{"id":38756,"date":"2025-02-22T13:00:53","date_gmt":"2025-02-22T05:00:53","guid":{"rendered":"https:\/\/17aitech.com\/?p=38756"},"modified":"2025-02-22T13:00:53","modified_gmt":"2025-02-22T05:00:53","slug":"3d-%e8%a7%86%e8%a7%89%e6%b4%be%ef%bc%9a%e6%96%af%e5%9d%a6%e7%a6%8f%e5%85%b7%e8%ba%ab%e6%99%ba%e8%83%bd%e4%ba%ba%e7%89%a9%e5%85%b3%e7%b3%bb%e5%9b%be","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=38756","title":{"rendered":"3D \u89c6\u89c9\u6d3e\uff1a\u65af\u5766\u798f\u5177\u8eab\u667a\u80fd\u4eba\u7269\u5173\u7cfb\u56fe"},"content":{"rendered":"<p><\/p>\n<p>\u4f5c\u8005 | \u8d56\u6587\u6615 \u9648\u5f69\u5a34<\/p>\n<p>\u7f16\u8f91 | \u9648\u5f69\u5a34<\/p>\n<p>2009 \u5e74\uff0c\u5f53\u82cf\u660a\u7b2c\u4e00\u6b21\u8d70\u8fdb\u4f4d\u4e8e\u65af\u5766\u798f Serra Mall 353 \u53f7\u7684\u76d6\u8328\u5927\u697c\u65f6\uff0c\u4ed6\u521a\u7ecf\u5386\u5b8c\u4e00\u573a\u5bf9\u4eba\u5de5\u667a\u80fd\u7684\u601d\u60f3\u6323\u624e\u3002<\/p>\n<p>\u90a3\u65f6\u4ed6\u521a\u53c2\u52a0\u5b8c\u642d\u5efa ImageNet\u3002\u5bfc\u5e08\u674e\u98de\u98de\u4ece\u666e\u6797\u65af\u987f\u8f6c\u5230\u65af\u5766\u798f\u4efb\u6559\u540e\uff0c\u4ed6\u4e5f\u968f\u4e4b\u4ece\u7f8e\u56fd\u4e1c\u90e8\u6765\u5230\u7845\u8c37\u3002\u5728\u666e\u6797\u65af\u987f\u7684\u7b97\u6cd5\u8bfe\u4e0a\uff0c\u8457\u540d\u8ba1\u7b97\u673a\u79d1\u5b66\u5bb6 Robert Schapire \u8ba4\u4e3a\uff0c\u201c\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u89e3\u51b3\u8fd8\u8981 200 \u5e74\u201d\u3002\u82cf\u660a\u5c1d\u8bd5\u4e0e\u4ed6\u7684\u670b\u53cb\u987e\u6625\u8f89\uff08\u4f2f\u514b\u5229\u535a\u58eb\uff09\u4ea4\u6d41\u503e\u8bc9\uff0c\u987e\u6625\u8f89\u5bbd\u6170\u4ed6\uff0c\u8bf4\u89c6\u89c9\u6b63\u5904\u4e8e\u9ece\u660e\u524d\u7684\u9ed1\u6697\uff0c\u4f46\u4e0b\u4e00\u53e5\u662f\u201c\u53ef\u80fd\u8fd8\u8981\u9ed1\u6697 30 \u5e74\u201d\u3002<\/p>\n<p>\u8fd9\u96be\u514d\u4f7f\u4ed6\u5bf9\u4e2a\u4eba\u7684\u5b66\u672f\u547d\u8fd0\u4e0e\u804c\u4e1a\u751f\u6daf\u611f\u5230\u62c5\u5fe7\u4e0e\u8ff7\u60d8\u3002<\/p>\n<p>\u7ed3\u679c\uff0c\u4e8b\u7269\u7684\u53d1\u5c55\u51fa\u4eba\u610f\u6599\u2014\u2014\u4ec5 3 \u5e74\u540e\uff0cAlexNet \u8bde\u751f\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u661f\u661f\u4e4b\u706b\u8fc5\u901f\u71ce\u539f\uff0c\u5927\u89c4\u6a21\u6570\u636e\u96c6 ImageNet \u4e5f\u6210\u4e3a\u63a8\u52a8 2D \u89c6\u89c9\u5d1b\u8d77\u7684\u5e55\u540e\u5927\u529f\u81e3\u3002\u82cf\u660a\u521d\u51fa\u8305\u5e90\u5c31\u53c2\u4e0e ImageNet\uff0c\u8fd9\u6837\u7684\u673a\u4f1a\u5343\u8f7d\u96be\u9022\u3002<\/p>\n<p>\u4f46\u76f8\u6bd4\u9e4a\u8d77\u58f0\u540d\uff0c\u8fd9\u6bb5\u7ecf\u5386\u8d77\u4f0f\u5e26\u7ed9\u4ed6\u7684\u6700\u5927\u5f71\u54cd\uff0c\u6216\u8bb8\u662f\u5bf9\u521b\u9020\u5386\u53f2\u7684\u8ba4\u77e5\uff1a<\/p>\n<p>\u771f\u6b63\u80fd\u591f\u6539\u53d8\u5386\u53f2\u7684\u65f6\u95f4\u70b9\uff0c\u65e9\u5df2\u5728\u9ece\u660e\u524d\u7684\u9ed1\u6697\u4e2d\u86f0\u4f0f\u8bb8\u4e45\u3002<\/p>\n<p><\/p>\n<p style=\"text-align:center\" class=\"heading-3 ace-line old-record-id-XpvPdUxhyonid6xZcyBcF41EnYc\"><strong>\u98ce\u8d77 3D\uff1a\u4ece ShapeNet \u5230 PointNet<\/strong><\/p>\n<p>\u8bb0\u5f97\u7b2c\u4e00\u6b21\u5728\u514b\u62c9\u514b\u4e2d\u5fc3\u89c1\u5230\u82cf\u660a\u65f6\uff0c\u5f0b\u529b\u5c31\u5bf9\u8fd9\u4e2a\u5e08\u5144\u7684\u5370\u8c61\u6df1\u523b\uff0c\u89c9\u5f97\u4ed6\u201c\u5bf9 3D \u89c6\u89c9\u7684\u53d1\u5c55\u6709\u975e\u5e38\u597d\u7684\u3001\u6709\u9884\u89c1\u6027\u7684\u770b\u6cd5\u201d\u3002<\/p>\n<p>\u90a3\u662f 2014 \u5e74\u3002\u5f53\u65f6\u82cf\u660a\u6b63\u5728\u5411 Leonidas J. Guibas \u201c\u63a8\u9500\u201d\u4e00\u4e2a\u8fdc\u5927\u7684\u7814\u7a76\u8ba1\u5212\uff1a\u6784\u5efa\u4e00\u4e2a 3D \u9886\u57df\u7684\u5927\u89c4\u6a21\u51e0\u4f55\u7269\u4f53\u6570\u636e\u96c6\uff0c\u5bf9\u6807 ImageNet\u3002<\/p>\n<p>\u5f0b\u529b\u4ece\u6e05\u534e\u672c\u79d1\u5f00\u59cb\u63a5\u89e6 3D \u4eba\u8138\u751f\u6210\uff0c\u5bf9 3D \u89c6\u89c9\u5f88\u611f\u5174\u8da3\uff0c\u5230\u65af\u5766\u798f\u540e\u4e5f\u60f3\u7ee7\u7eed\u7814\u7a76\u8fd9\u4e2a\u65b9\u5411\u3002\u5f53\u65f6 3D \u89c6\u89c9\u9886\u57df\u7684\u7814\u7a76\u8fd8\u662f\u4ee5\u4e09\u7ef4\u91cd\u5efa\u3001\u8fd0\u52a8\u6062\u590d\u7ed3\u6784\u7b49\u4f20\u7edf\u7684\u8bfe\u9898\u4e3a\u4e3b\uff0c\u5f88\u5c11\u6709\u4eba\u5c06\u91cd\u70b9\u653e\u5728\u6570\u636e\u4e0a\uff0c\u82cf\u660a\u7684\u60f3\u6cd5\u5f88\u8d85\u524d\u3002<\/p>\n<p>\u4e5f\u56e0\u4e3a\u8d85\u524d\uff0cLeonidas \u4e00\u5f00\u59cb\u5f88\u72b9\u8c6b\u3002Leonidas \u662f\u65af\u5766\u798f\u51e0\u4f55\u8ba1\u7b97\u7ec4\u7684\u4e3b\u4efb\uff0c\u4e5f\u662f\u82cf\u660a\u3001\u5f0b\u529b\u7684\u535a\u58eb\u5bfc\u5e08\u3002\u4f46\u82cf\u660a\u575a\u6301\u8ba4\u4e3a\u8fd9\u4e2a\u60f3\u6cd5\u503c\u5f97\u653e\u624b\u4e00\u640f\uff0c\u5728\u5e08\u5144\u9ec4\u5176\u5174\u7684\u652f\u6301\u548c\u5e2e\u52a9\u4e0b\uff0c\u82b1\u5927\u91cf\u7684\u65f6\u95f4\u4e0e\u7cbe\u529b\u53bb\u8bf4\u670d Leo\uff0c\u5728\u7ec4\u91cc\u529b\u63a8\u3002Leonidas \u770b\u5230\u4e86\u521d\u59cb\u6570\u636e\u96c6\u548c\u521d\u6b65\u7684\u7814\u7a76\u6210\u679c\u540e\u540c\u610f\u5728 2014 \u5e74\u5f00\u59cb\u5927\u89c4\u6a21 3D \u6570\u636e\u7684\u6536\u96c6\u5de5\u4f5c\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-926ec2a075307d238d5246c0bae8b9fb.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-926ec2a075307d238d5246c0bae8b9fb.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u82cf\u660a<\/p>\n<p>\u82cf\u660a\u7684\u672c\u79d1\u5c31\u8bfb\u4e8e\u5317\u4eac\u822a\u7a7a\u822a\u5929\u5927\u5b66\uff0c\u5bfc\u5e08\u662f\u674e\u672a\u30022005 \u5e74\uff0c\u674e\u672a\u5c06\u82cf\u660a\u5f15\u8350\u7ed9\u6c88\u5411\u6d0b\uff0c\u6c88\u5411\u6d0b\u6210\u4e3a\u82cf\u660a\u5728\u5317\u822a\u8bfb\u535a\u7684\u5171\u540c\u5bfc\u5e08\uff0c\u82cf\u660a\u4e5f\u7531\u6b64\u8fdb\u5165\u5fae\u8f6f\u4e9a\u7814\uff08MSRA\uff09\u5b9e\u4e60\uff0c\u5e76\u5728\u90a3\u91cc\u9996\u6b21\u63a5\u89e6\u5230\u4eba\u5de5\u667a\u80fd\u3002<\/p>\n<p>\u5728 MSRA\uff0c\u82cf\u660a\u5148\u8ddf\u7740\u5468\u660e\u7814\u7a76\u4e86\u4e00\u5e74\u81ea\u7136\u8bed\u8a00\u5904\u7406\uff0c\u7136\u540e\u53c8\u8ddf\u7740\u5b59\u5251\u7814\u7a76\u4e86\u4e24\u5e74\u8ba1\u7b97\u673a\u89c6\u89c9\u3002\u90a3\u4e09\u5e74\u6b63\u662f MSRA \u7684\u9ec4\u91d1\u65f6\u4ee3\uff0c\u82cf\u660a\u7684\u53f3\u8fb9\u5750\u7740\u5f90\u7acb\uff0c\u540e\u9762\u5750\u7740\u4f55\u607a\u660e\u3002<\/p>\n<p>\u540e\u6765\u6c88\u5411\u6d0b\u8f6c\u53bb\u7f8e\u56fd\uff0c\u5c06\u82cf\u660a\u63a8\u8350\u7ed9\u674e\u98de\u98de\u30022008 \u5e74\uff0c\u82cf\u660a\u5230\u666e\u6797\u65af\u987f\u5b66\u4e60\uff0c\u6b63\u597d\u53c2\u4e0e\u4e86\u674e\u98de\u98de\u5f53\u65f6\u6b63\u5728\u4e3b\u5bfc\u7684\u5927\u89c4\u6a21\u6570\u636e\u96c6 ImageNet \u9879\u76ee\u30022009 \u5e74\uff0c\u82cf\u660a\u8ddf\u7740\u674e\u98de\u98de\u4ece\u666e\u6797\u65af\u987f\u8f6c\u5230\u65af\u5766\u798f\uff0c\u5728 ImageNet \u4e4b\u540e\u53c8\u4e0e\u674e\u4f73\u7b49\u4eba\u5408\u4f5c\u4e86 Object Bank\u3002<\/p>\n<p>\u90a3\u65f6\u6df1\u5ea6\u5b66\u4e60\u8fd8\u6ca1\u706b\uff0c\u6ca1\u6709\u4eba\u77e5\u9053 ImageNet \u4f1a\u5728\u672a\u6765\u5f15\u7206\u89c6\u89c9\u5708\uff0c\u4f46\u82cf\u660a\u5df2\u7ecf\u5f00\u59cb\u76f8\u4fe1\u795e\u7ecf\u7f51\u7edc\u3002<\/p>\n<p>2010 \u5e74\u82cf\u660a\u5230\u5434\u6069\u8fbe\u7ec4\u5b9e\u4e60\u65f6\uff0c\u4e00\u5ea6\u60f3\u5c06 Object Bank \u53d8\u6210\u7aef\u5230\u7aef\u7684\u5de5\u4f5c\u5e94\u7528\u5230 ImageNet \u4e0a\u2014\u2014\u8fd9\u6b63\u662f\u540e\u6765 AlexNet \u7684\u601d\u8def\u3002\u4f46\u8fd9\u4e2a\u60f3\u6cd5\u6ca1\u6709\u83b7\u5f97\u5434\u6069\u8fbe\u7684\u652f\u6301\u3002AlexNet \u7206\u706b\u540e\uff0c\u82cf\u660a\u5728\u60cb\u60dc\u7684\u540c\u65f6\uff0c\u66f4\u52a0\u7b03\u5b9a\u7aef\u5230\u7aef\u7684\u7814\u7a76\u524d\u666f\uff0c\u4e8e\u662f\u51b3\u5b9a\u8f6c\u5411\u4e0e\u673a\u5668\u4eba\u66f4\u8fd1\u7684 3D \u89c6\u89c9\u7814\u7a76\uff0c\u52a0\u5165\u4e86 Leonidas \u95e8\u4e0b\u3002<\/p>\n<p>Leonidas \u662f\u51e0\u4f55\u7b97\u6cd5\u51fa\u8eab\uff0c\u540e\u6765\u7814\u7a76\u65b9\u5411\u62d3\u5c55\u5230\u56fe\u5f62\u5b66\u9886\u57df\u7684\u51e0\u4f55\u5904\u7406\uff0c\u5c24\u5176\u662f\u5f62\u72b6\u5206\u6790\u3002\u5f62\u72b6\u5206\u6790\u5bf9 3D \u89c6\u89c9\u4e2d\u7684\u6570\u636e\u7ed3\u6784\u3001\u51e0\u4f55\u7ed3\u6784\u3001\u8bed\u4e49\u5c5e\u6027\u4e0e\u529f\u80fd\u4fe1\u606f\u7b49\u7814\u7a76\u5341\u5206\u5173\u952e\uff0c\u56e0\u6b64\u5f53\u65f6\u65af\u5766\u798f\u7684\u8bb8\u591a 3D \u89c6\u89c9\u7231\u597d\u8005\uff0c\u5982\u9ec4\u5176\u5174\u3001\u82cf\u660a\u3001\u7941\u82ae\u4e2d\u53f0\uff0c\u90fd\u805a\u96c6\u5230\u4e86\u51e0\u4f55\u8ba1\u7b97\u7ec4\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-4809025d0d10f381f63d1e4aec08e25b.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-4809025d0d10f381f63d1e4aec08e25b.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u9ec4\u5176\u5174<\/p>\n<p>\u4ece\u8fdb\u5165 Leonidas \u7ec4\u8d77\uff0c\u82cf\u660a\u5c31\u5f00\u59cb\u5c1d\u8bd5\u5c06 3D \u89c6\u89c9\u4e0e\u6df1\u5ea6\u5b66\u4e60\u7ed3\u5408\u8d77\u6765\u3002\u5f53\u65f6\uff0c\u5bf9\u6bd4 2D \u89c6\u89c9\uff0c3D \u89c6\u89c9\u5728\u6df1\u5ea6\u5b66\u4e60\u65f6\u4ee3\u7684\u53d1\u5c55\u76f8\u5bf9\u8fdf\u6ede\u3002\u82cf\u660a\u5206\u6790\u539f\u56e0\uff0c\u8ba4\u4e3a\u662f\u56e0\u4e3a\u7f3a\u5c11\u5927\u6570\u636e\u7684\u9a71\u52a8\u30022D \u89c6\u89c9\u6709 ImageNet\uff0c\u6240\u4ee5\u53d1\u5c55\u8fc5\u901f\uff0c\u56e0\u6b64\u5efa\u4e00\u4e2a 3D \u89c6\u89c9\u9886\u57df\u7684\u5927\u89c4\u6a21\u6570\u636e\u96c6\u8feb\u5728\u7709\u776b\u3002<\/p>\n<p>\u65e0\u5de7\u4e0d\u6210\u4e66\u3002\u4e0d\u53ea\u82cf\u660a\u4e00\u4e2a\u4eba\u5173\u6ce8\u5230 3D \u6570\u636e\u532e\u4e4f\u7684\u95ee\u9898\u3002<\/p>\n<p>2014 \u5e74\uff0c\u666e\u6797\u65af\u987f\u7684\u8096\u5efa\u96c4\u3001\u5b8b\u8212\u7136\u7b49\u4eba\u53d1\u8868\u4e86 ModelNet\u2014\u2014\u8fd9\u662f\u4e00\u4e2a\u5c0f\u89c4\u6a21\u7684 3D \u6570\u636e\u96c6\uff1b\u540c\u65f6\uff0c\u65af\u5766\u798f\u7684\u4e24\u4f4d\u535a\u58eb\u751f Manolis Savva \u4e0e Angel Chang \u4e5f\u51c6\u5907\u4e86\u4e00\u4e2a\u5c0f\u7684 3D \u6570\u636e\u96c6\uff0c\u4e0e ModelNet \u6709\u5f02\u66f2\u540c\u5de5\u4e4b\u5904\u3002<\/p>\n<p>Manolis \u662f\u56fe\u5f62\u5b66\u535a\u58eb\uff0c\u5e08\u4ece\u56fe\u7075\u5956\u4e0e\u5965\u65af\u5361\u5956\u5f97\u4e3b Pat Hanrahan\uff0c\u800c Angel Chang \u662f\u81ea\u7136\u8bed\u8a00\u5904\u7406\u80cc\u666f\uff0c\u4e0e\u9648\u4e39\u7426\u5e08\u51fa\u540c\u95e8\uff0c\u5e08\u4ece Christopher Manning\u3002\u4e0e ModelNet \u201c\u649e\u8f66\u201d\u4e4b\u540e\uff0cManolis \u5c31\u627e\u82cf\u660a\u8ba8\u8bba\uff0c\u82cf\u660a\u63d0\u51fa ModelNet \u4e0e Manolis \u624b\u4e0a\u6b63\u51c6\u5907\u53d1\u8868\u7684\u6570\u636e\u96c6\u90fd\u592a\u5c0f\uff0c\u5efa\u8bae\u4ed6\u4eec\u4e00\u8d77\u5408\u4f5c\u4e00\u4e2a\u5927\u89c4\u6a21\u6570\u636e\u96c6\u3002<\/p>\n<p>\u4ed6\u4eec\u4e00\u62cd\u5373\u5408\u3002\u5f0b\u529b\u4e5f\u5f88\u8ba4\u53ef\u82cf\u660a\u7684\u60f3\u6cd5\uff0c\u4e5f\u5168\u60c5\u6295\u5165\u3002\u4ed6\u4eec\u8ba1\u5212\u5c06\u8fd9\u4e2a\u6570\u636e\u96c6\u547d\u540d\u4e3a\u201cShapeNet\u201d\uff0c\u987e\u540d\u601d\u4e49\uff0c\u662f\u4ee5\u7269\u4f53\u7684\u5f62\u72b6\u4e3a\u6838\u5fc3\uff0c\u82cf\u660a\u3001Manolis Savva\u3001\u5f0b\u529b\u4e0e Angel Chang \u4e5f\u5c31\u6210\u4e86 ShapeNet \u7684\u6700\u521d\u56db\u4f4d\u6838\u5fc3\u6210\u5458\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-0572c2552c478720ad8d70659031e552.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-0572c2552c478720ad8d70659031e552.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u5f0b\u529b<\/p>\n<p>\u7531\u4e8e\u82cf\u660a\u4e4b\u524d\u53c2\u4e0e\u8fc7 ImageNet\uff0c\u5bf9\u5927\u89c4\u6a21\u6570\u636e\u96c6\u7684\u6570\u636e\u6536\u96c6\u4e0e\u6807\u6ce8\u6709\u7ecf\u9a8c\uff0c\u56e0\u6b64\u82cf\u660a\u6307\u6325\u3001\u5f0b\u529b\u6267\u884c\uff0c\u5de5\u4f5c\u63a8\u8fdb\u5730\u5f88\u987a\u5229\u30022014 \u5e74\uff0c\u4ed6\u4eec\u5b8c\u6210\u4e86\u7b2c\u4e00\u7248 ShapeNet\uff0c\u4e3b\u8981\u662f\u56f4\u7ed5 3D \u6570\u636e\u7684\u6536\u96c6\u3001\u6e05\u6d17\u3001\u5f62\u72b6\u5206\u7c7b\u4e0e\u7269\u4f53\u5bf9\u9f50\u5c55\u5f00\u3002<\/p>\n<p>2015 \u5e74\uff0c\u4ed6\u4eec\u5f00\u59cb\u52a0\u6807\u6ce8\u3002\u5f0b\u529b\u548c\u82cf\u660a\u63d0\u51fa\u4e86\u65b0\u7684\u90e8\u4ef6\u5206\u5272\u6807\u6ce8\u7b97\u6cd5\uff0c\u5e76\u5c06 Manolis \u4e0e Angel \u5148\u524d\u7684\u5de5\u4f5c\u7eb3\u4e86\u8fdb\u6765\u3002\u7b2c\u4e8c\u7248 ShapeNet \u6dfb\u52a0\u4e86\u90e8\u4ef6\u5206\u5272\u6807\u6ce8\u3001\u7269\u4f53\u51e0\u4f55\u5c3a\u5bf8\u7b49\u4fe1\u606f\uff0c\u5e76\u5c06\u5143\u4fe1\u606f\u4e0e\u5f62\u72b6\u6807\u6ce8\u5bf9\u9f50\uff0c\u4f7f\u5f97\u7269\u4f53\u7684 3D \u5f62\u72b6\u4e0e\u4fe1\u606f\u77e5\u8bc6\u66f4\u52a0\u4e30\u5bcc\u3002<\/p>\n<p>\u666e\u6797\u65af\u987f\u7684 ModelNet \u6807\u6ce8\u5c11\uff0c\u53ea\u6709\u8bed\u4e49\u4fe1\u606f\uff0c\u4e14\u53ea\u6709\u4e00\u4e2a\u7c7b\u522b\u7684\u6807\u6ce8\u4fe1\u606f\u80fd\u505a\u5206\u7c7b\u3002\u800c\u82cf\u660a\u7b49\u4eba\u8ba4\u4e3a\uff0c\u76f8\u6bd4\u4e8c\u7ef4\u6570\u636e\uff0c\u4e09\u7ef4\u6570\u636e\u7684\u4f18\u52bf\u6070\u6070\u5728\u4e8e\u4e0d\u4ec5\u80fd\u505a\u5206\u7c7b\uff0c\u5176\u5305\u542b\u4e86\u66f4\u591a\u7684\u51e0\u4f55\u7ed3\u6784\u3001\u66f4\u4e30\u5bcc\u7684\u4e16\u754c\u77e5\u8bc6\uff0c\u80fd\u591f\u627f\u8f7d\u5927\u91cf\u7684\u7269\u7406\u4fe1\u606f\uff0c\u56e0\u6b64\u6807\u6ce8\u5341\u5206\u91cd\u8981\u3002<\/p>\n<p>2016 \u5e74\uff0c\u4ed6\u4eec\u5f00\u59cb\u5728\u5708\u5185\u5ba3\u4f20 ShapeNet\uff0c\u4f46\u5f53\u65f6\u7814\u7a76 3D \u6570\u636e\u5206\u6790\u7684\u4eba\u8fd8\u5f88\u5c11\uff0c\u5173\u6ce8\u5ea6\u5e76\u4e0d\u9ad8\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u5f53\u65f6\u5df2\u535a\u58eb\u6bd5\u4e1a\u3001\u5230\u4e30\u7530\u829d\u52a0\u54e5\u7814\u7a76\u6240\u5de5\u4f5c\u7684\u9ec4\u5176\u5174\u4e5f\u7ee7\u7eed\u652f\u6301 ShapeNet \u7684\u7814\u7a76\u5de5\u4f5c\u3002<\/p>\n<p>\u6700\u7ec8\uff0c\u4ed6\u4eec\u5b8c\u6210\u4e86\u5305\u542b\u8d85\u8fc7 300 \u4e07\u4e2a\u6a21\u578b\u30013135 \u4e2a\u7c7b\u522b\u7684 ShapeNet\uff0c\u4e5f\u662f\u5168\u7403\u7b2c\u4e00\u4e2a\u5927\u89c4\u6a21 3D \u6570\u636e\u96c6\uff0c\u582a\u6bd4 2D \u9886\u57df\u7684 ImageNet\u3002<\/p>\n<p>\u4f46\u7531\u4e8e 2016 \u5e74\u5de6\u53f3\u6570\u636e\u77e5\u8bc6\u4ea7\u6743\u4fdd\u62a4\u7684\u547c\u58f0\u65e5\u76ca\u5347\u9ad8\uff0c\u5c24\u5176\u662f CVPR \u53d1\u751f\u4e86 SUNCG \u6570\u636e\u96c6\u4fb5\u6743\u4e8b\u4ef6\uff0c\u6700\u7ec8 ShapeNet \u53ea\u5f00\u653e\u4e86\u4e00\u90e8\u5206\u6570\u636e\u5141\u8bb8\u516c\u5f00\u4e0b\u8f7d\u3002<\/p>\n<p>\u4e0e ImageNet \u4e0d\u540c\u7684\u662f\uff0cShapeNet \u4e0d\u4ec5\u4e00\u6837\u80fd\u505a\u8bed\u4e49\u5bf9\u9f50\u3001\u68c0\u6d4b\u5206\u7c7b\u7b49\u57fa\u7840\u4efb\u52a1\uff0c\u800c\u4e14\u7531\u4e8e 3D \u6570\u636e\u5929\u7136\u5305\u542b\u66f4\u591a\u7269\u4f53\u4fe1\u606f\uff0cShapeNet \u5b9b\u5982\u4e00\u4e2a\u5929\u7136\u7684\u77e5\u8bc6\u5e93\uff0c\u4fe1\u606f\u6807\u6ce8\u80fd\u4e0e\u7269\u7406\u4e16\u754c\u66f4\u597d\u5bf9\u9f50\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-7d8ee54bb24a261b8fa9d7a5a6744778.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-7d8ee54bb24a261b8fa9d7a5a6744778.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/1512.03012<\/p>\n<p>ShapeNet \u7684\u51fa\u73b0\u5927\u5927\u63a8\u52a8\u4e86 3D \u89c6\u89c9\u9886\u57df\u7684\u53d1\u5c55\uff0c3D \u89c6\u89c9\u7684\u7814\u7a76\u4e5f\u4ece\u57fa\u4e8e\u7ecf\u9a8c\u7684\u7b97\u6cd5\u8bbe\u8ba1\u9010\u6e10\u8f6c\u53d8\u4e3a\u5927\u6570\u636e\u9a71\u52a8\u7684\u7814\u7a76\u8303\u5f0f\uff0c\u8fdb\u5165\u9ec4\u91d1\u53d1\u5c55\u671f\u3002<\/p>\n<p>\u53ea\u6709\u6784\u5efa\u5927\u91cf\u7684\u6570\u636e\u4e0e\u4e30\u5bcc\u7684\u6807\u6ce8\u652f\u6301\uff0c3D \u9886\u57df\u7684\u7814\u7a76\u8005\u624d\u80fd\u66f4\u597d\u5730\u53bb\u8bbe\u8ba1\u4e09\u7ef4\u6df1\u5ea6\u5b66\u4e60\u7f51\u7edc\u30022017 \u5e74\uff0c\u82cf\u660a\u4e0e\u7941\u82ae\u4e2d\u53f0\uff08Charles R. Qi\uff09\u3001\u8303\u6d69\u5f3a\u7b49\u4eba\u57fa\u4e8e ShapeNet \u5f00\u53d1\u4e86 PointNet\u3001PointNet++\u3001PSGN \u7b49\u7b97\u6cd5\uff0c\u9a8c\u8bc1\u4e86\u5c06\u6df1\u5ea6\u5b66\u4e60\u7528\u4e8e 3D \u70b9\u4e91\u7684\u53ef\u884c\u6027\u3002<\/p>\n<p>\u82cf\u660a\u7b49\u4eba\u5728 3D \u9886\u57df\u7684\u6210\u679c\uff0c\u6700\u5148\u5f71\u54cd\u5230\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u3002<\/p>\n<p>PointNet \u5728\u6df1\u5ea6\u4e09\u7ef4\u70b9\u4e91\u5904\u7406\u7684\u5730\u4f4d\u4e0e 2D \u9886\u57df\u7684 ResNet \u76f8\u5f53\uff0c\u662f\u6bcf\u4e00\u4e2a\u7814\u7a76\u4e09\u7ef4\u70b9\u4e91\u7684\u4eba\u90fd\u7ed5\u4e0d\u5f00\u7684\u7ecf\u5178\u7f51\u7edc\u3002PointNet \u4e5f\u56e0\u6b64\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u6838\u5fc3\u7b97\u6cd5\uff0c\u88ab\u5e7f\u6cdb\u5f15\u7528\u3002<\/p>\n<p>\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u73af\u5883\u611f\u77e5\u6240\u6536\u96c6\u7684\u6570\u636e\u5f80\u5f80\u662f\u975e\u7ed3\u6784\u5316\u6570\u636e\uff0c\u4f20\u7edf\u7684 2D \u7f51\u7edc\uff08\u5982 CNN\uff09\u65e0\u6cd5\u5bf9\u5176\u8fdb\u884c\u5f88\u597d\u7684\u70b9\u4e91\u5206\u7c7b\uff0c\u800c\u82cf\u660a\u7b49\u4eba\u4ece 3D \u89c6\u89d2\u63d0\u51fa\u7684 PointNet \u5219\u63d0\u4f9b\u4e86\u5f88\u597d\u7684\u89e3\u6cd5\u3002<\/p>\n<p>3D \u89c6\u89c9\u5d1b\u8d77\u540e\uff0cPointNet \u4e0e PointNet++ \u4f5c\u4e3a\u4e09\u7ef4\u6df1\u5ea6\u5b66\u4e60\u7684\u7ecf\u5178\u5de5\u4f5c\uff0c\u4e5f\u6210\u4e3a\u4e86\u5168\u7403\u5404\u9ad8\u6821\u7814\u7a76 3D \u5fc5\u8bfb\u7684\u8bba\u6587\uff0c\u5982\u4eca\u4e24\u7bc7\u8bba\u6587\u7684\u8c37\u6b4c\u5b66\u672f\u5f15\u7528\u91cf\u90fd\u8d85\u8fc7\u4e86 1 \u4e07\u3002<\/p>\n<p>\u800c PointNet \u4e0e PointNet++ \u7684\u6838\u5fc3\u4f5c\u8005\u7941\u82ae\u4e2d\u53f0\uff0c\u4ece\u65af\u5766\u798f\u535a\u58eb\u6bd5\u4e1a\u540e\u4e5f\u9009\u62e9\u4e86\u8fdb\u5165\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff1a2019 \u5e74\uff0c\u7941\u82ae\u4e2d\u53f0\u52a0\u5165 Waymo\uff0c\u4e3b\u5bfc\u642d\u5efa\u4e86 Waymo \u65b0\u4e00\u4ee3\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7cfb\u7edf\u30022024 \u5e74 3 \u6708\uff0c\u4ed6\u53c8\u4ece Waymo \u79bb\u5f00\uff0c\u52a0\u5165\u4e86\u7279\u65af\u62c9\u7684 FSD \u90e8\u95e8\uff0c\u76ee\u524d\u5728\u7814\u7a76\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5927\u6a21\u578b\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-f6b7ec2fe549d164eeca997c3a10b4a3.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-f6b7ec2fe549d164eeca997c3a10b4a3.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u7941\u82ae\u4e2d\u53f0\uff08Charles R. Qi\uff09<\/p>\n<p>\u5728 2D \u89c6\u89c9\u9886\u57df\uff0cImageNet \u63a8\u52a8\u4e86 ResNet\u3001AlexNet\u3001LeNet \u7b49\u7b49\u7ecf\u5178\u4e8c\u7ef4\u7f51\u7edc\u67b6\u6784\u7684\u8bde\u751f\uff1b\u800c\u5728 3D \u89c6\u89c9\u9886\u57df\uff0cShapeNet \u5219\u52a0\u901f\u4e86 PointNet\u3001PointNet++\u3001SparseConveNet \u7b49\u7b49\u7ecf\u5178\u4e09\u7ef4\u7f51\u7edc\u67b6\u6784\u7684\u51fa\u73b0\u3002<\/p>\n<p>\u4ece 2017 \u5e74\u5230 2019 \u5e74\u95f4\uff0c\u4e09\u7ef4\u6df1\u5ea6\u5b66\u4e60\u5b9e\u73b0\u4e86\u5de8\u5927\u7a81\u7834\u3002\u7814\u7a76\u8005\u4e0d\u4ec5\u4f7f\u7528 3D \u795e\u7ecf\u7f51\u7edc\u6765\u5904\u7406\u70b9\u4e91\uff08\u5982 PointNet\uff09\uff0c\u8fd8\u6709\u5904\u7406\u7a00\u758f\u6027\uff08\u5982 SparseConvNet\uff09\uff0c\u4ee5\u53ca\u5229\u7528 Mesh \u4f5c\u4e3a\u56fe\u5f62\u5b66\u4e2d\u7684\u4e09\u7ef4\u8868\u5f81\u8fdb\u884c\u6df1\u5ea6\u5b66\u4e60\u7814\u7a76\u3002<\/p>\n<p>\u5bf9\u4e8e\u65b0\u4e00\u4ee3 3D \u89c6\u89c9\u7684\u5d1b\u8d77\u4e0e\u5176\u5373\u5c06\u50ac\u751f\u7684\u7cfb\u5217\u4ea7\u4e1a\uff0cShapeNet \u529f\u4e0d\u53ef\u6ca1\u3002\u4e5f\u56e0\u6b64\uff0cShapeNet \u88ab\u8a89\u4e3a\u201c3D \u89c6\u89c9\u9886\u57df\u7684 ImageNet\u201d\uff0c\u5728 2018 \u5e74\u83b7\u5f97\u51e0\u4f55\u5904\u7406\u4f1a\u8bae\uff08SGP\uff09\u7684\u6700\u4f73\u6570\u636e\u96c6\u5956\u3002<\/p>\n<p>\u4f46\u89e3\u51b3 2D \u4e0e 3D \u7684\u611f\u77e5\u95ee\u9898\uff0c\u53ea\u662f\u82cf\u660a\u5bf9\u4eba\u5de5\u667a\u80fd\u60f3\u8c61\u7684\u8d77\u70b9\u3002<\/p>\n<p>3D \u89c6\u89c9\u94fa\u57ab\u4e86\u5177\u8eab\u667a\u80fd\u7684\u53ef\u884c\u6027\u3002<\/p>\n<p>2016 \u5e74\u524d\u540e\uff0c\u5728 ShapeNet \u4e0e PointNet \u53d1\u5e03\u7684\u65f6\u5019\uff0c\u4e5f\u662f\u81ea\u52a8\u9a7e\u9a76\u521b\u4e1a\u7684\u6700\u7ea2\u706b\u65f6\u671f\u3002\u5b8c\u6210\u8fd9\u4e24\u4e2a\u5de5\u4f5c\u540e\uff0c\u82cf\u660a\u7b49\u4eba\u4e5f\u6210\u4e3a\u4e86 3D \u89c6\u89c9\u9886\u57df\u7684\u5148\u950b\u4eba\u7269\u3002\u90a3\u65f6\u5c06 3D \u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u5df2\u662f\u4e00\u95e8\u663e\u5b66\uff0c\u4f46\u82cf\u660a\u5374\u5c06\u76ee\u5149\u6295\u5411\u4e00\u4e2a\u672a\u77e5\u6570\u66f4\u5927\u7684\u8d5b\u9053\uff1a<\/p>\n<p><strong>\u673a\u5668\u4eba<\/strong>\u3002<\/p>\n<p><\/p>\n<p style=\"text-align:center\" class=\"heading-3 ace-line old-record-id-Vk2vdJpxfoDNZrxKfYxcr3hNnAh\"><strong>\u840c\u82bd<\/strong><\/p>\n<p>\u603b\u7684\u6765\u8bf4\uff0c\u4ece 2D \u5230 3D\uff0c\u4ece ImageNet \u5230 ShapeNet\uff0c\u82cf\u660a\u5728\u5b66\u672f\u751f\u6daf\u7684\u65e9\u671f\u5c31\u5230\u8fbe\u4e86\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u5dc5\u5cf0\u3002<\/p>\n<p>2016 \u5e74 ShapeNet \u51fa\u6765\u540e\uff0cPointNet \u7684\u8bde\u751f\u53ea\u662f\u65f6\u95f4\u95ee\u9898\uff0c\u82cf\u660a\u9690\u7ea6\u80fd\u611f\u89c9\u5230\uff1a\u5728\u5927\u6570\u636e\u7684\u9a71\u52a8\u4e0b\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u5728\u611f\u77e5\u65b9\u5411\u4e0a\u7684\u7814\u7a76\u5df2\u7ecf\u4e03\u4e03\u516b\u516b\uff0c\u63a5\u4e0b\u6765\u96be\u6709\u66f4\u5927\u7684\u7a81\u7834\u3002\u5f7c\u65f6\uff0c\u7845\u8c37\u7684\u4e00\u4e9b CV \u9876\u5c16\u5b66\u8005\u5982 Jitendra Malik\u3001\u674e\u98de\u98de\u4e5f\u63d0\u51fa\u76f8\u4f3c\u770b\u6cd5\uff0c\u8ba4\u4e3a\u89c6\u89c9\u7684\u4e0b\u4e00\u6b65\u5e94\u8be5\u662f\u4e0e\u673a\u5668\u4eba\u7ed3\u5408\u3002<\/p>\n<p>\u82cf\u660a\u5728\u5434\u6069\u8fbe\u7ec4\u5b9e\u4e60\u65f6\uff0c\u5bf9\u673a\u5668\u4eba\u7814\u7a76\u8033\u6fe1\u76ee\u67d3\u3002\u5434\u6069\u8fbe\u7ec4\u6210\u540d\u7684\u4e00\u624b\u7edd\u6d3b\u662f\u7528\u5f3a\u5316\u5b66\u4e60\u5012\u98de\u76f4\u5347\u673a\uff0c\u800c\u8fd9\u4e00\u5de5\u4f5c\u7684\u5f00\u62d3\u8005\u6b63\u662f\u540e\u6765\u52a0\u5dde\u5927\u5b66\u4f2f\u514b\u5229\u5206\u6821\u7684\u673a\u5668\u4eba\u5927\u4f6c Pieter Abbeel\u3002Pieter Abbeel \u5f00\u62d3\u4e86\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u7ed3\u5408\u7684\u65b9\u5411\uff0c\u82cf\u660a\u4e5f\u4ece\u90a3\u65f6\u5f00\u59cb\u5bf9\u673a\u5668\u4eba\u611f\u5174\u8da3\uff0c\u5e76\u8ba4\u8bc6\u5230\u63a7\u5236\u7684\u91cd\u8981\u6027\u3002<\/p>\n<p>\u90a3\u65f6\uff0c\u82cf\u660a\u5c31\u5728\u601d\u8003\uff1a\u63a5\u4e0b\u6765\u89c6\u89c9\u8981\u89e3\u51b3\u7684\u95ee\u9898\u4e0d\u662f\u201c\u611f\u77e5\u201d\u672c\u8eab\uff0c\u800c\u662f\u201c\u611f\u77e5\u4ec0\u4e48\u201d\u3002<\/p>\n<p>\u89c6\u89c9\u4e2d\u6240\u8c13\u7684\u611f\u77e5\u5bf9\u8c61\uff0c\u5305\u542b\u4e86\u5927\u91cf\u4eba\u6240\u5b9a\u4e49\u7684\u77e5\u8bc6\u4e0e\u6982\u5ff5\uff0c\u8fd8\u6709\u4e00\u4e9b\u4eba\u65e0\u6cd5\u5b9a\u4e49\u3001\u4f46\u6709\u611f\u77e5\u7684\u6982\u5ff5\u3002\u201c\u611f\u77e5\u7684\u5bf9\u8c61\u4ece\u54ea\u91cc\u6765\uff1f\u5982\u679c\u8bf4\u611f\u77e5\u662f\u4ece\u7269\u7406\u7684\u4fe1\u53f7\u5230\u6982\u5ff5\u7684\u6620\u5c04\uff0c\u90a3\u4e48\u662f\u8c01\u5b9a\u4e49\u4e86\u6982\u5ff5\u7684\u7a7a\u95f4\uff1f\u201d\u82cf\u660a\u8ba4\u4e3a\u8fd9\u662f\u89c6\u89c9\u667a\u80fd\u63a5\u4e0b\u6765\u7684\u5341\u5e74\u8981\u56de\u7b54\u7684\u95ee\u9898\u3002<\/p>\n<p>\u4ed6\u8ba4\u53ef\u7b1b\u5361\u5c14\u7684\u89c2\u70b9\uff0c\u201c\u667a\u80fd\u662f\u5728\u667a\u80fd\u4f53\u4e0e\u73af\u5883\u7684\u4ea4\u4e92\u4e2d\u6d8c\u73b0\uff0c\u662f\u611f\u89c9\u8fd0\u52a8\u884c\u4e3a\u7684\u7ed3\u679c\u3002\u201d\u4e5f\u5c31\u662f\u8bf4\uff0c\u5982\u679c\u611f\u77e5\u4e0d\u4e0e\u4ea4\u4e92\u95ed\u73af\u3001\u5373\u65e0\u6cd5\u88ab\u5b9a\u4e49\u3002\u56e0\u6b64\u82cf\u660a\u8ba4\u4e3a\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u4e0b\u4e00\u4e2a\u95ee\u9898\uff0c\u5c31\u662f\u4e0e\u673a\u5668\u4eba\u7ed3\u5408\uff0c\u6253\u901a\u611f\u77e5\u4e0e\u63a7\u5236\uff0c\u5b9e\u73b0\u673a\u5668\u4eba\u4ece\u611f\u77e5\u5230\u63a7\u5236\u7684\u95ed\u73af\u3002<\/p>\n<p>\u5927\u7ea6 2016 \u5e74\u5728\u65af\u5766\u798f\uff0c\u5bf9\u673a\u5668\u4eba\u72c2\u70ed\u7684\u4e0d\u53ea\u82cf\u660a\u4e00\u4eba\u3002\u5f53\u65f6\u5728\u65af\u5766\u798f\u5f53\u535a\u58eb\u540e\u7684\u5362\u7b56\u543e\u4e5f\u5bf9\u8fd9\u4e2a\u65b0\u65b9\u5411\u5341\u5206\u611f\u5174\u8da3\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-56e4174840dd29a913b0bd938dd81600.jpeg\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-56e4174840dd29a913b0bd938dd81600.jpeg\"><\/a><\/p>\n<p style=\"text-align: center\">\u5362\u7b56\u543e<\/p>\n<p>\u5362\u7b56\u543e 2009 \u5e74\u4ece\u4e2d\u79d1\u9662\u7855\u58eb\u6bd5\u4e1a\uff0c\u5c14\u540e\u5230\u9999\u6e2f\u4e2d\u6587\u5927\u5b66\u8bfb\u535a\uff0c\u5bfc\u5e08\u662f\u8d3e\u4f73\u4e9a\u3002\u535a\u58eb\u671f\u95f4\uff0c\u5362\u7b56\u543e\u4e3b\u8981\u7814\u7a76\u8ba1\u7b97\u673a\u89c6\u89c9\uff0c\u4f46\u4ece\u90a3\u65f6\u8d77\u4ed6\u5c31\u7ecf\u5e38\u601d\u8003\uff1a\u901a\u7528\u4eba\u5de5\u667a\u80fd\uff08AGI\uff09\u7684\u672c\u8d28\u662f\u4ec0\u4e48\uff1f<\/p>\n<p>\u5362\u7b56\u543e\u6709\u4e00\u4e2a\u611f\u89c9\uff1a\u89c6\u89c9\u53ea\u662f\u4eba\u5de5\u667a\u80fd\u7684\u4e00\u4e2a\u5206\u652f\uff0c\u4eba\u5de5\u667a\u80fd\u5e94\u8be5\u5c06\u89c6\u89c9\u4e0e\u5176\u4ed6\u7684\u6280\u672f\u5206\u652f\uff08\u5982\u8bed\u97f3\u3001\u8bed\u8a00\uff09\u6574\u5408\u8d77\u6765\uff0c\u5f62\u6210\u4e00\u4e2a\u771f\u6b63\u901a\u7528\u4e14\u7edf\u4e00\u7684\u667a\u80fd\u4f53\uff0c\u5e76\u4e0e\u4eba\u8fdb\u884c\u4ea4\u4e92\u3002\u800c\u8fd9\u4e2a\u667a\u80fd\u4f53\u7684\u7ec8\u6781\u4f53\u73b0\uff0c\u5c31\u662f\u673a\u5668\u4eba\u3002<\/p>\n<p>\u4f46\u5728\u5f53\u65f6\uff0c\u6df1\u5ea6\u5b66\u4e60\u524d\u591c\uff0c\u5c06\u4eba\u5de5\u667a\u80fd\u7684\u5404\u4e2a\u5206\u652f\u6574\u5408\u662f\u4e2a\u5929\u65b9\u591c\u8c2d\u3002\u5362\u7b56\u543e\u5c06\u81ea\u5df1\u7684\u60f3\u6cd5\u4e0e\u5468\u56f4\u4eba\u4ea4\u6d41\uff0c\u5927\u5bb6\u90fd\u89c9\u5f97\u4ed6\u8bf4\u5f97\u6709\u9053\u7406\u3001\u4f46\u4e0d\u5927\u53ef\u80fd\u5b9e\u73b0\uff0c\u56e0\u4e3a\u5f53\u65f6\u5404\u9879\u6280\u672f\u7684\u53d1\u5c55\u90fd\u8fd8\u4e0d\u6210\u719f\u3002<\/p>\n<p>\u5230 2015 \u5e74\u53bb\u65af\u5766\u798f\u540e\uff0c\u4ed6\u5148\u540e\u5728\u674e\u98de\u98de\u7ec4\u4e0e Leonidas \u7ec4\uff0c\u5374\u53d1\u73b0\u4e24\u4e2a\u7ec4\u90fd\u5f00\u59cb\u63a2\u7d22\u673a\u5668\u4eba\uff0c\u4e0e\u4ed6\u7684\u60f3\u6cd5\u4e0d\u8c0b\u800c\u5408\u3002\u5728\u6df1\u5ea6\u5b66\u4e60\u7684\u63a8\u529b\u4e0b\uff0c\u89c6\u89c9\u6280\u672f\u9010\u6b65\u6210\u719f\uff0c\u8df3\u51fa\u89c6\u89c9\u601d\u8003\u66f4\u5927\u7684\u79d1\u5b66\u95ee\u9898\u4e5f\u6210\u4e3a\u53ef\u80fd\u3002<\/p>\n<p>\u5362\u7b56\u543e\u5728\u65af\u5766\u798f\u5f53\u535a\u58eb\u540e\u7684\u90a3\u6bb5\u65f6\u95f4\uff0c\u6b63\u597d\u662f\u5177\u8eab\u667a\u80fd\u7684\u840c\u82bd\u671f\u3002<\/p>\n<p>\u4ed6\u5148\u5728\u674e\u98de\u98de\u7ec4\u3002\u4e00\u5f00\u59cb\u662f\u674e\u98de\u98de\u548c\u5b66\u751f\u4eec\u8ba8\u8bba\u8981\u5f00\u59cb\u7814\u7a76\u673a\u5668\u4eba\uff0c\u81ea\u7136\u7684\u5362\u7b56\u543e\u548c\u6731\u7389\u53ef\u4e24\u4e2a\u4eba\u5c31\u7ecf\u5e38\u4e00\u8d77\u8ba8\u8bba\u3002\u5362\u7b56\u543e\u4e0e\u6731\u7389\u53ef\u90fd\u5f88\u611f\u5174\u8da3\uff0c\u4f46\u53c8\u90fd\u4e0d\u77e5\u9053\u4ece\u4f55\u5f00\u59cb\u3002<\/p>\n<p>\u6731\u7389\u53ef\u672c\u79d1\u6bd5\u4e1a\u4e8e\u6d59\u6c5f\u5927\u5b66\uff0c2013 \u5e74\u5c31\u52a0\u5165\u674e\u98de\u98de\u7ec4\uff0c\u6700\u521d\u505a\u7684\u662f\u89c6\u89c9\u77e5\u8bc6\u5e93\uff0c2015 \u5e74\u624d\u548c\u5362\u7b56\u543e\u4e00\u8d77\u8f6c\u673a\u5668\u4eba\u3002\u5f53\u65f6 Danfei Xu\u3001\u8303\u9e9f\u7199\uff08Jim Fan\uff09\u8fd8\u6ca1\u6765\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-c940ccdadaf4f94bcde24d5e04b938ee.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-c940ccdadaf4f94bcde24d5e04b938ee.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u6731\u7389\u53ef<\/p>\n<p>\u4e8e\u662f\u4ed6\u4eec\u5c31\u8dd1\u5230\u76d6\u8328\u697c\u5bf9\u9762\u7684\u5496\u5561\u5e97\u559d\u5496\u5561\u3001\u8ba8\u8bba\u673a\u5668\u4eba\u8981\u600e\u4e48\u7814\u7a76\u3002\u5362\u7b56\u543e\u548c\u6731\u7389\u53ef\u6709\u4e00\u4e2a\u4e60\u60ef\uff0c\u5c31\u662f\u559c\u6b22\u5728\u7814\u7a76\u95f4\u9699\u4e00\u8d77\u7ec4\u961f\u53bb\u559d\u5496\u5561\uff0c\u56e0\u4e3a\u5728\u5b9e\u9a8c\u5ba4\u8981\u8bf4\u82f1\u6587\uff0c\u53bb\u5496\u5561\u5385\u7528\u4e2d\u6587\u8ba8\u8bba\u66f4\u81ea\u7136\u8f7b\u677e\u3002<\/p>\n<p>\u8d77\u521d\u5362\u7b56\u543e\u5f88\u4e50\u89c2\uff0c\u89c9\u5f97\u201c\u82b1\u4e24\u5e74\u5c31\u80fd\u628a\u5177\u8eab\u667a\u80fd\u641e\u51fa\u6765\u201d\uff0c\u5c31\u5f00\u59cb\u6295\u5165\u7814\u7a76\u3002\u201c\u540e\u6765\u624d\u53d1\u73b0\uff0c\u90a3\u65f6\u7684\u7ec4\u4f1a\u5c31\u50cf 1956 \u5e74\u7684\u8fbe\u7279\u8305\u65af\u4f1a\u8bae\uff0c\u4ee5\u4e3a\u4eba\u5de5\u667a\u80fd\u9a6c\u4e0a\u5c31\u8981\u7206\u53d1\uff0c\u7ed3\u679c\u8981\u8fc7\u51e0\u5341\u5e74\u3002\u201d\u5362\u7b56\u543e\u4e8b\u540e\u5411\u96f7\u5cf0\u7f51\u56de\u5fc6\u3002\u4ed6\u4e5f\u662f\u771f\u6b63\u8fdb\u5165\u8fd9\u4e2a\u9886\u57df\u540e\u624d\u53d1\u73b0\uff0c\u901a\u7528\u673a\u5668\u4eba\u662f\u4e00\u4e2a\u5e9e\u5927\u7684\u7cfb\u7edf\uff0c\u7edd\u975e\u671d\u5915\u4e4b\u529f\u3002<\/p>\n<p>Leonidas \u7ec4\u4e0e\u674e\u98de\u98de\u7ec4\u5f88\u5c11\u4ea4\u6d41\uff0c\u5362\u7b56\u543e\u7531\u4e8e\u540c\u65f6\u5411\u4e24\u4e2a\u8001\u677f\u6c47\u62a5\uff0c\u7ecf\u5e38\u7a7f\u68ad\u5728\u4e24\u4e2a Lab \u4e4b\u95f4\uff0c\u5bf9\u4e24\u8fb9\u7684\u98ce\u683c\u90fd\u6709\u6240\u4e86\u89e3\uff1a<\/p>\n<p>\u674e\u98de\u98de\u8ba4\u4e3a\uff0c\u673a\u5668\u4eba\u8981\u7814\u7a76\u5bf9\u4e16\u754c\u7684\u672c\u8d28\u7406\u89e3\uff0c\u5373\u4e16\u754c\u6a21\u578b\uff1b\u800c\u5728 Leonidas \u90a3\u8fb9\uff0c\u82cf\u660a\u5219\u8ba4\u4e3a\u8981\u4ece 3D \u5207\u5165\uff0c\u901a\u8fc7\u6a21\u578b\u4e0e\u73af\u5883\u7684\u4ea4\u4e92\u3001\u62bd\u8c61\u51fa\u5bf9\u4e16\u754c\u7684\u7406\u89e3\uff0c\u4ece\u800c\u51cf\u5c11\u6a21\u578b\u5bf9\u771f\u5b9e\u73af\u5883\u6570\u636e\u7684\u4f9d\u8d56\uff0c\u5b8c\u6210\u4ece\u611f\u77e5\u5230\u63a7\u5236\u7684\u95ed\u73af\u3002\u4e24\u8fb9\u7684\u601d\u8def\u6709\u6240\u4ea4\u53c9\uff0c\u53c8\u5404\u6709\u4fa7\u91cd\u3002<\/p>\n<p>\u5362\u7b56\u543e\u4e0e\u6731\u7389\u53ef\u4e00\u5f00\u59cb\u662f\u4ece\u5173\u7cfb\u7406\u89e3\u5165\u624b\u3002\u5362\u7b56\u543e\u8ba4\u4e3a\uff0c\u89e3\u51b3\u673a\u5668\u4eba\u9996\u5148\u8981\u6df1\u5ea6\u7406\u89e3\u6bcf\u4e2a\u7269\u4f53\u4e4b\u95f4\u7684\u5173\u7cfb\u3001\u4ee5\u53ca\u7269\u4f53\u662f\u5982\u4f55\u88ab\u64cd\u4f5c\u7684\uff0c\u6240\u4ee5\u4ed6\u9996\u5148\u505a\u4e86\u4e00\u7bc7\u89c6\u89c9\u5173\u7cfb\u68c0\u6d4b\u7684\u5de5\u4f5c\uff1b\u6731\u7389\u53ef\u53d1\u8868\u4e86\u5927\u89c4\u6a21\u56fe\u7247\u8bed\u4e49\u7406\u89e3\u6570\u636e\u96c6 Visual Genome\u3002\u5982\u4eca\u8fd9\u4e24\u7bc7\u5de5\u4f5c\u90fd\u6210\u4e3a\u4e86\u4ece\u89c6\u89c9\u7814\u7a76\u673a\u5668\u4eba\u7684\u7ecf\u5178\u8bba\u6587\uff0c\u5f15\u7528\u91cf\u5747\u8d85\u8fc7\u4e00\u5343\u3002<\/p>\n<p>\u5b8c\u6210\u8fd9\u4e2a\u5de5\u4f5c\u540e\uff0c\u5362\u7b56\u543e\u5c31\u8fc1\u5230\u4e86 Leonidas \u7ec4\uff0c\u4e0e\u82cf\u660a\u3001\u7941\u82ae\u4e2d\u53f0\u4e00\u5757\u3002\u5c14\u540e\u674e\u98de\u98de\u7ec4\u52a0\u5165\u5f90\u4e39\u98de\u3001Jim Fan \u7b49\u4eba\uff0c\u7ee7\u7eed\u6cbf\u7740\u673a\u5668\u4eba\u65b9\u5411\u7814\u7a76\u30022024 \u5e74\u82f1\u4f1f\u8fbe\u6210\u7acb\u901a\u7528\u5177\u8eab\u667a\u80fd\u4f53\u7814\u7a76\u5b9e\u9a8c\u5ba4 GEAR\uff0cGEAR \u7684\u4e24\u4f4d\u6280\u672f\u9886\u5bfc\u6b63\u662f\u6731\u7389\u53ef\u4e0e Jim Fan\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-205c8355a00f9df8b313845bdb7335ff.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-205c8355a00f9df8b313845bdb7335ff.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u8303\u9e9f\u7199\uff08Jim Fan\uff09<\/p>\n<p>\u5224\u65ad 3D \u8981\u4e0e\u673a\u5668\u4eba\u7ed3\u5408\u540e\uff0c\u82cf\u660a\u5c31\u5f00\u59cb\u7ed9 Leonidas \u7ec4\u62db\u4e86\u597d\u51e0\u4e2a\u5b66\u63a7\u5236\u4e0e\u5f3a\u5316\u5b66\u4e60\u65b9\u5411\u7684\u5b66\u751f\uff0c\u4e25\u68a6\u5a9b\u3001\u738b\u9e64\u3001\u90b5\u6797\u7b49\u4eba\u90fd\u662f\u5728 2016 \u5e74\u524d\u540e\u52a0\u5165\u51e0\u4f55\u8ba1\u7b97\u7ec4\uff0c\u540c\u671f\u59da\u73ed\u5b66\u751f\u6de6\u521b\u5728 Leonidas \u7ec4\u8bbf\u95ee\uff0c\u4e5f\u7531\u82cf\u660a\u6307\u5bfc\u3002<\/p>\n<p>\u82cf\u660a\u8ba4\u4e3a\uff0c\u8981\u641e\u61c2\u63a7\u5236\uff0c\u5c31\u8981\u4ece\u9759\u6001\u7684\u89c6\u89c9\u3001\u56fe\u5f62\u5b66\u5f80\u52a8\u6001\u7684\u529b\u8d70\uff0c\u5c31\u8981\u628a\u7269\u7406\u7cfb\u7684\u4eba\u62db\u8fdb\u6765\uff0c\u800c\u4e25\u68a6\u5a9b\u4e0e\u738b\u9e64\u90fd\u662f\u7269\u7406\u80cc\u666f\u51fa\u8eab\uff0c\u90fd\u66fe\u5728\u5168\u56fd\u7269\u7406\u7ade\u8d5b\uff08CPho\uff09\u4e0a\u83b7\u5f97\u51fa\u8272\u540d\u6b21\uff1a\u4e25\u68a6\u5a9b\u662f CPho \u91d1\u724c\u3001\u5168\u56fd\u6700\u4f73\u5973\u9009\u624b\uff0c\u4fdd\u9001\u5317\u5927\u7269\u7406\u7cfb\uff1b\u738b\u9e64\u662f CPho \u94f6\u724c\uff0c\u4fdd\u9001\u6e05\u534e\u5fae\u7535\u5b50\u4e0e\u7eb3\u7c73\u7535\u5b50\u5b66\u7cfb\u3002<\/p>\n<p>\u5362\u7b56\u543e\u521a\u5230 Leonidas \u7ec4\u65f6\uff0c\u7ec4\u91cc\u4e3b\u8981\u662f\u82cf\u660a\u3001\u7941\u82ae\u4e2d\u53f0\uff0c\u4ed6\u4eec\u4e09\u4eba\u7684\u5de5\u4f4d\u5e76\u6392\u3002\u5f0b\u529b\u3001\u738b\u9e64\u7b49\u4eba\u8fdb\u7ec4\u540e\uff0c\u82cf\u660a\u4e0e\u5f0b\u529b\u5c31\u5750\u5230\u4e86\u5362\u7b56\u543e\u7684\u659c\u5bf9\u9762\uff0c\u738b\u9e64\u5750\u5728\u5362\u7b56\u543e\u540e\u9762\u3002\u4e0e\u674e\u98de\u98de\u7ec4\u7684\u591a\u5143\u6587\u5316\u4e0d\u540c\uff0cLeonidas \u7ec4\u57fa\u672c\u5168\u662f\u4e2d\u56fd\u4eba\uff0c\u4e2d\u6587\u662f\u7ec4\u5185\u7684\u534a\u5b98\u65b9\u8bed\u8a00\uff0c\u5927\u5bb6\u7ecf\u5e38\u5728\u5b9e\u9a8c\u5ba4\u91cc\u76f4\u63a5\u8bf4\u4e2d\u6587\u3002<\/p>\n<p>\u5728\u674e\u98de\u98de\u7ec4\uff0c\u5362\u7b56\u543e\u4e0e\u6731\u7389\u53ef\u7684\u793e\u4ea4\u65b9\u5f0f\u662f\u559d\u5496\u5561\u3002\u5230 Leonidas \u7ec4\u4e4b\u540e\uff0c\u82cf\u660a\u7b49\u4eba\u7684\u793e\u4ea4\u98ce\u683c\u5c31\u662f\u559c\u6b22\u4e00\u8d77\u5f00\u8f66\u53bb\u8fdc\u7684\u5730\u65b9\u627e\u4e2d\u9910\u9986\u4e00\u8d77\u5403\u996d\u3002\u6709\u6bb5\u65f6\u95f4\uff0c\u82cf\u660a\u3001\u5362\u7b56\u543e\u3001\u5f0b\u529b\u4e0e\u738b\u9e64\u7b49\u4eba\u51e0\u4e4e\u6bcf\u5929\u90fd\u805a\u5728\u4e00\u8d77\u5403\u996d\uff0c\u5bf9\u5177\u8eab\u667a\u80fd\u8fdb\u884c\u5404\u79cd\u5929\u9a6c\u884c\u7a7a\u7684\u8ba8\u8bba\u3002<\/p>\n<p>\u5728\u4ee5\u5f80\uff0c\u6df1\u5ea6\u5b66\u4e60\u4e0e\u673a\u5668\u4eba\u7684\u5b66\u8005\u662f\u4e24\u4e2a\u4e16\u754c\u7684\u4eba\uff0c\u4e24\u8fb9\u662f\u5b8c\u5168\u4e0d\u540c\u7684\u601d\u60f3\u4f53\u7cfb\u3002\u5728\u65af\u5766\u798f\u8bfb\u535a\u7684\u5c3e\u58f0\uff0c\u82cf\u660a\u4e0e\u738b\u9e64\u3001\u5f0b\u529b\u7b49\u4eba\u4e00\u76f4\u5728\u63a2\u8ba8\u5982\u4f55\u5c06 3D \u89c6\u89c9\u4e0e\u5f3a\u5316\u5b66\u4e60\u7ed3\u5408\u8d77\u6765\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-16adedf8a4c7e5bdb32ff995b17ded67.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-16adedf8a4c7e5bdb32ff995b17ded67.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u738b\u9e64<\/p>\n<p>\u5362\u7b56\u543e\u4e5f\u91cd\u89c6 3D \u4e0e\u63a7\u5236\uff0c\u4f46\u9664\u6b64\u4e4b\u5916\uff0c\u4ed6\u8ba4\u4e3a\u673a\u5668\u4eba\u7814\u7a76\u8fd8\u6709\u4e00\u4e2a\u5f88\u91cd\u8981\u7684\u677f\u5757\uff1a\u786c\u4ef6\u3002\u8f6f\u4ef6\u51fa\u8eab\u7684\u4eba\u5f80\u5f80\u4e0d\u613f\u610f\u78b0\u786c\u4ef6\uff0c\u76f4\u5230 2019 \u5e74\u5de6\u53f3\uff0c\u5927\u5bb6\u624d\u6162\u6162\u610f\u8bc6\u5230\u8981\u4e0a\u771f\u673a\uff0c\u4f46\u5728\u90a3\u65f6\u5362\u7b56\u543e\u5c31\u610f\u8bc6\u5230\u8981\u8ddf\u771f\u673a\u7ed3\u5408\u3002<\/p>\n<p>\u65af\u5766\u798f\u7684\u5404\u4e2a\u5b66\u79d1\u90fd\u662f\u4e16\u754c\u9876\u5c16\uff0c\u673a\u5668\u4eba\u9886\u57df\u4e5f\u4e0d\u4f8b\u5916\uff0c\u4e8e\u662f\u5362\u7b56\u543e\u5c31\u53bb\u627e\u65af\u5766\u798f\u7684\u673a\u5668\u4eba\u5b66\u8005\u5408\u4f5c\uff0c\u673a\u7f18\u5de7\u5408\u4e4b\u4e0b\u8ba4\u8bc6\u4e86\u6f6e\u6c55\u540c\u4e61\u738b\u4e16\u5168\u3002<\/p>\n<p>\u738b\u4e16\u5168\u7684\u672c\u79d1\u6bd5\u4e1a\u4e8e\u6d59\u6c5f\u5927\u5b66\uff0c2012 \u5e74\u5230\u65af\u5766\u798f\u8bfb\u535a\uff0c\u5bfc\u5e08\u4e3a Mark Cutkosky\u548cOussama Khatib\u3002Oussama \u65f6\u4efb\u56fd\u9645\u673a\u5668\u4eba\u5b66\u4f1a\u4e3b\u5e2d\uff0c2016 \u5e74\u5362\u7b56\u543e\u627e\u5230\u738b\u4e16\u5168\u65f6\uff0c\u738b\u4e16\u5168\u521a\u521a\u83b7\u5f97\u673a\u5668\u4eba\u9876\u4f1a IROS\u6700\u4f73\u8bba\u6587\uff0c\u5e76\u5df2\u5728IJRR\u3001TRO\u7b49\u673a\u5668\u4eba\u9876\u520a\u53d1\u8868\u591a\u7bc7\u8bba\u6587\u3002<\/p>\n<p>\u5f7c\u65f6\u738b\u4e16\u5168\u6b63\u5728\u7b79\u5907\u901a\u7528\u673a\u5668\u4eba\u65b9\u5411\u7684\u521b\u4e1a\uff0c\u7ea6\u5362\u7b56\u543e\u5230\u4ed6\u5bb6\u91cc\u957f\u8c08\u3002\u7b2c\u4e00\u6b21\u89c1\u9762\uff0c\u5362\u7b56\u543e\u4eceAI\u7684\u89d2\u5ea6\u3001\u738b\u4e16\u5168\u4ece\u673a\u5668\u4eba\u7684\u89d2\u5ea6\uff0c\u4e24\u4eba\u4e00\u8d77\u68b3\u7406\u4e86\u901a\u7528\u673a\u5668\u4eba\u7684\u6574\u4e2a\u7cfb\u7edf\uff0c\u4e5f\u662f\u5728\u90a3\u65f6\uff0c\u5362\u7b56\u543e\u624d\u7b2c\u4e00\u6b21\u610f\u8bc6\u5230\uff0c\u5177\u8eab\u667a\u80fd\u4e0d\u4ec5\u8981\u201c\u5927\u8111\u201d\u597d\u3001\u201c\u8eab\u4f53\u201d\u4e5f\u8981\u597d\uff0c\u4e24\u8005\u7f3a\u4e00\u4e0d\u53ef\u3002\u800c\u4e14\uff0c\u672c\u4f53\u80fd\u529b\u8fb9\u754c\u7684\u7a81\u7834\u4e5f\u6709\u8bb8\u591a\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u9700\u8981\u7528\u9876\u5c16\u7684\u6280\u672f\u6765\u89e3\u51b3\u3002<\/p>\n<p>\u4ed6\u4eec\u4e00\u62cd\u5373\u5408\uff0c\u65af\u5766\u798f\u7684\u6c1b\u56f4\u662f\uff0c\u5916\u9762\u603b\u6709\u4e00\u5806\u98ce\u6295\u5728\u9f13\u52a8\u5b66\u751f\u521b\u4e1a\uff0c\u6240\u4ee5\u4ed6\u4eec\u4e00\u6709\u60f3\u6cd5\uff0c\u9a6c\u4e0a\u5c31\u62ff\u5230\u4e86\u6295\u8d44\u30022016 \u5e74 6 \u6708\uff0c\u738b\u4e16\u5168\u3001\u5362\u7b56\u543e\u3001\u949f\u4e66\u8018\u4e0e\u53f6\u7199\u9633\u5c31\u6210\u7acb\u4e86\u975e\u5915\u79d1\u6280\u3002\u9664\u4e86\u5362\u7b56\u543e\uff0c\u5176\u4ed6\u4e09\u4eba\u90fd\u662f\u673a\u5668\u4eba\u51fa\u8eab\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-3bee1386b2b047074574e468d028e911.jpeg\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-3bee1386b2b047074574e468d028e911.jpeg\"><\/a><\/p>\n<p style=\"text-align: center\">\u738b\u4e16\u5168<\/p>\n<p>2016 \u5e74\u5230 2018 \u5e74\u95f4\uff0c\u7845\u8c37\u7684\u89c6\u89c9\u5708\u5df2\u7ecf\u5f00\u59cb\u8ba8\u8bba\u201c\u5177\u8eab\u667a\u80fd\u201d\u7684\u6982\u5ff5\uff0c\u7f8e\u56fd\u4ece 2017 \u5e74\u5f00\u59cb\u5c31\u8bbe\u7acb\u4e86\u5177\u8eab\u667a\u80fd\u76f8\u5173\u7684\u79d1\u7814\u7ecf\u8d39\uff0c\u4f46\u6574\u4f53\u6765\u8bf4\u7814\u7a76\u70ed\u5ea6\u5e76\u4e0d\u9ad8\u3002<\/p>\n<p>ECCV \u00a02018 \u671f\u95f4\uff0c\u5f0b\u529b\u4e0e\u82cf\u660a\u3001\u5362\u7b56\u543e\u3001\u9ec4\u5176\u5174\u7b49\u4eba\u4e00\u8d77\u7ec4\u7ec7\u4e86\u4e00\u4e2a\u9898\u4e3a\u201c\u4eff\u771f\u73af\u5883\u4e2d\u7684\u89c6\u89c9\u5b66\u4e60\u4e0e\u5177\u8eab\u667a\u80fd\u4f53\u201d\uff08\u201cVisual Learning and Embodied Agents in Simulation Environments\u201d\uff09\u7684 workshop\uff0c\u5e0c\u671b\u53bb\u63a8\u52a8\u5177\u8eab\u667a\u80fd\u7684\u53d1\u5c55\uff0c\u4f46\u66f4\u591a\u4eba\u53ea\u662f\u51fa\u4e8e\u5174\u8da3\u5173\u6ce8\u3002<\/p>\n<p>\u90a3\u65f6\u5927\u5bb6\u90fd\u9690\u7ea6\u611f\u5230\u5177\u8eab\u667a\u80fd\u662f\u672a\u6765\uff0c\u4f46\u6574\u4e2a\u9886\u57df\u8fd8\u6ca1\u80fd\u7acb\u5373\u8f6c\u8eab\u3002<\/p>\n<p>2018 \u5e74\u82cf\u660a\u4ece\u65af\u5766\u798f\u535a\u58eb\u6bd5\u4e1a\u540e\uff0c\u7531\u4e8e Leonidas \u6ca1\u6709\u575a\u51b3\u8f6c\u673a\u5668\u4eba\uff0c\u51e0\u4f55\u8ba1\u7b97\u7ec4\u5c31\u4e2d\u65ad\u4e86\u5728\u5f3a\u5316\u5b66\u4e60\u4e0a\u7684\u7814\u7a76\u3002\u5f0b\u529b\u4e0e\u738b\u9e64\u8f6c\u56de 3D \u89c6\u89c9\u7814\u7a76\uff0c\u4e25\u68a6\u5a9b\u3001\u90b5\u6797\u8f6c\u5230 Jeannette Bohg \u7ec4\u7814\u7a76\u673a\u5668\u4eba\u4e0e\u4ea4\u4e92\u611f\u77e5\uff0c\u6de6\u521b\u52a0\u5165IBM-MIT\u7814\u7a76\u9662\u7814\u7a76\u76f4\u89c9\u7269\u7406\u3002\u5982\u4eca\u4e25\u68a6\u5a9b\u5728 OpenAI \u4efb\u804c\uff0c\u90b5\u6797\u4e3a\u65b0\u52a0\u5761\u56fd\u7acb\u5927\u5b66\u52a9\u7406\u6559\u6388\uff0c\u6de6\u521b\u4e3a\u9ebb\u7701\u5927\u5b66\u52a9\u7406\u6559\u6388\u3002<\/p>\n<p><\/p>\n<p style=\"text-align:center\" class=\"heading-3 ace-line old-record-id-FSHtdumrVog6WfxZWcOclsBjnSe\"><strong>\u5404\u81ea\u6218\u6597<\/strong><\/p>\n<p>2016 \u5e74\uff0c\u5362\u7b56\u543e\u4ece\u65af\u5766\u798f\u56de\u5230\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u4efb\u6559\uff1b2017 \u5e74\uff0c\u82cf\u660a\u4ee5 CPT \u5b9e\u4e60\u7684\u8eab\u4efd\u52a0\u5165\u52a0\u5dde\u5927\u5b66\u5723\u5730\u4e9a\u54e5\u5206\u6821\uff08UCSD\uff09\u4efb\u6559\uff0c2018 \u5e74\u535a\u58eb\u6bd5\u4e1a\u3002 \u800c\u5f0b\u529b\u3001\u738b\u9e64\u3001\u83ab\u51ef\u6df3\u7b49\u4eba\u5219\u7559\u5728\u65af\u5766\u798f\u7ee7\u7eed\u8bfb\u535a\u30022018 \u5e74\u5230 2021 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2\/3 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\u5e74\uff0c\u624d\u53d1\u4e86\u7b2c\u4e00\u7bc7\u5177\u8eab\u667a\u80fd\u65b9\u5411\u7684\u8bba\u6587\u3002\u600e\u6837\u8bc1\u660e\u8fd9\u662f\u4e00\u7bc7\u5177\u8eab\u667a\u80fd\u7684\u8bba\u6587\uff1f\u5362\u7b56\u543e\u544a\u8bc9\u96f7\u5cf0\u7f51\uff0c\u201c\u5173\u952e\u662f\u770b\u8bba\u6587\u91cc\u6709\u6ca1\u6709\u771f\u5b9e\u673a\u5668\u4eba\uff0c\u4ee5\u53ca\u80fd\u5426\u88ab\u9876\u5c16\u7684\u673a\u5668\u4eba\u671f\u520a\u6240\u63a5\u53d7\u3002\u201d<\/p>\n<p>2019 \u5e74\uff0c\u5362\u7b56\u543e\u5e26\u9886\u56e2\u961f\u7ec8\u4e8e\u5728\u56fd\u9645\u673a\u5668\u4eba\u9876\u4f1a IROS \u4e0a\u53d1\u8868\u4e86\u4e24\u7bc7\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684\u5177\u8eab\u667a\u80fd\u8bba\u6587\uff1a\u4e00\u7bc7\u662f\u63a8\u51fa\u4e86\u53ef\u8fc1\u79fb\u52a8\u529b\u5b66\u6a21\u578b\u5b8c\u6210\u673a\u5668\u4eba\u5b66\u7ecf\u5178\u7684\u201cPeg-in-hole\u201d\u7cbe\u7ec6\u64cd\u4f5c\u4efb\u52a1\uff0c\u53e6\u4e00\u7bc7\u5219\u662f\u63d0\u51fa\u4e86\u57fa\u4e8e\u7ecf\u9a8c\u7684\u503e\u5411\u6027\u5956\u52b1\u5851\u9020\u673a\u5236\uff0c\u8ba9\u673a\u5668\u4eba\u76f4\u63a5\u4ece\u611f\u77e5\u89e3\u51b3\u64cd\u4f5c\u4efb\u52a1\u3002<\/p>\n<p>\u4e3a\u4e86\u5728\u771f\u673a\u3001\u800c\u4e0d\u4ec5\u662f\u865a\u62df\u73af\u5883\u4e2d\u505a\u68c0\u6d4b\uff0c\u5362\u7b56\u543e\u7740\u624b\u5efa\u7acb\u4e86\u786c\u4ef6\u5e73\u53f0\u6765\u7ba1\u7406\u5b9e\u9a8c\u6570\u636e\u3002\u5362\u7b56\u543e\u4e5f\u662f\u6700\u65e9\u5728\u771f\u673a\u4e0a\u5b9e\u9a8c\u7684\u4e00\u6279\u4eba\u5de5\u667a\u80fd\u5b66\u8005\u3002<\/p>\n<p>\u5c3d\u7ba1 IROS \u53ea\u662f CCF \u6240\u5217\u7684 B \u7c7b\u4f1a\u8bae\uff0c\u4f46\u5bf9\u5362\u7b56\u543e\u4e0e\u56e2\u961f\u6765\u8bf4\uff0c\u662f\u4ed6\u4eec\u4ece\u89c6\u89c9\u8de8\u5230\u673a\u5668\u4eba\u9886\u57df\u7684\u4e00\u6b21\u91cc\u7a0b\u7891\u5f0f\u7684\u80dc\u5229\u3002\u5728\u90a3\u4e4b\u540e\uff0c\u4ed6\u4eec\u4e00\u53d1\u4e0d\u53ef\u6536\u62fe\uff0c\u53c8\u56f4\u7ed5\u6293\u53d6\u3001\u4ee5\u529b\u4e3a\u4e2d\u5fc3\u7684\u65b9\u5411\u505a\u4e86\u8bb8\u591a\u5de5\u4f5c\uff0c\u800c\u8fd9\u4e9b\u5bf9\u7b97\u6cd5\u4e0e\u673a\u5668\u4eba\u672c\u4f53\u7684\u534f\u540c\u63d0\u51fa\u4e86\u66f4\u9ad8\u8981\u6c42\u3002<\/p>\n<p>\u642d\u6863\u738b\u4e16\u5168\u8ba9\u5362\u7b56\u543e\u5bf9\u673a\u5668\u4eba\u7684\u8f6f\u786c\u4ef6\u534f\u540c\u6709\u4e86\u66f4\u6df1\u5165\u7684\u4e86\u89e3\u3002\u4ed6\u4eec\u6bcf\u5e74\u5728 RSS\u3001ICRA\u3001IROS \u90fd\u5f88\u9ad8\u4ea7\uff0c\u968f\u540eIROS \u6700\u4f73\u8bba\u6587\u3001ICRA \u6700\u4f73\u8bba\u6587\u3001RSS 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\u5e74\uff0c\u4ed6\u4eec\u53d1\u8868\u4e86\u5168\u7403\u7b2c\u4e00\u4e2a\u80fd\u591f\u5b9e\u73b0\u4eba\u5de5\u667a\u80fd\u7684\u901a\u7528\u6293\u53d6\u5de5\u4f5c GraspNet\u3002<\/p>\n<p>GraspNet \u7684\u5f15\u7528\u91cf\u867d\u7136\u53ea\u6709\u51e0\u767e\uff0c\u539f\u56e0\u662f\u8981\u4e0a\u771f\u673a\u5b9e\u9a8c\u3001\u590d\u73b0\u6210\u672c\u9ad8\uff0c\u4f46\u5df2\u662f\u8fd1\u51e0\u5e74\u673a\u5668\u4eba\u6293\u53d6\u65b9\u5411\u5f15\u7528\u6700\u9ad8\u7684\u8bba\u6587\u4e4b\u4e00\u3002<\/p>\n<p>\u7b2c\u4e00\u6279\u52a0\u5165\u5362\u7b56\u543e\u56e2\u961f\u7814\u7a76\u673a\u5668\u4eba\u7684\u5b66\u751f\u6709\u65b9\u6d69\u6811\uff08\u73b0 MIT \u535a\u540e\uff09\u3001\u674e\u6c38\u9732\uff08\u4ea4\u5927\u52a9\u7406\u6559\u6388\uff09\u3001\u5f90\u6587\u5f3a\uff08MIT \u535a\u540e\uff09\u7b49\u4eba\uff0c\u4ed6\u4eec\u540e\u6765\u90fd\u6210\u4e3a\u4e86\u4e2d\u56fd\u7b2c\u4e00\u6279\u672c\u571f\u57f9\u517b\u7684\u5177\u8eab\u667a\u80fd\u535a\u58eb\u3002\u6b64\u5916\uff0c\u8fd8\u6709\u672c\u79d1\u751f\u738b\u8fb0\uff0c\u5982\u4eca\u5728\u65af\u5766\u798f\u674e\u98de\u98de\u7ec4\u8bfb\u535a\uff0c\u662f\u674e\u98de\u98de\u56e2\u961f\u5728\u5177\u8eab\u667a\u80fd\u65b9\u5411\u7684\u201c\u625b\u628a\u5b50\u201d\u4e4b\u4e00\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-0a72b51ff9fa7f9131b460a8eba4fd84.jpeg\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-0a72b51ff9fa7f9131b460a8eba4fd84.jpeg\"><\/a><\/p>\n<p style=\"text-align: center\">\u4ece\u5de6\u5230\u53f3\u4f9d\u6b21\u4e3a\uff1a\u65b9\u6d69\u6811\u3001\u674e\u6c38\u9732\u3001\u5f90\u6587\u5f3a\u3001\u738b\u8fb0<\/p>\n<p>\u5728\u5317\u7f8e\uff0c\u82cf\u660a\u4e5f\u662f\u7b2c\u4e00\u6279\u5177\u8eab\u667a\u80fd\u201c\u63a2\u9669\u5bb6\u201d\u30022017 \u5e74\uff0c\u4ed6\u88ab\u56fe\u5f62\u5b66\u5927\u725b Ravi Ramamoorthi \u62db\u5165 UCSD \u89c6\u89c9\u8ba1\u7b97\u4e2d\u5fc3\uff0c\u521b\u7acb\u4e86 SU Lab\u3002<\/p>\n<p>\u62c5\u4efb\u6559\u804c\u540e\uff0c\u82cf\u660a\u7ee7\u7eed\u653b\u514b\u5177\u8eab\u667a\u80fd\uff0c\u5176\u56e2\u961f\u7684\u7814\u7a76\u91cd\u70b9\u662f\u4e24\u5757\uff1a<\/p>\n<p>\u4e00\u5757\u662f\u5f3a\u5316\u5b66\u4e60\uff0c\u5c24\u5176\u662f\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u7684\u5f3a\u5316\u5b66\u4e60\uff08MBRL\uff09\u3002\u63a7\u5236\u91cc\u6709\u4e00\u4e2a\u65b9\u5411\u662f\u63a2\u8ba8\u73af\u5883\u5efa\u6a21\uff0c\u5373\u5982\u4f55\u8ba9\u6574\u4e2a\u7cfb\u7edf\u66f4\u52a0\u53ef\u63a7\uff0c\u8fd9\u91cc\u521a\u597d\u53ef\u4ee5\u5c06\u89c6\u89c9\u7684\u77e5\u8bc6\u7ed3\u5408\u8fdb\u6765\uff0c\u5c06\u5efa\u6a21\u4e0e\u53ef\u63a7\u53d8\u6210\u7aef\u5230\u7aef\uff0c\u5b9e\u73b0\u611f\u77e5\u4e0e\u4ea4\u4e92\u7684\u95ed\u73af\u3002\u6b64\u4e5f\u4e3a\u5177\u8eab\u667a\u80fd\u7684\u7a81\u7834\u53e3\u3002<\/p>\n<p>\u4ed6\u63a8\u52a8\u62db\u8058\u738b\u5c0f\u9f99\u52a0\u5165 UCSD \u4efb\u6559\uff0c\u57f9\u517b\u7684\u5b66\u751f\u5982\u9648\u777f\u3001\u987e\u5bb6\u8fdc\u7b49\u5148\u540e\u52a0\u5165\u6e05\u534e\u5927\u5b66\u3001\u4e0a\u6d77\u79d1\u6280\u5927\u5b66\u7b49\u5927\u5b66\u4efb\u6559\uff0c\u79e6\u8a89\u54f2\u4e5f\u5f00\u59cb\u4e86\u81ea\u5df1\u7684\u7075\u5de7\u624b\u521b\u4e1a\u884c\u52a8\uff0c\u9ec4\u5fd7\u7ff1\u548c\u9879\u5e06\u6ce2\u5219\u9009\u62e9\u4e0e\u82cf\u660a\u4e00\u8d77\u521b\u4e1a\u3002<\/p>\n<p>\u53e6\u4e00\u5757\u662f 3D \u91cd\u5efa\u4e0e\u751f\u6210\u3002\u5f53\u65f6\u82cf\u660a\u7b49\u4eba\u5df2\u5728 3D \u7b97\u6cd5\u4e0a\u53d6\u5f97\u5f15\u9886\u6027\u6210\u679c\uff0c\u4f46\u4ecd\u65e0\u6cd5\u4e0e 2D \u89c6\u89c9\u5e73\u8d77\u5e73\u5750\u3002\u76f8\u6bd4 2D\uff0c3D \u7684\u8fc5\u901f\u6269\u5f20\u4ecd\u53d7\u5230\u6570\u636e\u4e30\u5bcc\u6027\u7684\u9650\u5236\uff0c\u800c\u82cf\u660a\u8ba4\u4e3a\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u7684\u6839\u672c\uff0c\u5c31\u662f\u80fd\u591f\u57fa\u4e8e\u8f83\u7834\u635f\u7684 3D \u8f93\u5165\u6216\u5176\u4ed6\u6a21\u6001\u6570\u636e\u5b9e\u73b0\u9ad8\u8d28\u91cf\u7684 3D \u8f93\u51fa\u3002<\/p>\n<p>\u5728\u65af\u5766\u798f\u7684\u6700\u540e\u4e00\u5e74\uff0c\u4ed6\u5f15\u5bfc\u9648\u6587\u5fb5\u548c\u9ad8\u4fca\u4e8c\u4eba\u8fdb\u5165\u56fe\u751f 3D \u7684\u65b9\u5411\uff0c\u4ed6\u4eec\u540e\u6765\u5728\u591a\u4f26\u591a\u5927\u5b66\u548c\u82f1\u4f1f\u8fbe\u505a\u51fa\u4e86\u7a81\u7834\u6027\u6210\u679c\uff0c\u5f00\u53d1\u51fa\u4e86 Get3D \u7b49 3D \u751f\u6210\u9886\u57df\u7684\u7a81\u7834\u6027\u5de5\u4f5c\uff0c\u4e8c\u4eba\u5206\u522b\u52a0\u5165\u4e86\u5317\u4eac\u5927\u5b66\u548c\u5bc6\u6b47\u6839\u5927\u5b66\u4efb\u6559\u3002\u5728 UCSD\uff0c\u4ed6\u63a8\u52a8\u62db\u8058\u591a\u540d\u5e74\u8f7b\u6559\u6388\u5728\u6b64\u65b9\u5411\u53d1\u529b\uff0c\u57f9\u517b\u7684\u5e74\u8f7b\u4eba\u4e5f\u9010\u6e10\u6210\u4e3a\u9886\u57df\u7684\u4e2d\u575a\u529b\u91cf\uff0c\u5176\u4e2d\u5b66\u751f\u5218\u660e\u534e\u548c\u5f20\u5b5d\u5e05\u4e5f\u9009\u62e9\u4e0e\u82cf\u660a\u4e00\u8d77\u521b\u4e1a\u3002<\/p>\n<p>\u4e0e\u5362\u7b56\u543e\u4e00\u6837\uff0c\u521a\u62c5\u4efb\u6559\u804c\u7684\u82cf\u660a\u9664\u4e86\u81ea\u5df1\u9700\u8981\u575a\u5b9a\u4fe1\u5ff5\u5916\uff0c\u4e5f\u9700\u8981\u8bf4\u670d\u5b66\u751f\u4e0d\u8981\u53bb\u7814\u7a76\u5bfc\u5e08\u5df2\u7ecf\u64c5\u957f\u7684 3D \u89c6\u89c9\u3001\u5c11\u53d1\u8bba\u6587\uff0c\u800c\u662f\u53bb\u7814\u7a76\u5f3a\u5316\u5b66\u4e60\u3001\u6a21\u62df\u5668\u3001\u63a7\u5236\u95ed\u73af\u7b49\u5f53\u65f6\u95e8\u5ead\u51b7\u843d\u3001\u4f46\u5bf9\u5177\u8eab\u667a\u80fd\u7684\u7814\u7a76\u81f3\u5173\u91cd\u8981\u7684\u8bfe\u9898\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-6b0571a39c88be9c71aa212a2b900ab9.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-6b0571a39c88be9c71aa212a2b900ab9.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u82cf\u660a\u4e0e\u4ed6\u7684\u5b66\u751f\uff0c\u56fe\u6e90\u82cf\u660a UCSD \u5b9e\u9a8c\u5ba4 SU Lab \u5b98\u7f51<\/p>\n<p>2019 \u5e74\u5f00\u59cb\uff0c\u82cf\u660a\u56e2\u961f\u5728\u5f3a\u5316\u5b66\u4e60\u3001\u5305\u62ec Sim2Real \u4e0e MBRL \u4e0a\u5747\u6709\u51fa\u8272\u6210\u679c\u3002\u4ed6\u4eec\u4f18\u5316\u4e86\u57df\u968f\u673a\u5316\u53c2\u6570\u7684\u9009\u62e9\u4ee5\u63d0\u9ad8 Sim2Real \u6548\u679c\uff0c\u7528\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u63d0\u9ad8\u4e86\u673a\u5668\u4eba\u5728\u6742\u4e71\u573a\u666f\u4e2d\u5355\u89c6\u56fe\u5355\u6b21\u62cd\u6444\u7684\u516d\u81ea\u7531\u5ea6\u6293\u53d6\u4efb\u52a1\u7684\u6210\u529f\u7387\uff0c\u8fd8\u63d0\u51fa\u4e86\u901a\u8fc7 WGAN \u751f\u6210\u66f4\u63a5\u8fd1\u771f\u5b9e\u73af\u5883\u7684\u4eff\u771f\u6570\u636e\uff0c\u63d0\u9ad8\u5b66\u4e60\u6548\u7387\u548c\u667a\u80fd\u4f53\u7684\u51b3\u7b56\u8d28\u91cf\u3002<\/p>\n<p>\u82cf\u660a\u8ba4\u4e3a\uff0c\u7814\u7a76\u5177\u8eab\u667a\u80fd\u5fc5\u7136\u7ed5\u4e0d\u5f00\u4eff\u771f\u30022020 \u5e74\uff0c\u82cf\u660a\u56e2\u961f\u53d1\u5e03\u4e86\u5168\u7403\u7b2c\u4e00\u4e2a\u4eff\u771f\u5f15\u64ce\u2014\u2014SAPIEN\uff0c\u80fd\u6a21\u62df\u673a\u5668\u4eba\u4e0e\u4eba\u7c7b\u7684\u4ea4\u4e92\u3002<\/p>\n<p>\u201c\u79d1\u5b66\u7684\u7814\u7a76\u9700\u8981\u53ef\u590d\u73b0\uff0c\u4f46\u6574\u4e2a\u6df1\u5ea6\u5b66\u4e60\u7cfb\u7edf\u662f\u4e00\u4e2a\u9ed1\u76d2\uff0c\u6ca1\u6709\u529e\u6cd5\u5f97\u5230\u7edf\u8ba1\u4e0a\u6709\u7406\u8bba\u4fdd\u8bc1\u7684\u7ed3\u679c\uff0c\u6240\u4ee5\u5fc5\u987b\u4f9d\u9760\u5927\u91cf\u7684\u7ecf\u9a8c\u6027\u6d4b\u8bd5\u3002\u5728\u771f\u5b9e\u4e16\u754c\u4e2d\u505a\u95ed\u73af\u5b66\u4e60\u548c\u6d4b\u8bd5\u592a\u6162\u4e86\uff0c\u4e0d\u53ef\u80fd\u4fdd\u8bc1\u79d1\u5b66\u7684\u7814\u7a76\uff0c\u7ef4\u6301\u5065\u5eb7\u7684\u5b66\u672f\u751f\u6001\uff0c\u6240\u4ee5\u7ed5\u4e0d\u5f00\u4eff\u771f\u3002\u201d\u82cf\u660a\u89e3\u91ca\u3002<\/p>\n<p>SAPIEN \u5305\u542b\u4e86\u6765\u81ea ShapeNet \u548c PartNet \u7684\u5927\u89c4\u6a21 3D \u94f0\u63a5\u5bf9\u8c61\u6570\u636e\u96c6\uff0c\u652f\u6301\u9700\u8981\u8be6\u7ec6\u90e8\u4ef6\u7ea7\u7406\u89e3\u7684\u673a\u5668\u4eba\u89c6\u89c9\u548c\u4ea4\u4e92\u4efb\u52a1\uff0c\u6210\u4e3a\u5f15\u9886\u5177\u8eab\u667a\u80fd\u7684\u7ecf\u5178\u5de5\u4f5c\u30022021 \u5e74\uff0c\u82cf\u660a\u8fd8\u57fa\u4e8e SAPIEN \u5f00\u6e90\u4e3e\u529e\u4e86\u673a\u5668\u4eba\u64cd\u4f5c\u5927\u8d5b ManiSkill\uff0c\u5e0c\u671b\u63a8\u52a8\u5177\u8eab\u667a\u80fd\u8bc4\u6d4b\u6807\u51c6\u7684\u5efa\u7acb\u3002<\/p>\n<p>\u4eff\u771f\u5bf9\u5177\u8eab\u667a\u80fd\u7684\u8bc4\u6d4b\u5f88\u91cd\u8981\u3002\u5362\u7b56\u543e\u4e0e\u674e\u98de\u98de\u3001\u82cf\u660a\u4ea4\u6d41\uff0c\u4ed6\u4eec\u90fd\u63d0\u51fa\u4e86\u7528\u4eff\u771f\u6765\u8bc4\u6d4b\uff0c\u4ed6\u4eec\u4fbf\u4e5f\u5f00\u59cb\u505a\u6a21\u62df\u5668\u3002\u82cf\u660a\u56e2\u961f\u53d1\u8868 SAPIEN \u540e\uff0c\u82f1\u4f1f\u8fbe\u56e2\u961f\u53d1\u8868\u4e86 IssacSim\uff0c\u5362\u7b56\u543e\u56e2\u961f\u4e5f\u53d1\u8868\u4e86 RFUniverse\uff0c\u674e\u98de\u98de\u56e2\u961f\u4e5f\u53d1\u4e86 BEHAVIOR\u3002\u540c\u65f6\uff0c\u56e0\u4e3a\u5362\u7b56\u543e\u56e2\u961f\u5f88\u65e9\u5728\u771f\u673a\u4e0a\u5b9e\u9a8c\uff0c\u77e5\u9053\u4eff\u771f\u4e0e\u771f\u5b9e\u4ecd\u6709\u4e00\u5b9a\u5dee\u8ddd\uff0c\u56e0\u6b64\u4e5f\u5f3a\u8c03\u4eff\u771f\u4e0e\u771f\u673a\u7684\u7ed3\u5408\u3002<\/p>\n<p>\u82cf\u660a\u5230 UCSD \u540e\uff0c\u4e5f\u4ecd\u4e0e\u65af\u5766\u798f\u51e0\u4f55\u8ba1\u7b97\u7ec4\u4fdd\u6301\u8054\u7cfb\u3002\u90a3\u65f6\u738b\u9e64\u5728\u7814\u7a76\u4f4d\u59ff\uff08Pose\uff09\uff0c\u5f0b\u529b\u5728\u7814\u7a76\u90e8\u4ef6\uff08Part\uff09\uff0c\u82cf\u660a\u8ddf\u4ed6\u4eec\u8bf4\u4e00\u5b9a\u8981\u7814\u7a76\u5177\u8eab\u667a\u80fd\u3002\u5f53\u65f6\u5927\u5bb6\u5bf9\u5177\u8eab\u667a\u80fd\u90fd\u8fd8\u5728\u63a2\u7d22\u9636\u6bb5\uff0c\u82cf\u660a\u7ecf\u5e38\u9080\u8bf7\u5f0b\u529b\u3001\u738b\u9e64\u3001\u83ab\u51ef\u6df3\u4e00\u8d77\u8ba8\u8bba\uff0c\u4e5f\u5171\u540c\u5b8c\u6210\u4e86 PartNet\u3001SAPIEN \u7b49\u5de5\u4f5c\u3002<\/p>\n<p>\u8bfb\u535a\u671f\u95f4\uff0c\u738b\u9e64\u7684\u8bfe\u9898\u662f\u7269\u7406\u4ea4\u4e92\uff0c\u7b2c\u4e00\u4e2a\u5de5\u4f5c\u5c31\u5c1d\u8bd5\u4e86\u201c\u89c6\u89c9-\u8bed\u8a00-\u884c\u4e3a\u201d\u7684\u8054\u5408\u751f\u6210\u6a21\u578b\uff0c\u5728 2019 \u5e74\u83b7\u5f97\u4e86\u6b27\u6d32\u56fe\u5f62\u5b66\u4f1a\u8bae\u6700\u4f73\u8bba\u6587\u63d0\u540d\u3002\u4e4b\u540e\uff0c\u4ed6\u4e3b\u653b\u57fa\u4e8e\u5408\u6210\u6570\u636e\u7684\u6cdb\u5316\u673a\u5668\u4eba\u89c6\u89c9\uff0c\u5f00\u521b\u4e86\u7c7b\u522b\u7ea7\u516d\u7ef4\u7269\u4f53\u4f4d\u59ff\u4f30\u8ba1\u8fd9\u4e00\u7814\u7a76\u9886\u57df\uff0c\u5173\u6ce8\u9762\u5411\u5177\u8eab\u64cd\u4f5c\u7684\u7269\u4f53\u72b6\u6001\u4f30\u8ba1\u548c\u95ed\u73af\u611f\u77e5\u3002<\/p>\n<p>\u5f0b\u529b\u7684\u7814\u7a76\u91cd\u70b9\u662f\u90e8\u4ef6\u5206\u5272\u3002\u90e8\u4ef6\u5206\u5272\u4e0d\u4ec5\u662f 3D \u9886\u57df\u7684\u7ecf\u5178\u95ee\u9898\uff0c\u4e5f\u662f\u5177\u8eab\u667a\u80fd\u7684\u4e00\u4e2a\u91cd\u8981\u7ec4\u6210\u90e8\u5206\u3002<\/p>\n<p>\u201c\u5728\u673a\u5668\u4eba\u4e0e\u7269\u7406\u4e16\u754c\u7684\u4ea4\u4e92\u4e2d\uff0c\u867d\u7136\u4ea4\u4e92\u7684\u884c\u4e3a\u901a\u5e38\u4ee5\u7269\u4f53\u6574\u4f53\u4e3a\u4e2d\u5fc3\uff0c\u4f46\u5b9e\u9645\u5f80\u5f80\u96c6\u4e2d\u5728\u67d0\u4e9b\u5173\u952e\u90e8\u4ef6\u4e0a\u3002\u4f8b\u5982\uff0c\u5f53\u673a\u5668\u4eba\u8981\u5f00\u95e8\uff0c\u5b83\u9700\u8981\u8bc6\u522b\u51fa\u95e8\u628a\u624b\u7684\u4f4d\u7f6e\uff0c\u624d\u80fd\u5b8c\u6210\u540e\u7eed\u7684\u64cd\u4f5c\u3002\u201d\u6362\u8a00\u4e4b\uff0c\u90e8\u4ef6\u5c31\u662f\u673a\u5668\u4eba\u4e0e\u7269\u7406\u4e16\u754c\u4ea4\u4e92\u7684\u754c\u9762\uff08interface\uff09\uff0c\u662f\u673a\u5668\u4eba\u5b8c\u6210\u4e0b\u6e38\u4ea4\u4e92\u4efb\u52a1\u7684\u5173\u952e\u3002PartNet \u5c31\u662f\u90e8\u4ef6\u5206\u5272\u7684\u4ee3\u8868\u4f5c\u3002<\/p>\n<p>PartNet \u7684\u4e3b\u529b\u662f\u83ab\u51ef\u6df3\u3002\u83ab\u51ef\u6df3\u662f\u4e0a\u6d77\u4ea4\u5927 ACM \u73ed\u672c\u79d1\u7b2c\u4e00\u540d\uff0c2016 \u5e74\u5230\u65af\u5766\u798f\u8bfb\u535a\uff0c\u4e5f\u53c2\u4e0e\u8fc7 PointNet\u30022019 \u5e74\uff0c\u83ab\u51ef\u6df3\u5728\u82cf\u660a\u7684\u5b9e\u9a8c\u5ba4\u8bbf\u95ee\uff0c\u4e0e\u5f0b\u529b\u5408\u4f5c\u5728 ShapeNet \u7684\u57fa\u7840\u4e0a\u5bf9\u90e8\u4ef6\u5206\u5272\u505a\u4e86\u66f4\u7ec6\u7c92\u5ea6\u7684\u6807\u6ce8\uff0c\u53d1\u5e03\u4e86 PartNet\u30022022 \u5e74\u4ece\u65af\u5766\u798f\u535a\u58eb\u6bd5\u4e1a\u540e\uff0c\u83ab\u51ef\u6df3\u52a0\u5165\u82f1\u4f1f\u8fbe\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\uff0c\u5411 Dieter Fox \u6c47\u62a5\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-75bcaa711c4fc83ac3dbff408e2d7cd6.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-75bcaa711c4fc83ac3dbff408e2d7cd6.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u83ab\u51ef\u6df3<\/p>\n<p>\u4ece 2016 \u5e74\u5230 2021 \u5e74\uff0c\u5177\u8eab\u667a\u80fd\u5728\u5317\u7f8e\u7684\u53d1\u5c55\u4e5f\u4ece\u840c\u82bd\u671f\u8fdb\u5165\u5230\u4e86\u84ec\u52c3\u671f\u3002\u8fd9\u51e0\u5e74\uff0c\u82cf\u660a\u3001\u5362\u7b56\u543e\u4e0e\u738b\u9e64\u7b49\u4eba\u867d\u5404\u81ea\u4f5c\u6218\uff0c\u4f46\u901a\u8fc7\u201c\u9065\u201d\u4ea4\u6d41\uff0c\u59cb\u7ec8\u8d70\u5728\u9886\u57df\u7684\u524d\u6cbf\u3002<\/p>\n<p>ICCV 2021 \u671f\u95f4\uff0c\u82cf\u660a\u3001\u738b\u9e64\u4e0e\u5f0b\u529b\u7b49\u4eba\u53c8\u53d1\u8d77\u4e86\u4e00\u573a workshop\uff0c\u9898\u4e3a\u201cThe 1st Workshop on Simulation Technology for Embodied AI\u201d\u3002\u76f8\u6bd4 ECCV 2018\uff0c\u4ed6\u4eec\u5df2\u7ecf\u65e0\u9700\u518d\u5411\u89c6\u89c9\u5708\u201c\u515c\u552e\u201d\u5177\u8eab\u667a\u80fd\uff0c\u800c\u662f\u53ef\u4ee5\u8ba8\u8bba\u5177\u4f53\u7684\u8bdd\u9898\u3002<\/p>\n<p>\u90a3\u65f6\u9886\u57df\u5185\u6709\u4e00\u4e2a\u5206\u6b67\uff1a\u5177\u8eab\u667a\u80fd\u8981\u5728\u4eff\u771f\u73af\u5883\u4e2d\u7814\u7a76\uff0c\u8fd8\u662f\u8981\u5728\u771f\u5b9e\u4e16\u754c\u7684\u771f\u673a\u4e2d\u53bb\u505a\u3002\u5f53\u65f6\u9886\u57df\u91cc\u7684\u4e3b\u6d41\u58f0\u97f3\u90fd\u8ba4\u4e3a\u8981\u5728\u771f\u5b9e\u4e16\u754c\u4e2d\uff0c\u4f46\u82cf\u660a\u3001\u5f0b\u529b\u3001\u738b\u9e64\u7b49\u4eba\u8ba4\u4e3a\u8981\u91cd\u89c6\u4eff\u771f\u3002\u4ed6\u9080\u8bf7\u4e86\u8bb8\u591a\u56fe\u5f62\u5b66\u8bb2\u8005\u3001\u800c\u975e\u673a\u5668\u4eba\u4e13\u5bb6\u6765\u8ba8\u8bba\u4eff\u771f\u5f15\u64ce\u4e0e\u5177\u8eab\u667a\u80fd\u7684\u5173\u7cfb\u3002<\/p>\n<p>2021 \u5e74\u524d\u540e\uff0c\u5177\u8eab\u667a\u80fd\u5728\u5317\u7f8e\u5df2\u7ecf\u5341\u5206\u706b\u70ed\uff0c\u8bb8\u591a\u5b66\u8005\u90fd\u5df2\u7ecf\u8ba4\u8bc6\u5230\uff0c\u5177\u8eab\u667a\u80fd\u624d\u662f\u672a\u6765\u3002<\/p>\n<p><\/p>\n<p style=\"text-align:center\" class=\"heading-3 ace-line old-record-id-QkIJddYB2oSJAuxxf0ycFA3UnPh\"><strong>\u51b0\u4e0e\u706b\u4e4b\u6b4c<\/strong><\/p>\n<p>\u4f46\u76f8\u6bd4\u5317\u7f8e\u5b66\u672f\u5708\u7684\u70ed\u706b\u671d\u5929\uff0c2021 \u5e74\uff0c\u5177\u8eab\u667a\u80fd\u5728\u56fd\u5185\u51e0\u4e4e\u6ca1\u6709\u4eba\u5173\u6ce8\u3002<\/p>\n<p>\u5362\u7b56\u543e\u56e0\u4e3a\u5bf9\u56fd\u5916\u7684\u7814\u7a76\u8fdb\u5c55\u5f88\u4e86\u89e3\uff0c\u6709\u4e00\u6bb5\u65f6\u95f4\u5f88\u75db\u82e6\u7684\u662f\uff1a\u5177\u8eab\u667a\u80fd\u5728\u56fd\u5916\u98ce\u8d77\u4e91\u6d8c\uff0c\u56fd\u5185\u5374\u6beb\u65e0\u6ce2\u6f9c\u3002\u5362\u7b56\u543e\u5411\u8eab\u8fb9\u7684\u4eba\u79d1\u666e\u5177\u8eab\u667a\u80fd\u65f6\uff0c\u5f97\u5230\u7684\u53cd\u5e94\u901a\u5e38\u662f\u4e00\u53e5\u201c\u633a\u6709\u8da3\u7684\u201d\uff0c\u7136\u540e\u5c31\u6ca1\u6709\u4e0b\u6587\u4e86\u3002<\/p>\n<p>\u5173\u4e8e\u5177\u8eab\u667a\u80fd\uff0c\u65e9\u671f\u4e0d\u540c\u673a\u6784\u4e5f\u6709\u4e0d\u540c\u7684\u7406\u89e3\u3002\u65af\u5766\u798f\u4e0e\u4f2f\u514b\u5229\u662f\u53eb\u201cEmbodied Artificial Intelligence\u201d\uff0c\u9ebb\u7701\u7406\u5de5\u5b66\u9662\uff08MIT\uff09\u7684 CSAIL \u5b9e\u9a8c\u5ba4\u5219\u76f4\u63a5\u5c06\u4e2d\u95f4\u7684\u201cArtificial\u201d\u53bb\u6389\uff0c\u5c06\u673a\u5668\u4eba\u4e0e\u4eba\u5de5\u667a\u80fd\u7684\u7ed3\u5408\u547d\u540d\u4e3a\u201cEmbodied Intelligence\u201d\u3002<\/p>\n<p>\u56de\u56fd\u540e\uff0c\u5173\u4e8e\u201cEmbodied AI\u201d\u7684\u4e2d\u6587\u5e94\u8be5\u5982\u4f55\u7ffb\u8bd1\uff0c\u5362\u7b56\u543e\u4e0e\u82cf\u660a\u4e5f\u8fdb\u884c\u8fc7\u8ba8\u8bba\u3002\u4ed6\u4eec\u4e00\u5f00\u59cb\u60f3\u4e86\u597d\u51e0\u4e2a\u8bcd\uff0c\u6709\u201c\u5b9e\u4f53\u667a\u80fd\u201d\u3001\u201c\u673a\u5668\u4eba\u5b66\u4e60\u201d\u3001\u201c\u5177\u8eab\u667a\u80fd\u201d\u7b49\uff0c\u90fd\u89c9\u5f97\u201c\u5177\u8eab\u201d\u4e0e\u82f1\u6587\u7684\u201cEmbodied\u201d\u66f4\u5bf9\u5e94\uff0c\u5c31\u5c06\u5176\u4e2d\u6587\u7ffb\u8bd1\u6210\u4e86\u201c\u5177\u8eab\u667a\u80fd\u201d\u5728\u56fd\u5185\u4f20\u64ad\u3002<\/p>\n<p>2020 \u5e74\uff0c\u5362\u7b56\u543e\u9996\u6b21\u5728\u56fd\u5185\u8ba1\u7b97\u673a\u89c6\u89c9\u5927\u4f1a VALSE \u4e0a\u516c\u5f00\u8c08\u8bba\u5177\u8eab\u667a\u80fd\u3002VALSE \u975e\u5e38\u6709\u524d\u77bb\u6027\uff0c\u4e5f\u662f\u56fd\u5185\u7b2c\u4e00\u4e2a\u5173\u6ce8\u5230\u5177\u8eab\u667a\u80fd\u7684\u5927\u4f1a\uff0c\u4f46\u5373\u4f7f\u662f\u5728 VALSE \u8fd9\u6837\u4e00\u4e2a\u56fd\u5185\u89c6\u89c9\u8ba8\u8bba\u9996\u5c48\u4e00\u6307\u7684\u4f1a\u8bae\u4e0a\uff0c\u5177\u8eab\u667a\u80fd\u4e5f\u6ca1\u6709\u5f15\u8d77\u5927\u5bb6\u7684\u5173\u6ce8\u3002<\/p>\n<p>\u5362\u7b56\u543e\u8bb0\u5f97\uff0c\u5f53\u65f6\u4e3a\u4e86\u8ba9\u7814\u7a76\u5185\u5bb9\u66f4\u5bb9\u6613\u88ab\u63a5\u53d7\uff0c\u4ed6\u8fd8\u5728\u201c\u5177\u8eab\u667a\u80fd\u201d\u56db\u4e2a\u5b57\u7684\u524d\u9762\u52a0\u4e86\u201c\u6d45\u8c08\u201d\u4e8c\u5b57\u3002\u4f46\u8fd9\u6b21\u6f14\u8bb2\u7684\u89c2\u4f17\u53cd\u5e94\u60e8\u4e0d\u5fcd\u7779\uff1a\u5728\u4e00\u4e2a\u51e0\u5343\u4eba\u89c4\u6a21\u7684\u5927\u4f1a\uff0c\u53f0\u4e0b\u7684\u542c\u4f17\u6765\u6765\u5f80\u5f80\uff0c\u4eba\u6570\u6700\u591a\u65f6\u4e0d\u8d85\u8fc7 30 \u4eba\uff0c\u6700\u5c11\u65f6\u52a0\u4e0a\u8bb2\u8005\u4e5f\u624d 7 \u4e2a\u4eba\u3002\u4e0e\u9694\u58c1\u4f1a\u8bae\u73b0\u573a\u4eba\u58f0\u9f0e\u6cb8\u7684\u573a\u9762\u5f62\u6210\u4e86\u9c9c\u660e\u5bf9\u6bd4\u3002<\/p>\n<p>\u8fd9\u8ba9\u5362\u7b56\u543e\u5f88\u5931\u843d\u3002\u5362\u7b56\u543e\u7684\u5b66\u751f\u4e5f\u7ecf\u5e38\u95ee\u4ed6\uff1a\u201c\u6211\u4eec\u7814\u7a76\u5177\u8eab\u667a\u80fd\u6709\u6ca1\u6709\u524d\u9014\u5440\uff1f\u90fd\u6ca1\u4eba\u5173\u6ce8\u3002\u201d\u5373\u4f7f\u4ed6\u4eec\u53d1\u8868\u4e86\u7a81\u7834\u6027\u7684\u6293\u53d6\u5de5\u4f5c GraspNet \u540e\u4e5f\u6ca1\u4ec0\u4e48\u4eba\u5173\u6ce8\uff0c\u5f15\u7528\u91cf\u5be5\u5be5\uff0c\u4e0e\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u5355\u7bc7\u5f15\u7528\u5c31\u80fd\u6210\u5343\u4e0a\u4e07\u7684\u60c5\u51b5\u5f62\u6210\u5de8\u5927\u53cd\u5dee\u3002<\/p>\n<p>2021 \u5e74\u5f0b\u529b\u4e0e\u738b\u9e64\u56de\u56fd\uff0c\u5177\u8eab\u667a\u80fd\u4ecd\u672a\u706b\u8d77\u6765\u3002\u738b\u9e64\u56de\u56fd\u524d\uff0c\u8fd8\u7279\u5730\u7ed9\u5362\u7b56\u543e\u6253\u4e86\u4e2a\u7535\u8bdd\uff0c\u5411\u5362\u7b56\u543e\u6253\u542c\u5177\u8eab\u667a\u80fd\u5728\u56fd\u5185\u7684\u53d1\u5c55\u60c5\u51b5\u3002\u5362\u7b56\u543e\u7684\u56de\u7b54\u5927\u7ea6\u662f\uff1a\u5904\u4e8e\u65e9\u671f\uff0c\u6709\u5f88\u5927\u673a\u4f1a\uff0c\u4f46\u4e0d\u5bb9\u4e50\u89c2\u3002\u738b\u9e64\u542c\u4e86\u5362\u7b56\u543e\u7684\u56de\u7b54\uff0c\u4f9d\u7136\u575a\u51b3\u56de\u56fd\u3002<\/p>\n<p>\u5728\u65af\u5766\u798f\u7684\u7814\u7a76\u7ecf\u5386\u4f7f\u4ed6\u4eec\u575a\u4fe1\uff0c\u5177\u8eab\u667a\u80fd\u5c06\u6210\u4e3a\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u4e0b\u4e00\u4e2a\u201cMilestone \u65b9\u5411\u201d\u3002 2021 \u5e74\u5f0b\u529b\u52a0\u5165\u6e05\u534e\u53c9\u9662\uff0c\u5c06\u5b9e\u9a8c\u5ba4\u547d\u540d\u4e3a\u201c\u4e09\u7ef4\u89c6\u89c9\u8ba1\u7b97\u4e0e\u673a\u5668\u667a\u80fd\u5b9e\u9a8c\u5ba4\u201d\uff0c\u8bd5\u56fe\u4ece3D \u89c6\u89c9\u51fa\u53d1\u8fdb\u4e00\u6b65\u63a8\u52a8\u5177\u8eab\u667a\u80fd\u7684\u7814\u7a76\uff1b\u800c\u738b\u9e64\u52a0\u5165\u5317\u5927\u524d\u6cbf\u8ba1\u7b97\u7814\u7a76\u4e2d\u5fc3\uff0c\u5219\u679c\u65ad\u6302\u4e0a\u5177\u8eab\u667a\u80fd\u7684\u724c\u5b50\uff0c\u6210\u7acb\u4e86\u201c\u5177\u8eab\u611f\u77e5\u4e0e\u4ea4\u4e92\u5b9e\u9a8c\u5ba4\u201d\u3002<\/p>\n<p>\u540c\u65f6\uff0c\u53d7\u5f20\u5b8f\u6c5f\u7684\u9080\u8bf7\uff0c\u738b\u9e64\u8fd8\u5728\u5317\u4eac\u667a\u6e90\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u6210\u7acb\u4e86\u5177\u8eab\u667a\u80fd\u4e2d\u5fc3\uff0c\u5e76\u62c5\u4efb\u4e2d\u5fc3\u4e3b\u4efb\u3002<\/p>\n<p>\u5f0b\u529b\u3001\u738b\u9e64\u7b49\u4eba\u56de\u56fd\u540e\uff0c\u4e5f\u52a0\u5165\u4e86\u5362\u7b56\u543e\u7684\u9635\u7ebf\uff0c\u50cf 2018 \u5e74\u5728 ECCV \u4e0a\u5411\u5317\u7f8e\u5b66\u672f\u5708\u201c\u63a8\u9500\u201d\u5177\u8eab\u667a\u80fd\u4e00\u6837\uff0c\u7ed9\u56fd\u5185\u7684\u5b66\u672f\u754c\u4e0e\u5de5\u4e1a\u754c\u63a8\u5e7f\u5177\u8eab\u667a\u80fd\u3002<\/p>\n<p>\u4ece 2021 \u5e74\u5f00\u59cb\uff0c\u5362\u7b56\u543e\u4e0e\u738b\u9e64\u3001\u5f0b\u529b\u5c31\u5f00\u59cb\u5728 VALSE \u4e0a\u4e3e\u529e\u4ee5\u5177\u8eab\u667a\u80fd\u4e3a\u4e3b\u9898\u7684 workshop\uff0c\u5230\u5982\u4eca\u4e00\u5171\u4e3e\u529e\u4e86 4 \u5c4a\uff0cworkshop \u7684\u540d\u5b57\u5206\u522b\u662f\u201c\u5177\u8eab\u667a\u80fd\u89c6\u89c9\u201d\u3001\u201c\u5177\u8eab\u667a\u80fd\u201d\u3001\u201c\u673a\u5668\u4eba\u5177\u8eab\u667a\u80fd\u201d\u3001\u201c\u5177\u8eab\u667a\u80fd\u7684\u89c6\u89c9\u4e0e\u5b66\u4e60\u201d\u3002<\/p>\n<p>\u5728 VALSE 2021 \u4e0a\uff0c\u5177\u8eab\u667a\u80fd\u7684 workshop \u6392\u5728 VALSE \u5b98\u65b9\u7a3f\u4ef6\u7684\u6700\u540e\u4e00\u4f4d\uff1b\u5230 VALSE 2024\uff0c\u4ed6\u4eec\u7684 workshop \u6392\u540d\u9732\u51fa\u5df2\u7ecf\u6392\u5230\u4e86\u524d\u4e94\u3002\u5173\u6ce8\u5177\u8eab\u667a\u80fd\u7684\u4eba\u4e5f\u8d8a\u6765\u8d8a\u591a\u3002<\/p>\n<p>2023 \u5e74 4 \u6708\uff0c\u8c37\u6b4c\u53d1\u5e03\u673a\u5668\u4eba\u6210\u679c RT-1\uff0c\u80fd\u8986\u76d6 700 \u4e2a\u4efb\u52a1\uff0c\u201c\u901a\u7528\u673a\u5668\u4eba\u201d\u96cf\u5f62\u663e\u73b0\uff0c\u4e0d\u5c11\u4eba\u79f0\u4e4b\u4e3a\u673a\u5668\u4eba\u9886\u57df\u7684\u201cGPT-3 \u65f6\u523b\u201d\uff0c\u5177\u8eab\u667a\u80fd\u7ec8\u4e8e\u5927\u706b\u3002<\/p>\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cRT-1 \u7684\u6838\u5fc3\u8d21\u732e\u8005\u4e4b\u4e00\u590f\u6590\u4e5f\u662f Leonidas \u7684\u5b66\u751f\u3002\u5728\u65af\u5766\u798f\u65f6\uff0c\u590f\u6590\u540c\u65f6\u5728 Silvio Savarese \u4e0e Leonidas \u95e8\u4e0b\u5b66\u4e60\uff0c\u535a\u58eb\u6bd5\u4e1a\u540e\u52a0\u5165\u4e86\u8c37\u6b4c DeepMind\uff0c\u662f\u8c37\u6b4c\u5927\u6a21\u578b PaLM\u00b7E \u4e0e \u673a\u5668\u4eba RT-1\u3001RT-2 \u7684\u6838\u5fc3\u6210\u5458\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-73110349d65c104ec0b770f8a7677ba5.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-73110349d65c104ec0b770f8a7677ba5.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u590f\u6590<\/p>\n<p>VALSE \u89c1\u8bc1\u4e86\u5177\u8eab\u667a\u80fd\u5728\u4e2d\u56fd\u7684\u5d1b\u8d77\uff1a<\/p>\n<p>VALSE 2022 \u6b63\u503c\u75ab\u60c5\u671f\u95f4\uff0c\u5177\u8eab\u667a\u80fd\u7684 workshop \u867d\u4e0d\u7b97\u706b\u7206\uff0c\u4f46\u60c5\u51b5\u5df2\u7ecf\u6bd4\u524d\u4e9b\u5e74\u597d\u8bb8\u591a\uff0c\u542c\u4f17\u7684\u6570\u91cf\u4e5f\u4ece\u6570\u5341\u4eba\u589e\u52a0\u5230\u6700\u591a\u65f6\u6709\u4e0a\u767e\u4eba\u3002\u5f53\u65f6\u738b\u9e64\u6ca1\u6709\u6765\u73b0\u573a\uff0c\u53ea\u662f\u4f5c\u4e86\u7ebf\u4e0a\u62a5\u544a\uff0c\u5362\u7b56\u543e\u770b\u5230\u53f0\u4e0b\u89c2\u4f17\u589e\u52a0\u5230\u4e0a\u767e\u4eba\u65f6\u8d76\u7d27\u62ff\u51fa\u624b\u673a\u62cd\u4e86\u4e00\u5f20\u7167\u7247\u7ed9\u738b\u9e64\u53d1\u8fc7\u53bb\uff0c\u611f\u53f9\u201c\u6211\u4eec\u7684\u7ec4\u7ec7\u7ec8\u4e8e\u58ee\u5927\u4e86\u201d\u3002<\/p>\n<p>\u5728\u5362\u7b56\u543e\u4e0e\u848b\u6811\u5f3a\u7b49\u4eba\u7684\u63a8\u52a8\u4e0b\uff0c2022 \u5e74\u5e74\u672b\uff0c\u4e2d\u56fd\u4eba\u5de5\u667a\u80fd\u5b66\u4f1a\uff08CAAI\uff09\u6b63\u5f0f\u5f00\u59cb\u7b79\u5907\u6210\u7acb\u4e86\u5177\u8eab\u667a\u80fd\u4e13\u59d4\u4f1a\u3002\u5362\u7b56\u543e\u4e0e\u738b\u9e64\u7b49\u4eba\u575a\u6301\u591a\u5e74\u7684\u7814\u7a76\u65b9\u5411\uff0c\u7ec8\u4e8e\u5728\u56fd\u5185\u7684\u5b66\u672f\u5b98\u65b9\u4e0a\u6709\u4e86\u6b63\u5f0f\u7684\u7ec4\u7ec7\u3002<\/p>\n<p>\u5230 VALSE 2023\u30012024\uff0c\u5177\u8eab\u667a\u80fd\u7684 workshop \u53d8\u5f97\u66f4\u52a0\u706b\u7206\u3002\u6574\u4e2a\u4f1a\u8bae\u53ea\u80fd\u5f00\u653e 500 \u4e2a\u540d\u989d\uff0c\u4f46\u5f88\u591a\u4eba\u62a5\u4e0d\u4e0a\u540d\u3001\u8981\u6258\u5173\u7cfb\u627e\u5362\u7b56\u543e\u62ff\u7968\u3002\u5362\u7b56\u543e\u5411\u96f7\u5cf0\u7f51\u56de\u5fc6\u4e86\u4e00\u4e2a\u4ee4\u4ed6\u5370\u8c61\u6df1\u523b\u3001\u53c8\u5341\u5206\u6709\u8da3\u7684\u753b\u9762\uff1a<\/p>\n<p>VALSE 2024 \u7684\u90a3\u573a workshop\uff0c\u4ed6\u5728\u8d70\u53bb\u4f1a\u573a\u7684\u8def\u4e0a\u542c\u5230\u6709\u4eba\u5728\u95e8\u53e3\u6253\u7535\u8bdd\u3002\u6253\u7535\u8bdd\u7684\u4eba\u8ddf\u7535\u8bdd\u5bf9\u9762\u7684\u4eba\u8bf4\uff1a\u201c\u9662\u957f\uff0c\u4f60\u8fd9\u6b21\u4e0d\u6765\u53ef\u60dc\u4e86\uff01\u4eba\u7206\u6ee1\u4e86\uff0c\u6211\u4eec\u6574\u4e2a\u5b66\u9662\u8981 All in \u5177\u8eab\u667a\u80fd\u3002\u201d<\/p>\n<p>VALSE 2024 \u4e5f\u9996\u6b21\u8bbe\u7f6e\u4e86\u5177\u8eab\u667a\u80fd\u65b9\u5411\u7684 tutorial\uff0c\u662f\u7531\u738b\u9e64\u4e3b\u8bb2\u7684\u201c\u5177\u8eab\u667a\u80fd\u7684 Sim2Real \u6cdb\u5316\u9014\u5f84\u201d\u3002<\/p>\n<p>\u4ece 2016 \u5e74\u7684\u65e0\u4eba\u95ee\u6d25\uff0c\u5230 2024 \u5e74\u7684\u4e07\u4eba\u7a7a\u5df7\uff0c\u5362\u7b56\u543e\u6fc0\u52a8\u975e\u5e38\uff0c\u611f\u6168\u4e07\u5343\u3002\u7531\u4e8e\u65e9\u671f\u7814\u7a76\u5177\u8eab\u667a\u80fd\u7684\u4eba\u5c11\uff0c\u5362\u7b56\u543e\u7ec4\u57f9\u517b\u7684\u5b66\u751f\u90fd\u6210\u4e86\u201c\u9999\u997d\u997d\u201d\uff1b\u5982\u4eca\u56fd\u5185\u5404\u9ad8\u6821\u5efa\u7acb\u5177\u8eab\u667a\u80fd\u5b9e\u9a8c\u5ba4\uff0c\u4e5f\u7eb7\u7eb7\u6765\u95ee\u5362\u7b56\u543e\u7684\u610f\u89c1\u3002<\/p>\n<p>2023 \u5e74\u4e5f\u662f\u738b\u9e64\u5728\u5177\u8eab\u667a\u80fd\u9886\u57df\u6210\u679c\u9891\u53d1\u7684\u4e00\u5e74\u3002\u8fd9\u4e00\u5e74\u91cc\uff0c\u4ed6\u4e0e\u56e2\u961f\u4e00\u53e3\u6c14\u53d1\u8868\u4e86 GraspNeRF\u3001DexGraspNet\uff08\u5f53\u65f6\u4e16\u754c\u4e0a\u6700\u5927\u7684\u7075\u5de7\u624b\u6293\u53d6\u6570\u636e\u96c6\uff09\u3001UniDexGrasp\u3001GAPartNet\uff08\u5f53\u524d\u4e16\u754c\u4e0a\u6700\u5927\u7684\u96f6\u90e8\u4ef6\u6570\u636e\u96c6\uff09\u4e0e UniDexGrasp++\u3002\u6b64\u5916\uff0c2022 \u5e74\uff0c\u738b\u9e64\u56e2\u961f\u4e5f\u505a\u51fa\u4e86\u6df1\u5ea6\u4f20\u611f\u5668\u4eff\u771f\u5668 DREDS\u3002<\/p>\n<p>\u4e5f\u662f\u5728 2023 \u5e74 5 \u6708\uff0c\u738b\u9e64\u53c2\u4e0e\u521b\u7acb\u4e86\u94f6\u6cb3\u901a\u7528\u3002<\/p>\n<p>\u4e0e\u975e\u5915\u79d1\u6280\u4e00\u6837\uff0c\u94f6\u6cb3\u901a\u7528\u7684\u76ee\u6807\u4e5f\u662f\u5f00\u53d1\u201c\u901a\u7528\u673a\u5668\u4eba\u201d\u3002\u4ed6\u4eec\u8ba4\u4e3a\uff0c\u673a\u5668\u4eba\u7684\u901a\u7528\u6cdb\u5316\u6027\u4e3b\u8981\u6d89\u53ca\u4e24\u4e2a\u5c42\u9762\uff1a\u4e00\u4e2a\u662f\u89c6\u89c9\u611f\u77e5\u7684\u6cdb\u5316\u6027\uff0c\u53e6\u4e00\u4e2a\u662f\u7269\u7406\u64cd\u4f5c\u6267\u884c\u7684\u6cdb\u5316\u6027\uff0c\u8fd9\u4e24\u5757\u90fd\u9700\u8981\u6d77\u91cf\u7684\u6570\u636e\u652f\u6301\u3002<\/p>\n<p>\u4e3a\u4e86\u89e3\u51b3\u6570\u636e\u95ee\u9898\uff0c\u8c37\u6b4c\u7684\u505a\u6cd5\u662f\u9760\u53cc\u81c2\u9065\u64cd\u4f5c\uff0cRT-1 \u4f7f\u7528 13 \u4e2a\u673a\u5668\u4eba\u3001\u8017\u65f6 17 \u4e2a\u6708\uff0c\u624d\u91c7\u96c6\u4e86 13 \u4e07\u6761\u6570\u636e\uff0c\u79bb\u767e\u5343\u4ebf\u7ea7\u522b\u7684\u201c\u6d77\u91cf\u201d\u6570\u636e\u8fd8\u5dee\u5f88\u8fdc\u3002\u738b\u9e64\u8ba4\u4e3a\u8981\u89e3\u51b3\u6570\u636e\u95ee\u9898\uff0c\u9700\u8981\u5927\u91cf\u7684\u91d1\u94b1\u652f\u6301\uff0c\u540c\u65f6\u4e0d\u5e94\u8be5\u5149\u9760\u771f\u673a\u64cd\u4f5c\uff0c\u800c\u662f\u5e94\u91c7\u7528 Sim2Real \u7684\u89e3\u6cd5\u3002<\/p>\n<p>\u94f6\u6cb3\u901a\u7528\u673a\u5668\u4eba\u521b\u7acb\u540e\uff0c\u738b\u9e64\u63d0\u51fa\u4e86\u201c\u7eaf\u4eff\u771f\u201d\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u5728\u5b8c\u5168\u4f7f\u7528\u5408\u6210\u4eff\u771f\u6570\u636e\u3001\u800c\u4e0d\u91c7\u7528\u4efb\u4f55\u771f\u5b9e\u7269\u7406\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\u7684\u60c5\u51b5\u4e0b\uff0c\u94f6\u6cb3\u901a\u7528\u53d1\u5e03\u7684\u673a\u5668\u4eba Galbot G1 \u80fd\u4ee5 95% \u7684\u6210\u529f\u7387\u6cdb\u5316\u6293\u53d6\u5404\u79cd\u6750\u8d28\u7684\u7269\u4f53\u3002<\/p>\n<p>\u540c\u6837\u5728 2023 \u5e74\u521b\u4e1a\u7684\u8fd8\u6709\u5362\u7b56\u543e\u30022023 \u5e74\u5e74\u5e95\uff0c\u5362\u7b56\u543e\u4e0e\u738b\u4e16\u5168\u7b49\u4eba\u53c8\u4ece\u975e\u5915\u79d1\u6280\u4e2d\u5b75\u5316\u51fa\u4e86\u4e13\u95e8\u7814\u53d1\u5177\u8eab\u667a\u80fd\u5927\u8111\u7684\u516c\u53f8\u2014\u2014\u7a79\u5f7b\u667a\u80fd\u3002<\/p>\n<p>\u6b64\u524d\uff0c\u975e\u5915\u79d1\u6280\u53d1\u5c55 8 \u5e74\uff0c\u5728\u4ee5\u529b\u4e3a\u4e2d\u5fc3\u7684\u65b9\u5411\u4e0a\u5df2\u6709\u4e00\u7cfb\u5217\u673a\u5668\u4eba\u672c\u4f53\u76f8\u5173\u7684\u8f6f\u786c\u4ef6\u4ea7\u54c1\u3002\u4f46\u5bf9\u4e8e\u5177\u6709\u51b3\u7b56\u80fd\u529b\u7684\u5927\u8111\u800c\u8a00\uff0c\u4ed6\u4eec\u8ba4\u4e3a\u5177\u8eab\u5927\u8111\u8981\u9002\u914d\u4e8e\u4e0d\u540c\u7c7b\u578b\u7684\u672c\u4f53\uff0c\u5305\u62ec\u4eba\u5f62\u673a\u5668\u4eba\u3001\u626b\u5730\u673a\u5668\u4eba\u751a\u81f3\u667a\u80fd\u8bbe\u5907\u7b49\uff0c\u4f7f\u8fd9\u4e9b\u8bbe\u5907\u80fd\u4e0e\u73af\u5883\u8fdb\u884c\u4ea4\u4e92\u548c\u5b66\u4e60\u3001\u5e76\u6267\u884c\u4efb\u52a1\uff0c\u6709\u76ca\u4e8e\u6b64\u9879\u6280\u672f\u7684\u53d1\u5c55\u5e76\u5f62\u6210\u4e0e\u4e4b\u5339\u914d\u7684\u4e1a\u52a1\u5f62\u6001\uff0c\u56e0\u6b64\u4ece\u975e\u5915\u5b75\u5316\u51fa\u6765\u7a79\u5f7b\u72ec\u7acb\u8fd0\u8425\u662f\u5408\u4e4e\u60c5\u7406\u3002<\/p>\n<p>\u7a79\u5f7b\u667a\u80fd\u5ef6\u7eed\u975e\u5915\u79d1\u6280\u5b9e\u73b0\u901a\u7528\u673a\u5668\u4eba\u7684\u7406\u5ff5\u8def\u7ebf\uff0c\u4e13\u6ce8\u4e8e\u201c\u4ee5\u529b\u4e3a\u4e2d\u5fc3\u201d\u5f00\u53d1\u5177\u8eab\u5927\u8111\u3002\u5728\u4ed6\u4eec\u7684\u7406\u89e3\u4e2d\uff0c\u5177\u8eab\u5927\u8111\u81f3\u5c11\u8981\u5305\u542b\u4e24\u4e2a\u6838\u5fc3\u5927\u6a21\u578b\uff0c\u5206\u522b\u8d1f\u8d23\u7406\u89e3\u7269\u7406\u4e16\u754c\u4e0e\u57fa\u4e8e\u529b\u91cf\u63a7\u5236\u7684\u884c\u4e3a\u51b3\u7b56\u3002<\/p>\n<p>\u5728\u738b\u4e16\u5168\u770b\u6765\uff0c\u8c37\u6b4c RTX 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style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-e6257965cb7bafa901ece49f35a31cbd.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-e6257965cb7bafa901ece49f35a31cbd.png\"><\/a><\/p>\n<p style=\"text-align: center\">\u5362\u7b56\u543e\u5c55\u793a\u673a\u5668\u4eba\u522e\u80e1\u5b50<\/p>\n<p>\u5177\u8eab\u667a\u80fd\u8fce\u6765\u8d44\u672c\u70ed\u6f6e\u3002\u4eca\u5e74 7 \u6708\uff0c\u82cf\u660a\u4e5f\u51b3\u5b9a\u77ed\u6682\u79bb\u5f00 UCSD\uff0c\u521b\u7acb\u4e86\u673a\u5668\u4eba\u516c\u53f8 HillBot\u3001\u5e76\u62c5\u4efb 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3D \u51fa\u53d1\uff0c\u5b9a\u4e49\u4e86\u65b0\u4e00\u4ee3\u7684\u201c\u5177\u8eab\u667a\u80fd\u201d\u3002<\/p>\n<p><\/p>\n<p style=\"text-align:center\" class=\"heading-3 ace-line old-record-id-IQVvdfYTjo2e8kxkfE7coyFKnvh\"><strong>\u4ece\u9ed1\u6697\u8d70\u5230\u9ece\u660e<\/strong><\/p>\n<p>2017 \u5e74 PointNet \u53d1\u5e03\u540e\uff0c\u82cf\u660a\u4e0e\u7941\u82ae\u4e2d\u53f0\u53bb CVPR \u5f00\u4f1a\u3002\u82cf\u660a\u8ddf\u7941\u82ae\u4e2d\u53f0\u8bf4\uff0c\u5982\u679c 3D Learning \u7684\u8bba\u6587\u80fd\u5728\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u5360\u5230 20%\u300130% \u5c31\u5f88\u6210\u529f\u4e86\uff0c\u7ed3\u679c\u540e\u6765\uff0c3D \u8bba\u6587\u5728\u89c6\u89c9\u9876\u4f1a\u7684\u6295\u7a3f\u6bd4\u4f8b\u4e00\u5ea6\u5360\u5230\u4e86 70% \u4ee5\u4e0a\uff0c\u89c6\u89c9\u9886\u57df\u5927\u53d8\u5929\u3002<\/p>\n<p>\u65e0\u8bba\u662f\u673a\u5668\u4eba\u8fd8\u662f\u81ea\u52a8\u9a7e\u9a76\uff0c\u5927\u5bb6\u90fd\u610f\u8bc6\u5230\uff1a2D 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3D\uff0c\u6ca1\u6709\u65f6\u95f4\u7533\u8bf7\u3002\u7b49\u9879\u76ee\u7ed3\u675f\uff0c\u4ed6\u56de\u8fc7\u5934\u6765\u6709\u65f6\u95f4\u65f6\uff0c\u8fd9\u4e2a\u65b9\u5411\u7684\u5751\u5df2\u7ecf\u88ab\u522b\u4eba\u7ed9\u5360\u4e86\u3002\u90a3\u65f6\u5019 3D \u89c6\u89c9\u8fd8\u662f\u51b7\u95e8\u65b9\u5411\uff0c\u5f00\u653e\u7684\u6559\u804c\u5c97\u4f4d\u5e76\u4e0d\u591a\u3002<\/p>\n<p>\u201c\u6709\u65f6\u5019\u505a\u4e86\u4e00\u4e2a\u5f88\u539f\u521b\u7684\u5de5\u4f5c\uff0c\u5bf9\u627e\u5de5\u4f5c\u5e76\u4e0d\u662f\u90a3\u4e48\u6709\u5229\uff0c\u56e0\u4e3a\u5f53\u65f6\u7684\u4e3b\u6d41\u5f88\u53ef\u80fd\u8fd8\u4e0d\u61c2\u5f97\u6b23\u8d4f\u8fd9\u4e2a\u5de5\u4f5c\u3002\u201d\u540e\u6765\u82cf\u660a\u53bb\u4e86\u6392\u540d\u5e76\u4e0d\u7b97\u592a\u9ad8\u7684 UCSD\u3002\u4f46\u82cf\u660a\u89c9\u5f97\uff0c\u4ed6\u7684\u9009\u62e9\u662f\u5bf9\u7684\u30023D \u8d77\u6765\u540e\uff0c\u6240\u6709\u5317\u7f8e\u9876\u7ea7\u7684\u9ad8\u6821\u90fd\u5728\u62db\u7814\u7a76 3D 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