{"id":35856,"date":"2025-01-02T04:00:30","date_gmt":"2025-01-01T20:00:30","guid":{"rendered":"https:\/\/17aitech.com\/?p=35856"},"modified":"2025-01-02T04:00:30","modified_gmt":"2025-01-01T20:00:30","slug":"%e4%b8%80%e6%89%8b%e8%ae%ad%e7%bb%83%ef%bc%8c%e5%a4%9a%e6%89%8b%e5%ba%94%e7%94%a8%ef%bc%9a%e5%9b%bd%e9%98%b2%e7%a7%91%e5%a4%a7%e6%8f%90%e5%87%ba%e7%81%b5%e5%b7%a7%e6%89%8b%e6%8a%93%e5%8f%96%e7%ad%96","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=35856","title":{"rendered":"\u4e00\u624b\u8bad\u7ec3\uff0c\u591a\u624b\u5e94\u7528\uff1a\u56fd\u9632\u79d1\u5927\u63d0\u51fa\u7075\u5de7\u624b\u6293\u53d6\u7b56\u7565\u8fc1\u79fb\u65b0\u65b9\u6848"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-10-01-3\" target=\"_blank\">\u4e00\u624b\u8bad\u7ec3\uff0c\u591a\u624b\u5e94\u7528\uff1a\u56fd\u9632\u79d1\u5927\u63d0\u51fa\u7075\u5de7\u624b\u6293\u53d6\u7b56\u7565\u8fc1\u79fb\u65b0\u65b9\u6848<\/a><\/p>\n<p><strong>\u672c\u6587\u6765\u81ea\u56fd\u9632\u79d1\u6280\u5927\u5b66\u667a\u80fd\u56fe\u5f62\u8ba1\u7b97\u56e2\u961f\uff0c\u4e3b\u8981\u7814\u7a76\u65b9\u5411\u5305\u62ec\u667a\u80fd\u56fe\u5f62\u5b66\u3001\u5177\u8eab\u667a\u80fd\u3001\u673a\u5668\u5b66\u4e60\u3001\u4e09\u7ef4\u89c6\u89c9\u7b49\u3002\u56e2\u961f\u62e5\u6709\u591a\u540d\u56fd\u5bb6\u7ea7\u4eba\u624d\uff0c\u5728\u56fd\u9645\u4e0a\u8f83\u65e9\u5f00\u5c55\u4e86\u6570\u636e\u9a71\u52a8\u4e09\u7ef4\u611f\u77e5\u3001\u5efa\u6a21\u4e0e\u4ea4\u4e92\u5de5\u4f5c\uff0c\u53d1\u8868TOG\/TPAMI\/TVCG\u7b49A\u7c7b\u8bba\u6587200\u4f59\u7bc7\uff0c\u83b7\u5f97\u6e56\u5357\u7701\u81ea\u7136\u79d1\u5b66\u4e00\u7b49\u5956\u3001\u4e2d\u56fd\u8ba1\u7b97\u673a\u5b66\u4f1a\u81ea\u7136\u79d1\u5b66\u4e00\u7b49\u5956\u3001\u519b\u961f\u79d1\u6280\u8fdb\u6b65\u5956\u3001\u519b\u961f\u6559\u5b66\u6210\u679c\u5956\u3001\u6e56\u5357\u7701\u4f18\u79c0\u7814\u7a76\u751f\u5bfc\u5e08\u56e2\u961f\u7b49\u3002<\/strong><\/p>\n<p>\u5728\u673a\u5668\u4eba\u7814\u7a76\u9886\u57df\uff0c\u6293\u53d6\u4efb\u52a1\u59cb\u7ec8\u662f\u673a\u5668\u4eba\u64cd\u4f5c\u4e2d\u7684\u4e00\u4e2a\u5173\u952e\u95ee\u9898\u3002\u8fd9\u9879\u4efb\u52a1\u7684\u6838\u5fc3\u76ee\u6807\u662f\u63a7\u5236\u673a\u68b0\u624b\u79fb\u52a8\u5230\u5408\u9002\u4f4d\u7f6e\uff0c\u5e76\u5b8c\u6210\u5bf9\u7269\u4f53\u7684\u6293\u53d6\u3002\u8fd1\u5e74\u6765\uff0c\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u5728\u63d0\u9ad8\u5bf9\u4e0d\u540c\u7269\u4f53\u7684\u6293\u53d6\u7684\u6cdb\u5316\u80fd\u529b\u4e0a\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u9488\u5bf9\u673a\u68b0\u624b\u672c\u8eab\uff0c\u5c24\u5176\u662f\u590d\u6742\u7684\u7075\u5de7\u624b\uff08\u591a\u6307\u673a\u68b0\u624b\uff09\u4e4b\u95f4\u7684\u6cdb\u5316\u80fd\u529b\u4ecd\u7136\u7f3a\u4e4f\u6df1\u5165\u7814\u7a76\u3002\u7531\u4e8e\u7075\u5de7\u624b\u5728\u4e0d\u540c\u5f62\u6001\u548c\u51e0\u4f55\u7ed3\u6784\u4e0a\u5b58\u5728\u663e\u8457\u5dee\u5f02\uff0c\u6293\u53d6\u7b56\u7565\u7684\u8de8\u624b\u8f6c\u79fb\u4e00\u76f4\u5b58\u5728\u6311\u6218\u3002<\/p>\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6765\u81ea\u56fd\u9632\u79d1\u6280\u5927\u5b66\u548c\u6df1\u5733\u5927\u5b66\u7684\u7814\u7a76\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u7b56\u7565\u5b66\u4e60\u65b9\u6cd5\u3002\u901a\u8fc7\u5229\u7528\u5bf9\u4e0d\u540c\u7075\u5de7\u624b\u7684\u4e00\u81f4\u6027\u8868\u5f81\u8bbe\u8ba1\uff0c\u4ee5\u53ca\u5206\u79bb\u7075\u5de7\u624b\u9ad8\u5c42\u8fd0\u52a8\u751f\u6210\u548c\u4f4e\u5c42\u5173\u8282\u63a7\u5236\uff0c\u8be5\u65b9\u6cd5\u5b9e\u73b0\u4e86\u5c06\u5728\u4e00\u4e2a\u7075\u5de7\u624b\u4e0a\u8bad\u7ec3\u7684\u7b56\u7565\u4ee5\u4f4e\u4ee3\u4ef7\u8fc1\u79fb\u5230\u5176\u4ed6\u7075\u5de7\u624b\uff0c\u5e76\u540c\u65f6\u4fdd\u6301\u6293\u53d6\u6027\u80fd\u548c\u5bf9\u7269\u4f53\u7684\u6cdb\u5316\u6027\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-a3a750512d9e465b72ebebb48f901f13.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-a3a750512d9e465b72ebebb48f901f13.png\"><\/a><\/p>\n<ul>\n<li>\u8bba\u6587\u6807\u9898\uff1aLearning Cross-hand Policies of High-DOF Reaching and Grasping<\/li>\n<li>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2404.09150<\/li>\n<li>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/qijinshe.github.io\/IBS-Retargeting.github.io\/<\/li>\n<\/ul>\n<p>\u8be5\u5de5\u4f5c\u7684\u521b\u65b0\u70b9\u4e3b\u8981\u6709\u4ee5\u4e0b\u90e8\u5206\uff1a<\/p>\n<p><strong>\u8fd0\u52a8\u548c\u63a7\u5236\u5206\u79bb\u7684\u5c42\u6b21\u5316\u6846\u67b6\uff1a<\/strong>\u5c06\u9ad8\u5c42\u6b21\u7684\u6293\u53d6\u8fd0\u52a8\u9884\u6d4b\u4e0e\u4f4e\u5c42\u6b21\u7684\u5173\u8282\u63a7\u5236\u5206\u79bb\u5f00\u6765\uff0c\u901a\u7528\u7684\u7b56\u7565\u8d1f\u8d23\u89c4\u5212\u7075\u5de7\u624b\u6574\u4f53\u7684\u8fd0\u52a8\uff0c\u4e13\u7528\u7684\u63a7\u5236\u6a21\u5757\u8d1f\u8d23\u5c06\u8fd0\u52a8\u8f6c\u5316\u4e3a\u5bf9\u7279\u5b9a\u673a\u68b0\u624b\u5173\u8282\u7684\u63a7\u5236\uff0c\u8fd9\u4e00\u8bbe\u8ba1\u63d0\u9ad8\u4e86\u6a21\u578b\u5728\u591a\u79cd\u7075\u5de7\u624b\u4e0a\u7684\u9002\u5e94\u6027\uff1b<\/p>\n<p><strong>\u624b\u65e0\u5173\u7684\u72b6\u6001\u548c\u52a8\u4f5c\u8868\u793a\uff1a<\/strong>\u63d0\u51fa\u4e86\u4e00\u79cd\u901a\u7528\u7684\u8868\u793a\u65b9\u6cd5\uff0c\u8fd9\u79cd\u8868\u793a\u7ed3\u5408\u4e86\u7075\u5de7\u624b\u95f4\u901a\u7528\u7684\u5173\u952e\u70b9\u4ee5\u53ca\u4fa7\u91cd\u523b\u753b\u624b\u548c\u573a\u666f\u4ea4\u4e92\u7684\u51e0\u4f55\u7279\u5f81\uff0c\u5206\u522b\u907f\u514d\u4e86\u7075\u5de7\u624b\u7ed3\u6784\u548c\u51e0\u4f55\u5dee\u5f02\u5bf9\u7b56\u7565\u6cdb\u5316\u5e26\u6765\u7684\u5f71\u54cd\uff0c\u4f7f\u5176\u80fd\u591f\u5728\u4e0d\u540c\u7684\u673a\u68b0\u624b\u4e4b\u95f4\u8f6c\u79fb\uff0c\u65e0\u9700\u9488\u5bf9\u6bcf\u4e2a\u673a\u68b0\u624b\u5355\u72ec\u8bad\u7ec3\u7b56\u7565\u6a21\u578b\uff1b<\/p>\n<p><strong>\u57fa\u4e8e Transformer \u7684\u7b56\u7565\u7f51\u7edc\u7ed3\u6784\u8bbe\u8ba1\uff1a<\/strong>\u901a\u8fc7\u6ce8\u610f\u529b\u673a\u5236\uff0c\u6a21\u578b\u80fd\u591f\u5728\u5404\u79cd\u7075\u5de7\u624b\u4e0a\u6574\u5408\u4e0d\u540c\u624b\u6307\u548c\u8868\u793a\u7684\u4fe1\u606f\uff0c\u5e76\u4f7f\u5176\u9002\u7528\u4e8e\u4e0d\u540c\u624b\u6307\u6570\u91cf\u7684\u7075\u5de7\u624b\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u6293\u53d6\u7b56\u7565\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n<p><strong>\u9759\u6001\u6293\u53d6\u751f\u6210\uff1a<\/strong>\u73b0\u6709\u7684\u6293\u53d6\u751f\u6210\u6280\u672f\u53ef\u4ee5\u5206\u4e3a\u5206\u6790\u6cd5\u548c\u6570\u636e\u9a71\u52a8\u6cd5\u3002\u5206\u6790\u6cd5\u901a\u8fc7\u91c7\u6837\u6216\u4f18\u5316\u6280\u672f\u5bfb\u627e\u786e\u4fdd\u7269\u7406\u7a33\u5b9a\u6027\u7684\u6293\u53d6\u59ff\u6001\uff0c\u5c3d\u7ba1\u9002\u7528\u4e8e\u4e0d\u540c\u6293\u624b\u7684\u6293\u53d6\u89c4\u5212\uff0c\u4f46\u8fd0\u884c\u901f\u5ea6\u8f83\u6162 [1]\u3002\u6570\u636e\u9a71\u52a8\u6cd5\u76f4\u63a5\u6839\u636e\u7269\u4f53\u7279\u5f81\u9884\u6d4b\u6293\u53d6\u59ff\u6001\uff0c\u8fd0\u884c\u901f\u5ea6\u5feb\uff0c\u4f46\u662f\u7f3a\u4e4f\u5bf9\u673a\u68b0\u624b\u672c\u8eab\u7684\u6cdb\u5316\u6027\u3002\u4e3a\u4e86\u8de8\u8d8a\u4e0d\u540c\u673a\u68b0\u624b\uff0c\u4e00\u4e9b\u6539\u8fdb\u65b9\u6cd5\u901a\u8fc7\u9884\u6d4b\u63a5\u89e6\u70b9\u5e76\u7ed3\u5408\u9006\u8fd0\u52a8\u5b66 [2] \u6216\u5f3a\u5316\u5b66\u4e60 [3] \u751f\u6210\u6293\u53d6\u59ff\u6001, \u5176\u4ed6\u65b9\u6cd5\u5982 AdaGrasp [4] \u548c GenDexGrasp [5] \u5219\u901a\u8fc7\u63a5\u89e6\u56fe\uff08contact map\uff09\u8fdb\u884c\u6293\u53d6\u9884\u6d4b\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4e3b\u8981\u5173\u6ce8\u6700\u7ec8\u6293\u53d6\u59ff\u6001\uff0c\u7f3a\u5c11\u5bf9\u6574\u4e2a\u6293\u53d6\u8fc7\u7a0b\u7684\u89c4\u5212\u8c03\u6574\u3002<\/p>\n<p><strong>\u8fd0\u52a8\u91cd\u5b9a\u5411\uff1a<\/strong>\u8fd0\u52a8\u91cd\u5b9a\u5411\u7528\u4e8e\u5c06\u4e00\u4e2a\u5b9e\u4f53\u7684\u52a8\u4f5c\u8f6c\u79fb\u5230\u53e6\u4e00\u4e2a\u5b9e\u4f53\uff0c\u53ef\u5206\u4e3a\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u548c\u542f\u53d1\u5f0f\u65b9\u6cd5\u3002\u5b66\u4e60\u6cd5\u5c06\u5176\u89c6\u4e3a\u5e8f\u5217\u751f\u6210\u95ee\u9898 [6][7]\uff0c\u542f\u53d1\u5f0f\u65b9\u6cd5\u901a\u8fc7\u5339\u914d\u5173\u8282\u6216\u5173\u952e\u70b9\u8ba1\u7b97\u76ee\u6807\u673a\u5668\u4eba\u7684\u59ff\u6001 [8]\u3002\u5728\u6293\u53d6\u4efb\u52a1\u4e2d\uff0c\u5df2\u6709\u4e00\u4e9b\u65b9\u6cd5\u5c06\u4eba\u624b\u52a8\u4f5c\u5b9e\u65f6\u8f6c\u79fb\u5230\u7075\u5de7\u624b\u4e0a\u6765\u6536\u96c6\u7075\u5de7\u624b\u7684\u8fd0\u52a8\u8f68\u8ff9 [9]\u3002\u7136\u800c\uff0c\u7531\u4e8e\u52a8\u6001\u73af\u5883\u4e2d\u7684\u8bef\u5dee\uff0c\u91cd\u5b9a\u5411\u52a8\u4f5c\u7684\u53ef\u590d\u73b0\u6027\u4ecd\u7136\u662f\u6311\u6218\uff0c\u56e0\u6b64\u901a\u5e38\u4ec5\u7528\u4f5c\u7b56\u7565\u8bad\u7ec3\u4e2d\u7684\u6570\u636e[10]\u3002<\/p>\n<p><strong>\u52a8\u6001\u7b56\u7565\u8f6c\u79fb\uff1a<\/strong>\u4e00\u4e9b\u7814\u7a76\u901a\u8fc7\u5c06\u673a\u5668\u4eba\u5f62\u6001\u7ed3\u6784\u4fe1\u606f\u6574\u5408\u5230\u7b56\u7565\u4e2d\uff0c\u5b9e\u73b0\u4e86\u673a\u5668\u4eba\u6b65\u6001\u63a7\u5236\u7684\u7b56\u7565\u8f6c\u79fb [11]\u3002\u7528\u56fe\u795e\u7ecf\u7f51\u7edc [12] \u6216 Transformer [13] \u6765\u7f16\u7801\u673a\u5668\u4eba\u7ec4\u4ef6\u4e4b\u95f4\u7684\u8fde\u63a5\u548c\u5173\u7cfb\u88ab\u9a8c\u8bc1\u662f\u63d0\u9ad8\u7b56\u7565\u5bf9\u673a\u5668\u4eba\u672c\u4f53\u7ed3\u6784\u6cdb\u5316\u80fd\u529b\u7684\u6709\u6548\u65b9\u6cd5\u3002\u7136\u800c\uff0c\u5728\u7075\u5de7\u624b\u6293\u53d6\u8fd9\u79cd\u9700\u8981\u548c\u573a\u666f\u4ea7\u751f\u5927\u91cf\u63a5\u89e6\u7684\u4efb\u52a1\u4e2d\uff0c\u673a\u5668\u4eba\u7684\u51e0\u4f55\u5dee\u5f02\u4ee5\u53ca\u548c\u573a\u666f\u4ea4\u4e92\u5173\u7cfb\u4e5f\u9700\u8981\u88ab\u5145\u5206\u8003\u8651\u4ee5\u5b9e\u73b0\u7b56\u7565\u8fc1\u79fb\u3002<\/p>\n<p><strong>\u65b9\u6cd5\u63cf\u8ff0<\/strong><\/p>\n<p>\u8be5\u5de5\u4f5c\u63d0\u51fa\u4e86\u4e00\u79cd\u53ef\u4ee5\u5728\u4e0d\u540c\u7075\u5de7\u624b\u95f4\u8fc1\u79fb\u7684\u6293\u53d6\u7b56\u7565\u53ca\u5176\u5b66\u4e60\u65b9\u6cd5\uff0c\u603b\u4f53\u6846\u67b6\u5982\u56fe\u6240\u793a\u3002\u6574\u4e2a\u65b9\u6cd5\u5206\u4e3a\u4e24\u4e2a\u5173\u952e\u9636\u6bb5\uff1a\u57fa\u4e8e\u901a\u7528\u7684\u51e0\u4f55\u548c\u7ed3\u6784\u65e0\u5173\u7684\u72b6\u6001\u52a8\u4f5c\u8868\u793a\u7684\u6293\u53d6\u7b56\u7565\u6a21\u578b\uff0c\u4ee5\u53ca\u9762\u5411\u7279\u5b9a\u7075\u5de7\u624b\u7684\u81ea\u9002\u5e94\u6a21\u578b\u3002\u524d\u8005\u8d1f\u8d23\u628a\u63a7\u7075\u5de7\u624b\u603b\u4f53\u7684\u8fd0\u52a8\u751f\u6210\uff0c\u800c\u540e\u8005\u5219\u5c06\u76f8\u5e94\u7684\u8fd0\u52a8\u8f6c\u5316\u4e3a\u7075\u5de7\u624b\u5b9e\u65f6\u7684\u5173\u8282\u52a8\u6001\u53d8\u5316\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-ab9e9b1e234211af7c1397f86e3c0c95.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-ab9e9b1e234211af7c1397f86e3c0c95.png\"><\/a><\/p>\n<p><em>\u56fe 1 \u8de8\u624b\u8fc1\u79fb\u7684\u6293\u53d6\u7b56\u7565\u5b66\u4e60\u7684\u6574\u4f53\u6846\u67b6\u56fe<\/em><\/p>\n<p>\u4e3a\u4e86\u4f7f\u5f97\u5b66\u4e60\u7684\u7b56\u7565\u6a21\u578b\u53ef\u4ee5\u5728\u4e0d\u540c\u7075\u5de7\u624b\u4e4b\u95f4\u5b9e\u73b0\u6cdb\u5316\uff0c\u8be5\u5de5\u4f5c\u8bbe\u8ba1\u4e86\u4e00\u5957\u4e0d\u540c\u7075\u5de7\u624b\u666e\u9002\u7684\u72b6\u6001\u548c\u52a8\u4f5c\u8868\u5f81\u3002\u5b83\u4f7f\u7528\u4e86\u7075\u5de7\u624b\u4e0a\u7684\u8bed\u4e49\u5173\u952e\u70b9\u4f5c\u4e3a\u8868\u5f81\uff0c\u6765\u514b\u670d\u7075\u5de7\u624b\u7684\u7ed3\u6784\u5dee\u5f02\u3002\u8fd9\u4e9b\u8bed\u4e49\u5173\u952e\u70b9\u4e0d\u4ec5\u53ef\u4ee5\u7edf\u4e00\u6307\u4ee3\u4e0d\u540c\u7075\u5de7\u624b\u4e0a\u5177\u6709\u76f8\u540c\u8bed\u4e49\u7684\u90e8\u5206\uff08\u6bd4\u5982\u6307\u5c16\uff09\uff0c\u4e5f\u53ef\u4ee5\u5f88\u597d\u5730\u6982\u62ec\u7075\u5de7\u624b\u624b\u6307\u7684\u8fd0\u52a8\u4fe1\u606f\uff0c\u56e0\u6b64\u53ef\u4ee5\u5c06\u5173\u952e\u70b9\u7684\u4f4d\u7f6e\u4fe1\u606f\u4f5c\u4e3a\u7b56\u7565\u7684\u72b6\u6001\u8868\u793a\uff0c\u800c\u5c06\u5176\u7684\u4f4d\u7f6e\u53d8\u5316\u4f5c\u4e3a\u7b56\u7565\u7684\u52a8\u4f5c\u8868\u793a\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u514b\u670d\u4e0d\u7528\u7075\u5de7\u624b\u7684\u51e0\u4f55\u5dee\u5f02\u5bf9\u7b56\u7565\u7684\u5f71\u54cd\uff0c\u8be5\u5de5\u4f5c\u4f7f\u7528\u4e86\u4ea4\u4e92\u4e8c\u5206\u66f2\u9762\uff08Interaction Bisector Surface\uff09[15] \u8fd9\u79cd\u7279\u6b8a\u51e0\u4f55\u8868\u793a\u4f5c\u4e3a\u7b56\u7565\u7684\u72b6\u6001\u8868\u793a\u7684\u8865\u5145\u3002\u8fd9\u79cd\u8868\u793a\u88ab\u5b9a\u4e49\u6210\u5230\u7a7a\u95f4\u4e2d\u5230\u4e24\u4e2a\u7269\u4f53\u8ddd\u79bb\u76f8\u7b49\u7684\u5e73\u9762\uff0c\u5728\u8be5\u5de5\u4f5c\u4e2d\u5219\u7528\u6765\u8868\u793a\u6293\u624b\u548c\u573a\u666f\u4e4b\u95f4\u7684\u7b49\u8ddd\u79bb\u9762\u3002\u8fd9\u79cd\u8868\u793a\u88ab\u9a8c\u8bc1\u53ef\u4ee5\u63d0\u5347\u6293\u53d6\u7b56\u7565\u5bf9\u7075\u5de7\u624b\u51e0\u4f55\u7684\u9c81\u68d2\u6027\u3002<\/p>\n<p>\u5728\u7f51\u7edc\u7684\u5b9e\u73b0\u4e0a\uff0c\u8be5\u5de5\u4f5c\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u57fa\u4e8e Transformer \u7f51\u7edc\u7ed3\u6784\u7684\u901a\u7528\u7b56\u7565\u6a21\u578b\u3002\u5b83\u901a\u8fc7\u591a\u5c42\u81ea\u6ce8\u610f\u529b\u673a\u5236\u6765\u878d\u5408\u4e0d\u540c\u8f93\u5165\u7279\u5f81\uff0c\u5e76\u6574\u5408\u5404\u624b\u6307\u4e4b\u95f4\u7684\u4fe1\u606f\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u5f97\u5b66\u4e60\u7684\u7b56\u7565\u53ef\u4ee5\u9002\u7528\u4e0d\u540c\u6570\u91cf\u624b\u6307\u7684\u7075\u5de7\u624b\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u6cdb\u5316\u6027\u3002\u5728\u4e0b\u5c42\u7684\u7075\u5de7\u624b\u5173\u8282\u63a7\u5236\u4e0a\uff0c\u8be5\u5de5\u4f5c\u7528\u8f7b\u91cf\u7684\u591a\u5c42\u611f\u77e5\u673a\u7f51\u7edc\u6784\u5efa\u4e86\u7279\u5b9a\u624b\u9002\u914d\u6a21\u578b\uff0c\u8d1f\u8d23\u5c06\u5173\u952e\u70b9\u4f4d\u79fb\u6620\u5c04\u5230\u6293\u53d6\u5668\u7684\u5173\u8282\u53d8\u5316\uff0c\u786e\u4fdd\u4e0d\u540c\u6293\u53d6\u5668\u90fd\u80fd\u591f\u88ab\u7edf\u4e00\u7684\u9ad8\u5c42\u7b56\u7565\u6a21\u578b\u63a7\u5236\u3002<\/p>\n<p>\u6a21\u578b\u8bad\u7ec3\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\uff1a\u8054\u5408\u8bad\u7ec3\u548c\u8fc1\u79fb\u8bad\u7ec3\uff0c\u4ee5\u786e\u4fdd\u6a21\u578b\u5728\u4e0d\u540c\u6293\u53d6\u5668\u4e0a\u7684\u901a\u7528\u6027\u548c\u6027\u80fd\u3002\u5728\u8054\u5408\u8bad\u7ec3\u9636\u6bb5\uff0c\u7b56\u7565\u6a21\u578b\u548c\u7279\u5b9a\u624b\u9002\u914d\u6a21\u578b\u4f1a\u5728\u4e00\u4e2a\u7075\u5de7\u624b\u4e0a\u540c\u65f6\u8bad\u7ec3\uff0c\u4f46\u5b83\u4eec\u5404\u81ea\u72ec\u7acb\u4f18\u5316\u3002\u7b56\u7565\u6a21\u578b\u7684\u8bad\u7ec3\u91c7\u7528\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\uff0c\u901a\u8fc7\u5956\u52b1\u51fd\u6570\u4f18\u5316\u6293\u53d6\u6210\u529f\u7387\u548c\u907f\u514d\u78b0\u649e\u7684\u80fd\u529b\u3002\u800c\u9002\u5e94\u6a21\u578b\u5219\u901a\u8fc7\u81ea\u76d1\u7763\u7684\u5faa\u73af\u635f\u5931\u8fdb\u884c\u8bad\u7ec3\uff0c\u786e\u4fdd\u5173\u952e\u70b9\u4f4d\u79fb\u80fd\u591f\u7cbe\u786e\u6620\u5c04\u5230\u5173\u8282\u89d2\u5ea6\u53d8\u5316\u540c\u65f6\u907f\u514d\u81ea\u78b0\u649e\u3002<\/p>\n<p>\u81f3\u4e8e\u8fc1\u79fb\u8bad\u7ec3\uff0c\u5176\u91cd\u70b9\u662f\u5c06\u5148\u524d\u8bad\u7ec3\u7684\u7b56\u7565\u6a21\u578b\u5e94\u7528\u5230\u65b0\u7684\u7075\u5de7\u624b\u4e0a\u3002\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\uff0c\u7b56\u7565\u6a21\u578b\u4fdd\u6301\u56fa\u5b9a\uff0c\u53ea\u5bf9\u65b0\u7684\u7075\u5de7\u624b\u91cd\u65b0\u8bad\u7ec3\u7279\u5b9a\u624b\u9002\u914d\u6a21\u578b\uff0c\u4ee5\u9002\u914d\u5176\u4e0d\u540c\u7684\u5173\u8282\u7ed3\u6784\u3002\u7531\u4e8e\u9002\u5e94\u6a21\u578b\u8f83\u4e3a\u8f7b\u91cf\u4e14\u53ef\u4ee5\u901a\u8fc7\u81ea\u76d1\u7763\u65b9\u5f0f\u8bad\u7ec3\uff0c\u8fd9\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u88ab\u5feb\u901f\u9ad8\u6548\u7684\u5b8c\u6210\u3002<\/p>\n<p>\u901a\u8fc7\u8fd9\u4e24\u9636\u6bb5\u7684\u8bad\u7ec3\uff0c\u6a21\u578b\u4e0d\u4ec5\u5177\u5907\u4e86\u8de8\u7075\u5de7\u624b\u7684\u901a\u7528\u80fd\u529b\uff0c\u8fd8\u80fd\u5728\u65b0\u7075\u5de7\u624b\u4e0a\u8fc5\u901f\u9002\u5e94\u5e76\u6267\u884c\u9ad8\u7cbe\u5ea6\u6293\u53d6\u4efb\u52a1\u3002<\/p>\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n<p>\u8be5\u5de5\u4f5c\u5bf9\u6240\u63d0\u51fa\u7684\u6846\u67b6\u548c\u8bbe\u8ba1\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\u9a8c\u8bc1\uff0c\u5e76\u8bc4\u4f30\u4e86\u5176\u5728\u4e0d\u540c\u6293\u53d6\u5668\u548c\u7269\u4f53\u4e0a\u7684\u6027\u80fd\u3002\u5b9e\u9a8c\u4f7f\u7528\u4e86\u591a\u79cd\u7075\u5de7\u6293\u53d6\u5668\uff0c\u5e76\u5728 YCB \u7269\u4f53\u96c6\u548c ContactPose \u7269\u4f53\u96c6\u4e0a\u6d4b\u8bd5\u4e86\u8be6\u7ec6\u5b9e\u9a8c\uff0c\u56fe 2 \u5c55\u793a\u4e86\u8be5\u5de5\u4f5c\u65b9\u6cd5\u5728\u4e0d\u540c\u7075\u5de7\u624b\u4ee5\u53ca\u4e0d\u540c\u7269\u4f53\u4e0a\u6293\u53d6\u7684\u53ef\u89c6\u7ed3\u679c\uff0c\u8bc1\u660e\u4e86\u65b9\u6cd5\u7684\u6cdb\u5316\u6027\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-ea65d2d3a97c882a34271acec8c59849.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-ea65d2d3a97c882a34271acec8c59849.png\"><\/a><\/p>\n<p><em>\u56fe 2. \u8de8\u624b\u8fc1\u79fb\u7684\u6293\u53d6\u7b56\u7565\u5728\u4e0d\u540c\u7075\u5de7\u624b\u548c\u7269\u4f53\u4e0a\u7684\u6cdb\u5316\u6548\u679c<\/em><\/p>\n<p>\u5b9a\u91cf\u6d4b\u8bd5\u65b9\u9762\uff0c\u8be5\u5de5\u4f5c\u9996\u5148\u6d4b\u8bd5\u4e86\u65b9\u6cd5\u4e2d\u7684\u4e3b\u8981\u8bbe\u8ba1\u5bf9\u7075\u5de7\u624b\u6293\u53d6\u7b56\u7565\u6027\u80fd\u548c\u6cdb\u5316\u6027\u7684\u5f71\u54cd\uff0c\u5305\u62ec\u4e24\u9636\u6bb5\u5206\u79bb\u7684\u7b56\u7565\u8bbe\u8ba1\uff0c\u901a\u7528\u7684\u8868\u5f81\u8bbe\u8ba1\uff0c\u57fa\u4e8e transform \u7684\u7f51\u7edc\u7ed3\u6784\u8bbe\u8ba1\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\u8fd9\u4e9b\u8bbe\u8ba1\u53ef\u4ee5\u5e2e\u52a9\u7b56\u7565\u5b9e\u73b0\u4e0d\u540c\u7075\u5de7\u624b\u4e4b\u95f4\u7684\uff0c\u9ad8\u6027\u80fd\u7684\u7b56\u7565\u8fc1\u79fb\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-0ee97dfc60de91d7baff393493241a17.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-0ee97dfc60de91d7baff393493241a17.png\"><\/a><\/p>\n<p><em>\u8868 1. \u8de8\u624b\u8fc1\u79fb\u7684\u6293\u53d6\u7b56\u7565\u7684\u6d88\u878d\u5b9e\u9a8c<\/em><\/p>\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u8bc1\u660e\u8be5\u5de5\u4f5c\u65b9\u6cd5\u7684\u6027\u80fd\u4f18\u52bf\uff0c\u8be5\u5de5\u4f5c\u548c\u4e00\u4e9b\u57fa\u4e8e\u73b0\u6709\u65b9\u6848\u7684\u57fa\u7ebf\u65b9\u6cd5\u8fdb\u884c\u4e86\u8fdb\u4e00\u6b65\u7684\u6027\u80fd\u5bf9\u6bd4\uff0c\u5982\u8868 2 \u6240\u793a\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5305\u62ec\u4f7f\u7528\u4e0d\u540c\u7279\u5f81\uff08\u5173\u8282\u5339\u914d\u548c\u5173\u952e\u70b9\u5339\u914d\uff09\u7684\u57fa\u4e8e\u8fd0\u52a8\u91cd\u5b9a\u5411\u7684\u65b9\u6cd5\u4ee5\u53ca\u5bf9\u7b56\u7565\u8f93\u5165\u8f93\u51fa\u8fdb\u884c\u6620\u5c04\u7684\u65b9\u6cd5\uff0c\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\u4e86\u8be5\u5de5\u4f5c\u65b9\u6cd5\u7684\u4f18\u8d8a\u6027\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-06a28edc43b991a45e3a154fab248e7e.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-06a28edc43b991a45e3a154fab248e7e.png\"><\/a><\/p>\n<p><em>\u8868 2. \u8de8\u624b\u8fc1\u79fb\u7684\u6293\u53d6\u7b56\u7565\u548c\u57fa\u7ebf\u65b9\u6cd5\u7684\u5bf9\u6bd4\u5b9e\u9a8c<\/em><\/p>\n<p><em>\u53c2\u8003\u6587\u732e\uff1a<\/em><\/p>\n<p><em>1.Turpin, D., Wang, L., Heiden, E., Chen, Y.C., Macklin, M., Tsogkas, S., Dickinson, S., Garg, A.: Grasp\u2019d: Differentiable contact-rich grasp synthesis for multi-fingered hands. In: Computer Vision\u2013ECCV 2022: 17th European Conference, Tel Aviv, Israel, October 23\u201327, 2022, Proceedings, Part VI. pp. 201\u2013221. Springer (2022)<\/em><\/p>\n<p><em>2.Shao, L., Ferreira, F., Jorda, M., Nambiar, V., Luo, J., Solowjow, E., Ojea, J.A., Khatib, O., Bohg, J.: Unigrasp: Learning a unified model to grasp with multi-fingered robotic hands. IEEE Robotics and Automation Letters 5 (2), 2286\u20132293 (2020)<\/em><\/p>\n<p><em>3.Li, K., Baron, N., Zhang, X., Rojas, N.: Efficientgrasp: A unified data-efficient learning to grasp method for multi-fingered robot hands. IEEE Robotics and Automation Letters 7 (4), 8619\u20138626 (2022)<\/em><\/p>\n<p><em>4.Xu, Z., Qi, B., Agrawal, S., Song, S.: Adagrasp: Learning an adaptive gripper-aware grasping policy. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). pp. 4620\u20134626. 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PMLR (2020)<\/em><\/p>\n<p><em>12.Scarselli, F., Gori, M., Tsoi, A.C., Hagenbuchner, M., Monfardini, G.: The graph neural network model. IEEE transactions on neural networks 20 (1), 61\u201380 (2008)<\/em><\/p>\n<p><em>13.Vaswani, A., Shazeer, N., Parmar, N., Uszkoreit, J., Jones, L., Gomez, A.N., Kaiser, \u0141., Polosukhin, I.: Attention is all you need. Advances in neural information processing systems 30 (2017)<\/em><\/p>\n<p><em>14.Wang, T., Liao, R., Ba, J., Fidler, S.: Nervenet: Learning structured policy with graph neural networks. In: Proceedings of the International Conference on Learning Representations, Vancouver, BC, Canada. vol. 30 (2018)<\/em><\/p>\n<p><em>15.Zhao, X., Wang, H., Komura, T.: Indexing 3d scenes using the interaction bisector surface. 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