{"id":35177,"date":"2024-12-20T02:59:51","date_gmt":"2024-12-19T18:59:51","guid":{"rendered":"https:\/\/17aitech.com\/?p=35177"},"modified":"2024-12-20T02:59:51","modified_gmt":"2024-12-19T18:59:51","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%ad%96%e7%95%a5%e5%ad%a6%e4%b9%a0%e7%9a%84game-changer%ef%bc%9f%e4%bc%af%e5%85%8b%e5%88%a9%e6%8f%90%e5%87%babody-transformer","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=35177","title":{"rendered":"\u673a\u5668\u4eba\u7b56\u7565\u5b66\u4e60\u7684Game Changer\uff1f\u4f2f\u514b\u5229\u63d0\u51faBody Transformer"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-08-19-2\" target=\"_blank\">\u673a\u5668\u4eba\u7b56\u7565\u5b66\u4e60\u7684Game Changer\uff1f\u4f2f\u514b\u5229\u63d0\u51faBody Transformer<\/a><\/p>\n<section>\n<blockquote data-author-name=\"\" data-content-utf8-length=\"17\" data-source-title=\"\" data-type=\"2\" data-url=\"\"><p>\u8fc7\u53bb\u51e0\u5e74\u95f4\uff0cTransformer \u67b6\u6784\u5df2\u7ecf\u53d6\u5f97\u4e86\u5de8\u5927\u7684\u6210\u529f\uff0c\u540c\u65f6\u5176\u4e5f\u884d\u751f\u51fa\u4e86\u5927\u91cf\u53d8\u4f53\uff0c\u6bd4\u5982\u64c5\u957f\u5904\u7406\u89c6\u89c9\u4efb\u52a1\u7684 Vision Transformer\uff08ViT\uff09\u3002\u672c\u6587\u8981\u4ecb\u7ecd\u7684 Body Transformer\uff08BoT\uff09 \u5219\u662f\u975e\u5e38\u9002\u5408\u673a\u5668\u4eba\u7b56\u7565\u5b66\u4e60\u7684 Transformer \u53d8\u4f53\u3002<\/p><\/blockquote>\n<\/section>\n<p>\u6211\u4eec\u77e5\u9053\uff0c\u7269\u7406\u667a\u80fd\u4f53\u5728\u6267\u884c\u52a8\u4f5c\u7684\u6821\u6b63\u548c\u7a33\u5b9a\u65f6\uff0c\u5f80\u5f80\u4f1a\u6839\u636e\u5176\u611f\u53d7\u5230\u7684\u5916\u90e8\u523a\u6fc0\u7684\u4f4d\u7f6e\u7ed9\u51fa\u7a7a\u95f4\u4e0a\u7684\u54cd\u5e94\u3002\u6bd4\u5982\u4eba\u7c7b\u5bf9\u8fd9\u4e9b\u523a\u6fc0\u7684\u54cd\u5e94\u56de\u8def\u4f4d\u4e8e\u810a\u9ad3\u795e\u7ecf\u56de\u8def\u5c42\u9762\uff0c\u5b83\u4eec\u4e13\u95e8\u8d1f\u8d23\u5355\u4e2a\u6267\u884c\u5668\u7684\u54cd\u5e94\u3002\u8d77\u6821\u6b63\u4f5c\u7528\u7684\u5c40\u90e8\u6267\u884c\u662f\u9ad8\u6548\u8fd0\u52a8\u7684\u4e3b\u8981\u56e0\u7d20\uff0c\u8fd9\u5bf9\u673a\u5668\u4eba\u6765\u8bf4\u4e5f\u5c24\u4e3a\u91cd\u8981\u3002<\/p>\n<p>\u4f46\u4e4b\u524d\u7684\u5b66\u4e60\u67b6\u6784\u901a\u5e38\u90fd\u6ca1\u6709\u5efa\u7acb\u4f20\u611f\u5668\u548c\u6267\u884c\u5668\u4e4b\u95f4\u7684\u7a7a\u95f4\u5173\u8054\u3002\u9274\u4e8e\u673a\u5668\u4eba\u7b56\u7565\u4f7f\u7528\u7684\u67b6\u6784\u57fa\u672c\u662f\u4e3a\u81ea\u7136\u8bed\u8a00\u548c<mark data-type=\"tech_tasks\" data-id=\"6e614199-9e49-450e-9078-61fb2b122da9\">\u8ba1\u7b97\u673a\u89c6\u89c9<\/mark>\u5f00\u53d1\u7684\u67b6\u6784\uff0c\u5b83\u4eec\u5e38\u5e38\u65e0\u6cd5\u6709\u6548\u5730\u5229\u7528\u673a\u5668\u4eba\u673a\u4f53\u7684\u7ed3\u6784\u3002<\/p>\n<p>\u4e0d\u8fc7\uff0cTransformer \u5728\u8fd9\u65b9\u9762\u8fd8\u662f\u9887\u5177\u6f5c\u529b\u7684\uff0c\u5df2\u6709\u7814\u7a76\u8868\u660e\uff0cTransformer \u53ef\u4ee5\u6709\u6548\u5730\u5904\u7406\u957f\u5e8f\u5217\u4f9d\u8d56\u5173\u7cfb\uff0c\u8fd8\u80fd\u8f7b\u677e\u5730\u5438\u6536\u5927\u91cf\u6570\u636e\u3002Transformer \u67b6\u6784\u539f\u672c\u662f\u4e3a\u975e\u7ed3\u6784\u5316<mark data-type=\"tech_tasks\" data-id=\"c8ff5114-6cbb-49ca-8a89-3ee2826be0b4\">\u81ea\u7136\u8bed\u8a00\u5904\u7406<\/mark>\uff08NLP\uff09\u4efb\u52a1\u5f00\u53d1\u7684\u3002\u5728\u8fd9\u4e9b\u4efb\u52a1\u4e2d\uff08\u6bd4\u5982\u8bed\u8a00\u7ffb\u8bd1\uff09\uff0c\u8f93\u5165\u5e8f\u5217\u901a\u5e38\u4f1a\u88ab<mark data-type=\"concepts\" data-id=\"8ec6a68f-ad96-4b85-ab72-6f8931886922\">\u6620\u5c04<\/mark>\u5230\u4e00\u4e2a\u8f93\u51fa\u5e8f\u5217\u3002<\/p>\n<p>\u57fa\u4e8e\u8fd9\u4e00\u89c2\u5bdf\uff0c\u52a0\u5dde\u5927\u5b66\u4f2f\u514b\u5229\u5206\u6821 Pieter Abbeel \u6559\u6388\u9886\u5bfc\u7684\u56e2\u961f\u63d0\u51fa\u4e86 Body Transformer\uff08BoT\uff09\uff0c\u589e\u52a0\u4e86\u5bf9\u673a\u5668\u4eba\u673a\u4f53\u4e0a\u7684\u4f20\u611f\u5668\u548c\u6267\u884c\u5668\u7684\u7a7a\u95f4\u4f4d\u7f6e\u7684\u5173\u6ce8\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-b7e9d55181735550189a1cd6d8b42999.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-b7e9d55181735550189a1cd6d8b42999.png\"><\/a><\/p>\n<ul>\n<li>\n<p>\u8bba\u6587\u6807\u9898\uff1aBody Transformer: Leveraging Robot Embodiment for Policy Learning<\/p>\n<\/li>\n<li>\n<p>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/pdf\/2408.06316v1<\/p>\n<\/li>\n<li>\n<p>\u9879\u76ee\u7f51\u7ad9\uff1ahttps:\/\/sferrazza.cc\/bot_site<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u5730\u5740\uff1ahttps:\/\/github.com\/carlosferrazza\/BodyTransformer<\/p>\n<\/li>\n<\/ul>\n<p>\u5177\u4f53\u6765\u8bf4\uff0cBoT \u662f\u5c06\u673a\u5668\u4eba\u673a\u4f53\u5efa\u6a21\u6210\u56fe\uff08graph\uff09\uff0c\u5176\u4e2d\u7684\u8282\u70b9\u5373\u4e3a\u5176\u4f20\u611f\u5668\u548c\u6267\u884c\u5668\u3002\u7136\u540e\uff0c\u5176\u5728\u6ce8\u610f\u529b\u5c42\u4e0a\u4f7f\u7528\u9ad8\u5ea6\u7a00\u758f\u7684\u63a9\u7801\uff0c\u4ee5\u9632\u6b62\u6bcf\u4e2a\u8282\u70b9\u5173\u6ce8\u5176\u76f4\u63a5\u8fd1\u90bb\u4e4b\u5916\u7684\u90e8\u5206\u3002\u5c06\u591a\u4e2a\u7ed3\u6784\u76f8\u540c\u7684 BoT \u5c42\u8fde\u63a5\u8d77\u6765\uff0c\u5c31\u80fd\u6c47\u96c6\u6574\u4e2a\u56fe\u7684\u4fe1\u606f\uff0c\u8fd9\u6837\u4fbf\u4e0d\u4f1a\u635f\u5bb3\u8be5\u67b6\u6784\u7684\u8868\u5f81\u80fd\u529b\u3002BoT \u5728<mark data-type=\"tech_methods\" data-id=\"ede26b73-6612-4b0a-8291-6c11a246b4ab\">\u6a21\u4eff\u5b66\u4e60<\/mark>\u548c<mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u65b9\u9762\u90fd\u8868\u73b0\u4e0d\u4fd7\uff0c\u751a\u81f3\u88ab\u4e00\u4e9b\u4eba\u8ba4\u4e3a\u662f\u7b56\u7565\u5b66\u4e60\u7684\u300cGame Changer\u300d\u3002<\/p>\n<p><strong>Body Transformer<\/strong><\/p>\n<p>\u5982\u679c\u673a\u5668\u4eba\u5b66\u4e60\u7b56\u7565\u4f7f\u7528\u539f\u59cb Transformer \u67b6\u6784\u4e3a\u9aa8\u5e72\uff0c\u5219\u901a\u5e38\u4f1a\u5ffd\u89c6\u673a\u5668\u4eba\u673a\u4f53\u7ed3\u6784\u6240\u63d0\u4f9b\u7684\u6709\u7528\u4fe1\u606f\u3002\u4f46\u5b9e\u9645\u4e0a\uff0c\u8fd9\u4e9b\u7ed3\u6784\u4fe1\u606f\u80fd\u4e3a Transformer \u63d0\u4f9b\u66f4\u5f3a\u7684\u5f52\u7eb3\u504f\u7f6e\u3002\u8be5\u56e2\u961f\u5728\u5229\u7528\u8fd9\u4e9b\u4fe1\u606f\u7684\u540c\u65f6\u8fd8\u4fdd\u7559\u4e86\u539f\u59cb\u67b6\u6784\u7684\u8868\u5f81\u80fd\u529b\u3002<\/p>\n<p>Body Transformer\uff08BoT\uff09\u67b6\u6784\u57fa\u4e8e\u63a9\u7801\u5f0f\u6ce8\u610f\u529b\u3002\u5728\u8fd9\u4e2a\u67b6\u6784\u7684\u6bcf\u4e00\u5c42\u4e2d\uff0c\u4e00\u4e2a\u8282\u70b9\u90fd\u53ea\u80fd\u770b\u5230\u5176\u81ea\u8eab\u548c\u5176\u76f4\u63a5\u8fd1\u90bb\u8282\u70b9\u7684\u4fe1\u606f\u3002\u5982\u6b64\u4e00\u6765\uff0c\u4fe1\u606f\u5c31\u4f1a\u4f9d\u7167\u56fe\u7684\u7ed3\u6784\u800c\u6d41\u52a8\uff0c\u5176\u4e2d\u4e0a\u6e38\u5c42\u4f1a\u6839\u636e\u5c40\u90e8\u4fe1\u606f\u6267\u884c\u63a8\u7406\uff0c\u4e0b\u6e38\u5c42\u5219\u80fd\u6c47\u96c6\u66f4\u591a\u6765\u81ea\u66f4\u8fdc\u8282\u70b9\u7684\u5168\u5c40\u4fe1\u606f\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-6313327436a55f16fb05cc98f656adff.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-6313327436a55f16fb05cc98f656adff.png\"><\/a><\/p>\n<p>\u5982\u56fe 1 \u6240\u793a\uff0cBoT \u67b6\u6784\u5305\u542b\u4ee5\u4e0b\u7ec4\u4ef6\uff1a<\/p>\n<p>1.tokenizer\uff1a\u5c06\u4f20\u611f\u5668\u8f93\u5165\u6295\u5c04\u6210\u5bf9\u5e94\u7684\u8282\u70b9\u5d4c\u5165\uff1b<\/p>\n<p>2.Transformer \u7f16\u7801\u5668\uff1a\u5904\u7406\u8f93\u5165\u5d4c\u5165\u5e76\u751f\u6210\u540c\u6837\u7ef4\u5ea6\u7684\u8f93\u51fa\u7279\u5f81\uff1b<\/p>\n<p>3.detokenizer\uff1a\u89e3\u9664 token \u5316\uff0c\u5373\u5c06\u7279\u5f81\u89e3\u7801\u6210\u52a8\u4f5c\uff08\u6216\u7528\u4e8e<mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u6279\u8bc4\u8bad\u7ec3\u7684\u4ef7\u503c\uff09\u3002<\/p>\n<p><strong>tokenizer<\/strong><\/p>\n<p>\u8be5\u56e2\u961f\u9009\u62e9\u5c06\u89c2\u5bdf\u5411\u91cf<mark data-type=\"concepts\" data-id=\"8ec6a68f-ad96-4b85-ab72-6f8931886922\">\u6620\u5c04<\/mark>\u6210\u5c40\u90e8\u89c2\u5bdf\u6784\u6210\u7684\u56fe\u3002<\/p>\n<p>\u5728\u5b9e\u8df5\u4e2d\uff0c\u4ed6\u4eec\u5c06\u5168\u5c40\u91cf\u5206\u914d\u7ed9\u673a\u5668\u4eba\u673a\u4f53\u7684\u6839\u5143\u7d20\uff0c\u5c06\u5c40\u90e8\u91cf\u5206\u914d\u7ed9\u8868\u793a\u5bf9\u5e94\u80a2\u4f53\u7684\u8282\u70b9\u3002\u8fd9\u79cd\u5206\u914d\u65b9\u5f0f\u4e0e\u4e4b\u524d\u7684 GNN \u65b9\u6cd5\u7c7b\u4f3c\u3002<\/p>\n<p>\u7136\u540e\uff0c\u4f7f\u7528\u4e00\u4e2a\u7ebf\u6027\u5c42\u5c06\u5c40\u90e8\u72b6\u6001\u5411\u91cf\u6295\u5c04\u6210\u5d4c\u5165\u5411\u91cf\u3002\u6bcf\u4e2a\u8282\u70b9\u7684\u72b6\u6001\u90fd\u4f1a\u88ab\u9988\u9001\u7ed9\u5176\u8282\u70b9\u7279\u5b9a\u7684\u53ef\u5b66\u4e60\u7684\u7ebf\u6027\u6295\u5c04\uff0c\u4ece\u800c\u5f97\u5230\u4e00\u4e2a\u5305\u542b n \u4e2a\u5d4c\u5165\u7684\u5e8f\u5217\uff0c\u5176\u4e2d n \u8868\u793a\u8282\u70b9\u7684\u6570\u91cf\uff08\u6216\u5e8f\u5217\u957f\u5ea6\uff09\u3002\u8fd9\u4e0d\u540c\u4e8e\u4e4b\u524d\u7684\u7814\u7a76\u6210\u679c\uff0c\u5b83\u4eec\u901a\u5e38\u4ec5\u4f7f\u7528\u5355\u4e2a\u5171\u4eab\u7684\u53ef\u5b66\u4e60\u7684\u7ebf\u6027\u6295\u5c04\u6765\u5904\u7406\u591a\u4efb\u52a1<mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u4e2d\u4e0d\u540c\u6570\u91cf\u7684\u8282\u70b9\u3002<\/p>\n<p><strong>BoT \u7f16\u7801\u5668<\/strong><\/p>\n<p>\u8be5\u56e2\u961f\u4f7f\u7528\u7684\u9aa8\u5e72\u7f51\u7edc\u662f\u4e00\u4e2a\u6807\u51c6\u7684\u591a\u5c42 Transformer \u7f16\u7801\u5668\uff0c\u5e76\u4e14\u8be5\u67b6\u6784\u6709\u4e24\u79cd\u53d8\u4f53\u7248\u672c\uff1a<\/p>\n<ul>\n<li>\n<p>BoT-Hard\uff1a\u4f7f\u7528\u4e00\u4e2a\u53cd\u6620\u8be5\u56fe\u7ed3\u6784\u7684\u4e8c\u5143\u63a9\u7801\u6765\u63a9\u853d\u6bcf\u4e00\u5c42\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4ed6\u4eec\u6784\u5efa\u63a9\u7801\u7684\u65b9\u5f0f\u662f M = I_n + A\uff0c\u5176\u4e2d I_n \u662f n \u7ef4\u5355\u4f4d\u77e9\u9635\uff0cA \u662f\u5bf9\u5e94\u4e8e\u8be5\u56fe\u7684\u90bb\u63a5\u77e9\u9635\u3002\u56fe 2 \u5c55\u793a\u4e86\u4e00\u4e2a\u793a\u4f8b\u3002\u8fd9\u8ba9\u6bcf\u4e2a\u8282\u70b9\u4ec5\u80fd\u770b\u5230\u5176\u81ea\u8eab\u548c\u5176\u76f4\u63a5\u8fd1\u90bb\uff0c\u5e76\u4e14\u80fd\u4e3a\u8be5\u95ee\u9898\u5f15\u5165\u76f8\u5f53\u53ef\u89c2\u7684\u7a00\u758f\u6027 \u2014\u2014 \u4ece\u8ba1\u7b97\u6210\u672c\u89d2\u5ea6\u770b\uff0c\u8fd9\u7279\u522b\u6709\u5438\u5f15\u529b\u3002<\/p>\n<\/li>\n<\/ul>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-db5d7ced0b4c4ea2f1f8f481b4891bf1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-db5d7ced0b4c4ea2f1f8f481b4891bf1.png\"><\/a><\/p>\n<ul>\n<li>\n<p>BoT-Mix\uff1a\u5c06\u5e26\u6709\u63a9\u7801\u5f0f\u6ce8\u610f\u529b\u7684\u5c42\uff08\u5982 BoT-Hard \u4e00\u6837\uff09\u4e0e\u5e26\u6709\u65e0\u63a9\u7801\u5f0f\u6ce8\u610f\u529b\u7684\u5c42\u4ea4\u7ec7\u5728\u4e00\u8d77\u3002<\/p>\n<\/li>\n<\/ul>\n<p><strong>detokenizer<\/strong><\/p>\n<p>Transformer \u7f16\u7801\u5668\u8f93\u51fa\u7684\u7279\u5f81\u4f1a\u88ab\u9988\u9001\u7ed9\u7ebf\u6027\u5c42\uff0c\u7136\u540e\u88ab\u6295\u5c04\u6210\u4e0e\u8be5\u8282\u70b9\u7684\u80a2\u4f53\u5173\u8054\u7684\u52a8\u4f5c\uff1b\u8fd9\u4e9b\u52a8\u4f5c\u662f\u6839\u636e\u76f8\u5e94\u6267\u884c\u5668\u4e0e\u80a2\u4f53\u7684\u63a5\u8fd1\u7a0b\u5ea6\u6765\u5206\u914d\u7684\u3002\u540c\u6837\uff0c\u6bcf\u4e2a\u8282\u70b9\u7684\u8fd9\u4e9b\u53ef\u5b66\u4e60\u7684\u7ebf\u6027\u6295\u5c04\u5c42\u662f\u5206\u5f00\u7684\u3002\u5982\u679c\u5c06 BoT \u7528\u4f5c<mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u8bbe\u7f6e\u4e2d\u7684\u6279\u8bc4\u67b6\u6784\uff0c\u5219 detokenizer \u8f93\u51fa\u7684\u5c31\u4e0d\u518d\u662f\u52a8\u4f5c\uff0c\u800c\u662f\u4ef7\u503c\uff0c\u7136\u540e\u5728\u673a\u4f53\u90e8\u4f4d\u4e0a\u53d6\u5e73\u5747\u503c\u3002<\/p>\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n<p>\u56e2\u961f\u5728<mark data-type=\"tech_methods\" data-id=\"ede26b73-6612-4b0a-8291-6c11a246b4ab\">\u6a21\u4eff\u5b66\u4e60<\/mark>\u548c<mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u8bbe\u7f6e\u4e2d\u8bc4\u4f30\u4e86 BoT \u7684\u6027\u80fd\u3002\u4ed6\u4eec\u7ef4\u6301\u4e86\u4e0e\u56fe 1 \u76f8\u540c\u7684\u7ed3\u6784\uff0c\u53ea\u7528\u5404\u79cd\u57fa\u7ebf\u67b6\u6784\u66ff\u6362 BoT \u7f16\u7801\u5668\uff0c\u4ee5\u786e\u5b9a\u7f16\u7801\u5668\u7684\u6548\u679c\u3002<\/p>\n<p>\u8fd9\u4e9b\u5b9e\u9a8c\u7684\u76ee\u6807\u662f\u89e3\u7b54\u4ee5\u4e0b\u95ee\u9898\uff1a<\/p>\n<ul>\n<li>\n<p>\u63a9\u7801\u5f0f\u6ce8\u610f\u529b\u662f\u5426\u80fd\u63d0\u5347<mark data-type=\"tech_methods\" data-id=\"ede26b73-6612-4b0a-8291-6c11a246b4ab\">\u6a21\u4eff\u5b66\u4e60<\/mark>\u7684\u6027\u80fd\u548c\u6cdb\u5316\u80fd\u529b\uff1f<\/p>\n<\/li>\n<li>\n<p>\u76f8\u6bd4\u4e8e\u539f\u59cb\u7684 Transformer \u67b6\u6784\uff0cBoT \u662f\u5426\u80fd\u8868\u73b0\u51fa\u6b63\u9762\u7684\u89c4\u6a21\u6269\u5c55\u8d8b\u52bf\uff1f<\/p>\n<\/li>\n<li>\n<p>BoT \u662f\u5426\u4e0e<mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u6846\u67b6\u517c\u5bb9\uff0c\u6709\u54ea\u4e9b\u5408\u7406\u8bbe\u8ba1\u9009\u62e9\u53ef\u4ee5\u5c3d\u53ef\u80fd\u5730\u63d0\u5347\u6027\u80fd\uff1f<\/p>\n<\/li>\n<li>\n<p>BoT \u7b56\u7565\u662f\u5426\u53ef\u4ee5\u5e94\u7528\u4e8e\u771f\u5b9e\u4e16\u754c\u673a\u5668\u4eba\u4efb\u52a1\uff1f<\/p>\n<\/li>\n<li>\n<p>\u63a9\u7801\u5f0f\u6ce8\u610f\u529b\u5728\u8ba1\u7b97\u65b9\u9762\u6709\u54ea\u4e9b\u4f18\u52bf\uff1f<\/p>\n<\/li>\n<\/ul>\n<p><strong><mark data-type=\"tech_methods\" data-id=\"ede26b73-6612-4b0a-8291-6c11a246b4ab\">\u6a21\u4eff\u5b66\u4e60<\/mark>\u5b9e\u9a8c<\/strong><\/p>\n<p>\u56e2\u961f\u5728\u673a\u4f53\u8ddf\u8e2a\u4efb\u52a1\u4e0a\u8bc4\u4f30\u4e86 BoT \u67b6\u6784\u7684<mark data-type=\"tech_methods\" data-id=\"ede26b73-6612-4b0a-8291-6c11a246b4ab\">\u6a21\u4eff\u5b66\u4e60<\/mark>\u6027\u80fd\uff0c\u8be5\u4efb\u52a1\u662f\u901a\u8fc7 MoCapAct \u6570\u636e\u96c6\u5b9a\u4e49\u7684\u3002<\/p>\n<p>\u7ed3\u679c\u5982\u56fe 3a \u6240\u793a\uff0c\u53ef\u4ee5\u770b\u5230 BoT \u7684\u8868\u73b0\u603b\u662f\u4f18\u4e8e MLP \u548c Transformer \u57fa\u7ebf\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u672a\u66fe\u89c1\u8fc7\u7684\u9a8c\u8bc1\u89c6\u9891\u7247\u6bb5\u4e0a\uff0cBoT \u76f8\u5bf9\u4e8e\u8fd9\u4e9b\u67b6\u6784\u7684\u4f18\u52bf\u8fd8\u4f1a\u8fdb\u4e00\u6b65\u589e\u5927\uff0c\u8fd9\u8bc1\u660e\u673a\u4f53<mark data-type=\"concepts\" data-id=\"1ccbfcc7-1b56-44d6-b64b-729d855abcb1\">\u611f\u77e5<\/mark>\u578b\u5f52\u7eb3\u504f\u7f6e\u80fd\u5e26\u6765\u6cdb\u5316\u80fd\u529b\u7684\u63d0\u5347\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-91c730f8a9f26c88b24d0837d55a39d1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-91c730f8a9f26c88b24d0837d55a39d1.png\"><\/a><\/p>\n<p>\u800c\u56fe 3b \u5219\u8868\u660e BoT-Hard \u7684\u89c4\u6a21\u6269\u5c55\u6027\u5f88\u4e0d\u9519\uff0c\u76f8\u8f83\u4e8e Transformer \u57fa\u7ebf\uff0c\u5176\u5728\u8bad\u7ec3\u548c\u9a8c\u8bc1\u89c6\u9891\u7247\u6bb5\u4e0a\u7684\u6027\u80fd\u90fd\u4f1a\u968f\u7740\u53ef\u8bad\u7ec3<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u91cf\u7684\u589e\u957f\u800c\u589e\u957f\u8fd9\u8fdb\u4e00\u6b65\u8868\u660e BoT-Hard \u503e\u5411\u4e8e\u4e0d<mark data-type=\"concepts\" data-id=\"af836eef-be90-4143-a022-46fae3904f0e\">\u8fc7\u62df\u5408<\/mark>\u8bad\u7ec3\u6570\u636e\uff0c\u800c\u8fd9\u79cd<mark data-type=\"concepts\" data-id=\"af836eef-be90-4143-a022-46fae3904f0e\">\u8fc7\u62df\u5408<\/mark>\u662f\u7531\u5177\u8eab\u504f\u7f6e\u5f15\u8d77\u7684\u3002\u4e0b\u9762\u5c55\u793a\u4e86\u66f4\u591a\u5b9e\u9a8c\u793a\u4f8b\uff0c\u8be6\u89c1\u539f\u8bba\u6587\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-2be15e66f13f3651a8424a5dda8c5b77.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-2be15e66f13f3651a8424a5dda8c5b77.gif\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-694dc2318a9abfaf3a33b1aa94d0ca9e.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-694dc2318a9abfaf3a33b1aa94d0ca9e.gif\"><\/a><\/p>\n<p><strong><mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u5b9e\u9a8c<\/strong><\/p>\n<p>\u8be5\u56e2\u961f\u5728 Isaac Gym \u4e2d\u7684 4 \u4e2a\u673a\u5668\u4eba\u63a7\u5236\u4efb\u52a1\u4e0a\u8bc4\u4f30\u4e86 BoT \u4e0e\u4f7f\u7528 PPO \u7684\u57fa\u7ebf\u7684<mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u6027\u80fd\u3002\u8fd9 4 \u4e2a\u4efb\u52a1\u5206\u522b\u662f\uff1aHumanoid-Mod\u3001Humanoid-Board\u3001Humanoid-Hill \u548c A1-Walk\u3002<\/p>\n<p>\u56fe 5 \u5c55\u793a\u4e86 MLP\u3001Transformer \u548c BoT\uff08Hard \u548c Mix\uff09\u5728\u8bad\u7ec3\u671f\u95f4\u7684\u8bc4\u4f30 rollout \u7684\u5e73\u5747\u60c5\u8282\u56de\u62a5\u3002\u5176\u4e2d\uff0c\u5b9e\u7ebf\u5bf9\u5e94\u4e8e\u5e73\u5747\u503c\uff0c\u9634\u5f71\u533a\u57df\u5bf9\u5e94\u4e8e\u4e94\u4e2a\u79cd\u5b50\u7684\u6807\u51c6\u8bef\u5dee\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-e95d1c70791dcc4d42c5f3b834d793ef.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-e95d1c70791dcc4d42c5f3b834d793ef.png\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-a0c9d8cfa15d005b8d06096ec4451e72.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/08\/frc-a0c9d8cfa15d005b8d06096ec4451e72.gif\"><\/a><\/p>\n<p>\u7ed3\u679c\u8868\u660e\uff0cBoT-Mix \u7684\u6027\u80fd\u5728\u6837\u672c\u6548\u7387\u548c\u6e10\u8fd1\u6027\u80fd\u65b9\u9762\u59cb\u7ec8\u4f18\u4e8e MLP \u548c\u539f\u59cb Transformer \u57fa\u7ebf\u3002\u8fd9\u8bf4\u660e\u5c06\u6765\u81ea\u673a\u5668\u4eba\u673a\u4f53\u7684\u504f\u7f6e\u6574\u5408\u8fdb<mark data-type=\"tech_methods\" data-id=\"98f80c37-6998-49c4-8ca4-cdd6350aff35\">\u7b56\u7565\u7f51\u7edc<\/mark>\u67b6\u6784\u662f\u6709\u7528\u7684\u3002<\/p>\n<p>\u540c\u65f6\uff0cBoT-Hard \u5728\u8f83\u7b80\u5355\u7684\u4efb\u52a1\uff08A1-Walk \u548c Humanoid-Mod\uff09\u4e0a\u7684\u8868\u73b0\u4f18\u4e8e\u539f\u59cb Transformer\uff0c\u4f46\u5728\u66f4\u56f0\u96be\u7684\u63a2\u7d22\u4efb\u52a1\uff08Humanoid-Board \u548c Humanoid-Hill\uff09\u4e0a\u8868\u73b0\u5374\u66f4\u5dee\u3002\u8003\u8651\u5230\u63a9\u7801\u5f0f\u6ce8\u610f\u529b\u4f1a\u59a8\u788d\u6765\u81ea\u8fdc\u5904\u673a\u4f53\u90e8\u5206\u7684\u4fe1\u606f\u4f20\u64ad\uff0cBoT-Hard \u5728\u4fe1\u606f\u901a\u4fe1\u65b9\u9762\u7684\u5f3a\u5927\u9650\u5236\u53ef\u80fd\u4f1a\u59a8\u788d<mark data-type=\"tech_methods\" data-id=\"ee1a8f69-3170-4ddf-b2b6-47d91c844425\">\u5f3a\u5316\u5b66\u4e60<\/mark>\u63a2\u7d22\u7684\u6548\u7387\u3002<\/p>\n<p><strong>\u771f\u5b9e\u4e16\u754c\u5b9e\u9a8c<\/strong><\/p>\n<p>Isaac Gym 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