{"id":37668,"date":"2025-02-02T05:01:08","date_gmt":"2025-02-01T21:01:08","guid":{"rendered":"https:\/\/17aitech.com\/?p=37668"},"modified":"2025-02-02T05:01:08","modified_gmt":"2025-02-01T21:01:08","slug":"%e5%85%b7%e8%ba%ab%e6%99%ba%e8%83%bd%e6%96%b0%e9%ab%98%e5%ba%a6%ef%bc%81%e6%99%ba%e5%85%83%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%8e%a8%e5%87%ba%e5%85%a8%e7%90%83%e9%a6%96%e4%b8%aa4d%e4%b8%96%e7%95%8c%e6%a8%a1","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=37668","title":{"rendered":"\u5177\u8eab\u667a\u80fd\u65b0\u9ad8\u5ea6\uff01\u667a\u5143\u673a\u5668\u4eba\u63a8\u51fa\u5168\u7403\u9996\u4e2a4D\u4e16\u754c\u6a21\u578bEnerVerse"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-01-09-16\" target=\"_blank\">\u5177\u8eab\u667a\u80fd\u65b0\u9ad8\u5ea6\uff01\u667a\u5143\u673a\u5668\u4eba\u63a8\u51fa\u5168\u7403\u9996\u4e2a4D\u4e16\u754c\u6a21\u578bEnerVerse<\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-3fb2edfe264611e878d673b58294eb30.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-3fb2edfe264611e878d673b58294eb30.png\"><\/a><\/p>\n<blockquote data-author-name=\"\" data-content-utf8-length=\"166\" data-source-title=\"\" data-type=\"2\" data-url=\"\">\n<section>\n<p>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<\/p>\n<\/section>\n<\/blockquote>\n<section><\/section>\n<section>\u5982\u4f55\u8ba9\u673a\u5668\u4eba\u5728\u4efb\u52a1\u6307\u5f15\u548c\u5b9e\u65f6\u89c2\u6d4b\u7684\u57fa\u7840\u4e0a\u89c4\u5212\u672a\u6765\u52a8\u4f5c\uff0c\u4e00\u76f4\u662f\u5177\u8eab\u667a\u80fd\u9886\u57df\u7684\u6838\u5fc3\u79d1\u5b66\u95ee\u9898\u3002\u7136\u800c\uff0c\u8fd9\u4e00\u76ee\u6807\u7684\u5b9e\u73b0\u53d7\u4e24\u5927\u5173\u952e\u6311\u6218\u5236\u7ea6\uff1a<\/section>\n<section><\/section>\n<ol>\n<li>\n<section>\u6a21\u6001\u5bf9\u9f50\uff1a\u9700\u5728\u8bed\u8a00\u3001\u89c6\u89c9\u548c\u52a8\u4f5c\u7b49\u591a\u6a21\u6001\u7a7a\u95f4\u4e2d\u5efa\u7acb\u7cbe\u786e\u7684\u5bf9\u9f50\u673a\u5236\u3002<\/section>\n<\/li>\n<li>\n<section>\u6570\u636e\u7a00\u7f3a\uff1a\u7f3a\u4e4f\u89c4\u6a21\u5316\u3001\u591a\u6a21\u6001\u4e14\u5177\u5907\u52a8\u4f5c\u6807\u7b7e\u7684\u6570\u636e\u96c6\u3002<\/section>\n<\/li>\n<\/ol>\n<section><\/section>\n<section>\u9488\u5bf9\u4e0a\u8ff0\u96be\u9898\uff0c\u667a\u5143\u673a\u5668\u4eba\u56e2\u961f\u63d0\u51fa\u4e86 <strong>EnerVerse \u67b6\u6784<\/strong>\uff0c\u901a\u8fc7\u81ea\u56de\u5f52\u6269\u6563\u6a21\u578b\uff08autoregressive diffusion\uff09\uff0c\u5728\u751f\u6210\u672a\u6765\u5177\u8eab\u7a7a\u95f4\u7684\u540c\u65f6\u5f15\u5bfc\u673a\u5668\u4eba\u5b8c\u6210\u590d\u6742\u4efb\u52a1\u3002\u4e0d\u540c\u4e8e\u73b0\u6709\u65b9\u6cd5\u7b80\u5355\u5e94\u7528\u89c6\u9891\u751f\u6210\u6a21\u578b\uff0cEnerVerse \u6df1\u5ea6\u7ed3\u5408\u5177\u8eab\u4efb\u52a1\u9700\u6c42\uff0c\u521b\u65b0\u6027\u5730\u5f15\u5165<strong>\u7a00\u758f\u8bb0\u5fc6\u673a\u5236\uff08Sparse Memory\uff09<\/strong>\u4e0e<strong>\u81ea\u7531\u951a\u5b9a\u89c6\u89d2\uff08Free Anchor View, FAV\uff09<\/strong>\uff0c\u5728\u63d0\u5347 4D \u751f\u6210\u80fd\u529b\u7684\u540c\u65f6\uff0c\u5b9e\u73b0\u4e86\u52a8\u4f5c\u89c4\u5212\u6027\u80fd\u7684\u663e\u8457\u7a81\u7834\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cEnerVerse \u4e0d\u4ec5\u5177\u5907\u5353\u8d8a\u7684\u672a\u6765\u7a7a\u95f4\u751f\u6210\u80fd\u529b\uff0c\u66f4\u5728\u673a\u5668\u4eba\u52a8\u4f5c\u89c4\u5212\u4efb\u52a1\u4e2d\u5b9e\u73b0\u4e86\u5f53\u524d\u6700\u4f18\uff08SOTA\uff09\u8868\u73b0\u3002<\/section>\n<section><\/section>\n<section>\u9879\u76ee\u4e3b\u9875\u4e0e\u8bba\u6587\u5df2\u4e0a\u7ebf\uff0c\u6a21\u578b\u4e0e\u76f8\u5173\u6570\u636e\u96c6\u5373\u5c06\u5f00\u6e90\uff1a<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-3d74cce769cf63d5bd84dbdda6c89009.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-3d74cce769cf63d5bd84dbdda6c89009.png\"><\/a><\/section>\n<ul>\n<li>\n<section>\u4e3b\u9875\u5730\u5740\uff1ahttps:\/\/sites.google.com\/view\/enerverse\/home<\/section>\n<\/li>\n<li>\n<section>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2501.01895<\/section>\n<\/li>\n<\/ul>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-d60fd1d056d45da2481603ec729753c5.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-d60fd1d056d45da2481603ec729753c5.png\"><\/a><\/section>\n<section><strong>\u5982\u4f55\u8ba9\u672a\u6765\u7a7a\u95f4\u751f\u6210\u8d4b\u80fd\u673a\u5668\u4eba\u52a8\u4f5c\u89c4\u5212\uff1f<\/strong><\/section>\n<section><\/section>\n<section>\u673a\u5668\u4eba\u52a8\u4f5c\u89c4\u5212\u7684\u6838\u5fc3\u5728\u4e8e\u57fa\u4e8e\u5b9e\u65f6\u89c2\u6d4b\u548c\u4efb\u52a1\u6307\u4ee4\uff0c\u9884\u6d4b\u5e76\u5b8c\u6210\u4e00\u7cfb\u5217\u590d\u6742\u7684\u672a\u6765\u64cd\u4f5c\u3002\u7136\u800c\uff0c\u73b0\u6709\u65b9\u6cd5\u5728\u5e94\u5bf9\u590d\u6742\u5177\u8eab\u4efb\u52a1\u65f6\u5b58\u5728\u5982\u4e0b\u5c40\u9650\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u901a\u7528\u6a21\u578b\u5c40\u9650\u6027\uff1a\u5f53\u524d\u901a\u7528\u89c6\u9891\u751f\u6210\u6a21\u578b\u7f3a\u4e4f\u5bf9\u5177\u8eab\u573a\u666f\u7684\u9488\u5bf9\u6027\u4f18\u5316\uff0c\u65e0\u6cd5\u9002\u5e94\u5177\u8eab\u4efb\u52a1\u4e2d\u7684\u7279\u6b8a\u9700\u6c42\u3002<\/section>\n<\/li>\n<li>\n<section>\u89c6\u89c9\u8bb0\u5fc6\u6cdb\u5316\u80fd\u529b\u4e0d\u8db3\uff1a\u73b0\u6709\u65b9\u6cd5\u4f9d\u8d56\u7a20\u5bc6\u8fde\u7eed\u7684\u89c6\u89c9\u8bb0\u5fc6\uff0c\u5bb9\u6613\u5bfc\u81f4\u751f\u6210\u957f\u7a0b\u4efb\u52a1\u5e8f\u5217\u65f6\u903b\u8f91\u4e0d\u8fde\u8d2f\uff0c\u52a8\u4f5c\u9884\u6d4b\u6027\u80fd\u4e0b\u964d\u3002<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section>\u4e3a\u6b64\uff0cEnerVerse \u901a\u8fc7\u9010\u5757\u751f\u6210\u7684\u81ea\u56de\u5f52\u6269\u6563\u6846\u67b6\uff0c\u7ed3\u5408\u521b\u65b0\u7684\u7a00\u758f\u8bb0\u5fc6\u673a\u5236\u4e0e\u81ea\u7531\u951a\u5b9a\u89c6\u89d2\uff08FAV\uff09\u65b9\u6cd5\uff0c\u89e3\u51b3\u4e86\u4e0a\u8ff0\u74f6\u9888\u95ee\u9898\u3002<\/section>\n<section><\/section>\n<section><strong>\u6280\u672f\u65b9\u6848\u89e3\u6790<\/strong><\/section>\n<section><\/section>\n<section><strong>\u9010\u5757\u6269\u6563\u751f\u6210\uff1aNext Chunk Diffusion<\/strong><\/section>\n<section><\/section>\n<section>EnerVerse \u91c7\u7528\u9010\u5757\u751f\u6210\u7684\u81ea\u56de\u5f52\u6269\u6563\u6a21\u578b\uff0c\u901a\u8fc7\u9010\u6b65\u751f\u6210\u672a\u6765\u5177\u8eab\u7a7a\u95f4\u6765\u5f15\u5bfc\u673a\u5668\u4eba\u52a8\u4f5c\u89c4\u5212\u3002\u5176\u5173\u952e\u8bbe\u8ba1\u5305\u62ec\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u6269\u6563\u6a21\u578b\u67b6\u6784\uff1a\u57fa\u4e8e\u7ed3\u5408\u65f6\u7a7a\u6ce8\u610f\u529b\u7684 UNet \u7ed3\u6784\uff0c\u6bcf\u4e2a\u7a7a\u95f4\u5757\u5185\u90e8\u901a\u8fc7\u5377\u79ef\u4e0e\u53cc\u5411\u6ce8\u610f\u529b\u5efa\u6a21\uff1b\u5757\u4e0e\u5757\u4e4b\u95f4\u901a\u8fc7\u5355\u5411\u56e0\u679c\u903b\u8f91\uff08causal logic\uff09\u4fdd\u6301\u65f6\u95f4\u4e00\u81f4\u6027\uff0c\u4ece\u800c\u786e\u4fdd\u751f\u6210\u5e8f\u5217\u7684\u903b\u8f91\u5408\u7406\u6027\u3002<\/section>\n<\/li>\n<li>\n<section>\u7a00\u758f\u8bb0\u5fc6\u673a\u5236\uff1a\u501f\u9274\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u7684\u4e0a\u4e0b\u6587\u8bb0\u5fc6\uff0cEnerVerse \u5728\u8bad\u7ec3\u9636\u6bb5\u5bf9\u5386\u53f2\u5e27\u8fdb\u884c\u9ad8\u6bd4\u4f8b\u968f\u673a\u63a9\u7801\uff08mask\uff09\uff0c\u63a8\u7406\u9636\u6bb5\u4ee5\u8f83\u5927\u65f6\u95f4\u95f4\u9694\u66f4\u65b0\u8bb0\u5fc6\u961f\u5217\uff0c\u6709\u6548\u964d\u4f4e\u8ba1\u7b97\u5f00\u9500\uff0c\u540c\u65f6\u663e\u8457\u63d0\u5347\u957f\u7a0b\u4efb\u52a1\u7684\u751f\u6210\u80fd\u529b\u3002<\/section>\n<\/li>\n<li>\n<section>\u4efb\u52a1\u7ed3\u675f\u903b\u8f91\uff1a\u901a\u8fc7\u7279\u6b8a\u7684\u7ed3\u675f\u5e27\uff08EOS frame\uff09\uff0c\u5b9e\u73b0\u5bf9\u4efb\u52a1\u7ed3\u675f\u65f6\u673a\u7684\u7cbe\u51c6\u76d1\u7763\uff0c\u786e\u4fdd\u751f\u6210\u8fc7\u7a0b\u5728\u5408\u9002\u8282\u70b9\u7ec8\u6b62\u3002<\/section>\n<\/li>\n<\/ul>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-d807d8a60595441721348f2f7a4acc97.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-d807d8a60595441721348f2f7a4acc97.png\"><\/a><\/section>\n<section><strong>\u7075\u6d3b\u7684 4D \u751f\u6210\uff1aFree Anchor View (FAV)<\/strong><\/section>\n<section><\/section>\n<section>\u9488\u5bf9\u5177\u8eab\u64cd\u4f5c\u4e2d\u590d\u6742\u906e\u6321\u73af\u5883\u548c\u591a\u89c6\u89d2\u9700\u6c42\uff0cEnerVerse \u63d0\u51fa\u4e86\u81ea\u7531\u951a\u5b9a\u89c6\u89d2\uff08FAV\uff09\u65b9\u6cd5\uff0c\u4ee5\u7075\u6d3b\u8868\u8fbe 4D \u7a7a\u95f4\u3002\u5176\u6838\u5fc3\u4f18\u52bf\u5305\u62ec\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u81ea\u7531\u8bbe\u5b9a\u89c6\u89d2\uff1aFAV \u652f\u6301\u52a8\u6001\u8c03\u6574\u951a\u5b9a\u89c6\u89d2\uff0c\u514b\u670d\u56fa\u5b9a\u591a\u89c6\u89d2\uff08fixed multi-anchor view\uff09\u5728\u72ed\u7a84\u573a\u666f\u4e2d\u7684\u5c40\u9650\u6027\u3002\u4f8b\u5982\uff0c\u5728\u53a8\u623f\u7b49\u573a\u666f\u4e2d\uff0cFAV \u53ef\u8f7b\u677e\u9002\u5e94\u52a8\u6001\u906e\u6321\u5173\u7cfb\u3002<\/section>\n<\/li>\n<li>\n<section>\u8de8\u89c6\u89d2\u7a7a\u95f4\u4e00\u81f4\u6027\uff1a\u57fa\u4e8e\u5149\u7ebf\u6295\u5c04\u539f\u7406\uff08ray casting\uff09\uff0cEnerVerse \u901a\u8fc7\u89c6\u7ebf\u65b9\u5411\u56fe\uff08ray direction map\uff09\u4f5c\u4e3a\u89c6\u89d2\u63a7\u5236\u6761\u4ef6\uff0c\u5e76\u5c06 2D \u7a7a\u95f4\u6ce8\u610f\u529b\u6269\u5c55\u4e3a\u8de8\u89c6\u89d2\u7684 3D \u7a7a\u95f4\u6ce8\u610f\u529b\uff08cross-view spatial attention\uff09\uff0c\u786e\u4fdd\u751f\u6210\u89c6\u9891\u7684\u51e0\u4f55\u4e00\u81f4\u6027\u3002<\/section>\n<\/li>\n<li>\n<section>Sim2Real \u9002\u914d\uff1a\u901a\u8fc7\u5728\u4eff\u771f\u6570\u636e\u4e0a\u8bad\u7ec3\u7684 4D \u751f\u6210\u6a21\u578b\uff08EnerVerse-D\uff09\u4e0e 4D \u9ad8\u65af\u6cfc\u6e85 (4D Gaussian Splatting) \u4ea4\u66ff\u8fed\u4ee3\uff0cEnerVerse \u6784\u5efa\u4e86\u4e00\u4e2a\u6570\u636e\u98de\u8f6e\uff0c\u4e3a\u771f\u5b9e\u573a\u666f\u4e0b\u7684 FAV \u751f\u6210\u63d0\u4f9b\u4f2a\u771f\u503c\u652f\u6301\u3002<\/section>\n<\/li>\n<\/ul>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-ee3632cdc693787f732d474de40fa01f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-ee3632cdc693787f732d474de40fa01f.png\"><\/a><\/section>\n<section><strong>\u9ad8\u6548\u52a8\u4f5c\u89c4\u5212\uff1aDiffusion Policy Head<\/strong><\/section>\n<section><\/section>\n<section>EnerVerse \u901a\u8fc7\u5728\u751f\u6210\u7f51\u7edc\u4e0b\u6e38\u96c6\u6210 Diffusion \u7b56\u7565\u5934\uff08Diffusion Policy Head\uff09\uff0c\u6253\u901a\u672a\u6765\u7a7a\u95f4\u751f\u6210\u4e0e\u673a\u5668\u4eba\u52a8\u4f5c\u89c4\u5212\u7684\u5168\u94fe\u6761\u3002\u5176\u5173\u952e\u8bbe\u8ba1\u5305\u62ec\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u9ad8\u6548\u52a8\u4f5c\u9884\u6d4b\uff1a\u751f\u6210\u7f51\u7edc\u5728\u9006\u6269\u6563\u7684\u7b2c\u4e00\u6b65\u5373\u53ef\u8f93\u51fa\u672a\u6765\u52a8\u4f5c\u5e8f\u5217\uff0c\u65e0\u9700\u7b49\u5f85\u5b8c\u6574\u7684\u7a7a\u95f4\u751f\u6210\u8fc7\u7a0b\uff0c\u786e\u4fdd\u52a8\u4f5c\u9884\u6d4b\u7684\u5b9e\u65f6\u6027\u3002<\/section>\n<\/li>\n<li>\n<section>\u7a00\u758f\u8bb0\u5fc6\u652f\u6301\uff1a\u5728\u52a8\u4f5c\u9884\u6d4b\u63a8\u7406\u4e2d\uff0c\u7a00\u758f\u8bb0\u5fc6\u961f\u5217\u5b58\u50a8\u771f\u5b9e\u6216\u91cd\u5efa\u7684 FAV \u89c2\u6d4b\u7ed3\u679c\uff0c\u6709\u6548\u63d0\u5347\u957f\u7a0b\u4efb\u52a1\u89c4\u5212\u80fd\u529b\u3002<\/section>\n<\/li>\n<\/ul>\n<section><\/section>\n<section><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/section>\n<section><\/section>\n<section><strong>1. \u89c6\u9891\u751f\u6210\u6027\u80fd<\/strong><\/section>\n<section><strong><br \/><\/strong><\/section>\n<section>\u5728\u77ed\u7a0b\u4e0e\u957f\u7a0b\u4efb\u52a1\u89c6\u9891\u751f\u6210\u4e2d\uff0cEnerVerse \u5747\u5c55\u73b0\u51fa\u5353\u8d8a\u7684\u6027\u80fd\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u5728\u77ed\u7a0b\u751f\u6210\u4efb\u52a1\u4e2d\uff0cEnerVerse \u8868\u73b0\u4f18\u4e8e\u73b0\u6709\u5fae\u8c03\u89c6\u9891\u751f\u6210\u6a21\u578b\uff0c\u5982\u57fa\u4e8e DynamiCrafter \u4e0e FreeNoise \u7684\u6269\u6563\u6a21\u578b\u3002<\/section>\n<\/li>\n<li>\n<section>\u5728\u957f\u7a0b\u751f\u6210\u4efb\u52a1\u4e2d\uff0cEnerVerse \u5c55\u73b0\u51fa\u66f4\u5f3a\u7684\u903b\u8f91\u4e00\u81f4\u6027\u4e0e\u8fde\u7eed\u751f\u6210\u80fd\u529b\uff0c\u8fd9\u662f\u73b0\u6709\u6a21\u578b\u65e0\u6cd5\u5b9e\u73b0\u7684\u3002<\/section>\n<\/li>\n<\/ul>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-cb0fbab570d26e79a48c0d0b1a6ec618.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-cb0fbab570d26e79a48c0d0b1a6ec618.png\"><\/a><\/section>\n<section>\u6b64\u5916\uff0cEnerVerse \u5728 LIBERO \u4eff\u771f\u573a\u666f\u548c AgiBot World \u771f\u5b9e\u573a\u666f\u4e2d\u751f\u6210\u7684\u591a\u89c6\u89d2\u89c6\u9891\u8d28\u91cf\u4e5f\u5f97\u5230\u4e86\u5145\u5206\u9a8c\u8bc1\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-5a3762aedff92db69eb24993ce01f3f2.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-5a3762aedff92db69eb24993ce01f3f2.png\"><\/a><\/section>\n<section>\u5176\u5bf9\u5e94\u7684\u751f\u6210\u89c6\u9891\u5982\u4e0b\u6240\u793a\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/B6MfkL_SxZ5BrR--PYqYiQ?token=1937837474&amp;lang=zh_CN\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-70d8ae3366551d8d867926b0532f42c1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-70d8ae3366551d8d867926b0532f42c1.png\"><\/a><\/a><a href=\"https:\/\/mp.weixin.qq.com\/s\/B6MfkL_SxZ5BrR--PYqYiQ?token=1937837474&amp;lang=zh_CN\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-44ddb3c399371269fe03357e094a6076.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-44ddb3c399371269fe03357e094a6076.png\"><\/a><\/a><\/section>\n<section><strong>2. \u52a8\u4f5c\u89c4\u5212\u80fd\u529b<\/strong><\/section>\n<section><\/section>\n<section>\u5728 LIBERO \u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cEnerVerse \u5728\u673a\u5668\u4eba\u52a8\u4f5c\u89c4\u5212\u4efb\u52a1\u4e2d\u53d6\u5f97\u663e\u8457\u4f18\u52bf\uff1a<\/section>\n<section><\/section>\n<ul>\n<li>\n<section>\u5355\u89c6\u89d2\uff08one FAV\uff09\u8bbe\u5b9a\uff1aEnerVerse \u5728 LIBERO \u56db\u7c7b\u4efb\u52a1\u4e2d\u7684\u5e73\u5747\u6210\u529f\u7387\u5df2\u8d85\u8fc7\u73b0\u6709\u65b9\u6cd5\u3002<\/section>\n<\/li>\n<li>\n<section>\u591a\u89c6\u89d2\uff08three FAV\uff09\u8bbe\u5b9a\uff1a\u8fdb\u4e00\u6b65\u63d0\u5347\u4efb\u52a1\u6210\u529f\u7387\uff0c\u5728\u6bcf\u4e00\u7c7b\u4efb\u52a1\u4e0a\u5747\u8d85\u8d8a\u5f53\u524d\u6700\u4f73\u65b9\u6cd5\u3002<\/section>\n<\/li>\n<\/ul>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-f0666eec88e2f0482d3f4838ef97ca9e.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-f0666eec88e2f0482d3f4838ef97ca9e.png\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-71d5b3accc788d32d3b34bb38cb2df06.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-71d5b3accc788d32d3b34bb38cb2df06.png\"><\/a><\/section>\n<section>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cLIBERO-Long\u4e0a\u5747\u4e3a\u9700\u8981\u673a\u5668\u591a\u6b65\u6267\u884c\u7684\u4efb\u52a1\uff0c\u5982\u4e0b\u89c6\u9891\u6240\u793a\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/B6MfkL_SxZ5BrR--PYqYiQ?token=1937837474&amp;lang=zh_CN\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-d9e04741e073b16ebc4ce7369086de0f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-d9e04741e073b16ebc4ce7369086de0f.png\"><\/a><\/a><\/section>\n<section><strong>3. \u6d88\u878d\u4e0e\u8bad\u7ec3\u7b56\u7565\u5206\u6790<\/strong><\/section>\n<section><\/section>\n<section>\u7a00\u758f\u8bb0\u5fc6\u673a\u5236\uff1a\u6d88\u878d\u5b9e\u9a8c\u8868\u660e\uff0c\u7a00\u758f\u8bb0\u5fc6\u5bf9\u957f\u7a0b\u5e8f\u5217\u751f\u6210\u7684\u903b\u8f91\u5408\u7406\u6027\u53ca\u957f\u7a0b\u52a8\u4f5c\u9884\u6d4b\u7cbe\u5ea6\u81f3\u5173\u91cd\u8981\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-114d180254ec7e6ccb44cd568f53de3b.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-114d180254ec7e6ccb44cd568f53de3b.png\"><\/a><\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-042763f01b9b1750ba0cb444cc2fea7d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-042763f01b9b1750ba0cb444cc2fea7d.png\"><\/a><\/section>\n<section>\u4e8c\u9636\u6bb5\u8bad\u7ec3\u7b56\u7565\uff1a\u5148\u8fdb\u884c\u672a\u6765\u7a7a\u95f4\u751f\u6210\u8bad\u7ec3\uff0c\u518d\u8fdb\u884c\u52a8\u4f5c\u9884\u6d4b\u8bad\u7ec3\u7684\u4e8c\u9636\u6bb5\u7b56\u7565\uff0c\u53ef\u663e\u8457\u63d0\u5347\u52a8\u4f5c\u89c4\u5212\u6027\u80fd\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-a182efeaa845f6da736f887c2442d1df.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-a182efeaa845f6da736f887c2442d1df.png\"><\/a><\/section>\n<section><strong>4. \u6ce8\u610f\u529b\u53ef\u89c6\u5316<\/strong><\/section>\n<section><\/section>\n<section>\u901a\u8fc7\u53ef\u89c6\u5316 Diffusion \u7b56\u7565\u5934\u4e2d\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757\uff0c\u7814\u7a76\u53d1\u73b0 EnerVerse \u751f\u6210\u7684\u672a\u6765\u7a7a\u95f4\u4e0e\u9884\u6d4b\u7684\u52a8\u4f5c\u7a7a\u95f4\u5177\u6709\u8f83\u5f3a\u7684\u65f6\u5e8f\u4e00\u81f4\u6027\u3002\u8fd9\u76f4\u89c2\u4f53\u73b0\u4e86 EnerVerse \u5728\u672a\u6765\u7a7a\u95f4\u751f\u6210\u4e0e\u52a8\u4f5c\u89c4\u5212\u4efb\u52a1\u4e2d\u7684\u76f8\u5173\u6027\u4e0e\u4f18\u52bf\u3002<\/section>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-0e81b8d1fc9b744fe0707cb43625e83f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/01\/frc-0e81b8d1fc9b744fe0707cb43625e83f.png\"><\/a><\/section>\n<section>\u667a\u5143\u673a\u5668\u4eba\u901a\u8fc7 EnerVerse \u67b6\u6784\u5f00\u521b\u4e86\u672a\u6765\u5177\u8eab\u667a\u80fd\u7684\u65b0\u65b9\u5411\u3002\u901a\u8fc7\u672a\u6765\u7a7a\u95f4\u751f\u6210\u5f15\u5bfc\u52a8\u4f5c\u89c4\u5212\uff0cEnerVerse \u4e0d\u4ec5\u7a81\u7834\u4e86\u673a\u5668\u4eba\u4efb\u52a1\u89c4\u5212\u7684\u6280\u672f\u74f6\u9888\uff0c\u8fd8\u4e3a\u591a\u6a21\u6001\u3001\u957f\u7a0b\u4efb\u52a1\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u5168\u65b0\u8303\u5f0f\u3002<\/section>\n<section><\/section>\n<section><strong>\u4f5c\u8005\u4ecb\u7ecd<\/strong><\/section>\n<section><\/section>\n<section>EnerVerse \u4e3b\u8981\u79d1\u7814\u6210\u5458\u6765\u81ea\u667a\u5143\u673a\u5668\u4eba\u7814\u7a76\u9662\u5177\u8eab\u7b97\u6cd5\u56e2\u961f\u3002\u8bba\u6587\u5171\u540c\u4e00\u4f5c\u9ec4\u601d\u6e0a\u662f\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u4e0e\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u7684\u8054\u57f9\u535a\u58eb\u751f\uff0c\u5e08\u4ece CUHK-MMLab \u7684\u674e\u9e3f\u5347\u6559\u6388\u3002\u535a\u58eb\u671f\u95f4\u7684\u7814\u7a76\u8bfe\u9898\u4e3a\u57fa\u4e8e\u591a\u6a21\u6001\u5927\u6a21\u578b\u7684\u5177\u8eab\u667a\u80fd\u4ee5\u53ca\u9ad8\u6548\u667a\u80fd\u4f53\u7684\u7814\u7a76\u3002\u5728 CoRL\u3001MM\u3001 IROS\u3001ECCV \u7b49\u9876\u7ea7\u4f1a\u8bae\u4e0a\uff0c\u4ee5\u7b2c\u4e00\u4f5c\u8005\u6216\u5171\u540c\u7b2c\u4e00\u4f5c\u8005\u8eab\u4efd\u53d1\u8868\u591a\u7bc7\u8bba\u6587\u3002\u53e6\u4e00\u4f4d\u5171\u540c\u4e00\u4f5c\u9648\u7acb\u6881\u662f\u667a\u5143\u673a\u5668\u4eba\u7684\u5177\u8eab\u7b97\u6cd5\u4e13\u5bb6\uff0c\u4e3b\u8981\u8d1f\u8d23\u5177\u8eab\u7a7a\u95f4\u667a\u80fd\u4e0e\u4e16\u754c\u6a21\u578b\u7684\u7814\u7a76\u3002<\/section>\n<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-01-09-16\" target=\"_blank\">\u5177\u8eab\u667a\u80fd\u65b0\u9ad8\u5ea6\uff01\u667a\u5143\u673a\u5668\u4eba\u63a8\u51fa\u5168\u7403\u9996\u4e2a4D\u4e16\u754c\u6a21\u578bEnerVerse<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:\u5177\u8eab\u667a\u80fd\u65b0\u9ad8\u5ea6\uff01\u667a\u5143\u673a [&hellip;]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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