{"id":36711,"date":"2025-01-17T02:00:54","date_gmt":"2025-01-16T18:00:54","guid":{"rendered":"https:\/\/17aitech.com\/?p=36711"},"modified":"2025-01-17T02:00:54","modified_gmt":"2025-01-16T18:00:54","slug":"%e4%bb%8e%e6%9c%aa%e8%a7%81%e8%bf%87%e7%8e%b0%e5%ae%9e%e4%b8%96%e7%95%8c%e6%95%b0%e6%8d%ae%ef%bc%8cmit%e5%9c%a8%e8%99%9a%e6%8b%9f%e7%8e%af%e5%a2%83%e4%b8%ad%e8%ae%ad%e7%bb%83%e5%87%ba%e6%9c%ba","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=36711","title":{"rendered":"\u4ece\u672a\u89c1\u8fc7\u73b0\u5b9e\u4e16\u754c\u6570\u636e\uff0cMIT\u5728\u865a\u62df\u73af\u5883\u4e2d\u8bad\u7ec3\u51fa\u673a\u5668\u72d7\uff0c\u7167\u6837\u80fd\u8dd1\u9177"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-11-17-2\" target=\"_blank\">\u4ece\u672a\u89c1\u8fc7\u73b0\u5b9e\u4e16\u754c\u6570\u636e\uff0cMIT\u5728\u865a\u62df\u73af\u5883\u4e2d\u8bad\u7ec3\u51fa\u673a\u5668\u72d7\uff0c\u7167\u6837\u80fd\u8dd1\u9177<\/a><\/p>\n<section>\u5982\u4eca\uff0c\u673a\u5668\u4eba\u5b66\u4e60\u6700\u5927\u7684\u74f6\u9888\u662f\u7f3a\u4e4f\u6570\u636e\u3002\u4e0e\u56fe\u7247\u548c\u6587\u5b57\u76f8\u6bd4\uff0c\u673a\u5668\u4eba\u7684\u5b66\u4e60\u6570\u636e\u975e\u5e38\u7a00\u5c11\u3002\u76ee\u524d\u673a\u5668\u4eba\u5b66\u79d1\u7684\u4e3b\u6d41\u65b9\u5411\u662f\u901a\u8fc7\u6269\u5927\u771f\u5b9e\u4e16\u754c\u4e2d\u7684\u6570\u636e\u6536\u96c6\u6765\u5c1d\u8bd5\u5b9e\u73b0\u901a\u7528\u5177\u8eab\u667a\u80fd\uff0c\u4f46\u662f\u548c\u5176\u4ed6\u7684\u57fa\u7840\u6a21\u578b\uff0c\u6bd4\u5982\u521d\u7248\u7684 StableDiffusion \u76f8\u6bd4\uff0c\u5373\u4f7f\u662f pi \u7684\u6570\u636e\u90fd\u4f1a\u5c11\u4e03\u516b\u4e2a\u6570\u91cf\u7ea7\u3002MIT \u7684\u8fd9\u4e2a\u56e2\u961f\u5e0c\u671b\u7528\u751f\u6210\u6a21\u578b\u6765\u4f5c\u4e3a\u673a\u5668\u4eba\u5b66\u4e60\u7684\u65b0\u6570\u636e\u6e90\uff0c\u7528\u5de5\u7a0b\u624b\u6bb5\u6765\u53d6\u4ee3\u4f20\u7edf\u7684\u6570\u636e\u6536\u96c6\uff0c\u5b9e\u73b0\u4e00\u6761\u901a\u8fc7\u7531\u751f\u6210\u6a21\u578b\u52a0\u6301\u7684\u7269\u7406\u4eff\u771f\u6765\u8bad\u7ec3\u673a\u5668\u4eba\u89c6\u89c9\u7684\u6280\u672f\u8def\u7ebf\u3002<\/section>\n<section><\/section>\n<section>\u968f\u7740\u673a\u5668\u4eba\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u6301\u7eed\u8fdb\u5316\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u6280\u80fd\u6240\u9700\u7684\u6570\u636e\u4e5f\u5728\u589e\u957f\u3002\u56e0\u6b64\u83b7\u53d6\u8db3\u591f\u7684\u6570\u636e\u5bf9\u4e8e\u63d0\u5347\u673a\u5668\u4eba\u7684\u6027\u80fd\u81f3\u5173\u91cd\u8981\uff0c\u4f46\u5728\u5f53\u524d\u5b9e\u8df5\u4e2d\uff0c\u9488\u5bf9\u65b0\u573a\u666f\u548c\u65b0\u4efb\u52a1\u83b7\u53d6\u6570\u636e\u662f\u4e00\u4e2a\u4ece\u5934\u5f00\u59cb\u4e0d\u65ad\u91cd\u590d\u7684\u624b\u52a8\u8fc7\u7a0b\u3002<\/section>\n<section><\/section>\n<section>\u53e6\u4e00\u79cd\u66ff\u4ee3\u65b9\u6cd5\u5219\u662f\u5728\u6a21\u62df\u73af\u5883\u4e2d\u8bad\u7ec3\uff0c\u4ece\u4e2d\u53ef\u4ee5\u5bf9\u66f4\u591a\u6837\u5316\u7684\u73af\u5883\u6761\u4ef6\u8fdb\u884c\u91c7\u6837\uff0c\u5e76\u4e14\u673a\u5668\u4eba\u53ef\u4ee5\u5b89\u5168\u5730\u63a2\u7d22\u6545\u969c\u6848\u4f8b\u5e76\u76f4\u63a5\u4ece\u5b83\u4eec\u81ea\u5df1\u7684\u884c\u4e3a\u4e2d\u5b66\u4e60\u3002\u5c3d\u7ba1\u4e1a\u754c\u5df2\u7ecf\u5728\u6a21\u62df\u7269\u7406\u548c\u6e32\u67d3\u65b9\u9762\u6295\u5165\u4e86\u5927\u91cf\u8d44\u91d1\uff0c\u4f46\u76ee\u524d\u4e3a\u5b9e\u73b0\u771f\u5b9e\u6027\u6240\u505a\u7684\u6700\u4f73\u5b9e\u8df5\u4ecd\u4e0e\u73b0\u5b9e\u5b58\u5728\u5dee\u8ddd\u3002<\/section>\n<section><\/section>\n<section>\u4e00\u65b9\u9762\u6e32\u67d3\u771f\u5b9e\u7684\u56fe\u50cf\u610f\u5473\u7740\u8981\u5236\u4f5c\u7ec6\u81f4\u3001\u903c\u771f\u7684\u573a\u666f\u5185\u5bb9\uff0c\u4f46\u5927\u89c4\u6a21\u624b\u52a8\u5236\u4f5c\u6b64\u7c7b\u5185\u5bb9\u4ee5\u83b7\u5f97\u673a\u5668\u4eba sim-to-real\uff08\u6a21\u62df\u5230\u73b0\u5b9e\uff09\u8fc1\u79fb\u6240\u9700\u8981\u7684\u591a\u6837\u6027\uff0c\u6210\u672c\u8fc7\u9ad8\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u5982\u679c\u7f3a\u5c11\u591a\u6837\u5316\u548c\u9ad8\u8d28\u91cf\u7684\u573a\u666f\u5185\u5bb9\uff0c\u5728\u6a21\u62df\u73af\u5883\u4e2d\u8bad\u7ec3\u7684\u673a\u5668\u4eba\u5728\u8fc1\u79fb\u5230\u771f\u5b9e\u4e16\u754c\u65f6\u8868\u73b0\u5f97\u592a\u8106\u5f31\u3002<\/section>\n<section><\/section>\n<section>\u56e0\u6b64\uff0c\u5982\u4f55\u5728\u65e0\u9650\u7684\u865a\u62df\u73af\u5883\u4e2d\u5339\u914d\u73b0\u5b9e\u4e16\u754c\uff0c\u5e76\u5c06\u8272\u5f69\u611f\u77e5\u878d\u5165\u5230 sim-to-real \u5b66\u4e60\u4e2d\uff0c\u8fd9\u662f\u4e00\u4e2a\u5173\u952e\u6311\u6218\u3002<\/section>\n<section><\/section>\n<section>\u8fd1\u65e5\uff0c MIT CSAIL \u7684\u7814\u7a76\u8005\u5f00\u53d1\u51fa\u4e86\u4e00\u5957\u89e3\u51b3\u65b9\u6848\uff0c\u4ed6\u4eec\u5c06\u751f\u6210\u6a21\u578b\u4f5c\u4e3a\u673a\u5668\u4eba\u5b66\u4e60\u7684\u65b0\u6570\u636e\u6e90\uff0c\u5e76\u4f7f\u7528\u89c6\u89c9\u8dd1\u9177\uff08visual parkout\uff09\u4f5c\u4e3a\u8bd5\u9a8c\u573a\u666f\uff0c\u8ba9\u914d\u5907\u5355\u8272\u76f8\u673a\u7684\u673a\u5668\u72d7\u5feb\u901f\u6500\u722c\u969c\u788d\u7269\u3002<\/section>\n<section><\/section>\n<section>\u7814\u7a76\u8005\u7684\u613f\u666f\u662f\u5b8c\u5168\u5728\u751f\u6210\u7684\u865a\u62df\u4e16\u754c\u4e2d\u8bad\u7ec3\u673a\u5668\u4eba\uff0c\u800c\u6838\u5fc3\u5728\u4e8e\u627e\u5230\u7cbe\u786e\u63a7\u5236\u8bed\u4e49\u7ec4\u6210\u548c\u573a\u666f\u5916\u89c2\u7684\u65b9\u6cd5\uff0c\u4ee5\u5bf9\u9f50\u6a21\u62df\u7269\u7406\u4e16\u754c\uff0c\u540c\u65f6\u4fdd\u6301\u5bf9\u4e8e\u5b9e\u73b0 sim-to-real \u6cdb\u5316\u81f3\u5173\u91cd\u8981\u7684\u968f\u673a\u6027\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7f85a09f31b2abb935aaaa2ebb545b18.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7f85a09f31b2abb935aaaa2ebb545b18.png\"><\/a><\/section>\n<ul>\n<li>\n<p>arXiv \u5730\u5740\uff1ahttps:\/\/arxiv.org\/pdf\/2411.00083<\/p>\n<\/li>\n<li>\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/lucidsim.github.io\/<\/p>\n<\/li>\n<li>\n<p>\u8bba\u6587\u6807\u9898\uff1aLearning Visual Parkour from Generated Images<\/p>\n<\/li>\n<\/ul>\n<section>\u4e0b\u56fe 2 \u4e3a\u672c\u6587 LucidSim \u65b9\u6cd5\u6982\u89c8\uff1a\u91c7\u7528\u4e86\u6d41\u884c\u7684\u7269\u7406\u5f15\u64ce MuJoCo\uff0c\u5e76\u5728\u6bcf\u4e00\u5e27\u4e0a\u6e32\u67d3\u4e86\u6df1\u5ea6\u56fe\u50cf\u548c\u8bed\u4e49\u63a9\u7801\uff0c\u8fd9\u4e9b\u4e00\u8d77\u88ab\u7528\u4f5c\u6df1\u5ea6\u6761\u4ef6 ControlNet \u7684\u8f93\u5165\u3002\u7136\u540e\u4ece\u5df2\u77e5\u7684\u573a\u666f\u51e0\u4f55\u548c\u76f8\u673a\u59ff\u6001\u53d8\u5316\u4e2d\u8ba1\u7b97\u771f\u503c\u5bc6\u96c6\u5149\u6d41\uff0c\u5e76\u5728\u63a5\u4e0b\u6765\u7684\u516d\u4e2a\u65f6\u95f4\u6b65\u4e2d\u626d\u66f2\u539f\u59cb\u751f\u6210\u5e27\u4ee5\u751f\u6210\u65f6\u95f4\u4e00\u81f4\u7684\u89c6\u9891\u5e8f\u5217\u3002<\/section>\n<section><\/section>\n<section>\u5728\u5b66\u4e60\u65b9\u9762\uff0c\u7814\u7a76\u8005\u8bad\u7ec3\u7684\u89c6\u89c9\u7b56\u7565\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\u5b8c\u6210\uff1a\u9996\u5148\u4f18\u5316\u7b56\u7565\u4ee5\u6a21\u62df\u4ece\u7279\u6743\u6559\u5e08\u6536\u96c6\u7684 rollout \u4e2d\u83b7\u5f97\u7684\u4e13\u5bb6\u884c\u4e3a\u3002\u5728\u7ecf\u8fc7\u8fd9\u4e00\u9884\u8bad\u7ec3\u6b65\u9aa4\u540e\uff0c\u7b56\u7565\u8868\u73b0\u4e0d\u4f73\u3002\u56e0\u6b64\uff0c\u540e\u8bad\u7ec3\u6b65\u9aa4\u5305\u62ec\u4ece\u89c6\u89c9\u7b56\u7565\u672c\u8eab\u6536\u96c6 on-policy \u6570\u636e\uff0c\u5e76\u4e0e\u5f53\u524d\u6536\u96c6\u7684\u6240\u6709\u6570\u636e\u7684\u5b66\u4e60\u4ea4\u9519\u8fdb\u884c\u3002\u91cd\u590d\u8fd9\u4e00\u6b65\u9aa4\u4e09\u6b21\u4f7f\u5f97\u8be5\u89c6\u89c9\u7b56\u7565\u663e\u8457\u63d0\u5347\u4e86\u81ea\u8eab\u6027\u80fd\u3002<\/section>\n<section><\/section>\n<section>\u7814\u7a76\u8005\u8868\u793a\uff0c\u8be5\u7b56\u7565\u8db3\u591f\u7a33\u5065\uff0c\u5728\u4ed6\u4eec\u7684\u6d4b\u8bd5\u573a\u666f\u4e2d\u53ef\u4ee5\u5c06\u96f6\u6837\u672c\u8f6c\u6362\u4e3a\u771f\u5b9e\u4e16\u754c\u7684\u8272\u5f69\u89c2\u5bdf\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-22bdea698b16bab59074d8b788a60d52.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-22bdea698b16bab59074d8b788a60d52.png\"><\/a><\/section>\n<section>\u4e0b\u9762\u6211\u4eec\u6765\u770b\u4e00\u6bb5\u89c6\u9891\u5c55\u793a\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s?__biz=MzA3MzI4MjgzMw==&amp;mid=2650943282&amp;idx=2&amp;sn=52100ed9622689d5d763cc0aded327e0&amp;chksm=84e7eb4cb390625a40d712259555c98d2cb7a09b8919c3f811e986816b94ebf38a379db14905&amp;token=2009566885&amp;lang=zh_CN#rd\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-f7b92d285e2dbe66a81eb8698e865472.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-f7b92d285e2dbe66a81eb8698e865472.png\"><\/a><\/a><\/section>\n<section><strong>LucidSim\uff1a\u5229\u7528\u7269\u7406\u5f15\u5bfc\u751f\u6210\u591a\u6837\u5316\u89c6\u89c9\u6570\u636e<\/strong><\/section>\n<section><\/section>\n<section>\u7814\u7a76\u8005\u8003\u8651\u4e86\u8fd9\u6837\u4e00\u79cd sim-to-real \u8bbe\u7f6e\uff0c\u673a\u5668\u4eba\u5728\u6a21\u62df\u73af\u5883\u4e2d\u63a5\u53d7\u8bad\u7ec3\uff0c\u5e76\u65e0\u9700\u8fdb\u4e00\u6b65\u8c03\u6574\u5c31\u80fd\u8fc1\u79fb\u5230\u73b0\u5b9e\u4e16\u754c\u3002\u4ed6\u4eec\u5bf9\u81ea\u5df1\u6253\u7b97\u90e8\u7f72\u673a\u5668\u4eba\u7684\u73af\u5883\u5df2\u7ecf\u6709\u90e8\u5206\u4e86\u89e3\uff0c\u53ef\u80fd\u662f\u7c97\u7565\u7684\u63cf\u8ff0\u6216\u8005\u53c2\u8003\u56fe\u50cf\u3002<\/section>\n<section><\/section>\n<section>\u7531\u4e8e\u4fe1\u606f\u4e0d\u5b8c\u6574\uff0c\u7814\u7a76\u8005\u4f9d\u8d56\u751f\u6210\u6a21\u578b\u5185\u90e8\u7684\u5148\u9a8c\u77e5\u8bc6\u6765\u586b\u8865\u7a7a\u767d\u3002\u4ed6\u4eec\u5c06\u8fd9\u4e00\u5f15\u5bfc\u8fc7\u7a0b\u79f0\u4e3a\u5148\u9a8c\u8f85\u52a9\u57df\u751f\u6210\uff08Prior -Assisted Domain Generation\uff0cPADG\uff09\uff0c\u5e76\u9996\u5148\u91c7\u7528\u5bf9\u5408\u6210\u4e0d\u540c\u57df\u81f3\u5173\u91cd\u8981\u7684\u81ea\u52a8\u63d0\u793a\u6280\u672f\u3002<\/section>\n<section><\/section>\n<section>LLM \u6210\u4e3a\u591a\u6837\u5316\u3001\u7ed3\u6784\u5316\u7684\u63d0\u793a\u6765\u6e90\u3002\u7814\u7a76\u8005\u5f88\u65e9\u5c31\u89c2\u5bdf\u5230\uff0c\u4ece\u540c\u4e00\u63d0\u793a\u4e2d\u91cd\u590d\u91c7\u6837\u5f80\u5f80\u4f1a\u91cd\u73b0\u7c7b\u4f3c\u7684\u56fe\u50cf\u3002\u56e0\u6b64\uff0c\u4e3a\u4e86\u83b7\u5f97\u591a\u6837\u5316\u7684\u56fe\u50cf\uff0c\u4ed6\u4eec\u9996\u5148\u4f7f\u7528\u4e86\u5305\u542b\u6807\u9898\u5757\u3001\u67e5\u8be2\u8be6\u60c5\u7684\u300c\u5143\u300d\u63d0\u793a\uff0c\u4ee5\u63d0\u793a ChatGPT \u751f\u6210\u6279\u91cf\u7ed3\u6784\u5316\u7684\u56fe\u50cf\u5757\uff0c\u6700\u540e\u4ee5\u4e00\u4e2a\u8981\u6c42 JSON \u7ed3\u6784\u5316\u8f93\u51fa\u7684\u95ee\u9898\u7ed3\u675f\u3002\u5177\u4f53\u5982\u4e0b\u56fe 4 \u6240\u793a\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-6387a2049dfc92cea90bbeeff4dab2f1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-6387a2049dfc92cea90bbeeff4dab2f1.png\"><\/a><\/section>\n<section>\u7814\u7a76\u8005\u7684\u8981\u6c42\u5305\u62ec\u7279\u5b9a\u5929\u6c14\u3001\u4e00\u5929\u4e2d\u7684\u65f6\u95f4\u3001\u5149\u7167\u6761\u4ef6\u548c\u6587\u5316\u9057\u5740\u3002\u624b\u52a8\u7f16\u8f91\u751f\u6210\u7684\u56fe\u50cf\u63d0\u793a\u662f\u4e0d\u5207\u5b9e\u9645\u7684\uff0c\u56e0\u800c\u4ed6\u4eec\u901a\u8fc7\u751f\u6210\u5c11\u91cf\u56fe\u50cf\u6765\u8c03\u6574\u5143\u63d0\u793a\uff0c\u5e76\u8fdb\u884c\u8fed\u4ee3\u76f4\u5230\u5b83\u4eec\u59cb\u7ec8\u53ef\u4ee5\u751f\u6210\u5408\u7406\u7684\u56fe\u50cf\u3002\u4e0b\u56fe 5 \u4e0b\u9762\u4e00\u884c\u663e\u793a\u4e86\u76f8\u540c\u5143\u63d0\u793a\u3001\u4e0d\u540c\u56fe\u50cf\u63d0\u793a\u7684\u591a\u6837\u5316\u6837\u672c\u793a\u4f8b\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7e2eade46fb5262139d967f9f62fe7f5.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7e2eade46fb5262139d967f9f62fe7f5.png\"><\/a><\/section>\n<section>\u5728\u51e0\u4f55\u548c\u7269\u7406\u5f15\u5bfc\u4e0b\u751f\u6210\u56fe\u50cf\u3002\u7814\u7a76\u8005\u589e\u5f3a\u4e86\u4e00\u4e2a\u539f\u59cb\u6587\u672c\u5230\u56fe\u50cf\u6a21\u578b\uff0c\u5728\u589e\u52a0\u989d\u5916\u8bed\u4e49\u548c\u51e0\u4f55\u63a7\u5236\u7684\u540c\u65f6\uff0c\u4f7f\u5b83\u4e0e\u6a21\u62df\u7269\u7406\u4fdd\u6301\u4e00\u81f4\u3002\u4ed6\u4eec\u9996\u5148\u5c06\u56fe\u50cf\u7684\u6587\u672c\u63d0\u793a\u66ff\u6362\u4e3a\u63d0\u793a\u548c\u8bed\u4e49\u63a9\u7801\u5bf9\uff0c\u5176\u4e2d\u6bcf\u4e2a\u5bf9\u5e94\u4e00\u79cd\u8d44\u4ea7\u7c7b\u578b\u3002\u6bd4\u5982\u5728\u722c\u697c\u68af\u573a\u666f\u4e2d\uff0c\u7814\u7a76\u8005\u901a\u8fc7\u6587\u672c\u6307\u5b9a\u4e86\u7c97\u7565\u8f6e\u5ed3\u5185\u53f0\u9636\u7684\u6750\u8d28\u548c\u7eb9\u7406\u3002<\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u4f7f\u56fe\u50cf\u5728\u51e0\u4f55\u4e0a\u4fdd\u6301\u4e00\u81f4\uff0c\u7814\u7a76\u8005\u91c7\u7528\u4e86\u73b0\u6210\u7684 ControlNet\uff0c\u8be5\u6a21\u578b\u4f7f\u7528\u6765\u81ea MiDAS \u7684\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u8fdb\u884c\u8bad\u7ec3\u3002\u6761\u4ef6\u6df1\u5ea6\u56fe\u50cf\u5219\u901a\u8fc7\u53cd\u8f6c z \u7f13\u51b2\u533a\u5e76\u5728\u6bcf\u4e00\u5f20\u56fe\u50cf\u5185\u8fdb\u884c\u5f52\u4e00\u5316\u5904\u7406\u6765\u8ba1\u7b97\u3002\u6b64\u5916\uff0c\u8c03\u6574\u63a7\u5236\u5f3a\u5ea6\u4ee5\u907f\u514d\u4e22\u5931\u56fe\u50cf\u7ec6\u8282\u975e\u5e38\u91cd\u8981\u3002\u4ed6\u4eec\u91c7\u7528\u7684\u573a\u666f\u51e0\u4f55\u662f\u4ee5\u5f80\u5de5\u4f5c\u4e2d\u51fa\u73b0\u7684\u7b80\u5355\u5730\u5f62\uff0c\u5305\u62ec\u53ef\u9009\u7684\u4fa7\u5899\u3002\u540c\u65f6\u907f\u514d\u968f\u673a\u5316\u51e0\u4f55\u5730\u5f62\u4ee5\u4e13\u6ce8\u89c6\u89c9\u591a\u6837\u6027\u5206\u6790\u3002<\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u5236\u4f5c\u77ed\u89c6\u9891\uff0c\u7814\u7a76\u8005\u5f00\u53d1\u4e86 Dreams In Motion\uff08DIM\uff09\u6280\u672f\uff0c\u5b83\u6839\u636e\u573a\u666f\u51e0\u4f55\u8ba1\u7b97\u51fa\u7684\u771f\u503c\u5149\u6d41\u4ee5\u53ca\u4e24\u5e27\u4e4b\u95f4\u673a\u5668\u4eba\u76f8\u673a\u89c6\u89d2\u7684\u53d8\u5316\uff0c\u5c06\u751f\u6210\u56fe\u50cf\u626d\u66f2\u6210\u540e\u7eed\u5e27\u3002\u751f\u6210\u7684\u56fe\u50cf\u5806\u6808\u5305\u542b\u5bf9\u8dd1\u9177\u81f3\u5173\u91cd\u8981\u7684\u8ba1\u65f6\u4fe1\u606f\u3002\u751f\u6210\u901f\u5ea6\u4e5f\u5f88\u91cd\u8981\uff0cDIM \u663e\u8457\u63d0\u9ad8\u4e86\u6e32\u67d3\u901f\u5ea6\uff0c\u8fd9\u5f97\u76ca\u4e8e\u8ba1\u7b97\u6d41\u548c\u5e94\u7528\u626d\u66f2\u8981\u6bd4\u751f\u6210\u56fe\u50cf\u5feb\u5f97\u591a\u3002\u5177\u4f53\u5982\u4e0b\u56fe 6 \u6240\u793a\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-d0b9f497748647184972e44b3be79a7d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-d0b9f497748647184972e44b3be79a7d.png\"><\/a><\/section>\n<section><strong>\u901a\u8fc7 on-policy \u95ed\u73af\u8bad\u7ec3\u6765\u5b66\u4e60\u7a33\u5065\u7684\u771f\u5b9e\u4e16\u754c\u89c6\u89c9\u7b56\u7565<\/strong><\/section>\n<section><\/section>\n<section>\u8bad\u7ec3\u8fc7\u7a0b\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\uff1a\u4e00\u662f\u9884\u8bad\u7ec3\u9636\u6bb5\uff0c\u901a\u8fc7\u6a21\u62df\u6709\u6743\u76f4\u63a5\u8bbf\u95ee\u9ad8\u5ea6\u56fe\u7684\u7279\u6743\u4e13\u5bb6\u6765\u5f15\u5bfc\u89c6\u89c9\u7b56\u7565\uff0c\u5176\u4e2d\u9ad8\u5ea6\u56fe\u901a\u8fc7 RL \u8fdb\u884c\u8bad\u7ec3\u3002\u7814\u7a76\u8005\u4ece\u4e13\u5bb6\u53ca\u5176\u4e0d\u5b8c\u7f8e\u7684\u65e9\u671f\u68c0\u67e5\u70b9\u6536\u96c6 rollout\uff0c\u5e76\u5411\u4e13\u5bb6\u67e5\u8be2\u52a8\u4f5c\u6807\u7b7e\u4ee5\u76d1\u7763\u89c6\u89c9\u7b56\u7565\u3002\u8be5\u89c6\u89c9\u7b56\u7565\u5728\u9884\u8bad\u7ec3\u540e\u8868\u73b0\u4e0d\u4f73\uff0c\u4f46\u5728\u7b2c\u4e8c\u9636\u6bb5\u5373\u540e\u8bad\u7ec3\u9636\u6bb5\u505a\u51fa\u4e86\u8db3\u591f\u5408\u7406\u7684\u51b3\u7b56\u6765\u6536\u96c6 on-policy \u6570\u636e\u3002\u5177\u4f53\u5982\u4e0b\u56fe 7 \u6240\u793a\u3002<\/section>\n<section><\/section>\n<section>\u7814\u7a76\u8005\u9075\u5faa DAgger\uff0c\u5c06 on-policy rollout \u4e0e\u4e0a\u4e00\u6b65\u4e2d\u7684\u6559\u5e08 rollout \u76f8\u7ed3\u5408\u3002\u4ed6\u4eec\u4ece\u4e13\u5bb6\u6559\u5e08\u90a3\u91cc\u6536\u96c6\u4e86\u52a8\u4f5c\u6807\u7b7e\uff0c\u5e76\u7528\u4f59\u5f26\u5b66\u4e60\u7387\u8ba1\u5212\u4e0b\u4f7f\u7528 Adam \u4f18\u5316\u5668\u8fd0\u884c 70 \u4e2a\u68af\u5ea6\u4e0b\u964d epoch\u3002\u7814\u7a76\u8005\u5728\u5b9e\u9a8c\u4e2d\u4ec5\u9700\u91cd\u590d\u8fed\u4ee3 DAgger \u4e09\u6b21\u5c31\u53ef\u4ee5\u5b9e\u73b0\u63a5\u8fd1\u4e13\u5bb6\u8868\u73b0\u7a0b\u5ea6\u7684\u89c6\u89c9\u63a7\u5236\u5668\u3002\u5b9e\u9645\u4e0a\u7b2c\u4e8c\u9636\u6bb5\u4e2d\u7684\u95ed\u73af\u8bad\u7ec3\u8fc7\u7a0b\u662f\u673a\u5668\u4eba\u51fa\u8272\u8868\u73b0\u7684\u4e3b\u8981\u539f\u56e0\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-10b6b186cd130c9cbeff5b3baa7ca12f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-10b6b186cd130c9cbeff5b3baa7ca12f.png\"><\/a><\/section>\n<section>\u4e00\u4e2a\u7b80\u5355\u7684 transformer \u63a7\u5236\u6a21\u578b\u67b6\u6784\u3002\u7814\u7a76\u8005\u63d0\u51fa\u4e86\u4e00\u4e2a\u7b80\u5355\u7684 transformer \u67b6\u6784\uff0c\u4e0e\u4e4b\u524d <a data-itemshowtype=\"0\" data-linktype=\"2\" href=\"http:\/\/mp.weixin.qq.com\/s?__biz=MzA3MzI4MjgzMw==&amp;mid=2650892042&amp;idx=3&amp;sn=d09222e36c8fd3098f8afad26dd27015&amp;chksm=84e4a374b3932a62f757f3e33dcb1c531516c7f5358ef881c446e795a8424255ffae98865682&amp;scene=21#wechat_redirect\" target=\"_blank\">extreme parkour<\/a>\uff0c \u4f7f\u7528 transformer \u5927\u5927\u51cf\u5c11\u4e86\u5904\u7406\u591a\u6a21\u6001\u8f93\u5165\u65f6\u63a7\u5236\u6a21\u578b\u67b6\u6784\u7684\u590d\u6742\u5ea6\uff0c\u5982\u4e0b\u56fe 8 \u6240\u793a\u3002\u4ee5\u5f80\u56db\u8db3\u8dd1\u9177\u7684\u76f8\u5173\u5de5\u4f5c\u4f7f\u7528\u590d\u5408\u67b6\u6784\uff0c\u9996\u5148\u4f7f\u7528 ConvNet \u5c06\u6df1\u5ea6\u56fe\u5904\u7406\u6210\u7d27\u51d1\u7684\u6f5c\u5728\u5411\u91cf\uff0c\u7136\u540e\u4f7f\u7528\u5faa\u73af\u9aa8\u5e72\u7f51\u7edc\u3002<\/section>\n<section><\/section>\n<section>\u7814\u7a76\u8005\u4f7f\u7528\u4e86\u5e26\u6709\u591a\u67e5\u8be2\u6ce8\u610f\u529b\u7684\u4e94\u5c42 transformer \u9aa8\u5e72\u7f51\u7edc\uff0c\u8f93\u5165\u7684\u76f8\u673a\u89c6\u9891\u88ab\u5207\u6210\u5c0f\u5757\uff0c\u5e76\u7531\u4e00\u4e2a\u5377\u79ef\u5c42\u5e76\u884c\u5904\u7406\u3002\u7136\u540e\uff0c\u4ed6\u4eec\u5c06\u8fd9\u4e9b token \u4e0e\u540c\u4e00\u65f6\u95f4\u6b65\u7684\u672c\u4f53\u611f\u53d7\u89c2\u5bdf\u7684\u7ebf\u6027\u5d4c\u5165\u5806\u53e0\u5728\u4e00\u8d77\u3002\u7814\u7a76\u8005\u5bf9\u6240\u6709\u65f6\u95f4\u6b65\u91cd\u590d\u6b64\u64cd\u4f5c\uff0c\u5e76\u5728 token \u7ea7\u6dfb\u52a0\u4e86\u53ef\u5b66\u4e60\u7684\u5d4c\u5165\u3002\u4ed6\u4eec\u53d1\u73b0\uff0c\u5bf9\u4e8e RGB \u56fe\u50cf\uff0c\u5728\u5377\u79ef\u4e4b\u524d\u5305\u542b\u6279\u5f52\u4e00\u5316\u5c42\u4e5f\u6709\u5e2e\u52a9\u3002<\/section>\n<section><\/section>\n<section>\u6700\u540e\uff0c\u7814\u7a76\u8005\u901a\u8fc7\u5806\u53e0\u5728\u8f93\u5165\u5e8f\u5217\u672b\u5c3e\u7684\u989d\u5916\u7c7b token \u6765\u8ba1\u7b97\u52a8\u4f5c\u8f93\u51fa\uff0c\u7136\u540e\u662f ReLU \u6f5c\u5728\u5c42\u548c\u7ebf\u6027\u6620\u5c04\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-d5d5af1794bcb5ec3adda05b9a8e4b7d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-d5d5af1794bcb5ec3adda05b9a8e4b7d.png\"><\/a><\/section>\n<section><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/section>\n<section><\/section>\n<section>\u5728\u5b9e\u9a8c\u73af\u8282\uff0c\u7814\u7a76\u8005\u8003\u8651\u4e86\u4ee5\u4e0b\u4efb\u52a1\uff1a<\/section>\n<ul>\n<li>\n<p>\u8ffd\u8e2a\u8db3\u7403\uff08chase-soccer\uff09\uff1b<\/p>\n<\/li>\n<li>\n<p>\u8ffd\u8e2a\u6a59\u8272\u4ea4\u901a\u9525\uff08chase-cone\uff09\uff1b<\/p>\n<\/li>\n<li>\n<p>\u6500\u722c\u5404\u79cd\u6750\u8d28\u7684\u697c\u68af\uff08stairs\uff09\u3002<\/p>\n<\/li>\n<\/ul>\n<section>\u4ed6\u4eec\u5206\u522b\u5728\u73b0\u5b9e\u4e16\u754c\u548c\u4e00\u5c0f\u90e8\u5206\u4f7f\u7528 3D \u9ad8\u65af\u6cfc\u6e85\u6765\u6a21\u62df\u521b\u5efa\u7684\u771f\u5b9e\u4e16\u754c\u573a\u666f\u4e2d\u8bc4\u4f30\u5b66\u4e60\u5230\u7684\u63a7\u5236\u5668\u6027\u80fd\u3002\u8fd9\u4e9b\u57fa\u51c6\u73af\u5883\u7684\u793a\u4f8b\u5982\u4e0b\u56fe 9 \u6240\u793a\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-40775a60fa906f9737afa1f80b6c16df.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-40775a60fa906f9737afa1f80b6c16df.png\"><\/a><\/section>\n<section>\u6b64\u5916\uff0c\u7814\u7a76\u8005\u8fdb\u884c\u4e86\u4ee5\u4e0b\u57fa\u7ebf\u6bd4\u8f83\uff1a<\/section>\n<ul>\n<li>\n<p>\u9700\u8981\u7279\u6743\u5730\u5f62\u6570\u636e\uff08\u969c\u788d\uff09\u7684\u4e13\u5bb6\u7b56\u7565\uff1b<\/p>\n<\/li>\n<li>\n<p>\u4f7f\u7528\u76f8\u540c pipeline \u8bad\u7ec3\u7684\u6df1\u5ea6\u5b66\u751f\u7b56\u7565\uff1b<\/p>\n<\/li>\n<li>\n<p>\u4f7f\u7528\u7eb9\u7406\u4e0a\u7ecf\u5178\u57df\u968f\u673a\u5316\u8bad\u7ec3\u7684 RGB \u5b66\u751f\u7b56\u7565\uff1b<\/p>\n<\/li>\n<li>\n<p>\u4ee5\u53ca\u672c\u6587\u57fa\u4e8e DIM \u751f\u6210\u7684\u5e27\u5806\u6808\u8fdb\u884c\u8bad\u7ec3\u7684 LucidSim\u3002<\/p>\n<\/li>\n<\/ul>\n<section><strong>\u4ece\u751f\u6210\u56fe\u50cf\u4e2d\u5b66\u4e60\u8981\u4f18\u4e8e\u57df\u968f\u673a\u5316<\/strong><\/section>\n<section><\/section>\n<section>\u5728\u6a21\u62df\u8bc4\u4f30\u4e2d\uff0c\u7814\u7a76\u8005\u89c2\u5bdf\u5230 LucidSim \u5728\u51e0\u4e4e\u6240\u6709\u8bc4\u4f30\u4e2d\u90fd\u4f18\u4e8e\u7ecf\u5178\u57df\u968f\u673a\u5316\u65b9\u6cd5\uff0c\u5982\u4e0b\u8868 1 \u548c\u8868 6 \u6240\u793a\u3002\u5176\u4e2d\uff0c\u57df\u968f\u673a\u5316\u57fa\u7ebf\u65b9\u6cd5\u80fd\u591f\u5728\u6a21\u62df\u4e2d\u975e\u5e38\u9ad8\u6548\u5730\u722c\u697c\u68af\uff0c\u4f46\u5728\u8de8\u8d8a\u969c\u788d\u4efb\u52a1\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002\u8fd9\u662f\u56e0\u4e3a\u6df1\u5ea6\u5b66\u751f\u7f51\u7edc\u5728 3D \u573a\u666f\u4e2d\u906d\u9047\u4e86\u5fae\u5999\u4e14\u5e38\u89c1\u7684 sim-to-real \u5dee\u8ddd\u3002<\/section>\n<section><\/section>\n<section>\u6bd4\u5982\u7531\u4e8e\u53d7\u5230\u680f\u6746\u7684\u5f71\u54cd\uff0cOracle \u7b56\u7565\u5728\u5176\u4e2d\u4e00\u4e2a\u722c\u697c\u68af\u573a\u666f\uff08Marble\uff09\u4e2d\u8868\u73b0\u4e0d\u4f73\uff0c\u56e0\u4e3a\u5b83\u5728\u8bad\u7ec3\u73af\u5883\u4e2d\u4ece\u672a\u89c1\u8fc7\u680f\u6746\u3002\u76f8\u53cd\uff0cLucidSim \u53d7\u5230\u7684\u5f71\u54cd\u8f83\u5c0f\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-a32964a339a9cff1cd91cb38b91ca847.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-a32964a339a9cff1cd91cb38b91ca847.png\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-996282e51503bf5d4b69d9a56435ac3d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-996282e51503bf5d4b69d9a56435ac3d.png\"><\/a><\/section>\n<section><strong>\u4ece\u96f6\u6837\u672c\u8fc1\u79fb\u5230\u73b0\u5b9e\u4e16\u754c<\/strong><\/section>\n<section><\/section>\n<section>\u7814\u7a76\u8005\u5728\u914d\u5907\u5ec9\u4ef7 RGB \u7f51\u7edc\u6444\u50cf\u5934\u7684 Unitree Go1 \u4e0a\u90e8\u7f72\u4e86 LucidSim\uff0c\u5728 Jetson AGX Orin \u4e0a\u8fd0\u884c\u4e86\u63a8\u7406\u3002\u6bcf\u4e2a\u4efb\u52a1\u90fd\u5728\u591a\u79cd\u573a\u666f\u4e2d\u8fdb\u884c\u8bc4\u4f30\uff0c\u5e76\u8bb0\u5f55\u4e86\u673a\u5668\u4eba\u662f\u5426\u8ffd\u5230\u4e86\u76ee\u6807\u7269\uff08\u8ffd\u9010\uff09\u6216\u6210\u529f\u8de8\u8d8a\u969c\u788d\u7269\u3002<\/section>\n<section><\/section>\n<section>\u4e0b\u56fe 11 \u5c55\u793a\u4e86 LucidSim \u4e0e\u57df\u968f\u673a\u5316\u65b9\u6cd5\u7684\u6bd4\u8f83\u7ed3\u679c\uff0c\u5176\u4e2d LucidSim \u4e0d\u4ec5\u80fd\u591f\u8bc6\u522b\u7ecf\u5178\u7684\u9ed1\u767d\u8db3\u7403\uff0c\u800c\u4e14\u7531\u4e8e\u4e4b\u524d\u770b\u5230\u4e86\u5177\u6709\u4e30\u5bcc\u591a\u6837\u6027\u7684\u751f\u6210\u6570\u636e\uff0c\u56e0\u800c\u53ef\u4ee5\u6cdb\u5316\u5230\u4e0d\u540c\u989c\u8272\u7684\u8db3\u7403\u3002<\/section>\n<section><\/section>\n<section>\u5bf9\u4e8e\u8de8\u8d8a\u969c\u788d\uff08hurdle\uff09\u548c\u722c\u697c\u68af\uff08stair\uff09\u573a\u666f\uff0cDomain Rand. \u65e0\u6cd5\u59cb\u7ec8\u5982\u4e00\u5730\u8bc6\u522b\u524d\u65b9\u969c\u788d\u7269\uff0c\u5e76\u7ecf\u5e38\u51fa\u73b0\u6b63\u9762\u78b0\u649e\uff0c\u800c LucidSim \u80fd\u591f\u59cb\u7ec8\u5982\u4e00\u5730\u9884\u6d4b\u524d\u65b9\u7684\u969c\u788d\u7269\u5e76\u6210\u529f\u8de8\u8d8a\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c5175c35b232492886502f547f6a83dd.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c5175c35b232492886502f547f6a83dd.png\"><\/a><\/section>\n<section><strong>\u5b66\u4e60 on-policy \u8981\u4f18\u4e8e\u539f\u59cb\u7684\u4e13\u5bb6\u6570\u636e Scaling<\/strong><\/section>\n<section><\/section>\n<section>\u7814\u7a76\u8005\u5728\u4e0b\u56fe 12 \u4e2d\uff0c\u5c06\u57fa\u4e8e on-policy \u7684\u5b66\u4e60\u4e0e\u539f\u59cb\u7684\u4e13\u5bb6\u6570\u636e\u6536\u96c6\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u7ed3\u679c\u663e\u793a\uff0c\u901a\u8fc7\u989d\u5916\u4e13\u5bb6\u4e13\u7528\u6570\u636e\u8bad\u7ec3\u83b7\u5f97\u7684\u6027\u80fd\u589e\u76ca\u5f88\u5feb\u8fbe\u5230\u9971\u548c\u3002\u5728\u8de8\u8d8a\u969c\u788d\u548c\u722c\u697c\u68af\u573a\u666f\u4e2d\uff0c\u901a\u8fc7 DAgger \u8fdb\u884c on-policy \u5b66\u4e60\u5bf9\u4e8e\u5236\u5b9a\u8db3\u591f\u7a33\u5065\u7684\u7b56\u7565\u5f88\u6709\u5fc5\u8981\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-64ce36e7fb2f6b94ebbae64fbaddc639.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-64ce36e7fb2f6b94ebbae64fbaddc639.png\"><\/a><\/section>\n<section>\u4e0b\u56fe 10 \u5c55\u793a\u4e86 LucidSim \u548c\u57df\u968f\u673a\u5316\u57fa\u7ebf\u65b9\u6cd5\u4e0b DAgger \u4ea7\u751f\u7684\u76ca\u5904\uff0c\u5176\u4e2d\u524d\u8005\u7684\u6574\u4f53\u6027\u80fd\u66f4\u9ad8\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-8102623765c7c86450a10e5ba1ebcea9.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-8102623765c7c86450a10e5ba1ebcea9.png\"><\/a><\/section>\n<section><strong>\u4ec5\u6df1\u5ea6\u7684\u7b56\u7565\u8fc7\u62df\u5408\u8bad\u7ec3\u51e0\u4f55<\/strong><\/section>\n<section><\/section>\n<section>\u9664\u4e86\u6781\u9650\u8dd1\u9177\uff0c\u7814\u7a76\u8005\u8fd8\u8003\u8651\u4e86\u4e24\u79cd\u6df1\u5ea6\u7b56\u7565\uff0c\u5b83\u4eec\u90fd\u63a5\u53d7\u4e86\u4e0e LucidSim \u76f8\u540c\u7684\u8bad\u7ec3\uff0c\u4f46\u8f93\u5165\u6df1\u5ea6\u4e0d\u540c\u3002\u7b2c\u4e00\u79cd\uff08\u5982\u4e0a\u8868 1 \u548c\u8868 6 \u7b2c\u4e09\u884c\uff09\u63a5\u6536\u8fdc\u8ddd\u526a\u5207\u81f3\u4e94\u7c73\u7684\u6df1\u5ea6\uff0c\u5e76\u5b9e\u73b0 120\u00b0 FoV\uff08\u89c6\u573a\u89d2\uff09\u3002\u7b2c\u4e8c\u79cd\uff08\u4e0a\u8868 1 \u548c\u8868 6 \u7b2c\u56db\u884c\uff09\u63a5\u6536\u526a\u5207\u81f3\u4e24\u7c73\u7684\u6df1\u5ea6\u3002<\/section>\n<section><\/section>\n<section>\u5728\u6a21\u62df\u8bc4\u4f30\u4e2d\uff0c\u7814\u7a76\u8005\u89c2\u5bdf\u5230\uff0c\u4f7f\u7528\u672a\u526a\u5207\u6df1\u5ea6\u7684\u7b56\u7565\u4f1a\u8fc7\u62df\u5408\u8bad\u7ec3\u573a\u666f\u4e2d\u7684\u6700\u5c0f\u548c\u7b80\u5355\u51e0\u4f55\uff0c\u5e76\u88ab\u8bc4\u4f30\u573a\u666f\u80cc\u666f\u4e2d\u7684\u5e72\u6270\u56e0\u7d20\u6240\u5e72\u6270\u3002\u800c\u89c6\u89c9\u6709\u9650\u7684\u6df1\u5ea6\u7b56\u7565\u4e0d\u592a\u4f1a\u53d7\u5230\u6d4b\u8bd5\u573a\u666f\u4e2d\u591a\u6837\u6027\u7684\u5f71\u54cd\uff0c\u5e76\u4e14\u6027\u80fd\u53ef\u4ee5\u663e\u8457\u5730\u63d0\u9ad8\u3002<\/section>\n<section><\/section>\n<section><strong>\u7406\u89e3 DIM \u7684\u901f\u5ea6\u548c\u6027\u80fd<\/strong><\/section>\n<section><\/section>\n<section>\u56fe\u50cf\u751f\u6210\u662f\u672c\u6587 pipeline \u4e2d\u7684\u74f6\u9888\u3002DIM \u5927\u5927\u52a0\u901f\u4e86\u6bcf\u4e2a\u7b56\u7565\u7684\u5c55\u5f00\uff0c\u540c\u65f6\u901a\u8fc7\u6743\u8861\u591a\u6837\u6027\u63d0\u4f9b\u52a8\u6001\u4e00\u81f4\u7684\u5e27\u5806\u6808\u3002\u7814\u7a76\u8005\u63a2\u7a76\u4e86\u72ec\u7acb\u751f\u6210\u6bcf\u4e00\u5e27\u5982\u4f55\u5f71\u54cd\u5b66\u751f\u7f51\u7edc\u7684\u6027\u80fd\uff0c\u4ed6\u4eec\u8ba4\u4e3a\u8de8\u8d8a\u969c\u788d\u573a\u666f\u6700\u5177\u6311\u6218\u6027\u3002\u5982\u4e0b\u56fe 13 \u6240\u793a\uff0c\u5728\u6027\u80fd\u7c7b\u4f3c\u7684\u60c5\u51b5\u4e0b\uff0cDIM \u53ef\u4ee5\u5728\u77ed\u65f6\u95f4\u5185\u5b9e\u73b0\u76f8\u540c\u7ed3\u679c\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-4b03f851c5df53962a8f490dd2b826f0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-4b03f851c5df53962a8f490dd2b826f0.png\"><\/a><\/section>\n<section><strong>\u5f3a\u5927\u7684\u6761\u4ef6\u964d\u4f4e\u591a\u6837\u6027\u548c\u56fe\u50cf\u7ec6\u8282<\/strong><\/section>\n<section><\/section>\n<section>\u7814\u7a76\u8005\u9700\u8981\u6743\u8861\u51e0\u4f55\u51c6\u786e\u7387\u4e0e\u751f\u6210\u56fe\u50cf\u7ec6\u8282\u4e30\u5bcc\u5ea6\u3002\u5f53\u6761\u4ef6\u5f3a\u5ea6\u8fc7\u4f4e\u65f6\uff0c\u56fe\u50cf\u4f1a\u504f\u79bb\u573a\u666f\u51e0\u4f55\uff08\u5982\u4e0b\u56fe 14 \u5de6\u4fa7\uff09\u3002\u5f53\u6761\u4ef6\u5f3a\u5ea6\u8fc7\u9ad8\u65f6\uff0c\u56fe\u50cf\u4f1a\u5931\u53bb\u591a\u6837\u6027\u548c\u4e30\u5bcc\u7ec6\u8282\uff08\u56fe 14 \u53f3\u4fa7\uff09\uff0c\u5e76\u4e14\u7531\u4e8e\u8fc7\u7ea6\u675f\u800c\u53d8\u5f97\u5931\u771f\u4e25\u91cd\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-69610f956265278cce42e673b6207eee.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-69610f956265278cce42e673b6207eee.png\"><\/a><\/section>\n<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-11-17-2\" target=\"_blank\">\u4ece\u672a\u89c1\u8fc7\u73b0\u5b9e\u4e16\u754c\u6570\u636e\uff0cMIT\u5728\u865a\u62df\u73af\u5883\u4e2d\u8bad\u7ec3\u51fa\u673a\u5668\u72d7\uff0c\u7167\u6837\u80fd\u8dd1\u9177<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:\u4ece\u672a\u89c1\u8fc7\u73b0\u5b9e\u4e16\u754c\u6570\u636e\uff0c [&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 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