{"id":40230,"date":"2025-04-19T05:02:43","date_gmt":"2025-04-18T21:02:43","guid":{"rendered":"https:\/\/17aitech.com\/?p=40230"},"modified":"2025-04-19T05:02:43","modified_gmt":"2025-04-18T21:02:43","slug":"rss-2025%ef%bd%9cconrft-%e7%9c%9f%e5%ae%9e%e7%8e%af%e5%a2%83%e4%b8%8b%e5%9f%ba%e4%ba%8e%e5%bc%ba%e5%8c%96%e5%ad%a6%e4%b9%a0%e7%9a%84vla%e6%a8%a1%e5%9e%8b%e5%be%ae%e8%b0%83%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=40230","title":{"rendered":"RSS 2025\uff5cConRFT: \u771f\u5b9e\u73af\u5883\u4e0b\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684VLA\u6a21\u578b\u5fae\u8c03\u65b9\u6cd5"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-04-18\" target=\"_blank\">RSS 2025\uff5cConRFT: \u771f\u5b9e\u73af\u5883\u4e0b\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684VLA\u6a21\u578b\u5fae\u8c03\u65b9\u6cd5<\/a><\/p>\n<p data-pm-slice=\"0 0 []\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6c3396985aa188c0d8bcbd8c8b52e8dd.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6c3396985aa188c0d8bcbd8c8b52e8dd.png\"><\/a><\/p>\n<p data-pm-slice=\"0 0 []\"><strong>\u672c\u6587\u7b2c\u4e00\u4f5c\u8005\u4e3a\u9648\u5b87\u8f89\uff0c\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\u76f4\u535a\u4e09\u5e74\u7ea7\uff1b\u901a\u8baf\u4f5c\u8005\u4e3a\u674e\u6d69\u7136\uff0c\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\u526f\u7814\uff1b\u7814\u7a76\u65b9\u5411\u4e3a\u5f3a\u5316\u5b66\u4e60\u3001\u673a\u5668\u4eba\u5b66\u4e60\u3001\u5177\u8eab\u667a\u80fd\u3002<\/strong><\/p>\n<p data-pm-slice=\"0 0 []\">\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\u5728\u771f\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u4efb\u52a1\u4e2d\u663e\u793a\u51fa\u5de8\u5927\u7684\u6f5c\u529b\uff0c\u4f46\u662f\u5176\u6027\u80fd\u4f9d\u8d56\u4e8e\u5927\u91cf\u7684\u9ad8\u8d28\u91cf\u4eba\u7c7b\u6f14\u793a\u6570\u636e\u3002<\/p>\n<p data-pm-slice=\"0 0 []\">\u7531\u4e8e\u4eba\u7c7b\u6f14\u793a\u5341\u5206\u7a00\u7f3a\u4e14\u5c55\u73b0\u51fa\u884c\u4e3a\u7684\u4e0d\u4e00\u81f4\u6027\uff0c\u901a\u8fc7\u76d1\u7763\u5b66\u4e60\u7684\u65b9\u5f0f\u5bf9 VLA \u6a21\u578b\u5728\u4e0b\u6e38\u4efb\u52a1\u4e0a\u8fdb\u884c\u5fae\u8c03\u96be\u4ee5\u5b9e\u73b0\u8f83\u9ad8\u7684\u6027\u80fd\uff0c\u5c24\u5176\u662f\u9762\u5411\u8981\u6c42\u7cbe\u7ec6\u63a7\u5236\u7684\u4efb\u52a1\u3002<\/p>\n<p data-pm-slice=\"0 0 []\">\u4e3a\u6b64\uff0c\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u56e2\u961f\u63d0\u51fa\u4e86\u4e00\u79cd\u9762\u5411 VLA \u6a21\u578b\u540e\u8bad\u7ec3\u7684\u5f3a\u5316\u5fae\u8c03\u65b9\u6cd5 <strong>ConRFT<\/strong>\uff08Consistency-based Reinforced Fine-tuning\uff09\u3002\u5176\u7531\u79bb\u7ebf\u548c\u5728\u7ebf\u5fae\u8c03\u4e24\u9636\u6bb5\u7ec4\u6210\uff0c\u5e76\u5177\u6709\u7edf\u4e00\u7684\u57fa\u4e8e\u4e00\u81f4\u6027\u7b56\u7565\u7684\u8bad\u7ec3\u76ee\u6807\u3002\u8fd9\u9879\u5de5\u4f5c\u51f8\u663e\u4e86\u4f7f\u7528\u5f3a\u5316\u5b66\u4e60\u8fdb\u884c\u540e\u8bad\u7ec3\u4ee5\u589e\u5f3a\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\u5728\u771f\u5b9e\u4e16\u754c\u673a\u5668\u4eba\u5e94\u7528\u4e2d\u7684\u6f5c\u529b\u3002<\/p>\n<p>\u76ee\u524d\uff0c\u8be5\u8bba\u6587\u5df2\u88ab\u673a\u5668\u4eba\u9886\u57df\u9876\u7ea7\u4f1a\u8bae Robotics: Science and Systems XXI\uff08RSS 2025\uff09\u63a5\u6536\u3002<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-48a0564d5ebd7472bbf815add33cc028.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-48a0564d5ebd7472bbf815add33cc028.png\"><\/a><\/section>\n<ul>\n<li>\n<p>\u8bba\u6587\u6807\u9898\uff1aConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy<\/p>\n<\/li>\n<li>\n<section><span data-pm-slice='1 1 [\"para\",{\"tagName\":\"p\",\"attributes\":{\"style\":\"text-align: justify; margin-left: 8px; margin-right: 8px; line-height: 1.75em;\"},\"namespaceURI\":\"http:\/\/www.w3.org\/1999\/xhtml\"},\"node\",{\"tagName\":\"a\",\"attributes\":{\"href\":\"https:\/\/cccedric.github.io\/conrft\/%EF%BC%8C%E8%AE%BA%E6%96%87%E5%9C%B0%E5%9D%80%EF%BC%9Ahttps:\/\/arxiv.org\/abs\/2502.05450%EF%BC%8C%E5%BC%80%E6%BA%90%E4%BB%A3%E7%A0%81%EF%BC%9Ahttps:\/\/github.com\/cccedric\/conrft%EF%BC%8C%E8%AF%A6%E6%83%85%E8%A7%81%E6%AD%A3%E6%96%87%E3%80%82\",\"target\":\"_blank\",\"rel\":\"noreferrer\",\"style\":null,\"_href\":\"https:\/\/cccedric.github.io\/conrft\/%EF%BC%8C%E8%AE%BA%E6%96%87%E5%9C%B0%E5%9D%80%EF%BC%9Ahttps:\/\/arxiv.org\/abs\/2502.05450%EF%BC%8C%E5%BC%80%E6%BA%90%E4%BB%A3%E7%A0%81%EF%BC%9Ahttps:\/\/github.com\/cccedric\/conrft%EF%BC%8C%E8%AF%A6%E6%83%85%E8%A7%81%E6%AD%A3%E6%96%87%E3%80%82\"},\"namespaceURI\":\"http:\/\/www.w3.org\/1999\/xhtml\"}]'>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2502.05450<\/span><\/section>\n<\/li>\n<li>\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/cccedric.github.io\/conrft\/<\/p>\n<\/li>\n<li>\n<p>\u5f00\u6e90\u4ee3\u7801\uff1ahttps:\/\/github.com\/cccedric\/conrft<\/p>\n<\/li>\n<\/ul>\n<p><strong>\u7814\u7a76\u80cc\u666f<\/strong><\/p>\n<p>\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff08Vision-Language-Action, VLA\uff09\u5728\u8bad\u7ec3\u901a\u7528\u673a\u5668\u4eba\u7b56\u7565\u65b9\u9762\u53d6\u5f97\u7684\u6700\u65b0\u8fdb\u5c55\u8868\u660e\u673a\u5668\u4eba\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u540e [1,2]\uff0c\u5176\u62e5\u6709\u5728\u7406\u89e3\u548c\u6267\u884c\u5404\u79cd\u64cd\u4f5c\u4efb\u52a1\u65b9\u9762\u7684\u5353\u8d8a\u80fd\u529b\u3002<\/p>\n<p>\u867d\u7136\u9884\u8bad\u7ec3\u7684\u901a\u7528\u7b56\u7565\u80fd\u591f\u6355\u6349\u6cdb\u5316\u6027\u7684\u8868\u5f81\uff0c\u4f46\u5176\u4ecd\u7136\u96be\u4ee5\u5728\u771f\u5b9e\u673a\u5668\u4eba\u548c\u4efb\u52a1\u4e0a\u505a\u5230\u96f6\u6837\u672c\u6cdb\u5316 [3]\uff0c\u56e0\u6b64\u4f7f\u7528\u4efb\u52a1\u4e13\u7528\u7684\u6570\u636e\u8fdb\u884c\u540e\u8bad\u7ec3\u5fae\u8c03\u5bf9\u4e8e\u4f18\u5316\u6a21\u578b\u5728\u4e0b\u6e38\u4efb\u52a1\u4e2d\u7684\u6027\u80fd\u6765\u8bf4\u975e\u5e38\u91cd\u8981\u3002<\/p>\n<p>\u76ee\u524d\u5e7f\u6cdb\u4f7f\u7528\u7684\u65b9\u6cd5\u662f\u4f7f\u7528\u4eba\u7c7b\u9065\u64cd\u4f5c\u6536\u96c6\u7684\u6570\u636e\u5bf9 VLA \u6a21\u578b\u8fdb\u884c\u76d1\u7763\u5fae\u8c03\uff08Supervised Fine-tuning, SFT\uff09\u3002\u7136\u800c\uff0c\u6a21\u578b\u7684\u6027\u80fd\u4e25\u91cd\u4f9d\u8d56\u4e8e\u6570\u636e\u96c6\u7684\u8d28\u91cf\u548c\u6570\u91cf\u3002\u7531\u4e8e\u4eba\u7c7b\u6536\u96c6\u6570\u636e\u7684\u6b21\u4f18\u6027\u548c\u7b56\u7565\u4e0d\u4e00\u81f4\u6027\u7b49\u56fa\u6709\u95ee\u9898\uff0c\u8fd9\u4e9b\u6570\u636e\u5f88\u96be\u63d0\u4f9b\u6700\u4f18\u8f68\u8ff9 [4]\uff0c\u5bfc\u81f4\u5fae\u8c03\u540e\u7684\u6a21\u578b\u6548\u679c\u4e0d\u4f73\u3002<\/p>\n<p>\u4e0e\u6b64\u540c\u65f6\uff0c\u5927\u8bed\u8a00\u6a21\u578b\uff08Large Language Model, LLM\uff09\u548c\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08Vision-Language Model, VLM\uff09\u7684\u6700\u65b0\u8fdb\u5c55\u51f8\u663e\u4e86\u5f3a\u5316\u5b66\u4e60\u5728\u5bf9\u9f50\u6a21\u578b\u7b56\u7565\u4e0e\u4eba\u7c7b\u504f\u597d\u4e4b\u95f4\u5dee\u8ddd [5] \u6216\u6539\u8fdb\u6a21\u578b\u63a8\u7406 [6] \u65b9\u9762\u7684\u4ef7\u503c\uff0c\u8bc1\u660e\u4e86\u90e8\u7f72\u4f7f\u7528\u4efb\u52a1\u4e13\u7528\u7684\u5956\u52b1\u51fd\u6570\u7684\u5f3a\u5316\u5b66\u4e60\uff08Reinforcement Learning, RL\uff09\u6765\u4ece\u5728\u7ebf\u4ea4\u4e92\u4e2d\u673a\u6027\u80fd\u7b56\u7565\u66f4\u65b0\u5177\u6709\u5de8\u5927\u7684\u6f5c\u529b\u3002<\/p>\n<p>\u7136\u800c\uff0c\u4e0e LLM\/VLM \u4e0d\u540c\uff0cVLA \u6a21\u578b\u9700\u8981\u673a\u5668\u4eba\u4e0e\u771f\u5b9e\u4e16\u754c\u8fdb\u884c\u7269\u7406\u4ea4\u4e92\uff0c\u56e0\u800c\u5c06 RL \u6269\u5c55\u5230 VLA \u6a21\u578b\u9762\u4e34\u7740\u5de8\u5927\u7684\u6311\u6218\u3002\u5c24\u5176\u662f\u5728\u8981\u6c42\u7cbe\u7ec6\u63a7\u5236\u7684\u64cd\u4f5c\u4efb\u52a1\u4e0a\uff0c\u4ea4\u4e92\u5b89\u5168\u6027\u548c\u6210\u672c\u9650\u5236\u8981\u6c42 RL \u7b97\u6cd5\u5177\u6709\u63a2\u7d22\u7684\u5b89\u5168\u4fdd\u969c\u548c\u5f88\u9ad8\u7684\u6837\u672c\u6548\u7387\u3002<\/p>\n<p><strong>ConRFT\uff1a\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684 VLA \u6a21\u578b\u5fae\u8c03\u65b9\u6cd5<\/strong><\/p>\n<p>\u4e3a\u4e86\u5145\u5206\u5229\u7528 RL \u6280\u672f\u7684\u4f18\u52bf\uff0c\u5229\u7528\u5728\u7ebf\u4ea4\u4e92\u6570\u636e\u9ad8\u6548\u5fae\u8c03 VLA \u6a21\u578b\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5f3a\u5316\u5fae\u8c03\uff08Reinforced Fine-tuning, RFT\uff09\u65b9\u6cd5\uff0c\u5305\u542b\u79bb\u7ebf\u548c\u5728\u7ebf\u4e24\u4e2a\u9636\u6bb5\uff0c\u5e76\u91c7\u7528\u7edf\u4e00\u7684\u8bad\u7ec3\u76ee\u6807\u3002<\/p>\n<p>\u57fa\u4e8e\u6211\u4eec\u4e4b\u524d\u7684\u5de5\u4f5c CPQL [7]\uff0c\u672c\u6587\u65b9\u6cd5\u5c06 SFT \u4e0e Q-learning \u76f8\u7ed3\u5408\uff0c\u5e76\u5229\u7528\u4e00\u81f4\u6027\u7b56\u7565\u5fae\u8c03 VLA \u6a21\u578b\u3002\u79bb\u7ebf\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u5229\u7528\u4eba\u7c7b\u6536\u96c6\u7684\u4e13\u5bb6\u6570\u636e\uff0c\u5728\u6a21\u578b\u4e0e\u771f\u5b9e\u73af\u5883\u4ea4\u4e92\u4e4b\u524d\u63d0\u53d6\u6709\u6548\u7684\u7b56\u7565\u548c\u7a33\u5b9a\u7684\u4ef7\u503c\u51fd\u6570\u3002<\/p>\n<p>\u968f\u540e\u7684\u5728\u7ebf\u5fae\u8c03\u9636\u6bb5\u901a\u8fc7\u4eba\u5728\u56de\u8def\uff08Human-in-the-Loop Learning, HIL\uff09\u8fdb\u884c\u5e72\u9884\uff0c\u5e76\u4f7f\u7528\u5956\u52b1\u9a71\u52a8\u7684\u7b56\u7565\u5b66\u4e60\uff0c\u4ece\u800c\u89e3\u51b3\u4e86\u5728\u771f\u5b9e\u73af\u5883\u4e0b\u8fdb\u884c RL \u7684\u5b89\u5168\u8981\u6c42\u548c\u6837\u672c\u6548\u7387\u4e24\u4e2a\u6311\u6218\u3002\u8be5\u65b9\u6cd5\u793a\u610f\u56fe\u5982\u4e0b\uff1a<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-5ab98e73679b2290fe36672babb3a607.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-5ab98e73679b2290fe36672babb3a607.png\"><\/a><\/section>\n<p>\u672c\u6587\u65b9\u6cd5\u91c7\u7528\u4e00\u81f4\u6027\u7b56\u7565\uff08Consistency Policy\uff09\u4f5c\u4e3a\u52a8\u4f5c\u5355\u5143\uff08Action Head\uff09\uff0c\u5bf9 VLA \u6a21\u578b\u8fdb\u884c\u5fae\u8c03\uff0c\u89e3\u51b3\u4e86\u4e24\u4e2a\u5173\u952e\u95ee\u9898\uff1a<\/p>\n<p>1\uff09\u5b83\u6709\u52a9\u4e8e\u5229\u7528\u9884\u6536\u96c6\u7684\u6570\u636e\u4e2d\u7ecf\u5e38\u51fa\u73b0\u7684\u7b56\u7565\u4e0d\u4e00\u81f4\u548c\u6b21\u4f18\u6f14\u793a\u95ee\u9898\uff1b<\/p>\n<p>2\uff09\u4e0e\u57fa\u4e8e\u6269\u6563\u6a21\u578b\uff08Diffusion Model\uff09\u7684\u52a8\u4f5c\u5355\u5143\u76f8\u6bd4\uff0c\u5176\u5728\u8ba1\u7b97\u4e0a\u4fdd\u6301\u8f7b\u91cf\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u6548\u63a8\u7406\u3002<\/p>\n<p>\u4e00\u81f4\u6027\u7b56\u7565\u662f\u4e00\u79cd\u57fa\u4e8e\u6982\u7387\u6d41\u5e38\u5fae\u5206\u65b9\u7a0b\uff08Probability Flow Ordinary Differential Equation\uff09\u7684\u7b56\u7565\uff0c\u5b83\u5b66\u4e60\u4ece\u9ad8\u65af\u5206\u5e03\u4e2d\u91c7\u6837\u7684\u968f\u673a\u52a8\u4f5c\u6620\u5c04\u5230\u57fa\u4e8e\u5f53\u524d\u72b6\u6001\u7684\u4e13\u5bb6\u52a8\u4f5c\u5206\u5e03\uff0c\u4ece\u800c\u751f\u6210\u76ee\u6807\u52a8\u4f5c\u7528\u4e8e\u51b3\u7b56\u4efb\u52a1\u3002<\/p>\n<p><strong>\u9636\u6bb5I\uff1a\u79bb\u7ebf\u5fae\u8c03\uff08Cal-ConRFT\uff09<\/strong><\/p>\n<p>\u7531\u4e8e\u9884\u8bad\u7ec3\u7684 VLA \u6a21\u578b\u901a\u5e38\u7f3a\u4e4f\u5bf9\u672a\u89c1\u8fc7\u573a\u666f\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\uff0c\u56e0\u6b64\u79bb\u7ebf\u9636\u6bb5\u4e13\u6ce8\u4e8e\u4f7f\u7528\u9884\u5148\u6536\u96c6\u7684\u5c0f\u578b\u79bb\u7ebf\u6570\u636e\u96c6\uff08\u5927\u7ea6 20-30 \u6b21\u6f14\u793a\uff09\u8bad\u7ec3\u7b56\u7565\uff0c\u7136\u540e\u518d\u8fc7\u6e21\u5230\u5728\u7ebf\u5fae\u8c03\u9636\u6bb5\uff0c\u4ece\u800c\u51cf\u5c11\u6574\u4f53\u5728\u7ebf\u8bad\u7ec3\u65f6\u95f4\u548c\u63a2\u7d22\u8fc7\u7a0b\u5e26\u6765\u7684\u5b89\u5168\u98ce\u9669\u3002<\/p>\n<p>\u4e3a\u4e86\u80fd\u591f\u6709\u6548\u5229\u7528\u79bb\u7ebf\u6570\u636e\uff0c\u79bb\u7ebf\u9636\u6bb5\u9009\u62e9\uff08Cal-QL\uff09[8] \u4f5c\u4e3a\u4ef7\u503c\u51fd\u6570\u66f4\u65b0\u65b9\u6cd5\uff0c\u4ee5\u63d0\u9ad8 Q \u51fd\u6570\u5bf9\u5206\u5e03\u5916\uff08Out of Distribution, OOD\uff09\u52a8\u4f5c\u7684\u9c81\u68d2\u6027\u3002\u4f7f\u7528 Cal-QL \u8fdb\u884c\u4ef7\u503c\u51fd\u6570\u66f4\u65b0\u7684\u8bad\u7ec3\u76ee\u6807\u5982\u4e0b\uff1a<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-19775a97af5a0c206e7cf304c9ae125d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-19775a97af5a0c206e7cf304c9ae125d.png\"><\/a><\/section>\n<p>\u5c3d\u7ba1\u901a\u5e38\u60c5\u51b5\u4e0b\uff0cCal-QL \u80fd\u591f\u9ad8\u6548\u5730\u5229\u7528\u79bb\u7ebf\u6570\u636e\u96c6\uff0c\u4f46\u5728\u53ea\u6709\u5c11\u91cf\u6f14\u793a\uff08\u4f8b\u5982 20-30 \u4e2a\uff09\u53ef\u7528\u65f6\uff0c\u5176\u4f9d\u7136\u5f88\u96be\u8bad\u7ec3\u51fa\u6709\u6548\u7684\u7b56\u7565\u3002\u56e0\u4e3a\u6709\u9650\u7684\u72b6\u6001-\u52a8\u4f5c\u8986\u76d6\u4f1a\u5bfc\u81f4 Q \u503c\u4f30\u8ba1\u4e0d\u51c6\uff0c\u4ece\u800c\u4f7f\u7b56\u7565\u96be\u4ee5\u63a8\u5e7f\u5230\u672a\u89c1\u8fc7\u7684\u72b6\u6001\u3002\u76f8\u6bd4\u4f20\u7edf\u7684\u79bb\u7ebf\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\uff0c\u5176\u6570\u636e\u96c6\u901a\u5e38\u7531\u591a\u79cd\u884c\u4e3a\u7b56\u7565\u6536\u96c6\u800c\u6210\uff0c\u53ef\u4ee5\u63d0\u4f9b\u5e7f\u6cdb\u7684<span data-pm-slice='1 1 [\"para\",{\"tagName\":\"p\",\"attributes\":{\"style\":\"text-align: justify;margin-left: 8px;margin-right: 8px;line-height: 1.75em;\"},\"namespaceURI\":\"http:\/\/www.w3.org\/1999\/xhtml\"}]'>\u72b6\u6001-\u52a8\u4f5c\u8986\u76d6\u8303\u56f4\u4ee5\u51cf\u5c11\u5206\u5e03\u504f\u79fb\u3002<\/span><\/p>\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u79bb\u7ebf\u9636\u6bb5\u52a0\u5165\u4e86 BC\uff08Behavior Cloning\uff09\u635f\u5931\u3002BC \u635f\u5931\u76f4\u63a5\u6700\u5c0f\u5316\u7b56\u7565\u751f\u6210\u7684\u52a8\u4f5c\u4e0e\u6f14\u793a\u4e2d\u7684\u52a8\u4f5c\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u901a\u8fc7\u9f13\u52b1\u6a21\u578b\u6a21\u4eff\u6f14\u793a\u4e2d\u7684\u884c\u4e3a\uff0c\u5728\u79bb\u7ebf\u9636\u6bb5\u63d0\u4f9b\u989d\u5916\u7684\u76d1\u7763\u4fe1\u53f7\u3002\u8fd9\u6709\u52a9\u4e8e VLA \u6a21\u578b\u5b66\u4e60\u66f4\u6709\u6548\u7684\u7b56\u7565\uff0c\u5e76\u521d\u59cb\u5316\u7a33\u5b9a\u7684 Q \u51fd\u6570\u3002<\/p>\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u4f7f\u7528\u4e00\u81f4\u6027\u7b56\u7565\u52a8\u4f5c\u5355\u5143\u7684 VLA \u6a21\u578b\u66f4\u65b0\u8bad\u7ec3\u76ee\u6807\u5982\u4e0b\uff1a<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-368576c20692e3c54e42895ea1bfe888.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-368576c20692e3c54e42895ea1bfe888.png\"><\/a><\/section>\n<p><strong>\u9636\u6bb5II\uff1a\u5728\u7ebf\u5fae\u8c03\uff08HIL-ConRFT\uff09<\/strong><\/p>\n<p>\u867d\u7136\u79bb\u7ebf\u9636\u6bb5\u53ef\u4ee5\u4ece\u5c11\u91cf\u6f14\u793a\u6570\u636e\u4e2d\u63d0\u4f9b\u521d\u59cb\u7b56\u7565\uff0c\u4f46\u5176\u6027\u80fd\u53d7\u9650\u4e8e\u9884\u5148\u6536\u96c6\u7684\u6f14\u793a\u6570\u636e\u7684\u8303\u56f4\u548c\u8d28\u91cf\u3002\u56e0\u6b64\uff0c\u672c\u6587\u65b9\u6cd5\u5f15\u5165\u5728\u7ebf\u9636\u6bb5\uff0c\u5373 VLA \u6a21\u578b\u901a\u8fc7\u4e0e\u771f\u5b9e\u73af\u5883\u4ea4\u4e92\u5e76\u8fdb\u884c\u5728\u7ebf\u5fae\u8c03\u3002<\/p>\n<p>\u5728\u9636\u6bb5 II \u7684\u5f3a\u5316\u5fae\u8c03\u8fc7\u7a0b\u4e2d\uff0c\u79bb\u7ebf\u9636\u6bb5\u7684\u6f14\u793a\u7f13\u51b2\u533a<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-a4bb548dd44d5b10dce35eedeb704ada.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-a4bb548dd44d5b10dce35eedeb704ada.png\"><\/a>\u4f9d\u7136\u4fdd\u6301\u7528\u4e8e\u5b58\u50a8\u6f14\u793a\u6570\u636e\uff0c\u540c\u65f6\u8fd8\u6709\u4e00\u4e2a\u91cd\u653e\u7f13\u51b2\u533a<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8fba8d233b2335fb8f69740544dcdc09.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8fba8d233b2335fb8f69740544dcdc09.png\"><\/a>\u6765\u5b58\u50a8\u5728\u7ebf\u6570\u636e\uff0c\u5e76\u4f7f\u7528\u5e73\u5747\u91c7\u6837\u6765\u5f62\u6210\u5355\u4e2a\u6279\u6b21\uff08Batch\uff09\u7528\u4e8e\u6a21\u578b\u8bad\u7ec3\u3002<\/p>\n<p>\u7531\u4e8e VLA \u6a21\u578b\u4f1a\u6839\u636e\u5176\u5f53\u524d\u7b56\u7565\u4e0d\u65ad\u6536\u96c6\u65b0\u7684\u6570\u636e\uff0c\u6570\u636e\u5206\u5e03\u4f1a\u81ea\u7136\u5730\u968f\u7740\u7b56\u7565\u800c\u6f14\u53d8\uff0c\u8fd9\u79cd\u6301\u7eed\u7684\u4ea4\u4e92\u51cf\u5c11\u4e86\u79bb\u7ebf\u9636\u6bb5\u9762\u4e34\u7684\u5206\u5e03\u504f\u79fb\u95ee\u9898\u3002\u56e0\u6b64\uff0c\u5728\u7ebf\u5fae\u8c03\u9636\u6bb5\u76f4\u63a5\u4f7f\u7528\u6807\u51c6 Q \u635f\u5931\u8fdb\u884c\u4ef7\u503c\u51fd\u6570\u66f4\u65b0\uff1a<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-61e554ec642ae9c93cd6bbf2867623c2.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-61e554ec642ae9c93cd6bbf2867623c2.png\"><\/a><\/section>\n<p>\u5bf9\u4e8e VLA \u6a21\u578b\uff0c\u5728\u7ebf\u5fae\u8c03\u9636\u6bb5\u4f7f\u7528\u4e0e\u79bb\u7ebf\u9636\u6bb5\u7ed3\u6784\u7edf\u4e00\u7684\u8bad\u7ec3\u76ee\u6807\uff0c\u56e0\u6b64 VLA \u6a21\u578b\u53ef\u4ee5\u5feb\u901f\u9002\u5e94\u5e76\u5b9e\u73b0\u7b56\u7565\u6027\u80fd\u63d0\u5347\uff1a<\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-ffe6fb52d2c71fa7e992da85f1c39604.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-ffe6fb52d2c71fa7e992da85f1c39604.png\"><\/a><\/section>\n<p>\u53ef\u4ee5\u6ce8\u610f\u5230\uff0c\u5728\u7ebf\u9636\u6bb5\u4ecd\u7136\u4fdd\u7559\u4e86 BC \u635f\u5931\u3002\u4e3b\u8981\u6709\u4e24\u4e2a\u539f\u56e0\uff1a<\/p>\n<p>1\uff09\u5b83\u786e\u4fdd\u7b56\u7565\u4e0e\u6f14\u793a\u6570\u636e\u4e00\u81f4\uff0c\u9632\u6b62\u51fa\u73b0\u53ef\u80fd\u5bfc\u81f4\u6027\u80fd\u5d29\u6e83\u7684\u5267\u70c8\u504f\u5dee\uff1b<\/p>\n<p>2\uff09\u7531\u4e8e\u5f3a\u5316\u5b66\u4e60\u672c\u8d28\u4e0a\u6d89\u53ca\u63a2\u7d22\uff0c\u56e0\u6b64\u5b83\u5728\u9ad8\u7ef4\u72b6\u6001-\u52a8\u4f5c\u7a7a\u95f4\u4e2d\u53ef\u80fd\u53d8\u5f97\u4e0d\u7a33\u5b9a\uff0c\u800c BC \u635f\u5931\u53ef\u4ee5\u9632\u6b62\u7b56\u7565\u4e0e\u79bb\u7ebf\u57fa\u7ebf\u65b9\u6cd5\u504f\u5dee\u8fc7\u5927\uff0c\u4ece\u800c\u964d\u4f4e\u4f4e\u6548\u6216\u4e0d\u5b89\u5168\u884c\u4e3a\u7684\u98ce\u9669\u3002\u8fd9\u5728\u771f\u5b9e\u673a\u5668\u4eba\u7684\u8bad\u7ec3\u4e2d\u548c\u8981\u6c42\u7cbe\u7ec6\u63a7\u5236\u7684\u64cd\u4f5c\u4efb\u52a1\u4e2d\u975e\u5e38\u91cd\u8981\uff0c\u5c24\u5176\u662f\u5728\u4e0d\u5b89\u5168\u52a8\u4f5c\u53ef\u80fd\u5bfc\u81f4\u7269\u4f53\u635f\u574f\u6216\u5176\u4ed6\u5371\u9669\u7684\u7269\u7406\u73af\u5883\u4e2d\u3002<\/p>\n<p>\u6b64\u5916\uff0c\u5728\u7ebf\u9636\u6bb5\u901a\u8fc7\u4eba\u5728\u56de\u8def\u5b66\u4e60\u5c06\u4eba\u5de5\u5e72\u9884\u878d\u5165\u5b66\u4e60\u8fc7\u7a0b\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5176\u5141\u8bb8\u4eba\u7c7b\u64cd\u4f5c\u5458\u53ca\u65f6\u5e72\u9884\u5e76\u4ece VLA \u6a21\u578b\u63a5\u7ba1\u673a\u5668\u4eba\u7684\u63a7\u5236\u6743\uff0c\u4ece\u800c\u5728\u63a2\u7d22\u8fc7\u7a0b\u4e2d\u63d0\u4f9b\u7ea0\u6b63\u63aa\u65bd\u3002<\/p>\n<p>\u5f53\u673a\u5668\u4eba\u51fa\u73b0\u7834\u574f\u6027\u884c\u4e3a\uff08\u4f8b\u5982\u78b0\u649e\u969c\u788d\u7269\u3001\u65bd\u52a0\u8fc7\u5927\u7684\u529b\u91cf\u6216\u7834\u574f\u73af\u5883\uff09\u65f6\uff0c\u4eba\u5de5\u5e72\u9884\u81f3\u5173\u91cd\u8981\u3002\u8fd9\u4e9b\u4eba\u5de5\u7ea0\u6b63\u63aa\u65bd\u4f1a\u88ab\u6dfb\u52a0\u5230\u6f14\u793a\u7f13\u51b2\u533a<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-22ec52da4da85b28412e489480886703.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-22ec52da4da85b28412e489480886703.png\"><\/a>\u4e2d\uff0c\u4ee5\u63d0\u4f9b\u9ad8\u5c42\u6b21\u7684\u6307\u5bfc\uff0c\u5f15\u5bfc\u7b56\u7565\u63a2\u7d22\u671d\u7740\u66f4\u5b89\u5168\u3001\u9ad8\u6548\u7684\u65b9\u5411\u6f14\u53d8\u3002<\/p>\n<p>\u9664\u4e86\u786e\u4fdd\u5b89\u5168\u7684\u63a2\u7d22\u4e4b\u5916\uff0c\u4eba\u5de5\u5e72\u9884\u8fd8\u53ef\u4ee5\u52a0\u901f\u7b56\u7565\u6536\u655b\u3002\u56e0\u4e3a\u5f53\u7b56\u7565\u5bfc\u81f4\u673a\u5668\u4eba\u9677\u5165\u4e0d\u53ef\u6062\u590d\u72b6\u6001\u6216\u4e0d\u826f\u72b6\u6001\uff08\u5982\u673a\u68b0\u81c2\u5c06\u88ab\u64cd\u4f5c\u7269\u4f53\u6254\u51fa\u684c\u9762\u6216\u4e0e\u684c\u9762\u649e\u51fb\uff09\uff0c\u6216\u8005\u673a\u5668\u4eba\u9677\u5165\u5c40\u90e8\u6700\u4f18\u89e3\uff08\u5982\u679c\u6ca1\u6709\u5916\u90e8\u5e2e\u52a9\uff0c\u5219\u9700\u8981\u82b1\u8d39\u5927\u91cf\u65f6\u95f4\u548c\u6b65\u9aa4\u624d\u80fd\u514b\u670d\uff09\u65f6\uff0c\u4eba\u7c7b\u64cd\u4f5c\u5458\u53ef\u4ee5\u4ecb\u5165\u7ea0\u6b63\u673a\u5668\u4eba\u7684\u884c\u4e3a\uff0c\u5e76\u5f15\u5bfc\u5176\u671d\u7740\u66f4\u5b89\u5168\u3001\u6709\u6548\u7684\u65b9\u5411\u6f14\u53d8\u3002<\/p>\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u4e0e\u5206\u6790<\/strong><\/p>\n<p>\u4e3a\u4e86\u8bc4\u4f30\u672c\u6587\u65b9\u6cd5\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u5f3a\u5316\u5fae\u8c03 VLA \u6a21\u578b\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5728\u516b\u4e2a\u4e0d\u540c\u7684\u64cd\u4f5c\u4efb\u52a1\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u5e76\u9009\u62e9 Franka Emika \u673a\u68b0\u81c2\u4f5c\u4e3a\u5b9e\u9a8c\u5e73\u53f0\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8b06f2776dfb217847269e00deb2d260.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8b06f2776dfb217847269e00deb2d260.png\"><\/a><\/p>\n<p>\u8fd9\u4e9b\u4efb\u52a1\u65e8\u5728\u53cd\u6620\u5404\u79cd\u64cd\u4f5c\u4efb\u52a1\u6311\u6218\uff0c\u5305\u62ec\u7269\u4f53\u653e\u7f6e\u4efb\u52a1\uff08\u4f8b\u5982\u5c06\u9762\u5305\u653e\u5165\u70e4\u9762\u5305\u673a\uff09\u3001\u8981\u6c42\u7cbe\u786e\u63a7\u5236\u7684\u4efb\u52a1\uff08\u4f8b\u5982\u5c06\u8f6e\u5b50\u5bf9\u51c6\u5e76\u63d2\u5165\u6905\u5b50\u5e95\u5ea7\uff09\u4ee5\u53ca\u67d4\u6027\u7269\u4f53\u5904\u7406\u7684\u4efb\u52a1\uff08\u4f8b\u5982\u60ac\u6302\u4e2d\u56fd\u7ed3\uff09\u3002<\/p>\n<p>\u5728\u516b\u4e2a\u771f\u5b9e\u73af\u5883\u4efb\u52a1\u4e0a\u7684\u5b9e\u9a8c\u6d4b\u8bd5\u8bc1\u660e\u4e86 <strong>ConRFT <\/strong>\u6027\u80fd\u8d85\u8d8a\u6700\u5148\u8fdb\uff08SOTA\uff09\u65b9\u6cd5\u7684\u80fd\u529b\u3002VLA \u6a21\u578b\u5728\u672c\u6587\u63d0\u51fa\u7684\u6846\u67b6\u4e0b\u7ecf\u8fc7 45-90 \u5206\u949f\u7684\u5728\u7ebf\u5fae\u8c03\u540e\uff0c\u5e73\u5747\u4efb\u52a1\u6210\u529f\u7387\u8fbe\u5230 96.3%\uff0c\u5c55\u73b0\u4e86\u6781\u9ad8\u7684\u7b56\u7565\u6027\u80fd\u548c\u6837\u672c\u6548\u7387\u3002<\/p>\n<p>\u6b64\u5916\uff0c\u5b83\u7684\u6027\u80fd\u4f18\u4e8e\u57fa\u4e8e\u4eba\u7c7b\u6536\u96c6\u6570\u636e\u6216\u5f3a\u5316\u5b66\u4e60\u7b56\u7565\u6570\u636e\u8bad\u7ec3\u7684 SFT \u65b9\u6cd5\uff0c\u5e73\u5747\u6210\u529f\u7387\u63d0\u9ad8\u4e86 144%\uff0c\u4e14\u5e73\u5747\u8f68\u8ff9\u957f\u5ea6\u7f29\u77ed\u4e86 1.9 \u500d\uff0c\u8fd9\u4e9b\u7ed3\u679c\u51f8\u663e\u4e86\u4f7f\u7528\u5956\u52b1\u9a71\u52a8\u7684\u5f3a\u5316\u5fae\u8c03\u65b9\u6cd5\u5728\u63d0\u5347 VLA \u6a21\u578b\u5728\u4e0b\u6e38\u4efb\u52a1\u4e0a\u6027\u80fd\u7684\u5de8\u5927\u6f5c\u529b\u3002<\/p>\n<p><strong>\u7b56\u7565\u6d4b\u8bd5<\/strong><\/p>\n<p>\u901a\u8fc7\u5956\u52b1\u9a71\u52a8\u7684\u5f3a\u5316\u5fae\u8c03\uff0cVLA \u6a21\u578b\u8868\u73b0\u51fa\u5bf9\u5916\u90e8\u4eba\u4e3a\u5e72\u6270\u7684\u6781\u5f3a\u9c81\u68d2\u6027\uff0c\u786e\u4fdd\u66f4\u53ef\u9760\u5730\u5b8c\u6210\u4efb\u52a1\u3002\u5305\u542b\u5916\u90e8\u4eba\u4e3a\u5e72\u6270\u7684\u7b56\u7565\u6548\u679c\u53ef\u4ee5\u53c2\u8003 Pick Banana \u548c Hang Chinese Knot \u4efb\u52a1\u3002<\/p>\n<p><strong>Pick Banana\uff08\u542b\u5916\u90e8\u4eba\u4e3a\u5e72\u6270\uff09<\/strong><a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8f37017a4f2b6680304c0e8ccdbe8c26.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8f37017a4f2b6680304c0e8ccdbe8c26.png\"><\/a><\/a><strong>Put Spoon<\/strong>\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-c055ff0a5237540b4420e6533cdc9fef.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-c055ff0a5237540b4420e6533cdc9fef.png\"><\/a><\/a><strong>Open Drawer<\/strong>\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-86a8850285b340a197d6c0303ceadc61.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-86a8850285b340a197d6c0303ceadc61.png\"><\/a><\/a><strong>Pick Bread<\/strong>\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-3e9e075824f444fc5fd45c4788da9be3.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-3e9e075824f444fc5fd45c4788da9be3.png\"><\/a><\/a><strong>Open Toaster<\/strong>\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-47eb05bf9215b52a8422a771cc71869f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-47eb05bf9215b52a8422a771cc71869f.png\"><\/a><\/a><strong>Put Bread<\/strong>\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-074b4df1da80413bb36f0eceb590b66b.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-074b4df1da80413bb36f0eceb590b66b.png\"><\/a><\/a><strong>Insert Wheel<\/strong>\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-ed98a5d918813db9f295f7e1f4d1600a.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-ed98a5d918813db9f295f7e1f4d1600a.png\"><\/a><\/a><strong>Hang Chinese Knot\uff08\u542b\u5916\u90e8\u4eba\u4e3a\u5e72\u6270\uff09<\/strong>\u00a0<a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-9f11dba2464e38ab3b0becc5f9093960.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-9f11dba2464e38ab3b0becc5f9093960.png\"><\/a><\/a><\/p>\n<p><strong>\u5728\u7cbe\u7ec6\u64cd\u4f5c\u4efb\u52a1\u4e0a\u7684\u5c55\u793a<\/strong><\/p>\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5c55\u793a\u672c\u6587\u65b9\u6cd5\u5728 VLA \u6a21\u578b\u5fae\u8c03\u65b9\u9762\u7684\u80fd\u529b\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u7a7f\u9488\u4efb\u52a1\u5b9e\u9a8c\u3002\u7ecf\u8fc7 40 \u5206\u949f\u7684\u5728\u7ebf\u5fae\u8c03\uff0c\u5fae\u8c03\u540e\u7684 VLA \u6a21\u578b\u53d6\u5f97\u4e86 70% \u7684\u6210\u529f\u7387\u3002<a href=\"https:\/\/mp.weixin.qq.com\/s\/qmKMdDRuNc7WFx9k-pz-Tg\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-7e331bc28ebc183528782f94ba613347.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-7e331bc28ebc183528782f94ba613347.png\"><\/a><\/a><\/p>\n<p><strong>\u603b\u7ed3\u4e0e\u5c55\u671b<\/strong><\/p>\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u4e24\u9636\u6bb5\u65b9\u6cd5 <strong>ConRFT<\/strong>\uff0c\u7528\u4e8e\u5728\u771f\u5b9e\u73af\u5883\u4e0b\u7684\u673a\u5668\u4eba\u5e94\u7528\u4e2d\u5f3a\u5316\u5fae\u8c03 VLA \u6a21\u578b\u3002<\/p>\n<p>\u9996\u5148\uff0c\u5229\u7528\u5c11\u91cf\u6f14\u793a\u8fdb\u884c\u79bb\u7ebf\u5fae\u8c03\uff08Cal-ConRFT\uff09\uff0c\u5e76\u901a\u8fc7\u4e00\u4e2a\u7edf\u4e00\u7684\u8bad\u7ec3\u76ee\u6807\u521d\u59cb\u5316\u4e00\u4e2a\u53ef\u9760\u7684\u7b56\u7565\u548c\u4ef7\u503c\u51fd\u6570\uff0c\u8be5\u76ee\u6807\u5c06 Q \u635f\u5931\u548c BC \u635f\u5931\u6574\u5408\u5230\u4e00\u4e2a\u57fa\u4e8e\u4e00\u81f4\u6027\u7b56\u7565\u7684\u6846\u67b6\u4e2d\u3002\u7136\u540e\uff0c\u5728\u7ebf\u5fae\u8c03\u9636\u6bb5\uff08HIL-ConRFT\uff09\u5229\u7528\u4efb\u52a1\u4e13\u7528\u7684\u5956\u52b1\u548c\u4eba\u5de5\u5e72\u9884\u5bf9 VLA \u6a21\u578b\u8fdb\u884c\u5fae\u8c03\u3002<\/p>\n<p>\u5728\u516b\u4e2a\u4e0d\u540c\u7684\u771f\u5b9e\u73af\u5883\u64cd\u4f5c\u4efb\u52a1\u4e0a\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u672c\u6587\u65b9\u6cd5\u5728\u6210\u529f\u7387\u3001\u5e73\u5747\u8f68\u8ff9\u957f\u5ea6\u548c\u6837\u672c\u6548\u7387\u65b9\u9762\u5747\u4f18\u4e8e SOTA \u65b9\u6cd5\u3002\u603b\u800c\u8a00\u4e4b\uff0c\u8fd9\u9879\u5de5\u4f5c\u5c55\u793a\u4e86\u4e00\u79cd\u5229\u7528\u5f3a\u5316\u5b66\u4e60\u8fdb\u884c\u5b89\u5168\u4e14\u9ad8\u6548\u7684 VLA \u6a21\u578b\u5fae\u8c03\u7684\u65b9\u6cd5\u3002<\/p>\n<p><sup>\u53c2\u8003\u6587\u732e<\/sup><\/p>\n<p><sup>[1] Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al. RT-2: vision-language-action models transfer web knowledge to robotic control. Conference on Robot Learning, CoRL, 2023.<\/sup><\/p>\n<p><sup>[2] Kevin Black, Noah Brown, Danny Driess, Adnan Es-mail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al. \u03c00: A vision-language-action flow model for general robot control. arXiv preprint arXiv:2410.24164, 2024.<\/sup><\/p>\n<p><sup>[3] Joshua Jones, Oier Mees, Carmelo Sferrazza, Kyle Stachowicz, Pieter Abbeel, and Sergey Levine. Beyond sight: Finetuning generalist robot policies with heterogeneous sensors via language grounding. arXiv preprint arXiv:2501.04693, 2025.<\/sup><\/p>\n<p><sup>[4] Charles Xu, Qiyang Li, Jianlan Luo, and Sergey Levine. RLDG: robotic generalist policy distillation via reinforcement learning. arXiv preprint arXiv:2412.09858, 2024.<\/sup><\/p>\n<p><sup>[5] Paul F. Christiano, Jan Leike, Tom B. Brown, Miljan Martic, Shane Legg, and Dario Amodei. Deep reinforcement learning from human preferences. In Neural Information Processing Systems, NeurIPS, 2017.<\/sup><\/p>\n<p><sup>[6] Richard Yuanzhe Pang, Weizhe Yuan, Kyunghyun Cho, He He, Sainbayar Sukhbaatar, and Jason Weston. Iterative reasoning preference optimization. In Neural Information Processing Systems, NeurIPS, 2024.<\/sup><\/p>\n<p><sup>[7] Yuhui Chen, Haoran Li, and Dongbin Zhao. Boosting continuous control with consistency policy. In International Conference on Autonomous Agents and Multiagent Systems, AAMAS, 2024.<\/sup><\/p>\n<p><sup>[8] Mitsuhiko Nakamoto, Simon Zhai, Anikait Singh, Max Sobol Mark, Yi Ma, Chelsea Finn, Aviral Kumar, and Sergey Levine. Cal-QL: Calibrated offline RL pre-training for efficient online fine-tuning. In Neural Information Processing Systems, NeurIPS, 2023<\/sup><\/p>\n<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-04-18\" target=\"_blank\">RSS 2025\uff5cConRFT: \u771f\u5b9e\u73af\u5883\u4e0b\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684VLA\u6a21\u578b\u5fae\u8c03\u65b9\u6cd5<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:RSS 2025\uff5cCo [&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 center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[27],"tags":[70,81],"class_list":["post-40230","post","type-post","status-publish","format-standard","hentry","category-news","tag-agent","tag-81"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.9 - 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