u5b66\u4e60\u672b\u7aef\u6267\u884c\u5668\u4f4d\u7f6e\u548c\u65b9\u5411\uff0c\u603b\u5171\u5360\u7528\u6574\u4e2a\u6a21\u578b<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u7684 0.1%\u3002\u6839\u636e\u524d\u671f\u5de5\u4f5c where2act\uff0c\u4f4d\u7f6e\u548c\u65b9\u5411\u7684\u635f\u5931\u516c\u5f0f\u5982\u4e0b\uff1a<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-924abc9133fb8d03e6a002046d66005d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-924abc9133fb8d03e6a002046d66005d.png\"><\/a><\/section>\n<section>\u5176\u4e2d\uff0cN \u8868\u793a\u8bad\u7ec3\u6837\u672c\u7684\u6570\u91cf\uff0cTr (A) \u8868\u793a\u77e9\u9635 A \u7684\u8ff9\u3002RoboMamba \u53ea\u9884\u6d4b\u56fe\u50cf\u4e2d\u63a5\u89e6\u50cf\u7d20\u7684\u4e8c\u7ef4\u4f4d\u7f6e\uff08x, y\uff09\uff0c\u7136\u540e\u4f7f\u7528\u6df1\u5ea6\u4fe1\u606f\u5c06\u5176\u8f6c\u6362\u4e3a\u4e09\u7ef4\u7a7a\u95f4\u3002\u4e3a\u4e86\u8bc4\u4f30\u8fd9\u4e00\u5fae\u8c03\u7b56\u7565\uff0c\u6211\u4eec\u4f7f\u7528 SAPIEN \u6a21\u62df\u751f\u6210\u4e86\u4e00\u4e2a\u5305\u542b 1 \u4e07\u6761\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u9884\u6d4b\u7684\u6570\u636e\u96c6\u3002<\/section>\n<section><\/section>\n<section>\u5728\u64cd\u4f5c\u5fae\u8c03\u4e4b\u540e\uff0c\u6211\u4eec\u53d1\u73b0\u4e00\u65e6 RoboMamba \u5177\u5907\u4e86\u8db3\u591f\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5b83\u53ef\u4ee5\u901a\u8fc7\u6781\u9ad8\u6548\u7684\u5fae\u8c03\u6765\u83b7\u53d6\u4f4d\u59ff\u9884\u6d4b\u6280\u80fd\u3002\u7531\u4e8e\u5fae\u8c03<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff087MB\uff09\u6781\u5c11\u4e14\u6a21\u578b\u8bbe\u8ba1\u9ad8\u6548\uff0c\u6211\u4eec\u53ea\u9700 20 \u5206\u949f\u5373\u53ef\u5b9e\u73b0\u65b0\u7684\u64cd\u4f5c\u6280\u80fd\u5b66\u4e60\u3002\u8fd9\u4e00\u53d1\u73b0\u7a81\u51fa\u4e86\u63a8\u7406\u80fd\u529b\u5bf9\u4e8e\u5b66\u4e60\u64cd\u4f5c\u6280\u80fd\u7684\u91cd\u8981\u6027\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u7684\u89c6\u89d2\uff1a\u6211\u4eec\u53ef\u4ee5\u5728\u4e0d\u5f71\u54cd MLLM \u56fa\u6709\u63a8\u7406\u80fd\u529b\u7684\u60c5\u51b5\u4e0b\uff0c\u9ad8\u6548\u5730\u8d4b\u4e88\u5176\u64cd\u4f5c\u80fd\u529b\u3002\u6700\u540e\uff0cRoboMamba \u53ef\u4ee5\u4f7f\u7528\u8bed\u8a00\u54cd\u5e94\u8fdb\u884c\u5e38\u8bc6\u548c\u4e0e\u673a\u5668\u4eba\u76f8\u5173\u7684\u63a8\u7406\uff0c\u5e76\u4f7f\u7528 Policy head \u8fdb\u884c\u52a8\u4f5c\u4f4d\u59ff\u9884\u6d4b\u3002<\/section>\n<section><\/section>\n<section><strong>\u5b9a\u91cf\u5b9e\u9a8c<\/strong><\/section>\n<section><\/section>\n<section><strong>1. \u901a\u7528\u63a8\u7406\u80fd\u529b\u8bc4\u4f30\uff08MLLM Benchmarks\uff09<\/strong><\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u8bc4\u4f30\u63a8\u7406\u80fd\u529b\uff0c\u6211\u4eec\u4f7f\u7528\u4e86\u51e0\u4e2a\u6d41\u884c\u7684<mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\uff0c\u5305\u62ec VQAv2\u3001OKVQA\u3001GQA\u3001OCRVQA\u3001VizWiz\u3001POPE\u3001MME\u3001MMBench \u548c MM-Vet\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u6211\u4eec\u8fd8\u5728 RoboVQA \u7684 18k \u9a8c\u8bc1\u6570\u636e\u96c6\u4e0a\u76f4\u63a5\u8bc4\u4f30\u4e86 RoboMamba \u7684\u673a\u5668\u4eba\u76f8\u5173\u63a8\u7406\u80fd\u529b\uff0c\u6db5\u76d6\u4e86\u673a\u5668\u4eba\u4efb\u52a1\uff0c\u5982\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u3001\u63d0\u793a\u6027\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u3001\u957f\u7a0b\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u3001\u53ef\u64cd\u7eb5\u6027\u5224\u65ad\u3001\u53ef\u64cd\u7eb5\u6027\u751f\u6210\u3001\u8fc7\u53bb\u63cf\u8ff0\u548c\u672a\u6765\u9884\u6d4b\u7b49\u3002<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-94af6ffa61cc2b067f94c72336e3ee80.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-94af6ffa61cc2b067f94c72336e3ee80.png\"><\/a><\/section>\n<section><em><sup>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u8868 1. Robomamba \u4e0e\u73b0\u6709 MLLMs \u5728\u591a\u4e2a<mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u4e0a\u7684\u901a\u7528\u63a8\u7406\u80fd\u529b\u6bd4\u8f83\u3002<\/sup><\/em><\/section>\n<section><\/section>\n<section>\u5982\u8868 1 \u6240\u793a\uff0c\u6211\u4eec\u5c06 RoboMamba \u4e0e\u4ee5\u524d\u6700\u5148\u8fdb\u7684 (SOTA) MLLM \u5728\u901a\u7528\u7684 VQA \u548c\u6700\u8fd1\u7684 MLLM <mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u6d4b\u8bd5\u4e0a\u8fdb\u884c\u6bd4\u8f83\u3002\u9996\u5148\uff0c\u6211\u4eec\u53d1\u73b0 RoboMamba \u4ec5\u4f7f\u7528 2.7B <mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\uff0c\u5c31\u5728\u6240\u6709 VQA <mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u6d4b\u8bd5\u4e2d\u53d6\u5f97\u4e86\u4ee4\u4eba\u6ee1\u610f\u7684\u7ed3\u679c\u3002\u7ed3\u679c\u8868\u660e\uff0c\u7b80\u5355\u7684\u7ed3\u6784\u8bbe\u8ba1\u662f\u6709\u6548\u7684\u3002\u5bf9\u9f50\u9884\u8bad\u7ec3\u548c\u6307\u4ee4\u534f\u540c\u8bad\u7ec3\u663e\u8457\u63d0\u9ad8\u4e86 MLLM \u7684\u63a8\u7406\u80fd\u529b\u3002\u4f8b\u5982\uff0c\u7531\u4e8e\u5728\u534f\u540c\u8bad\u7ec3\u9636\u6bb5\u5f15\u5165\u4e86\u5927\u91cf\u7684\u673a\u5668\u4eba\u6570\u636e\uff0cRoboMamba \u5728 GQA <mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u4e0a\u7684\u7a7a\u95f4\u8bc6\u522b\u6027\u80fd\u5f97\u5230\u4e86\u63d0\u9ad8\u3002\u540c\u65f6\uff0c\u6211\u4eec\u8fd8\u5728\u6700\u8fd1\u63d0\u51fa\u7684 MLLM <mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u4e0a\u6d4b\u8bd5\u4e86\u6211\u4eec\u7684 RoboMamba\u3002\u4e0e\u4ee5\u524d\u7684 MLLMs \u76f8\u6bd4\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\u6211\u4eec\u7684\u6a21\u578b\u5728\u6240\u6709<mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u6d4b\u8bd5\u4e2d\u90fd\u53d6\u5f97\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u7ed3\u679c\u3002\u867d\u7136 RoboMamba \u7684\u4e00\u4e9b\u6027\u80fd\u4ecd\u7136\u4f4e\u4e8e\u6700\u5148\u8fdb\u7684 7B MLLM \uff08e.g., LLaVA1.5 \u548c SPHINX\uff09\uff0c\u4f46\u6211\u4eec\u4f18\u5148\u4f7f\u7528\u66f4\u5c0f\u66f4\u5feb\u7684 Mamba-2.7B \u6765\u5e73\u8861\u673a\u5668\u4eba\u6a21\u578b\u7684\u6548\u7387\u3002\u5728\u672a\u6765\uff0c\u6211\u4eec\u8ba1\u5212\u4e3a\u8d44\u6e90\u4e0d\u53d7\u9650\u5236\u7684\u573a\u666f\u5f00\u53d1 RoboMamba-7B\u3002<\/section>\n<section><\/section>\n<section><strong>2. \u673a\u5668\u4eba\u63a8\u7406\u80fd\u529b\u8bc4\u4f30\uff08RoboVQA Benchmark\uff09<\/strong><\/section>\n<section><\/section>\n<section>\u53e6\u5916\uff0c\u4e3a\u4e86\u5168\u9762\u6bd4\u8f83 RoboMamba \u4e0e\u673a\u5668\u4eba\u76f8\u5173\u7684\u63a8\u7406\u80fd\u529b\uff0c\u6211\u4eec\u5728 RoboVQA <mark data-type=\"concepts\" data-id=\"698eae06-517e-4332-ba61-2de17c83ffb6\">\u9a8c\u8bc1\u96c6<\/mark>\u4e0a\u4e0e LLaMA-AdapterV2 \u8fdb\u884c<mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\u6d4b\u8bd5\u3002\u6211\u4eec\u9009\u62e9 LLaMA-AdapterV2 \u4f5c\u4e3a<mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark>\uff0c\u56e0\u4e3a\u5b83\u662f\u5f53\u524d SOTA \u673a\u5668\u4eba MLLM (ManipLLM) \u7684\u57fa\u7840\u6a21\u578b\u3002\u4e3a\u4e86\u8fdb\u884c\u516c\u5e73\u7684\u6bd4\u8f83\uff0c\u6211\u4eec\u52a0\u8f7d\u4e86 LLaMA-AdapterV2 \u9884\u8bad\u7ec3<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff0c\u5e76\u4f7f\u7528\u5176\u5b98\u65b9\u6307\u4ee4\u5fae\u8c03\u65b9\u6cd5\u5728 RoboVQA \u8bad\u7ec3\u96c6\u4e0a\u5bf9\u5176\u8fdb\u884c\u4e86\u4e24\u4e2a\u00a0epoch \u7684\u5fae\u8c03\u3002\u5982\u56fe 4 a\uff09\u6240\u793a\uff0cRoboMamba \u5728 BLEU-1 \u5230 BLEU-4 \u4e4b\u95f4\u5b9e\u73b0\u4e86\u5353\u8d8a\u7684\u6027\u80fd\u3002\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5177\u6709\u5148\u8fdb\u7684\u673a\u5668\u4eba\u76f8\u5173\u63a8\u7406\u80fd\u529b\uff0c\u5e76\u8bc1\u5b9e\u4e86\u6211\u4eec\u7684\u8bad\u7ec3\u7b56\u7565\u7684\u6709\u6548\u6027\u3002\u9664\u4e86\u66f4\u9ad8\u7684<mark data-type=\"concepts\" data-id=\"8be77eae-12da-4e9e-9a88-b7f5bae98c2e\">\u51c6\u786e\u7387<\/mark>\u5916\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5b9e\u73b0\u7684\u63a8\u7406\u901f\u5ea6\u6bd4 LLaMA-AdapterV2 \u548c ManipLLM \u5feb 7 \u500d\uff0c\u8fd9\u53ef\u4ee5\u5f52\u56e0\u4e8e Mamba <mark data-type=\"tech_tasks\" data-id=\"bf35ef94-d956-4033-a533-0c0828308c36\">\u8bed\u8a00\u6a21\u578b<\/mark>\u7684\u5185\u5bb9<mark data-type=\"concepts\" data-id=\"1ccbfcc7-1b56-44d6-b64b-729d855abcb1\">\u611f\u77e5<\/mark>\u63a8\u7406\u80fd\u529b\u548c\u6548\u7387\u3002<\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-935b3b2042199e51e4a51a6445c18a9f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-935b3b2042199e51e4a51a6445c18a9f.png\"><\/a><\/p>\n<section><em><sup>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u56fe 4. \u00a0RoboVQA \u4e0a\u4e0e\u673a\u5668\u4eba\u76f8\u5173\u7684\u63a8\u7406\u5bf9\u6bd4\u3002<\/sup><\/em><\/section>\n<section><\/section>\n<section><strong>3. \u673a\u5668\u4eba\u64cd\u7eb5\u80fd\u529b\u8bc4\u4f30\uff08SAPIEN\uff09<\/strong><\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u8bc4\u4f30 RoboMamba \u7684\u64cd\u4f5c\u80fd\u529b\uff0c\u6211\u4eec\u5c06\u6211\u4eec\u7684\u6a21\u578b\u4e0e\u56db\u4e2a\u57fa\u7ebf\u8fdb\u884c\u4e86\u6bd4\u8f83\uff1aUMPNet\uff0c Flowbot3D\uff0c RoboFlamingo \u548c ManipLLM\u3002\u5728\u6bd4\u8f83\u4e4b\u524d\uff0c\u6211\u4eec\u590d\u73b0\u6240\u6709\u57fa\u7ebf\u5e76\u5728\u6211\u4eec\u6536\u96c6\u7684\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u5b83\u4eec\u3002\u5bf9\u4e8e UMPNet\uff0c\u6211\u4eec\u5728\u9884\u6d4b\u7684\u63a5\u89e6\u70b9\u4e0a\u6267\u884c\u64cd\u4f5c\uff0c\u65b9\u5411\u5782\u76f4\u4e8e\u7269\u4f53\u8868\u9762\u3002Flowbot3D \u5728\u70b9\u4e91\u4e0a\u9884\u6d4b\u8fd0\u52a8\u65b9\u5411\uff0c\u9009\u62e9\u6700\u5927\u7684\u6d41\u4f5c\u4e3a\u4ea4\u4e92\u70b9\uff0c\u5e76\u4f7f\u7528\u6d41\u65b9\u5411\u8868\u793a\u672b\u7aef\u6267\u884c\u5668\u7684\u65b9\u5411\u3002RoboFlamingo \u548c ManipLLM \u5206\u522b\u52a0\u8f7d OpenFlamingo \u548c LLaMA-AdapterV2 \u9884\u8bad\u7ec3<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff0c\u5e76\u9075\u5faa\u5404\u81ea\u7684\u5fae\u8c03\u548c\u6a21\u578b\u66f4\u65b0\u7b56\u7565\u3002\u5982\u8868 2 \u6240\u793a\uff0c\u4e0e\u4e4b\u524d\u7684 SOTA ManipLLM \u76f8\u6bd4\uff0c\u6211\u4eec\u7684 RoboMamba \u5728\u53ef\u89c1\u7c7b\u522b\u4e0a\u5b9e\u73b0\u4e86 7.0% \u7684\u6539\u8fdb\uff0c\u5728\u4e0d\u53ef\u89c1\u7c7b\u522b\u4e0a\u5b9e\u73b0\u4e86 2.0% \u7684\u6539\u8fdb\u3002\u5728\u6548\u7387\u65b9\u9762\uff0cRoboFlamingo \u66f4\u65b0\u4e86 35.5% (1.8B) \u7684\u6a21\u578b<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff0cManipLLM \u66f4\u65b0\u4e86 LLM \u4e2d\u7684\u9002\u914d\u5668 (41.3M)\uff0c\u5305\u542b 0.5% \u7684\u6a21\u578b<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\uff0c\u800c\u6211\u4eec\u7684\u5fae\u8c03 Policy head (3.7M) \u4ec5\u5360\u6a21\u578b<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u7684 0.1%\u3002RoboMamba \u6bd4\u4ee5\u524d\u57fa\u4e8e MLLM \u7684\u65b9\u6cd5\u66f4\u65b0\u7684<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u5c11\u4e86 10 \u500d\uff0c\u800c\u63a8\u7406\u901f\u5ea6\u63d0\u9ad8\u4e86 7 \u500d\u3002\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684 RoboMamba \u4e0d\u4ec5\u5177\u6709\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\uff0c\u800c\u4e14\u80fd\u591f\u4ee5\u4f4e\u6210\u672c\u7684\u65b9\u5f0f\u83b7\u5f97\u64cd\u7eb5\u80fd\u529b\u3002<\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-7aa9763ffd00633f4ef66ed878296ec0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-7aa9763ffd00633f4ef66ed878296ec0.png\"><\/a><\/p>\n<section><em><sup>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u8868 2. Robomamba \u4e0e\u5176\u4ed6 baseline \u7684\u6210\u529f\u7387\u6bd4\u8f83<\/sup><\/em><\/section>\n<section><strong><br \/><\/strong><\/section>\n<section><strong>\u5b9a\u6027\u7ed3\u679c<\/strong><\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-aa89baa6f61a2ab41078e5a211e2b4b1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-aa89baa6f61a2ab41078e5a211e2b4b1.png\"><\/a><\/p>\n<section><em><sup>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u56fe 4. RoboMamba \u9762\u5bf9\u73b0\u5b9e\u4e16\u754c\u4e2d\u5404\u79cd\u673a\u5668\u4eba\u4e0b\u6e38\u4efb\u52a1\u7684\u53ef\u89c6\u5316\u3002<\/sup><\/em><\/section>\n<section><\/section>\n<section>\u5982\u56fe 4 \u6240\u793a\uff0c\u6211\u4eec\u53ef\u89c6\u5316\u4e86 RoboMamba \u5728\u5404\u79cd\u673a\u5668\u4eba\u4e0b\u6e38\u4efb\u52a1\u4e2d\u7684\u63a8\u7406\u7ed3\u679c\u3002\u5728\u4efb\u52a1<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u65b9\u9762\uff0c\u76f8\u8f83\u4e8e LLaMA-AdapterV2, RoboMamba \u51ed\u501f\u5176\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5c55\u73b0\u51fa\u4e86\u66f4\u51c6\u786e\u3001\u66f4\u957f\u8fdc\u7684<mark data-type=\"tech_tasks\" data-id=\"3f5eac69-dad3-43e7-9022-40dcf97a1892\">\u89c4\u5212<\/mark>\u80fd\u529b\u3002\u4e3a\u4e86\u8fdb\u884c\u516c\u5e73\u7684\u6bd4\u8f83\uff0c\u6211\u4eec\u8fd8\u5bf9 RoboVQA \u6570\u636e\u96c6\u4e0a\u7684<mark data-type=\"concepts\" data-id=\"308c3a45-0fee-4ec6-858e-85b15f440fc0\">\u57fa\u51c6<\/mark> LLaMA-AdapterV2 \u8fdb\u884c\u4e86\u5fae\u8c03\u3002\u5bf9\u4e8e\u64cd\u7eb5\u4f4d\u59ff\u9884\u6d4b\uff0c\u6211\u4eec\u4f7f\u7528\u4e86 Franka Emika \u673a\u68b0\u81c2\u6765\u4e0e\u5404\u79cd\u5bb6\u5ead\u7269\u54c1\u8fdb\u884c\u4ea4\u4e92\u3002\u6211\u4eec\u5c06 RoboMamba \u9884\u6d4b\u7684 3D \u4f4d\u59ff\u6295\u5f71\u5230 2D \u56fe\u50cf\u4e0a\uff0c\u4f7f\u7528\u7ea2\u70b9\u8868\u793a\u63a5\u89e6\u70b9\uff0c\u672b\u7aef\u6267\u884c\u5668\u8868\u793a\u65b9\u5411\uff0c\u5982\u56fe\u53f3\u4e0b\u89d2\u6240\u793a\u3002<\/section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-469c3959e2b11dbf4a63dc95456bc8e9.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-469c3959e2b11dbf4a63dc95456bc8e9.gif\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-37b03080e0b66db0d9cde1b7575dd16e.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-37b03080e0b66db0d9cde1b7575dd16e.gif\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-87c1cba8f493c3ba380bf73ece524fde.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/06\/frc-87c1cba8f493c3ba380bf73ece524fde.gif\"><\/a><\/p>\n<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-06-20-5\" 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