{"id":37108,"date":"2025-01-23T14:00:23","date_gmt":"2025-01-23T06:00:23","guid":{"rendered":"https:\/\/17aitech.com\/?p=37108"},"modified":"2025-01-23T14:00:23","modified_gmt":"2025-01-23T06:00:23","slug":"3d%e5%85%b7%e8%ba%ab%e5%9f%ba%e7%a1%80%e6%a8%a1%e5%9e%8b%ef%bc%81%e5%8c%97%e5%a4%a7%e6%8f%90%e5%87%balift3d%e8%b5%8b%e4%ba%882d%e5%a4%a7%e6%a8%a1%e5%9e%8b%e9%b2%81%e6%a3%92%e7%9a%843d%e6%93%8d","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=37108","title":{"rendered":"3D\u5177\u8eab\u57fa\u7840\u6a21\u578b\uff01\u5317\u5927\u63d0\u51faLift3D\u8d4b\u4e882D\u5927\u6a21\u578b\u9c81\u68d2\u76843D\u64cd\u7eb5\u80fd\u529b"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2024-12-09-3\" target=\"_blank\">3D\u5177\u8eab\u57fa\u7840\u6a21\u578b\uff01\u5317\u5927\u63d0\u51faLift3D\u8d4b\u4e882D\u5927\u6a21\u578b\u9c81\u68d2\u76843D\u64cd\u7eb5\u80fd\u529b<\/a><\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-a59bff81c314a93600a434a2107c0f05.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-a59bff81c314a93600a434a2107c0f05.png\"><\/a><\/section>\n<blockquote data-author-name=\"\" data-content-utf8-length=\"166\" data-source-title=\"\" data-type=\"2\" data-url=\"\">\n<section>\n<section>AIxiv\u4e13\u680f\u662f\u673a\u5668\u4e4b\u5fc3\u53d1\u5e03\u5b66\u672f\u3001\u6280\u672f\u5185\u5bb9\u7684\u680f\u76ee\u3002\u8fc7\u53bb\u6570\u5e74\uff0c\u673a\u5668\u4e4b\u5fc3AIxiv\u4e13\u680f\u63a5\u6536\u62a5\u9053\u4e862000\u591a\u7bc7\u5185\u5bb9\uff0c\u8986\u76d6\u5168\u7403\u5404\u5927\u9ad8\u6821\u4e0e\u4f01\u4e1a\u7684\u9876\u7ea7\u5b9e\u9a8c\u5ba4\uff0c\u6709\u6548\u4fc3\u8fdb\u4e86\u5b66\u672f\u4ea4\u6d41\u4e0e\u4f20\u64ad\u3002\u5982\u679c\u60a8\u6709\u4f18\u79c0\u7684\u5de5\u4f5c\u60f3\u8981\u5206\u4eab\uff0c\u6b22\u8fce\u6295\u7a3f\u6216\u8005\u8054\u7cfb\u62a5\u9053\u3002\u6295\u7a3f\u90ae\u7bb1\uff1aliyazhou@jiqizhixin.com\uff1bzhaoyunfeng@jiqizhixin.com<\/section>\n<\/section>\n<\/blockquote>\n<section><\/section>\n<section>\u4e3a\u4e86\u6784\u5efa\u9c81\u68d2\u7684 3D \u673a\u5668\u4eba\u64cd\u7eb5\u5927\u6a21\u578b\uff0cLift3D \u7cfb\u7edf\u6027\u5730\u589e\u5f3a 2D \u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u6a21\u578b\u7684\u9690\u5f0f\u548c\u663e\u5f0f 3D \u673a\u5668\u4eba\u8868\u793a\uff0c\u5e76\u5bf9\u70b9\u4e91\u6570\u636e\u76f4\u63a5\u7f16\u7801\u8fdb\u884c 3D \u6a21\u4eff\u5b66\u4e60\u3002Lift3D \u5728\u591a\u4e2a\u4eff\u771f\u73af\u5883\u548c\u771f\u5b9e\u573a\u666f\u4e2d\u5b9e\u73b0\u4e86 SOTA \u7684\u64cd\u7eb5\u6548\u679c\uff0c\u5e76\u9a8c\u8bc1\u4e86\u8be5\u65b9\u6cd5\u7684\u6cdb\u5316\u6027\u548c\u53ef\u6269\u5c55\u6027\u3002<\/section>\n<section><\/section>\n<section>\u8be5\u9879\u76ee\u7531\u5317\u4eac\u5927\u5b66\u548c\u5317\u4eac\u667a\u6e90\u7814\u7a76\u9662\u7684\u4ec9\u5c1a\u822a\u56e2\u961f\u7814\u7a76\uff0c\u4f5c\u8005\u5305\u62ec\u5317\u4eac\u5927\u5b66\u535a\u58eb\u751f\u5218\u5bb6\u94ed\u3001\u8d3e\u8d8a\u5982\u3001\u9648\u601d\u7fd4\u3001\u987e\u6668\u9633\u3001\u738b\u4e4b\u7565\u3001\u7f57\u73d1\u8d5e\u7b49\u3002HMI \u5b9e\u9a8c\u5ba4\u957f\u671f\u81f4\u529b\u4e8e\u5177\u8eab\u667a\u80fd\u548c\u591a\u6a21\u6001\u5b66\u4e60\u9886\u57df\u7684\u7814\u7a76\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-7e50f14c66126e3d2dade71a36ceee77.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-7e50f14c66126e3d2dade71a36ceee77.png\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-7894077c563b38a3aeae89821b4f4a7a.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-7894077c563b38a3aeae89821b4f4a7a.gif\"><\/a><\/section>\n<ul>\n<li>\n<p>\u8bba\u6587\u94fe\u63a5: https:\/\/arxiv.org\/pdf\/2411.18623<\/p>\n<\/li>\n<li>\n<p>\u8bba\u6587\u6807\u9898\uff1aLift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation<\/p>\n<\/li>\n<li>\n<p>\u9879\u76ee\u4e3b\u9875: https:\/\/lift3d-web.github.io\/<\/p>\n<\/li>\n<li>\n<p>\u4ee3\u7801\u94fe\u63a5: https:\/\/github.com\/PKU-HMI-Lab\/LIFT3D<a href=\"https:\/\/mp.weixin.qq.com\/s\/R0Smibgy8NpVJTwj-RjF0A?token=931602816&amp;lang=zh_CN\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-df675f6a8c393b06313f59cda43ead22.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-df675f6a8c393b06313f59cda43ead22.png\"><\/a><\/a><\/p>\n<\/li>\n<\/ul>\n<section><strong>1. \u6458\u8981<\/strong><\/section>\n<section><\/section>\n<section>3D \u51e0\u4f55\u4fe1\u606f\u5bf9\u4e8e\u673a\u5668\u4eba\u64cd\u7eb5\u4efb\u52a1\u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u673a\u5668\u4eba\u9700\u8981\u611f\u77e5\u4e09\u7ef4\u73af\u5883\uff0c\u63a8\u7406\u7a7a\u95f4\u5173\u7cfb\uff0c\u5e76\u4e0e\u590d\u6742\u7684\u51e0\u4f55\u7269\u4f53\u8fdb\u884c\u4ea4\u4e92\u3002\u8fd1\u5e74\u6765\uff0c\u7814\u7a76\u9010\u6e10\u805a\u7126\u4e8e\u663e\u5f0f\u63d0\u53d6 3D \u7279\u5f81\uff0c\u4f46\u4ecd\u9762\u4e34\u8bf8\u5982\uff1a\u7f3a\u4e4f\u5927\u89c4\u6a21\u673a\u5668\u4eba 3D \u6570\u636e\u548c\u6f5c\u5728\u7684\u7a7a\u95f4\u51e0\u4f55\u4fe1\u606f\u4e22\u5931\u7b49\u6311\u6218\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 Lift3D \u6846\u67b6\uff0c\u901a\u8fc7\u9690\u5f0f\u548c\u663e\u5f0f\u7684 3D \u673a\u5668\u4eba\u8868\u793a\u9010\u6b65\u589e\u5f3a 2D \u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u6a21\u578b\u7684 3D \u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff0c\u4ece\u800c\u6784\u5efa\u4e00\u4e2a\u9c81\u68d2\u7684 3D \u64cd\u7eb5\u7b56\u7565\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u4efb\u52a1\u611f\u77e5\u7684\u63a9\u7801\u81ea\u7f16\u7801\u5668\uff0c\u8be5\u81ea\u7f16\u7801\u5668\u901a\u8fc7 Mask \u4e0e\u4efb\u52a1\u76f8\u5173\u7684 Affordance token \u5e76\u91cd\u5efa\u6df1\u5ea6\u51e0\u4f55\u4fe1\u606f\uff0c\u589e\u5f3a\u4e86 2D \u57fa\u7840\u6a21\u578b\u7684\u9690\u5f0f 3D \u673a\u5668\u4eba\u8868\u8fbe\u80fd\u529b\u3002\u5728\u81ea\u76d1\u7763\u5fae\u8c03\u4e4b\u540e\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd 2D \u57fa\u7840\u6a21\u578b Lifting \u7b56\u7565\uff0c\u8be5\u7b56\u7565\u5728\u8f93\u5165 3D \u70b9\u548c 2D \u6a21\u578b\u7684\u4f4d\u7f6e\u7f16\u7801\u4e4b\u95f4\u5efa\u7acb\u4e86\u4f4d\u7f6e\u6620\u5c04\u5173\u7cfb\u3002\u57fa\u4e8e\u8be5\u6620\u5c04\uff0cLift3D \u5229\u7528 2D \u57fa\u7840\u6a21\u578b\u76f4\u63a5\u663e\u5f0f\u7684\u7f16\u7801\u70b9\u4e91\u6570\u636e\uff0c\u501f\u52a9\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u77e5\u8bc6\u63d0\u5347 3D \u6a21\u4eff\u5b66\u4e60\u6548\u7387\uff0c\u540c\u65f6\u6700\u5c0f\u5316\u7a7a\u95f4\u4fe1\u606f\u4e22\u5931\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-3e9d9a0e61f2d9bf395b99ae4deb1e1d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-3e9d9a0e61f2d9bf395b99ae4deb1e1d.png\"><\/a><\/section>\n<section><em><sup>\u56fe 1: \u4e3a\u4e86\u8d4b\u4e88\u5927\u89c4\u6a21 2D \u9884\u8bad\u7ec3\u6a21\u578b 3D \u64cd\u63a7\u80fd\u529b\uff0c Lift3D \u9996\u5148\u901a\u8fc7 mask \u4efb\u52a1\u76f8\u5173\u7684 affordance \u533a\u57df\u548c\u6df1\u5ea6\u91cd\u5efa\uff0c\u4ee5\u63d0\u5347\u9690\u5f0f 3D \u673a\u5668\u4eba\u8868\u793a\uff1b\u968f\u540e\u901a\u8fc7\u5229\u7528\u9884\u8bad\u7ec3\u7684 2D \u4f4d\u7f6e\u5d4c\u5165\u6765\u76f4\u63a5\u7f16\u7801 3D \u70b9\u4e91\u6570\u636e\uff0c\u8fdb\u884c\u663e\u5f0f 3D \u64cd\u7eb5\u6a21\u4eff\u5b66\u4e60\u3002Lift3D \u5728\u5404\u79cd\u4eff\u771f\uff08i.e., \u673a\u68b0\u81c2\uff0c\u7075\u5de7\u624b\uff09\u548c\u73b0\u5b9e\u4e16\u754c\u4efb\u52a1\u4e2d\u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u9c81\u68d2\u6027\u548c\u4ee4\u4eba\u60ca\u8bb6\u7684\u6548\u679c<\/sup><\/em><\/section>\n<section><\/section>\n<section>\u4e3a\u4e86\u5168\u9762\u8bc4\u4f30\u6211\u4eec\u63d0\u51fa\u7684 Lift3D\uff0c\u6211\u4eec\u5728\u4e09\u4e2a\u6a21\u62df\u5668\u548c\u591a\u4e2a\u771f\u5b9e\u573a\u666f\u4e2d\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u5305\u62ec 30 \u591a\u79cd\u4e0d\u540c\u7684\u673a\u68b0\u81c2 gripper \u548c\u7075\u5de7\u624b\u64cd\u63a7\u4efb\u52a1\uff0c\u5982\u56fe 1 \u6240\u793a\u3002Lift3D \u5728\u5404\u79cd\u4efb\u52a1\u4e0a\u5747\u8868\u73b0\u51fa\u8272\uff0c\u5373\u4f7f\u4ec5\u4f7f\u7528\u6700\u7b80\u5355\u7684 MLP \u7b56\u7565\u5934\u548c\u5355\u89c6\u89d2\u70b9\u4e91\uff0c\u4e5f\u80fd\u591f\u5c55\u793a\u9c81\u68d2\u7684\u64cd\u7eb5\u80fd\u529b\u548c\u5bf9\u673a\u5668\u4eba 3D \u7a7a\u95f4\u611f\u77e5\u7684\u7406\u89e3\u3002\u540c\u65f6\uff0c\u6211\u4eec\u901a\u8fc7\u9010\u6b65\u589e\u52a0\u6a21\u578b\u7684\u53c2\u6570\u91cf\u81f3 1B\uff0c\u9a8c\u8bc1\u4e86\u6211\u4eec\u65b9\u6cd5\u5728\u591a\u4e2a\u590d\u6742\u4efb\u52a1\u4e0a\u7684\u53ef\u6269\u5c55\u6027\u3002\u5728\u771f\u5b9e\u4e16\u754c\u5b9e\u9a8c\u4e2d\uff0cLift3D \u5728\u6bcf\u4e2a\u4efb\u52a1\u4e0a\u53ea\u9700 30 \u4e2a demonstration \u7684\u6570\u636e\u5373\u53ef\u5b66\u4e60\u65b0\u7684\u64cd\u63a7\u6280\u80fd\u3002\u4e3a\u4e86\u8bc4\u4f30 Lift3D \u7684\u6cdb\u5316\u80fd\u529b\uff0c\u6211\u4eec\u5728\u771f\u5b9e\u4e16\u754c\u6d4b\u8bd5\u8fc7\u7a0b\u4e2d\u878d\u5165\u4e86\u4e0d\u540c\u7684\u64cd\u7eb5\u7269\u4f53\u3001\u80cc\u666f\u573a\u666f\u548c\u5149\u7167\u6761\u4ef6\u3002Lift3D \u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u80fd\u591f\u6709\u6548\u5229\u7528 2D \u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u77e5\u8bc6\u548c\u5168\u9762\u7684 3D \u673a\u5668\u4eba\u8868\u793a\u3002<\/section>\n<section><\/section>\n<section><strong>2. \u7814\u7a76\u80cc\u666f<\/strong><\/section>\n<section><\/section>\n<section>\u57fa\u4e8e\u89c6\u89c9\u7684\u64cd\u7eb5\u7b56\u7565\u7684\u6838\u5fc3\u76ee\u6807\u4e4b\u4e00\u662f\u7406\u89e3\u573a\u666f\u5e76\u9884\u6d4b\u76f8\u5e94\u7684 3D \u4f4d\u59ff\u3002\u4e00\u4e9b\u73b0\u6709\u7684\u65b9\u6cd5\u5229\u7528 2D \u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u6216\u6a21\u4eff\u5b66\u4e60\u76f4\u63a5\u9884\u6d4b 3D \u672b\u7aef\u6267\u884c\u5668\u7684\u4f4d\u59ff\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u80fd\u591f\u6709\u6548\u5730\u5904\u7406\u4e00\u7cfb\u5217\u64cd\u7eb5\u4efb\u52a1\uff0c\u4f46\u5b83\u4eec\u672a\u80fd\u5b8c\u5168\u7406\u89e3\u7269\u7406\u4e16\u754c\u4e2d\u7684\u7a7a\u95f4\u5173\u7cfb\u548c 3D \u7ed3\u6784\u3002\u5728\u673a\u5668\u4eba\u64cd\u7eb5\u4e2d\uff0c3D \u51e0\u4f55\u4fe1\u606f\u5bf9\u4e8e\u5e94\u5bf9\u590d\u6742\u4efb\u52a1\u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u673a\u5668\u4eba\u5fc5\u987b\u611f\u77e5 3D \u73af\u5883\u3001\u63a8\u7406\u51e0\u4f55\u5173\u7cfb\u5e76\u4e0e\u590d\u6742\u7684\u7a7a\u95f4\u7269\u4f53\u8fdb\u884c\u4ea4\u4e92\u3002<\/section>\n<section><\/section>\n<section>\u8fd1\u5e74\u6765\uff0c\u7814\u7a76\u8d8a\u6765\u8d8a\u591a\u5730\u96c6\u4e2d\u5728\u673a\u5668\u4eba\u64cd\u7eb5\u4efb\u52a1\u4e2d\u663e\u5f0f\u63d0\u53d6 3D \u7279\u5f81\u8868\u793a\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a1\uff09\u4e00\u4e9b\u65b9\u6cd5\u76f4\u63a5\u7f16\u7801\u70b9\u4e91\u6570\u636e\uff0c\u901a\u8fc7\u4ece\u5934\u5f00\u59cb\u8bad\u7ec3 3D \u7b56\u7565\u6a21\u578b\u6216\u5fae\u8c03\u9884\u8bad\u7ec3\u7684\u70b9\u4e91\u7f16\u7801\u5668\uff08\u4f8b\u5982 PointNet++ \u548c PointNext\uff09\u3002\u7136\u800c\uff0c\u7531\u4e8e\u7f3a\u4e4f\u5927\u89c4\u6a21\u673a\u5668\u4eba 3D \u6570\u636e\u548c\u57fa\u7840\u6a21\u578b\uff0c\u9650\u5236\u4e86\u5b83\u4eec\u7684\u6cdb\u5316\u80fd\u529b\u3002\u6b64\u5916\uff0c\u5904\u7406 3D \u6216\u4f53\u7d20\u7279\u5f81\u9700\u8981\u5927\u91cf\u8ba1\u7b97\u8d44\u6e90\uff0c\u8fd9\u9650\u5236\u4e86\u5176\u53ef\u6269\u5c55\u6027\u548c\u5728\u73b0\u5b9e\u4e16\u754c\u5e94\u7528\u4e2d\u7684\u53ef\u884c\u6027\u30022\uff09\u53e6\u4e00\u65b9\u9762\uff0c\u4e00\u4e9b\u65b9\u6cd5\u6d89\u53ca\u6a21\u6001\u8f6c\u6362\uff0c\u4f8b\u5982\u5c06\u9884\u8bad\u7ec3\u7684 2D \u7279\u5f81\u63d0\u5347\u5230 3D \u7a7a\u95f4\uff0c\u6216\u5c06 3D \u70b9\u4e91\u6295\u5f71\u5230\u591a\u89c6\u89d2\u56fe\u50cf\u4e2d\uff0c\u4ee5\u4f9b 2D \u9884\u8bad\u7ec3\u6a21\u578b\u8f93\u5165\u3002\u5c3d\u7ba1\u5728\u4e00\u4e9b\u540e\u7eed\u7684\u64cd\u7eb5\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u8fd9\u4e9b\u6a21\u6001\u8f6c\u6362\u4e0d\u53ef\u907f\u514d\u5730\u5bfc\u81f4\u7a7a\u95f4\u4fe1\u606f\u7684\u4e22\u5931\uff0c\u5e76\u4e0d\u80fd\u5b8c\u5168\u6fc0\u53d1\u6a21\u578b\u5bf9 3D \u7a7a\u95f4\u5173\u7cfb\u7684\u7406\u89e3\u3002<\/section>\n<section><\/section>\n<section>\u57fa\u4e8e\u4e0a\u8ff0 3D \u7b56\u7565\u4e2d\u7684\u6311\u6218\uff0c<strong>\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u95ee\u9898\uff1a\u201c\u6211\u4eec\u80fd\u5426\u5f00\u53d1\u4e00\u4e2a\u5373\u6709\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u77e5\u8bc6\uff0c\u53c8\u878d\u5408\u5b8c\u6574 3D \u7a7a\u95f4\u6570\u636e\u8f93\u5165\u7684 3D \u7b56\u7565\u57fa\u7840\u6a21\u578b\uff1f\u201d<\/strong><\/section>\n<section><\/section>\n<section><strong>3. Lift3D \u65b9\u6cd5<\/strong><\/section>\n<section><\/section>\n<section><strong>3.1 \u8d21\u732e\u6982\u8ff0<\/strong><\/section>\n<ul>\n<li>\n<p>\u6211\u4eec\u63d0\u51fa\u4e86 Lift3D\uff0c\u901a\u8fc7\u7cfb\u7edf\u5730\u6539\u8fdb\u9690\u5f0f\u548c\u663e\u5f0f\u7684 3D \u673a\u5668\u4eba\u8868\u793a\uff0c\u5c06 2D \u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u6a21\u578b\u63d0\u5347\u4e3a\u9c81\u68d2\u7684 3D \u64cd\u7eb5\u7b56\u7565\u6a21\u578b\u3002<\/p>\n<\/li>\n<li>\n<p>\u5bf9\u4e8e\u9690\u5f0f 3D \u673a\u5668\u4eba\u8868\u793a\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u79cd\u4efb\u52a1\u611f\u77e5 MAE\uff08Mask Autoencoder\uff09\u81ea\u76d1\u7763\u65b9\u6cd5\uff0c\u5b83\u5bf9\u4efb\u52a1\u76f8\u5173\u7684\u53ef\u64cd\u4f5c\u533a\u57df\u8fdb\u884c\u63a9\u853d\uff0c\u5e76\u91cd\u5efa\u6df1\u5ea6\u51e0\u4f55\u4fe1\u606f\uff0c\u4ece\u800c\u589e\u5f3a 2D \u57fa\u7840\u6a21\u578b\u7684 3D \u7a7a\u95f4\u8ba4\u77e5\u3002<\/p>\n<\/li>\n<li>\n<p>\u5bf9\u4e8e\u663e\u5f0f 3D \u673a\u5668\u4eba\u8868\u793a\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd 2D \u57fa\u7840\u6a21\u578b lifting \u7b56\u7565\uff0c\u5229\u7528 2D \u57fa\u7840\u6a21\u578b\u7684\u9884\u8bad\u7ec3\u4f4d\u7f6e\u7f16\u7801\uff08PE\uff09\u6765\u7f16\u7801 3D \u70b9\u4e91\u6570\u636e\uff0c\u7528\u4e8e 3D \u64cd\u7eb5\u6a21\u4eff\u5b66\u4e60\u3002<\/p>\n<\/li>\n<\/ul>\n<section><strong>3.2 Task-aware Masked Autoencoder (\u9690\u5f0f 3D \u673a\u5668\u4eba\u8868\u793a)<\/strong><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-93bff1abfbbc02caba59092ca8b40b40.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-93bff1abfbbc02caba59092ca8b40b40.png\"><\/a><\/section>\n<section><em><sup>\u56fe 2: Lift3D \u7684\u6574\u4f53\u6d41\u7a0b\u3002a) \u5bf9\u4e8e\u9690\u5f0f 3D \u673a\u5668\u4eba\u8868\u793a\uff0c\u6211\u4eec\u5229\u7528 CLIP \u79bb\u7ebf\u63d0\u53d6\u57fa\u4e8e\u4efb\u52a1\u63cf\u8ff0\u7684\u56fe\u50cf\u6ce8\u610f\u529b\u56fe\uff0c\u5e76\u5c06\u5176\u53cd\u5411\u6295\u5f71\u5230 2D \u8f93\u5165\u56fe\u50cf\u4e0a\uff0c\u4ee5\u6307\u5bfc MAE \u7684\u63a9\u7801\u3002\u7136\u540e\uff0c\u6211\u4eec\u5c06\u53ef\u89c1\u7684 tokens \u8f93\u5165 2D \u57fa\u7840\u6a21\u578b\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\u3002\u63a9\u7801 tokens \u548c\u7f16\u7801\u540e\u7684\u53ef\u89c1 tokens \u7ecf\u8fc7 MAE \u89e3\u7801\u5668\u8fdb\u884c\u6df1\u5ea6\u91cd\u5efa\uff0c\u4ece\u800c\u589e\u5f3a 3D \u7a7a\u95f4\u611f\u77e5\u3002\u540c\u65f6\uff0c\u7f16\u7801\u540e\u7684\u53ef\u89c1 tokens \u8fd8\u4f1a\u901a\u8fc7\u4e0e\u539f\u6a21\u578b\u7684\u7279\u5f81\u8fdb\u884c\u84b8\u998f\uff0c\u4ee5\u51cf\u8f7b\u707e\u96be\u6027\u9057\u5fd8\u95ee\u9898\u3002b) \u5bf9\u4e8e\u663e\u5f0f 3D \u673a\u5668\u4eba\u8868\u793a\uff0c\u6211\u4eec\u9996\u5148\u5c06\u70b9\u4e91\u6570\u636e\u6295\u5f71\u5230\u591a\u4e2a\u865a\u62df\u5e73\u9762\u4e0a\uff0c\u5efa\u7acb 3D \u8f93\u5165\u70b9\u4e0e\u6bcf\u4e2a\u865a\u62df\u5e73\u9762\u4e0a\u7684 2D \u4f4d\u7f6e\u5d4c\u5165\uff08PEs\uff09\u4e4b\u95f4\u7684\u4f4d\u7f6e\u6620\u5c04\u3002\u6620\u5c04\u5b8c\u6210\u540e\uff0c\u6211\u4eec\u5c06\u6bcf\u4e2a 3D \u8865\u4e01\u5bf9\u5e94\u7684 2D PEs \u8fdb\u884c\u5e73\u5747\uff0c\u5f62\u6210\u7edf\u4e00\u7684 3D \u4f4d\u7f6e\u5d4c\u5165\uff083D PEs\uff09\uff0c\u7136\u540e\u5c06\u5176\u4e0e 3D tokens \u7ed3\u5408\u3002\u8fd9\u4e9b 3D tokens \u662f\u901a\u8fc7\u5c06\u70b9\u4e91\u8f93\u5165\u8f7b\u91cf\u7ea7 3D \u5206\u8bcd\u5668\u751f\u6210\u7684\u3002\u6700\u540e\uff0c\u6765\u81ea 2D \u57fa\u7840\u6a21\u578b\u7684\u8f93\u51fa\u7279\u5f81\u901a\u8fc7\u7b56\u7565\u5934\u8fdb\u884c\u5904\u7406\uff0c\u4ee5\u9884\u6d4b\u6a21\u4eff\u5b66\u4e60\u7684\u4f4d\u59ff\u3002<\/sup><\/em><\/section>\n<section><\/section>\n<section>\u4e00\u4e9b\u7814\u7a76\u8868\u660e\uff0c2D \u57fa\u7840\u6a21\u578b\u5728\u5404\u79cd\u4e0b\u6e38\u673a\u5668\u4eba\u4efb\u52a1\u4e2d\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u64cd\u7eb5\u548c\u6cdb\u5316\u80fd\u529b\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0cLift3D \u9996\u5148\u589e\u5f3a\u4e86 2D \u57fa\u7840\u6a21\u578b\u4e2d\u7684\u9690\u5f0f 3D \u673a\u5668\u4eba\u8868\u793a\u3002\u73b0\u6709\u7684\u673a\u5668\u4eba MAE \u91cd\u5efa\u65b9\u6cd5\u5927\u591a\u91c7\u7528\u968f\u673a\u63a9\u7801\u3002\u7136\u800c\u63a9\u7801\u90e8\u5206\u53ef\u80fd\u4e3b\u8981\u5305\u542b\u65e0\u5173\u7684\u80cc\u666f\u4fe1\u606f\uff0c\u8fd9\u4f1a\u963b\u788d\u5bf9\u4e8e\u524d\u666f\u7269\u4f53\u8868\u793a\u7684\u6709\u6548\u5b66\u4e60\u3002\u4e0d\u540c\u4e8e\u4e4b\u524d\u7684\u65b9\u6cd5\uff0c<strong>Lift3D \u7684\u76ee\u6807\u662f\u63a9\u7801\u4e0e\u4efb\u52a1\u76f8\u5173\u7684 Affordance token\uff0c\u5e76\u91cd\u5efa\u6df1\u5ea6\u51e0\u4f55\u4fe1\u606f\uff0c\u4ece\u800c\u589e\u5f3a 2D \u57fa\u7840\u6a21\u578b\u7684 3D \u7a7a\u95f4\u611f\u77e5\u80fd\u529b\u3002<\/strong><\/section>\n<section><\/section>\n<section>\u5177\u4f53\u800c\u8a00\uff0c\u5229\u7528\u6765\u81ea\u673a\u5668\u4eba\u64cd\u4f5c\u7684\u5927\u89c4\u6a21\u6570\u636e\u96c6\u6765\u6784\u5efa MAE \u8bad\u7ec3\u6570\u636e\u96c6\uff0c\u8be5\u6570\u636e\u96c6\u5305\u62ec\u4ece\u89c6\u9891\u4e2d\u968f\u673a\u62bd\u53d6\u7684 100 \u4e07\u4e2a\u8bad\u7ec3\u6837\u672c\uff0c\u5305\u542b\u914d\u5bf9\u7684\u56fe\u50cf\u548c\u6df1\u5ea6\u6570\u636e\u3002\u5982\u4e0b\u56fe 2 a) \u6240\u793a\uff0c\u5177\u4f53\u7684\u64cd\u4f5c\u6b65\u9aa4\u5982\u4e0b\uff1a<\/section>\n<section><\/section>\n<section>1. \u4e00\u65e6\u83b7\u5f97\u6570\u636e\uff0c\u4f7f\u7528\u591a\u6a21\u6001\u6a21\u578b\uff08\u4f8b\u5982\uff0cCLIP\uff09\u57fa\u4e8e\u4efb\u52a1\u7279\u5b9a\u7684\u6587\u672c\u63cf\u8ff0\u751f\u6210\u56fe\u50cf attention map\u3002\u4f8b\u5982\uff0c\u56fe 2 \u4e2d\u63d0\u53d6 attention map \u7684\u6587\u672c\u63d0\u793a\u662f\uff1a\u201c\u673a\u68b0\u81c2\u5c06\u7ea2\u8272\u7897\u653e\u5165\u7070\u8272\u7897\u4e2d\u201d\u3002\u7136\u540e\uff0c\u8fd9\u4e9b attention map \u4f1a\u88ab\u53cc\u7ebf\u6027\u63d2\u503c\u5e76\u53cd\u6295\u5f71\u5230\u8f93\u5165\u56fe\u50cf\u4e0a\uff0c\u7528\u4e8e\u5f15\u5bfc MAE \u7684 mask \u7b56\u7565\u3002\u4e3a\u4e86\u533a\u5206\u4e0e\u4efb\u52a1\u76f8\u5173\u7684\u53ef\u64cd\u4f5c\u6027\u6807\u8bb0\u548c\u80cc\u666f\u6807\u8bb0\uff0c\u6211\u4eec\u5bf9\u6240\u6709\u6807\u8bb0\u7684\u6ce8\u610f\u529b\u503c\u5e94\u7528\u4e00\u4e2a\u9608\u503c\u8fdb\u884c\u8fc7\u6ee4\u3002\u4e0e\u4e4b\u524d\u7684\u65b9\u6cd5\u4e00\u81f4 [28]\uff0c\u6211\u4eec\u4e5f\u968f\u673a\u906e\u63a9\u80cc\u666f\u6807\u8bb0\uff0c\u4ee5\u8fbe\u5230\u6240\u9700\u7684\u6bd4\u4f8b\uff08\u5373 r=0.75\uff09\u3002<\/section>\n<section><\/section>\n<section>2. \u91cd\u5efa\u76ee\u6807\u5728\u906e\u63a9\u56fe\u50cf\u5efa\u6a21\u4e2d\u8d77\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\uff0c\u76f4\u63a5\u5f71\u54cd\u7279\u5f81\u8868\u793a\u7684\u5b66\u4e60\u3002\u5148\u524d\u7684\u673a\u5668\u4eba MAE \u65b9\u6cd5\u901a\u5e38\u4f7f\u7528\u4f4e\u7ea7\u7684 RGB \u4fe1\u606f\u4f5c\u4e3a\u91cd\u5efa\u76ee\u6807 [52, 60, 62]\u3002\u4e3a\u4e86\u589e\u5f3a 2D \u57fa\u7840\u6a21\u578b\u7684 3D \u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff0c\u6211\u4eec\u91cd\u5efa\u4efb\u52a1\u76f8\u5173\u7684\u53ef\u64cd\u4f5c\u6027\u56fe\u50cf\u5757\u548c\u968f\u673a\u9009\u62e9\u7684\u80cc\u666f\u56fe\u50cf\u5757\u7684\u6df1\u5ea6\u4fe1\u606f\u3002<\/section>\n<section><\/section>\n<section>3. \u4e3a\u4e86\u4fdd\u6301\u57fa\u7840\u6a21\u578b\u7684\u56fa\u6709\u80fd\u529b\uff0c\u5f15\u5165\u84b8\u998f\u635f\u5931\uff0c\u7ea6\u675f\u53ef\u89c1\u6807\u8bb0\u8f93\u51fa\u548c\u539f\u672c 2D \u9884\u8bad\u7ec3\u6a21\u578b\u4e2d\u5bf9\u5e94\u7279\u5f81\u4e4b\u95f4\u7684\u8ddd\u79bb\u3002\u5728\u7b2c\u4e00\u9636\u6bb5\u7684\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u901a\u8fc7\u91cd\u5efa\u548c\u84b8\u998f\u635f\u5931\u6765\u5fae\u8c03\u6ce8\u5165\u7684\u9002\u914d\u5668\u548c\u89e3\u7801\u5668\uff0c\u635f\u5931\u51fd\u6570\u516c\u5f0f\u4e3a\uff1a<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-ac5e23757ee31a6d57100971c202886a.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-ac5e23757ee31a6d57100971c202886a.png\"><\/a><\/section>\n<section><strong>3.2 2D Model-lifting Strategy (\u663e\u5f0f 3D \u673a\u5668\u4eba\u6a21\u4eff\u5b66\u4e60)<\/strong><\/section>\n<section><\/section>\n<section>\u5728\u8d4b\u4e88 2D \u57fa\u7840\u6a21\u578b\u9690\u5f0f\u7684 3D \u673a\u5668\u4eba\u611f\u77e5\u80fd\u529b\u540e\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd Lifting \u7b56\u7565\uff0c\u4f7f 2D \u6a21\u578b\u80fd\u591f\u663e\u5f0f\u5730\u7406\u89e3\u70b9\u4e91\u6570\u636e\u3002\u8fd1\u671f\u7684\u5de5\u4f5c\uff0c\u65e0\u8bba\u662f\u5c06 3D \u70b9\u4e91\u6295\u5f71\u5230\u591a\u89c6\u56fe\u56fe\u50cf\u4e2d\uff0c\u8fd8\u662f\u5c06 2D \u7279\u5f81\u63d0\u5347\u5230 3D \u7a7a\u95f4\u4e2d\uff0c\u90fd\u9762\u4e34\u7531\u4e8e\u6a21\u6001\u8f6c\u6362\u800c\u4e22\u5931\u7a7a\u95f4\u4fe1\u606f\u7684\u6311\u6218\u3002\u56e0\u6b64\uff0c\u9ad8\u6548\u5730\u7f16\u7801 3D \u6570\u636e\u4e00\u76f4\u662f 3D \u673a\u5668\u4eba\u9886\u57df\u7684\u4e00\u4e2a\u5173\u952e\u7814\u7a76\u65b9\u5411\u3002<\/section>\n<section><\/section>\n<section>\u5bf9\u4e8e\u57fa\u4e8e Transformer \u7684 2D \u6a21\u578b\uff0c\u4f4d\u7f6e\u5d4c\u5165\uff08PEs\uff09\u8d77\u7740\u91cd\u8981\u4f5c\u7528\uff0c\u56e0\u4e3a\u5b83\u4eec\u4e3a\u6ce8\u610f\u529b\u673a\u5236\u4e2d\u7684\u8f93\u5165 token \u63d0\u4f9b\u4e86\u4f4d\u7f6e\u4fe1\u606f\u3002\u7136\u800c\uff0c\u76f4\u63a5\u521b\u5efa\u65b0\u7684 3D \u4f4d\u7f6e\u5d4c\u5165\u6765\u7f16\u7801 3D token \u53ef\u80fd\u4f1a\u5f15\u5165\u8bed\u4e49\u5dee\u5f02\uff0c\u8fd9\u4e9b\u5dee\u5f02\u6e90\u4e8e\u9884\u8bad\u7ec3\u7684 2D \u57fa\u7840\u6a21\u578b\u4e0e\u65b0\u6dfb\u52a0\u7684 3D \u4f4d\u7f6e\u5d4c\u5165\u4e4b\u95f4\u7684\u4e0d\u540c\uff0c\u4ece\u800c\u53ef\u80fd\u5bfc\u81f4\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u77e5\u8bc6\u7684\u4e27\u5931\u3002\u56e0\u6b64\uff0c\u53d7 [23, 24, 71] \u542f\u53d1\uff0c\u5c06 3D token \u6295\u5f71\u5230\u591a\u4e2a\u865a\u62df\u5e73\u9762\u4e0a\u3002\u4e0e\u4e4b\u524d\u7684\u5de5\u4f5c\u4e0d\u540c\uff0c\u6211\u4eec\u7684\u6295\u5f71\u8fc7\u7a0b\u5e76\u4e0d\u662f\u4e3a\u4e86\u6784\u5efa\u6a21\u578b\u7684\u8f93\u5165\uff0c\u800c\u662f\u4e3a\u4e86\u5728\u8f93\u5165\u7684 3D \u70b9\u548c\u6bcf\u4e2a\u865a\u62df\u5e73\u9762\u7684\u9884\u8bad\u7ec3 2D \u4f4d\u7f6e\u5d4c\u5165\u4e4b\u95f4\u5efa\u7acb\u4f4d\u7f6e\u5bf9\u5e94\u5173\u7cfb\u3002\u7136\u540e\uff0c\u8fd9\u4e9b 2D \u4f4d\u7f6e\u5d4c\u5165\u88ab\u7528\u4e8e\u76f4\u63a5\u7f16\u7801 3D \u6807\u8bb0\u3002<\/section>\n<section><\/section>\n<section>\u5982\u56fe 2 b) \u6240\u793a\uff0c\u6211\u4eec\u5c06\u539f\u59cb\u7684\u70b9\u4e91\u6570\u636e\u8f6c\u5316\u4e3a\u9ad8\u7ef4\u7a7a\u95f4 (B x 128 x 768)\uff0c\u901a\u8fc7\u8f7b\u91cf\u7ea7\u7684 3D \u6807\u8bb0\u5668\u83b7\u5f97 k \u4e2a\uff08k = 128\uff093D token\u30023D tokenizer \u7531\u6700\u8fdc\u70b9\u91c7\u6837\u3001k &#8211; \u6700\u8fd1\u90bb\u805a\u5408\u7b97\u6cd5\u548c\u53ef\u5b66\u4e60\u7684\u7ebf\u6027\u5c42\u6784\u6210\uff0c\u7528\u4e8e\u7279\u5f81\u7f16\u7801\u3002\u968f\u540e\uff0c\u6bcf\u4e2a 3D \u5750\u6807\u6295\u5f71\u5230 n \u4e2a\u865a\u62df\u5e73\u9762\u4e0a\uff0c\u5f97\u5230\u76f8\u5e94\u7684 3D \u5230 2D \u7684\u5750\u6807\u5bf9\u5e94\u3002\u6295\u5f71\u673a\u5236\u65e0\u53ef\u5b66\u4e60\u53c2\u6570\u4e14\u9ad8\u6548\uff0c\u6211\u4eec\u91c7\u7528\u5e26\u6709 6 \u4e2a\u9762\u7684\u7acb\u65b9\u4f53\u6295\u5f71\u65b9\u6cd5\uff0c\u6709\u6548\u6355\u83b7\u7a7a\u95f4\u4fe1\u606f\u3002\u8fd9 n \u4e2a\u865a\u62df\u5e73\u9762\u5bf9\u5e94\u4e8e n \u4e2a\u539f\u59cb\u7684 2D \u4f4d\u7f6e\u5d4c\u5165\u3002<\/section>\n<section><\/section>\n<section>\u4f7f\u7528 3D \u5230 2D \u5750\u6807\u5bf9\u5e94\uff0c\u5c06\u6bcf\u4e2a 3D token \u5206\u914d\u5230 n \u4e2a\u539f\u59cb 2D \u4f4d\u7f6e\u5d4c\u5165\u3002\u5728\u5c06\u6bcf\u4e2a 3D \u6807\u8bb0\u4e0e n \u4e2a 2D \u4f4d\u7f6e\u5d4c\u5165\u5bf9\u9f50\u540e\uff0c\u6211\u4eec\u901a\u8fc7\u5e73\u5747\u503c\u7684\u65b9\u5f0f\u521b\u5efa\u4e00\u4e2a\u7edf\u4e00\u7684 3D \u4f4d\u7f6e\u4fe1\u53f7\uff0c\u8868\u793a\u4e3a\uff1a<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-8e4562182d963d6ba9e5c76e6476ae42.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-8e4562182d963d6ba9e5c76e6476ae42.png\"><\/a><\/section>\n<section>\u5c06 3D \u4f4d\u7f6e\u5d4c\u5165\u4e0e 3D tokens \u7ed3\u5408\uff0c\u8f93\u5165\u5230 2D \u57fa\u7840\u6a21\u578b\u4e2d\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u6211\u4eec\u5229\u7528 n \u4e2a\u7ed3\u5408\u7684\u539f\u59cb 2D PEs \u6765\u7f16\u7801 3D tokens\uff0c\u4ece\u800c\u6709\u6548\u5730\u63d0\u4f9b\u4e86 2D \u7a7a\u95f4\u5185\u7684\u591a\u6837\u4f4d\u7f6e\u5173\u7cfb\uff0c\u5e76\u51cf\u8f7b\u4e86 3D \u96c6\u5408\u4fe1\u606f\u7684\u4e22\u5931\u3002\u6765\u81ea 2D \u57fa\u7840\u6a21\u578b\u7684\u8f93\u51fa\u7279\u5f81\u5c06\u901a\u8fc7\u4e00\u4e2a\u7b80\u5355\u7684 policy head \u8fdb\u884c\u5904\u7406\uff0c\u4ee5\u9884\u6d4b\u7528\u4e8e\u6a21\u4eff\u5b66\u4e60\u7684\u4f4d\u59ff\u3002\u6211\u4eec\u4f7f\u7528\u4e09\u5c42\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u6765\u6784\u5efa\u7b56\u7565\u5934\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u7684 Lift3D \u7f16\u7801\u5668\u53ef\u4ee5\u8f7b\u677e\u9002\u914d\u4e0d\u540c\u7684\u89e3\u7801\u5668\u6216\u7b56\u7565\u5934\uff0c\u4f8b\u5982 Diffusion Transformer, Large Language Model\uff1b\u8fd9\u91cc\u4f7f\u7528 MLP \u5934\u90e8\u662f\u4e3a\u4e86\u7b80\u5355\u9a8c\u8bc1\u3002\u6700\u540e\uff0c\u6a21\u4eff\u5b66\u4e60\u7684\u635f\u5931\u51fd\u6570\u5982\u4e0b\u6240\u793a\uff0c\u5176\u4e2d T\u3001R \u548c G \u5206\u522b\u4ee3\u8868\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u4e2d\u7684\u5e73\u79fb\u3001\u65cb\u8f6c\u548c\u5939\u6301\u5668\u72b6\u6001\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-5d64a6f6f73d9d1d7525d42f83422224.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-5d64a6f6f73d9d1d7525d42f83422224.png\"><\/a><\/section>\n<section><strong>4. \u6a21\u62df\u5668\u5b9e\u9a8c<\/strong><\/section>\n<section><\/section>\n<section><strong>4.1 \u57fa\u51c6\u6d4b\u8bd5<\/strong><\/section>\n<section><\/section>\n<section>\u4ece\u4e09\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u64cd\u7eb5\u6a21\u62df\u5668 benchmark \u4e2d\u9009\u62e9\u4e86 30 \u591a\u4e2a\u4efb\u52a1\uff1aMetaWorld \u548c Adroit \u5728 MuJoCo \u6a21\u62df\u5668\u4e2d\u7684\u4efb\u52a1\uff0c\u4ee5\u53ca RLBench \u5728 CoppeliaSim \u6a21\u62df\u5668\u4e2d\u7684\u4efb\u52a1\u3002\u70b9\u4e91\u6570\u636e\u901a\u8fc7\u4f7f\u7528\u76f8\u673a\u5916\u53c2\u548c\u5185\u53c2\u4ece\u5355\u89c6\u56fe RGBD \u6570\u636e\u4e2d\u83b7\u5f97\u3002\u5bf9\u4e8e MetaWorld\uff0c\u9009\u62e9\u4e86\u4e00\u4e2a\u5305\u542b Sawyer \u81c2\u548c\u53cc\u6307\u5939\u6301\u5668\u7684\u684c\u9762\u73af\u5883\uff0c\u5e76\u4ece\u4e0d\u540c\u96be\u5ea6\u7ea7\u522b\u4e2d\u9009\u62e9\u4e86 15 \u4e2a\u4efb\u52a1\u3002\u8fd9\u4e9b\u4efb\u52a1\u4ece\u4e24\u4e2a\u89d2\u843d\u6444\u50cf\u5934\u89c6\u89d2\u6355\u6349\uff0c\u4efb\u52a1\u5206\u7c7b\u5982\u4e0b\uff1a\u7b80\u5355\u4efb\u52a1\uff1a\u6309\u94ae\u6309\u538b\u3001\u62bd\u5c49\u6253\u5f00\u3001\u5230\u8fbe\u3001\u62c9\u624b\u67c4\u3001\u63d2\u5934\u62d4\u51fa\u3001\u62c9\u6746\u548c\u65cb\u94ae\u8f6c\u52a8\u3002\u4e2d\u7b49\u4efb\u52a1\uff1a\u9524\u5b50\u3001\u6e05\u626b\u3001\u5783\u573e\u6876\u53d6\u7269\u3001\u63a8\u5899\u548c\u7bb1\u5b50\u5173\u95ed\u3002\u96be\u5ea6\u8f83\u9ad8\u4efb\u52a1\uff1a\u7ec4\u88c5\u3001\u624b\u4f38\u5165\u548c\u67b6\u5b50\u653e\u7f6e\u3002\u5bf9\u4e8e Adroit \u4efb\u52a1\uff0c\u91cd\u70b9\u662f\u4f7f\u7528\u4e0e [52] \u4e2d\u76f8\u540c\u6444\u50cf\u5934\u89c6\u89d2\u7684\u7075\u5de7\u624b\u64cd\u4f5c\uff0c\u5305\u62ec\u4e86\u4e09\u4e2a\u4efb\u52a1\uff1a\u9524\u5b50\u3001\u95e8\u548c\u94a2\u7b14\u3002\u5bf9\u4e8e RLBench\uff0c\u5b83\u4f7f\u7528 Franka Panda \u673a\u5668\u4eba\u548c\u524d\u89c6\u6444\u50cf\u5934\u3002\u5177\u4f53\u4efb\u52a1\u9009\u62e9\u89c1\u8bba\u6587 Appendix\u3002<\/section>\n<section><\/section>\n<section><strong>4.2 \u57fa\u7ebf\u5bf9\u6bd4<\/strong><\/section>\n<section><\/section>\n<section>Lift3D \u7684\u521b\u65b0\u4e4b\u5904\u5728\u4e8e\u7cfb\u7edf\u6027\u5730\u589e\u5f3a\u4e86\u9690\u5f0f\u548c\u663e\u5f0f\u7684 3D \u673a\u5668\u4eba\u8868\u793a\u3002\u4e3a\u4e86\u8bc4\u4f30\u5176\u6709\u6548\u6027\uff0c\u5c06 Lift3D \u4e0e\u6765\u81ea\u4e09\u4e2a\u7c7b\u522b\u7684 9 \u79cd\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff1a<\/section>\n<section><\/section>\n<section>1\uff092D \u673a\u5668\u4eba\u8868\u793a\u65b9\u6cd5\uff1a\u9009\u62e9\u4e86 CLIP\uff08ViT-base\uff09\uff0c\u5b83\u662f\u4e00\u4e2a 2D \u57fa\u7840\u6a21\u578b\u3002\u6b64\u5916\uff0c\u8fd8\u5305\u62ec\u4e86 R3M \u548c VC1\uff0c\u8fd9\u4e24\u8005\u90fd\u662f 2D \u673a\u5668\u4eba\u9884\u8bad\u7ec3\u65b9\u6cd5\u3002<\/section>\n<section><\/section>\n<section>2\uff093D \u673a\u5668\u4eba\u8868\u793a\u65b9\u6cd5\uff1a\u501f\u9274\u4e86 [95]\uff0c\u91c7\u7528\u4e86\u57fa\u7840\u7684 3D \u6a21\u578b\uff0c\u5305\u62ec PointNet\u3001PointNet++ \u548c PointNext\u3002\u6b64\u5916\uff0c\u8fd8\u68c0\u9a8c\u4e86 SPA \uff0c\u8fd9\u662f\u4e4b\u524d\u7684 SOTA 3D \u673a\u5668\u4eba\u9884\u8bad\u7ec3\u65b9\u6cd5\u3002\u4e0e [52] \u76f8\u540c\uff0c\u6240\u6709\u673a\u5668\u4eba\u8868\u793a\u65b9\u6cd5\u5747\u4f7f\u7528\u4e0e Lift3D \u76f8\u540c\u7684\u4e09\u5c42\u7b56\u7565\u5934\u548c\u8bad\u7ec3\u635f\u5931\u3002<\/section>\n<section><\/section>\n<section>3\uff093D \u7b56\u7565\u65b9\u6cd5\uff1aLift3D \u4e0e\u4e4b\u524d\u7684 SOTA 3D \u6269\u6563\u7b56\u7565\uff08DP3\uff09\u5728 MetaWorld \u548c Adroit \u4e0a\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5e76\u5728 RLBench \u4e0a\u4e0e RVT-2 \u8fdb\u884c\u4e86\u6bd4\u8f83\u3002<\/section>\n<section><\/section>\n<section><strong>4.3 \u5b9a\u91cf\u5b9e\u9a8c<\/strong><\/section>\n<section><\/section>\n<section>\u5982\u4e0b\u8868\u6240\u793a\uff0cLift3D (CLIP) \u5728 MetaWorld \u57fa\u51c6\u6d4b\u8bd5\u4e2d\u8fbe\u5230\u4e86 83.9 \u7684\u5e73\u5747\u6210\u529f\u7387\uff0c\u5176\u4e2d\u4e2d\u7b49\u4efb\u52a1\u7684\u51c6\u786e\u7387\u4e3a 78.8\uff0c\u56f0\u96be\u4efb\u52a1\u7684\u51c6\u786e\u7387\u4e3a 82.0\u3002Lift3D \u6bd4 SOTA 2D \u65b9\u6cd5\u63d0\u9ad8\u4e86 8.8 \u7684\u5e73\u5747\u6210\u529f\u7387\uff0c\u6bd4 SOTA 3D \u65b9\u6cd5\u4e0a\u63d0\u9ad8\u4e86 14.4\u3002\u6b64\u5916\uff0cLift3D \u5728\u7075\u5de7\u624b\u64cd\u4f5c\u4efb\u52a1\u4e0a\u4e5f\u4f18\u4e8e\u4ee5\u524d\u7684\u673a\u5668\u4eba\u8868\u793a\u548c\u7b56\u7565\u65b9\u6cd5\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u7075\u5de7\u624b\u5728\u4e0d\u540c\u4efb\u52a1\u4e2d\u6709\u4e0d\u540c\u7684\u81ea\u7531\u5ea6\uff0c\u5176\u4e2d hammer, door, pen \u4efb\u52a1\u5206\u522b\u5177\u6709 26\u300128 \u548c 24 \u4e2a\u81ea\u7531\u5ea6\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u66f4\u590d\u6742\u7684\u7075\u5de7\u624b\u64cd\u4f5c\u4efb\u52a1\u4e2d\u540c\u6837\u6709\u6548\uff0c\u5f97\u76ca\u4e8e\u5f3a\u5927\u7684 3D \u673a\u5668\u4eba\u8868\u793a\u80fd\u529b\u3002Lift3D (DINOV2) \u4e5f\u5c55\u793a\u4e86\u826f\u597d\u7684\u7ed3\u679c\uff0c\u8bc1\u660e\u4e86\u8be5\u65b9\u6cd5\u5728\u5176\u4ed6 2D \u57fa\u7840\u6a21\u578b\u4e2d\u7684\u53ef\u884c\u6027\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-c3693a823cbd8684521e6f18c3854e7c.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-c3693a823cbd8684521e6f18c3854e7c.png\"><\/a><\/section>\n<section><strong>5. \u771f\u673a\u5b9e\u9a8c<\/strong><\/section>\n<section><\/section>\n<section><strong>5.1 \u6570\u636e\u6536\u96c6<\/strong><\/section>\n<section><\/section>\n<section>\u5728\u771f\u673a\u5b9e\u9a8c\u8bbe\u7f6e\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528 Franka Research 3 \u673a\u68b0\u81c2\uff0c\u5e76\u901a\u8fc7 Intel RealSense L515 RGBD \u76f8\u673a\u6355\u6349\u9759\u6001\u524d\u89c6\u56fe\u3002\u5b9e\u9a8c\u5305\u62ec 10 \u79cd\u4efb\u52a1\uff1a1\uff09\u5c06\u74f6\u5b50\u653e\u5230\u67b6\u5b50\u4e0a\uff0c2) \u5012\u6c34\uff0c3) \u62d4\u6389\u5145\u7535\u5668\uff0c4) \u5806\u79ef\u79ef\u6728\uff0c5) \u6361\u8d77\u5e76\u653e\u7f6e\u7269\u4f53\uff0c6) \u6ed1\u52a8\u79ef\u6728\uff0c7) \u6d47\u6c34\uff0c8) \u64e6\u684c\u5b50\uff0c9) \u6253\u5f00\u62bd\u5c49\uff0c10) \u5173\u4e0a\u62bd\u5c49\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u4efb\u52a1\uff0c\u6211\u4eec\u5728\u4e0d\u540c\u7684\u7a7a\u95f4\u4f4d\u7f6e\u6536\u96c6\u4e86 40 \u6b21\u6f14\u793a\uff0c\u8f68\u8ff9\u4ee5 30 fps \u8fdb\u884c\u8bb0\u5f55\u3002\u6211\u4eec\u9009\u62e9\u4e86 30 \u6b21\u5b9e\u9a8c\u5e76\u63d0\u53d6\u4e86\u5173\u952e\u5e27\uff0c\u7528\u4ee5\u6784\u5efa\u6bcf\u4e2a\u4efb\u52a1\u7684\u8bad\u7ec3\u96c6\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-c9d22246c114c7d5d9802c2f53a1d33d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-c9d22246c114c7d5d9802c2f53a1d33d.png\"><\/a><\/section>\n<section><strong>5.2 \u5b9a\u91cf\u5b9e\u9a8c<\/strong><\/section>\n<section><\/section>\n<section>\u5982\u4e0b\u56fe\u548c\u4e0b\u8868\u6240\u793a\uff0c\u6211\u4eec\u5c06 Lift3D (CLIP) \u4e0e DP3\u3001VC-1 \u548c PointNet \u8fdb\u884c\u6bd4\u8f83\u3002\u7ed3\u679c\u8868\u660e\uff0cLift3D \u5728\u591a\u4e2a\u4efb\u52a1\u4e2d\u8868\u73b0\u4e00\u81f4\u4e14\u826f\u597d\u3002\u7279\u522b\u662f\u5728 \u201c\u5c06\u74f6\u5b50\u653e\u5230\u67b6\u5b50\u4e0a\u201d \u4efb\u52a1\u4e2d\uff0c\u8be5\u4efb\u52a1\u8981\u6c42\u7cbe\u786e\u7684 3D \u4f4d\u7f6e\u548c\u65cb\u8f6c\u9884\u6d4b\uff0cLift3D \u8fbe\u5230\u4e86 90 \u7684\u6210\u529f\u7387\u3002\u7ed3\u679c\u8868\u660e\uff0cLift3D \u80fd\u591f\u6709\u6548\u7406\u89e3 3D \u7a7a\u95f4\u573a\u666f\uff0c\u5e76\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u505a\u51fa\u51c6\u786e\u7684\u4f4d\u59ff\u9884\u6d4b\u3002\u5bf9\u4e8e\u590d\u6742\u4efb\u52a1 \u201c\u64e6\u684c\u5b50\u201d\uff0c\u7531\u4e8e\u9700\u8981\u64cd\u7eb5\u53ef\u53d8\u5f62\u7684\u7269\u4f53\uff0c\u6240\u6709\u65b9\u6cd5\u5728\u7cbe\u5ea6\u4e0a\u90fd\u9762\u4e34\u9650\u5236\u3002\u5c3d\u7ba1\u5982\u6b64\uff0cLift3D \u4ecd\u7136\u8fbe\u5230\u4e86 40 \u7684\u6210\u529f\u7387\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-0a69cb35025325d8e01fa4ea97a3c407.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-0a69cb35025325d8e01fa4ea97a3c407.png\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-0d05e968be21b5f2fbd2913789301797.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-0d05e968be21b5f2fbd2913789301797.png\"><\/a><\/section>\n<section><strong>5.3\u00a0\u5b9a\u6027\u5b9e\u9a8c<\/strong><\/section>\n<section><strong><br \/><\/strong><\/section>\n<section>\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5c55\u793a\u4e86\u516d\u4e2a\u771f\u5b9e\u4e16\u754c\u4efb\u52a1\u7684\u64cd\u4f5c\u8fc7\u7a0b\u3002\u672c\u6587\u7684\u65b9\u6cd5\u51c6\u786e\u9884\u6d4b\u4e86\u8fde\u7eed\u7684 7 \u81ea\u7531\u5ea6\u672b\u7aef\u6267\u884c\u5668\u59ff\u6001\uff0c\u4f7f\u5f97\u4efb\u52a1\u5f97\u4ee5\u6cbf\u7740\u8f68\u8ff9\u987a\u5229\u5b8c\u6210\u3002\u4f8b\u5982\uff0c\u5728 \u201c\u7ed9\u690d\u7269\u6d47\u6c34\u201d \u4efb\u52a1\u4e2d\uff0cLift3D \u9996\u5148\u51c6\u786e\u6293\u4f4f\u4e86\u6d47\u6c34\u58f6\u7684\u624b\u67c4\u3002\u63a5\u7740\uff0c\u5b83\u5e73\u7a33\u5730\u62ac\u8d77\u58f6\u5e76\u5c06\u5176\u5b9a\u4f4d\u5230\u690d\u7269\u4e0a\u65b9\u3002\u6700\u540e\uff0c\u5939\u6301\u5668\u9010\u6e10\u65cb\u8f6c\u4ee5\u63a7\u5236 \u201c\u6c34\u6d41\u201d\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-1aff01b43e80d89fda9ba301f26c20c2.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-1aff01b43e80d89fda9ba301f26c20c2.png\"><\/a><\/section>\n<section><strong>6. \u6cdb\u5316\u6027\u5b9e\u9a8c<\/strong><\/section>\n<section><\/section>\n<section>\u501f\u52a9\u4e8e 2D \u57fa\u7840\u6a21\u578b\u7684\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u77e5\u8bc6\u548c\u5168\u9762\u7684 3D \u673a\u5668\u4eba\u8868\u793a\uff0cLift3D \u5c55\u73b0\u51fa\u73b0\u5b9e\u4e16\u754c\u6cdb\u5316\u80fd\u529b\u3002\u5982\u4e0b\u8868\u6240\u793a\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e09\u79cd\u4e0e\u8bad\u7ec3\u573a\u666f\u4e0d\u540c\u7684\u73b0\u5b9e\u4e16\u754c\u6d4b\u8bd5\u573a\u666f\uff0c\u4ee5\u9a8c\u8bc1\u5176\u6cdb\u5316\u6027\u80fd\u3002<\/section>\n<section><\/section>\n<section><strong>6.1 \u4e0d\u540c\u7684\u64cd\u7eb5\u5b9e\u4f8b<\/strong><\/section>\n<section><\/section>\n<section>Lift3D \u5728\u591a\u79cd\u4e0d\u540c\u7684\u64cd\u7eb5\u7269\u4f53\u4e0a\u8868\u73b0\u51fa\u8272\uff0c\u51c6\u786e\u5ea6\u635f\u5931\u6700\u5c0f\u3002\u8fd9\u4e00\u6210\u529f\u4e3b\u8981\u5f97\u76ca\u4e8e\u9884\u8bad\u7ec3\u7684 2D \u57fa\u7840\u6a21\u578b\u5728\u8bed\u4e49\u7406\u89e3\u65b9\u9762\u7684\u5f3a\u5927\u80fd\u529b\u3002<\/section>\n<section><\/section>\n<section><strong>6.2 \u590d\u6742\u7684\u80cc\u666f\u573a\u666f<\/strong><\/section>\n<section><\/section>\n<section>\u80cc\u666f\u5e72\u6270\u663e\u8457\u964d\u4f4e\u4e86\u6240\u6709\u65b9\u6cd5\u7684\u51c6\u786e\u5ea6\uff0c\u4f46 Lift3D \u7684\u51c6\u786e\u5ea6\u4e0b\u964d\u6700\u5c0f\uff0c\u64cd\u7eb5\u6210\u529f\u7387\u4fdd\u6301\u5728 50% \u4ee5\u4e0a\u3002\u8fd9\u5f97\u76ca\u4e8e\u5728 3D \u7a7a\u95f4\u4e2d\u6709\u6548\u5229\u7528\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u77e5\u8bc6\u3002\u6b64\u5916\uff0c\u57fa\u4e8e\u53ef\u64cd\u4f5c\u6027\u7684\u63a9\u819c\u7b56\u7565\u901a\u8fc7\u91cd\u5efa\u5f3a\u5316\u4e86\u6a21\u578b\u5bf9\u524d\u666f\u533a\u57df\u7a7a\u95f4\u51e0\u4f55\u7684\u7406\u89e3\uff0c\u6700\u5927\u9650\u5ea6\u5730\u51cf\u5c11\u4e86\u80cc\u666f\u5e72\u6270\u7684\u5f71\u54cd\u3002<\/section>\n<section><\/section>\n<section><strong>6.3 \u4e0d\u540c\u7684\u5149\u7167\u6761\u4ef6<\/strong><\/section>\n<section><\/section>\n<section>\u5149\u7167\u53d8\u5316\u4e0d\u4ec5\u4f1a\u5f71\u54cd 2D \u56fe\u50cf\u7684\u6570\u636e\u5206\u5e03\uff0c\u8fd8\u4f1a\u5f71\u54cd\u6df1\u5ea6\u6355\u6349\uff0c\u4ece\u800c\u5f71\u54cd\u70b9\u4e91\u6570\u636e\u3002\u5728\u5149\u7167\u53d8\u5316\u7684\u5f71\u54cd\u4e0b\uff0cLift3D \u4ec5\u8868\u73b0\u51fa\u7ea6 20% \u7684\u51c6\u786e\u5ea6\u4e0b\u964d\uff0c\u5145\u5206\u5c55\u793a\u4e86\u5176\u5f3a\u5927\u7684 3D \u673a\u5668\u4eba\u8868\u793a\u80fd\u529b\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-a5d91d17467a2547f38f16432309cefa.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/12\/frc-a5d91d17467a2547f38f16432309cefa.png\"><\/a><\/section>\n<section><strong>7. \u53ef\u6269\u5c55\u6027\uff08Scalability\uff09\u63a2\u7a76<\/strong><\/section>\n<section><\/section>\n<section>\u5728\u8ba1\u7b97\u673a\u89c6\u89c9\u4e2d\uff0c2D 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