{"id":36182,"date":"2025-01-07T04:00:14","date_gmt":"2025-01-06T20:00:14","guid":{"rendered":"https:\/\/17aitech.com\/?p=36182"},"modified":"2025-01-07T04:00:14","modified_gmt":"2025-01-06T20:00:14","slug":"%e6%b8%85%e5%8d%8e%e5%bc%80%e6%ba%90%e5%85%a8%e7%90%83%e6%9c%80%e5%a4%a7%e5%8f%8c%e8%87%82%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%89%a9%e6%95%a3%e5%a4%a7%e6%a8%a1%e5%9e%8brdt%ef%bc%8c%e6%87%82%e8%b0%83","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=36182","title":{"rendered":"\u6e05\u534e\u5f00\u6e90\u5168\u7403\u6700\u5927\u53cc\u81c2\u673a\u5668\u4eba\u6269\u6563\u5927\u6a21\u578bRDT\uff0c\u61c2\u8c03\u9152\u80fd\u905b\u72d7\uff0c\u767b\u9876HF\u5177\u8eab\u70ed\u699c"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-10-18-3\" target=\"_blank\">\u6e05\u534e\u5f00\u6e90\u5168\u7403\u6700\u5927\u53cc\u81c2\u673a\u5668\u4eba\u6269\u6563\u5927\u6a21\u578bRDT\uff0c\u61c2\u8c03\u9152\u80fd\u905b\u72d7\uff0c\u767b\u9876HF\u5177\u8eab\u70ed\u699c<\/a><\/p>\n<section>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-be7be6e64ca2fc5b92a02518519a1bd7.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-be7be6e64ca2fc5b92a02518519a1bd7.png\"><\/a><\/p>\n<\/section>\n<p>\u4eca\u5929\uff0c\u4e16\u754c\u89c1\u8bc1\u4e86 RDT \u5927\u6a21\u578b\u7684\u8bde\u751f\uff0c\u5b83\u5c31\u50cf \u201c\u5c0f\u8111\u201d \u4e00\u6837\u8d1f\u8d23\u63a7\u5236\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u3002<\/p>\n<p>\u65e0\u9700\u4eba\u7c7b\u80cc\u540e\u64cd\u4f5c\uff0cRDT \u5373\u53ef\u6307\u6325\u673a\u5668\u4eba\u53cc\u81c2\u5e76\u7528\uff0c\u5b8c\u7f8e\u8c03\u51fa\u5982\u665a\u971e\u822c\u68a6\u5e7b\u7684\u9e21\u5c3e\u9152 Malibu Sunset\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-7f080f379b90f74e4035e36b638bd0d5.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-7f080f379b90f74e4035e36b638bd0d5.gif\"><\/a><\/p>\n<p>\u548c\u4eba\u7c7b\u8c03\u9152\u5e08\u4e00\u6837\uff0c\u9996\u5148\uff0cRDT \u5c06\u51b0\u5757\u7a33\u7a33\u5012\u5165\u9ad8\u811a\u676f\u4e2d\uff0c\u4e0d\u6492\u4e0d\u6f0f\uff0c\u4e00\u5957\u52a8\u4f5c\u884c\u4e91\u6d41\u6c34\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-788b539421bbc45e7eb1d9dfa0218a41.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-788b539421bbc45e7eb1d9dfa0218a41.gif\"><\/a><\/p>\n<p>\u5012\u5b8c\u51b0\u5757\u540e\uff0cRDT \u5148\u540e\u5012\u5165\u6930\u5b50\u9152\u3001\u6a59\u6c41\u3001\u83e0\u841d\u6c41\uff0c\u64cd\u4f5c\u5a34\u719f\uff0c\u987a\u5e8f\u4e0d\u4e71\uff0c\u786e\u4fdd\u53e3\u5473\u4e00\u81f4\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-01fdda6f28d8b0324f3b047e8fea7d58.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-01fdda6f28d8b0324f3b047e8fea7d58.gif\"><\/a><\/p>\n<p>\u6ce8\u5165\u77f3\u69b4\u6c41\uff0c\u665a\u971e\u822c\u7eda\u70c2\u7684\u9152\u7ea2\u8272\u5728\u9ad8\u811a\u676f\u4e2d\u5f90\u5f90\u6655\u67d3\u5f00\u6765\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-a52416f460159f1e90694f95b0946f19.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-a52416f460159f1e90694f95b0946f19.gif\"><\/a><\/p>\n<p>\u6700\u540e\uff0cRDT \u53d1\u6325\u7a7a\u95f4\u611f\uff0c\u5939\u8d77\u4e00\u7247\u67e0\u6aac\uff0c\u8f7b\u8f7b\u5361\u5728\u6709\u5f27\u5ea6\u7684\u676f\u53e3\u4e0a\uff0c\u6f02\u4eae\uff01<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-f70806d9f38f8be0fcc845230147c506.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-f70806d9f38f8be0fcc845230147c506.gif\"><\/a><\/p>\n<p>\u540c\u884c\u770b\u540e\u7eb7\u7eb7\u8868\u793a\uff1a\u6709\u4e86\u5341\u4ebf<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u7684 RDT \uff0c\u667a\u80fd\u673a\u5668\u4eba\u65f6\u4ee3\u4e0d\u8fdc\u77e3\uff01\u53bb\u9152\u5427\u70b9 RDT \u8c03\u9152\u5e08\uff0c\u8d5b\u535a\u670b\u514b\u611f\u77ac\u95f4\u62c9\u6ee1\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-61d5c52fce455a55722ed2c597b804d2.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-61d5c52fce455a55722ed2c597b804d2.png\"><\/a><\/p>\n<p>\u5728\u9886\u7565\u4e86 RDT \u7684\u5f3a\u5927\u540e\uff0c\u662f\u65f6\u5019\u63ed\u5f00\u5b83\u7684\u795e\u79d8\u9762\u7eb1\u4e86 \u2014\u2014 RDT \u7684\u5168\u79f0\u662f Robotics Diffusion Transformer\uff0c\u662f<strong>\u5168\u7403\u6700\u5927<\/strong>\u7684\u9488\u5bf9<strong>\u53cc\u81c2\u673a\u5668\u4eba<\/strong>\u64cd\u4f5c\u4efb\u52a1\u7684<strong>\u6269\u6563\u57fa\u7840\u6a21\u578b<\/strong>\uff0c\u7531<mark data-type=\"institutions\" data-id=\"4349d6b9-40ff-4e23-a237-f9ace91c6c81\">\u6e05\u534e\u5927\u5b66<\/mark><mark data-type=\"concepts\" data-id=\"2d28aa9c-942d-471d-bd96-8bfefb7144e0\">\u4eba\u5de5\u667a\u80fd<\/mark>\u7814\u7a76\u9662 TSAIL \u56e2\u961f\u6784\u5efa\u3002<\/p>\n<p>\u5f53\u524d\uff0c\u673a\u5668\u4eba\u9886\u57df\u516c\u8ba4\u7684\u5361\u8116\u5b50\u95ee\u9898\u662f \u201c\u4e0d\u591f\u667a\u80fd\u201d\u3002\u8bb8\u591a\u6a21\u578b\u9700\u8981\u4eba\u6559\u51e0\u5341\u904d\u624d\u80fd\u5b8c\u6210\u5355\u4e2a\u4efb\u52a1\uff0c\u9762\u5bf9\u6ca1\u6559\u8fc7\u7684\u60c5\u51b5\u5219 \u201c\u675f\u624b\u65e0\u7b56\u201d\u3002<\/p>\n<p>\u800c RDT \u6b63\u662f\u8fd9\u4e2a \u201c\u667a\u80fd\u56f0\u5883\u201d \u7684\u7834\u58c1\u8005\u4e4b\u4e00\u3002\u5b83\u4e3a ALOHA \u786c\u4ef6<mark data-type=\"concepts\" data-id=\"6073317b-1aa8-421c-ba0b-d73b5e5fcc4b\">\u672c\u4f53<\/mark>\u690d\u5165\u4e86 \u201c\u5c0f\u8111\u201d\uff0c\u4f7f\u5176\u80fd\u6446\u8131\u4eba\u7c7b\u7684\u64cd\u63a7\uff0c\u81ea\u4e3b\u5b8c\u6210\u6ca1\u89c1\u8fc7\u7684\u4efb\u52a1\u3002RDT \u5c06 \u201c\u5c0f\u6a21\u578b\u201d \u6269\u5c55\u4e3a \u201c\u5927\u6a21\u578b\u201d\uff0c\u4ece \u201c\u5355\u81c2\u201d \u53d8\u4e3a \u201c\u53cc\u81c2\u201d\uff0c\u662f\u76ee\u524d\u8fd0\u52a8\u63a7\u5236\u6c34\u5e73\u6700\u63a5\u8fd1\u4eba\u7c7b\u7684\u673a\u5668\u4eba\u5c0f\u8111\u4e4b\u4e00\u3002<\/p>\n<p>\u66f4\u60ca\u559c\u7684\u662f\uff0c\u6e05\u534e\u56e2\u961f\u5df2\u5c06 RDT \u7684\u4ee3\u7801\u3001\u6a21\u578b\uff0c\u751a\u81f3\u8bad\u7ec3\u5b83\u7684\u53cc\u81c2\u6570\u636e\u96c6\u5f7b\u5e95\u5f00\u6e90\u3002\u4ed6\u4eec\u575a\u4fe1\uff0c\u5f00\u6e90 RDT \u80fd\u6781\u5927\u52a0\u901f\u673a\u5668\u4eba\u7814\u53d1\u548c\u4ea7\u4e1a\u5316\u8fdb\u7a0b\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-4a296699289eccf7ad90ebba9e323f71.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-4a296699289eccf7ad90ebba9e323f71.png\"><\/a><\/p>\n<ul>\n<li>\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/rdt-robotics.github.io\/rdt-robotics<\/p>\n<\/li>\n<li>\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2410.07864<\/p>\n<\/li>\n<li>\n<p>\u8bba\u6587\u6807\u9898\uff1aRDT-1B: a Diffusion Foundation Model for Bimanual Manipulation<\/p>\n<\/li>\n<\/ul>\n<section>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u76ee\u524d RDT \u5728\u4e16\u754c\u6700\u5927\u7684\u5f00\u6e90\u6a21\u578b\u5e73\u53f0 \u2014\u2014 HuggingFace \u4e0a\u7684\u673a\u5668\u4eba\u699c\u5355\u300c\u70ed\u5ea6\u6392\u540d\u7b2c\u4e00\u300d\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-2e6ea50f655fc6a50cfeca3a1f6d1d81.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-2e6ea50f655fc6a50cfeca3a1f6d1d81.png\"><\/a><\/section>\n<section>\u5728 RDT \u6a21\u578b\u7684\u52a0\u6301\u4e0b\uff0c\u53cc\u81c2\u673a\u5668\u4eba\u6210\u529f\u6311\u6218 7 \u9879\u9ad8\u96be\u5ea6\u4efb\u52a1\uff0c\u5e73\u5747\u6210\u529f\u7387\u4e0a\u6bd4\u5f53\u524d\u6700\u597d\u7684\u6a21\u578b\u8fd8\u8981\u60ca\u4eba\u5730<strong>\u9ad8\u51fa 56%<\/strong>\u3002<\/section>\n<section><\/section>\n<section>\u8ba9\u6211\u4eec\u4e00\u8d77\u6765\u770b\u770b\uff0c\u6709\u4e86 RDT\uff0c\u53cc\u81c2\u673a\u5668\u4eba\u8fd8\u80fd\u89e3\u9501\u54ea\u4e9b\u9ad8\u9636\u7279\u5f81\u5427\u3002<\/section>\n<section><\/section>\n<section><strong>\u6548\u679c\u5c55\u793a<\/strong><\/section>\n<section><\/section>\n<section><strong>1. \u7075\u5de7\u64cd\u4f5c\uff1a\u201c\u673a\u5668\u4eba\u905b\u72d7\u201d \u7adf\u6210\u73b0\u5b9e<\/strong><\/section>\n<section><\/section>\n<section>\u8d77\u731b\u4e86\uff0c\u53d1\u73b0\u673a\u5668\u4eba\u80fd\u905b\u673a\u5668\u72d7\u4e86\uff1f<\/section>\n<section><\/section>\n<section>\u5728 RDT \u7684\u6307\u6325\u4e0b\uff0c\u673a\u5668\u4eba\u80fd\u7075\u5de7\u5730\u63e1\u4f4f\u957f\u5ea6\u4e0d\u5230 2cm \u7684\u8ff7\u4f60\u6447\u6746\uff0c\u63a7\u5236\u673a\u5668\u72d7\u8d70\u51fa\u5b8c\u7f8e\u76f4\u7ebf\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-281a560d1bcc2071bcb76b80416258be.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-281a560d1bcc2071bcb76b80416258be.gif\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-8860dead3d235bdcebdbec884502eb58.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-8860dead3d235bdcebdbec884502eb58.gif\"><\/a><\/section>\n<section>\u800c\u5982\u679c\u628a RDT \u6362\u6210\u5176\u4ed6\u6a21\u578b\uff0c\u5c31\u4f1a\u5bfc\u81f4\u673a\u5668\u72d7\u4f1a\u8d70\u5f2f\u8def\u3001\u751a\u81f3\u89c1\u5899\u5c31\u649e\u3002<\/section>\n<section><\/section>\n<section>\u6ca1\u529e\u6cd5\uff0c\u63a7\u5236\u7cbe\u5ea6\u4e0d\u8db3\uff01<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-7361a97fa2278d4991d278bc35cefab7.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-7361a97fa2278d4991d278bc35cefab7.gif\"><\/a><\/section>\n<section><strong>2. \u6307\u4ee4\u9075\u5faa\uff1a\u5584\u89e3\u4eba\u610f\u7684\u5012\u6c34\u5927\u5e08<\/strong><\/section>\n<section><\/section>\n<section>RDT \u80fd\u5145\u5206\u7406\u89e3\u5e76\u9075\u5faa\u4eba\u7c7b\u7684\u8bed\u8a00\u6307\u4ee4\u3002<\/section>\n<section><\/section>\n<section>\u5012\u6c34\u5927\u5e08 RDT\uff0c\u8ba9\u5012 1\/3 \u7684\u6c34\u5c31\u5012 1\/3 \u7684\u6c34\uff0c\u8ba9\u5012 2\/3 \u5c31\u5012 2\/3\uff0c\u7b80\u76f4\u5206\u6beb\u4e0d\u5dee\uff01<\/section>\n<section><\/section>\n<section>\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0cRDT \u4ece\u672a\u89c1\u8fc7 1\/3 \u8fd9\u4e2a\u8bcd\uff0c\u4e5f\u5c31\u662f\u8bf4\uff0c\u6ca1\u6709\u4eba\u7ed9 RDT \u6f14\u793a\u8fc7 1\/3 \u7684\u6c34\u5e94\u8be5\u600e\u4e48\u5012\u3002<\/section>\n<section><\/section>\n<section>RDT \u5b8c\u5168\u662f\u51ed\u501f\u81ea\u5df1\u7684\u6cdb\u5316\u6027\uff0c\u51c6\u786e\u5730\u7406\u89e3\u4e86 \u201c1\/3\u201d \u8fd9\u4e2a\u91cf\u8bcd\u548c\u73b0\u5b9e\u4e16\u754c\u4e2d 1\/3 \u6c34\u4f4d\u9ad8\u5ea6\u4e4b\u95f4\u7684\u5bf9\u5e94\u5173\u7cfb\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-00e0fbb8784683d21e083f0472bdfda2.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-00e0fbb8784683d21e083f0472bdfda2.gif\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-9733a141a0e5dcd3b7bc5f40bf7622bb.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-9733a141a0e5dcd3b7bc5f40bf7622bb.gif\"><\/a><\/section>\n<section>\u4e0e\u4e4b\u76f8\u5bf9\uff0c\u5176\u4ed6\u6a21\u578b\u4f1a\u6307\u6325\u673a\u5668\u4eba\u5012\u5f97\u8fc7\u591a\u6216\u8fc7\u5c11\uff0c\u751a\u81f3\u5c34\u5c2c\u6d12\u6c34\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-15ab650d2172ad66f49d49033a40b525.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-15ab650d2172ad66f49d49033a40b525.gif\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-5275e074c7c4b6af6ab2f8d01ff2a4df.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-5275e074c7c4b6af6ab2f8d01ff2a4df.gif\"><\/a><\/section>\n<section><strong>3. \u672a\u89c1\u7269\u4f53\u4e0e\u573a\u666f\uff1a\u81ea\u4fe1\u5730\u4e0e\u672a\u77e5\u5171\u821e<\/strong><\/section>\n<section><\/section>\n<section>\u8c01\u8bf4\u4eba\u7c7b\u624d\u662f\u552f\u4e00\u80fd\u9002\u5e94\u73af\u5883\u53d8\u5316\u7684\u667a\u80fd\u4f53\uff1fRDT \u4e5f\u80fd\u8f7b\u677e\u505a\u5230\u3002<\/section>\n<section><\/section>\n<section>\u6e05\u6d17\u4ee5\u524d\u4ece\u6ca1\u89c1\u8fc7\u7684\u676f\u5b50\u3001\u5728\u591a\u4e2a\u88c5\u9970\u5b8c\u5168\u4e0d\u540c\u7684\u623f\u95f4\u4e2d\u7aef\u8336\u5012\u6c34&#8230;<\/section>\n<section><\/section>\n<section>\u53d8\u6362\u4efb\u52a1\u5bf9\u8c61\u548c\u73af\u5883\u90fd\u96be\u4e0d\u5012\u5b83\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-f65ced3682fda546851344fab0191d0b.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-f65ced3682fda546851344fab0191d0b.gif\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-5f4be192d82c9467bc0cf75edf6fcba8.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-5f4be192d82c9467bc0cf75edf6fcba8.gif\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-d0c1713bad78347e6d4a6e4187cdd441.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-d0c1713bad78347e6d4a6e4187cdd441.gif\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-d22a4bca41e8f7cd8045b8c45e53230f.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-d22a4bca41e8f7cd8045b8c45e53230f.gif\"><\/a><\/section>\n<section><strong>4. \u5c11\u6837\u672c\u5b66\u4e60\uff1a\u4e00\u70b9\u5c31\u901a\u7684\u9ad8\u6750\u751f<\/strong><\/section>\n<section><\/section>\n<section>\u66f4\u5389\u5bb3\u7684\u662f\uff0cRDT \u6709\u5f88\u5f3a\u7684\u9886\u609f\u529b\uff0c\u662f\u673a\u5668\u4eba\u6a21\u578b\u4e2d\u7684\u201c\u5b66\u9738\u201d\u3002<\/section>\n<section><\/section>\n<section>\u6559\u4f1a RDT \u53e0\u8863\u670d\u4ec5\u9700\u6f14\u793a 1 \u904d\uff0c\u800c\u5176\u4ed6\u6a21\u578b\u8981\u91cd\u590d\u6559\u51e0\u5341\u904d\u624d\u80fd\u52c9\u5f3a\u5b66\u4f1a\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-c8a4c14460579805e2385ec28461f97e.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-c8a4c14460579805e2385ec28461f97e.gif\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-3c86f4491e977633ed1f8578e13b4211.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-3c86f4491e977633ed1f8578e13b4211.gif\"><\/a><\/section>\n<section><strong>\u521d\u8bc6 RDT\uff1aScaling Law \u9b45\u529b\u65f6\u523b<\/strong><\/section>\n<section><\/section>\n<section>\u76f8\u6bd4\u5176\u4ed6\u673a\u5668\u4eba\u6a21\u578b\uff0c\u4e3a\u4ec0\u4e48 RDT \u80fd\u505a\u5230\u5982\u6b64\u667a\u80fd\uff1f\u76f8\u6bd4\u540c\u884c\u6700\u4f18\u6c34\u51c6\u9886\u5148\u591a\u5c11\uff1f<\/section>\n<section><\/section>\n<section>\u4e09\u4e2a \u201c\u6700\u5927\u201d \u662f RDT \u5b9e\u73b0\u667a\u80fd\u98de\u8dc3\u7684\u79d8\u5bc6\uff1a<\/section>\n<ul>\n<li>\n<p>\u5728\u673a\u5668\u4eba\u6269\u6563\u6a21\u578b\u4e2d\uff0cRDT \u62e5\u6709\u76ee\u524d\u300c\u6700\u5927\u7684\u6a21\u578b<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u91cf\u300d\uff0c\u9ad8\u8fbe 1.2B\u3002\u6bd4\u4e4b\u524d\u7531\u8c37\u6b4c\u3001Deepmind \u7b49\u7275\u5934\u7814\u53d1\u7684\u6700\u5927\u7684\u5177\u8eab\u6269\u6563\u6a21\u578b\uff08<mark data-type=\"institutions\" data-id=\"ce4951aa-5355-4e2c-8cc1-42b707f0a5ad\">\u516b\u722a\u9c7c<\/mark>\uff0cOcto\uff0c93M\uff09\u8fd8\u8981\u5927\u4e00\u4e2a\u6570\u91cf\u7ea7\u3002<\/p>\n<\/li>\n<li>\n<p>RDT \u5728\u300c\u6700\u5927\u7684\u5177\u8eab\u6570\u636e\u96c6\u300d\u4e0a\u9884\u8bad\u7ec3\u3002\u9884\u8bad\u7ec3\u6570\u636e\u96c6\u5305\u542b 46 \u4e2a\u4e0d\u540c\u7684\u673a\u5668\u4eba\u6570\u636e\u96c6\uff0c\u603b\u5171\u6709\u8d85\u8fc7 100 \u4e07\u6761\u4eba\u7c7b\u6f14\u793a\u6570\u636e\u3002\u6a21\u578b\u5728 48 \u5757 H100 \u663e\u5361\u4e0a\u9884\u8bad\u7ec3\u4e86 1M \u6b65\u3002<\/p>\n<\/li>\n<li>\n<p>RDT \u62e5\u6709\u76ee\u524d\u300c\u6700\u5927\u7684\u53cc\u81c2\u5fae\u8c03\u6570\u636e\u96c6\u300d\u3002\u6e05\u534e\u56e2\u961f\u6784\u5efa\u4e86\u5305\u62ec 300+ \u4efb\u52a1\u548c 6K+ \u6761\u6f14\u793a\u7684\u6570\u636e\u96c6\u3002\u4e0e\u4e4b\u5bf9\u6bd4\uff0c\u5148\u524d\u7531\u65af\u5766\u798f\u3001MIT \u7b49\u9886\u8854\u7814\u53d1\u7684\u5177\u8eab\u5927\u6a21\u578b OpenVLA \u7684\u5fae\u8c03\u6570\u636e\u96c6\u4ec5\u6709\u51e0\u767e\u6761\u6f14\u793a\u3002<\/p>\n<\/li>\n<\/ul>\n<section><strong>\u89e3\u5bc6 RDT\uff1a\u4ece\u95ee\u9898\u4e0e\u6311\u6218\u8bb2\u8d77<\/strong><\/section>\n<section><\/section>\n<section>\u5728\u5927\u591a\u6570\u60c5\u51b5\uff0c\u4eba\u4eec\u4f1a\u5728\u65e5\u5e38\u751f\u6d3b\u4e2d\u4f7f\u7528\u53cc\u624b\u3002\u673a\u5668\u4eba\u5982\u679c\u80fd\u50cf\u4eba\u4e00\u6837\u6325\u52a8\u53cc\u81c2\uff0c\u663e\u7136\u66f4\u7075\u6d3b\uff0c\u4e5f\u66f4\u80fd\u5e2e\u52a9\u4eba\u7c7b\u3002<\/section>\n<section><\/section>\n<section>\u4f46\u662f\uff0c\u76ee\u524d\u7684\u53cc\u81c2\u673a\u5668\u4eba\u8ddd\u79bb\u843d\u5730\u8fd8\u6709\u4e00\u6bb5\u8def\u8981\u8d70\uff0c\u6839\u672c\u539f\u56e0\u662f\u53cc\u81c2\u7684\u4eba\u7c7b\u6f14\u793a\u6570\u636e\u532e\u4e4f\uff0c\u201c\u5de7\u5987\u96be\u4e3a\u65e0\u7c73\u4e4b\u708a\u201d\uff0c\u800c\u4e14\u6a21\u578b\u6cdb\u5316\u80fd\u529b\u4e0d\u8db3\uff0c\u4e0d\u80fd\u201c\u4e3e\u4e00\u53cd\u4e09\u201d\u3002<\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4e00\u79cd\u901a\u5e38\u7684\u505a\u6cd5\u662f\uff0c\u5229\u7528\u591a\u79cd\u4e0d\u540c\u673a\u5668\u4eba\u7684\u6570\u636e\uff0c\u8bad\u7ec3\u4e00\u4e2a\u53ef\u6cdb\u5316\u7684\u300c\u5927\u6a21\u578b\u300d\u3002<\/section>\n<section><\/section>\n<section>\u4f46\u8fd9\u53c8\u4f1a\u5e26\u6765\u4e24\u4e2a\u65b0\u7684\u6311\u6218\uff1a<\/section>\n<section><\/section>\n<section>\u4e00\u662f\uff0c\u5728\u673a\u5668\u4eba\u9886\u57df\uff0c\u7f3a\u4e4f\u4e00\u4e2a\u50cf GPT \u4e00\u6837\u7684\u901a\u7528\u3001\u5f3a\u5927\u7684\u300c\u6a21\u578b\u67b6\u6784\u300d\u3002<\/section>\n<section><\/section>\n<section>\u5b83\u4e0d\u4ec5\u9700\u8981\u80fd\u5b66\u4f1a\u5404\u79cd\u7684\u52a8\u4f5c\u6a21\u5f0f\uff08modality\uff09\uff0c\u8fd8\u9700\u8981\u5177\u5907\u53ef\u6269\u5c55\u6027\uff08scalability\uff09\u3002\u6362\u8a00\u4e4b\uff0c\u6269\u5927\u6a21\u578b\u7684<mark data-type=\"concepts\" data-id=\"2e982b73-88e2-41e8-a430-f7ae5a9af4bf\">\u53c2\u6570<\/mark>\u91cf\uff0c\u5b83\u7684\u6027\u80fd\u4e5f\u8981\u8ddf\u7740\u4e00\u8d77\u6da8\u3002<\/section>\n<section><\/section>\n<section>\u4e8c\u662f\uff0c\u5728\u4e4b\u524d\u7684\u7814\u7a76\u4e2d\uff0c\u5c1a\u6ca1\u6709\u4e00\u4e2a\u516c\u8ba4\u7684\u5728\u591a\u79cd\u673a\u5668\u4eba\u6570\u636e\u4e0a\u8bad\u7ec3\u7684\u65b9\u6848\u3002<\/section>\n<section><\/section>\n<section>\u8fd9\u4e3b\u8981\u662f\u56e0\u4e3a\u4e0d\u540c\u673a\u5668\u4eba\u7684\u786c\u4ef6\u7ed3\u6784\u548c\u4f20\u611f\u5668\u4e0d\u540c\uff0c\u8fdb\u800c\u5bfc\u81f4\u6570\u636e\u7684\u683c\u5f0f\u4e94\u82b1\u516b\u95e8\uff0c\u96be\u4ee5\u8fdb\u884c\u7edf\u4e00\u7684\u5904\u7406\u3002<\/section>\n<section><\/section>\n<section>\u5728\u672c\u6587\u4e2d\uff0c\u7814\u7a76\u8005\u901a\u8fc7\u63d0\u51fa\u521b\u65b0\u578b\u7684\u591a\u6a21\u6001\u6a21\u578b\u67b6\u6784\uff0c\u4ee5\u53ca\u7edf\u4e00\u7684\u7269\u7406\u53ef\u89e3\u91ca\u52a8\u4f5c\u7a7a\u95f4\uff0c\u6765\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\u3002<\/section>\n<section><\/section>\n<section><strong>\u8bbe\u8ba1 RDT\uff1a\u53cc\u81c2\u673a\u5668\u4eba\u64cd\u4f5c\u7684\u65b0\u67b6\u6784<\/strong><\/section>\n<section><\/section>\n<section>\u300c<mark data-type=\"tech_methods\" data-id=\"ede26b73-6612-4b0a-8291-6c11a246b4ab\">\u6a21\u4eff\u5b66\u4e60<\/mark>\u300d\u662f\u5f53\u524d\u5f00\u53d1\u901a\u7528\u673a\u5668\u4eba\u6a21\u578b\u7684\u4e3b\u6d41\u65b9\u6cd5\u3002\u5373\u673a\u5668\u4eba\u901a\u8fc7\u6a21\u4eff\u4eba\u7c7b\u7684\u6f14\u793a\u6765\u5b66\u4e60\u5404\u79cd\u5404\u6837\u7684\u6280\u80fd\uff0c\u6bd4\u5982\u64e6\u684c\u5b50\u548c\u5012\u6c34\u7b49\u3002<\/section>\n<section><\/section>\n<section>\u7136\u800c\uff0c\u4eba\u7c7b\u7684\u52a8\u4f5c\u6a21\u5f0f\u5343\u53d8\u4e07\u5316\uff0c\u5c31\u8fde\u6293\u8d77\u4e00\u4e2a\u65b9\u5757\u90fd\u6709\u597d\u51e0\u79cd\u505a\u6cd5\uff08\u89c1\u4e0b\u56fe\uff09\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-cdd9aeac417b979b4da4e2d86699d0c1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-cdd9aeac417b979b4da4e2d86699d0c1.png\"><\/a><\/section>\n<section>\u4e3a\u4e86\u80fd\u5b66\u4f1a\u591a\u6837\u7684\u52a8\u4f5c\u6a21\u5f0f\uff0c\u7814\u7a76\u8005\u91c7\u7528\u6269\u6563\u6a21\u578b\uff08diffusion model\uff09\u6765\u8fdb\u884c\u5efa\u6a21\u3002<\/section>\n<section><\/section>\n<section>\u56fe 3 \u63cf\u7ed8\u4e86 RDT \u7684\u6574\u4f53\u67b6\u6784\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u9010\u4e00\u8fdb\u884c\u4ecb\u7ecd\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-962ba8107efaff7f735f1d3ff2c2e9ce.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-962ba8107efaff7f735f1d3ff2c2e9ce.png\"><\/a><\/section>\n<section>\u9996\u5148\u662f\u591a\u6a21\u6001\u8f93\u5165\u7684\u7f16\u7801\u3002<\/section>\n<section><\/section>\n<section>\u5bf9\u4e8e\u4e00\u4e2a\u5177\u4f53\u7684\u673a\u5668\u4eba\u4efb\u52a1\uff0c\u6a21\u578b\u5728\u6536\u5230\u4eba\u7c7b\u53d1\u51fa\u7684\u8bed\u8a00\u6307\u4ee4\u540e\uff0c\u9700\u8981\u7ed3\u5408\u81ea\u5df1\u7684\u89c6\u89c9\u89c2\u5bdf\uff0c\u6765\u9884\u6d4b\u5b8c\u6210\u4efb\u52a1\u6240\u9700\u7684\u673a\u68b0\u81c2\u52a8\u4f5c\uff08action\uff09\u3002<\/section>\n<section><\/section>\n<section>\u8fd9\u91cc\u5c31\u6d89\u53ca\u5230\u4e86\u8bed\u8a00\u3001\u56fe\u7247\u548c\u52a8\u4f5c\u4e09\u79cd\u6a21\u6001\u3002<\/section>\n<ul>\n<li>\n<p>\u52a8\u4f5c\u5177\u6709\u4f4e\u7ef4\u5ea6\u548c\u9ad8\u9891\u7684\u7279\u70b9\u3002\u7814\u7a76\u8005\u91c7\u7528\u5177\u6709\u5085\u91cc\u53f6\u7279\u5f81\u7684<mark data-type=\"tech_methods\" data-id=\"2130a104-5169-4950-b418-b2aebd0b2d1e\">\u591a\u5c42\u611f\u77e5\u673a<\/mark>\uff08MLP\uff09\u6765\u8fdb\u884c\u7f16\u7801\u3002<\/p>\n<\/li>\n<li>\n<p>\u56fe\u7247\u5177\u6709\u9ad8\u7ef4\u5ea6\u7684\u7279\u70b9\uff0c\u540c\u65f6\u542b\u6709\u4e30\u5bcc\u7684\u7a7a\u95f4\u548c\u8bed\u4e49\u4fe1\u606f\u3002\u7814\u7a76\u8005\u91c7\u7528\u7ecf\u8fc7\u5bf9\u9f50\u7684 SigLIP \u8fdb\u884c\u7f16\u7801\u3002<\/p>\n<\/li>\n<li>\n<p>\u8bed\u8a00\u5177\u6709\u53d8\u957f\u7684\u7279\u70b9\uff0c\u5e76\u4e14\u9ad8\u5ea6\u62bd\u8c61\u3002\u7814\u7a76\u8005\u91c7\u7528\u4e00\u4e2a\u5177\u6709\u4e30\u5bcc\u77e5\u8bc6\u7684\u8bed\u8a00\u5927\u6a21\u578b \u2014\u2014 T5-XXL \u6765\u8fdb\u884c\u7f16\u7801\u3002<\/p>\n<\/li>\n<\/ul>\n<section>\u6b64\u5916\uff0c\u4e0d\u540c\u6a21\u6001\u5305\u542b\u7684\u4fe1\u606f\u91cf\u4e0d\u5c3d\u76f8\u540c\u3002<\/section>\n<section><\/section>\n<section>\u54b1\u4eec\u4eba\u90fd\u559c\u6b22\u770b\u4fe1\u606f\u91cf\u5927\u7684\u56fe\u800c\u4e0d\u559c\u6b22\u770b\u4fe1\u606f\u91cf\u5c0f\u7684\u6587\u5b57\u3002\u5176\u5b9e\u6a21\u578b\u4e5f\u4e00\u6837\u3002<\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u907f\u514d\u6a21\u578b \u201c\u5077\u61d2\u201d\uff0c\u53ea\u770b\u4fe1\u606f\u91cf\u5927\u7684\u6a21\u6001\uff0c\u5728\u8bad\u7ec3\u4e2d\uff0c\u7814\u7a76\u8005\u4f1a\u4ee5\u4e00\u5b9a\u6982\u7387\u968f\u673a\u906e\u853d\uff08mask\uff09\u5404\u4e2a\u6a21\u6001\u3002<\/section>\n<section><\/section>\n<section>\u63a5\u4e0b\u6765\u4ecb\u7ecd\u5177\u4f53\u7684\u7f51\u7edc\u7ed3\u6784\u3002<\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u4fdd\u8bc1\u53ef\u6269\u5c55\u6027\uff0c\u7814\u7a76\u8005\u9009\u62e9 Transformer \u4f5c\u4e3a\u9aa8\u5e72\u7f51\u7edc\uff0c\u5e76\u505a\u51fa\u5982\u4e0b\u5173\u952e\u4fee\u6539\uff1a<\/section>\n<ul>\n<li>\n<p>\u7531\u4e8e\u4f20\u611f\u5668\u5931\u7075\u7b49\u539f\u56e0\uff0c\u673a\u5668\u4eba\u6570\u636e\u4e2d\u5f80\u5f80\u4f1a\u51fa\u73b0\u6781\u7aef\u503c\u3002\u8fd9\u79cd\u6781\u7aef\u503c\u53ef\u80fd\u5bfc\u81f4\u68af\u5ea6\u4e0d\u7a33\u5b9a\u548c\u6570\u503c\u6ea2\u51fa\u7b49\u95ee\u9898\u3002\u7814\u7a76\u8005\u91c7\u7528\u66f4\u52a0\u5148\u8fdb\u7684 QKNorm \u548c RMSNorm \u6765\u8fdb\u884c\u7f13\u89e3\u3002<\/p>\n<\/li>\n<li>\n<p>\u673a\u5668\u4eba\u7684\u52a8\u4f5c\u5f80\u5f80\u7b26\u5408\u975e\u7ebf\u6027\u52a8\u529b\u5b66\u7684\u7269\u7406\u89c4\u5f8b\u3002\u4e3a\u4e86\u589e\u5f3a\u5bf9\u975e\u7ebf\u6027\u7684\u8fd1\u4f3c\u80fd\u529b\uff0c\u7814\u7a76\u8005\u5c06\u6700\u7ec8\u5c42\u7684\u7ebf\u6027\u89e3\u7801\u5668\u66ff\u6362\u4e3a\u975e\u7ebf\u6027\u7684 MLP \u89e3\u7801\u5668\u3002<\/p>\n<\/li>\n<li>\n<p>\u56fe\u50cf\u7684\u7ef4\u5ea6\u901a\u5e38\u8fdc\u9ad8\u4e8e\u6587\u672c\u7684\u7ef4\u5ea6\u3002\u540c\u65f6\u5c06\u8fd9\u4e24\u79cd\u6a21\u6001\u6ce8\u5165\u5230\u4e3b\u5e72\u7f51\u7edc\u4e2d\u65f6\uff0c\u5f80\u5f80\u56fe\u50cf\u4f1a\u6df9\u6ca1\u6587\u672c\uff0c\u4ece\u800c\u524a\u5f31\u6a21\u578b\u7684\u6307\u4ee4\u9075\u5faa\u80fd\u529b\u3002\u4e3a\u6b64\uff0c\u7814\u7a76\u8005\u91c7\u53d6\u4e86\u4ea4\u66ff\u6ce8\u5165\u7684\u65b9\u5f0f\u3002<\/p>\n<\/li>\n<\/ul>\n<section><strong>\u8bad\u7ec3 RDT\uff1a\u9884\u8bad\u7ec3\u4e0e\u5fae\u8c03\u76f8\u7ed3\u5408<\/strong><\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u5728\u591a\u79cd\u673a\u5668\u4eba\u6570\u636e\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u7814\u7a76\u8005\u9700\u8981\u5bf9\u6570\u636e\u683c\u5f0f\u8fdb\u884c\u7edf\u4e00\u3002<\/section>\n<section><\/section>\n<section>\u5177\u4f53\u6765\u8bf4\uff0c\u7814\u7a76\u8005\u6784\u5efa\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u52a8\u4f5c\u7a7a\u95f4\uff08\u5982\u56fe 3 \u5de6\u4fa7\u6240\u793a\uff09\u3002<\/section>\n<section><\/section>\n<section>\u8be5\u7a7a\u95f4\u7684\u6bcf\u4e2a\u7ef4\u5ea6\u5177\u6709\u660e\u786e\u7684\u7269\u7406\u542b\u4e49\uff0c\u4ee5\u4fdd\u8bc1\u6a21\u578b\u80fd\u591f\u4ece\u4e0d\u540c\u673a\u5668\u4eba\u6570\u636e\u4e2d\u5b66\u4e60\u5230\u5171\u4eab\u7684\u7269\u7406\u89c4\u5f8b\u3002<\/section>\n<section><\/section>\n<section>\u5728\u6709\u4e86\u7edf\u4e00\u6570\u636e\u683c\u5f0f\u540e\uff0c\u7814\u7a76\u8005\u5c31\u80fd\u5c06\u6240\u6709\u4e0d\u540c\u7c7b\u578b\u7684\u673a\u5668\u4eba\u6570\u636e\u6c47\u805a\u5728\u4e00\u8d77\uff0c\u5f62\u6210\u4e86\u76ee\u524d\u6700\u5927\u7684\u6570\u636e\u96c6\uff0c\u5176\u5305\u542b\u8d85\u8fc7 100 \u4e07\u6761\u6f14\u793a\u3002<\/section>\n<section><\/section>\n<section>\u6b63\u56e0\u4e3a\u5728\u5982\u6b64\u5927\u7684\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\uff0cRDT \u83b7\u5f97\u4e86\u65e0\u4e0e\u4f26\u6bd4\u7684\u6cdb\u5316\u6027\u3002<\/section>\n<section><\/section>\n<section>\u6700\u540e\uff0c\u7814\u7a76\u8005\u8fd8\u91c7\u96c6\u4e86\u76ee\u524d\u8d28\u91cf\u6700\u9ad8\u7684\u53cc\u81c2\u5fae\u8c03\u6570\u636e\u96c6\uff0c\u7528\u6765\u5fae\u8c03 RDT \u4ee5\u589e\u5f3a\u5176\u53cc\u81c2\u64cd\u4f5c\u80fd\u529b\u3002<\/section>\n<section><\/section>\n<section>\u8be5\u6570\u636e\u96c6\u5177\u6709\u5982\u4e0b\u7279\u70b9\uff1a<\/section>\n<ul>\n<li>\n<p>\u6570\u91cf\u5927\uff1a6K+ \u6f14\u793a\u6570\u636e\u3002<\/p>\n<\/li>\n<li>\n<p>\u8303\u56f4\u5168\uff1a300+ \u4efb\u52a1\uff0c\u4ece\u7b80\u5355\u7684\u6293\u53d6\u5230\u7cbe\u7ec6\u64cd\u4f5c\uff0c\u751a\u81f3\u5305\u62ec\u9ed1\u677f\u4e0a\u89e3\u6570\u5b66\u9898\u4e00\u7c7b\u7684\u9ad8\u96be\u5ea6\u64cd\u4f5c\u3002<\/p>\n<\/li>\n<li>\n<p>\u591a\u6837\u6027\uff1a100+ \u4e0d\u540c\u7c7b\u578b\u7684\u7269\u4f53\uff0c15+ \u4e0d\u540c\u7684\u623f\u95f4\u4ee5\u53ca\u5149\u7167\u6761\u4ef6\u3002<\/p>\n<\/li>\n<\/ul>\n<section><strong>\u6d4b\u8bd5 RDT\uff1a\u6cdb\u5316\u6027\u4e0e\u64cd\u4f5c\u7cbe\u5ea6\u5e76\u4e3e<\/strong><\/section>\n<section><\/section>\n<section>\u8be5\u56e2\u961f\u8bbe\u8ba1\u4e86 7 \u4e2a\u6311\u6218\u6027\u4efb\u52a1\uff0c\u4ece\u4e0d\u540c\u7ef4\u5ea6\u8bc4\u4f30 RDT \u7684\u6cdb\u5316\u80fd\u529b\u548c\u64cd\u4f5c\u7cbe\u5ea6\u3002<\/section>\n<section><\/section>\n<section>\u5bf9\u4e8e\u6e05\u6d17\u676f\u5b50\u7684\u4efb\u52a1\uff0c\u9700\u8981\u53cc\u624b\u534f\u8c03\u548c\u7269\u4f53\u6cdb\u5316\u6027\u3002<\/section>\n<section><\/section>\n<section>\u5177\u4f53\u6765\u8bf4\uff0c\u673a\u5668\u4eba\u9700\u8981\u62ff\u8d77\u672a\u89c1\u8fc7\u7684\u676f\u5b50\uff0c\u7528\u53e6\u4e00\u53ea\u624b\u6253\u5f00\u6c34\u9f99\u5934\uff0c\u6e05\u6d17\u676f\u5b50\uff0c\u5012\u5e72\u51c0\u676f\u4e2d\u7684\u6c34\uff0c\u5e76\u5173\u95ed\u6c34\u9f99\u5934\u3002<\/section>\n<section><\/section>\n<section>\u8fd9\u4e2a\u4efb\u52a1\u5bf9\u4e8e\u5355\u81c2\u673a\u5668\u4eba\u6765\u8bf4\u51e0\u4e4e\u65e0\u6cd5\u5b8c\u6210\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-1fdf31a5aeef4612bfb8fbb77f94348c.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-1fdf31a5aeef4612bfb8fbb77f94348c.png\"><\/a><\/section>\n<section>\u5bf9\u4e8e\u9065\u63a7\u673a\u5668\u72d7\uff0c\u9700\u8981\u53cc\u624b\u534f\u8c03\u548c\u6781\u9ad8\u7684\u64cd\u4f5c\u7cbe\u786e\u6027\u3002<\/section>\n<section><\/section>\n<section>\u673a\u5668\u4eba\u9700\u8981\u7528\u4e00\u53ea\u624b\u6293\u4f4f\u9065\u63a7\u5668\uff0c\u5e76\u7528\u53e6\u4e00\u53ea\u624b\u63a8\u52a8\u9065\u6746\u63a7\u5236\u673a\u5668\u72d7\u5411\u524d\u3002<\/section>\n<section><\/section>\n<section>\u8fd9\u9879\u4efb\u52a1\u6bd4\u6d17\u676f\u5b50\u7684\u7cbe\u5ea6\u8981\u6c42\u66f4\u9ad8\uff0c\u56e0\u4e3a\u8ff7\u4f60\u6447\u6746\u7684\u957f\u5ea6\u4e0d\u5230 2cm\uff0c\u4e14\u7a0d\u6709\u504f\u79fb\u673a\u5668\u72d7\u5c31\u4f1a \u201c\u8d70\u5f2f\u8def\u201d\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-ef34a43b6efd410c64503947a3d6588d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-ef34a43b6efd410c64503947a3d6588d.png\"><\/a><\/section>\n<section>\u5bf9\u4e8e\u5012\u6c34\u4efb\u52a1\uff0c\u6a21\u578b\u9700\u8981\u80fd\u6cdb\u5316\u5230\u672a\u89c1\u8fc7\u7684\u73af\u5883\u4e0e\u8bed\u8a00\u6307\u4ee4\uff0c\u5e76\u7406\u89e3\u7528\u6237\u8981\u6c42\uff0c\u5012\u6c34\u81f3\u7279\u5b9a\u6c34\u4f4d\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-e678f6edab89c1fed20daf54a25cd686.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-e678f6edab89c1fed20daf54a25cd686.png\"><\/a><\/section>\n<section>\u800c\u5bf9\u4e8e\u4f20\u9012\u7269\u4f53\u548c\u53e0\u88e4\u5b50\u7684\u4efb\u52a1\uff0c\u4ec5\u7ed9\u5c11\u91cf\u6f14\u793a\uff081 &#8211; 5 \u6761\uff09\uff0cRDT \u5c31\u9700\u8981\u5b66\u4f1a\u4e00\u4e2a\u5168\u65b0\u7684\u6280\u80fd\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-9780e43485cfcaf26ce98b4b9bcbfd76.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-9780e43485cfcaf26ce98b4b9bcbfd76.png\"><\/a><\/section>\n<section>\u5b9e\u9a8c\u8bc4\u4f30\uff08\u7ed3\u679c\u89c1\u8868 3\uff09\u4e2d\uff0c\u7814\u7a76\u8005\u4e3b\u8981\u56de\u7b54\u4ee5\u4e0b\u95ee\u9898\uff1a<\/section>\n<section><\/section>\n<section>Q: RDT \u80fd\u5426\u5bf9\u672a\u89c1\u7684\u7269\u4f53\u548c\u573a\u666f\u5b9e\u73b0\u96f6\u6837\u672c\uff08Zero-Shot\uff09\u6cdb\u5316\uff1f\u5e76\u9075\u5faa\u672a\u89c1\u8fc7\u7684\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\uff1f<\/section>\n<section><\/section>\n<section>A\uff1a\u53ef\u4ee5\u3002\u5728\u6d17\u676f\u5b50\uff08Wash Cup\uff09\u548c\u5012\u6c34\uff08Pour Water\uff09\u4efb\u52a1\u4e2d\uff0cRDT \u5bf9\u672a\u89c1\u573a\u666f\u548c\u7269\u4f53\u4ecd\u80fd\u8fbe\u5230\u8f83\u9ad8\u6210\u529f\u7387\uff0c\u5176\u8868\u73b0\u4e0e\u89c1\u8fc7\u7684\u60c5\u51b5\u76f8\u5dee\u4e0d\u5927\u3002<\/section>\n<section><\/section>\n<section>\u5728 Pour Water-L-1\/3 \u548c Pour Water-R-2\/3 \u4efb\u52a1\u4e2d\uff0cRDT \u7cbe\u786e\u5730\u7406\u89e3\u4e86\u5e94\u8be5\u7528\u54ea\u53ea\u624b\u64cd\u4f5c\u3001\u5012\u591a\u5c11\u6c34\uff0c\u5e76\u80fd\u591f\u4e25\u683c\u9075\u5faa\u6307\u4ee4\uff0c\u5373\u4fbf\u5b83\u4ece\u672a\u89c1\u8fc7\u7c7b\u4f3c \u201c\u4e09\u5206\u4e4b\u4e00\u201d \u6216 \u201c\u4e09\u5206\u4e4b\u4e8c\u201d \u8fd9\u6837\u7684\u8bcd\u6c47\u3002<\/section>\n<section><\/section>\n<section>Q\uff1aRDT \u80fd\u5426\u4ec5\u901a\u8fc7\u5c11\u91cf\u6f14\u793a\u5c31\u5b66\u4f1a\u65b0\u7684\u6280\u80fd\uff1f<\/section>\n<section><\/section>\n<section>A\uff1a\u53ef\u4ee5\u3002\u5728\u7269\u54c1\u4f20\u9012\uff08Handover\uff09\u548c\u6298\u53e0\u77ed\u88e4\uff08Fold Shorts\uff09\u4efb\u52a1\u4e2d\uff0c\u5bf9\u4e8e\u4e24\u4e2a\u4e0e\u5df2\u77e5\u52a8\u4f5c\u6a21\u5f0f\u5b8c\u5168\u4e0d\u540c\u7684\u5168\u65b0\u6280\u80fd\uff0cRDT \u4ec5\u5206\u522b\u901a\u8fc7 1 \u548c 5 \u6761\u6f14\u793a\u7684\u8bad\u7ec3\u5c31\u8f7b\u677e\u638c\u63e1\uff0c\u800c\u5176\u4ed6\u65b9\u6cd5\u51e0\u4e4e\u65e0\u6cd5\u6210\u529f\u3002<\/section>\n<section><\/section>\n<section>Q\uff1aRDT \u662f\u5426\u80fd\u591f\u5b8c\u6210\u9700\u8981\u7cbe\u7ec6\u64cd\u4f5c\u7684\u4efb\u52a1\uff1f<\/section>\n<section><\/section>\n<section>A\uff1a\u53ef\u4ee5\u3002\u5728\u9065\u63a7\u673a\u5668\u72d7\uff08Robot Dog\uff09\u4efb\u52a1\u4e2d\uff0cRDT \u5728\u63a8\u52a8\u64cd\u7eb5\u6746\u65f6\u51c6\u786e\u63a7\u5236\u4e86\u89d2\u5ea6\uff0c\u800c\u5176\u4ed6\u6a21\u578b\u4f1a\u5bfc\u81f4\u673a\u5668\u72d7\u53d1\u751f\u504f\u79bb\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-bc321dc63e0137e213b192cf2260d2f6.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-bc321dc63e0137e213b192cf2260d2f6.png\"><\/a><\/section>\n<section>Q\uff1a\u6269\u6563\u5efa\u6a21\u3001\u5927\u6a21\u578b\u4ee5\u53ca\u5927\u6570\u636e\u662f\u5426\u6709\u52a9\u4e8e\u63d0\u5347 RDT \u7684\u6027\u80fd\uff1f<\/section>\n<section><\/section>\n<section>A\uff1a\u662f\u7684\u3002\u5982\u8868 2 \u6240\u793a\uff0c\u7814\u7a76\u4eba\u5458\u5bf9\u4e09\u8005\u5206\u522b\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff0c\u7ed3\u679c\u8868\u660e\u7f3a\u5c11\u4efb\u4f55\u4e00\u8005\u90fd\u4f1a\u5e26\u6765\u6781\u5927\u7684\u6027\u80fd\u635f\u5931\u3002<\/section>\n<section><\/section>\n<section>\u7279\u522b\u5730\uff0c\u4ec5\u7528\u53cc\u81c2\u6570\u636e\u8bad\u7ec3\u7684 RDT (scratch) \u5728\u672a\u89c1\u7269\u4f53\u548c\u573a\u666f\u4e0a\u8868\u73b0\u6781\u5dee\uff0c\u8fd9\u8868\u660e\u9884\u8bad\u7ec3\u4e2d\u5b66\u4f1a\u7684\u77e5\u8bc6\u5bf9\u4e8e\u6cdb\u5316\u6027\u81f3\u5173\u91cd\u8981\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-070a5525c2ded5e3f3568151c1988867.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-070a5525c2ded5e3f3568151c1988867.png\"><\/a><\/section>\n<section><strong>\u5173\u4e8e\u4f5c\u8005<\/strong><\/section>\n<section><\/section>\n<section>\u8be5\u5de5\u4f5c\u6709\u4e24\u4f4d\u5171\u540c\u4e00\u4f5c\u3002\u4e00\u4f4d\u662f<mark data-type=\"institutions\" data-id=\"4349d6b9-40ff-4e23-a237-f9ace91c6c81\">\u6e05\u534e\u5927\u5b66<\/mark>\u8ba1\u7b97\u673a\u7cfb\u7684\u4e8c\u5e74\u7ea7\u535a\u58eb\u751f\u5218\u677e\u94ed\uff0c\u4e3b\u8981\u7814\u7a76\u65b9\u5411\u662f\u5177\u8eab\u667a\u80fd\u548c AI for Science\uff0c\u6b64\u524d\u5728 ICML \u548c NeurIPS \u7b49\u9876\u7ea7\u4f1a\u8bae\u53d1\u8868\u591a\u7bc7\u8bba\u6587\uff0c\u66fe\u83b7<mark data-type=\"institutions\" data-id=\"4349d6b9-40ff-4e23-a237-f9ace91c6c81\">\u6e05\u534e\u5927\u5b66<\/mark>\u672c\u79d1\u751f\u7279\u7b49\u5956\u5b66\u91d1\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-7990ddd97a0fdb74c4d6497df9bf15f0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-7990ddd97a0fdb74c4d6497df9bf15f0.png\"><\/a><\/section>\n<section>\u53e6\u4e00\u4f4d\u662f<mark data-type=\"institutions\" data-id=\"4349d6b9-40ff-4e23-a237-f9ace91c6c81\">\u6e05\u534e\u5927\u5b66<\/mark>\u8ba1\u7b97\u673a\u7cfb\u7684\u4e8c\u5e74\u7ea7\u535a\u58eb\u751f\u5434\u51cc\u8f69\uff0c\u76ee\u524d\u4e3b\u8981\u7814\u7a76\u65b9\u5411\u662f<mark data-type=\"concepts\" data-id=\"2d28aa9c-942d-471d-bd96-8bfefb7144e0\">\u4eba\u5de5\u667a\u80fd<\/mark>\u5b89\u5168\u548c\u5177\u8eab\u667a\u80fd\uff0c\u6b64\u524d\u5728 ICLR \u53d1\u8868\u8fc7\u8bba\u6587\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-9be797f8d4ca22e54383abfdf6687a0d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-9be797f8d4ca22e54383abfdf6687a0d.png\"><\/a><\/section>\n<section><strong>\u8bba\u6587\u56e2\u961f<\/strong><\/section>\n<section><\/section>\n<section>\u8be5\u9879\u76ee\u7684\u56e2\u961f\u662f<mark data-type=\"institutions\" data-id=\"4349d6b9-40ff-4e23-a237-f9ace91c6c81\">\u6e05\u534e\u5927\u5b66<\/mark>\u8ba1\u7b97\u673a\u7cfb TSAIL \u8bfe\u9898\u7ec4\uff0c\u56e2\u961f\u5728\u6269\u6563\u6a21\u578b\u7684\u57fa\u7840\u7406\u8bba\u548c\u5173\u952e\u6280\u672f\u65b9\u9762\u6709\u957f\u671f\u7684\u79ef\u7d2f\uff0c\u63d0\u51fa\u4e86\u9996\u4e2a\u6269\u6563\u6a21\u578b\u4e0e Transformer \u878d\u5408\u7684\u67b6\u6784 U-ViT\uff0c\u8054\u5408\u7814\u5236\u4e86\u5168\u7403\u9996\u4e2a\u6027\u80fd\u5168\u9762\u5bf9\u6807 Sora \u7684\u89c6\u9891\u5927\u6a21\u578b Vidu\uff0c\u90e8\u5206\u6210\u679c\u83b7\u56fd\u9645\u8868\u793a\u5b66\u4e60\u5927\u4f1a\uff08ICLR 2022\uff09\u6770\u51fa\u8bba\u6587\u5956\uff0c\u88ab<mark data-type=\"institutions\" data-id=\"48d62db6-3e47-4e93-8b9d-b1283a7ea419\">\u534e\u4e3a<\/mark>\u3001OpenAI\u3001\u82f9\u679c\u3001Stable Diffusion \u7b49\u56fd\u5185\u5916\u9886\u519b\u4f01\u4e1a\u7684\u6587\u751f\u56fe\u5927\u6a21\u578b\u91c7\u7528\u3002\u7279\u522b\u7684\uff0cTSAIL \u56e2\u961f\u5728\u56fd\u9645\u4e0a\u7387\u5148\u63d0\u51fa \u201c\u6269\u6563\u7b56\u7565 \u201c\u6982\u5ff5\uff0c\u5e76\u957f\u671f\u8fdb\u884c \u201c\u6269\u6563\u7b56\u7565\u201d \u6784\u5efa\u7b97\u6cd5\u7814\u7a76\uff0c\u5728 ICLR\/NeurIPS\/ICML \u7b49\u9876\u7ea7\u56fd\u9645\u4f1a\u8bae\u4e0a\u8fde\u7eed\u53d1\u8868\u4e86\u591a\u7bc7\u76f8\u5173\u7814\u7a76\u5de5\u4f5c [1-4]\uff0c\u5305\u62ec\u6269\u6563\u7b56\u7565\u6a21\u578b\u52a8\u4f5c<mark data-type=\"tech_methods\" data-id=\"00a1d368-2d34-4830-b51e-ecb4e56de1a4\">\u91cd\u91c7\u6837<\/mark>\u65b9\u6cd5 SfBC\uff0c\u5956\u52b1\u51fd\u6570\u5f15\u5bfc\u91c7\u6837\u7b97\u6cd5 CEP\uff0c\u9ad8\u6548\u6269\u6563\u7b56\u7565\u68af\u5ea6\u84b8\u998f\u7b97\u6cd5 SRPO\uff0c\u6269\u6563\u7b56\u7565\u5bf9\u9f50\u7b97\u6cd5 EDA \u7b49\u3002<\/section>\n<section><\/section>\n<section><strong>\u76f4\u64ad\u5206\u4eab<\/strong><\/section>\n<section><strong><br \/><\/strong><\/section>\n<section>\u4e3a\u4e86\u66f4\u597d\u7684\u5e2e\u52a9\u5927\u5bb6\u4e86\u89e3\u8fd9\u9879\u7814\u7a76\uff0c10\u670821\u65e5\u665a19:00-20:00\uff0c\u8bba\u6587\u4f5c\u8005\u3001<mark data-type=\"institutions\" data-id=\"4349d6b9-40ff-4e23-a237-f9ace91c6c81\">\u6e05\u534e\u5927\u5b66<\/mark>\u8ba1\u7b97\u673a\u7cfb\u7684\u4e8c\u5e74\u7ea7\u535a\u58eb\u751f\u5218\u677e\u94ed\u5e26\u6765\u7ebf\u4e0a\u76f4\u64ad\uff0c\u4e3a\u5927\u5bb6\u8fdb\u4e00\u6b65\u89e3\u8bfb\u8fd9\u9879\u5de5\u4f5c\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-07d076aceaa001a80eded2f627961c85.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-07d076aceaa001a80eded2f627961c85.png\"><\/a><\/section>\n<section><strong>\u76f4\u64ad\u95f4\uff1a<\/strong>\u5173\u6ce8<mark data-type=\"institutions\" data-id=\"9e96434f-5827-41e3-9b3c-36d39bc0d446\">\u673a\u5668\u4e4b\u5fc3<\/mark>\u673a\u52a8\u7ec4\u89c6\u9891\u53f7\uff0c\u7acb\u5373\u9884\u7ea6\u76f4\u64ad\uff01<a href=\"https:\/\/mp.weixin.qq.com\/s?__biz=MzA3MzI4MjgzMw==&amp;mid=2650939387&amp;idx=1&amp;sn=348debfaccd4ead20480f0ed5d59c7b7&amp;chksm=84e7db85b39052936d065506623e639682116093fdb735496dc865f6624eee014477e8025e01&amp;token=1464929056&amp;lang=zh_CN#rd\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-9eb79764a80270a1afd22bbcc02a5aae.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-9eb79764a80270a1afd22bbcc02a5aae.png\"><\/a><\/a><\/section>\n<section>\u672c\u6b21\u76f4\u64ad\u8bbe\u6709 QA \u73af\u8282\uff0c\u6b22\u8fce\u52a0\u5165\u672c\u6b21\u76f4\u64ad\u4ea4\u6d41\u7fa4\u63a2\u8ba8\u4ea4\u6d41\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-2af9c87206b05f0cff54072e8337e126.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/10\/frc-2af9c87206b05f0cff54072e8337e126.png\"><\/a><\/section>\n<section><em><sup>\u53c2\u8003\u6587\u732e<\/sup><\/em><\/section>\n<section><sup><em>[1] Huayu Chen, Cheng Lu, Chengyang Ying, Hang Su, and Jun Zhu. Offline Reinforcement Learning via High-Fidelity Generative Behavior Modeling. In International Conference on Learning Representations (ICLR), 2023.\u00a0<\/em><\/sup><\/section>\n<section><sup><em>[2] Cheng Lu, Huayu Chen, Jianfei Chen, Hang Su, Chongxuan Li, and Jun Zhu. Contrastive Energy Prediction for Exact Energy-Guided Diffusion Sampling in Offline Reinforcement Learning. In International Conference on Machine Learning (ICML), 2023.\u00a0<\/em><\/sup><\/section>\n<section><sup><em>[3] Huayu Chen, Cheng Lu, Zhengyi Wang, Hang Su, and Jun Zhu. Score regularized policy optimization through diffusion behavior. In International Conference on Learning Representations (ICLR), 2024.\u00a0<\/em><\/sup><\/section>\n<section><sup><em>[4] Huayu Chen, Kaiwen Zheng, Hang Su, Jun Zhu. Aligning Diffusion Behavior with Q-function for Efficient Continuous Control. In Annual Conference on Neural <mark data-type=\"institutions\" data-id=\"6bc5e4f6-94eb-45d5-a1e8-b236decc51ca\">Infor<\/mark>mation Processing Systems (NeurIPS), 2024.<\/em><\/sup><\/section>\n<section><sup><em>[5] Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song. Diffusion policy: Visuomotor policy learning via action diffusion. In Proceedings of Robotics: Science and Systems (RSS), 2023.<\/em><\/sup><\/section>\n<section><sup><em>[6] Fan Bao, Shen Nie, Kaiwen Xue, Yue Cao, Chongxuan Li, Hang Su, and Jun Zhu. All are worth words: A vit backbone for diffusion models. In Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, pp. 22669\u201322679, 2023.<\/em><\/sup><\/section>\n<section><sup><em>[7] Zipeng Fu, Tony Z Zhao, and Chelsea Finn. Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation. arXiv preprint arXiv:2401.02117, 2024.<\/em><\/sup><\/section>\n<section><sup><em>[8] Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al. Openvla: An open-source vision-language-action model. arXiv preprint arXiv:2406.09246, 2024.<\/em><\/sup><\/section>\n<section><sup><em>[9] Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Junbo Wang, Haoyi Zhu, and Cewu Lu. Rh20t: A robotic dataset for learning diverse skills in one-shot. In RSS 2023 Workshop on Learning for Task and Motion Planning, 2023.\u00a0<\/em><\/sup><\/section>\n<section><sup><em>[10] Team, O. M., Ghosh, D., Walke, H., Pertsch, K., Black, K., Mees, O., &#8230; &amp; Levine, S. (2024). Octo: An open-source generalist robot policy. arXiv preprint arXiv:2405.12213.<\/em><\/sup><\/section>\n<section><em><sup>[11] https:\/\/mp.weixin.qq.com\/s\/L-4oxWuiOht1d3Cx_cI8Yw<\/sup><\/em><\/section>\n<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-10-18-3\" target=\"_blank\">\u6e05\u534e\u5f00\u6e90\u5168\u7403\u6700\u5927\u53cc\u81c2\u673a\u5668\u4eba\u6269\u6563\u5927\u6a21\u578bRDT\uff0c\u61c2\u8c03\u9152\u80fd\u905b\u72d7\uff0c\u767b\u9876HF\u5177\u8eab\u70ed\u699c<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:\u6e05\u534e\u5f00\u6e90\u5168\u7403\u6700\u5927\u53cc\u81c2\u673a [&hellip;]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[27],"tags":[73,68],"class_list":["post-36182","post","type-post","status-publish","format-standard","hentry","category-news","tag-73","tag-68"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.4 - 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