{"id":36603,"date":"2025-01-14T21:00:12","date_gmt":"2025-01-14T13:00:12","guid":{"rendered":"https:\/\/17aitech.com\/?p=36603"},"modified":"2025-01-14T21:00:12","modified_gmt":"2025-01-14T13:00:12","slug":"%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%95%8c%e7%a7%8b%e5%90%8d%e5%b1%b1%e8%bd%a6%e7%a5%9e%ef%bc%81corl%e6%9d%b0%e5%87%ba%e8%ae%ba%e6%96%87%e8%ae%a9%e8%87%aa%e9%a9%be%e8%bd%a6%e5%ad%a6%e4%bc%9a","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=36603","title":{"rendered":"\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-11-11-7\" target=\"_blank\">\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b<\/a><\/p>\n<section>\u4eca\u5e74\u7684\u673a\u5668\u4eba\u9876\u4f1a CoRL \u6770\u51fa\u8bba\u6587\uff0c\u7adf\u7136\u5e2e\u81ea\u52a8\u9a7e\u9a76\u8f66\u7a33\u7a33\u5730\u5b8c\u6210\u4e86\u6f02\u79fb\u3002<\/section>\n<section><\/section>\n<section>\u5148\u6765\u4e2a\u751c\u751c\u5708\u6f02\u79fb\u70ed\u4e2a\u8eab\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s?__biz=MzA3MzI4MjgzMw==&amp;mid=2650942559&amp;idx=1&amp;sn=121904186158b3182dc718812b7037f0&amp;chksm=84e7e821b3906137cd1e192389f4a01e35f0c1e9214d238997579bab25bee1a90fd31154d67e&amp;token=319039997&amp;lang=zh_CN#rd\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e25952dd24b9fcda10d64ef0b9be8152.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e25952dd24b9fcda10d64ef0b9be8152.png\"><\/a><\/a>\u7136\u540e\uff0c\u4e0a\u70b9\u96be\u5ea6\uff0c\u6765\u4e2a\u300c8 \u5b57\u300d\uff1a\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s?__biz=MzA3MzI4MjgzMw==&amp;mid=2650942559&amp;idx=1&amp;sn=121904186158b3182dc718812b7037f0&amp;chksm=84e7e821b3906137cd1e192389f4a01e35f0c1e9214d238997579bab25bee1a90fd31154d67e&amp;token=319039997&amp;lang=zh_CN#rd\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-9ef29493f76a357077225b92cec70bc5.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-9ef29493f76a357077225b92cec70bc5.png\"><\/a><\/a>\u6700\u540e\u6765\u4e2a\u86c7\u5f62\u7ed5\u6869\uff08Slalom\uff0c\u8fd9\u6b21\u6ca1\u6709\u5b9e\u4f53\u7684\u6869\uff09\u3002\u53ef\u4ee5\u542c\u89c1\uff0c\u5728\u7ed5\u5230\u4e00\u534a\u7684\u65f6\u5019\uff0c\u5de5\u4f5c\u4eba\u5458\u5fcd\u4e0d\u4f4f\u6b22\u547c\u4e86\u4e00\u4e0b\u3002\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s?__biz=MzA3MzI4MjgzMw==&amp;mid=2650942559&amp;idx=1&amp;sn=121904186158b3182dc718812b7037f0&amp;chksm=84e7e821b3906137cd1e192389f4a01e35f0c1e9214d238997579bab25bee1a90fd31154d67e&amp;token=319039997&amp;lang=zh_CN#rd\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-95e5e4cd0ca156b26544d87bf5672071.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-95e5e4cd0ca156b26544d87bf5672071.png\"><\/a><\/a><\/section>\n<section>\u5373\u4f7f\u5730\u9762\u6e7f\u6ed1\uff0c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u53d1\u6325\u4e5f\u4e0d\u53d7\u5f71\u54cd\u3002<a href=\"https:\/\/mp.weixin.qq.com\/s?__biz=MzA3MzI4MjgzMw==&amp;mid=2650942559&amp;idx=1&amp;sn=121904186158b3182dc718812b7037f0&amp;chksm=84e7e821b3906137cd1e192389f4a01e35f0c1e9214d238997579bab25bee1a90fd31154d67e&amp;token=319039997&amp;lang=zh_CN#rd\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-a85b7bcc2340ed61843dd060ea3a4f83.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-a85b7bcc2340ed61843dd060ea3a4f83.png\"><\/a><\/a><\/section>\n<section>\u8fd9\u4e9b\u52a8\u4f5c\u90fd\u662f\u7531\u4e00\u4e2a\u5b89\u88c5\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u96f7\u514b\u8428\u65af LC 500 \u6c7d\u8f66\u6765\u5b8c\u6210\u7684\uff0c\u540c\u6837\u4e00\u5957\u7cfb\u7edf\u5b89\u88c5\u5230\u4e30\u7530 Supra \u4e0a\u4e5f\u53ef\u4ee5\u5b89\u5168\u8fd0\u884c\u3002\u8fd9\u5f97\u76ca\u4e8e\u7814\u7a76\u8005\u4eec\u5728 CoRL \u4e00\u7bc7\u6770\u51fa\u8bba\u6587\u4e2d\u63d0\u51fa\u7684\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u63d0\u9ad8\u81ea\u52a8\u9a7e\u9a76\u5728\u6781\u9650\u64cd\u63a7\uff08\u5982\u6f02\u79fb\uff09\u6761\u4ef6\u4e0b\u7684\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\u3002<\/section>\n<section><\/section>\n<section>\u53e6\u5916\u4e00\u7bc7\u83b7\u5956\u8bba\u6587\u5219\u6709\u5173\u673a\u5668\u4eba\u5bfc\u822a\u3002\u4f5c\u8005\u501f\u52a9\u5f3a\u5316\u5b66\u4e60\u5bf9\u5bfc\u822a\u667a\u80fd\u4f53\u8fdb\u884c\u4e86\u7aef\u5230\u7aef\u5927\u89c4\u6a21\u8bad\u7ec3\uff0c\u7ed3\u679c\u53ef\u4ee5\u5f88\u597d\u5730\u6cdb\u5316\u5230\u73b0\u5b9e\u4e16\u754c\u3002\u5176\u4e2d\uff0c\u8bba\u6587\u4e00\u4f5c Kuo-Hao Zeng \u662f\u4e00\u4f4d\u534e\u4eba\u5b66\u8005\uff0c\u76ee\u524d\u5c31\u804c\u4e8e\u827e\u4f26\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u3002\u4ed6\u672c\u79d1\u6bd5\u4e1a\u4e8e\u4e2d\u5c71\u5927\u5b66\uff0c\u5728\u6e05\u534e\u5927\u5b66\u62ff\u5230\u4e86\u7855\u58eb\u5b66\u4f4d\uff0c\u53bb\u5e74\u5728\u7f8e\u56fd\u534e\u76db\u987f\u5927\u5b66\u62ff\u5230\u4e86\u535a\u58eb\u5b66\u4f4d\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e4701c2c766fb8d9fd399c508e3c3913.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e4701c2c766fb8d9fd399c508e3c3913.png\"><\/a><\/section>\n<section>\u5728\u9881\u5956\u5178\u793c\u73b0\u573a\uff0c\u83b7\u5956\u8005\u62ff\u5230\u4e86\u4e00\u4e2a\u795e\u79d8\u7684\u5927\u76d2\u5b50\u3002\u636e\u900f\u9732\uff0c\u91cc\u9762\u88c5\u7684\u662f\u770b\u8d77\u6765\u5f88\u7f8e\u5473\u7684\u96f6\u98df\uff1a \u00a0<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-f2de7b724fa8b66572a5a565a443d5ad.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-f2de7b724fa8b66572a5a565a443d5ad.png\"><\/a><\/section>\n<section>CoRL \u662f\u9762\u5411\u673a\u5668\u4eba\u5b66\u4e60\u7814\u7a76\u7684\u4f1a\u8bae\uff0c\u6db5\u76d6\u673a\u5668\u4eba\u5b66\u3001\u673a\u5668\u5b66\u4e60\u548c\u63a7\u5236\u7b49\u591a\u4e2a\u4e3b\u9898\uff0c\u5305\u62ec\u7406\u8bba\u4e0e\u5e94\u7528\u3002\u81ea 2017 \u5e74\u9996\u6b21\u4e3e\u529e\u4ee5\u6765\uff0cCoRL \u5df2\u7ecf\u6210\u4e3a\u4e86\u673a\u5668\u4eba\u5b66\u4e0e\u673a\u5668\u5b66\u4e60\u4ea4\u53c9\u9886\u57df\u7684\u5168\u7403\u9876\u7ea7\u5b66\u672f\u4f1a\u8bae\u4e4b\u4e00\u3002<\/section>\n<section><\/section>\n<section>\u9664\u4e86\u4e24\u7bc7\u6770\u51fa\u8bba\u6587\uff0c\u8fd8\u6709\u56db\u7bc7\u8bba\u6587\u62ff\u5230\u4e86\u4eca\u5e74\u7684\u6770\u51fa\u8bba\u6587\u63d0\u540d\uff0c\u6bd4\u5982\u53ea\u9700\u8981\u5b66\u4e60 5 \u5206\u949f\u4eba\u7c7b\u6f14\u793a\uff0c\u5c31\u80fd\u8f7b\u677e\u6cdb\u5316\u5230\u65b0\u7684\u7269\u4f53\u548c\u573a\u666f\u7684\u673a\u5668\u4eba\u7b56\u7565 EquiBot\u3001ALOHA \u56e2\u961f\u4e3b\u8981\u6210\u5458\u7684\u65b0\u5de5\u4f5c \u2014\u2014 \u4eba\u5f62\u673a\u5668\u4eba HumanPlus\uff0c\u65af\u5766\u798f\u63d0\u51fa\u7684\u9996\u4e2a\u5f00\u6e90\u89c6\u89c9\u8bed\u8a00\u52a8\u4f5c\u5927\u6a21\u578b OpenVLA \u7b49\u3002<\/section>\n<section><\/section>\n<section>\u4ee5\u4e0b\u662f\u5173\u4e8e\u83b7\u5956\u8bba\u6587\u548c\u63d0\u540d\u8bba\u6587\u7684\u8be6\u7ec6\u4ecb\u7ecd\u3002<\/section>\n<section><\/section>\n<section><strong>\u6770\u51fa\u8bba\u6587\u5956\u83b7\u5956\u8bba\u6587<\/strong><\/section>\n<section><\/section>\n<section><strong>\u8bba\u6587\u4e00\uff1aOne Model to Drift Them All<\/strong><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-09a29f37af9b850fd971def113213a6b.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-09a29f37af9b850fd971def113213a6b.png\"><\/a><\/section>\n<ul>\n<li>\n<section>\u4f5c\u8005\uff1aFranck Djeumou, Thomas Jonathan Lew, Nan Ding, Michael Thompson, Makoto Suminaka, Marcus Greiff, John Subosits<\/section>\n<\/li>\n<li>\n<section>\u673a\u6784\uff1a\u4e30\u7530\u7814\u7a76\u9662\u3001\u7f8e\u56fd\u4f26\u65af\u52d2\u7406\u5de5\u5b66\u9662<\/section>\n<\/li>\n<li>\n<section>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/openreview.net\/pdf?id=0gDbaEtVrd<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u8ba9\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5728\u6781\u9650\u64cd\u63a7\u72b6\u6001\u4e0b \u2014\u2014 \u4e5f\u5c31\u662f\u8f6e\u80ce\u6293\u5730\u529b\u8fbe\u5230\u6700\u5927\u65f6 \u2014\u2014 \u5b89\u5168\u8fd0\u884c\u662f\u4e00\u4e2a\u975e\u5e38\u91cd\u8981\u7684\u95ee\u9898\uff0c\u5c24\u5176\u662f\u5728\u7d27\u6025\u907f\u969c\u6216\u6076\u52a3\u5929\u6c14\u7b49\u60c5\u51b5\u4e0b\u3002\u4e0d\u8fc7\uff0c\u8981\u5b9e\u73b0\u8fd9\u6837\u7684\u80fd\u529b\u5e76\u4e0d\u5bb9\u6613\uff0c\u56e0\u4e3a\u8fd9\u9879\u4efb\u52a1\u672c\u8eab\u53d8\u5316\u591a\u7aef\uff0c\u800c\u4e14\u5bf9\u9053\u8def\u3001\u8f66\u8f86\u7279\u6027\u4ee5\u53ca\u5b83\u4eec\u4e4b\u95f4\u7684\u76f8\u4e92\u4f5c\u7528\u7684\u4e0d\u786e\u5b9a\u6027\u975e\u5e38\u654f\u611f\u3002<\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u514b\u670d\u8fd9\u4e9b\u96be\u9898\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u7684\u65b9\u6848\uff1a\u5229\u7528\u4e00\u4e2a\u5305\u542b\u591a\u79cd\u8f66\u8f86\u5728\u591a\u6837\u73af\u5883\u4e0b\u884c\u9a76\u8f68\u8ff9\u7684\u672a\u6807\u8bb0\u6570\u636e\u96c6\uff0c\u6765\u8bad\u7ec3\u4e00\u4e2a\u9ad8\u6027\u80fd\u8f66\u8f86\u63a7\u5236\u7684\u6761\u4ef6\u6269\u6563\u6a21\u578b\u3002\u4ed6\u4eec\u8bbe\u8ba1\u7684\u8fd9\u4e2a\u6269\u6563\u6a21\u578b\u80fd\u591f\u901a\u8fc7\u4e00\u4e2a\u57fa\u4e8e\u7269\u7406\u4fe1\u606f\u7684\u6570\u636e\u9a71\u52a8\u52a8\u6001\u6a21\u578b\u7684\u53c2\u6570\u591a\u6a21\u6001\u5206\u5e03\uff0c\u6765\u6355\u6349\u590d\u6742\u6570\u636e\u96c6\u4e2d\u7684\u8f68\u8ff9\u5206\u5e03\u3002<\/section>\n<section><\/section>\n<section>\u901a\u8fc7\u5c06\u5728\u7ebf\u6d4b\u91cf\u6570\u636e\u4f5c\u4e3a\u751f\u6210\u8fc7\u7a0b\u7684\u6761\u4ef6\uff0c\u4f5c\u8005\u5c06\u8fd9\u4e2a\u6269\u6563\u6a21\u578b\u878d\u5165\u5230\u5b9e\u65f6\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u6846\u67b6\u4e2d\uff0c\u7528\u4e8e\u6781\u9650\u9a7e\u9a76\u3002<\/section>\n<section><\/section>\n<section>\u5728\u4e30\u7530 Supra \u548c\u96f7\u514b\u8428\u65af LC 500 \u4e0a\u8fdb\u884c\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u5728\u4e0d\u540c\u8def\u51b5\u4e0b\u4f7f\u7528\u4e0d\u540c\u8f6e\u80ce\u65f6\uff0c\u5355\u4e00\u6269\u6563\u6a21\u578b\u53ef\u4f7f\u4e24\u8f86\u8f66\u5b9e\u73b0\u53ef\u9760\u7684\u81ea\u52a8\u6f02\u79fb\u3002\u8be5\u6a21\u578b\u4e0e\u7279\u5b9a\u4efb\u52a1\u4e13\u5bb6\u6a21\u578b\u7684\u6027\u80fd\u76f8\u5339\u914d\uff0c\u540c\u65f6\u5728\u5bf9\u672a\u77e5\u6761\u4ef6\u7684\u6cdb\u5316\u65b9\u9762\u4f18\u4e8e\u4e13\u5bb6\u6a21\u578b\uff0c\u4e3a\u5728\u6781\u9650\u64cd\u63a7\u6761\u4ef6\u4e0b\u91c7\u7528\u901a\u7528\u3001\u53ef\u9760\u7684\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u94fa\u5e73\u4e86\u9053\u8def\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-2f300158ef3dcf4a099f18b6aa75bba5.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-2f300158ef3dcf4a099f18b6aa75bba5.png\"><\/a><\/section>\n<section><em><sup>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u5de6\uff1a\u6761\u4ef6\u6269\u6563\u6a21\u578b\u5728\u4e24\u8f86\u8f66\u4e0a\u6267\u884c\u6f02\u79fb\u8f68\u8ff9\u7684\u793a\u4f8b\u3002\u53f3\uff1a\u63a7\u5236\u5668\u7ed3\u6784\u6982\u8ff0\u548c\u5728\u7ebf\u6a21\u578b\u53c2\u6570\u751f\u6210\u8fc7\u7a0b\u3002<\/sup><\/em><\/section>\n<section><\/section>\n<section><strong>\u8bba\u6587\u4e8c\uff1aPoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators<\/strong><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-87da42a8e3baef64972bb167aba810d4.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-87da42a8e3baef64972bb167aba810d4.png\"><\/a><\/section>\n<ul>\n<li>\n<section>\u4f5c\u8005\uff1aKuo-Hao Zeng, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Zichen Zhang, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, \u00a0 Luca Weihs<\/section>\n<\/li>\n<li>\n<section>\u673a\u6784\uff1a\u827e\u4f26\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u6240 PRIOR\uff08Perceptual Reasoning and Interaction Research\uff09\u56e2\u961f<\/section>\n<\/li>\n<li>\n<section>\u9879\u76ee\u94fe\u63a5\uff1ahttps:\/\/poliformer.allen.ai\/<\/section>\n<\/li>\n<li>\n<section>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2406.20083<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>PoliFormer \u662f Policy Transformer \u7684\u7f29\u5199\u3002\u8fd9\u662f\u4e00\u79cd\u7eaf RGB \u5ba4\u5185\u5bfc\u822a\u667a\u80fd\u4f53\uff0c\u5b83\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u8fdb\u884c\u7aef\u5230\u7aef\u5927\u89c4\u6a21\u8bad\u7ec3\u3002\u5c3d\u7ba1\u7eaf\u7cb9\u662f\u5728\u6a21\u62df\u4e2d\u8bad\u7ec3\uff0c\u4f46\u8bad\u7ec3\u7ed3\u679c\u65e0\u9700\u8c03\u6574\u5373\u53ef\u6cdb\u5316\u5230\u73b0\u5b9e\u4e16\u754c\u3002<\/section>\n<section><\/section>\n<section>PoliFormer \u4f7f\u7528\u57fa\u7840\u89c6\u89c9 transformer \u7f16\u7801\u5668\u548c\u56e0\u679c transformer \u89e3\u7801\u5668\u6765\u5b9e\u73b0\u957f\u671f\u8bb0\u5fc6\u548c\u63a8\u7406\u3002\u5b83\u5728\u4e0d\u540c\u7684\u73af\u5883\u4e2d\u8fdb\u884c\u4e86\u6570\u4ebf\u6b21\u4ea4\u4e92\u8bad\u7ec3\uff0c\u5229\u7528\u5e76\u884c\u5316\u3001\u591a\u673a\u6269\u5c55\u5b9e\u73b0\u4e86\u9ad8\u541e\u5410\u91cf\u7684\u9ad8\u6548\u8bad\u7ec3\u3002<\/section>\n<section><\/section>\n<section>PoliFormer \u662f\u4e00\u4e2a\u4f18\u79c0\u7684\u5bfc\u822a\u5668\uff0c\u5728 LoCoBot \u548c Stretch RE-1 \u673a\u5668\u4eba\u8fd9\u4e24\u79cd\u4e0d\u540c\u7684\u5177\u8eab\u667a\u80fd\u65b9\u6848\u548c\u56db\u9879\u5bfc\u822a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u5747\u53d6\u5f97\u4e86 SOTA \u6210\u7ee9\u3002\u5b83\u7a81\u7834\u4e86\u4ee5\u5f80\u5de5\u4f5c\u7684\u74f6\u9888\uff0c\u5728 CHORES-S \u57fa\u51c6\u4e0a\u5b9e\u73b0\u4e86\u524d\u6240\u672a\u6709\u7684 85.5% \u7684\u76ee\u6807\u5bfc\u822a\u6210\u529f\u7387\uff0c\u7edd\u5bf9\u503c\u63d0\u9ad8\u4e86 28.5%\u3002<\/section>\n<section><\/section>\n<section>PoliFormer \u8fd8\u53ef\u8f7b\u677e\u6269\u5c55\u5230\u5404\u79cd\u4e0b\u6e38\u5e94\u7528\uff0c\u5982\u76ee\u6807\u8ddf\u8e2a\u3001\u591a\u76ee\u6807\u5bfc\u822a\u548c\u5f00\u653e\u8bcd\u6c47\u5bfc\u822a\uff0c\u65e0\u9700\u8fdb\u884c\u5fae\u8c03\u3002<\/section>\n<section><\/section>\n<section>\u4ee5\u4e0b\u662f\u4e00\u4e9b\u5229\u7528 PoliFormer \u8fdb\u884c\u5bfc\u822a\u7684\u673a\u5668\u4eba\u793a\u4f8b\uff1a \u00a0<\/section>\n<section><\/section>\n<section>1\u3001\u7a7f\u8fc7\u5e03\u6ee1\u969c\u788d\u7684\u957f\u8d70\u5eca\u627e\u5230\u82f9\u679c\uff08LoCoBot\uff09\uff1a<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-ac4997e23dc7d0bcc2cbd8e15f4a91c8.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-ac4997e23dc7d0bcc2cbd8e15f4a91c8.gif\"><\/a><\/section>\n<section>2\u3001\u627e\u5230\u4e00\u672c\u540d\u4e3a\u300c\u4eba\u7c7b\u300d\u7684\u4e66\uff08Stretch RE-1\uff09<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7e7164347f6bafe6c4590cb36be87f8f.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7e7164347f6bafe6c4590cb36be87f8f.gif\"><\/a><\/section>\n<section>3\u3001\u4e00\u6b21\u5bfb\u627e\u591a\u4e2a\u7269\u54c1 \u2014\u2014 \u6c99\u53d1\u3001\u4e66\u672c\u3001\u5395\u6240\u548c\u5ba4\u5185\u690d\u7269\uff08Stretch RE-1\uff09<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-3d3bdbd5ffbfc8548f1f9600211172ea.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-3d3bdbd5ffbfc8548f1f9600211172ea.gif\"><\/a><\/section>\n<section><strong>\u6770\u51fa\u8bba\u6587\u63d0\u540d<\/strong><\/section>\n<section><\/section>\n<section><strong>\u8bba\u6587 1\uff1aRe-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning<\/strong><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-53f8c1c3c950f79f0a092ce27ff6d8b0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-53f8c1c3c950f79f0a092ce27ff6d8b0.png\"><\/a><\/section>\n<ul>\n<li>\n<section>\u673a\u6784\uff1a\u65af\u5766\u798f\u5927\u5b66\u3001UC \u4f2f\u514b\u5229<\/section>\n<\/li>\n<li>\n<section>\u4f5c\u8005\uff1aJoey Hejna, Chethan Anand Bhateja, Yichen Jiang, Karl Pertsch, Dorsa Sadigh<\/section>\n<\/li>\n<li>\n<section>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2408.14037<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u4e3a\u4e86\u8bad\u7ec3\u673a\u5668\u4eba\u57fa\u7840\u6a21\u578b\uff0c\u7814\u7a76\u9886\u57df\u6b63\u5728\u6784\u5efa\u8d8a\u6765\u8d8a\u591a\u7684\u6a21\u4eff\u5b66\u4e60\uff08imitation learning\uff09\u6570\u636e\u96c6\u3002\u7136\u800c\uff0c\u6570\u636e\u9009\u62e9\u5728\u89c6\u89c9\u548c\u81ea\u7136\u8bed\u8a00\u5904\u7406\u4e2d\u5df2\u7ecf\u88ab\u8ba4\u4e3a\u662f\u81f3\u5173\u91cd\u8981\u7684\uff0c\u4f46\u5728\u673a\u5668\u4eba\u6280\u672f\u9886\u57df\uff0c\u6a21\u578b\u5b9e\u9645\u4e0a\u5e94\u8be5\u4f7f\u7528\u54ea\u4e9b\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\u8fd8\u662f\u4e2a\u60ac\u800c\u672a\u51b3\u7684\u95ee\u9898\u3002<\/section>\n<section><\/section>\n<section>\u57fa\u4e8e\u6b64\uff0c\u8be5\u7814\u7a76\u63a2\u7d22\u4e86\u5982\u4f55\u6743\u8861\u673a\u5668\u4eba\u6570\u636e\u96c6\u7684\u4e0d\u540c\u5b50\u96c6\u6216\u300c\u57df\u300d\u4ee5\u8fdb\u884c\u673a\u5668\u4eba\u57fa\u7840\u6a21\u578b\u9884\u8bad\u7ec3\u3002<\/section>\n<section><\/section>\n<section>\u5177\u4f53\u6765\u8bf4\uff0c\u8be5\u7814\u7a76\u4f7f\u7528\u5206\u5e03\u5f0f\u9c81\u68d2\u4f18\u5316\uff08DRO\uff09\u6765\u6700\u5927\u5316\u6240\u6709\u53ef\u80fd\u7684\u4e0b\u6e38\u57df\u6700\u574f\u60c5\u51b5\u6027\u80fd\uff0c\u63d0\u51fa\u65b9\u6cd5 Re-Mix\u3002Re-Mix \u89e3\u51b3\u4e86\u5c06 DRO \u5e94\u7528\u4e8e\u673a\u5668\u4eba\u6570\u636e\u96c6\u65f6\u51fa\u73b0\u7684\u5e7f\u6cdb\u6311\u6218\u3002Re-Mix \u91c7\u7528\u63d0\u524d\u7ec8\u6b62\u8bad\u7ec3\uff08Early Stopping\uff09\u3001\u52a8\u4f5c\u5f52\u4e00\u5316\u548c\u79bb\u6563\u5316\u6765\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u3002<\/section>\n<section><\/section>\n<section>\u901a\u8fc7\u5728\u6700\u5927\u7684\u5f00\u6e90\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6 Open X-Embodiment \u4e0a\u8fdb\u884c\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u8be5\u7814\u7a76\u8bc1\u660e\u6570\u636e\u7ba1\u7406\u53ef\u4ee5\u5bf9\u4e0b\u6e38\u6027\u80fd\u4ea7\u751f\u5de8\u5927\u7684\u5f71\u54cd\u3002<\/section>\n<section><\/section>\n<section><strong>\u8bba\u6587 2:Equivariant Diffusion Policy<\/strong><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-75951655b3cdf0c560cf74b583991b6a.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-75951655b3cdf0c560cf74b583991b6a.png\"><\/a><\/section>\n<ul>\n<li>\n<section>\u4f5c\u8005\uff1aDian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt<\/section>\n<\/li>\n<li>\n<section>\u673a\u6784\uff1a\u4e1c\u5317\u5927\u5b66\u3001\u6ce2\u58eb\u987f\u52a8\u529b<\/section>\n<\/li>\n<li>\n<section>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2407.01812<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u5728\u673a\u5668\u4eba\u5b66\u4e60\u9886\u57df\uff0c\u5982\u4f55\u6784\u5efa\u6709\u6548\u7684\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\uff0c\u8ba9\u673a\u5668\u4eba\u80fd\u4ece\u6709\u9650\u6570\u636e\u4e2d\u7684\u5b66\u4e60\u6cdb\u5316\u5230\u591a\u6837\u7684\u73b0\u5b9e\u73af\u5883\u4e2d\uff0c\u4e00\u76f4\u662f\u4e00\u4e2a\u6311\u6218\u3002<\/section>\n<section><\/section>\n<section>\u4e3a\u6b64\uff0c\u8be5\u56e2\u961f\u7ed3\u5408\u4e86 SIM (3) \u7b49\u795e\u7ecf\u7f51\u7edc\u67b6\u6784\u4e0e\u6269\u6563\u6a21\u578b\uff0c\u63d0\u51fa\u4e86 EquiBot\u3002\u673a\u5668\u4eba\u5728\u5b66\u4e60\u8fc7\u7a0b\u4e2d\uff0c\u4e0d\u4f1a\u53d7\u5230\u7269\u4f53\u5927\u5c0f\u3001\u4f4d\u7f6e\u6216\u65b9\u5411\u53d8\u5316\u7684\u5f71\u54cd\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u5176\u5728\u4e0d\u540c\u73af\u5883\u4e2d\u7684\u9002\u5e94\u80fd\u529b\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-205fe4b9066d5647a8abf3b1941be5c4.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-205fe4b9066d5647a8abf3b1941be5c4.png\"><\/a><\/section>\n<section>\u540c\u65f6\uff0c\u6269\u6563\u6a21\u578b\u7684\u591a\u6a21\u6001\u548c\u9c81\u68d2\u6027\u4f18\u52bf\uff0c\u8fdb\u4e00\u6b65\u589e\u5f3a\u4e86 EquiBot \u7b56\u7565\u5728\u672a\u77e5\u73af\u5883\u4e2d\u7684\u9002\u7528\u6027\u3002<\/section>\n<section><\/section>\n<section>\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c EquiBot \u663e\u8457\u51cf\u5c11\u4e86\u673a\u5668\u4eba\u5bf9\u8bad\u7ec3\u6570\u636e\u7684\u9700\u6c42\uff0c\u5bf9\u65b0\u573a\u666f\u7684\u6cdb\u5316\u80fd\u529b\u4e5f\u5927\u5e45\u63d0\u5347\u3002\u6bd4\u5982\u4e0b\u9762\u8fd9\u4e2a\u6536\u62fe\u884c\u674e\u7684\u4efb\u52a1\uff0c\u88ab EquiBot \u7b56\u7565\u70b9\u5316\u7684\u673a\u5668\u4eba\u53ea\u9700\u8981\u5b66\u4e60 5 \u5206\u949f\u7684\u4eba\u7c7b\u6f14\u793a\uff0c\u5c31\u80fd\u8f7b\u677e\u6cdb\u5316\u5230\u65b0\u7684\u7269\u4f53\u548c\u573a\u666f\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-ad8ab078c7b1f47d37cc38d3903262e6.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-ad8ab078c7b1f47d37cc38d3903262e6.gif\"><\/a><\/section>\n<section><strong>\u8bba\u6587 3:HumanPlus: Humanoid Shadowing and Imitation from Humans<\/strong><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-efd6dcc4f99e77414caeb24d67951a2f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-efd6dcc4f99e77414caeb24d67951a2f.png\"><\/a><\/section>\n<ul>\n<li>\n<section>\u4f5c\u8005\uff1aZipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, Chelsea Finn<\/section>\n<\/li>\n<li>\n<section>\u673a\u6784\uff1a\u65af\u5766\u798f\u5927\u5b66<\/section>\n<\/li>\n<li>\n<section>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/pdf\/2406.10454<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u8bf4\u8d77\u65af\u5766\u798f\u5f00\u6e90\u7684 Mobile ALOHA \u5168\u80fd\u5bb6\u52a1\u673a\u5668\u4eba\uff0c\u5927\u5bb6\u80af\u5b9a\u5370\u8c61\u6df1\u523b\uff0cALOHA \u505a\u8d77\u5bb6\u52a1\u6d3b\u6765\u90a3\u662f\u6709\u6a21\u6709\u6837\uff1a\u6ed1\u86cb\u867e\u4ec1\u3001\u869d\u6cb9\u751f\u83dc\u3001\u5e72\u8d1d\u70e7\u9e21\uff0c\u4e00\u4f1a\u513f\u529f\u592b\u901f\u6210\u5927\u9910\uff1a<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-d3a156b2318c8c275fd6d0ebe4888799.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-d3a156b2318c8c275fd6d0ebe4888799.gif\"><\/a><\/section>\n<section>\u8fd9\u6b3e\u4eba\u5f62 HumanPlus\uff0c\u4e5f\u662f ALOHA \u56e2\u961f\u4e3b\u8981\u6210\u5458\u7684\u5de5\u4f5c\u3002HumanPlus \u548c ALOHA \u90fd\u5728\u63a2\u7d22\u6a21\u4eff\u5b66\u4e60\u5bf9\u673a\u5668\u4eba\u5e26\u6765\u600e\u6837\u7684\u589e\u76ca\u3002HumanPlus \u66f4\u5173\u6ce8\u8bbe\u8ba1\u4e00\u5957\u6570\u636e\u5904\u7406\u6d41\u7a0b\uff0c\u8ba9\u4eba\u5f62\u673a\u5668\u4eba\u53ef\u4ee5\u81ea\u4e3b\u5b66\u4e60\u6280\u80fd\u3002<\/section>\n<section><\/section>\n<section>\u8be5\u7814\u7a76\u9996\u5148\u57fa\u4e8e 40 \u5c0f\u65f6\u7684\u4eba\u4f53\u8fd0\u52a8\u6570\u636e\u96c6\uff0c\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u5728\u6a21\u62df\u73af\u5883\u4e2d\u8bad\u7ec3\u4f4e\u7ea7\u7b56\u7565\u3002\u7136\u540e\u5c06\u8fd9\u4e00\u7b56\u7565\u8fc1\u79fb\u5230\u73b0\u5b9e\u4e16\u754c\u4e2d\uff0c\u4f7f\u4eba\u5f62\u673a\u5668\u4eba\u4ec5\u4f7f\u7528 RGB \u76f8\u673a\u5373\u53ef\u5b9e\u65f6\u8ddf\u8e2a\u4eba\u4f53\u548c\u624b\u90e8\u8fd0\u52a8\uff0c\u5f62\u6210 Shadowing \u7cfb\u7edf\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-1566f7a2f92debd94096afdb32103e0d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-1566f7a2f92debd94096afdb32103e0d.png\"><\/a><\/section>\n<section>\u4eba\u7c7b\u64cd\u4f5c\u5458\u53ef\u4ee5\u901a\u8fc7 Shadowing \u7cfb\u7edf\u8fdc\u7a0b\u63a7\u5236\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u6536\u96c6\u5176\u5168\u8eab\u8fd0\u52a8\u6570\u636e\uff0c\u4ee5\u4fbf\u5728\u73b0\u5b9e\u73af\u5883\u4e2d\u5b66\u4e60\u5404\u79cd\u4efb\u52a1\u3002\u57fa\u4e8e\u8fd9\u4e9b\u6570\u636e\uff0c\u7814\u7a76\u4eba\u5458\u91c7\u7528\u6709\u76d1\u7763\u7684\u884c\u4e3a\u514b\u9686\u65b9\u6cd5\uff0c\u518d\u5bf9\u673a\u5668\u4eba\u8fdb\u884c\u8bad\u7ec3\u3002<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-9814ba40f72ff7f5c17fad4bb70d67b9.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-9814ba40f72ff7f5c17fad4bb70d67b9.gif\"><\/a><\/section>\n<section>\u53ea\u9700 40 \u6b21\u6f14\u793a\uff0c\u642d\u8f7d Shadowing \u7cfb\u7edf\u7684\u673a\u5668\u4eba\u5c31\u53ef\u4ee5\u53ef\u4ee5\u81ea\u4e3b\u5b8c\u6210\u8bf8\u5982\u7a7f\u978b\u7ad9\u7acb\u548c\u884c\u8d70\uff0c\u4ece\u4ed3\u5e93\u8d27\u67b6\u4e0a\u5378\u8f7d\u7269\u54c1\uff0c\u53e0\u8863\u670d\uff0c\u91cd\u65b0\u6392\u5217\u7269\u54c1\uff0c\u6253\u5b57\u4ee5\u53ca\u4e0e\u53e6\u4e00\u4e2a\u673a\u5668\u4eba\u6253\u62db\u547c\u7b49\u4efb\u52a1\uff0c\u6210\u529f\u7387\u4e3a 60-100%\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-f4b8bf527fc1926a97166242ea134f2b.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-f4b8bf527fc1926a97166242ea134f2b.gif\"><\/a><\/section>\n<section>\u66f4\u591a\u8be6\u60c5\uff0c\u8bf7\u53c2\u770b\u673a\u5668\u4e4b\u5fc3\u4e4b\u524d\u7684\u62a5\u9053\uff1a<a data-itemshowtype=\"0\" data-linktype=\"2\" href=\"http:\/\/mp.weixin.qq.com\/s?__biz=MzA3MzI4MjgzMw==&amp;mid=2650921938&amp;idx=3&amp;sn=1e6fb4e78a1099a54d751fc6482a80fe&amp;chksm=84e41facb39396bacda773ed4b3aded398211d29bb9d052f3062235e6985ee7068f1e86d5b50&amp;scene=21#wechat_redirect\" target=\"_blank\">\u300a\u4ece ALOHA \u8fc8\u5411 Humanplus\uff0c\u65af\u5766\u798f\u5f00\u6e90\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u300c\u9ad8\u914d\u7248\u4eba\u7c7b\u300d\u4e0a\u7ebf\u300b<\/a><\/section>\n<section><\/section>\n<section><strong>\u8bba\u6587 4\uff1aOpenVLA: An Open-Source Vision-Language-Action Model<\/strong><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-d72e10ec914d41ea362fc787221a4293.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-d72e10ec914d41ea362fc787221a4293.png\"><\/a><\/section>\n<ul>\n<li>\n<section>\u673a\u6784\uff1a\u65af\u5766\u798f\u5927\u5b66\u3001UC \u4f2f\u514b\u5229\u3001\u4e30\u7530\u7814\u7a76\u9662\u3001Google Deepmind \u7b49<\/section>\n<\/li>\n<li>\n<section>\u4f5c\u8005\uff1aMoo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan P Foster, Pannag R Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, Chelsea Finn<\/section>\n<\/li>\n<li>\n<section>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2406.09246<\/section>\n<\/li>\n<li>\n<section>\u9879\u76ee\u5730\u5740\uff1ahttps:\/\/github.com\/openvla\/openvla<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u673a\u5668\u4eba\u6280\u672f\u89c6\u89c9\u8bed\u8a00\u52a8\u4f5c\uff08VLA\uff09\u7684\u5e7f\u6cdb\u91c7\u7528\u4e00\u76f4\u9762\u4e34\u6311\u6218\uff0c\u56e0\u4e3a\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u73b0\u6709\u7684 VLA \u57fa\u672c\u4e0a\u662f\u5c01\u95ed\u7684\uff0c\u65e0\u6cd5\u5f00\u653e\u8bbf\u95ee\uff1b<\/section>\n<\/li>\n<li>\n<section>\u4e4b\u524d\u7684\u5de5\u4f5c\u672a\u80fd\u63a2\u7d22\u9488\u5bf9\u65b0\u4efb\u52a1\u6709\u6548\u5fae\u8c03 VLA \u7684\u65b9\u6cd5\u3002<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u6311\u6218\uff0c\u65af\u5766\u798f\u63d0\u51fa\u9996\u4e2a\u5f00\u6e90 VLA \u5927\u6a21\u578b \u2014\u2014OpenVLA\uff087B \u53c2\u6570\uff09\uff0c\u7ecf\u8fc7 97 \u4e07\u4e2a\u771f\u5b9e\u673a\u5668\u4eba\u6f14\u793a\u7684\u591a\u6837\u5316\u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\u3002OpenVLA \u4ee5 Llama 2 \u8bed\u8a00\u6a21\u578b\u4e3a\u57fa\u7840\uff0c\u7ed3\u5408\u89c6\u89c9\u7f16\u7801\u5668\uff0c\u878d\u5408\u4e86 DINOv2 \u548c SigLIP \u7684\u9884\u8bad\u7ec3\u7279\u5f81\u3002<\/section>\n<section><\/section>\n<section>\u4f5c\u4e3a\u589e\u52a0\u6570\u636e\u591a\u6837\u6027\u548c\u65b0\u6a21\u578b\u7ec4\u4ef6\u7684\u4ea7\u7269\uff0cOpenVLA \u5728\u901a\u7528\u64cd\u4f5c\u65b9\u9762\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u7ed3\u679c\uff0c\u5728 29 \u4e2a\u4efb\u52a1\u4e0a\u4efb\u52a1\u6210\u529f\u7387\u6bd4 RT-2-X (55B) \u7b49\u5c01\u95ed\u6a21\u578b\u9ad8\u51fa 16.5%\uff0c\u53c2\u6570\u51cf\u5c11\u4e3a 1\/7\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-63604a232aeaa8d027e227b2246152f8.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-63604a232aeaa8d027e227b2246152f8.png\"><\/a><\/section>\n<section>\u8be5\u7814\u7a76\u8fdb\u4e00\u6b65\u8868\u660e\uff0c\u53ef\u4ee5\u9488\u5bf9\u65b0\u8bbe\u7f6e\u6709\u6548\u5730\u5fae\u8c03 OpenVLA\uff0c\u5728\u6d89\u53ca\u591a\u4e2a\u5bf9\u8c61\u548c\u5f3a\u5927\u8bed\u8a00\u57fa\u7840\u80fd\u529b\u7684\u591a\u4efb\u52a1\u73af\u5883\u4e2d\u5177\u6709\u7279\u522b\u5f3a\u7684\u6cdb\u5316\u7ed3\u679c\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c908ed5c19b6e3d70bf1a522267e25d6.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c908ed5c19b6e3d70bf1a522267e25d6.gif\"><\/a><\/section>\n<section>\u5728\u8ba1\u7b97\u6548\u7387\u65b9\u9762\uff0c\u8be5\u7814\u7a76\u8868\u660e OpenVLA \u53ef\u4ee5\u901a\u8fc7\u4f4e\u79e9\u9002\u5e94\uff08LoRA\uff09\u65b9\u6cd5\u5728\u6d88\u8d39\u7ea7 GPU \u4e0a\u8fdb\u884c\u5fae\u8c03\uff0c\u5e76\u901a\u8fc7\u91cf\u5316\u6709\u6548\u5730\u63d0\u4f9b\u670d\u52a1\uff0c\u800c\u4e0d\u4f1a\u5f71\u54cd\u4e0b\u6e38\u7684\u6210\u529f\u7387\u3002<\/section>\n<section><sup><br \/><\/sup><\/section>\n<section><em><sup>\u53c2\u8003\u94fe\u63a5\uff1ahttps:\/\/www.corl.org\/program\/awards<\/sup><\/em><\/section>\n<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-11-11-7\" target=\"_blank\">\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01 [&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":[73,68,55,67],"class_list":["post-36603","post","type-post","status-publish","format-standard","hentry","category-news","tag-73","tag-68","tag-55","tag-67"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.4 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b - \u4e00\u8d77AI\u6280\u672f<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/17aitech.com\/?p=36603\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/17aitech.com\/?p=36603\",\"url\":\"https:\/\/17aitech.com\/?p=36603\",\"name\":\"\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b - \u4e00\u8d77AI\u6280\u672f\",\"isPartOf\":{\"@id\":\"https:\/\/17aitech.com\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\/\/17aitech.com\/?p=36603#primaryimage\"},\"image\":{\"@id\":\"https:\/\/17aitech.com\/?p=36603#primaryimage\"},\"thumbnailUrl\":\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e25952dd24b9fcda10d64ef0b9be8152.png\",\"datePublished\":\"2025-01-14T13:00:12+00:00\",\"author\":{\"@id\":\"https:\/\/17aitech.com\/#\/schema\/person\/60225458499e817ae0af73e67e440b9d\"},\"breadcrumb\":{\"@id\":\"https:\/\/17aitech.com\/?p=36603#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/17aitech.com\/?p=36603\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/17aitech.com\/?p=36603#primaryimage\",\"url\":\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e25952dd24b9fcda10d64ef0b9be8152.png\",\"contentUrl\":\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e25952dd24b9fcda10d64ef0b9be8152.png\"},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/17aitech.com\/?p=36603#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/17aitech.com\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/17aitech.com\/#website\",\"url\":\"https:\/\/17aitech.com\/\",\"name\":\"\u4e00\u8d77AI\u6280\u672f\",\"description\":\"\u8ba9AI\u77e5\u8bc6\u89e6\u624b\u53ef\u53ca\",\"alternateName\":\"\u4e00\u8d77AI\u6280\u672f\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/17aitech.com\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/17aitech.com\/#\/schema\/person\/60225458499e817ae0af73e67e440b9d\",\"name\":\"AI\u5c0f\u52a9\u624b\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/17aitech.com\/#\/schema\/person\/image\/\",\"url\":\"\/\/17aitech.com\/wp-content\/uploads\/2024\/04\/robot_3.png\",\"contentUrl\":\"\/\/17aitech.com\/wp-content\/uploads\/2024\/04\/robot_3.png\",\"caption\":\"AI\u5c0f\u52a9\u624b\"},\"description\":\"\u8fd9\u4e2a\u4eba\u5f88\u61d2\uff0c\u4ec0\u4e48\u90fd\u6ca1\u6709\u7559\u4e0b\uff5e\",\"url\":\"https:\/\/17aitech.com\/?page_id=33738&user=3\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b - \u4e00\u8d77AI\u6280\u672f","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/17aitech.com\/?p=36603","schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/17aitech.com\/?p=36603","url":"https:\/\/17aitech.com\/?p=36603","name":"\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b - \u4e00\u8d77AI\u6280\u672f","isPartOf":{"@id":"https:\/\/17aitech.com\/#website"},"primaryImageOfPage":{"@id":"https:\/\/17aitech.com\/?p=36603#primaryimage"},"image":{"@id":"https:\/\/17aitech.com\/?p=36603#primaryimage"},"thumbnailUrl":"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e25952dd24b9fcda10d64ef0b9be8152.png","datePublished":"2025-01-14T13:00:12+00:00","author":{"@id":"https:\/\/17aitech.com\/#\/schema\/person\/60225458499e817ae0af73e67e440b9d"},"breadcrumb":{"@id":"https:\/\/17aitech.com\/?p=36603#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/17aitech.com\/?p=36603"]}]},{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/17aitech.com\/?p=36603#primaryimage","url":"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e25952dd24b9fcda10d64ef0b9be8152.png","contentUrl":"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-e25952dd24b9fcda10d64ef0b9be8152.png"},{"@type":"BreadcrumbList","@id":"https:\/\/17aitech.com\/?p=36603#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/17aitech.com\/"},{"@type":"ListItem","position":2,"name":"\u81ea\u52a8\u9a7e\u9a76\u754c\u79cb\u540d\u5c71\u8f66\u795e\uff01CoRL\u6770\u51fa\u8bba\u6587\u8ba9\u81ea\u9a7e\u8f66\u5b66\u4f1a\u6f02\u79fb\uff0c\u673a\u5668\u4eba\u6574\u51fa\u65b0\u6d3b"}]},{"@type":"WebSite","@id":"https:\/\/17aitech.com\/#website","url":"https:\/\/17aitech.com\/","name":"\u4e00\u8d77AI\u6280\u672f","description":"\u8ba9AI\u77e5\u8bc6\u89e6\u624b\u53ef\u53ca","alternateName":"\u4e00\u8d77AI\u6280\u672f","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/17aitech.com\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/17aitech.com\/#\/schema\/person\/60225458499e817ae0af73e67e440b9d","name":"AI\u5c0f\u52a9\u624b","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/17aitech.com\/#\/schema\/person\/image\/","url":"\/\/17aitech.com\/wp-content\/uploads\/2024\/04\/robot_3.png","contentUrl":"\/\/17aitech.com\/wp-content\/uploads\/2024\/04\/robot_3.png","caption":"AI\u5c0f\u52a9\u624b"},"description":"\u8fd9\u4e2a\u4eba\u5f88\u61d2\uff0c\u4ec0\u4e48\u90fd\u6ca1\u6709\u7559\u4e0b\uff5e","url":"https:\/\/17aitech.com\/?page_id=33738&user=3"}]}},"_links":{"self":[{"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/posts\/36603","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/17aitech.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=36603"}],"version-history":[{"count":0,"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/posts\/36603\/revisions"}],"wp:attachment":[{"href":"https:\/\/17aitech.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=36603"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/17aitech.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=36603"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/17aitech.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=36603"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}