{"id":38944,"date":"2025-02-26T08:01:49","date_gmt":"2025-02-26T00:01:49","guid":{"rendered":"https:\/\/17aitech.com\/?p=38944"},"modified":"2025-02-26T08:01:49","modified_gmt":"2025-02-26T00:01:49","slug":"%e4%bc%af%e5%85%8b%e5%88%a9%e7%bd%97%e5%89%91%e5%b2%9a%ef%bc%9a%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%9a%84%e8%8c%83%e5%bc%8f%e9%9d%a9%e5%91%bd%ef%bc%8c%e8%97%8f%e5%9c%a8%e7%9c%9f%e5%ae%9e%e4%b8%96%e7%95%8c","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=38944","title":{"rendered":"\u4f2f\u514b\u5229\u7f57\u5251\u5c9a\uff1a\u673a\u5668\u4eba\u7684\u8303\u5f0f\u9769\u547d\uff0c\u85cf\u5728\u771f\u5b9e\u4e16\u754c\u4e2d"},"content":{"rendered":"

\u4f5c\u8005 | \u8d56\u6587\u6615<\/p>\n

\u7f16\u8f91 | \u9648\u5f69\u5a34<\/p>\n

<\/p>\n

\u8fd1\u65e5\uff0c\u4f2f\u514b\u5229\u5927\u5b66 Sergey Levine \u56e2\u961f\u53d1\u5e03\u4e86\u4e00\u9879\u5f3a\u5316\u5b66\u4e60\u65b9\u5411\u7684\u91cd\u78c5\u5de5\u4f5c\u2014\u2014HIL-SERL\uff0c\u5f15\u8d77\u4e86\u5177\u8eab\u667a\u80fd\u9886\u57df\u7684\u5e7f\u6cdb\u8ba8\u8bba\u4e0e\u5173\u6ce8\u3002<\/p>\n

\u6839\u636e\u5b9e\u9a8c\u7ed3\u679c\uff0c\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u6846\u67b6 HIL-SERL\uff0c\u7814\u7a76\u8005\u53ef\u4ee5\u76f4\u63a5\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u8bad\u7ec3\u57fa\u4e8e\u89c6\u89c9\u7684\u901a\u7528\u673a\u5668\u4eba\u64cd\u4f5c\u7b56\u7565\u3002\u5176\u4e2d\uff0c\u673a\u5668\u4eba\u7ecf\u8fc7 1~2.5 \u5c0f\u65f6\u7684\u8bad\u7ec3\u540e\uff0c\u5c31\u80fd\u5b8c\u6210\u4e3b\u677f\u3001\u4eea\u8868\u76d8\u4ee5\u53ca\u6b63\u65f6\u76ae\u5e26\u7ec4\u88c5\u7b49\u64cd\u4f5c\u4efb\u52a1\u3002<\/p>\n

\u800c\u4e14\uff0c\u673a\u5668\u4eba\u5b8c\u6210\u6240\u6709\u4efb\u52a1\u7684\u6210\u529f\u7387\u5747\u9ad8\u8fbe 100%\uff01<\/p>\n

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\u6b64\u524d\uff0c\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u603b\u662f\u88ab\u4e1a\u5185\u4eba\u58eb\u8bdf\u75c5\u5176\u53ea\u80fd\u5728\u6a21\u62df\u73af\u5883\u4e2d\u6539\u8fdb\u7b97\u6cd5\u6027\u80fd\uff0c\u65e0\u6cd5\u89e3\u51b3\u73b0\u5b9e\u4e16\u754c\u91cc\u771f\u5b9e\u673a\u5668\u4eba\u7684\u95ee\u9898\u3002\u4f46 SERL \u7cfb\u5217\u7684\u5de5\u4f5c\u8bc1\u660e\uff0c\u771f\u673a RL \u4e0d\u662f\u5929\u65b9\u591c\u8c2d\u2014\u2014\u5982\u4eca\uff0c\u5f3a\u5316\u5b66\u4e60\u4e0d\u4ec5\u80fd\u5e94\u7528\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\uff0c\u4e14\u5728\u7cbe\u51c6\u7075\u5de7\u7684\u64cd\u4f5c\u4efb\u52a1\u4e0a\u6548\u679c\u6781\u4f73\uff0c\u4e14\u8fdc\u8d85\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\uff0c\u8282\u62cd\u6570\u4e5f\u5e73\u5747\u5feb\u4e86 1.8 \u500d\u3002<\/p>\n

\u6362\u8a00\u4e4b\uff0cSERL \u662f\u771f\u673a RL \u673a\u5668\u4eba\u9886\u57df\u7684\u4e00\u4e2a\u5212\u65f6\u4ee3\u5de5\u4f5c\u3002\u800c\u8fd9\u4e2a\u5de5\u4f5c\u7684\u6838\u5fc3\u4f5c\u8005\uff0c\u5c31\u662f\u4e2d\u56fd\u9752\u5e74\u79d1\u5b66\u5bb6\u3001\u4f2f\u514b\u5229\u5728\u8bfb\u535a\u58eb\u540e\u7f57\u5251\u5c9a\u3002<\/p>\n

<\/a><\/p>\n

\u7f57\u5251\u5c9a<\/p>\n

\u4eca\u5e74\u5e74\u521d\uff0c\u7f57\u5251\u5c9a\u56e2\u961f\u63d0\u51fa\u4e86\u9ad8\u6548\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u5957\u4ef6 SERL\uff0c\u673a\u5668\u4eba\u80fd\u7528 20 \u5206\u949f\u5b66\u4f1a\u88c5\u914d\u7535\u8def\u677f\uff0c\u6210\u529f\u7387\u540c\u6837\u662f 100%\u3002<\/p>\n

HIL-SERL \u662f\u57fa\u4e8e SERL \u7684\u5347\u7ea7\u7248\u3002\u4f46\u4e0d\u540c\u7684\u662f\uff0cHIL-SERL \u7ed3\u5408\u4e86\u4eba\u7c7b\u7684\u793a\u8303\u548c\u7ea0\u6b63\u6765\u8bad\u7ec3\u5f3a\u5316\u5b66\u4e60\u7b56\u7565\uff0c\u800c SERL \u4ec5\u4f9d\u8d56\u4e8e\u4eba\u7c7b\u7684\u793a\u8303\u3002<\/p>\n

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<\/a><\/p>\n

\u9879\u76ee\u94fe\u63a5\uff1ahttps:\/\/hil-serl.github.io\/<\/p>\n

HIL-SERL \u7684\u6548\u679c\u4e5f\u51fa\u4e4e\u4e86\u7f57\u5251\u5c9a\u4e0e\u5bfc\u5e08 Sergey Levine \u7684\u9884\u6599\uff0c\u770b\u5230\u6210\u679c\u540e\uff0cSergey \u5bf9\u7f57\u5251\u5c9a\u8bf4\u7684\u7b2c\u4e00\u53e5\u8bdd\u5c31\u662f\uff1a\u201cYou really made RL work.\u201d\uff08\u4f60\u771f\u7684\u8ba9\u5f3a\u5316\u5b66\u4e60\u8dd1\u8d77\u6765\u4e86\u3002\uff09<\/p>\n

\u5728\u4e0d\u4e45\u524d AI \u79d1\u6280\u8bc4\u8bba\u53d1\u5e03\u7684\u300a\u4f2f\u514b\u5229\u5177\u8eab\u667a\u80fd\u56fe\u8c31\u300b\u4e00\u6587\u4e2d\uff0c\u6211\u4eec\u7b80\u5355\u4ecb\u7ecd\u4e86\u7f57\u5251\u5c9a\u5728\u4f2f\u514b\u5229\u7814\u7a76\u5f3a\u5316\u5b66\u4e60\u4e0e\u673a\u5668\u4eba\u7ed3\u5408\u7684\u6545\u4e8b\u3002\u56de\u6eaf\u8fc7\u53bb\uff0c\u7f57\u5251\u5c9a\u5df2\u5728\u673a\u5668\u4eba\u771f\u673a RL \u65b9\u5411\u201c\u56fa\u6267\u201d\u4e86\u5c06\u8fd1\u5341\u5e74\u65f6\u95f4\u3002<\/p>\n

2015 \u5e74\uff0c\u7f57\u5251\u5c9a\u5230\u4f2f\u514b\u5229\u673a\u68b0\u5de5\u7a0b\u7cfb\u8bfb\u673a\u5668\u4eba\u63a7\u5236\u535a\u58eb\uff0c\u540c\u65f6\u5f00\u59cb\u63a2\u7d22 Robotics+AI\uff0c\u5e76\u5728 Pieter Abbeel \u7684\u6307\u5bfc\u4e0b\u653b\u8bfb\u8ba1\u7b97\u673a\u7cfb\u7855\u58eb\u3002\u5728\u4ed6\u7684\u535a\u58eb\u8bba\u6587\u7b54\u8fa9\u4e2d\uff0cPieter \u4e5f\u662f\u4ed6\u7684\u535a\u58eb\u7b54\u8fa9\u59d4\u5458\u4f1a co-chair\u3002<\/p>\n

\u5728\u5f3a\u5316\u5b66\u4e60\u91cc\uff0c\u4eff\u771f\u5668\u662f\u4e0d\u53ef\u7f3a\u5931\u7684\u4e00\u73af\uff0c\u5728\u6a21\u62df\u73af\u5883\u4e2d\u5b9e\u9a8c\u6d4b\u8bd5\u7ed3\u679c\u7684\u5206\u6570\u8d8a\u9ad8\uff0c\u7b97\u6cd5\u6548\u679c\u81ea\u7136\u5c31\u66f4\u597d\u3002\u4f46\u540c\u65f6\uff0c\u5982\u4f55\u5c06\u5f3a\u5316\u5b66\u4e60\u843d\u5730\u5230\u73b0\u5b9e\u4e16\u754c\u4e2d\u4e5f\u662f\u673a\u5668\u4eba\u9886\u57df\u4e00\u76f4\u60ac\u800c\u672a\u51b3\u7684\u95ee\u9898\u3002\u6bd5\u7adf\uff0cMuJoCo \u7684\u7269\u7406\u6a21\u62df\u518d\u7cbe\u786e\uff0c\u4e5f\u5e76\u975e\u771f\u5b9e\u7684\u7269\u7406\u4e16\u754c\u3002<\/p>\n

\u4e8e\u662f\uff0c\u4ece\u535a\u4e8c\u7684\u7b2c\u4e00\u4e2a\u5f3a\u5316\u5b66\u4e60\u5de5\u4f5c\u5f00\u59cb\uff0c\u7f57\u5251\u5c9a\u5c31\u4e00\u76f4\u5728\u7814\u7a76\u5982\u4f55\u8ba9\u5f3a\u5316\u5b66\u4e60\u5728\u771f\u5b9e\u4e16\u754c\u4e2d\u843d\u5730\u3002\u8fd9\u5f53\u4e2d\uff0c\u5f3a\u5316\u5b66\u4e60\u7684\u7814\u7a76\u4ece AlphaGo \u7684\u5982\u65e5\u4e2d\u5929\u5230\u53d8\u5f97\u6e10\u6e10\u51b7\u95e8\u3001\u751a\u81f3\u88ab\u884c\u4e1a\u5531\u8870\uff0c\u4f46\u7f57\u5251\u5c9a\u4e00\u76f4\u575a\u4fe1\uff0c\u673a\u5668\u4eba\u7684\u771f\u673a RL \u662f\u4e00\u4e2a\u957f\u671f\u547d\u9898\uff0c\u4e00\u65e6\u514b\u670d\u3001\u5c06\u5bf9\u673a\u5668\u4eba\u5b66\u4e60\u7684\u7a81\u7834\u4ea7\u751f\u8303\u5f0f\u822c\u7684\u53d8\u9769\u3002<\/p>\n

2020 \u5e74\u535a\u58eb\u6bd5\u4e1a\u540e\uff0c\u7f57\u5251\u5c9a\u52a0\u5165\u4e86\u8c37\u6b4c\uff0c\u5148\u540e\u5728 DeepMind\u3001Everyday Robot \u4e0e Google X \u7b49\u90e8\u95e8\u5de5\u4f5c\uff0c\u7531\u6b64\u5b66\u4e60\u4e86\u66f4\u591a\u4ece\u5e95\u5c42\u52a8\u529b\u5b66\u5230\u4e0a\u5c42\u63a7\u5236\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u77e5\u8bc6\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u4ed6\u4e5f\u4e00\u76f4\u575a\u6301\u63a2\u7d22\u673a\u5668\u4eba\u4e0e\u5f3a\u5316\u5b66\u4e60\u7684\u7ed3\u5408\u3002<\/p>\n

2022 \u5e74\uff0c\u5f53\u6240\u53c2\u4e0e\u9879\u76ee\u88ab\u5b75\u5316\u4e3a\u5de5\u4e1a\u673a\u5668\u4eba\u521b\u4f01 Intrinsic \u540e\uff0c\u7f57\u5251\u5c9a\u91cd\u65b0\u56de\u5230\u4e86\u4f2f\u514b\u5229\uff0c\u5728 Sergey Levine \u56e2\u961f\u5f53\u535a\u58eb\u540e\uff0c\u662f Sergey \u7ec4\u6700\u575a\u5b9a\u7684 RL \u7814\u7a76\u8005\u3002SERL \u7cfb\u5217\u5de5\u4f5c\u7684\u63a2\u7d22\uff0c\u4e5f\u662f\u7f57\u5251\u5c9a\u5728\u4f2f\u514b\u5229\u63a2\u7d22\u771f\u673a RL \u591a\u5e74\u6765\u53d6\u5f97\u7684\u6700\u5177\u7a81\u7834\u6027\u6210\u679c\u3002<\/p>\n

\u4ee5\u4e0b\u662f AI \u79d1\u6280\u8bc4\u8bba\u4e0e\u7f57\u5251\u5c9a\u7684\u5bf9\u8bdd\u3002<\/p>\n

<\/p>\n

\u91cd\u8fd4\u5b66\u672f<\/strong><\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u60a8\u5728\u4f2f\u514b\u5229\u673a\u68b0\u7cfb\u8bfb\u535a\uff0c\u90a3\u6700\u65e9\u662f\u5982\u4f55\u63a5\u89e6\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u7684\u5462\uff1f<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u673a\u68b0\u7cfb\u505a\u7684\u8303\u56f4\u5927\u800c\u5168\uff0c\u6211\u662f\u63a7\u5236\u65b9\u5411\u7684\uff0c\u6700\u65e9\u63a7\u5236\u8bba\u548c\u5f3a\u5316\u5b66\u4e60\u5c31\u662f\u5bf9\u5076\u7684\u5b58\u5728\uff0c\u6bd4\u5982\u63a7\u5236\u91cc\u7684 HJB \u65b9\u7a0b\uff0c\u5f3a\u5316\u5b66\u4e60\u91cc\u7684 Bellman Backup\uff0c\u90fd\u662f\u539f\u7406\u76f8\u540c\u7684\u52a8\u6001\u89c4\u5212\u65b9\u6cd5\u3002\u6240\u4ee5\u8fd9\u4e2a\u5207\u6362\u53cd\u5012\u80fd\u7ed9\u6211\u4e0d\u540c\u7684\u89c6\u89d2\u770b\u4e24\u4e2a\u9886\u57df\u600e\u4e48\u89e3\u51b3\u95ee\u9898\u3002<\/p>\n

2017 \u5e74\u6691\u5047\uff0c\u6211\u53c2\u4e0e\u4e86\u897f\u95e8\u5b50\u4f2f\u514b\u5229\u5206\u90e8\u7684\u5de5\u4f5c\uff0c\u628a\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u5e94\u7528\u5230\u5de5\u4e1a\u751f\u4ea7\u4e2d\uff0c\u5b66\u4e60\u7b56\u7565\u4ee5\u89e3\u51b3\u4f20\u7edf\u673a\u5668\u4eba\u89e3\u51b3\u4e0d\u4e86\u7684\u95ee\u9898\uff0c\u6bd4\u5982\u9ad8\u7cbe\u5ea6\u88c5\u914d\u3002<\/p>\n

\u5f53\u65f6\u7684\u4efb\u52a1\u662f\u64cd\u4f5c\u4e00\u4e2a 3D \u6253\u5370\u7684\u9f7f\u8f6e\uff0c\u5c06\u5176\u5b89\u88c5\u5230\u4e00\u4e2a\u53ef\u6d3b\u52a8\u7684\u673a\u68b0\u88c5\u7f6e\u4e0a\uff0c\u8981\u6c42\u8bbe\u8ba1\u7684\u7b97\u6cd5\u4e0d\u4ec5\u8981\u80fd\u8fdb\u884c\u89c4\u5212\uff0c\u8fd8\u8981\u80fd\u5b9e\u65f6\u54cd\u5e94\u5916\u90e8\u53d8\u5316\uff0c\u5e76\u5236\u5b9a\u7b56\u7565\u6210\u529f\u5b8c\u6210\u88c5\u914d\u3002\u8fd9\u4e2a\u9879\u76ee\u662f\u6211\u5728\u5f3a\u5316\u5b66\u4e60\u9886\u57df\u7684\u8d77\u70b9\uff0c\u4e5f\u662f\u548c Pieter Abbeel\u3001Sergey Levine \u5408\u4f5c\u7684\u5f00\u59cb\u3002<\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u535a\u58eb\u6bd5\u4e1a\u540e\u60a8\u5728\u8c37\u6b4c\u5de5\u4f5c\u4e86\u4e24\u5e74\uff0c\u4e3a\u4ec0\u4e48\u4f1a\u51b3\u5b9a\u91cd\u8fd4\u5b66\u672f\uff0c\u5230 Sergey Levine \u7684\u7ec4\u91cc\u8bfb\u535a\u58eb\u540e\u5462\uff1f<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u5176\u5b9e\u8fd9\u662f\u6bd4\u8f83\u5076\u7136\u7684\u51b3\u5b9a\u3002<\/p>\n

\u5728\u8c37\u6b4c\u671f\u95f4\uff0cStefan Schaal \u8ba9\u6211\u79ef\u7d2f\u4e86\u5f88\u591a\u786c\u6838\u673a\u5668\u4eba\u77e5\u8bc6\uff0c\u771f\u6b63\u5730\u4ece\u5e95\u5c42\u52a8\u529b\u5b66\u5230\u4e0a\u5c42\u63a7\u5236\u6478\u6e05\u695a\u6574\u4e2a\u673a\u5668\u4eba\u7cfb\u7edf\u3002\u5f53\u65f6\u6211\u53c2\u4e0e\u7684\u9879\u76ee\u6ce8\u91cd\u4e8e\u628a AI \u7528\u5728\u5de5\u4e1a\u751f\u4ea7\u4e0a\uff0c\u63d0\u9ad8\u751f\u4ea7\u529b\u3002\u5728\u9879\u76ee\u5b75\u5316\u4e3a\u505a\u5de5\u4e1a\u673a\u5668\u4eba\u7684 Intrinsic \u540e\uff0c\u6211\u60f3\u7740\u56de\u56fd\u627e\u6559\u804c\uff0c\u6253\u7b97\u5148\u505a\u4e00\u5e74 part time \u7684\u535a\u58eb\u540e\u4f5c\u4e3a\u8fc7\u6e21\uff0c\u5c31\u95ee\u4e86\u5f53\u65f6\u4e5f\u5728\u8c37\u6b4c\u517c\u804c\u7684 Sergey\u3002<\/p>\n

Sergey \u5f53\u65f6\u8bad\u7ec3\u673a\u5668\u4eba\u5b8c\u6210\u7b80\u5355\u64cd\u4f5c\u9700\u8981\u51e0\u5341\u4e2a\u5c0f\u65f6\uff0c\u901a\u8fc7\u6211\u4eec\u7684\u5408\u4f5c\uff0c\u6211\u7684\u5de5\u4f5c\u91cc\u63d2\u62d4\u7b49\u5de5\u4e1a\u4e0a\u8f83\u7cbe\u5bc6\u4efb\u52a1\u7684\u6210\u529f\u7387\u6709 100%\uff0c\u5e76\u4e14\u53ea\u7528\u4e86\u5f88\u77ed\u7684\u65f6\u95f4\uff0c\u610f\u8bc6\u5230\u56e2\u961f\u5f97\u6709\u4eba\u65e2\u61c2\u673a\u5668\u4eba\u7cfb\u7edf\u53c8\u61c2 learning \u624d\u597d\u5c06\u4e8c\u8005\u7ed3\u5408\uff0c\u5f88\u70ed\u60c5\u5730\u5efa\u8bae\u6211\u5230\u4ed6\u7684\u7ec4\u91cc\u5168\u804c\u505a\u4e24\u5e74\u535a\u58eb\u540e\u3002\u56e0\u4e3a\u6211\u4fe9\u7684\u80fd\u529b\u6bd4\u8f83\u4e92\u8865\uff0c\u4e4b\u524d\u7684\u5408\u4f5c\u53c8\u975e\u5e38\u6109\u5feb\uff0c\u6211\u4fbf\u540c\u610f\u4e86\u3002<\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u56de\u5230\u4f2f\u514b\u5229\u540e\uff0c\u60a8\u53c2\u4e0e\u4e86 Open X-Embodiment \u6570\u636e\u96c6\u7684\u521b\u5efa\u3002<\/span><\/strong><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/span><\/strong>\u6ca1\u9519\uff0c\u6700\u65e9\u5728 2023 \u5e74 3 \u6708\uff0cOpen X-Embodiment \u8fd8\u662f\u4e2a\u56e2\u961f\u6210\u5458\u4e0d\u8db3 10 \u4eba\u7684\u5c0f\u578b\u63a2\u7d22\u9879\u76ee\uff0c\u4e3b\u8981\u662f\u4f2f\u514b\u5229\u3001\u65af\u5766\u798f\u4e0e\u8c37\u6b4c\u4e00\u8d77\u5408\u4f5c\u3002\u6211\u5728\u91cc\u9762\u8d1f\u8d23\u6700\u4e3b\u8981\u7684\u7ebf\u7f06\u4efb\u52a1 Cable Routing\uff0c\u53d1\u73b0\u6bd4\u8f83\u53ef\u884c\u540e\uff0c\u5c31\u51b3\u5b9a\u6269\u5927\u89c4\u6a21\u3002\u56e0\u4e3a\u4e4b\u524d\u7684\u673a\u5668\u4eba\u6570\u636e\u96c6\u90fd\u5f88\u5206\u6563\uff0c\u6211\u4eec\u60f3\u628a\u884c\u4e1a\u5185\u7684\u5b66\u672f\u3001\u4ea7\u4e1a\u529b\u91cf\u90fd\u62c9\u8fdb\u6765\uff0c\u5c31\u7ed9\u6240\u6709\u6570\u636e\u96c6\u4f5c\u8005\u53d1\u90ae\u4ef6\uff0c\u6700\u540e\u7684\u5408\u4f5c\u8005\u8fbe\u5230\u4e86 200 \u591a\u4eba\u3002<\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u5728\u6700\u65b0\u7684 HIL-SERL \u4e4b\u524d\uff0c\u60a8\u5148\u662f\u5728 2 \u6708\u53d1\u5e03\u4e86 SERL\uff0c\u53ef\u4ee5\u804a\u804a\u8fd9\u4e2a idea \u662f\u600e\u4e48\u8bde\u751f\u7684\u5417\uff1f<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u8981\u8ba9\u5f3a\u5316\u5b66\u4e60\u771f\u6b63\u597d\u7528\uff0c\u5c31\u5fc5\u987b\u786e\u4fdd\u6240\u6709\u73af\u8282\u548c\u9009\u62e9\u90fd\u6b63\u786e\u65e0\u8bef\u4e14\u653e\u5728\u5408\u9002\u7684\u4f4d\u7f6e\uff0c\u56e0\u6b64\u5c3d\u7ba1 AI \u793e\u533a\u90fd\u60f3\u7528\u5f3a\u5316\u5b66\u4e60\u6765\u89e3\u51b3\u5b9e\u9645\u4efb\u52a1\uff0c\u4f46\u5b83\u95e8\u69db\u9ad8\uff0c\u6d41\u7a0b\u6613\u51fa\u9519\u4e14\u4e0d\u7a33\u5b9a\uff0c\u4e00\u76f4\u96be\u4ee5\u653b\u514b\uff0c\u5f88\u591a\u4eba\u90fd\u5df2\u653e\u5f03\u7528\u5f3a\u5316\u5b66\u4e60\u5728\u771f\u5b9e\u4e16\u754c\u91cc\u8bad\u7ec3\u7b56\u7565\u3002<\/p>\n

\u6240\u4ee5\u5728 2023 \u5e74\u521d\uff0c\u6211\u5c31\u840c\u751f\u4e86\u4e00\u4e2a\u60f3\u6cd5\uff0c\u4e3a\u793e\u533a\u63d0\u4f9b\u4e00\u4e2a\u5f00\u6e90\u7684\u3001\u7aef\u5230\u7aef\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u91cc\u9762\u5305\u62ec\u5f3a\u5316\u5b66\u4e60\u73af\u5883\u548c\u673a\u5668\u4eba\u63a7\u5236\u5668\uff0c\u80fd\u8ba9\u5927\u5bb6\u4e0b\u8f7d\u4e0b\u6765\u540e\u76f4\u63a5\u4f7f\u7528\uff0c\u5c31\u50cf\u73b0\u5728\u62ff\u4eff\u771f\u5668\u8bad\u7ec3\u673a\u5668\u72d7\u8d70\u8def\u4e00\u6837\u7b80\u5355\u3002<\/p>\n

\u4e4b\u524d\u6211\u5728\u8c37\u6b4c\u7684\u5de5\u4f5c\uff0c\u5176\u5b9e\u4e5f\u6d89\u53ca\u5f3a\u5316\u5b66\u4e60\u5728\u771f\u5b9e\u4e16\u754c\u7684\u5e94\u7528\uff0c\u6bd4\u5982\u5728 2022 \u5e74\u6211\u4e0e Sergey \u7684\u5408\u4f5c\u4ee5\u53ca\u6211\u5728 DeepMind \u53c2\u4e0e\u7684\u9879\u76ee\u3002\u5728\u8fc7\u5f80\u7814\u7a76\u7684\u94fa\u57ab\u4e0b\uff0c\u6211\u5728 2023 \u5e74 6 \u6708\u5f00\u59cb\u5e26\u9886\u56e2\u961f\u505a SERL\uff0c\u4e0e\u65af\u5766\u798f\u3001\u534e\u76db\u987f\u5927\u5b66\u3001\u8c37\u6b4c\u7b49\u51e0\u5bb6\u673a\u6784\u4e00\u8d77\u5408\u4f5c\u63a8\u8fdb\uff0c\u8fdb\u4e00\u6b65\u5b8c\u5584\u4e86\u4ee5\u524d\u7684\u5de5\u4f5c\u3002<\/p>\n

SERL \u7b2c\u4e00\u6b21\u5b9e\u73b0\u80fd\u901a\u8fc7\u771f\u5b9e\u4e16\u754c\u7684\u89c6\u89c9\u4fe1\u606f\uff0c\u7528 20 \u5206\u949f\u5b8c\u6210\u7cbe\u5bc6\u88c5\u914d\uff0c\u5b66\u597d\u4e00\u4e2a\u7b56\u7565\u3002\u5728 PCB \u677f\u7ec4\u88c5\u3001\u7535\u7f06\u5e03\u7ebf\u548c\u7269\u4f53\u91cd\u5b9a\u4f4d\u8fd9\u4e9b\u590d\u6742\u4efb\u52a1\u4e2d\uff0c\u6bcf\u4e2a\u7b56\u7565\u5e73\u5747\u8bad\u7ec3 25 \u5230 50 \u5206\u949f\uff0c\u4efb\u52a1\u7684\u6210\u529f\u7387\u63a5\u8fd1\u5b8c\u7f8e\uff0c\u800c\u4e14\u5373\u4f7f\u5728\u53d7\u5230\u5e72\u6270\u65f6\u4e5f\u80fd\u8868\u73b0\u51fa\u6781\u597d\u7684\u9c81\u68d2\u6027\uff0c\u5e76\u5c55\u73b0\u51fa\u7d27\u6025\u6062\u590d\u548c\u6821\u6b63\u884c\u4e3a\u3002<\/p>\n

\u6574\u4e2a\u7814\u7a76\u7684\u63a8\u8fdb\u8fc7\u7a0b\u662f\u4e00\u6b21\u771f\u6b63\u7684\u79d1\u5b66\u63a2\u7d22\uff0c\u6211\u4eec\u5b9e\u9a8c\u65f6\u53d1\u73b0\u4e86\u5176\u4e2d\u6709\u4e00\u4e24\u4e2a\u975e\u5e38\u5173\u952e\u7684\u9009\u62e9\uff0c\u80fd\u8ba9\u6574\u4e2a\u7cfb\u7edf\u8fd0\u884c\u5730\u6781\u597d\uff0c\u5f53\u65f6\u6211\u4eec\u4e5f\u50bb\u773c\u4e86\u3002\u4eca\u5e74\u5e74\u521d SERL \u53d1\u5e03\u540e\uff0c\u6d77\u5185\u5916\u5f88\u591a\u673a\u6784\u4e5f\u5f00\u59cb\u4f7f\u7528\u5b83\uff0c\u6bd4\u5982\u5317\u5927\u3001\u6ce2\u58eb\u987f\u52a8\u529bAI\u7814\u7a76\u9662\u3001\u8c37\u6b4c\u7b49\u7b49\u3002<\/p>\n

<\/a><\/p>\n

\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2401.16013<\/a> <\/p>\n

<\/p>\n

\u73b0\u5b9e\u4e16\u754c\u7684\u62e5\u62a4\u8005<\/strong><\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u542c\u8d77\u6765\u60a8\u662f\u73b0\u5b9e\u4e16\u754c\u548c\u771f\u5b9e\u6570\u636e\u7684\u575a\u5b9a\u62e5\u62a4\u8005\uff1f<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u6ca1\u9519\uff0c\u56de\u5230 2017 \u5e74\u7b2c\u4e00\u6b21\u63a5\u89e6\u5f3a\u5316\u5b66\u4e60\u65f6\uff0c\u5927\u5bb6\u7684\u7814\u7a76\u90fd\u5728\u4eff\u771f\u91cc\uff0c\u5728 MuJoCo \u6a21\u62df\u73af\u5883\u4e2d\u8fdb\u884c\u5f3a\u5316\u5b66\u4e60\u5b9e\u9a8c\u3001\u5237\u699c\u3001\u53d1\u8bba\u6587\u8fd8\u662f\u5e38\u89c4\u64cd\u4f5c\uff0c\u4f46\u6211\u89c9\u5f97\u90a3\u4e9b\u5f3a\u5316\u5b66\u4e60\u7684\u7b97\u6cd5\u6027\u80fd\u699c\u5355\u5e76\u6ca1\u6709\u89e3\u51b3\u5b9e\u9645\u95ee\u9898\uff0c\u4e0e\u73b0\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\u63a7\u5236\u95ee\u9898\u5176\u5b9e\u662f\u8131\u8282\u7684\u3002\u5b9e\u9645\u4e0a\uff0c\u5f3a\u5316\u5b66\u4e60\u7684\u91c7\u6837\u6548\u7387\u4e00\u76f4\u662f\u4e2a\u95ee\u9898\uff0c\u81f3\u4eca\u6ca1\u6709\u5f88\u591a\u4eba\u7528\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u3002<\/p>\n

\u5f53\u7136\uff0c\u4eff\u771f\u5bf9\u79fb\u52a8\uff08locomotion\uff09\u5f88\u6709\u6548\uff0c\u4f46\u8fd9\u4e0d\u662f\u9b54\u6cd5\uff0c\u4eff\u771f\u662f\u4eba\u6839\u636e\u7269\u7406\u6a21\u578b\u5199\u7684\uff0c\u5176\u5b9e\u662f\u5728\u505a\u57fa\u4e8e\u6a21\u578b\u7684\u63a7\u5236\uff0c\u53ea\u4e0d\u8fc7\u4eff\u771f\u7ed9\u4e86\u66f4\u597d\u7684\u8ba1\u7b97\u5de5\u5177\u3002<\/p>\n

\u800c\u79fb\u52a8\u662f\u4e00\u4e2a\u76f8\u5bf9\u7b80\u5355\u7684\u95ee\u9898\uff0c\u6a21\u578b\u4e5f\u6bd4\u8f83\u7b80\u5355\uff0c\u56db\u8db3\u72d7\u662f\u684c\u5b50\u6a21\u578b\uff0c\u53cc\u8db3\u662f\u5012\u7acb\u6446\u3002\u6311\u6218\u5728\u4e8e\u6a21\u578b\u4e0d\u51c6\u786e\u72d7\u6454\u5012\uff0c\u6216\u8005\u5916\u754c\u6270\u52a8\u7a0d\u5927\u8d70\u8def\u6253\u6ed1\uff0c\u4f46\u8fd9\u4e9b\u4e0d\u786e\u5b9a\u6bd4\u8f83\u6709\u9650\u3002\u8fd9\u4e9b\u95ee\u9898\u7528\u4f20\u7edf\u7684 MPC\uff08\u57fa\u4e8e\u6a21\u578b\u7684\u63a7\u5236\uff09\u548c\u9c81\u68d2\u63a7\u5236\u4e5f\u80fd\u89e3\u51b3\u5f97\u5f88\u597d\uff0c\u6bd4\u5982\u5bf9\u4e0d\u786e\u5b9a\u6027\u6709\u4e00\u4e2a\u5b9a\u91cf\u4f30\u8ba1\uff0c\u90a3\u4e48\u6211\u4eec\u53ef\u4ee5\u8bbe\u8ba1\u51fa\u5bf9\u8fd9\u4e2a bounded uncertainty \u9c81\u68d2\u7684\u63a7\u5236\u5668\u3002<\/p>\n

\u4eca\u5929\u7684\u6ce2\u97f3\u5ba2\u673a\u5c31\u662f\u6839\u636e\u6b64\u539f\u5219\u6765\u8bbe\u8ba1\u63a7\u5236\u5668\u7684\uff0c\u5b83\u80fd\u5bf9\u6cb9\u91cf\u7684\u53d8\u5316\u9020\u6210\u7684\u98de\u673a\u91cd\u91cf\u53d8\u5316\uff0c\u9ad8\u7a7a\u4e2d\u6c14\u6d41\u7684\u53d8\u5316\u7b49\u7b49\u90fd\u4fdd\u6301\u6709\u6548\uff0c\u8fd9\u4e5f\u662f\u6c11\u822a\u5ba2\u673a\u80fd\u591f\u5b89\u5168\u8fd0\u884c\uff0c\u6211\u4eec\u653e\u5fc3\u5750\u4e0a\u53bb\u7684\u4fdd\u8bc1\uff0c\u6240\u4ee5\u57fa\u4e8e\u6a21\u578b\u7684\u63a7\u5236\u662f\u5341\u5206\u6709\u6548\u7684\uff0c\u53ea\u4e0d\u8fc7\u5165\u95e8\u95e8\u69db\u53ca\u5bf9\u5de5\u7a0b\u80fd\u529b\u7684\u8981\u6c42\u592a\u9ad8\uff0c\u521a\u5165\u95e8\u7684\u7814\u7a76\u4eba\u5458\u4e00\u822c\u4e0d\u592a\u613f\u610f\u5728\u8fd9\u4e0a\u9762\u6df1\u8015\u3002<\/p>\n

\u800c\u5728\u64cd\u4f5c\u4e2d\uff0c\u672c\u4f53\u7684\u6a21\u578b\u662f\u786e\u5b9a\u7684\uff0c\u4f60\u8ba9\u673a\u68b0\u81c2\u5f80\u5de6\u8d70\u5b83\u4e00\u5b9a\u4f1a\u5f80\u5de6\u8d70\uff0c\u771f\u6b63\u7684\u96be\u70b9\u5728\u4e8e\u5916\u90e8\u73af\u5883\u65e0\u7a77\u65e0\u5c3d\u7684\u53d8\u5316\u548c\u96be\u4ee5\u8ba1\u7b97\u7684\u590d\u6742\u7269\u7406\uff0c \u6bd4\u5982\u7269\u7406\u63a5\u89e6\u548c\u67d4\u6027\u7269\u4f53\uff0c\u9700\u8981\u5904\u7406\u7684\u590d\u6742\u5ea6\u51e0\u4e4e\u662f\u65e0\u9650\u7684\u3002<\/p>\n

\u56e0\u6b64\uff0c\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u8fdb\u884c\u8bad\u7ec3\u662f\u5fc5\u8981\u7684\u3002\u867d\u7136\u73b0\u5728\u6709\u4e9b\u6210\u529f\u7684\u6df1\u5ea6\u5b66\u4e60\u4eff\u771f\u7cfb\u7edf\uff0c\u4f46\u5982\u679c\u4f60\u6784\u5efa\u4e86\u4e00\u4e2a\u4eff\u771f\u5668\uff0c\u4ece\u4e2d\u5b66\u4e60\u51fa\u7684\u7b56\u7565\u662f\u4e0d\u53ef\u80fd\u8d85\u8d8a\u4eff\u771f\u5668\u672c\u8eab\u80fd\u529b\u7684\u3002\u6700\u7ec8\uff0c\u4f60\u7684\u4eff\u771f\u5668\u4f1a\u9650\u5236\u4f60\u7684\u7b56\u7565\u5b66\u4e60\u3002\u6211\u4eec\u4e0d\u80fd\u56e0\u4e3a\u4f7f\u7528\u4eff\u771f\u5668\u89e3\u51b3\u4e86\u4e00\u4e2a\u76f8\u5bf9\u7b80\u5355\u7684\u95ee\u9898\u5c31\u8ba4\u4e3a\u5b83\u4e00\u5b9a\u4f1a\u89e3\u51b3\u53e6\u4e00\u4e2a\u96be\u5f97\u591a\u7684\u95ee\u9898\uff0c\u4ece\u800c\u4e0d\u53bb\u89e3\u51b3\u8fd9\u4e2a\u56f0\u96be\u95ee\u9898\u7684\u672c\u8d28\uff0c\u53cd\u800c\u88ab\u56f0\u5728\u201c\u978d\u70b9\u201d\u91cc\uff0c\u53bb\u7ed5\u8def\u6784\u9020\u8fd9\u4e2a\u56f0\u96be\u95ee\u9898\u7684\u8fd1\u4f3c\uff08proxy\uff09\u6765\u5c1d\u8bd5\u53bb\u89e3\u51b3\u5b83\u3002\u8fd9\u6837\u957f\u8fdc\u6765\u770b\uff0c\u4f1a\u5931\u53bb\u627e\u5230\u5168\u5c40\u6700\u4f18\u89e3\u7684\u80fd\u529b\u3002<\/p>\n

\u5728\u4eff\u771f\u73af\u5883\u4e0e\u73b0\u5b9e\u4e16\u754c\u505a\u64cd\u4f5c\u5b58\u5728\u663e\u8457\u5dee\u5f02\uff0c\u5c24\u5176\u662f\u5728\u6d89\u53ca\u89c6\u89c9\u8f93\u5165\u7684\u60c5\u51b5\u4e0b\u3002\u56e0\u6b64\u6211\u7684\u7814\u7a76\u91cd\u70b9\u4e00\u76f4\u653e\u5728\u5982\u4f55\u8bbe\u8ba1\u51fa\u5177\u6709\u9ad8\u6837\u672c\u6548\u7387\u7684\u7b97\u6cd5\u4e0a\uff0c\u800c\u4e14\u8981\u4e0e\u786c\u4ef6\u548c\u63a7\u5236\u5668\u5bf9\u63a5\u65e0\u8bef\u3002\u4f8b\u5982\uff0c\u5728\u6709\u89c6\u89c9\u4fe1\u606f\u7684\u60c5\u51b5\u4e0b\uff0c\u80fd\u591f\u5728 20 \u5206\u949f\u5185\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u5b66\u4f1a\u4e00\u4e2a\u975e\u5e38\u590d\u6742\u7684\u7b56\u7565\uff0c\u800c\u5176\u4ed6\u65b9\u6cd5\u65e0\u6cd5\u89e3\u51b3\u3002<\/p>\n

Sergey \u4e5f\u662f\u771f\u5b9e\u4e16\u754c\u6570\u636e\u7684\u575a\u5b9a\u652f\u6301\u8005\uff0c\u6709\u6b21\u6211\u4fe9\u5f92\u6b65\u65f6\u804a\u5929\uff0c\u8bf4\u8d77\u5982\u679c\u6709 100 \u4ebf\u7f8e\u5143\uff0c\u662f\u53bb\u5efa\u4e16\u754c\u4e0a\u6700\u5927\u6700\u597d\u7684\u4eff\u771f\u5668\uff0c\u8fd8\u662f\u53bb\u6536\u4e16\u754c\u6700\u5927\u7684\u6570\u636e\u96c6\uff1f\u6211\u4eec\u7684\u7b54\u6848\u5f88\u4e00\u81f4\uff0c\u5c31\u662f\u6570\u636e\u96c6\u3002<\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u770b\u6765\u60a8\u5f88\u65e9\u5c31\u5f00\u59cb\u7814\u7a76\u5f3a\u5316\u5b66\u4e60\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u5e94\u7528\u4e86\u3002<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u662f\u7684\uff0c\u6211\u5bf9\u771f\u5b9e\u7684\u673a\u5668\u4eba\u6bd4\u8f83\u611f\u5174\u8da3\uff0c\u5728\u548c\u897f\u95e8\u5b50\u5408\u4f5c\u7684\u9879\u76ee\u91cc\u89e3\u51b3\u95ee\u9898\u65f6\u5c31\u6709\u8bd5\u7740\u628a\u5f3a\u5316\u5b66\u4e60\u7528\u5728\u73b0\u5b9e\u4e16\u754c\uff0c\u4f46\u5f53\u65f6\u5f3a\u5316\u5b66\u4e60\u641e\u4e0d\u5b9a\u3002\u5b83\u884c\u4e0d\u901a\uff0c\u6211\u5c31\u60f3\u628a\u5b83\u5f04\u660e\u767d\uff0c\u6240\u4ee5\u4ece 2017 \u5e74\u5f00\u59cb\uff0c\u6211\u5c31\u4e00\u76f4\u6cbf\u7740\u8fd9\u4e2a\u4e3b\u7ebf\u7814\u7a76\uff0c\u82b1\u4e86\u5f88\u957f\u65f6\u95f4\uff0c\u4f46\u6211\u597d\u50cf\u4e5f\u6ca1\u53d1\u73b0\u8c01\u6bd4\u6211\u66f4\u5feb\u505a\u51fa\u6765\uff0c\u56e0\u4e3a\u5f88\u591a\u4eba\u8bd5\u4e86\u4e00\u4e24\u6b21\u4e0d work \u5c31\u653e\u5f03\u4e86\u3002<\/p>\n

\u4e4b\u524d\u5f88\u591a\u4eba\u8ba4\u4e3a\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u5e94\u7528\u5f3a\u5316\u5b66\u4e60\u5e76\u4e0d\u662f\u4e00\u4e2a\u597d\u65b9\u6cd5\uff0c\u56e0\u4e3a\u673a\u5668\u4eba\u9700\u8981\u7b97\u6cd5\u4e0e\u786c\u4ef6\u548c\u63a7\u5236\u5668\u65b9\u9762\u8fdb\u884c\u6781\u4f73\u7684\u5bf9\u63a5\uff0c\u624d\u80fd\u4f7f\u6574\u4e2a\u7cfb\u7edf\u8fd0\u884c\u826f\u597d\u3002\u5728HIL-SERL\u4e2d\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u80fd\u57281-2\u5c0f\u65f6\u5185\u5229\u7528\u89c6\u89c9\u8f93\u5165\uff0c\u5728\u4e00\u7cfb\u5217\u5de5\u4e1a\u751f\u4ea7\u3001\u52a8\u6001\u64cd\u63a7\u548c\u7075\u5de7\u64cd\u4f5c\u7684\u4efb\u52a1\u4e0a\u53d6\u5f97100%\u7684\u6210\u529f\u7387\u3002<\/p>\n

\u5927\u5bb6\u73b0\u5728\u4f7f\u7528\u4eff\u771f\u7684\u4e00\u4e2a\u4e3b\u8981\u89c2\u70b9\u662f\u673a\u5668\u4eba\u771f\u5b9e\u6570\u636e\u5f88\u96be\u83b7\u5f97\uff0c\u4eff\u771f\u53ef\u4ee5\u77ac\u95f4\u751f\u6210 100 \u4ebf\u6570\u636e\uff0c\u4f46\u6ca1\u6709\u4eba\u4f1a\u53cd\u5bf9\u5982\u679c\u6709\u771f\u5b9e\u6570\u636e\uff0c\u6700\u6709\u7528\u7684\u8fd8\u662f\u771f\u5b9e\u6570\u636e\u3002\u4f46\u8fd9\u4e0d\u662f\u95ee\u9898\u7684\u672c\u8d28\uff0c\u5341\u5e74\u540e\u6211\u4eec\u6709\u4e00\u4ebf\u4e2a\u673a\u5668\u4eba\u90e8\u7f72\u5728\u771f\u5b9e\u4e16\u754c\u4e2d\uff0c\u4e0d\u65ad\u5206\u4eab\u7740\u771f\u5b9e\u7269\u7406\u6570\u636e\uff08physical experience\uff09\uff0c\u90a3\u65f6\u6211\u4eec\u518d\u6765\u770b\u73b0\u5728\u7684\u56f0\u5c40\uff0c\u5f88\u591a\u95ee\u9898\u5c06\u4e0d\u5b58\u5728\uff0c\u5f88\u591a\u89c2\u70b9\u5c06\u53d8\u5f97\u65e0\u5173\u7d27\u8981\u3002<\/p>\n

\u73b0\u6709\u7684\u6570\u636e\u91cf\u3001\u90e8\u7f72\u7684\u673a\u5668\u4eba\uff0c\u90fd\u4e0d\u8db3\u4ee5\u8ba9\u6211\u4eec\u4ea7\u751f\u786e\u5207\u7684\u79d1\u5b66\u7ed3\u8bba\uff0c\u6240\u4ee5\u624d\u4f1a\u767e\u5bb6\u4e89\u9e23\u3002\u8fdc\u7684\u4e0d\u8bf4\uff0c\u8c01\u5148\u7b2c\u4e00\u4e2a\u90e8\u7f72 1000 \u53f0\u4eba\u5f62\u673a\u5668\u4eba\u5230\u5de5\u5382\u91cc\uff0c\u8fd9\u4e9b 24×7 \u4f20\u56de\u6765\u7684\u6570\u636e\u5c31\u8db3\u4ee5\u8ba9\u6211\u4eec\u4ea7\u751f\u65b0\u7684\u8303\u5f0f\u548c\u79d1\u5b66\u7ed3\u8bba\uff0c\u6211\u4eec\u5148\u4ece\u8fd9\u4e9b\u534a\u5c01\u95ed\u7a7a\u95f4\u7684\u95ee\u9898\u5165\u624b\uff0c\u4e00\u65e6\u5bf9\u95ee\u9898\u6709\u4e86\u66f4\u6df1\u7684\u4e86\u89e3\uff0c\u5f97\u51fa\u7684\u65b9\u6cd5\u8bba\u624d\u4f1a\u66f4\u8fdb\u4e00\u6b65\u5ef6\u4f38\u5230\u65e0\u7ea6\u675f\u7a7a\u95f4\u7684\u95ee\u9898\u3002<\/p>\n

\u4f5c\u4e3a\u79d1\u5b66\u5bb6\uff0c\u6211\u4eec\u5e94\u8be5\u5173\u6ce8\u66f4\u8fdc\u7684\u672a\u6765\uff0c\u6bd4\u5982\u4e94\u5e74\u6216\u5341\u5e74\u540e\u7684\u6280\u672f\u53d1\u5c55\uff0c\u9700\u8981\u89e3\u51b3\u4e00\u4e9b\u57fa\u7840\u7684\u79d1\u5b66\u95ee\u9898\uff0c\u63a2\u8ba8\u73b0\u5728\u65e0\u6cd5\u5b9e\u73b0\u4f46\u672a\u6765\u53ef\u80fd\u4ea7\u751f\u91cd\u5927\u5f71\u54cd\u7684\u4e8b\u60c5\u3002<\/p>\n

<\/p>\n

\u5f3a\u5316\u5b66\u4e60\u4e4b\u4e8e\u5177\u8eab\u667a\u80fd<\/strong><\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u5927\u6a21\u578b\u7684\u8bde\u751f\u597d\u50cf\u8ba9\u5f3a\u5316\u5b66\u4e60\u7684\u70ed\u6f6e\u5728 Robot Learning \u9886\u57df\u51b7\u5374\u4e86\u4e0d\u5c11\u3002<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u5982\u679c\u8bf4 2016-2021 \u5e74\u7684\u4e3b\u7ebf\u662f\u4ee5\u4f2f\u514b\u5229\u4e3a\u9996\u7684\u5f3a\u5316\u5b66\u4e60\uff0c\u90a3\u4e48 2021 \u5e74\u968f\u7740\u5927\u6a21\u578b\u5174\u8d77\uff0c\u6536\u96c6\u6570\u636e\u548c\u5927\u6a21\u578b\u7684\u7ed3\u5408\u53d8\u6210\u4e86\u65b0\u6f6e\u6d41\uff0c\u6bd4\u5982\u8bf4\u8c37\u6b4c\u7684 RTX \u7cfb\u5217\u3002\u73b0\u5728\u7684\u8d8b\u52bf\u662f\u5927\u6a21\u578b\u7ee7\u7eed\u706b\u70ed\uff0c\u5f3a\u5316\u5b66\u4e60\u5f3a\u52bf\u590d\u82cf\uff0c\u4e8c\u8005\u7ed3\u5408\uff0c\u5927\u6a21\u578b\u5b9e\u73b0\u521d\u6b65 50-60% \u7684\u7b56\u7565\uff0c\u518d\u7528\u5f3a\u5316\u5b66\u4e60\u7b97\u6cd5\u9010\u6b65\u63d0\u5347\u81f3 100%\u3002<\/p>\n

\u867d\u7136\u6211\u4e5f\u505a\u5927\u6a21\u578b\uff0c\u4f46\u6211\u8ba4\u4e3a\u81ea\u5df1\u7684\u4ee3\u8868\u4f5c\u548c\u7814\u7a76\u91cd\u70b9\u8fd8\u662f\u5f3a\u5316\u5b66\u4e60\uff0c\u56e0\u4e3a HIL-SERL \u76ee\u524d\u5b9e\u73b0\u7684\u6210\u529f\u7387\u662f 100%\uff0c\u5468\u671f\u65f6\u957f\u4e5f\u66f4\u77ed\u3002<\/p>\n

\u5982\u679c\u5c40\u9650\u4e8e\u5927\u6a21\u578b\uff0c\u5176\u5b9e\u65e0\u8bba\u5982\u4f55\u6536\u96c6\u6570\u636e\uff0c\u4eba\u4e0e\u673a\u5668\u4eba\u7684\u89c2\u5bdf\u4ecd\u4f1a\u5b58\u5728\u5dee\u5f02\u3002\u4eba\u7c7b\u62e5\u6709\u8bb0\u5fc6\u3001\u5927\u8111\u548c\u601d\u7ef4\uff0c\u800c\u673a\u5668\u4eba\u6a21\u4eff\u4eba\u7c7b\u884c\u4e3a\u65f6\u96be\u514d\u4f1a\u6709\u7f3a\u9677\u3002\u7406\u8bba\u4e0a\uff0c\u673a\u5668\u4eba\u7684\u884c\u4e3a\u65e0\u6cd5\u5b9e\u73b0\u5bf9\u4eba\u7c7b 100% \u7684\u5b8c\u7f8e\u590d\u5236\u3002\u90a3\u4e48\u5982\u4f55\u63a5\u8fd1\u5462\uff1f\u8fd9\u5c31\u9700\u8981\u5f3a\u5316\u5b66\u4e60\uff0c\u6bd4\u5982\u8ba9\u673a\u5668\u4eba\u50cf\u4eba\u7c7b\u5b66\u4e60\u9a91\u81ea\u884c\u8f66\u4e00\u6837\uff0c\u901a\u8fc7\u5c1d\u8bd5\u548c\u72af\u9519\u6765\u5b66\u4e60\uff0c\u770b\u7535\u89c6\u6216\u7236\u6bcd\u6559\u5bfc\u56fa\u7136\u6709\u7528\uff0c\u4f46\u8981\u771f\u6b63\u638c\u63e1\u6280\u80fd\uff0c\u5fc5\u987b\u4eb2\u81ea\u5c1d\u8bd5\u548c\u7ecf\u5386\u5931\u8d25\u3002<\/p>\n

\u6211\u9884\u6d4b\uff0c\u73b0\u5728\u8fd9\u4e9b\u5927\u89c4\u6a21\u4f7f\u7528\u6a21\u4eff\u5b66\u4e60\u7684\u521b\u4e1a\u516c\u53f8\uff0c\u5728\u4ed6\u4eec\u8bd5\u8fc7\u4e4b\u540e\uff0c\u77e5\u9053\u75db\u70b9\u5728\u54ea\u4e4b\u540e\uff0c\u660e\u5e74\u5f00\u59cb\u5c31\u4f1a\u7528\u5f3a\u5316\u5b66\u4e60\u53bb\u4f18\u5316\u6210\u529f\u7387\uff0c\u8282\u62cd\u6570\uff0c\u548c\u4e00\u5b9a\u7684\u9c81\u68d2\u6027\u3002<\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u90a3\u60a8\u662f\u5982\u4f55\u770b\u5f85\u5f3a\u5316\u5b66\u4e60\u5728\u673a\u5668\u4eba\u5b66\u4e60\u6216\u5177\u8eab\u667a\u80fd\u91cc\u53d1\u6325\u7684\u4f5c\u7528\u5462\uff1f<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u5728\u673a\u5668\u4eba\u5b66\u4e60\u4e2d\uff0c\u673a\u5668\u4eba\u4e5f\u5fc5\u987b\u4e0e\u73af\u5883\u4e92\u52a8\uff0c\u4ece\u73af\u5883\u4e2d\u5f97\u5230\u53cd\u9988\uff0c\u7136\u540e\u6839\u636e\u8fd9\u4e9b\u53cd\u9988\u8c03\u6574\u7b56\u7565\uff0c\u4ee5\u8fbe\u5230\u66f4\u9ad8\u7684\u6210\u529f\u7387\u2014\u2014\u8fd9\u662f\u4e00\u4e2a\u6839\u672c\u7684\u903b\u8f91\u95ee\u9898\u3002\u4e0e\u5927\u6a21\u578b\u4e0d\u540c\uff0c\u7269\u7406\u4e16\u754c\u7684\u673a\u5668\u4eba\u5b66\u4e60\u662f\u4e00\u4e2a\u590d\u6742\u7684\u7cfb\u7edf\uff0c\u6d89\u53ca\u591a\u7ef4\u3001\u9ad8\u7ef4\u5ea6\u7684\u6570\u636e\uff0c\u96be\u4ee5\u7b80\u5355\u5b9e\u73b0\uff0c\u4f46\u4e00\u65e6\u6210\u529f\uff0c\u5c31\u80fd\u8d85\u8d8a\u4eba\u7c7b\uff0c\u6210\u4e3a\u8d85\u7ea7\u7cfb\u7edf\u3002<\/p>\n

\u4f8b\u5982\uff0c\u4eba\u7c7b\u9700\u8981 10 \u79d2\u949f\u5b8c\u6210\u7684\u4efb\u52a1\uff0c\u673a\u5668\u4eba\u901a\u8fc7\u591a\u6b65\u63a8\u7406\uff0c\u53ef\u80fd\u53ea\u9700 5 \u79d2\u949f\u5c31\u80fd\u5b8c\u6210\u3002\u8fd9\u662f\u4e00\u4e2a\u975e\u5e38\u5f3a\u5927\u7684\u5de5\u5177\uff0c\u6211\u4eec\u4ecd\u5728\u63a2\u7d22\u5982\u4f55\u6709\u6548\u4f7f\u7528\u5b83\u3002\u4f46\u53ef\u4ee5\u80af\u5b9a\u7684\u662f\uff0c\u5b83\u5c06\u662f\u5177\u8eab\u667a\u80fd\u4e0d\u53ef\u6216\u7f3a\u7684\u4e00\u90e8\u5206\u3002\u6709\u8da3\u7684\u662f\uff0c\u5728\u548c\u673a\u5668\u4eba\u9886\u57df\u7684\u4e13\u5bb6\u4ea4\u6d41\u65f6\u53d1\u73b0\uff0c\u4ed6\u4eec\u4f1a\u66f4\u5173\u6ce8\u57fa\u7840\u6a21\u578b\u5b8c\u6210\u73b0\u5b9e\u64cd\u4f5c\u4efb\u52a1\u7684\u6210\u529f\u7387\uff0c50-60% \u4f1a\u4f7f\u4ed6\u4eec\u5931\u53bb\u5174\u8da3\uff0c\u4f46\u5f97\u77e5\u6211\u4eec\u80fd\u5b9e\u73b0 100% \u4fbf\u4f1a\u5f88\u597d\u5947\u6211\u4eec\u7684\u6210\u679c\u3002<\/p>\n

Rich Sutton \u7684 bitter lesson \u8bf4\u5386\u53f2\u544a\u8bc9\u6211\u4eec learning \u548c search \u662f\u4e24\u79cd\u53ef\u4ee5\u65e0\u9650 scale \u7684\u65b9\u6cd5\u3002\u6a21\u4eff\u5b66\u4e60\u53ef\u4ee5\u544a\u8bc9\u6211\u4eec\u600e\u4e48\u4ece\u6570\u636e\u4e2d\u627e\u5230\u7279\u5f81\uff0c\u4f46\u662f\u6ca1\u6709 search \u6216 optimization\uff08RL\uff09\uff0c\u5b83\u8d85\u8d8a\u4e0d\u4e86\u6570\u636e\u7684\u5c40\u9650\uff0c\u4ece\u800c\u4ee5\u65b0\u7684\u65b9\u5f0f\u89e3\u51b3\u65b0\u7684\u95ee\u9898\u3002<\/p>\n

<\/p>\n

\u4e2d\u56fd\u4f18\u52bf\uff1a\u9ad8\u8d28\u91cf\u3001\u4f4e\u4ef7\u683c<\/strong><\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u60a8\u600e\u4e48\u770b\u5f85\u73b0\u5728\u5177\u8eab\u667a\u80fd\u8d8a\u6765\u8d8a\u706b\u70ed\u7684\u8d8b\u52bf\u5462\uff1f\u4e2d\u56fd\u7684\u4f18\u52bf\u5728\u54ea\u91cc\uff1f<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u4ee5\u524d\u7684\u786e\u6ca1\u60f3\u5230\u5177\u8eab\u667a\u80fd\u4f1a\u706b\uff0c\u6211\u4eec\u81ea\u5df1\u8fd8\u5f00\u73a9\u7b11\u8bf4 robot learning \u662f\u4e2a\u81ea\u55e8\u7684\u5c0f\u5708\u5b50\uff0c\u8fd9\u4e48\u591a\u5e74\u6765\u6211\u7b2c\u4e00\u6b21\u89c9\u5f97\u81ea\u5df1\u5c5e\u4e8e\u4e3b\u6d41\u4e86\u3002<\/p>\n

\u6211\u975e\u5e38\u8ba4\u53ef\u56fd\u5185\u7684\u4f9b\u5e94\u94fe\u4f18\u52bf\u3002\u5176\u5b9e\u6709\u5f88\u591a\u673a\u5668\u4eba\u7684\u5361\u70b9\u662f\u5728\u786c\u4ef6\u4e0a\uff0c\u5f53\u786c\u4ef6\u505a\u597d\u4e86\uff0c\u8f6f\u4ef6\u5c31\u53ef\u4ee5\u8f7b\u677e\u5f88\u591a\uff0c\u5f97\u786c\u4ef6\u548c\u8f6f\u4ef6\u4e00\u8d77\u8fed\u4ee3\uff0c\u800c\u4e0d\u662f\u5728\u8f83\u5dee\u7684\u786c\u4ef6\u4e0a\u5f00\u53d1\u7b97\u6cd5\u3002<\/p>\n

\u5f53\u6211\u4eec\u63d0\u5230\u201c\u6027\u4ef7\u6bd4\u201d\u4e00\u8bcd\u65f6\uff0c\u603b\u4f1a\u4e0b\u610f\u8bc6\u89c9\u5f97\u8fd9\u610f\u5473\u7740\u201c\u5e73\u66ff\u201d\u7684\u8d28\u91cf\u5dee\u4e86\u4e0d\u5c11\uff0c\u4f46\u73b0\u5728\uff0c\u4e2d\u56fd\u5728\u5168\u7403\u4ea7\u4e1a\u94fe\u3001\u4f9b\u5e94\u94fe\u4e2d\u7684\u4f5c\u7528\u5e76\u975e\u4ec5\u4ec5\u662f\u964d\u4f4e\u6210\u672c\u3002\u4f8b\u5982\uff0c\u6ce2\u58eb\u987f\u52a8\u529b\u7684\u673a\u5668\u72d7\u4ea7\u54c1\u5b9a\u4ef7\u5728 5 \u4e07\u7f8e\u5143\uff0c\u4e4b\u524d\u6ca1\u6709\u4eba\u6253\u7834\uff0c\u4f46\u5b87\u6811\u6210\u529f\u4e86\uff0c\u800c\u4e14\u4e0d\u662f\u4ee5\u4f4e\u8d28\u91cf\u7684\u65b9\u5f0f\u6210\u529f\u7684\u3002<\/p>\n

\u4e2d\u56fd\u4f5c\u4e3a\u62e5\u6709\u5b8c\u6574\u4ea7\u4e1a\u94fe\u7684\u5de5\u4e1a\u56fd\u5bb6\uff0c\u6b63\u5728\u91cd\u65b0\u5b9a\u4e49\u4ea7\u54c1\u4ef7\u503c\u548c\u5b9a\u4ef7\u4f53\u7cfb\uff0c\u76ee\u6807\u4e0d\u662f\u5236\u9020\u5ec9\u4ef7\u4ea7\u54c1\uff0c\u800c\u662f\u901a\u8fc7\u5168\u4ea7\u4e1a\u94fe\u7684\u4f18\u52bf\uff0c\u91cd\u65b0\u6559\u80b2\u548c\u5b9a\u4e49\u5e02\u573a\uff0c\u786e\u7acb\u81ea\u5df1\u7684\u5b9a\u4ef7\u6743\u3002<\/p>\n

<\/p>\n

AI \u79d1\u6280\u8bc4\u8bba\uff1a\u53ef\u4ee5\u5206\u4eab\u4e00\u4e0b\u60a8\u63a5\u4e0b\u6765\u7684\u8ba1\u5212\u5417\uff1f<\/strong><\/span><\/p>\n

\u7f57\u5251\u5c9a\uff1a<\/strong><\/span>\u5176\u5b9e\u6211\u51fa\u56fd\u7684\u65f6\u5019\u5c31\u60f3\u56de\u56fd\uff0c\u4ece\u6765\u6ca1\u60f3\u8fc7\u957f\u671f\u5f85\u5728\u6d77\u5916\u3002\u5728\u5b66\u6821\u91cc\u4ece\u4e8b\u7531 0 \u5230 1 \u7684\u5f00\u521b\u6027\u79d1\u7814\uff0c\u5c31\u7b97\u9700\u8981\u957f\u65f6\u95f4\u5750\u51b7\u677f\u51f3\uff0c\u4f46\u4ece\u957f\u8fdc\u6765\u770b\uff0c\u8fd9\u4ef7\u503c\u662f\u5de8\u5927\u7684\u3002\u4eba\u751f\u82e6\u77ed\uff0c\u53ea\u6709\u51e0\u6b21\u673a\u4f1a\u80fd\u591f\u5b9e\u73b0\u91cd\u5927\u7a81\u7834\uff0c\u5982\u679c\u9519\u8fc7\u4e86\uff0c\u90a3\u81f3\u5c11\u4e5f\u52aa\u529b\u8fc7\u4e86\u3002<\/p>\n

\u6211\u8ba4\u4e3a\u7a81\u7834\u6027\u7684\u539f\u521b\u7814\u7a76\u5982\u679c\u80fd\u771f\u7684\u8f6c\u5316\u4e3a\u5b9e\u9645\u5e94\u7528\uff0c\u4f1a\u521b\u9020\u66f4\u5927\u7684\u793e\u4f1a\u4ef7\u503c\uff0c\u4f2f\u514b\u5229\u548c\u65af\u5766\u798f\u7684\u6210\u529f\u79bb\u4e0d\u5f00\u7845\u8c37\u5468\u906d\u7684\u521b\u4e1a\u751f\u6001\u3002\u673a\u5668\u4eba\u662f\u4e00\u4e2a\u4e0e\u4ea7\u4e1a\u7d27\u5bc6\u7ed3\u5408\u7684\u5b9e\u7528\u79d1\u5b66\uff0c\u80fd\u5c06\u79d1\u7814\u6210\u679c\u4ece 1 \u6269\u5c55\u5230 100\uff0c\u5b9e\u73b0\u4ea7\u4e1a\u5316\u3002\u5728\u8fd9\u65b9\u9762\u6211\u6700\u4f69\u670d\u7684\u4eba\u662f\u674e\u6cfd\u6e58\u8001\u5e08\uff0c\u4ed6\u5171\u540c\u521b\u7acb\u7684\u5927\u7586\u4e0d\u4ec5\u662f\u4e00\u5bb6\u4ef7\u503c\u6570\u767e\u4ebf\u7f8e\u5143\u7684\u516c\u53f8\uff0c\u66f4\u91cd\u8981\u7684\u662f\u572809-10\u90a3\u4e2a\u65f6\u95f4\u70b9\u8bc1\u660e\u4e86\u6e90\u81ea\u4e2d\u56fd\u7684\u786c\u79d1\u6280\u521b\u65b0\u662f\u53ef\u4ee5\u6210\u529f\u7684\uff0c\u8fd9\u5f7b\u5e95\u6539\u53d8\u4e86\u4e2d\u56fd\u79d1\u6280\u7684\u5386\u53f2\uff0c\u8fd9\u4e2a\u610f\u4e49\u8fdc\u5927\u4e8e\u5b83\u7684\u7ecf\u6d4e\u4ef7\u503c\u3002<\/p>\n

Khosla venture \u7684\u521b\u59cb\u4eba Vinod Khosla \u8bf4\u8fc7\u4e00\u53e5\u8bdd\uff0c\u521b\u65b0\u4ece\u6765\u4e0d\u53d1\u751f\u5728\u4e00\u4e2a\u7cfb\u7edf\u7684\u6838\u5fc3\u90e8\u5206\uff0c\u5b83\u6c38\u8fdc\u53d1\u751f\u5728\u7cfb\u7edf\u7684\u8fb9\u7f18\uff08\u201cInnovation never happens at the core of a system, it always happens at the edge”\uff09\u3002\u7cfb\u7edf\u7684\u6838\u5fc3\u90e8\u5206\u6709\u5b83\u7684\u65e2\u5f97\u5229\u76ca\uff0c\u6ca1\u6709\u8db3\u591f\u7684\u52a8\u529b\u53bb\u98a0\u8986\u81ea\u5df1\u7684\u5229\u76ca\u6765\u521b\u65b0\uff0c\u800c\u5728\u7cfb\u7edf\u8fb9\u7f18\uff0c\u4e00\u4e2a\u597d\u7684\u60f3\u6cd5\u88ab\u5c1d\u8bd5\uff0c\u7136\u540e\u7ecf\u5386\u5931\u8d25\u518d\u4e0d\u65ad\u7684\u5c1d\u8bd5\uff0c\u4e0d\u786e\u5b9a\u6027\u4f1a\u53d8\u4f4e\uff0c\u6210\u529f\u7684\u6982\u7387\u5c31\u4f1a\u53d8\u5927\uff0c\u5982\u679c\u5b83\u8db3\u591f\u91cd\u8981\uff0c\u5c31\u4f1a\u4ea7\u751f\u98a0\u8986\u6027\u7684\u521b\u65b0\u3002<\/p>\n

\u5c31\u597d\u50cf\u6ca1\u6709\u4e00\u6b21\u7684\u79d1\u6280\u9769\u547d\u662f\u88ab\u4e00\u4e2a\u51e0\u4e07\u4ebf\u5e02\u503c\u7684\u5927\u516c\u53f8\u5f15\u9886\u7684\uff0c\u4e5f\u5f88\u5c11\u6709\u91cd\u5927\u7684\u79d1\u5b66\u53d1\u73b0\u662f\u79d1\u5b66\u5bb6\u5feb\u9000\u4f11\u65f6\u505a\u51fa\u6765\u7684\u3002\u6c6a\u6ed4\u521b\u4e1a\u65f6\u6324\u5728\u6df1\u5733\u5341\u51e0\u5e73\u7c73\u7684\u5c0f\u5e73\u623f\u91cc\uff0c\u7528\u4eca\u5929\u7684\u8bdd\u6765\u8bf4\u5c31\u662f\u6ca1\u6709\u8d44\u6e90\uff0c\u6240\u4ee5\u5927\u7586\u7684\u6210\u529f\u4f1a\u6fc0\u52b1\u4e2d\u56fd\u7684\u5e74\u8f7b\u4eba\u53bb\u521b\u9020\u4e0b 100 \u4e2a\u30011000 \u4e2a\u5927\u7586\u3002<\/p>\n

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<\/p>\n

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\u76f8\u5173\u6587\u7ae0\uff1a<\/p>\n

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