{"id":38736,"date":"2025-02-22T03:00:56","date_gmt":"2025-02-21T19:00:56","guid":{"rendered":"https:\/\/17aitech.com\/?p=38736"},"modified":"2025-02-22T03:00:56","modified_gmt":"2025-02-21T19:00:56","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e8%a7%86%e8%a7%89%e6%8e%a7%e5%88%b6%e6%96%b0%e8%8c%83%e5%bc%8f%ef%bc%81bytedance-research%e6%96%b0%e7%ae%97%e6%b3%95%e5%ae%9e%e7%8e%b0%e9%80%9a%e8%bf%87%e6%80%a7%e8%83%bdso","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=38736","title":{"rendered":"\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-02-21-8\" target=\"_blank\">\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA<\/a><\/p>\n<p>\u4e16\u754c\u6a21\u578b\uff08World Model\uff09\u4f5c\u4e3a\u8fd1\u5e74\u6765\u673a\u5668\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u7684\u7814\u7a76\u70ed\u70b9\uff0c\u901a\u8fc7\u5efa\u7acb\u667a\u80fd\u4f53\u5bf9\u5176\u6240\u5904\u73af\u5883\u7684\u4e00\u79cd\u5185\u90e8\u8868\u5f81\u548c\u6a21\u62df\uff0c\u80fd\u591f\u52a0\u5f3a\u667a\u80fd\u4f53\u5bf9\u4e8e\u4e16\u754c\u7684\u7406\u89e3\uff0c\u8fdb\u800c\u66f4\u597d\u5730\u8fdb\u884c\u89c4\u5212\u548c\u51b3\u7b56\u3002\u5728\u5f3a\u5316\u5b66\u4e60\u9886\u57df\u4e2d\uff0c\u4e16\u754c\u6a21\u578b\u901a\u5e38\u88ab\u5efa\u6a21\u4e3a\u4e00\u4e2a\u795e\u7ecf\u7f51\u7edc\uff0c\u901a\u8fc7\u5386\u53f2\u72b6\u6001\u548c\u52a8\u4f5c\uff0c\u9884\u6d4b\u672a\u6765\u53ef\u80fd\u51fa\u73b0\u7684\u72b6\u6001\u3002\u5176\u4e2d\uff0cDreamer \u7b97\u6cd5\u5728\u591a\u79cd\u6a21\u62df\u73af\u5883\u7684\u6210\u529f\u8868\u73b0\u8ba9\u6211\u4eec\u770b\u5230\u4e86\u4e16\u754c\u6a21\u578b\u4f18\u79c0\u7684\u8868\u5f81\u548c\u6cdb\u5316\u80fd\u529b\u3002\u5982\u679c\u5c06\u4e16\u754c\u6a21\u578b\u5e94\u7528\u4e8e\u590d\u6742\u771f\u5b9e\u573a\u666f\uff0c\u662f\u5426\u80fd\u591f\u5b9e\u73b0\u66f4\u597d\u7684\u63a7\u5236\u51b3\u7b56\u5462\uff1f<\/p>\n<p>\u5bf9\u6b64\uff0cByteDance Research \u7814\u7a76\u56e2\u961f\u4e0e\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u5408\u4f5c\uff0c\u6210\u529f\u5c06\u4e16\u754c\u6a21\u578b\u5e94\u7528\u4e8e\u56db\u8db3\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u9886\u57df\uff0c\u63d0\u51fa\u4e86\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u7684\u611f\u77e5\u7b97\u6cd5 WMP\uff08World Model-based Perception\uff09\uff0cWMP \u901a\u8fc7\u5728\u6a21\u62df\u5668\u4e2d\u5b66\u4e60\u4e16\u754c\u6a21\u578b\u548c\u7b56\u7565\uff0c\u5176\u4e2d\u4e16\u754c\u6a21\u578b\u901a\u8fc7\u5386\u53f2\u611f\u77e5\u4fe1\u606f\uff08\u5305\u62ec\u89c6\u89c9\u611f\u77e5\u548c\u672c\u4f53\u611f\u77e5\uff09\u9884\u6d4b\u672a\u6765\u7684\u611f\u77e5\uff0c\u7b56\u7565\u4ee5\u4e16\u754c\u6a21\u578b\u63d0\u53d6\u7684\u7279\u5f81\u4f5c\u4e3a\u8f93\u5165\uff0c\u8f93\u51fa\u5177\u4f53\u63a7\u5236\u52a8\u4f5c\u3002<\/p>\n<p>WMP \u5c06\u6a21\u62df\u5668\u4e2d\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u548c\u7b56\u7565 Zero-Shot \u8fc1\u79fb\u5230\u5b87\u6811 A1 \u673a\u5668\u4eba\u8fdb\u884c\u9a8c\u8bc1\uff0c\u5728\u591a\u79cd\u73af\u5883\u4e0b\u53d6\u5f97\u4e86\u51fa\u8272\u7684\u6210\u7ee9\uff0c\u8fbe\u5230\u4e86\u76ee\u524d\u4e3a\u6b62 A1 \u673a\u5668\u4eba SOTA \u7684\u901a\u8fc7\u6027\u80fd\u3002\u540c\u65f6\uff0c\u4f7f\u7528\u6a21\u62df\u6570\u636e\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u53ef\u4ee5\u51c6\u786e\u9884\u6d4b\u771f\u5b9e\u8f68\u8ff9\uff0c\u5c55\u793a\u51fa\u5353\u8d8a\u7684\u6cdb\u5316\u6027\u80fd\uff0c\u6709\u671b\u6210\u4e3a\u4e00\u79cd\u673a\u5668\u4eba\u63a7\u5236\u7684\u65b0\u8303\u5f0f\u3002<\/p>\n<ul>\n<li>\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/wmp-loco.github.io\/<\/p>\n<\/li>\n<li>\n<p>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2409.16784<\/p>\n<\/li>\n<\/ul>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-251d03952a1f57c3d3b9cbdb207d1311.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-251d03952a1f57c3d3b9cbdb207d1311.gif\"><\/a><\/p>\n<p><strong>\u7814\u7a76\u80cc\u666f<\/strong><\/p>\n<p>\u8fd1\u5e74\u6765\uff0c\u5f3a\u5316\u5b66\u4e60 (RL) \u901a\u8fc7\u5728\u7269\u7406\u6a21\u62df\u5668\u4e2d\u8bad\u7ec3\u7b56\u7565\uff0c\u7136\u540e\u5c06\u5176\u8f6c\u79fb\u5230\u73b0\u5b9e\u4e16\u754c\uff08Sim-to-Real transfer\uff09\uff0c\u5728\u8db3\u5f0f\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u63a7\u5236\u9886\u57df\u88ab\u5e7f\u6cdb\u5e94\u7528\u3002\u5728\u8db3\u5f0f\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u63a7\u5236\u4e2d\uff0c\u89c6\u89c9\u56fe\u50cf\u4fe1\u606f\u5bf9\u4e8e\u8bf8\u5982\u8d8a\u969c\u7b49\u590d\u6742\u73af\u5883\u662f\u4e0d\u53ef\u6216\u7f3a\u7684\u3002<\/p>\n<p>\u51ed\u501f\u5f3a\u5316\u5b66\u4e60\u7684\u5956\u52b1\u4fe1\u53f7\u4ece\u957f\u5e8f\u5217\u3001\u9ad8\u7ef4\u7684\u89c6\u89c9\u4fe1\u606f\u4e2d\u5b66\u4e60\u7b56\u7565\u96be\u5ea6\u6781\u5927\u3002\u4e3a\u4e86\u66f4\u597d\u5730\u5f15\u5165\u89c6\u89c9\u4fe1\u606f\uff0c\u4f20\u7edf\u7279\u6743\u5b66\u4e60\uff08privileged learning\uff09\u6846\u67b6\u9996\u5148\u5b66\u4e60\u4e00\u4e2a\u6559\u5e08\u7b56\u7565\uff0c\u6559\u5e08\u7b56\u7565\u7684\u8f93\u5165\u5305\u542b\u53ea\u80fd\u5728\u6a21\u62df\u5668\u4e2d\u5f97\u5230\u7684\u7279\u6743\u4fe1\u606f\uff0c\u5982\u9ad8\u5ea6\u56fe\u626b\u6807\u70b9\uff08heightmap scandots\uff09\uff0c\u5404\u7c7b\u969c\u788d\u7269\u7684\u51e0\u4f55\u53c2\u6570\u7b49\u3002\u4e4b\u540e\u518d\u5b66\u4e60\u4e00\u4e2a\u4ee5\u6df1\u5ea6\u56fe\u5e8f\u5217\u4e3a\u8f93\u5165\u7684\u5b66\u751f\u7b56\u7565\u4ee5\u6a21\u4eff\u6559\u5e08\u7b56\u7565\u7684\u52a8\u4f5c\u3002<\/p>\n<p>\u7531\u4e8e\u7279\u6743\u5b66\u4e60\u4e24\u9636\u6bb5\u7684\u8bad\u7ec3\u6a21\u5f0f\uff0c\u5b66\u751f\u7b56\u7565\u7684\u6027\u80fd\u5f80\u5f80\u843d\u540e\u4e8e\u6559\u5e08\u7b56\u7565\uff1b\u5e76\u4e14\u7279\u6743\u4fe1\u606f\u7684\u9009\u62e9\u9700\u8981\u4eba\u5de5\u8bbe\u8ba1\uff0c\u8f83\u4e3a\u7e41\u7410\uff0c\u540c\u65f6\u6613\u53d7\u5230\u5177\u4f53\u73af\u5883\u7684\u9650\u5236\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u4f7f\u7528 scandots \u4f5c\u4e3a\u7279\u6743\u4fe1\u606f\u65e0\u6cd5\u5904\u7406\u9700\u8981\u7cbe\u786e\u8ddd\u79bb\u7684\u73af\u5883\u4ee5\u53ca\u5b58\u5728\u7a7a\u4e2d\u969c\u788d\u7269\u7684\u73af\u5883\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-a12d4c4075195244a5b0ff69e6be33c0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-a12d4c4075195244a5b0ff69e6be33c0.png\"><\/a><\/p>\n<p>\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u52a8\u7269\u80fd\u591f\u5728\u6ca1\u6709\u7279\u6743\u4fe1\u606f\u7684\u60c5\u51b5\u4e0b\u4ec5\u51ed\u501f\u89c6\u89c9\u611f\u5b98\u4fe1\u606f\u901a\u8fc7\u5404\u79cd\u975e\u7ed3\u6784\u5316\u7684\u5730\u5f62\uff0c\u5e76\u4e14\u5728\u4e0d\u719f\u6089\u7684\u73af\u5883\u4e2d\u4f9d\u7136\u80fd\u591f\u505a\u51fa\u5408\u7406\u7684\u51b3\u7b56\u3002\u8ba4\u77e5\u79d1\u5b66\u7684\u4e00\u79cd\u89e3\u91ca\u662f\u52a8\u7269\u4f1a\u5229\u7528\u8111\u4e2d\u5efa\u7acb\u7684\u5fc3\u667a\u6a21\u578b\uff08mental model\uff09\u5bf9\u5916\u90e8\u73af\u5883\u8fdb\u884c\u7406\u89e3\u548c\u9884\u6d4b\u4ee5\u4fbf\u66f4\u597d\u5730\u7406\u89e3\u548c\u5e94\u5bf9\u5468\u56f4\u7684\u73af\u5883\uff0c\u4ece\u800c\u505a\u51fa\u5408\u7406\u7684\u52a8\u4f5c\u548c\u51b3\u7b56\u3002<\/p>\n<p>ByteDance Research \u7684\u673a\u5668\u4eba\u7814\u7a76\u56e2\u961f\u5728\u6b64\u542f\u53d1\u4e0b\u8bbe\u8ba1\u4e86\u4e00\u79cd\u66f4\u52a0\u901a\u7528\u7684\u673a\u5668\u4eba\u63a7\u5236\u6846\u67b6 WMP\uff08World Model-based Perception\uff09\u3002WMP \u901a\u8fc7\u6784\u5efa\u4e16\u754c\u6a21\u578b\u6765\u5904\u7406\u590d\u6742\u7684\u611f\u77e5\u4fe1\u606f\uff0c\u5e76\u5c06\u4e16\u754c\u6a21\u578b\u63d0\u53d6\u7684\u73af\u5883\u4fe1\u606f\u8f93\u5165\u7ed9\u7b56\u7565\uff0c\u89e3\u51b3\u4e86\u7279\u6743\u5b66\u4e60\u4e2d\u7279\u6743\u4fe1\u606f\u96be\u4ee5\u8bbe\u8ba1\u7684\u5c40\u9650\u6027\u3002\u901a\u8fc7\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u548c\u7b56\u7565\u53ef\u4ee5\u76f4\u63a5\u8fc1\u79fb\u5230\u771f\u5b9e\u73af\u5883\u7684 A1 \u673a\u5668\u4eba\u4e0a\uff0c\u5728\u591a\u79cd\u590d\u6742\u4efb\u52a1\u4e2d\u8fbe\u5230\u4e86\u76ee\u524d\u8be5\u9886\u57df\u7684\u9886\u5148\u6c34\u5e73\u6548\u679c\u3002\u4f8b\u5982\uff0c\u5728\u4e16\u754c\u6a21\u578b\u7684\u5e2e\u52a9\u4e0b\uff0cA1 \u673a\u5668\u4eba\u53ef\u4ee5\u8df3\u8fc7 85cm \u7684\u95f4\u9699\uff0c\u8df3\u4e0a 55cm \u7684\u9ad8\u53f0\uff0c\u7a7f\u8fc7 22cm \u9ad8\u7684\u6865\u6d1e\u3002\u8fd9\u4e9b\u7ed3\u679c\u8bc1\u660e\u4e86\u4e16\u754c\u6a21\u578b\u5bf9\u4e8e\u51b3\u7b56\u7684\u6b63\u5411\u4f5c\u7528\uff0c\u4e3a\u4e4b\u540e\u4e16\u754c\u6a21\u578b\u5728\u673a\u5668\u4eba\u7b49\u9886\u57df\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u91cd\u8981\u53c2\u8003\u3002<\/p>\n<p><strong>\u65b9\u6cd5<\/strong><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-7ae6b73056a52b7c32b06fc8260251df.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-7ae6b73056a52b7c32b06fc8260251df.gif\"><\/a><\/p>\n<p>WMP \u91c7\u7528\u7ecf\u5178\u7684 RSSM \u6846\u67b6\u4f5c\u4e3a\u4e16\u754c\u6a21\u578b\u7684\u7ed3\u6784\uff0cRSSM \u5305\u62ec\u7f16\u7801\u6a21\u5757 encoder\uff0c\u89e3\u7801\u6a21\u5757 decoder\uff0c\u4ee5\u53ca\u5faa\u73af\u6a21\u5757 recurrent model\u3002encoder \u5c06\u611f\u77e5\u4fe1\u606f\u4ee5\u53ca\u5faa\u73af\u72b6\u6001\u7f16\u7801\u4e3a\u4e00\u4e2a\u968f\u673a\u53d8\u91cf\uff0cdecoder \u901a\u8fc7\u5faa\u73af\u72b6\u6001\u548c\u968f\u673a\u53d8\u91cf\u6062\u590d\u51fa\u539f\u59cb\u7684\u611f\u77e5\u4fe1\u606f\uff0c\u800c\u5faa\u73af\u6a21\u5757\u5219\u901a\u8fc7\u5faa\u73af\u72b6\u6001\u3001\u968f\u673a\u53d8\u91cf\u4ee5\u53ca\u52a8\u4f5c\u5e8f\u5217\u9884\u6d4b\u4e0b\u4e00\u4e2a\u5faa\u73af\u72b6\u6001\u3002\u4e3a\u4e86\u6ee1\u8db3\u771f\u673a\u8fd0\u884c\u7684\u7b97\u529b\u8981\u6c42\uff0cWMP \u5c06\u4e16\u754c\u6a21\u578b\u7684\u8fd0\u884c\u9891\u7387\u8bbe\u5b9a\u4e3a\u7b56\u7565\u8fd0\u884c\u9891\u7387\u7684 k \u5206\u4e4b\u4e00\u3002\u7531\u4e8e\u4e16\u754c\u6a21\u578b\u4e3b\u8981\u5904\u7406\u66f4\u9ad8\u5c42\u7ea7\u7684\u4fe1\u606f\uff0c\u8f83\u4f4e\u7684\u63a7\u5236\u9891\u7387\u540c\u6837\u80fd\u6ee1\u8db3\u5e95\u5c42\u63a7\u5236\u7684\u9700\u6c42\uff0c\u8fd9\u4e0e\u4eba\u4f53\u5927\u8111\u548c\u5c0f\u8111\u5c55\u73b0\u51fa\u7684\u4e0d\u540c\u7684\u63a7\u5236\u9891\u7387\u60c5\u51b5\u6709\u4e00\u5b9a\u7684\u76f8\u4f3c\u4e4b\u5904\u3002<\/p>\n<p>\u4e00\u4e2a\u8bad\u7ec3\u6709\u7d20\u7684\u4e16\u754c\u6a21\u578b\u7684\u5faa\u73af\u72b6\u6001\u5305\u542b\u8db3\u591f\u591a\u7684\u4fe1\u606f\u4ece\u800c\u9884\u6d4b\u672a\u6765\u7684\u65f6\u95f4\u6b65\uff0c\u4e5f\u6709\u52a9\u4e8e\u7b56\u7565\u6267\u884c\u52a8\u4f5c\u3002\u56e0\u6b64\u5728 WMP \u6846\u67b6\u4e2d\uff0c\u7b56\u7565\u4f1a\u63a5\u53d7\u6765\u81ea\u4e16\u754c\u6a21\u578b\u7684\u5faa\u73af\u72b6\u6001\u4f5c\u4e3a\u8f93\u5165\u3002\u5e76\u4f7f\u7528\u5f3a\u5316\u5b66\u4e60\u7b97\u6cd5 PPO \u8fdb\u884c\u8bad\u7ec3\u3002\u6b64\u5916\uff0c\u7b56\u7565\u7684\u8bad\u7ec3\u548c\u4e16\u754c\u6a21\u578b\u7684\u8bad\u7ec3\u4f7f\u7528\u6a21\u62df\u6570\u636e\u540c\u6b65\u8fdb\u884c\uff0c\u7b80\u5316\u4e86\u7279\u6743\u5b66\u4e60\u4e2d\u7684\u4e24\u9636\u6bb5\u8bad\u7ec3\u3002\u8bad\u7ec3\u540e\u7684\u7b56\u7565\u548c\u4e16\u754c\u6a21\u578b\u53ef\u4ee5\u65e0\u9700\u5fae\u8c03\u76f4\u63a5\u8fc1\u79fb\u5230\u771f\u5b9e\u673a\u5668\u4eba\u8bbe\u5907\u3002<\/p>\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n<p><strong>\u6a21\u62df\u5b9e\u9a8c\uff1a<\/strong><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-6f0fa48d5ce9a6559f653b189fd5d298.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-6f0fa48d5ce9a6559f653b189fd5d298.png\"><\/a><\/p>\n<p>WMP \u7b97\u6cd5\u4f7f\u7528 Issacgym \u6a21\u62df\u5668\u6784\u5efa\u7684 6 \u79cd\u5730\u5f62\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff1aSlope\u3001Stair\u3001Gap\u3001Climb\u3001Crawl\u3001Tilt\u3002\u7531\u4e8e scandot \u7279\u6743\u4fe1\u606f\u7684\u5c40\u9650\u6027\uff0c\u4f7f\u7528\u7279\u6743\u5b66\u4e60\u8bad\u7ec3\u7684 Student baseline \u53ea\u4f7f\u7528\u524d\u56db\u4e2a\u5730\u5f62\u8fdb\u884c\u8bad\u7ec3\u3002\u5728\u6a21\u62df\u5668\u7684\u5b9a\u91cf\u5bf9\u6bd4\u5b9e\u9a8c\u4e2d\uff0cWMP \u5728\u7edd\u5927\u591a\u6570\u4efb\u52a1\u4e2d\u83b7\u5f97\u4e86\u6bd4 Baseline \u66f4\u9ad8\u7684\u56de\u62a5\u5956\u52b1\u4ee5\u53ca\u66f4\u5c0f\u7684\u901f\u5ea6\u8ffd\u8e2a\u8bef\u5dee\u3002<\/p>\n<p><strong>\u771f\u673a\u5b9e\u9a8c\uff1a<\/strong><\/p>\n<p>\u5728\u771f\u673a\u5b9e\u9a8c\u4e2d\uff0cWMP \u7ee7\u627f\u4e86\u6a21\u62df\u5668\u4e2d\u7684\u4f18\u79c0\u8868\u73b0\uff0c\u76f8\u6bd4 baseline \u80fd\u4ee5\u66f4\u9ad8\u7684\u6210\u529f\u7387\u901a\u8fc7\u66f4\u96be\u7684\u5730\u5f62\uff0c\u5e76\u4e14\u5728\u5ba4\u5185\u548c\u5ba4\u5916\u73af\u5883\u4e2d\u8868\u73b0\u4fdd\u6301\u4e00\u81f4\uff0c\u8fdb\u4e00\u6b65\u5c55\u73b0\u51fa\u4e16\u754c\u6a21\u578b\u4f18\u79c0\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n<p><strong>\u4e00\u955c\u5230\u5e95\u89c6\u9891\uff1a<\/strong><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-3d29be7bc33f355d1ffec1ca52a6d52e.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-3d29be7bc33f355d1ffec1ca52a6d52e.gif\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-74226bde10a4b111f1cbb0c5f640a4f8.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-74226bde10a4b111f1cbb0c5f640a4f8.gif\"><\/a><\/p>\n<p><strong>\u9a8c\u8bc1\u5b9e\u9a8c\uff1a<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-9368b4fe5e7453ec1b5cb9c956a846aa.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-9368b4fe5e7453ec1b5cb9c956a846aa.gif\"><\/a><\/strong><\/p>\n<p>\u4f7f\u7528\u6a21\u62df\u6570\u636e\u8bad\u7ec3\u9700\u8981\u8003\u8651\u7684\u4e00\u4e2a\u95ee\u9898\u662f\u4e16\u754c\u6a21\u578b\u5bf9\u771f\u5b9e\u8f68\u8ff9\u9884\u6d4b\u7684\u51c6\u786e\u6027\u5982\u4f55\u3002\u9a8c\u8bc1\u5b9e\u9a8c\u8868\u660e\uff0c\u4e16\u754c\u6a21\u578b\u5bf9\u4e8e\u771f\u5b9e\u8f68\u8ff9\u7684\u56fe\u50cf\u80fd\u7ed9\u51fa\u51c6\u786e\u7684\u9884\u6d4b\uff0c\u5c24\u5176\u662f\u5bf9\u4e8e\u5173\u952e\u7684\u90e8\u5206\u3002\u4f8b\u5982\uff0c\u4e16\u754c\u6a21\u578b\u5bf9\u6865\u6d1e\u969c\u788d\u7269\u6574\u4f53\u5f62\u72b6\u7684\u9884\u6d4b\u5b58\u5728\u504f\u5dee\uff0c\u4f46\u5bf9\u673a\u5668\u4eba\u9700\u901a\u8fc7\u7684\u7a84\u7f1d\u7684\u4f4d\u7f6e\u89d2\u5ea6\u7684\u9884\u6d4b\u5341\u5206\u51c6\u786e\u3002\u8fd9\u9a8c\u8bc1\u4e86\u4e16\u754c\u6a21\u578b\u6709\u5229\u4e8e\u89e3\u6784\u548c\u63d0\u53d6\u4e0d\u540c\u57df\u4e2d\u7684\u5173\u952e\u8981\u7d20\uff0c\u4ece\u800c\u6709\u52a9\u4e8e\u6a21\u62df\u5230\u771f\u5b9e\u7684\u6cdb\u5316\u3002<\/p>\n<p><strong>\u603b\u7ed3<\/strong><\/p>\n<p>\u672c\u7814\u7a76\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u8fd0\u52a8\u63a7\u5236\u6846\u67b6\uff0c\u901a\u8fc7\u6784\u7b51\u7684\u4e16\u754c\u6a21\u578b\u6765\u5904\u7406\u89c6\u89c9\u4fe1\u606f\u548c\u8f85\u52a9\u51b3\u7b56\uff0c\u5728\u56db\u8db3\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236\u9886\u57df\u53d6\u5f97\u4e86\u4e0d\u9519\u7684\u6548\u679c\u3002WMP \u63ed\u793a\u4e86\u4e16\u754c\u6a21\u578b\u5728 Sim2Real \u4ee5\u53ca\u673a\u5668\u4eba\u63a7\u5236\u9886\u57df\u7684\u5de8\u5927\u6f5c\u529b\uff0c\u4e3a\u4e4b\u540e\u4e16\u754c\u6a21\u578b\u5728\u73b0\u5b9e\u4e16\u754c\u66f4\u5e7f\u6cdb\u7684\u5e94\u7528\u63d0\u4f9b\u4e86\u6837\u4f8b\u548c\u5b9d\u8d35\u7684\u7ecf\u9a8c\u3002<\/p>\n<p><em><sup>\u53c2\u8003\u6587\u732e\uff1a<\/sup><\/em><\/p>\n<p><sup><em>1. Ha, David, and J\u00fcrgen Schmidhuber. &#8220;World models.&#8221; arXiv preprint arXiv:1803.10122 (2018).<\/em><\/sup><\/p>\n<p><sup><em>2. Hafner, Danijar, et al. &#8220;Learning latent dynamics for planning from pixels.&#8221; International conference on machine learning. PMLR, 2019.<\/em><\/sup><\/p>\n<p><sup><em>3. Hafner, Danijar, et al. &#8220;Learning latent dynamics for planning from pixels.&#8221; International conference on machine learning. PMLR, 2019.<\/em><\/sup><\/p>\n<p><sup><em>4. Hafner, Danijar, et al. &#8220;Mastering atari with discrete world models.&#8221; arXiv preprint arXiv:2010.02193 (2020).<\/em><\/sup><\/p>\n<p><sup><em>5. Hafner, Danijar, et al. &#8220;Mastering diverse domains through world models.&#8221; arXiv preprint arXiv:2301.04104 (2023).<\/em><\/sup><\/p>\n<p><sup><em>6. Lee, Joonho, et al. &#8220;Learning quadrupedal locomotion over challenging terrain.&#8221; Science robotics 5.47 (2020): eabc5986.<\/em><\/sup><\/p>\n<p><sup><em>7. Miki, Takahiro, et al. &#8220;Learning robust perceptive locomotion for quadrupedal robots in the wild.&#8221; Science robotics 7.62 (2022): eabk2822.<\/em><\/sup><\/p>\n<p><sup><em>8. Agarwal, Ananye, et al. &#8220;Legged locomotion in challenging terrains using egocentric vision.&#8221; Conference on robot learning. PMLR, 2023.<\/em><\/sup><\/p>\n<p><sup><em>9. Wu, Philipp, et al. &#8220;Daydreamer: World models for physical robot learning.&#8221; Conference on robot learning. PMLR, 2023.<\/em><\/sup><\/p>\n<p><sup><em>10. Zhuang, Ziwen, et al. &#8220;Robot parkour learning.&#8221; arXiv preprint arXiv:2309.05665 (2023).<\/em><\/sup><\/p>\n<p><em><sup>11. Cheng, Xuxin, et al. &#8220;Extreme parkour with legged robots.&#8221; 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024.<\/sup><\/em><\/p>\n<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-02-21-8\" target=\"_blank\">\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01 [&hellip;]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[27],"tags":[55],"class_list":["post-38736","post","type-post","status-publish","format-standard","hentry","category-news","tag-55"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.4 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA - \u4e00\u8d77AI\u6280\u672f<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/17aitech.com\/?p=38736\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/17aitech.com\/?p=38736\",\"url\":\"https:\/\/17aitech.com\/?p=38736\",\"name\":\"\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA - \u4e00\u8d77AI\u6280\u672f\",\"isPartOf\":{\"@id\":\"https:\/\/17aitech.com\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\/\/17aitech.com\/?p=38736#primaryimage\"},\"image\":{\"@id\":\"https:\/\/17aitech.com\/?p=38736#primaryimage\"},\"thumbnailUrl\":\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-251d03952a1f57c3d3b9cbdb207d1311.gif\",\"datePublished\":\"2025-02-21T19:00:56+00:00\",\"author\":{\"@id\":\"https:\/\/17aitech.com\/#\/schema\/person\/60225458499e817ae0af73e67e440b9d\"},\"breadcrumb\":{\"@id\":\"https:\/\/17aitech.com\/?p=38736#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/17aitech.com\/?p=38736\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/17aitech.com\/?p=38736#primaryimage\",\"url\":\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-251d03952a1f57c3d3b9cbdb207d1311.gif\",\"contentUrl\":\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-251d03952a1f57c3d3b9cbdb207d1311.gif\"},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/17aitech.com\/?p=38736#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/17aitech.com\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/17aitech.com\/#website\",\"url\":\"https:\/\/17aitech.com\/\",\"name\":\"\u4e00\u8d77AI\u6280\u672f\",\"description\":\"\u8ba9AI\u77e5\u8bc6\u89e6\u624b\u53ef\u53ca\",\"alternateName\":\"\u4e00\u8d77AI\u6280\u672f\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/17aitech.com\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/17aitech.com\/#\/schema\/person\/60225458499e817ae0af73e67e440b9d\",\"name\":\"AI\u5c0f\u52a9\u624b\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/17aitech.com\/#\/schema\/person\/image\/\",\"url\":\"\/\/17aitech.com\/wp-content\/uploads\/2024\/04\/robot_3.png\",\"contentUrl\":\"\/\/17aitech.com\/wp-content\/uploads\/2024\/04\/robot_3.png\",\"caption\":\"AI\u5c0f\u52a9\u624b\"},\"description\":\"\u8fd9\u4e2a\u4eba\u5f88\u61d2\uff0c\u4ec0\u4e48\u90fd\u6ca1\u6709\u7559\u4e0b\uff5e\",\"url\":\"https:\/\/17aitech.com\/?page_id=33738&user=3\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA - \u4e00\u8d77AI\u6280\u672f","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/17aitech.com\/?p=38736","schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/17aitech.com\/?p=38736","url":"https:\/\/17aitech.com\/?p=38736","name":"\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA - \u4e00\u8d77AI\u6280\u672f","isPartOf":{"@id":"https:\/\/17aitech.com\/#website"},"primaryImageOfPage":{"@id":"https:\/\/17aitech.com\/?p=38736#primaryimage"},"image":{"@id":"https:\/\/17aitech.com\/?p=38736#primaryimage"},"thumbnailUrl":"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-251d03952a1f57c3d3b9cbdb207d1311.gif","datePublished":"2025-02-21T19:00:56+00:00","author":{"@id":"https:\/\/17aitech.com\/#\/schema\/person\/60225458499e817ae0af73e67e440b9d"},"breadcrumb":{"@id":"https:\/\/17aitech.com\/?p=38736#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/17aitech.com\/?p=38736"]}]},{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/17aitech.com\/?p=38736#primaryimage","url":"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-251d03952a1f57c3d3b9cbdb207d1311.gif","contentUrl":"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-251d03952a1f57c3d3b9cbdb207d1311.gif"},{"@type":"BreadcrumbList","@id":"https:\/\/17aitech.com\/?p=38736#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/17aitech.com\/"},{"@type":"ListItem","position":2,"name":"\u673a\u5668\u4eba\u89c6\u89c9\u63a7\u5236\u65b0\u8303\u5f0f\uff01ByteDance Research\u65b0\u7b97\u6cd5\u5b9e\u73b0\u901a\u8fc7\u6027\u80fdSOTA"}]},{"@type":"WebSite","@id":"https:\/\/17aitech.com\/#website","url":"https:\/\/17aitech.com\/","name":"\u4e00\u8d77AI\u6280\u672f","description":"\u8ba9AI\u77e5\u8bc6\u89e6\u624b\u53ef\u53ca","alternateName":"\u4e00\u8d77AI\u6280\u672f","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/17aitech.com\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/17aitech.com\/#\/schema\/person\/60225458499e817ae0af73e67e440b9d","name":"AI\u5c0f\u52a9\u624b","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/17aitech.com\/#\/schema\/person\/image\/","url":"\/\/17aitech.com\/wp-content\/uploads\/2024\/04\/robot_3.png","contentUrl":"\/\/17aitech.com\/wp-content\/uploads\/2024\/04\/robot_3.png","caption":"AI\u5c0f\u52a9\u624b"},"description":"\u8fd9\u4e2a\u4eba\u5f88\u61d2\uff0c\u4ec0\u4e48\u90fd\u6ca1\u6709\u7559\u4e0b\uff5e","url":"https:\/\/17aitech.com\/?page_id=33738&user=3"}]}},"_links":{"self":[{"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/posts\/38736","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/17aitech.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=38736"}],"version-history":[{"count":0,"href":"https:\/\/17aitech.com\/index.php?rest_route=\/wp\/v2\/posts\/38736\/revisions"}],"wp:attachment":[{"href":"https:\/\/17aitech.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=38736"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/17aitech.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=38736"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/17aitech.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=38736"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}