{"id":38950,"date":"2025-02-26T11:01:39","date_gmt":"2025-02-26T03:01:39","guid":{"rendered":"https:\/\/17aitech.com\/?p=38950"},"modified":"2025-02-26T11:01:39","modified_gmt":"2025-02-26T03:01:39","slug":"%e6%b8%85%e5%8d%8e%e5%a4%a7%e5%ad%a6%e8%8e%b7x-embodiment%e6%9c%80%e4%bd%b3%e8%ae%ba%e6%96%87%e5%a5%96%ef%bc%8c%e6%9c%ba%e5%99%a8%e4%ba%ba%e9%a1%b6%e4%bc%9acorl-2024%e8%8e%b7%e5%a5%96%e5%90%8d","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=38950","title":{"rendered":"\u6e05\u534e\u5927\u5b66\u83b7X-Embodiment\u6700\u4f73\u8bba\u6587\u5956\uff0c\u673a\u5668\u4eba\u9876\u4f1aCoRL 2024\u83b7\u5956\u540d\u5355\u51fa\u7089"},"content":{"rendered":"<p>\u6765\u81ea\u6e05\u534e\u5927\u5b66\u7684\u9ad8\u9633\u56e2\u961f\u5728\u6700\u65b0\u4e00\u5c4a\u673a\u5668\u4eba\u9876\u7ea7\u4f1a\u8bae CoRL 2024\uff08Conference on Robot Learning\uff09\u4e2d\u8363\u83b7 X-Embodiment Workshop \u6700\u4f73\u8bba\u6587\u5956\u3002<\/p>\n<p>CoRL \u662f\u5168\u7403\u673a\u5668\u4eba\u5b66\u4e60\u9886\u57df\u7684\u9876\u7ea7\u5b66\u672f\u4f1a\u8bae\uff0c\u6bcf\u5e74\u6c47\u805a\u6765\u81ea\u5168\u7403\u9876\u5c16\u5b66\u5e9c\u7684\u521b\u65b0\u7814\u7a76\uff0c\u8bc4\u9009\u51fa\u7684\u6700\u4f73\u8bba\u6587\u901a\u5e38\u4ee3\u8868\u7740\u524d\u6cbf\u6280\u672f\u4e0e\u91cd\u5927\u7a81\u7834\u3002<\/p>\n<p>\u6e05\u534e\u56e2\u961f\u6b64\u6b21\u83b7\u5956\u7684\u8bba\u6587\u6807\u9898\u4e3a\u300aData Scaling Laws in Imitation Learning for Robotic Manipulation\u300b\uff0c\u5173\u6ce8\u7684\u662f\u6570\u636e\u89c4\u6a21\u5b9a\u5f8b\u5728\u673a\u5668\u4eba\u64cd\u4f5c\u4e2d\u7684\u6a21\u4eff\u5b66\u4e60\u4e2d\u7684\u5e94\u7528\uff0c\u5c24\u5176\u662f\u80fd\u5426\u901a\u8fc7\u9002\u5f53\u7684\u6570\u636e\u89c4\u6a21\u6765\u5b9e\u73b0\u96f6\u6837\u672c\u6cdb\u5316\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c7b0af29391ce35c6d3e2d89f87a42ae.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c7b0af29391ce35c6d3e2d89f87a42ae.png\"><\/a><\/p>\n<p>\u7814\u7a76\u56e2\u961f\u6536\u96c6\u4e86\u8d85\u8fc7 40,000 \u6b21\u6f14\u793a\uff0c\u5e76\u8fdb\u884c\u4e86 15,000 \u591a\u6b21\u673a\u5668\u4eba\u5b9e\u6d4b\u3002\u7ed3\u679c\u8868\u660e\uff0c\u7b56\u7565\u7684\u6cdb\u5316\u80fd\u529b\u4e3b\u8981\u4f9d\u8d56\u4e8e\u73af\u5883\u548c\u5bf9\u8c61\u7684\u591a\u6837\u6027\uff0c\u800c\u975e\u5355\u7eaf\u7684\u6f14\u793a\u6570\u91cf\u3002<\/p>\n<p>\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u4ed6\u4eec\u8bbe\u8ba1\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u6570\u636e\u6536\u96c6\u65b9\u6848\uff0c\u4ec5\u9700\u56db\u4e2a\u91c7\u96c6\u8005\u82b1\u4e00\u4e0b\u5348\u4fbf\u80fd\u83b7\u53d6\u8db3\u591f\u6570\u636e\uff0c\u4f7f\u4e24\u4e2a\u4efb\u52a1\u5728\u65b0\u73af\u5883\u548c\u65b0\u5bf9\u8c61\u4e0a\u7684\u6210\u529f\u7387\u8fbe\u5230\u7ea6 90%\u3002<\/p>\n<p>\u968f\u540e\uff0c\u56e2\u961f\u5c06\u673a\u5668\u4eba\u90e8\u7f72\u5728\u5404\u79cd\u91ce\u5916\u73af\u5883\u4e2d\uff0c\u5305\u62ec\u706b\u9505\u5e97\u3001\u5496\u5561\u9986\u3001\u7535\u68af\u3001\u55b7\u6cc9\u548c\u5176\u4ed6\u4ee5\u524d\u672a\u6536\u96c6\u6570\u636e\u7684\u5730\u65b9\u3002\u7ed3\u679c\u663e\u793a\uff0c\u6a21\u578b\u5728\u8fd9\u4e9b\u5168\u65b0\u7684\u73af\u5883\u4e2d\u5c55\u73b0\u51fa\u6781\u597d\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u8d85\u51fa\u9884\u671f\u3002<\/p>\n<p>\u8fd9\u7bc7\u8bba\u6587\u7684\u4f5c\u8005\u662f\u6765\u81ea\u6e05\u534e\u5927\u5b66\u4ea4\u53c9\u4fe1\u606f\u7814\u7a76\u9662\u7684\u9ad8\u9633\u548c\u4ed6\u7684\u5b66\u751f\u6797\u51e1\u6dc7\u3001\u80e1\u82f1\u4e1c\u3001\u76db\u5e73\u5cb3\u3001Chuan Wen\u3001\u6e38\u5609\u8bda\uff0c\u5176\u4e2d\u6797\u51e1\u6dc7\u3001\u80e1\u82f1\u4e1c\u3001Chuan Wen \u540c\u5c5e\u4e8e\u4e0a\u6d77\u671f\u667a\u5b66\u9662\u548c\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u3002<\/p>\n<p><\/p>\n<p><strong>\u8bba\u6587\u94fe\u63a5\uff1a<\/strong><a href=\"https:\/\/data-scaling-laws.github.io\/paper.pdf\" target=\"_blank\" rel=\"nofollow\"><strong>https:\/\/data-scaling-laws.github.io\/paper.pdf<\/strong><\/a><\/p>\n<p><strong>\u9879\u76ee\u7f51\u5740\uff1a<\/strong><a href=\"https:\/\/data-scaling-laws.github.io\/\" target=\"_blank\" rel=\"nofollow\"><strong>https:\/\/data-scaling-laws.github.io\/<\/strong><\/a><\/p>\n<p><strong>\u4ee3\u7801\uff1a<\/strong><a href=\"https:\/\/github.com\/Fanqi-Lin\/Data-Scaling-Laws\" target=\"_blank\" rel=\"nofollow\"><strong>https:\/\/github.com\/Fanqi-Lin\/Data-Scaling-Laws<\/strong><\/a><\/p>\n<p><strong>\u6570\u636e\uff1a<\/strong><a href=\"https:\/\/huggingface.co\/datasets\/Fanqi-Lin\/Processed-Task-Dataset\/tree\/main\" target=\"_blank\" rel=\"nofollow\"><strong>https:\/\/huggingface.co\/datasets\/Fanqi-Lin\/Processed-Task-Dataset\/tree\/main<\/strong><\/a> <\/p>\n<p><\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_85 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 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Wen<\/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=38950\/#%E6%B8%B8%E5%98%89%E8%AF%9A\" >\u6e38\u5609\u8bda<\/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=38950\/#%E9%AB%98%E9%98%B3\" >\u9ad8\u9633<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/17aitech.com\/?p=38950\/#%E6%9C%80%E4%BD%B3%E8%AE%BA%E6%96%87%E5%A5%96\" >\u6700\u4f73\u8bba\u6587\u5956<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/17aitech.com\/?p=38950\/#PoliFormer_Scaling_On-Policy_RL_with_Transformers_Results_in_Masterful_Navigators\" >PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators<\/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=38950\/#One_Model_to_Drift_Them_All_Physics-Informed_Conditional_Diffusion_Model_for_Driving_at_the_Limits\" >One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n<h3><span class=\"ez-toc-section\" id=\"%E5%AE%9E%E9%AA%8C%E8%AE%BE%E8%AE%A1\"><\/span>\u5b9e\u9a8c\u8bbe\u8ba1<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u7814\u7a76\u56e2\u961f\u9009\u62e9\u4f7f\u7528\u624b\u6301\u5939\u6301\u5668\uff08UMI\uff09\u5728\u4e0d\u540c\u73af\u5883\u4e2d\u6536\u96c6\u4eba\u7c7b\u6f14\u793a\u6570\u636e\uff0c\u5e76\u4f7f\u7528\u6269\u6563\u7b56\u7565\uff08Diffusion Policy\uff09\u5bf9\u6570\u636e\u8fdb\u884c\u5efa\u6a21\uff0c\u4e3b\u8981\u7814\u7a76\u4e86\u7b56\u7565\u7684\u6cdb\u5316\u6027\u80fd\u5982\u4f55\u968f\u7740\u8bad\u7ec3\u73af\u5883\u6570\u91cf\u3001\u7269\u4f53\u6570\u91cf\u548c\u6f14\u793a\u6570\u91cf\u7684\u53d8\u5316\u800c\u53d8\u5316\u3002<\/p>\n<p>\u5b9e\u9a8c\u9009\u62e9\u4e86 Pour Water\uff08\u5012\u6c34\uff09\u548c Mouse Arrangement\uff08\u9f20\u6807\u79fb\u52a8\uff09\u4f5c\u4e3a\u6848\u4f8b\u7814\u7a76\u4efb\u52a1\uff0c\u5e76\u5728\u6b64\u57fa\u7840\u4e0a\u6269\u5c55\u5230 Fold Towels\uff08\u53e0\u6bdb\u5dfe\uff09\u548c Unplug Charger\uff08\u62d4\u6389\u5145\u7535\u5668\uff09\u4efb\u52a1\uff0c\u6536\u96c6\u4e86\u8d85\u8fc7 40,000 \u6b21\u6f14\u793a\uff0c\u5e76\u5728\u8d85\u8fc7 15,000 \u6b21\u5b9e\u9645\u673a\u5668\u4eba\u64cd\u4f5c\u4e2d\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c8f48b00b69919d52a99d3d1cc56e606.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c8f48b00b69919d52a99d3d1cc56e606.png\"><\/a><\/p>\n<p>\u5177\u4f53\u7684\u5b9e\u9a8c\u4efb\u52a1\u5206\u4e3a\u5bf9\u8c61\u6cdb\u5316\u3001\u73af\u5883\u6cdb\u5316\u4ee5\u53ca\u8de8\u73af\u5883\u548c\u5bf9\u8c61\u6cdb\u5316\u4e09\u79cd\u7c7b\u578b\uff0c\u5206\u522b\u9488\u5bf9\u540c\u4e00\u73af\u5883\u4e0b\u7684\u4e0d\u540c\u7269\u4f53\u3001\u4e0d\u540c\u73af\u5883\u4e0b\u7684\u540c\u4e00\u7269\u4f53\u548c\u4e0d\u540c\u73af\u5883\u4e0b\u7684\u4e0d\u540c\u7269\u4f53\u6536\u96c6\u6f14\u793a\uff0c\u968f\u673a\u9009\u62e9\u90e8\u5206\u6f14\u793a\u8fdb\u884c\u8bad\u7ec3\uff0c\u5e76\u8bc4\u4f30\u7b56\u7565\u5728\u672a\u77e5\u60c5\u51b5\u4e0b\u7684\u7684\u8868\u73b0\u3002\u6bcf\u4e2a\u5b9e\u9a8c\u8bbe\u7f6e\u4e0b\uff0c\u7b56\u7565\u5728 8 \u4e2a\u672a\u89c1\u8fc7\u7684\u73af\u5883\u4e2d\u8fdb\u884c\u8bc4\u4f30\uff0c\u6bcf\u4e2a\u73af\u5883\u6709 5 \u6b21\u8bd5\u9a8c\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-29a093bc43bf56954815a582e7bc177e.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-29a093bc43bf56954815a582e7bc177e.png\"><\/a><\/p>\n<h3><\/h3>\n<h3><span class=\"ez-toc-section\" id=\"%E7%A0%94%E7%A9%B6%E7%BB%93%E6%9E%9C\"><\/span>\u7814\u7a76\u7ed3\u679c<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u7b56\u7565\u7684\u6cdb\u5316\u80fd\u529b\u4e0e\u8bad\u7ec3\u7269\u4f53\u6570\u91cf\u3001\u73af\u5883\u6570\u91cf\u548c\u8bad\u7ec3\u73af\u5883-\u7269\u4f53\u5bf9\u6570\u5173\u7cfb\u5bc6\u5207\uff0c\u7b26\u5408\u5e42\u5f8b\u5206\u5e03\u3002<\/p>\n<p><strong>\u5bf9\u8c61\u6cdb\u5316<\/strong><\/p>\n<p>\u968f\u7740\u8bad\u7ec3\u7269\u4f53\u6570\u91cf\u7684\u589e\u52a0\uff0c\u7b56\u7565\u5728\u672a\u89c1\u8fc7\u7684\u7269\u4f53\u4e0a\u7684\u8868\u73b0\u663e\u8457\u63d0\u9ad8\u3002\u5f53\u8bad\u7ec3\u7269\u4f53\u6570\u91cf\u8fbe\u5230 32 \u65f6\uff0c\u7b56\u7565\u5728\u672a\u89c1\u8fc7\u7684\u7269\u4f53\u4e0a\u7684\u8868\u73b0\u8d85\u8fc7\u4e86 0.9\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-a03e70cbaba4f9021bbfb8564fabe0e7.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-a03e70cbaba4f9021bbfb8564fabe0e7.png\"><\/a><\/p>\n<p><strong>\u73af\u5883\u6cdb\u5316<\/strong><\/p>\n<p>\u589e\u52a0\u8bad\u7ec3\u73af\u5883\u6570\u91cf\u663e\u8457\u63d0\u9ad8\u4e86\u7b56\u7565\u5728\u672a\u89c1\u8fc7\u7684\u73af\u5883\u4e0a\u7684\u8868\u73b0\u3002\u5373\u4f7f\u6f14\u793a\u6570\u91cf\u4fdd\u6301\u4e0d\u53d8\uff0c\u73af\u5883\u6269\u5c55\u4ecd\u7136\u6709\u6548\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-cdc6d581669bb52848e660d8f79acb41.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-cdc6d581669bb52848e660d8f79acb41.png\"><\/a><\/p>\n<p><strong>\u8de8\u73af\u5883\u548c\u5bf9\u8c61\u6cdb\u5316<\/strong><\/p>\n<p>\u540c\u65f6\u589e\u52a0\u73af\u5883\u548c\u7269\u4f53\u6570\u91cf\u663e\u8457\u63d0\u9ad8\u4e86\u7b56\u7565\u7684\u6cdb\u5316\u80fd\u529b\u3002\u4e0e\u5355\u72ec\u6269\u5c55\u73af\u5883\u6216\u7269\u4f53\u76f8\u6bd4\uff0c\u540c\u65f6\u6269\u5c55\u4e24\u8005\u7684\u6548\u679c\u66f4\u597d\uff0c\u4e14\u989d\u5916\u7684\u6f14\u793a\u5bf9\u6027\u80fd\u7684\u63d0\u5347\u66f4\u5feb\u9971\u548c\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-814c3c06da1442a8c7c18965f97cd5d0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-814c3c06da1442a8c7c18965f97cd5d0.png\"><\/a><\/p>\n<h3><\/h3>\n<h3><span class=\"ez-toc-section\" id=\"%E4%BD%9C%E8%80%85%E4%BB%8B%E7%BB%8D\"><\/span>\u4f5c\u8005\u4ecb\u7ecd<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<h4><span class=\"ez-toc-section\" id=\"%E6%9E%97%E5%87%A1%E6%B7%87\"><\/span>\u6797\u51e1\u6dc7<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-ce3afc28e007f922d06a444f932272b0.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-ce3afc28e007f922d06a444f932272b0.png\"><\/a><\/p>\n<p>\u6797\u51e1\u6dc7\uff0c\u6e05\u534e\u5927\u5b66\u4ea4\u53c9\u4fe1\u606f\u7814\u7a76\u9662 \uff08IIIS\uff09 \u7684\u4e00\u5e74\u7ea7\u535a\u58eb\u751f\uff0c\u6307\u5bfc\u8001\u5e08\u662f\u9ad8\u9633\u6559\u6388\u3002\u6b64\u524d\u5728\u6e05\u534e\u5927\u5b66\u8ba1\u7b97\u673a\u79d1\u5b66\u4e0e\u6280\u672f\u7cfb\u83b7\u5f97\u5b66\u58eb\u5b66\u4f4d\u3002<\/p>\n<p>\u4ed6\u7684\u7814\u7a76\u91cd\u70b9\u662f Embodied AI\uff08\u5177\u8eab\u667a\u80fd\uff09\uff0c\u8fd9\u662f\u4e00\u4e2a\u96c6\u6210\u673a\u5668\u4eba\u3001\u8ba1\u7b97\u673a\u89c6\u89c9\u548c\u81ea\u7136\u8bed\u8a00\u5904\u7406\u7684\u8de8\u5b66\u79d1\u9886\u57df\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4ed6\u7684\u76ee\u6807\u662f\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u901a\u8fc7\u5927\u89c4\u6a21\u6570\u636e\u5b9e\u73b0\u4eba\u7c7b\u6c34\u5e73\u7684\u64cd\u4f5c\u80fd\u529b\u3002\u540c\u65f6\uff0c\u4ed6\u8fd8\u70ed\u8877\u4e8e\u5229\u7528\u57fa\u7840\u6a21\u578b\u6765\u589e\u5f3a\u673a\u5668\u4eba\u7684\u80fd\u529b\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E8%83%A1%E8%8B%B1%E4%B8%9C\"><\/span>\u80e1\u82f1\u4e1c<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-6772ba8c43633c9afe8a8b5b8041b165.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-6772ba8c43633c9afe8a8b5b8041b165.png\"><\/a><\/p>\n<p>\u80e1\u82f1\u4e1c\uff0c\u6e05\u534e\u5927\u5b66\u4ea4\u53c9\u4fe1\u606f\u7814\u7a76\u9662 \uff08IIIS\uff09 \u7684\u56db\u5e74\u7ea7\u535a\u58eb\u751f\uff0c\u6307\u5bfc\u8001\u5e08\u662f\u9ad8\u9633\u6559\u6388\u3002\u6b64\u524d\u5728\u5317\u4eac\u90ae\u7535\u5927\u5b66 \uff08BUPT\uff09 \u83b7\u5f97\u5b66\u58eb\u5b66\u4f4d\u3002<\/p>\n<p>\u4ed6\u7684\u7814\u7a76\u91cd\u70b9\u4e5f\u662f\u5177\u8eab\u667a\u80fd\uff0c\u4ed6\u7814\u7a76\u4e86\u5f00\u53d1\u901a\u7528\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u57fa\u672c\u6311\u6218\uff0c\u8fd9\u4e9b\u7cfb\u7edf\u53ef\u4ee5\u5728\u5404\u79cd\u975e\u7ed3\u6784\u5316\u7684\u73b0\u5b9e\u4e16\u754c\u73af\u5883\u4e2d\u6709\u6548\u5730\u9002\u5e94\u548c\u63a8\u5e7f\u5176\u5b66\u4e60\u884c\u4e3a\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E7%9B%9B%E5%B9%B3%E5%B2%B3\"><\/span>\u76db\u5e73\u5cb3<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c9558436179111cbc1673506120b502c.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-c9558436179111cbc1673506120b502c.png\"><\/a><\/p>\n<p>\u76db\u5e73\u5cb3\uff0c\u6e05\u534e\u5927\u5b66\u4ea4\u53c9\u4fe1\u606f\u79d1\u5b66\u7814\u7a76\u9662 \uff08IIIS\uff09 \u59da\u73ed\u7684\u4e00\u540d\u672c\u79d1\u751f\u3002\u4ed6\u7684\u7814\u7a76\u5174\u8da3\u96c6\u4e2d\u5728\u673a\u5668\u4eba\u6280\u672f\u3001\u6a21\u4eff\u5b66\u4e60\u548c\u7b97\u6cd5\u4e0a\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"Chuan_Wen\"><\/span>Chuan Wen<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7ec8d76debb6894ab90bbe027b342517.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7ec8d76debb6894ab90bbe027b342517.png\"><\/a><\/p>\n<p>Chuan Wen\uff0c\u6e05\u534e\u5927\u5b66\u4ea4\u53c9\u4fe1\u606f\u79d1\u5b66\u7814\u7a76\u9662 \uff08IIIS\uff09 \u7684\u535a\u58eb\u751f\uff0c\u6307\u5bfc\u8001\u5e08\u662f\u9ad8\u9633\u6559\u6388\uff0c\u540c\u65f6\u4e0e\u5bbe\u5915\u6cd5\u5c3c\u4e9a\u5927\u5b66 GRASP \u5b9e\u9a8c\u5ba4\u7684 Dinesh Jayaraman \u6559\u6388\u5bc6\u5207\u5408\u4f5c\u3002\u6b64\u524d\u5728\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u7535\u5b50\u5de5\u7a0b\u7cfb\u83b7\u5f97\u5b66\u58eb\u5b66\u4f4d\uff0c\u5e08\u4ece\u5f20\u4e9a\u6559\u6388\u548c\u738b\u65b0\u5175\u6559\u6388\u3002\u4ed6\u76ee\u524d\u8fd8\u662f\u4f2f\u514b\u5229\u4eba\u5de5\u667a\u80fd\u7814\u7a76 \uff08BAIR\uff09 \u7684\u8bbf\u95ee\u5b66\u8005\uff0c\u7531 Pieter Abbeel \u6559\u6388\u548c\u6797\u661f\u5b87\u535a\u58eb\u6307\u5bfc\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E6%B8%B8%E5%98%89%E8%AF%9A\"><\/span>\u6e38\u5609\u8bda<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p>\u6e38\u5609\u8bda\uff0c\u6e05\u534e\u5927\u5b66\u4ea4\u53c9\u4fe1\u606f\u7814\u7a76\u9662 \uff08IIIS\uff09 \u7684\u4e00\u5e74\u7ea7\u535a\u58eb\u751f\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E9%AB%98%E9%98%B3\"><\/span>\u9ad8\u9633<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-ecd4b03252ec43e1e764744cdadb0798.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-ecd4b03252ec43e1e764744cdadb0798.png\"><\/a><\/p>\n<p>\u9ad8\u9633\uff0c\u4e0a\u6d77\u671f\u667a\u7814\u7a76\u9662 PI\uff0c\u6e05\u534e\u5927\u5b66\u4ea4\u53c9\u4fe1\u606f\u7814\u7a76\u9662\u52a9\u7406\u6559\u6388\u3002\u4e8e\u7f8e\u56fd\u52a0\u5dde\u5927\u5b66\u4f2f\u514b\u5229\u5206\u6821\u83b7\u5f97\u535a\u58eb\u5b66\u4f4d\uff0c\u5e08\u4ece Trevor Darrell \u6559\u6388\u3002\u5728\u83b7\u5f97\u535a\u58eb\u5b66\u4f4d\u540e\uff0c\u4e8e\u52a0\u5dde\u4f2f\u514b\u5229\u5927\u5b66\u4e0e Pieter Abbeel \u7b49\u4eba\u5408\u4f5c\u5b8c\u6210\u4e86\u535a\u58eb\u540e\u7814\u7a76\u3002\u7814\u7a76\u65b9\u5411\u4e3a\u5f3a\u5316\u5b66\u4e60\u4e0e\u673a\u5668\u4eba\u3002<\/p>\n<p>\u9ad8\u9633\u535a\u58eb\u76ee\u524d\u4e3b\u6301\u5177\u8eab\u89c6\u89c9\u4e0e\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4 (Embodied Vision and Robotics\uff0c\u7b80\u79f0EVAR Lab)\uff0c\u4e13\u6ce8\u4e8e\u5229\u7528\u4eba\u5de5\u667a\u80fd\u6280\u672f\u8d4b\u80fd\u673a\u5668\u4eba\uff0c\u81f4\u529b\u4e8e\u6253\u9020\u901a\u7528\u7684\u5177\u8eab\u667a\u80fd\u6846\u67b6\u3002<\/p>\n<p><\/p>\n<h3><span class=\"ez-toc-section\" id=\"%E6%9C%80%E4%BD%B3%E8%AE%BA%E6%96%87%E5%A5%96\"><\/span>\u6700\u4f73\u8bba\u6587\u5956<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p>\u672c\u6b21 CoRL 2024 \u4e5f\u5df2\u7ecf\u5ba3\u5e03\u4e86\u6700\u4f73\u8bba\u6587\u7684\u83b7\u5956\u540d\u5355\uff0c\u5206\u522b\u4e3a\u6765\u81ea Kuo-Hao Zeng \u7b49\u4eba\u7684\u300aPoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators\u300b\uff0c\u548c\u6765\u81ea Franck Djeumou \u7b49\u4eba\u7684\u300aOne Model to Drift Them All\u300b\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"PoliFormer_Scaling_On-Policy_RL_with_Transformers_Results_in_Masterful_Navigators\"><\/span>PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p><strong>\u8bba\u6587\u4f5c\u8005\uff1a<\/strong>Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, Luca Weihs<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7bb1c9c618da1b735571d3c24b18972f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-7bb1c9c618da1b735571d3c24b18972f.png\"><\/a><\/p>\n<p><strong>\u8bba\u6587\u6458\u8981\uff1a<\/strong>\u7814\u7a76\u56e2\u961f\u63d0\u51fa\u4e86 POLIFORMER\uff08Policy Transformer\uff09\uff0c\u8fd9\u662f\u4e00\u4e2a\u4ec5\u4f7f\u7528 RGB \u7684\u5ba4\u5185\u5bfc\u822a\u4ee3\u7406\uff0c\u901a\u8fc7\u7aef\u5230\u7aef\u7684\u5f3a\u5316\u5b66\u4e60\u5728\u89c4\u6a21\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0c\u5e76\u4e14\u80fd\u591f\u5728\u6ca1\u6709\u9002\u5e94\u7684\u60c5\u51b5\u4e0b\u6cdb\u5316\u5230\u73b0\u5b9e\u4e16\u754c\u3002<\/p>\n<p>POLIFORMER \u4f7f\u7528\u4e86\u4e00\u4e2a\u57fa\u7840\u7684\u89c6\u9891\u53d8\u538b\u5668\u7f16\u7801\u5668\u548c\u56e0\u679c\u53d8\u538b\u5668\u89e3\u7801\u5668\uff0c\u5b9e\u73b0\u4e86\u957f\u671f\u8bb0\u5fc6\u548c\u63a8\u7406\u80fd\u529b\u3002\u5b83\u7ecf\u8fc7\u6570\u4ebf\u6b21\u4ea4\u4e92\uff0c\u5728\u5404\u79cd\u73af\u5883\u4e2d\u8fdb\u884c\u4e86\u8bad\u7ec3\uff0c\u5229\u7528\u5e76\u884c\u5316\u548c\u591a\u673a\u90e8\u7f72\u4ee5\u5b9e\u73b0\u9ad8\u6548\u8bad\u7ec3\u548c\u9ad8\u541e\u5410\u91cf\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-4cbd9cf434e09410adeac2e2bdaccbec.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-4cbd9cf434e09410adeac2e2bdaccbec.png\"><\/a><\/p>\n<p>POLIFORMER \u662f\u4e00\u4e2a\u7cbe\u901a\u7684\u5bfc\u822a\u5668\uff0c\u5728\u4e24\u4e2a\u4e0d\u540c\u7684\u5b9e\u65bd\u4f8b\u4e2d\u2014\u2014LoCoBot \u548c Stretch RE-1\u673a \u5668\u4eba\uff0c\u4ee5\u53ca\u56db\u4e2a\u5bfc\u822a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u90fd\u4ea7\u751f\u4e86\u6700\u5148\u8fdb\u7684\u7ed3\u679c\u3002\u5b83\u7a81\u7834\u4e86\u4ee5\u5f80\u5de5\u4f5c\u7684\u5c40\u9650\uff0c\u5b9e\u73b0\u4e86 CHORES-S \u57fa\u51c6\u6d4b\u8bd5\u4e2d\u524d\u6240\u672a\u6709\u7684 85.5% \u7684\u6210\u529f\u7387\uff0c\u7edd\u5bf9\u6210\u529f\u7387\u63d0\u9ad8\u4e86 28.5%\u3002<\/p>\n<p>POLIFORMER \u8fd8\u53ef\u4ee5\u8f7b\u677e\u6269\u5c55\u5230\u591a\u79cd\u4e0b\u6e38\u5e94\u7528\uff0c\u5982\u7269\u4f53\u8ddf\u8e2a\u3001\u591a\u5bf9\u8c61\u5bfc\u822a\u548c\u5f00\u653e\u8bcd\u6c47\u5bfc\u822a\uff0c\u65e0\u9700\u5fae\u8c03\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"One_Model_to_Drift_Them_All_Physics-Informed_Conditional_Diffusion_Model_for_Driving_at_the_Limits\"><\/span>One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p><strong>\u8bba\u6587\u4f5c\u8005\uff1a<\/strong>Franck Djeumou, Thomas Jonathan Lew, NAN DING, Michael Thompson, Makoto Suminaka, Marcus Greiff, John Subosits<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-1b1b1b734f07e6256238cf495cde61e6.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2024\/11\/frc-1b1b1b734f07e6256238cf495cde61e6.png\"><\/a><\/p>\n<p><strong>\u8bba\u6587\u6458\u8981\uff1a<\/strong>\u5982\u679c\u4f7f\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u80fd\u591f\u5728\u8f6e\u80ce\u529b\u9971\u548c\u7684\u6781\u9650\u6761\u4ef6\u4e0b\u53ef\u9760\u8fd0\u884c\uff0c\u5c06\u63d0\u9ad8\u5b83\u4eec\u7684\u5b89\u5168\u6027\uff0c\u7279\u522b\u662f\u5728\u7d27\u6025\u907f\u969c\u6216\u6076\u52a3\u5929\u6c14\u7b49\u573a\u666f\u4e2d\u3002\u7136\u800c\uff0c\u89e3\u9501\u8fd9\u4e00\u80fd\u529b\u7531\u4e8e\u4efb\u52a1\u7684\u52a8\u6001\u672c\u8d28\u548c\u5bf9\u9053\u8def\u3001\u8f66\u8f86\u53ca\u5176\u52a8\u6001\u76f8\u4e92\u4f5c\u7528\u7684\u4e0d\u786e\u5b9a\u5c5e\u6027\u7684\u9ad8\u654f\u611f\u6027\u800c\u5177\u6709\u6311\u6218\u6027\u3002<\/p>\n<p>\u53d7\u5230\u8fd9\u4e9b\u6311\u6218\u7684\u542f\u53d1\uff0c\u7814\u7a76\u56e2\u961f\u63d0\u51fa\u4e86\u4e00\u4e2a\u6846\u67b6\uff0c\u5229\u7528\u5305\u542b\u4e0d\u540c\u73af\u5883\u4e2d\u4e0d\u540c\u8f66\u8f86\u8f68\u8ff9\u7684\u65e0\u6807\u7b7e\u6570\u636e\u96c6\uff0c\u5b66\u4e60\u7528\u4e8e\u9ad8\u6027\u80fd\u8f66\u8f86\u63a7\u5236\u7684\u6761\u4ef6\u6269\u6563\u6a21\u578b\u3002<\/p>\n<p>\u7814\u7a76\u56e2\u961f\u8bbe\u8ba1\u7684\u6269\u6563\u6a21\u578b\u80fd\u901a\u8fc7\u7269\u7406\u4fe1\u606f\u9a71\u52a8\u7684\u52a8\u529b\u5b66\u6a21\u578b\u7684\u591a\u6a21\u6001\u53c2\u6570\u5206\u5e03\u6765\u6355\u6349\u590d\u6742\u6570\u636e\u96c6\u7684\u8f68\u8ff9\u5206\u5e03\u3002\u901a\u8fc7\u5728\u751f\u6210\u8fc7\u7a0b\u4e2d\u8fdb\u884c\u5728\u7ebf\u6d4b\u91cf\uff0c\u5c06\u6269\u6563\u6a21\u578b\u96c6\u6210\u5230\u5b9e\u65f6\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u6846\u67b6\u4e2d\uff0c\u7528\u4e8e\u5728\u6781\u9650\u6761\u4ef6\u4e0b\u9a7e\u9a76\uff0c\u5e76\u5c55\u793a\u4e86\u5b83\u80fd\u591f\u5373\u65f6\u9002\u5e94\u7ed9\u5b9a\u7684\u8f66\u8f86\u548c\u73af\u5883\u3002<\/p>\n<p 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2024\u83b7\u5956\u540d\u5355\u51fa\u7089<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6765\u81ea\u6e05\u534e\u5927\u5b66\u7684\u9ad8\u9633\u56e2\u961f\u5728\u6700\u65b0\u4e00\u5c4a\u673a\u5668\u4eba\u9876 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