{"id":38758,"date":"2025-02-22T14:00:53","date_gmt":"2025-02-22T06:00:53","guid":{"rendered":"https:\/\/17aitech.com\/?p=38758"},"modified":"2025-02-22T14:00:53","modified_gmt":"2025-02-22T06:00:53","slug":"%e5%ae%b6%e5%8a%a1%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%88%96%e5%b0%86%e5%86%8d%e6%9b%b4%e6%96%b0%ef%bc%9fchelsea-finn%e5%9b%a2%e9%98%9f%e6%8e%a8%e5%87%babid%e6%96%b0%e7%ae%97%e6%b3%95%ef%bc%8c%e6%9c%ba","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=38758","title":{"rendered":"\u5bb6\u52a1\u673a\u5668\u4eba\u6216\u5c06\u518d\u66f4\u65b0\uff1fChelsea Finn\u56e2\u961f\u63a8\u51faBID\u65b0\u7b97\u6cd5\uff0c\u673a\u5668\u4eba\u4e00\u952e\u53d8\u806a\u660e"},"content":{"rendered":"<p>\u65af\u5766\u798f\u5927\u5b66\u7684 Chelsea Finn \u56e2\u961f\u53c8\u51fa\u65b0\u6210\u679c\u4e86\u3002<\/p>\n<p>Chelsea Finn \u56e2\u961f\u4e00\u76f4\u662f\u65af\u5766\u798f\u8d70\u5728\u5177\u8eab\u667a\u80fd\u7814\u7a76\u524d\u6cbf\u7684\u56e2\u961f\u4e4b\u4e00\uff0c\u4e4b\u524d\u706b\u904d\u5168\u7f51\u7684 ALOHA \u7092\u83dc\u673a\u5668\u4eba\u5c31\u662f\u51fa\u81ea\u8fd9\u4e2a\u56e2\u961f\u4e4b\u624b\u3002\u56e2\u961f\u9886\u5934\u4eba Chelsea Finn \u7684\u521b\u4e1a\u516c\u53f8 Pi \u66f4\u662f\u521b\u7acb\u4e0d\u5230\u4e00\u4e2a\u6708\u5c31\u62ff\u4e0b\u6765\u81ea\u7ea2\u6749\u8d44\u672c\u3001OpenAI \u7b49\u516c\u53f8\u76847000\u4e07\u7f8e\u5143\u878d\u8d44\u3002<span style=\"color: #FFFFFF\">\u96f7\u5cf0\u7f51\u96f7\u5cf0\u7f51<span style=\"color:#FD5D3C\">(\u516c\u4f17\u53f7\uff1a\u96f7\u5cf0\u7f51)<\/span><\/span><\/p>\n<p>\u6700\u8fd1\uff0cChelsea Finn \u56e2\u961f\u5728\u7814\u7a76\u4e2d\u53d1\u73b0\uff0c\u867d\u7136\u5ef6\u957f\u52a8\u4f5c\u5757\u80fd\u591f\u63d0\u5347\u7b56\u7565\u6355\u6349\u65f6\u95f4\u4f9d\u8d56\u6027\u7684\u80fd\u529b\uff0c\u4f46\u8fd9\u6837\u505a\u4f1a\u51cf\u5c11\u5bf9\u673a\u5668\u4eba\u8fd1\u671f\u72b6\u6001\u7684\u89c2\u5bdf\uff0c\u5bfc\u81f4\u5728\u968f\u673a\u73af\u5883\u4e2d\u66f4\u5bb9\u6613\u51fa\u9519\u3002<\/p>\n<p>\u4e3a\u4e86\u514b\u670d\u8fd9\u4e2a\u96be\u9898\uff0c\u4ed6\u4eec\u5f00\u53d1\u4e86\u4e00\u79cd\u53cc\u5411\u89e3\u7801\uff08Bidirectional Decoding, BID\uff09\u65b0\u578b\u7b97\u6cd5\u3002BID \u80fd\u5c06\u52a8\u4f5c\u5757\u5316\u4e0e\u95ed\u73af\u64cd\u4f5c\u76f8\u7ed3\u5408\uff0c\u901a\u8fc7\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u91c7\u6837\u591a\u4e2a\u9884\u6d4b\u5e76\u5bfb\u627e\u6700\u4f18\u5316\u7684\u4e00\u4e2a\uff0c\u589e\u5f3a\u6269\u5c55\u5e8f\u5217\u7684\u65f6\u95f4\u4e00\u81f4\u6027\uff0c\u540c\u65f6\u5728\u968f\u673a\u73af\u5883\u4e2d\u5b9e\u73b0\u81ea\u9002\u5e94\u91cd\u65b0\u89c4\u5212\u3002<\/p>\n<p>\u4e3a\u4e86\u9a8c\u8bc1 BID \u7b97\u6cd5\u7684\u6548\u679c\uff0c\u4ed6\u4eec\u5728 Franka Kitchen \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u6a21\u62df\u6d4b\u8bd5\uff0c\u53d1\u73b0\u673a\u5668\u4eba\u5728\u5bb6\u5ead\u73af\u5883\u4e2d\u7684\u8868\u73b0\u8fd8\u4e0d\u9519\u3002\u4ed6\u4eec\u8fd8\u7528 Franka Panda \u673a\u5668\u4eba\u505a\u4e86\u771f\u5b9e\u5b9e\u9a8c\uff0c\u7ed3\u679c\u663e\u793a BID \u663e\u8457\u63d0\u9ad8\u4e86\u673a\u5668\u4eba\u5728\u76ee\u6807\u79fb\u52a8\u65f6\u7684\u653e\u7f6e\u6210\u529f\u7387\u3002<\/p>\n<p>\u8fd9\u4e9b\u6d4b\u8bd5\u4e0d\u7531\u5f97\u8ba9\u4eba\u8054\u60f3\u5230\u4e86\u4ed6\u4eec\u4e4b\u524d\u505a\u7684\u7092\u83dc\u673a\u5668\u4eba\uff0c\u4e5f\u8bb8\u8fd9\u4e2a\u56e2\u961f\u6b63\u8ba1\u5212\u628a BID \u5e94\u7528\u5728 ALOHA \u4e0a\uff0c\u51c6\u5907\u7ed9\u5bb6\u52a1\u673a\u5668\u4eba\u6765\u4e2a\u5168\u9762\u7684\u6280\u672f\u5347\u7ea7\u3002<\/p>\n<p>\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u8fd9\u4e2a\u56e2\u961f\u4e2d\u6709\u4e00\u534a\u90fd\u662f\u534e\u4eba\u9762\u5b54\uff0c\u4e4b\u524d\u5f00\u53d1 ALOHA \u7684\u4e5f\u5168\u662f\u534e\u4eba\u5b66\u751f\u3002<\/p>\n<p>\u76ee\u524d\uff0c\u8bba\u6587\u5df2\u5728arXiv\u516c\u5f00\uff0c\u76f8\u5173\u4ee3\u7801\u4e5f\u5df2\u5f00\u6e90\u3002<\/p>\n<p>\u8bba\u6587\u6807\u9898\uff1aBidirectional Decoding\uff1aImproving Action Chunking via Closed-Loop Resampling<\/p>\n<p>\u8bba\u6587\u5730\u5740\uff1a<a href=\"https:\/\/bid-robot.github.io\/static\/BID_paper.pdf\" target=\"_blank\" rel=\"nofollow\">https:\/\/bid-robot.github.io\/static\/BID_paper.pdf<\/a><\/p>\n<p>\u9879\u76ee\u7f51\u7ad9\uff1a<a href=\"https:\/\/bid-robot.github.io\/\" target=\"_blank\" rel=\"nofollow\">https:\/\/bid-robot.github.io\/<\/a><\/p>\n<p>\u4ee3\u7801\u5730\u5740\uff1a<a href=\"https:\/\/github.com\/YuejiangLIU\/bid_diffusion\" target=\"_blank\" rel=\"nofollow\">https:\/\/github.com\/YuejiangLIU\/bid_diffusion<\/a><\/p>\n<p><a href=\"https:\/\/github.com\/Jubayer-Hamid\/bid_lerobot\" target=\"_blank\" rel=\"nofollow\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0https:\/\/github.com\/Jubayer-Hamid\/bid_lerobot<\/a> <\/p>\n<p><\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_78 ez-toc-wrap-left-text counter-hierarchy ez-toc-counter ez-toc-light-blue ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u6587\u7ae0\u76ee\u5f55<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 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class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/17aitech.com\/?p=38758\/#%E5%AE%9E%E9%AA%8C%E4%B8%8E%E7%BB%93%E6%9E%9C\" >\u5b9e\u9a8c\u4e0e\u7ed3\u679c<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/17aitech.com\/?p=38758\/#%E6%95%B0%E6%8D%AE%E9%9B%86\" >\u6570\u636e\u96c6<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/17aitech.com\/?p=38758\/#%E7%9C%9F%E5%AE%9E%E4%B8%96%E7%95%8C%E5%AE%9E%E9%AA%8C\" >\u771f\u5b9e\u4e16\u754c\u5b9e\u9a8c<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/17aitech.com\/?p=38758\/#%E5%8A%A8%E6%80%81%E6%94%BE%E7%BD%AE%E5%AE%9E%E9%AA%8C\" >\u52a8\u6001\u653e\u7f6e\u5b9e\u9a8c<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/17aitech.com\/?p=38758\/#%E5%8A%A8%E6%80%81%E6%8B%BE%E5%8F%96%E5%AE%9E%E9%AA%8C\" >\u52a8\u6001\u62fe\u53d6\u5b9e\u9a8c<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/17aitech.com\/?p=38758\/#BID%E6%8A%80%E6%9C%AF%E8%A7%A3%E8%AF%BB\" >BID\u6280\u672f\u89e3\u8bfb<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/17aitech.com\/?p=38758\/#%E5%9B%A2%E9%98%9F%E4%BB%8B%E7%BB%8D\" >\u56e2\u961f\u4ecb\u7ecd<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/17aitech.com\/?p=38758\/#Chelsea_Finn\" >Chelsea Finn<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/17aitech.com\/?p=38758\/#Yuejiang_Liu\" >Yuejiang Liu<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/17aitech.com\/?p=38758\/#Annie_Xie\" >Annie Xie<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/17aitech.com\/?p=38758\/#Maximilian_Du\" >Maximilian Du<\/a><\/li><\/ul><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n<h2 style=\"text-align: center\"><span class=\"ez-toc-section\" id=\"%E8%AE%BA%E6%96%87%E6%A6%82%E8%A7%88\"><\/span>\u8bba\u6587\u6982\u89c8<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<h3 style=\"text-align: center\"><span class=\"ez-toc-section\" id=\"%E7%A0%94%E7%A9%B6%E9%97%AE%E9%A2%98\"><\/span>\u7814\u7a76\u95ee\u9898<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u672c\u6587\u65e8\u5728\u89e3\u51b3\u673a\u5668\u4eba\u5b66\u4e60\u4e2d\u7684\u6311\u6218\uff0c\u7279\u522b\u5173\u6ce8\u52a8\u4f5c\u5206\u5757\uff0c\u5373\u5728\u6ca1\u6709\u4e2d\u95f4\u91cd\u65b0\u89c4\u5212\u7684\u60c5\u51b5\u4e0b\u9884\u6d4b\u548c\u6267\u884c\u52a8\u4f5c\u5e8f\u5217\u7684\u8fc7\u7a0b\uff0c\u8fd9\u4e9b\u5e8f\u5217\u901a\u5e38\u6765\u6e90\u4e8e\u4eba\u7c7b\u793a\u8303\u3002\u9762\u4e34\u7684\u6311\u6218\u5305\u62ec\u5728\u6355\u6349\u65f6\u95f4\u4f9d\u8d56\u6027\u4e0e\u5bf9\u968f\u673a\u73af\u5883\u4e2d\u610f\u5916\u53d8\u5316\u7684\u53cd\u5e94\u4e4b\u95f4\u7684\u6743\u8861\uff0c\u4ee5\u53ca\u4e0d\u540c\u793a\u8303\u4e4b\u95f4\u7684\u98ce\u683c\u53d8\u5f02\u6027\u8f83\u5927\u3002<\/p>\n<p>\u8be5\u7814\u7a76\u7684\u52a8\u673a\u5728\u4e8e\u901a\u8fc7\u5bf9\u52a8\u4f5c\u5206\u5757\u8fdb\u884c\u66f4\u6df1\u5165\u7684\u5206\u6790\u548c\u63d0\u4f9b\u5b9e\u7528\u7684\u89e3\u7801\u7b97\u6cd5\uff0c\u6765\u589e\u5f3a\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u5b66\u4e60\u548c\u6267\u884c\u8fc7\u7a0b\u3002\u6240\u8981\u89e3\u51b3\u7684\u95ee\u9898\u5305\u62ec\uff1a<\/p>\n<p>\u52a8\u4f5c\u5206\u5757\u4e2d\u65f6\u95f4\u4f9d\u8d56\u6027\u4e0e\u53cd\u5e94\u6027\u4e4b\u95f4\u7684\u6743\u8861<\/p>\n<p>\u4e0d\u540c\u793a\u8303\u4e4b\u95f4\u7684\u98ce\u683c\u53d8\u5f02\u6027\u8f83\u5927<\/p>\n<p>\u9700\u8981\u4e00\u79cd\u5b9e\u7528\u7684\u89e3\u7801\u7b97\u6cd5\u4ee5\u63d0\u5347\u673a\u5668\u4eba\u884c\u4e3a\u514b\u9686\u7684\u6027\u80fd\u3002<\/p>\n<h3 style=\"text-align: center\"><span class=\"ez-toc-section\" id=\"%E6%8F%90%E5%87%BA%E7%9A%84%E6%96%B9%E6%B3%95\"><\/span>\u63d0\u51fa\u7684\u65b9\u6cd5<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u53cc\u5411\u89e3\u7801\uff08BID\uff09\u65b9\u6cd5\u3002<\/p>\n<p>BID \u662f\u4e00\u79cd\u63a8\u7406\u7b97\u6cd5\uff0c\u5c06\u52a8\u4f5c\u5206\u5757\u4e0e\u673a\u5668\u4eba\u5b66\u4e60\u4e2d\u7684\u95ed\u73af\u64cd\u4f5c\u76f8\u7ed3\u5408\u3002\u5b83\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u91c7\u6837\u591a\u4e2a\u9884\u6d4b\uff0c\u5e76\u57fa\u4e8e\u5411\u540e\u4e00\u81f4\u6027\uff08\u4e0e\u5148\u524d\u51b3\u7b56\u7684\u5bf9\u9f50\uff09\u548c\u5411\u524d\u5bf9\u6bd4\uff08\u4e0e\u66f4\u5f3a\u7b56\u7565\u7684\u7ed3\u679c\u7684\u63a5\u8fd1\u5ea6\uff09\u6765\u4f18\u5316\u9009\u62e9\u3002<\/p>\n<p>\u8fd9\u79cd\u7efc\u5408\u65b9\u6cd5\u589e\u5f3a\u4e86\u957f\u52a8\u4f5c\u5e8f\u5217\u7684\u65f6\u95f4\u4e00\u81f4\u6027\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u9002\u5e94\u52a8\u6001\u73af\u5883\u53d8\u5316\u7684\u7075\u6d3b\u6027\u3002BID\u5728\u5404\u79cd\u673a\u5668\u4eba\u4efb\u52a1\u4e2d\u663e\u8457\u4f18\u4e8e\u73b0\u6709\u7684\u95ed\u73af\u65b9\u6cd5\uff0c\u4ee3\u8868\u4e86\u673a\u5668\u4eba\u7cfb\u7edf\u5b66\u4e60\u548c\u6267\u884c\u8fc7\u7a0b\u7684\u91cd\u5927\u6539\u8fdb\u3002<\/p>\n<p><\/p>\n<h2 style=\"text-align: center\"><span class=\"ez-toc-section\" id=\"%E5%AE%9E%E9%AA%8C%E4%B8%8E%E7%BB%93%E6%9E%9C\"><\/span>\u5b9e\u9a8c\u4e0e\u7ed3\u679c<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<h3 style=\"text-align: center\"><span class=\"ez-toc-section\" id=\"%E6%95%B0%E6%8D%AE%E9%9B%86\"><\/span>\u6570\u636e\u96c6<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u672c\u6587\u5728\u4e09\u4e2a\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff1aPush-T\u3001RoboMimic \u548c Franka Kitchen\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-2f58bacc3172bcdeee62c878973ba9f8.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-2f58bacc3172bcdeee62c878973ba9f8.png\"><\/a><\/p>\n<p>\u5bf9\u4e8ePush-T\u6570\u636e\u96c6\uff0c\u672c\u6587\u5728\u4e03\u4e2a\u4efb\u52a1\u4e0a\u8bc4\u4f30\u4e86\u6240\u63d0\u51fa\u7684\u53cc\u5411\u89e3\u7801\uff08BID\uff09\u7b97\u6cd5\uff0c\u5305\u62ec\u5c06\u7269\u4f53\u653e\u5165\u4eba\u7c7b\u624b\u6301\u7684\u676f\u5b50\u4e2d\u3002\u5b9e\u9a8c\u4e2d\u4f7f\u7528\u7684\u673a\u5668\u4eba\u662fFranka Panda\uff0c\u914d\u5907\u4e86\u4e24\u53f0\u76f8\u673a\uff0c\u63d0\u4f9b256 x 256\u50cf\u7d20\u5206\u8fa8\u7387\u7684\u89c6\u89c9\u89c2\u5bdf\u3002\u672c\u6587\u8fd8\u8bc4\u4f30\u4e86BID\u5728\u5927\u6279\u91cf\u548c\u73b0\u6709\u63a8\u7406\u65b9\u6cd5\u4e0b\u7684\u53ef\u6269\u5c55\u6027\u548c\u517c\u5bb9\u6027\u3002<\/p>\n<p>\u5bf9\u4e8eRoboMimic\u6570\u636e\u96c6\uff0c\u672c\u6587\u4f7f\u7528\u4e86\u4e94\u4e2a\u4efb\u52a1\uff0c\u5373Lift\u3001Can\u3001Square\u3001Transport\u548cTool Hang\u3002\u6bcf\u4e2a\u4efb\u52a1\u7684\u8bad\u7ec3\u6570\u636e\u96c6\u5305\u542b300\u4e2a\u4ece\u591a\u4e2a\u4eba\u7c7b\u6f14\u793a\u4e2d\u6536\u96c6\u7684\u56de\u5408\u3002<\/p>\n<p>\u5bf9\u4e8eFranka Kitchen\u6570\u636e\u96c6\uff0c\u672c\u6587\u5728\u6d89\u53ca\u56db\u4e2a\u6216\u66f4\u591a\u7269\u4f53\u7684\u6d4b\u8bd5\u6848\u4f8b\u4e0a\u8bc4\u4f30\u4e86\u5b66\u4e60\u5230\u7684\u7b56\u7565\uff0c\u8fd9\u662f\u4e00\u4e2a\u5177\u6709\u6311\u6218\u6027\u4f46\u5728\u5bb6\u5ead\u73af\u5883\u4e2d\u5b9e\u9645\u5e94\u7528\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u4efb\u52a1\u3002<\/p>\n<p><\/p>\n<h3 style=\"text-align: center\"><span class=\"ez-toc-section\" id=\"%E7%9C%9F%E5%AE%9E%E4%B8%96%E7%95%8C%E5%AE%9E%E9%AA%8C\"><\/span>\u771f\u5b9e\u4e16\u754c\u5b9e\u9a8c<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u672c\u6587\u8fd8\u901a\u8fc7\u4e24\u9879\u73b0\u5b9e\u4e16\u754c\u5b9e\u9a8c\u8fdb\u4e00\u6b65\u8bc4\u4f30\u4e86\u63d0\u51fa\u7684 BID\u3002<\/p>\n<p><\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E5%8A%A8%E6%80%81%E6%94%BE%E7%BD%AE%E5%AE%9E%E9%AA%8C\"><\/span>\u52a8\u6001\u653e\u7f6e\u5b9e\u9a8c<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p>\u4ed6\u4eec\u5171\u6536\u96c6\u4e86150\u4e2a\u6f14\u793a\u56de\u5408\uff0c\u5305\u62ec50\u4e2a\u5e72\u51c0\u4e14\u4e00\u81f4\u7684\u6f14\u793a\u548c100\u4e2a\u5608\u6742\u4e14\u591a\u6837\u7684\u6f14\u793a\u3002\u5b9e\u9a8c\u4e2d\u4f7f\u7528\u7684\u673a\u5668\u4eba\u662f Franka Panda\uff0c\u5e76\u91c7\u7528\u57fa\u4e8e\u89c6\u89c9\u7684\u6269\u6563\u7b56\u7565\u8fdb\u884c\u64cd\u4f5c\u3002<\/p>\n<p>\u673a\u5668\u4eba\u7684\u4efb\u52a1\u662f\u5c06\u5176\u6293\u624b\u4e2d\u7684\u7269\u4f53\u9001\u5165\u4eba\u7c7b\u624b\u4e2d\u7684\u676f\u5b50\u4e2d\u3002\u6bcf\u6b21\u6f14\u793a\u5305\u62ec\u56db\u4e2a\u4e3b\u8981\u9636\u6bb5\uff1a(a) \u968f\u673a\u521d\u59cb\u5316\u673a\u5668\u4eba\u4f4d\u7f6e\uff0c(b) \u63a5\u8fd1\u76ee\u6807\u676f\u5b50\uff0c(c) 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data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-b2d4ae97c7d686e1ad873b00dc4df3fb.png\"><\/a><\/p>\n<h4><\/h4>\n<h4><span class=\"ez-toc-section\" id=\"%E5%8A%A8%E6%80%81%E6%8B%BE%E5%8F%96%E5%AE%9E%E9%AA%8C\"><\/span>\u52a8\u6001\u62fe\u53d6\u5b9e\u9a8c<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p>\u672c\u6587\u8bc4\u4f30\u4e86\u4e0d\u540c\u65b9\u6cd5\u7684\u6027\u80fd\uff0c\u5305\u62ec\u666e\u901a\u7684\u5f00\u73af\u548c\u95ed\u73af\u91c7\u6837\u3001BID \u7684\u5f00\u73af\u548c\u95ed\u73af\u91c7\u6837\uff0c\u4ee5\u53ca EMA \u7684\u95ed\u73af\u91c7\u6837\u3002<\/p>\n<p>\u673a\u5668\u4eba\u7684\u4efb\u52a1\u662f\u62ff\u8d77\u4e00\u4e2a\u676f\u5b50\uff0c\u5e76\u5c06\u5176\u653e\u5728\u9644\u8fd1\u7684\u789f\u5b50\u4e0a\u3002\u56db\u4e2a\u4e3b\u8981\u9636\u6bb5\u662f\uff1a(a) \u521d\u59cb\u5316\u673a\u5668\u4eba\uff0c(b) \u63a5\u8fd1\u76ee\u6807\u676f\u5b50\uff0c(c) \u6293\u4f4f\u76ee\u6807\u676f\u5b50\uff0c(d) \u62ff\u8d77\u676f\u5b50\uff0c(e) \u5c06\u676f\u5b50\u653e\u5230\u76ee\u6807\u789f\u5b50\u4e0a\u3002\u76ee\u6807\u676f\u5b50\u7684\u4f4d\u7f6e\u53ef\u80fd\u4f1a\u5728\u4e00\u4e2a\u8fc7\u7a0b\u4e2d\u53d1\u751f\u53d8\u5316\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-aea103c41155fc6576599531d2385333.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-aea103c41155fc6576599531d2385333.png\"><\/a><\/p>\n<p>\u7ed3\u679c\u8868\u660e\uff0c\u5728\u52a8\u6001\u73af\u5883\u4e2d\uff0c\u76f8\u6bd4\u5176\u4ed6\u65b9\u6cd5\uff0cBID \u7684\u6210\u529f\u7387\u81f3\u5c11\u63d0\u9ad8\u4e862\u500d\uff0c\u540c\u65f6\u5728\u9759\u6001\u73af\u5883\u4e2d\u4fdd\u6301\u4e86\u5176\u6027\u80fd\u3002<\/p>\n<p><\/p>\n<h4 style=\"text-align: center\"><span class=\"ez-toc-section\" id=\"BID%E6%8A%80%E6%9C%AF%E8%A7%A3%E8%AF%BB\"><\/span>BID\u6280\u672f\u89e3\u8bfb<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p>\u52a8\u4f5c\u5206\u5757\u6709\u5229\u4e8e\u5bf9\u6f14\u793a\u4e2d\u7684\u65f6\u95f4\u4f9d\u8d56\u6027\u5efa\u6a21\uff0c\u4f46\u5374\u727a\u7272\u4e86\u5bf9\u968f\u673a\u73af\u5883\u4e2d\u610f\u5916\u72b6\u6001\u7684\u53cd\u5e94\u80fd\u529b\u3002\u4ed6\u4eec\u9009\u62e9\u901a\u8fc7\u95ed\u73af\u64cd\u4f5c\u8854\u63a5\u957f\u7684\u52a8\u4f5c\u5757\u6765\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\u3002<\/p>\n<p>\u4ed6\u4eec\u7684\u4e3b\u8981\u5047\u8bbe\u662f\uff0c\u867d\u7136\u4efb\u4f55\u4e00\u5bf9\u6837\u672c\u5171\u4eab\u76f8\u540c\u6f5c\u5728\u7b56\u7565\u7684\u6982\u7387\u5f88\u4f4e\uff0c\u4f46\u4ece\u5927\u91cf\u6837\u672c\u4e2d\u627e\u5230\u4e00\u81f4\u7684\u4e00\u5bf9\u6837\u672c\u7684\u53ef\u80fd\u6027\u8981\u9ad8\u5f97\u591a\u3002\u8fd9\u79cd\u76f4\u89c9\u4fc3\u4f7f\u4ed6\u4eec\u5c06\u95ed\u73af\u52a8\u4f5c\u5206\u5757\u95ee\u9898\u7406\u89e3\u4e3a\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u91c7\u6837\u7684\u4e00\u6279\u8ba1\u5212\u4e2d\u5bfb\u627e\u6700\u4f18\u52a8\u4f5c\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-2f471246335379695abeda5761b9e378.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-2f471246335379695abeda5761b9e378.png\"><\/a><\/p>\n<p>\u5176\u4e2d ? \u662f\u52a8\u4f5c\u5757\u96c6\u5408\uff0c\u2112? \u548c \u2112? \uff08B\u548cF\u90fd\u662f\u4e0b\u6807\uff0c\u98de\u4e66\u6587\u6863\u6253\u4e0d\u51fa\u6765\uff09\u662f\u4e24\u4e2a\u8861\u91cf\u65f6\u95f4\u4f9d\u8d56\u6027\u7684\u6807\u51c6\uff0c\u63a5\u4e0b\u6765\u5c06\u4f1a\u8be6\u7ec6\u63cf\u8ff0\u8fd9\u4e24\u4e2a\u6807\u51c6\u3002<\/p>\n<p>\u2112<em><sub>B<\/sub><\/em><sub><\/sub> \u6307\u7684\u662f\u9006\u5411\u4e00\u81f4\u6027\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-9a2eac2fdf5182bfd611211a8b35a486.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-9a2eac2fdf5182bfd611211a8b35a486.png\"><\/a><\/p>\n<p>\u8fd9\u91cc\uff0c\u03c1 \u662f\u4e00\u4e2a\u8870\u51cf\u8d85\u53c2\u6570\uff0c\u7528\u4e8e\u89e3\u91ca\u4e0d\u786e\u5b9a\u6027\u968f\u65f6\u95f4\u589e\u957f\u800c\u589e\u52a0\u7684\u60c5\u51b5\u3002\u8fd9\u79cd\u540e\u5411\u635f\u5931\u9f13\u52b1\u76f8\u90bb\u6b65\u9aa4\u4e4b\u95f4\u91c7\u7528\u7c7b\u4f3c\u7684\u6f5c\u5728\u7b56\u7565\uff0c\u540c\u65f6\u5141\u8bb8\u9010\u6b65\u9002\u5e94\u4e0d\u53ef\u9884\u89c1\u7684\u8fc7\u6e21\u52a8\u6001\u3002<\/p>\n<p>\u00a0<em>\u2112<sub>F\u00a0<\/sub><\/em>\u6307\u7684\u662f\u6b63\u5411\u5bf9\u6bd4\u5ea6\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-79864571656b4b52f61298398f049b62.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-79864571656b4b52f61298398f049b62.png\"><\/a><\/p>\n<p>\u5176\u4e2d ?+=?\u2216{?} \u662f\u5f3a\u7b56\u7565 ? \u9884\u6d4b\u7684\u6b63\u96c6\u5408\uff0c?\u2212 \u662f\u5f31\u7b56\u7565 ?\u2032 \u9884\u6d4b\u7684\u8d1f\u96c6\u5408\uff0c\u800c ? \u662f\u6837\u672c\u5927\u5c0f\u3002<\/p>\n<p>\u4e0b\u56fe\u5c55\u793a\u4e86\u9006\u5411\u4e00\u81f4\u6027\u548c\u6b63\u5411\u5bf9\u6bd4\u5ea6\u6807\u51c6\u5bf9\u6837\u672c\u9009\u62e9\u7684\u5f71\u54cd\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-5f6629b1a06575d0c19fde9d80a75c96.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-5f6629b1a06575d0c19fde9d80a75c96.png\"><\/a><\/p>\n<p>\u7531\u4e8e BID \u4e2d\u7684\u6240\u6709\u6b65\u9aa4\u90fd\u53ef\u4ee5\u5e76\u884c\u8ba1\u7b97\uff0c\u56e0\u6b64\u5728\u73b0\u4ee3 GPU \u8bbe\u5907\u4e0a\uff0c\u603b\u4f53\u8ba1\u7b97\u6210\u672c\u4ecd\u7136\u9002\u4e2d\u3002<\/p>\n<p><\/p>\n<h4 style=\"text-align: center\"><span class=\"ez-toc-section\" id=\"%E5%9B%A2%E9%98%9F%E4%BB%8B%E7%BB%8D\"><\/span>\u56e2\u961f\u4ecb\u7ecd<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<h4><span class=\"ez-toc-section\" id=\"Chelsea_Finn\"><\/span>Chelsea Finn<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-df17e2a68debe9db34b3a855d1d187c9.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-df17e2a68debe9db34b3a855d1d187c9.png\"><\/a><\/p>\n<p>Chelsea Finn \u535a\u58eb\u6bd5\u4e1a\u4e8e\u52a0\u5dde\u5927\u5b66\u4f2f\u514b\u5229\u5206\u6821\uff0c\u5e08\u4eceSergey Levine\u3002\u5979\u66fe\u5728 Google DeepMind \u5de5\u4f5c\u8fc7 6 \u5e74\uff0c\u73b0\u5728\u62c5\u4efb\u65af\u5766\u798f\u5927\u5b66\u8ba1\u7b97\u673a\u79d1\u5b66\u4e0e\u7535\u5b50\u5de5\u7a0b\u7cfb\u7684\u52a9\u7406\u6559\u6388\uff0c\u4e5f\u662f Pi \u7684\u8054\u5408\u521b\u59cb\u4eba\u3002<\/p>\n<p>Chelsea Finn \u7684\u7814\u7a76\u5174\u8da3\u662f\u673a\u5668\u4eba\u548c\u5176\u4ed6\u4ee3\u7406\u901a\u8fc7\u5b66\u4e60\u548c\u4ea4\u4e92\u53d1\u5c55\u5e7f\u6cdb\u667a\u80fd\u884c\u4e3a\u7684\u80fd\u529b\u3002\u5979\u7684\u5b9e\u9a8c\u5ba4 IRIS \u4e13\u6ce8\u7814\u7a76\u5927\u89c4\u6a21\u673a\u5668\u4eba\u4ea4\u4e92\u667a\u80fd\uff0c\u96b6\u5c5e\u4e8e SAIL \u548c ML Group\u3002<\/p>\n<p>\u56e2\u961f\u5176\u4ed6\u4e09\u4f4d\u534e\u4eba\u5b66\u751f\u5305\u62ec\uff1a<\/p>\n<p><\/p>\n<h4><span class=\"ez-toc-section\" id=\"Yuejiang_Liu\"><\/span>Yuejiang Liu<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-264ec62606fad37f414991fca0ed8d3c.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-264ec62606fad37f414991fca0ed8d3c.png\"><\/a><\/p>\n<p>Yuejiang Liu \u662f IRIS \u5b9e\u9a8c\u5ba4\u7684\u535a\u58eb\u540e\uff0c\u535a\u58eb\u6bd5\u4e1a\u4e8e\u745e\u58eb\u6d1b\u6851\u8054\u90a6\u7406\u5de5\u5b66\u9662\u3002\u4ed6\u4e13\u6ce8\u4e8e\u7814\u7a76\u81ea\u76d1\u7763\u5b66\u4e60\u3001\u56e0\u679c\u8868\u5f81\u5b66\u4e60\u548c\u6d4b\u8bd5\u65f6\u95f4\u9002\u5e94\uff0c\u5e76\u5c06\u5176\u5e94\u7528\u4e8e\u8ba1\u7b97\u673a\u89c6\u89c9\u548c\u591a\u4ee3\u7406\u7cfb\u7edf\u3002<\/p>\n<p><\/p>\n<h4><span class=\"ez-toc-section\" id=\"Annie_Xie\"><\/span>Annie Xie<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-9b414ce21d66bc33fda490e7cb0fbff4.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-9b414ce21d66bc33fda490e7cb0fbff4.png\"><\/a><\/p>\n<p>Annie Xie \u6bd5\u4e1a\u4e8e\u52a0\u5dde\u5927\u5b66\u4f2f\u514b\u5229\u5206\u6821\uff0c\u66fe\u5728\u4f2f\u514b\u5229\u4eba\u5de5\u667a\u80fd\u7814\u7a76 \uff08BAIR\uff09\u5b9e\u9a8c\u5ba4\u548c Sergey Levine \u4e00\u8d77\u5de5\u4f5c\uff0c\u73b0\u5728\u662f Chelsea Finn \u6307\u5bfc\u7684\u535a\u58eb\u751f\u3002\u5979\u7684\u7814\u7a76\u91cd\u70b9\u662f\u5f00\u53d1\u5728\u6700\u5c11\u4eba\u5de5\u76d1\u7763\u4e0b\u5b66\u4e60\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u3002<\/p>\n<p><\/p>\n<h4><span class=\"ez-toc-section\" id=\"Maximilian_Du\"><\/span>Maximilian Du<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-647de1c6a3d687454875cff1632f34d5.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-647de1c6a3d687454875cff1632f34d5.png\"><\/a><\/p>\n<p>Maximilian Du \u4eca\u5e74\u5b66\u58eb\u6bd5\u4e1a\u4e8e\u65af\u5766\u798f\u5927\u5b66\uff0c\u4e3b\u4fee\u8ba1\u7b97\u673a\u79d1\u5b66\u3001\u5fc3\u7406\u5b66\uff08\u8f85\u4fee\uff09\u548c\u521b\u610f\u5199\u4f5c\uff08\u8f85\u4fee\uff09\uff0c\u5728 Chelsea Finn \u7684 IRIS \u5b9e\u9a8c\u5ba4\u4ece\u4e8b\u673a\u5668\u4eba\u5b66\u4e60\u5de5\u4f5c\uff0c\u73b0\u5728\u662f Chelsea Finn \u5373\u5c06\u5165\u5b66\u7684\u535a\u58eb\u751f\u3002<span style=\"color: #FFFFFF\">\u96f7\u5cf0\u7f51\u96f7\u5cf0\u7f51<\/span><\/p>\n<p><\/p>\n<p>\u96f7\u5cf0\u7f51\u7248\u6743\u6587\u7ae0\uff0c\u672a\u7ecf\u6388\u6743\u7981\u6b62\u8f6c\u8f7d\u3002\u8be6\u60c5\u89c1<a href=\"https:\/\/r.xiumi.us\/board\/v5\/3qhbI\/392977584\" rel=\"nofollow\" target=\"_blank\">\u8f6c\u8f7d\u987b\u77e5<\/a>\u3002<\/p>\n<p>\n                        <a href=\"https:\/\/vip.yanxishe.com\/?from=leiphonearticle\" target=\"_blank\"><br \/>\n                            <a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-ef1b38dfb738ad25d47c69ef4a8cea34.jpeg\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/09\/frc-ef1b38dfb738ad25d47c69ef4a8cea34.jpeg\"><\/a><br \/>\n                        <\/a>\n                    <\/p>\n<p>                                            \u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.leiphone.com\/category\/ai\/yqCtWpGLfbJ78VTf.html\" target=\"_blank\">\u5bb6\u52a1\u673a\u5668\u4eba\u6216\u5c06\u518d\u66f4\u65b0\uff1fChelsea Finn\u56e2\u961f\u63a8\u51faBID\u65b0\u7b97\u6cd5\uff0c\u673a\u5668\u4eba\u4e00\u952e\u53d8\u806a\u660e<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u65af\u5766\u798f\u5927\u5b66\u7684 Chelsea Finn  [&hellip;]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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