{"id":39338,"date":"2025-03-11T06:02:20","date_gmt":"2025-03-10T22:02:20","guid":{"rendered":"https:\/\/17aitech.com\/?p=39338"},"modified":"2025-03-11T06:02:20","modified_gmt":"2025-03-10T22:02:20","slug":"%e7%a8%9a%e6%99%96%e5%90%9b%e7%9a%84%e3%80%8c%e5%a5%bd%e4%b8%9c%e8%a5%bf%e3%80%8d%e6%8f%ad%e6%99%93%ef%bc%81%e9%a6%96%e4%b8%aa%e9%80%9a%e7%94%a8%e5%85%b7%e8%ba%ab%e5%9f%ba%e5%ba%a7%e6%a8%a1%e5%9e%8b","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=39338","title":{"rendered":"\u7a1a\u6656\u541b\u7684\u300c\u597d\u4e1c\u897f\u300d\u63ed\u6653\uff01\u9996\u4e2a\u901a\u7528\u5177\u8eab\u57fa\u5ea7\u6a21\u578b\uff0c\u673a\u5668\u4eba\u544a\u522b\u300c\u770b\u5f97\u61c2\u505a\u4e0d\u6765\u300d"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-03-10-2\" target=\"_blank\">\u7a1a\u6656\u541b\u7684\u300c\u597d\u4e1c\u897f\u300d\u63ed\u6653\uff01\u9996\u4e2a\u901a\u7528\u5177\u8eab\u57fa\u5ea7\u6a21\u578b\uff0c\u673a\u5668\u4eba\u544a\u522b\u300c\u770b\u5f97\u61c2\u505a\u4e0d\u6765\u300d<\/a><\/p>\n<p>\u4e0a\u5468\u4e94\uff0c\u7a1a\u6656\u541b\u5728\u5fae\u535a\u4e0a\u9884\u544a\uff0c\u300c\u4e0b\u5468\u6709\u597d\u4e1c\u897f\u53d1\u5e03\u300d\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-769b40b1b0abc48bb0d2b436bc07bde1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-769b40b1b0abc48bb0d2b436bc07bde1.png\"><\/a><\/p>\n<p>\u8fd8\u6ca1\u8fdb\u5165\u300c\u4e0b\u5468\u300d\u591a\u4e45\uff0c\u667a\u5143\u673a\u5668\u4eba\u7684\u300c\u597d\u4e1c\u897f\u300d\u63ed\u6653\u4e86\uff0c\u8fd8\u662f\u53cc\u91cd\u60ca\u559c\uff1aVision-Language-Latent-Action (ViLLA) \u67b6\u6784\u548c\u901a\u7528\u5177\u8eab\u57fa\u5ea7\u5927\u6a21\u578b GO-1\u3002<a href=\"https:\/\/mp.weixin.qq.com\/s\/pErwkCKNeuEvimrAfKcbWA\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-3e8952db17ad4f8c283b8d9612993f2e.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-3e8952db17ad4f8c283b8d9612993f2e.png\"><\/a><\/a><\/p>\n<p>\u673a\u5668\u4eba\u8bad\u7ec3\uff0c\u82e6\u6570\u636e\u96be\u4e45\u77e3\u3002\u4e00\u65b9\u9762\u662f\u8ba4\u77e5\u7ef4\u5ea6\u7684\u6570\u636e\uff1a\u4e92\u8054\u7f51\u4e0a\u6d77\u91cf\u7684\u6587\u672c\u548c\u56fe\u7247\u6570\u636e\uff0c\u5e2e\u52a9\u673a\u5668\u4eba\u5efa\u7acb\u57fa\u7840\u8ba4\u77e5\uff0c\u7406\u89e3\u4e16\u754c\u662f\u4ec0\u4e48\u6837\u7684\u3002<\/p>\n<p>\u53e6\u4e00\u65b9\u9762\u662f\u52a8\u4f5c\u7ef4\u5ea6\u7684\u6570\u636e\uff0c\u4e3b\u8981\u6765\u6e90\u6709\u4eba\u7c7b\u7684\u64cd\u4f5c\u89c6\u9891\u3001\u8de8\u672c\u4f53\u793a\u8303\u89c6\u9891\u3001\u5728\u865a\u62df\u573a\u666f\u4e2d\u7ec3\u4e60\u7684\u4eff\u771f\u6570\u636e\uff0c\u8fd8\u6709\u673a\u5668\u4eba\u5728\u5b9e\u9645\u73af\u5883\u4e2d\u5b9e\u64cd\u5f97\u6765\u7684\u771f\u673a\u793a\u6559\u6570\u636e\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-090c31ba188cc6b314ef78fae9ad9161.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-090c31ba188cc6b314ef78fae9ad9161.png\"><\/a><\/p>\n<p><em><sup>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u667a\u5143\u673a\u5668\u4eba\u5c06\u673a\u5668\u4eba\u7684\u8bad\u7ec3\u6570\u636e\u5212\u5206\u4e3a\u56db\u4e2a\u5c42\u6b21<\/sup><\/em><\/p>\n<p>\u7136\u800c\u73b0\u6709\u7684 VLA\uff08Vision-Language-Action\uff09\u67b6\u6784\uff0c\u4e3b\u8981\u4f9d\u8d56\u771f\u673a\u548c\u5408\u6210\u6570\u636e\u3002<\/p>\n<p>\u6211\u4eec\u6bcf\u5929\u5237\u7684\u77ed\u89c6\u9891\u6709\u5f88\u591a\u53ef\u4f9b\u673a\u5668\u4eba\u5b66\u4e60\u7684\u64cd\u4f5c\uff0c\u4f46\u4e0d\u80fd\u76f4\u63a5\u7528\uff0c\u9700\u8981\u300c\u7ffb\u8bd1\u300d\u6210\u673a\u5668\u4eba\u80fd\u7406\u89e3\u7684\u8bed\u8a00\u3002<\/p>\n<p>\u56e0\u6b64\uff0c\u673a\u5668\u4eba\u5f88\u96be\u505a\u5230\u770b\u5b8c\u4eba\u7c7b\u7684\u89c6\u9891\u6559\u7a0b\uff0c\u8111\u5b50\u5b66\u4f1a\u4e86\uff0c\u624b\u5b66\u4f1a\u4e86\uff0c\u76f4\u63a5\u4e0a\u624b\u505a\u597d\u4e86\u3002<\/p>\n<p>\u6ca1\u6709\u5145\u5206\u6fc0\u6d3b\u4eba\u7c7b \/ \u8de8\u672c\u4f53\u64cd\u4f5c\u89c6\u9891\u6570\u636e\u8fd9\u4e2a\u5b9d\u8d35\u7684\u6570\u636e\u6765\u6e90\uff0c\u673a\u5668\u4eba\u8fed\u4ee3\u7684\u6210\u672c\u66f4\u9ad8\uff0c\u8fdb\u5316\u7684\u901f\u5ea6\u4e5f\u66f4\u6162\u4e86\u3002<\/p>\n<p>\u90a3\u4e48\uff0c\u600e\u6837\u7684\u67b6\u6784\u624d\u80fd\u5145\u5206\u5229\u7528\u597d\u8fd9\u4e9b\u6570\u636e\u5462\uff1f<\/p>\n<p>\u667a\u5143\u63d0\u51fa\u4e86\u5168\u65b0\u7684 Vision-Language-Latent-Action (ViLLA) \u67b6\u6784\u3002<\/p>\n<p>\u4e0e VLA \u67b6\u6784\u76f8\u6bd4\uff0cViLLA \u901a\u8fc7\u9884\u6d4b Latent Action Tokens\uff08\u9690\u5f0f\u52a8\u4f5c\u6807\u8bb0\uff09\uff0c\u8ba9\u673a\u5668\u4eba\u80fd\u591f\u5c06\u4eba\u7c7b\u52a8\u4f5c\u89c6\u9891\u8f6c\u5316\u4e3a\u81ea\u5df1\u53ef\u6267\u884c\u7684\u52a8\u4f5c\u5e8f\u5217\u3002\u8fd9\u6837\uff0c\u673a\u5668\u4eba\u5c31\u80fd\u540c\u65f6\u83b7\u5f97\u8ba4\u77e5\u548c\u52a8\u4f5c\u4e24\u4e2a\u7ef4\u5ea6\u7684\u8bad\u7ec3\uff0c\u65e2\u77e5\u5176\u7136\uff0c\u4e5f\u77e5\u5176\u6240\u4ee5\u7136\u3002<\/p>\n<p>\u8fd9\u6837\u4e00\u6765\uff0c\u673a\u5668\u4eba\u4e5f\u80fd\u6709\u6548\u5229\u7528\u9ad8\u8d28\u91cf\u7684 AgiBot World \u6570\u636e\u96c6\u4ee5\u53ca\u4e92\u8054\u7f51\u4e0a\u5e7f\u6cdb\u7684\u89c6\u9891\u6570\u636e\uff0c\u589e\u5f3a\u7b56\u7565\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n<p>\u57fa\u4e8e ViLLA \u67b6\u6784\uff0c\u667a\u5143\u6253\u9020\u4e86\u901a\u7528\u5177\u8eab\u57fa\u5ea7\u5927\u6a21\u578b \u2014\u2014GO-1\u3002\u5b83\u7531 VLM (\u8bed\u8a00\u89c6\u89c9\u6a21\u578b) \u548c MoE (\u4e13\u5bb6\u6df7\u5408\u6a21\u578b) \u7ec4\u6210\u3002\u5b83\u6574\u5408\u4e86\u89c6\u89c9\u3001\u8bed\u8a00\u3001\u52a8\u4f5c\u3001\u89e6\u89c9\u7b49\u591a\u6a21\u6001\u8f93\u5165\uff0c\u89c4\u5212\u5177\u4f53\u52a8\u4f5c\uff0c\u76f4\u63a5\u8f93\u51fa\u673a\u5668\u4eba\u7684\u52a8\u4f5c\u6267\u884c\u5e8f\u5217\u3002<\/p>\n<p>\u4e3e\u4e2a\u4f8b\u5b50\u6765\u8bf4\uff0c\u4f60\u544a\u8bc9\u673a\u5668\u4eba\u53bb\u6302\u8863\u670d\uff0cGO-1 \u4f1a\u6307\u5bfc\u673a\u5668\u4eba\u7406\u89e3\u4efb\u52a1\u8981\u6c42\uff0c\u5206\u89e3\u52a8\u4f5c\u6b65\u9aa4\uff0c\u9002\u5e94\u5177\u4f53\u73af\u5883\uff0c\u6700\u7ec8\u6267\u884c\u64cd\u4f5c\u3002<\/p>\n<p>\u4f46\u5728\u66f4\u6df1\u7684\u6280\u672f\u9762\uff0c\u8fd9\u662f\u56e0\u4e3a GO-1 \u5927\u6a21\u578b\u878d\u4f1a\u8d2f\u901a\u4e86\u673a\u5668\u4eba\u8bad\u7ec3\u6570\u636e\u7684\u56db\u4e2a\u5c42\u6b21\uff1a<\/p>\n<p>\u5728\u8bad\u7ec3\u9636\u6bb5\uff0c\u5b66\u4e60\u4e86\u4e92\u8054\u7f51\u7684\u5927\u89c4\u6a21\u7eaf\u6587\u672c\u548c\u56fe\u6587\u6570\u636e\uff0c\u6240\u4ee5\u80fd\u7406\u89e3\u300c\u6302\u8863\u670d\u300d\u5728\u6b64\u60c5\u6b64\u666f\u4e0b\u7684\u542b\u4e49\u548c\u8981\u6c42\u3002<\/p>\n<p>\u5b66\u4e60\u8fc7\u4eba\u7c7b\u64cd\u4f5c\u89c6\u9891\u548c\u5176\u4ed6\u673a\u5668\u4eba\u7684\u5404\u79cd\u64cd\u4f5c\u89c6\u9891\uff0c\u6240\u4ee5\u80fd\u77e5\u9053\u6302\u8863\u670d\u901a\u5e38\u5305\u62ec\u54ea\u4e9b\u73af\u8282\u3002<\/p>\n<p>\u5b66\u4e60\u8fc7\u4eff\u771f\u7684\u4e0d\u540c\u8863\u670d\u3001\u4e0d\u540c\u8863\u67dc\u3001\u4e0d\u540c\u623f\u95f4\uff0c\u6a21\u62df\u8fc7\u6302\u8863\u670d\u7684\u64cd\u4f5c\uff0c\u6240\u4ee5\u80fd\u7406\u89e3\u73af\u8282\u4e2d\u5bf9\u5e94\u7684\u7269\u4f53\u548c\u73af\u5883\u5e76\u6253\u901a\u6574\u4e2a\u4efb\u52a1\u8fc7\u7a0b\u3002<\/p>\n<p>\u53c8\u56e0\u4e3a\u5b66\u4e60\u8fc7\u771f\u673a\u7684\u793a\u6559\u6570\u636e\uff0c\u6240\u4ee5\u673a\u5668\u4eba\u80fd\u7cbe\u51c6\u5b8c\u6210\u4efb\u52a1\u3002<\/p>\n<p>\u8fd9\u6837\u4e00\u6765\uff0cGO-1 \u5927\u6a21\u578b\u53ef\u4ee5\u5e2e\u52a9\u673a\u5668\u4eba\u5b8c\u6210\u5168\u9762\u7684\u300c\u57fa\u7840\u6559\u80b2\u300d\u548c\u300c\u804c\u4e1a\u6559\u80b2\u300d\uff0c\u8ba9\u673a\u5668\u4eba\u5177\u5907\u5f3a\u5927\u7684\u8fc1\u79fb\u5b66\u4e60\u80fd\u529b\u3002\u9762\u5bf9\u65b0\u573a\u666f\u65f6\uff0c\u673a\u5668\u4eba\u65e2\u6709\u57fa\u672c\u5e38\u8bc6\uff0c\u53c8\u80fd\u6839\u636e\u591a\u79cd\u591a\u6837\u7684\u73af\u5883\u548c\u7269\u4f53\uff0c\u5feb\u901f\u4e0a\u624b\u65b0\u64cd\u4f5c\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-a800fd84650cc3de72624f76d412eb18.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-a800fd84650cc3de72624f76d412eb18.png\"><\/a><\/p>\n<ul>\n<li>\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/agibot-world.com\/blog\/agibot_go1.pdf<\/p>\n<\/li>\n<\/ul>\n<p><strong>GO-1\uff1aVLA \u8fdb\u5316\u5230 ViLLA<\/strong><\/p>\n<p>\u4e0e Vision-Language-Action (VLA) \u67b6\u6784\u76f8\u6bd4\uff0cViLLA \u901a\u8fc7\u9884\u6d4b Latent Action Tokens (\u9690\u5f0f\u52a8\u4f5c\u6807\u8bb0)\uff0c\u5f25\u5408\u56fe\u50cf &#8211; \u6587\u672c\u8f93\u5165\u4e0e\u673a\u5668\u4eba\u6267\u884c\u52a8\u4f5c\u4e4b\u95f4\u7684\u9e3f\u6c9f\u3002\u5728\u771f\u5b9e\u4e16\u754c\u7684\u7075\u5de7\u64cd\u4f5c\u548c\u957f\u65f6\u4efb\u52a1\u65b9\u9762\u8868\u73b0\u5353\u8d8a\uff0c\u8fdc\u8fdc\u8d85\u8fc7\u4e86\u5df2\u6709\u7684\u5f00\u6e90 SOTA \u6a21\u578b\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-ae1d754b8049787df33e6392a63a2ee3.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-ae1d754b8049787df33e6392a63a2ee3.png\"><\/a><\/p>\n<p>ViLLA \u67b6\u6784\u662f\u7531 VLM (\u591a\u6a21\u6001\u5927\u6a21\u578b) + MoE (\u6df7\u5408\u4e13\u5bb6) \u7ec4\u6210\uff0c\u5176\u4e2d VLM \u501f\u52a9\u6d77\u91cf\u4e92\u8054\u7f51\u56fe\u6587\u6570\u636e\u83b7\u5f97\u901a\u7528\u573a\u666f\u611f\u77e5\u548c\u8bed\u8a00\u7406\u89e3\u80fd\u529b\uff0cMoE \u4e2d\u7684 Latent Planner (\u9690\u5f0f\u89c4\u5212\u5668) \u501f\u52a9\u5927\u91cf\u8de8\u672c\u4f53\u548c\u4eba\u7c7b\u64cd\u4f5c\u6570\u636e\u83b7\u5f97\u901a\u7528\u7684\u52a8\u4f5c\u7406\u89e3\u80fd\u529b\uff0cMoE \u4e2d\u7684 Action Expert (\u52a8\u4f5c\u4e13\u5bb6) \u501f\u52a9\u767e\u4e07\u771f\u673a\u6570\u636e\u83b7\u5f97\u7cbe\u7ec6\u7684\u52a8\u4f5c\u6267\u884c\u80fd\u529b\u3002<\/p>\n<p>\u5728\u63a8\u7406\u65f6\uff0cVLM\u3001Latent Planner \u548c Action Expert \u4e09\u8005\u534f\u540c\u5de5\u4f5c\uff1a<\/p>\n<ul>\n<li>\n<section>VLM \u91c7\u7528 InternVL-2B\uff0c\u63a5\u6536\u591a\u89c6\u89d2\u89c6\u89c9\u56fe\u7247\u3001\u529b\u89c9\u4fe1\u53f7\u3001\u8bed\u8a00\u8f93\u5165\u7b49\u591a\u6a21\u6001\u4fe1\u606f\uff0c\u8fdb\u884c\u901a\u7528\u7684\u573a\u666f\u611f\u77e5\u548c\u6307\u4ee4\u7406\u89e3<\/section>\n<\/li>\n<li>\n<section>Latent Planner \u662f MoE \u4e2d\u7684\u4e00\u7ec4\u4e13\u5bb6\uff0c\u57fa\u4e8e VLM \u7684\u4e2d\u95f4\u5c42\u8f93\u51fa\u9884\u6d4b Latent Action Tokens \u4f5c\u4e3a CoP (Chain of Planning\uff0c\u89c4\u5212\u94fe)\uff0c\u8fdb\u884c\u901a\u7528\u7684\u52a8\u4f5c\u7406\u89e3\u548c\u89c4\u5212<\/section>\n<\/li>\n<li>\n<section>Action Expert \u662f MoE \u4e2d\u7684\u53e6\u5916\u4e00\u7ec4\u4e13\u5bb6\uff0c\u57fa\u4e8e VLM \u7684\u4e2d\u95f4\u5c42\u8f93\u51fa\u4ee5\u53ca Latent Action Tokens\uff0c\u751f\u6210\u6700\u7ec8\u7684\u7cbe\u7ec6\u52a8\u4f5c\u5e8f\u5217<\/section>\n<\/li>\n<\/ul>\n<p>Latent Planner \u548c Action Expert \u662f\u8fd9\u4e2a MoE \u6846\u67b6\u91cc\u7684 2 \u4e2a\u5173\u952e\u6784\u6210\uff1a<\/p>\n<p><strong>Latent Planner\uff08\u9690\u5f0f\u89c4\u5212\u5668\uff09<\/strong><\/p>\n<p>\u5c3d\u7ba1 AgiBot World \u6570\u636e\u96c6\u5df2\u7ecf\u662f\u5168\u7403\u6700\u5927\u7684\u673a\u5668\u4eba\u771f\u673a\u793a\u6559\u6570\u636e\u96c6\uff0c\u4f46\u8fd9\u6837\u9ad8\u8d28\u91cf\u5e26\u52a8\u4f5c\u6807\u7b7e\u7684\u771f\u673a\u6570\u636e\u91cf\u4ecd\u7136\u6709\u9650\uff0c\u8fdc\u5c11\u4e8e\u4e92\u8054\u7f51\u89c4\u6a21\u7684\u6570\u636e\u96c6\u3002<\/p>\n<p>\u4e3a\u6b64\uff0c\u667a\u5143\u91c7\u7528 Latent Actions\uff08\u9690\u5f0f\u52a8\u4f5c\uff09\u6765\u5efa\u6a21\u5f53\u524d\u5e27\u548c\u5386\u53f2\u5e27\u4e4b\u95f4\u7684\u9690\u5f0f\u53d8\u5316\uff0c\u7136\u540e\u901a\u8fc7 Latent Planner \u9884\u6d4b\u8fd9\u4e9b Latent Actions\uff0c\u4ece\u800c\u5c06\u5f02\u6784\u6570\u636e\u6e90\u4e2d\u771f\u5b9e\u4e16\u754c\u7684\u52a8\u4f5c\u77e5\u8bc6\u8f6c\u79fb\u5230\u901a\u7528\u64cd\u4f5c\u4efb\u52a1\u4e2d\u3002<\/p>\n<ul>\n<li>\n<section>Latent Action Model\uff08LAM\uff0c\u9690\u5f0f\u52a8\u4f5c\u6a21\u578b\uff09\u4e3b\u8981\u7528\u4e8e\u83b7\u53d6\u5f53\u524d\u5e27\u548c\u5386\u53f2\u5e27\u4e4b\u95f4 Latent Actions \u7684 Groundtruth\uff08\u771f\u503c\uff09\uff0c\u5b83\u7531\u7f16\u7801\u5668\u548c\u89e3\u7801\u5668\u7ec4\u6210\u3002\u5176\u4e2d<\/section>\n<\/li>\n<li>\n<section>\u7f16\u7801\u5668\u91c7\u7528 Spatial-temporal Transformer\uff0c\u5e76\u4f7f\u7528 Causal Temporal Masks\uff08\u65f6\u5e8f\u56e0\u679c\u63a9\u7801\uff09\u3002<\/section>\n<\/li>\n<li>\n<section>\u89e3\u7801\u5668\u91c7\u7528 Spatial Transformer\uff0c\u4ee5\u521d\u59cb\u5e27\u548c\u79bb\u6563\u5316\u7684 Latent Action Tokens \u4f5c\u4e3a\u8f93\u5165\u3002<\/section>\n<\/li>\n<li>\n<section>Latent Action Tokens \u901a\u8fc7 VQ-VAE \u7684\u65b9\u5f0f\u8fdb\u884c\u91cf\u5316\u5904\u7406\u3002<\/section>\n<\/li>\n<li>\n<section>Latent Planner \u8d1f\u8d23\u9884\u6d4b\u8fd9\u4e9b\u79bb\u6563\u7684 Latent Action Tokens\uff0c\u5b83\u4e0e VLM \u4e3b\u5e72\u7f51\u7edc\u5171\u4eab\u76f8\u540c\u7684 Transformer \u7ed3\u6784\uff0c\u4f46\u4f7f\u7528\u4e86\u4e24\u5957\u72ec\u7acb\u7684 FFN (\u524d\u9988\u795e\u7ecf\u7f51\u7edc) \u548c Q\/K\/V\/O (\u67e5\u8be2\u3001\u952e\u3001\u503c\u3001\u8f93\u51fa) \u6295\u5f71\u77e9\u9635\u3002Latent Planner \u8fd9\u7ec4\u4e13\u5bb6\u4f1a\u9010\u5c42\u7ed3\u5408 VLM \u8f93\u51fa\u7684\u4e2d\u95f4\u4fe1\u606f\uff0c\u901a\u8fc7 Cross Entropy Loss\uff08\u4ea4\u53c9\u71b5\u635f\u5931\uff09\u8fdb\u884c\u76d1\u7763\u8bad\u7ec3\u3002<\/section>\n<\/li>\n<\/ul>\n<p><strong>Action Expert\uff08\u52a8\u4f5c\u4e13\u5bb6\uff09<\/strong><\/p>\n<p>\u4e3a\u4e86\u5b9e\u73b0 High-frequency\uff08\u9ad8\u9891\u7387\uff09\u4e14 Dexterous\uff08\u7075\u6d3b\uff09\u7684\u64cd\u63a7\uff0c\u667a\u5143\u5f15\u5165\u4e86 Action Expert\uff0c\u5176\u91c7\u7528 Diffusion Model \u4f5c\u4e3a\u76ee\u6807\u51fd\u6570\u6765\u5efa\u6a21\u4f4e\u5c42\u7ea7\u52a8\u4f5c\u7684\u8fde\u7eed\u5206\u5e03\u3002<\/p>\n<ul>\n<li>\n<section>Action Expert \u7ed3\u6784\u8bbe\u8ba1\u4e0a\u4e0e Latent Planner \u7c7b\u4f3c\uff0c\u4e5f\u662f\u4e0e VLM \u4e3b\u5e72\u7f51\u7edc\u5171\u4eab\u76f8\u540c\u7684 Transformer \u7ed3\u6784\uff0c\u4f46\u4f7f\u7528\u4e24\u5957\u72ec\u7acb\u7684 FFN \u548c Q\/K\/V\/O \u6295\u5f71\u77e9\u9635\uff0c\u5b83\u901a\u8fc7 Denoising Process\uff08\u53bb\u566a\u8fc7\u7a0b\uff09\u9010\u6b65\u56de\u5f52\u52a8\u4f5c\u5e8f\u5217\u3002<\/section>\n<\/li>\n<li>\n<section>Action Expert \u4e0e VLM\u3001Latent Planner \u5206\u5c42\u7ed3\u5408\uff0c\u786e\u4fdd\u4fe1\u606f\u6d41\u7684\u4e00\u81f4\u6027\u4e0e\u534f\u540c\u4f18\u5316\u3002<\/section>\n<\/li>\n<\/ul>\n<p><strong>GO-1 \u9996\u4e2a\u901a\u7528\u5177\u8eab\u57fa\u5ea7\u6a21\u578b<\/strong><\/p>\n<p>\u800c GO-1 \u57fa\u4e8e ViLLA\u67b6\u6784\u3002\u5177\u4f53\u6765\u8bf4\uff0cVLM \u4f5c\u4e3a\u901a\u7528\u5177\u8eab\u57fa\u5ea7\u5927\u6a21\u578b\u7684\u4e3b\u5e72\u7f51\u7edc\uff0c\u7ee7\u627f\u5f00\u6e90\u591a\u6a21\u6001\u5927\u6a21\u578b InternVL2.5-2B \u7684\u6743\u91cd\uff0c\u5229\u7528\u4e92\u8054\u7f51\u5927\u89c4\u6a21\u7eaf\u6587\u672c\u548c\u56fe\u6587\u6570\u636e\uff0c\u8ba9 GO-1 \u5927\u6a21\u578b\u5177\u5907\u4e86\u901a\u7528\u7684\u573a\u666f\u611f\u77e5\u548c\u7406\u89e3\u80fd\u529b\u3002<\/p>\n<p>\u9690\u52a8\u4f5c\u4e13\u5bb6\u6a21\u578b\u4f5c\u4e3a\u7b2c\u4e00\u4e2a\u4e13\u5bb6\u6a21\u578b\uff0c\u662f GO-1 \u5927\u6a21\u578b\u4e2d\u9690\u5f0f\u7684\u89c4\u5212\u5668\uff0c\u5b83\u5229\u7528\u5230\u4e86\u5927\u89c4\u6a21\u4eba\u7c7b\u64cd\u4f5c\u548c\u8de8\u672c\u4f53\u64cd\u4f5c\u89c6\u9891\uff0c\u8ba9\u6a21\u578b\u5177\u5907\u52a8\u4f5c\u7684\u7406\u89e3\u80fd\u529b\u3002<\/p>\n<p>GO-1 \u5927\u6a21\u578b\u7684\u6700\u540e\u662f\u4f5c\u4e3a\u52a8\u4f5c\u9884\u6d4b\u5668\u7684\u52a8\u4f5c\u4e13\u5bb6\u6a21\u578b\uff0c\u5b83\u5229\u7528\u9ad8\u8d28\u91cf\u7684\u4eff\u771f\u6570\u636e\u3001\u771f\u673a\u6570\u636e\uff0c\u8ba9\u6a21\u578b\u5177\u5907\u4e86\u52a8\u4f5c\u7684\u7cbe\u7ec6\u6267\u884c\u80fd\u529b\u3002<\/p>\n<p>\u4f5c\u4e3a\u901a\u7528\u5177\u8eab\u57fa\u5ea7\u5927\u6a21\u578b\uff0cGO-1 \u5b9e\u73b0\u4e86\u56db\u9879\u7a81\u7834\uff1a<\/p>\n<ul>\n<li>\n<section>\u4eba\u7c7b\u89c6\u9891\u5b66\u4e60\uff1aGO-1 \u5927\u6a21\u578b\u53ef\u4ee5\u7ed3\u5408\u4e92\u8054\u7f51\u89c6\u9891\u548c\u771f\u5b9e\u4eba\u7c7b\u793a\u8303\u8fdb\u884c\u5b66\u4e60\uff0c\u589e\u5f3a\u6a21\u578b\u5bf9\u4eba\u7c7b\u884c\u4e3a\u7684\u7406\u89e3\uff0c\u66f4\u597d\u5730\u4e3a\u4eba\u7c7b\u670d\u52a1\u3002<\/section>\n<\/li>\n<li>\n<section>\u5c0f\u6837\u672c\u5feb\u901f\u6cdb\u5316\uff1aGO-1 \u5927\u6a21\u578b\u5177\u6709\u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u80fd\u591f\u5728\u6781\u5c11\u6570\u636e\u751a\u81f3\u96f6\u6837\u672c\u4e0b\u6cdb\u5316\u5230\u65b0\u573a\u666f\u3001\u65b0\u4efb\u52a1\uff0c\u964d\u4f4e\u4e86\u5177\u8eab\u6a21\u578b\u7684\u4f7f\u7528\u95e8\u69db\uff0c\u4f7f\u5f97\u540e\u8bad\u7ec3\u6210\u672c\u975e\u5e38\u4f4e\u3002<\/section>\n<\/li>\n<li>\n<section>\u4e00\u8111\u591a\u5f62\uff1aGO-1 \u5927\u6a21\u578b\u662f\u901a\u7528\u673a\u5668\u4eba\u7b56\u7565\u6a21\u578b\uff0c\u80fd\u591f\u5728\u4e0d\u540c\u673a\u5668\u4eba\u5f62\u6001\u4e4b\u95f4\u8fc1\u79fb\uff0c\u5feb\u901f\u9002\u914d\u5230\u4e0d\u540c\u672c\u4f53\uff0c\u7fa4\u4f53\u5347\u667a\u3002<\/section>\n<\/li>\n<li>\n<section>\u6301\u7eed\u8fdb\u5316\uff1aGO-1 \u5927\u6a21\u578b\u642d\u914d\u667a\u5143\u4e00\u6574\u5957\u6570\u636e\u56de\u6d41\u7cfb\u7edf\uff0c\u53ef\u4ee5\u4ece\u5b9e\u9645\u6267\u884c\u9047\u5230\u7684\u95ee\u9898\u6570\u636e\u4e2d\u6301\u7eed\u8fdb\u5316\u5b66\u4e60\uff0c\u8d8a\u7528\u8d8a\u806a\u660e\u3002<\/section>\n<\/li>\n<\/ul>\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n<p>\u901a\u8fc7 Vision-Language-Latent-Action (ViLLA) \u521b\u65b0\u6027\u67b6\u6784\uff0c\u7814\u7a76\u56e2\u961f\u5728\u4e94\u79cd\u4e0d\u540c\u590d\u6742\u5ea6\u4efb\u52a1\u4e0a\u6d4b\u8bd5 GO-1\u3002<\/p>\n<p>\u76f8\u6bd4\u5df2\u6709\u7684\u6700\u4f18\u6a21\u578b\uff0cGO-1 \u6210\u529f\u7387\u5927\u5e45\u9886\u5148\uff0c\u5e73\u5747\u6210\u529f\u7387\u63d0\u9ad8\u4e86 32%(46%\u219278%)\u3002\u5176\u4e2d GO-1 \u5728\u5012\u6c34\uff08Pour Water\uff09\u3001\u6e05\u7406\u684c\u9762\uff08Table Bussing\uff09 \u548c\u8865\u5145\u996e\u6599\uff08 Restock Beverage\uff09 \u4efb\u52a1\u8868\u73b0\u5c24\u4e3a\u7a81\u51fa\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-16928522a94f8ce9f9cf3730257d6725.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/03\/frc-16928522a94f8ce9f9cf3730257d6725.png\"><\/a><\/p>\n<p>\u6b64\u5916\uff0c\u4ed6\u4eec\u8fd8\u5bf9 Latent Planner \u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff0c\u53ef\u4ee5\u770b\u5230\u589e\u52a0 Latent Planner \u53ef\u4ee5\u63d0\u5347 12% \u7684\u6210\u529f\u7387 (66%\u219278%)\u3002<\/p>\n<p>\u5728\u7834\u89e3\u673a\u5668\u4eba\u8bad\u7ec3\u7684\u6570\u636e\u96be\u9898\u4e0a\uff0c\u667a\u5143\u59cb\u7ec8\u79c9\u6301\u5f00\u6e90\u7cbe\u795e\uff0c\u63a8\u52a8\u4e1a\u754c\u5171\u4eab\u3002<\/p>\n<p>\u53bb\u5e74 12 \u6708\uff0c\u667a\u5143\u9762\u5411\u5168\u7403\u5f00\u6e90\u4e86 AgiBot World \u6570\u636e\u96c6\u5927\u89c4\u6a21\u8bad\u7ec3\u6570\u636e\u96c6\uff0c\u8fd9\u662f\u9996\u4e2a\u57fa\u4e8e\u771f\u5b9e\u573a\u666f\u548c\u5168\u6808\u786c\u4ef6\u7684\u5e73\u53f0\u6240\u91c7\u96c6\u7684\u767e\u4e07\u7ea7\u673a\u5668\u4eba\u6570\u636e\u96c6\u3002\u4eca\u5e74 2 \u6708\uff0c\u667a\u5143\u5f00\u6e90\u4e86 AgiBot Digital World \u4eff\u771f\u6570\u636e\u96c6\uff0c\u8fd8\u53ef\u4ee5\u63d0\u4f9b\u591a\u5143\u5316\u7684\u4e13\u5bb6\u8f68\u8ff9\u751f\u6210\u7b56\u7565\u3002<\/p>\n<p>\u5982\u4eca\uff0c\u968f\u7740 ViLLA \u67b6\u6784\u4e0e GO-1 \u5927\u6a21\u578b\u7684\u91cd\u78c5\u53d1\u5e03\uff0c\u673a\u5668\u4eba\u4e0d\u4ec5\u62e5\u6709\u4e86\u6d77\u91cf\u771f\u5b9e\u548c\u4eff\u771f\u6570\u636e\uff0c\u66f4\u5177\u5907\u4e86\u5feb\u901f\u5b66\u4e60\u7684\u8fc1\u79fb\u80fd\u529b\uff0c\u8ba9\u673a\u5668\u5728\u62d3\u5c55\u4e86\u8fd0\u52a8\u80fd\u529b\u4e4b\u5916\uff0c\u66f4\u52a0\u5177\u5907\u4e86 AI 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target=\"_blank\">\u7a1a\u6656\u541b\u7684\u300c\u597d\u4e1c\u897f\u300d\u63ed\u6653\uff01\u9996\u4e2a\u901a\u7528\u5177\u8eab\u57fa\u5ea7\u6a21\u578b\uff0c\u673a\u5668\u4eba\u544a\u522b\u300c\u770b\u5f97\u61c2\u505a\u4e0d\u6765\u300d<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:\u7a1a\u6656\u541b\u7684\u300c\u597d\u4e1c\u897f\u300d\u63ed\u6653 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