{"id":40281,"date":"2025-05-01T02:03:12","date_gmt":"2025-04-30T18:03:12","guid":{"rendered":"https:\/\/17aitech.com\/?p=40281"},"modified":"2025-05-01T02:03:12","modified_gmt":"2025-04-30T18:03:12","slug":"%e9%98%bf%e5%be%b7%e8%8e%b1%e5%be%b7%e5%a4%a7%e5%ad%a6%e5%90%b4%e7%90%a6%ef%bc%9avln-%e4%bb%8d%e6%98%af-vla-%e7%9a%84%e6%9c%aa%e7%ab%9f%e4%b9%8b%e6%88%98%e4%b8%a8%e5%85%b7%e8%ba%ab%e5%85%88%e9%94%8b","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=40281","title":{"rendered":"\u963f\u5fb7\u83b1\u5fb7\u5927\u5b66\u5434\u7426\uff1aVLN \u4ecd\u662f VLA \u7684\u672a\u7adf\u4e4b\u6218\u4e28\u5177\u8eab\u5148\u950b\u5341\u4eba\u8c08"},"content":{"rendered":"

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

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

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2018 \u5e74 6 \u6708\uff0c\u5728\u6fb3\u5927\u5229\u4e9a\u673a\u5668\u4eba\u89c6\u89c9\u7814\u7a76\u4e2d\u5fc3\uff08ACRV\uff09\u505a\u535a\u58eb\u540e\u7814\u7a76\u5458\u7684\u5434\u7426\u548c\u535a\u58eb\u751f Peter Anderson \u9996\u6b21\u5c06 VL\uff08\u89c6\u89c9-\u8bed\u8a00\uff09\u548c\u5f7c\u65f6\u673a\u5668\u4eba\u9886\u57df\u4e3b\u6d41\u7684\u5bfc\u822a\u65b9\u5411\u8054\u7cfb\u8d77\u6765\uff0c\u5728 CVPR 2018 \u53d1\u8868\u4e86\u7b2c\u4e00\u7bc7 VLN\uff08\u89c6\u89c9-\u8bed\u8a00-\u5bfc\u822a\uff09\u5de5\u4f5c\uff1b\u7d27\u63a5\u7740\uff0cAbhishek Das \u4f5c\u4e3a\u4e00\u4f5c\u53d1\u8868\u7684\u201cEmbodiedQA\uff08\u5177\u8eab\u95ee\u7b54\uff09\u201d\u53c8\u8ba9\u201cEmbodied\u201d\u4e00\u8bcd\u8d70\u5165\u79d1\u7814\u89c6\u91ce\u3002<\/p>\n

\u4e00\u4e2a\u6708\u540e\uff0c\u4e00\u5e74\u4e00\u5ea6\u7684 NLP \u9886\u57df\u9876\u4f1a ACL \u5728\u51ac\u5b63\u7684\u58a8\u5c14\u672c\u53ec\u5f00\u3002\u5728\u706b\u70ed\u7684\u4f1a\u573a\u91cc\uff0c\u5434\u7426\u3001Peter Anderson \u548c Abhishek Das \u4e3e\u529e\u4e86\u4e00\u573a\u9898\u4e3a\u201c\u5c06\u8bed\u8a00\u548c\u89c6\u89c9\u4e0e\u52a8\u4f5c\u8054\u7cfb\u8d77\u6765\u201d \u7684 tutorial\uff0c\u771f\u6b63\u5730\u5f00\u542f\u4e86 VLA\uff08\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff09\u8fd9\u4e2a\u5168\u65b0\u9886\u57df\u3002<\/p>\n

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

\u4f1a\u4e0a\u4e00\u4f17 NLP \u5b66\u8005\u90fd\u5f88\u597d\u5947\uff0c\u7eb7\u7eb7\u5411\u4ed6\u4eec\u4e86\u89e3\u4f55\u4e3a\u201cVLA\u201d\uff0c\u800c\u4e09\u4eba\u9664\u4e86\u8c08\u5230 CNN\u3001RNN \u7b49\u57fa\u7840\u65b9\u6cd5\u5916\uff0c\u4e5f\u5206\u4eab\u4e86\u5bf9\u673a\u5668\u4eba\u6570\u636e\u548c\u73af\u5883\u4eff\u771f\u5668\u7684\u770b\u6cd5\uff0c\u5305\u62ec\u5f3a\u5316\u5b66\u4e60\u5728\u8fd9\u4e9b\u5de5\u4f5c\u4e2d\u7684\u8fd0\u7528\u3002<\/p>\n

\u5bf9 VLN \u7684\u63a2\u7d22\u4e5f\u8ba9\u5434\u7426\u610f\u8bc6\u5230\uff0c\u9664\u4e86\u5b66\u4e60\u548c\u7406\u89e3\u591a\u6a21\u6001\u4fe1\u606f\uff0c\u673a\u5668\u8fd8\u8981\u80fd\u4e0e\u771f\u5b9e\u73af\u5883\u8fdb\u884c\u4e00\u5b9a\u7a0b\u5ea6\u7684\u4ea4\u4e92\uff0c\u624d\u80fd\u89e3\u51b3\u5b9e\u9645\u95ee\u9898\uff0c\u4fbf\u5728\u539f\u6709\u7684 VL \u57fa\u7840\u4e0a\u52a0\u8fdb\u201c\u52a8\u4f5c\uff08Action\uff09\u201d\uff0c\u63d0\u51fa\u201cV3A\u201d\u7684\u6982\u5ff5\uff0c\u5373\u201cVision\uff08\u89c6\u89c9\uff09\uff0cAsk\uff08\u63d0\u95ee\uff09\uff0cAnswer\uff08\u56de\u7b54\uff09 and Act\uff08\u884c\u52a8\uff09\u201d\u3002<\/p>\n

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

\u5434\u7426\u672c\u79d1\u6bd5\u4e1a\u4e8e\u4e2d\u56fd\u8ba1\u91cf\u5927\u5b66\u4fe1\u606f\u4e0e\u8ba1\u7b97\u79d1\u5b66\u4e13\u4e1a\uff0c\u5728\u82f1\u56fd\u5df4\u65af\u5927\u5b66\u5b8c\u6210\u7855\u58eb\u548c\u535a\u58eb\u540e\uff0c\u53c8\u5230\u6fb3\u5927\u5229\u4e9a\u963f\u5fb7\u83b1\u5fb7\u5927\u5b66\u505a\u4e863\u5e74\u7684\u535a\u58eb\u540e\u7814\u7a76\uff0c\u5e76\u57282018\u5e74\u5f00\u59cb\u7559\u6821\u4efb\u6559\u3002\u6b64\u5916\uff0c\u4ed6\u8fd8\u9646\u7eed\u83b7\u5f97\u4e86\u6fb3\u5927\u5229\u4e9a\u79d1\u5b66\u9662\u7f57\u7d20\u5956\u4e0e\u5357\u6fb3\u5927\u5229\u4e9a\u6770\u51fa\u9752\u5e74\u79d1\u5b66\u5bb6\u79f0\u53f7\uff0c\u76ee\u524d\u8c37\u6b4c\u5b66\u672f\u7684\u5f15\u7528\u91cf\u5df2\u8d851.4\u4e07\u3002<\/p>\n

\u4f5c\u4e3a\u6700\u65e9\u4e00\u6279\u7814\u7a76 VL \u7684\u5b66\u8005\uff0c\u5434\u7426\u5728 MS COCO \u6570\u636e\u96c6\u53d1\u5e03\u63d0\u51fa\u4e86\u56fe\u50cf\u63cf\u8ff0\u65b9\u5411\u540e\u7acb\u5373\u57282015\u5e74\u8ddf\u8fdb\uff0c\u53c8\u7acb\u5373\u5728\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u6b64\u65b0\u65b9\u5411\u4e0a\u53d1\u8868\u5de5\u4f5c\u201cAsk Me Anything\u201d\uff0c\u5e76\u4e8e2018\u5e74\u5f00\u542f\u4e86 VLA \u9886\u57df\u3002<\/p>\n

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

\u4e03\u5e74\u8fc7\u53bb\uff0cVLA \u5df2\u6447\u8eab\u4e00\u53d8\u6210\u4e3a\u5f53\u4e0b\u5177\u8eab\u667a\u80fd\u9886\u57df\u5185\u6700\u706b\u70ed\u7684\u8bdd\u9898\uff0c\u6d77\u5185\u5916\u8bde\u751f\u4e86\u82f1\u4f1f\u8fbe\u7684 GROOT N1\u3001Figure AI \u7684 Helix\u3001Physical Intelligence \u7684 \u03c00\u3001\u6e05\u534e\u7684 RDT \u7b49\u673a\u5668\u4eba VLA \u6a21\u578b\u3002<\/p>\n

\u800c\u5f00\u542f\u4e86\u65b0\u9886\u57df\u7684\u5434\u7426\uff0c\u5219\u9009\u62e9\u5728 VLN \u65b9\u5411\u4e0a\u7ee7\u7eed\u624e\u6839\uff0c\u5e76\u4ece\u53bb\u5e74\u5f00\u59cb\u7740\u529b\u4e8e\u4e00\u7cfb\u5217\u771f\u673a\u7814\u7a76\u3002\u76ee\u524d\u4ed6\u6b63\u5728\u6fb3\u5927\u5229\u4e9a\u963f\u5fb7\u83b1\u5fb7\u5927\u5b66\u4efb\u526f\u6559\u6388\uff0c\u5e26\u9886\u81ea\u5df1\u7684\u5b9e\u9a8c\u5ba4\u201cV3A Lab\u201d\uff0c\u8fd8\u5728\u6fb3\u5927\u5229\u4e9a\u673a\u5668\u5b66\u4e60\u7814\u7a76\u4e2d\u5fc3\uff08AIML\uff09\u91cc\u62c5\u4efb\u89c6\u89c9\u4e0e\u8bed\u8a00\u7814\u7a76\u65b9\u5411\u7684\u5b9e\u9a8c\u5ba4\u4e3b\u4efb\u3002<\/p>\n

\u804a\u5230\u5177\u8eab\u667a\u80fd\u4e0e VLA\uff0c\u5434\u7426\u8868\u793a VLA \u4e0d\u5e94\u5c40\u9650\u4e8e\u4e0a\u534a\u8eab\u7684\u64cd\u4f5c\u4efb\u52a1\uff0c\u201c\u5f88\u591a\u4eba\u8ba4\u4e3a\u5bfc\u822a\u95ee\u9898\u5df2\u7ecf\u88ab\u89e3\u51b3\uff0cmanipulation \u66f4\u597d\u548c\u4ea7\u4e1a\u7ed3\u5408\u5e76\u843d\u5730\uff0c\u4f46\u5176\u5b9e VLN \u4ecd\u6709\u5f88\u591a\u5c1a\u5f85\u7a81\u7834\u7684\u7a7a\u95f4\u3002\u201d<\/p>\n

\u4ee5\u4e0b\u662f AI \u79d1\u6280\u8bc4\u8bba\u4e0e\u5434\u7426\u7684\u5bf9\u8bdd\u3002<\/p>\n

<\/p>\n

VLA \u7684\u201c\u4e03\u5e74\u4e4b\u75d2\u201d<\/strong><\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a2018\u5e74\u60a8\u63d0\u51fa\u4e86\u201cV3A\u201d\u7684\u6982\u5ff5\uff0c\u5728\u539f\u6709\u7684 VL \u4e0a\u52a0\u8fdb action\uff0c\u5f53\u65f6\u662f\u53d7\u5230\u4ec0\u4e48\u542f\u53d1\u4fc3\u4f7f\u60a8\u5f00\u59cb\u4e86 VLA \u7684\u7814\u7a76\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u6700\u65e9\u5728 CVPR 2018 \u4e0a\u6211\u548c Peter\u3001Abhishek \uff08Embodied VQA\u4f5c\u8005\uff09 \u78b0\u5728\u4e00\u8d77\uff0c\u89c9\u5f97\u5927\u5bb6\u7684\u8bba\u6587\u90fd\u5f88\u6709\u610f\u601d\uff0c\u51b3\u5b9a\u5728\u9a6c\u4e0a\u4e3e\u884c\u7684 ACL \u4e0a\u4e00\u8d77\u529e\u4e00\u4e2a tutorial\u3002\u5f53\u65f6\u6211\u8ba4\u4e3a VL \u5df2\u7ecf\u88ab\u8bb2\u8fc7\u5f88\u591a\u6b21\uff0c\u518d\u529e tutorial \u7684\u610f\u4e49\u4e0d\u5927\uff0c\u5e94\u8be5\u52a0\u4e9b\u65b0\u4e1c\u897f\u8fdb\u6765\uff0c\u800c\u6211\u4eec\u505a\u7684\u5bfc\u822a\u548c Abhishek \u505a\u7684\u95ee\u7b54\u90fd\u5c5e\u4e8e action\uff0c\u90a3\u4e0d\u5982\u5c31\u505a\u4e00\u4e2a\u5173\u4e8e\u89c6\u89c9\uff08Vision\uff09\uff0c\u8bed\u8a00\uff08Language\uff09\u548c\u52a8\u4f5c\uff08Action\uff09\u7ed3\u5408\u7684\u8bb2\u5ea7\uff0c\u7b97\u662f\u975e\u5e38\u65e9\u671f\u7684VLA\u7684\u6982\u5ff5\u3002<\/p>\n

\u6211\u4eec\u7684\u9996\u7bc7 VLN \u5de5\u4f5c\u6253\u5f00\u4e86\u8fd9\u4e2a\u65b0\u9886\u57df\uff0c\u4f46\u4e3b\u8981\u662f\u63d0\u51fa\u4e86 R2R \u6570\u636e\u96c6\u548c\u4efb\u52a1\uff0c\u4e0d\u6e29\u4e0d\u706b\u3002\u5230\u4e86\u4e0b\u4e00\u5e74\uff0cCVPR \u7684\u6700\u4f73\u5b66\u751f\u8bba\u6587\uff0c\u5373\u738b\u946b\u7528\u6a21\u4eff\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u4e00\u8d77\u53bb\u89e3\u51b3 VLN \u7684\u5de5\u4f5c\uff0c\u5f7b\u5e95\u8ba9\u6b64\u9886\u57df\u706b\u4e86\u8d77\u6765\u3002<\/p>\n

\u56e0\u4e3a\u5f88\u559c\u6b22 VLA \u7684\u6982\u5ff5\uff0c\u6211\u5c31\u63d0\u51fa\u4e86\u201cV3A\u201d\uff0c\u5373\u201cVision\uff08\u89c6\u89c9\uff09\uff0cAsk\uff08\u63d0\u95ee\uff09\uff0cAnswer\uff08\u56de\u7b54\uff09 and Act\uff08\u884c\u52a8\uff09\u201d\u3002\u5148\u662f\u5e0c\u671b\u673a\u5668\u4eba\u6216\u865a\u62df\u7684 agent \u57fa\u4e8e\u89c6\u89c9\u8f93\u5165\u80fd\u56de\u7b54\uff0c\u8fd9\u8bf4\u660e\u5b83\u80fd\u542c\u61c2\uff1b\u63a5\u7740\u662f\u5f53\u65f6 VQG\uff08\u89c6\u89c9\u95ee\u9898\u751f\u6210\uff09\u7684\u7814\u7a76\u8ba4\u4e3a\u63d0\u95ee\u6bd4\u56de\u7b54\u66f4\u96be\uff0c\u8fd9\u8bf4\u660e\u5b83\u6709\u66f4\u5f3a\u7684\u63a8\u7406\u80fd\u529b\uff1b\u800c\u5728\u6709\u81ea\u7136\u8bed\u8a00\u5bf9\u8bdd\u80fd\u529b\u540e\uff0c\u6211\u4eec\u5e0c\u671b\u6a21\u578b\u80fd\u6267\u884c\u5982\u5bfc\u822a\u7b49\u52a8\u4f5c\uff0c\u4e5f\u63d0\u51fa\u4e86\u201cRemote Embodied Visual Referring Expression\uff08\u8fdc\u7a0b\u5177\u8eab\u89c6\u89c9\u6307\u79f0\u8868\u8fbe\uff09\u201d\uff0c\u5c31\u662f\u8ba9\u673a\u5668\u4eba\u80fd\u5b8c\u6210\u201c\u5e2e\u6211\u627e\u4e2a\u52fa\u5b50\u201d\u8fd9\u7c7b\u5bfc\u822a\u4efb\u52a1\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u5728\u60a8\u770b\u6765\uff0c2018 \u5e74\u524d\u540e\u7684\u90a3\u6ce2 VLA \u4e0e\u73b0\u5728\u5177\u8eab\u667a\u80fd\u9886\u57df\u7684 VLA\uff0c\u6709\u4ec0\u4e48\u4e0d\u540c\u4e4b\u5904\uff1fVLA \u7684\u53d1\u5c55\u7ecf\u5386\u8fc7\u54ea\u51e0\u4e2a\u6bd4\u8f83\u91cd\u8981\u7684\u9636\u6bb5\u5462\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u6211\u4eec\u521a\u63d0\u51fa VLA \u7684\u6982\u5ff5\u65f6\uff0cmanipulation \u8fd9\u4e00\u5757\u8fd8\u4e0d\u70ed\u95e8\uff0c\u90a3\u65f6\u7684 action \u53ef\u80fd\u66f4 high level\uff0c\u79bb\u673a\u5668\u4eba\u8fd8\u66f4\u8fdc\u4e00\u4e9b\uff0c\u6bd4\u5982\u7406\u89e3\u5bf9\u5e94\u573a\u666f\u53bb\u56de\u7b54\u95ee\u9898\u6216\u5bfc\u822a\u8d70\u5230\u6307\u5b9a\u4f4d\u7f6e\u53bb\u627e\u67d0\u4e00\u4e1c\u897f\u3002\u800c\u4e14\u6570\u636e\u91cf\u7684\u5dee\u8ddd\u4e5f\u6bd4\u8f83\u5927\uff0c\u4ee5\u524d VLA \u7684\u6570\u636e\u91cf\u76f8\u5bf9\u4e8e\u73b0\u5728\u6765\u8bf4\u90fd\u662f\u5c0f\u91cf\u7ea7\u7684\u3002<\/p>\n

Embodied QA \u51fa\u6765\u540e VLA \u6709\u4e00\u6bb5\u505c\u6ede\u671f\uff0c\u56e0\u5176\u6240\u7528\u7684\u6570\u636e\u5b58\u5728\u7248\u6743\u95ee\u9898\u5bfc\u81f4\u5927\u5bb6\u6ca1\u6cd5\u7ee7\u7eed\u4f7f\u7528\uff1b\u800c VLN \u5728 VLA \u91cc\u53d1\u6325\u4e86\u975e\u5e38\u5927\u7684\u4f5c\u7528\uff0c\u6211\u4eec\u7684\u5de5\u4f5c\u5f88\u65e9\u671f\u5730\u628a VL \u548c action \u7ed3\u5408\u8d77\u6765\uff0c\u518d\u52a0\u4e0a\u738b\u946b\u5728 CVPR 2019 \u7684\u5de5\u4f5c\uff0cVLN \u548c VLA \u53d7\u5230\u4e86\u5f88\u5927\u5173\u6ce8\uff1b\u65f6\u95f4\u518d\u5f80\u540e\u5c31\u662f\u4e0a\u4ea4\u5927\u5362\u7b56\u543e\u8001\u5e08\u628a manipulation \u548c\u5177\u8eab\u667a\u80fd\u7ed3\u5408\u8d77\u6765\uff0c\u63d0\u51fa\u4e86\u5f88\u591a\u65b0\u7684\u6570\u636e\u96c6\u548c\u4efb\u52a1\u3002<\/p>\n

\u63a5\u7740\u662f\u975e\u5e38\u5173\u952e\u7684\u8282\u70b9\uff0cGPT \u7cfb\u5217\u7684\u51fa\u73b0\u3002\u6b64\u524d\u5c3d\u7ba1\u6709 VL \u5927\u6a21\u578b\uff0c\u4f46\u5728\u89e3\u51b3\u5f88\u591a VQA \u95ee\u9898\u4e0a\u7684\u8868\u73b0\u90fd\u4e00\u822c\uff0c\u5f53\u65f6\u666e\u904d\u8ba4\u4e3a\u5728\u89e3\u51b3\u597d VL \u95ee\u9898\u524d\uff0c\u8fd8\u53bb\u7ed3\u5408 action \u662f\u4e0d\u592a\u53ef\u80fd\u5b9e\u73b0\u7684\u3002\u800c GPT \u7684\u51fa\u73b0\uff08\u7279\u522b\u662f\u5f15\u5165\u591a\u6a21\u6001\u540e\uff09\u89e3\u51b3\u4e86\u5f88\u591a VL \u89e3\u51b3\u4e0d\u4e86\u548c\u89e3\u51b3\u4e0d\u597d\u7684\u4efb\u52a1\uff0c\u751a\u81f3\u662f\u5176\u96f6\u6837\u672c\u7684\u8868\u73b0\u90fd\u8fdc\u8d85\u5f53\u65f6\u6700\u5927\u7684 VL \u9884\u8bad\u7ec3\u6a21\u578b\uff0c\u56e0\u6b64\u5927\u5bb6\u5c31\u666e\u904d\u8ba4\u4e3a VL \u7684\u4e00\u4e9b\u57fa\u7840\u4efb\u52a1\u5df2\u88ab\u89e3\u51b3\uff0c\u6240\u4ee5\u5f00\u59cb\u5f15\u5165\u66f4\u9ad8\u5c42\u6b21\u7684\u7ef4\u5ea6\uff0c\u5373\u5229\u7528\u5c06\u89c6\u89c9\u8bed\u8a00\u7ed3\u5408\u8d77\u6765\u53bb\u9884\u6d4b\u3001\u8f93\u51fa action\uff0c\u800c\u4e0d\u662f\u5355\u7eaf\u5730\u505a VQA \u8fd9\u79cd\u96be\u4ee5\u843d\u5730\u7684\u4e1c\u897f\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u5177\u8eab\u667a\u80fd\u70ed\u6f6e\u4e4b\u524d\u7206\u706b\u7684\u662f\u81ea\u52a8\u9a7e\u9a76\u884c\u4e1a\uff0c\u5728\u60a8\u770b\u6765\uff0c\u81ea\u9a7e\u4e0e\u673a\u5668\u4eba\u5206\u522b\u5bf9 VLA \u63d0\u51fa\u4e86\u600e\u6837\u7684\u72ec\u7279\u8981\u6c42\uff1f\u5982\u679c\u5355\u7eaf\u4ece\u5bfc\u822a\u7684\u89d2\u5ea6\u6765\u770b\uff0c\u5bf9\u4eba\u5f62\u673a\u5668\u4eba\uff08\u53cc\u8db3\uff09\u7684\u7814\u7a76\u610f\u4e49\u5927\u5417\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u81ea\u9a7e\u67d0\u79cd\u610f\u4e49\u662f\u4e5f\u662f VLA\uff0cV \u662f\u6237\u5916\u573a\u666f\uff0cL \u662f\u7528\u6237\u9700\u6c42\uff0cA \u5c31\u662f\u6c7d\u8f66\u6240\u6267\u884c\u7684\u64cd\u4f5c\u3002\u5f53\u7136\u8fd9\u91cc A \u7684\u64cd\u4f5c\u53ef\u80fd\u4f1a\u5206\u4e3a\u6c7d\u8f66\u672c\u8eab\u7684\u52a8\u4f5c\uff0c\u6bd4\u5982\u8f6c\u5f2f\uff0c\u52a0\u901f\uff0c \u51cf\u901f\u7b49\u7b49\uff0c\u4e5f\u53ef\u4ee5\u8f66\u673a\u7cfb\u7edf\u7684\u64cd\u4f5c\uff0c\u6bd4\u5982\u6267\u884c\u64ad\u653e\u97f3\u4e50\uff0c\u5bfc\u822a\u81f3\u67d0\u5730\u8fd9\u7c7b\u52a8\u4f5c\u3002<\/p>\n

\u673a\u5668\u4eba\u7684 VLA \u9664\u4e86\u65e0\u4eba\u673a\u4e4b\u5916\uff0c\u5927\u90e8\u5206\u53ef\u80fd\u8fd8\u662f\u5728\u5ba4\u5185\u573a\u666f\u4e2d\uff0cV \u4e3b\u8981\u662f\u9488\u5bf9\u5ba4\u5185\u573a\u666f\u548c\u7269\u4f53\uff0c\u800c A \u5219\u662f\u8981\u6c42\u52a8\u4f5c\u7cbe\u5ea6\u66f4\u9ad8\u7684 manipulation \u6216\u8005\u79fb\u52a8\u7cbe\u5ea6\u66f4\u9ad8\u7684 navigation\u3002<\/p>\n

\u6211\u4eec\u53bb\u5e74\u57fa\u672c\u628a VLN\uff0c\u5c31\u662f\u7684\u5355\u7eaf\u89c6\u89c9\u8bed\u8a00\u5bfc\u822a\u8fd9\u4e00\u5757\uff0c\u5728\u5b9e\u4f53\u673a\u5668\u4eba\u4e0a\u5b9e\u73b0\u4e86\u90e8\u7f72\u548c\u8fd0\u884c\uff0c\u5305\u62ec\u56db\u8db3\u7684\u673a\u5668\u72d7\u626b\u5730\u673a\u5668\u4eba\u548c\u8f6e\u5f0f\u7684\u673a\u5668\u4eba\u3002\u6211\u89c9\u5f97\u5728\u53cc\u8db3\u4e0a\u7684\u90e8\u7f72\u95ee\u9898\u4e5f\u4e0d\u5927\uff0c\u56e0\u4e3a\u6211\u4eec\u76ee\u524d\u5927\u8111\u548c\u5c0f\u8111\u7684\u5f00\u53d1\u8fd8\u662f\u5206\u5f00\u7684\uff0c\u53cc\u8db3\u8fd9\u8fb9\u7684\u63a7\u5236\u6ca1\u6709\u95ee\u9898\u7684\u8bdd\uff0c\u5bf9\u4e8e\u6211\u4eec VLN \u6765\u8bf4\u662f\u4e00\u6837\u7684\uff0c\u5c31\u662f\u6839\u636e\u5f53\u524d VL \u4fe1\u606f\uff0c\u8f93\u51fa\u4e00\u4e2a\u673a\u5668\u4eba\u8981\u6267\u884c\u7684\u7ebf\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\uff0c\u800c\u636e\u6211\u6240\u77e5\uff0c\u65e0\u8bba\u5e95\u76d8\u5f0f\u8fd8\u662f\u8db3\u5f0f\uff0c\u90fd\u53ef\u4ee5\u63a5\u53d7\u8fd9\u4e24\u4e2a\u4fe1\u606f\u5b8c\u6210\u4e0b\u5c42\u7684\u52a8\u4f5c\u6307\u4ee4\u3002<\/p>\n

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

\u5177\u8eab\u667a\u80fd\u5bfc\u822a\u56e2\u961f\u6210\u5458\u4e0e\u673a\u5668\u4eba\u5408\u7167<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u5728\u7ecf\u5386\u4e86 VLA \u4ece\u5750\u51b7\u677f\u51f3\u5230\u5982\u4eca\u5927\u70ed\u7684\u8fc7\u7a0b\u540e\uff0c\u60a8\u662f\u5982\u4f55\u770b\u5f85\u73b0\u5728\u5927\u5bb6\u5bf9 VLA \u7684\u70ed\u60c5\u5462\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>VLA \u7684\u5927\u70ed\u5176\u5b9e\u662f\u4ea7\u4e1a\u548c\u5b66\u672f\u53d1\u5c55\u7684\u53cc\u91cd\u7ed3\u679c\u3002\u4ece\u4ea7\u4e1a\u89c6\u89d2\u6765\u770b\uff0c\u4efb\u4f55\u843d\u5730\u573a\u666f\u5747\u9700\u5904\u7406\u591a\u6a21\u6001\u8f93\u5165\uff0c\u5e76\u4f9d\u8d56\u4e00\u4e2a high level \u7684\u63a8\u7406\u6a21\u578b\u8f85\u52a9\u5b8c\u6210\u590d\u6742\u7684\u89c4\u5212\u4e0e\u884c\u4e3a\u51b3\u7b56\u3002\u4eba\u7c7b\u5927\u8111\u7684\u5de5\u4f5c\u673a\u5236\u5373\u662f\u5178\u578b\u4f8b\u8bc1\u2014\u2014\u901a\u8fc7\u6574\u5408\u89c6\u89c9\u3001\u542c\u89c9\u3001\u89e6\u89c9\u7b49\u591a\u6a21\u6001\u611f\u77e5\u4fe1\u606f\uff0c\u7ecf\u4e2d\u67a2\u795e\u7ecf\u5904\u7406\u540e\u751f\u6210\u5177\u4f53\u52a8\u4f5c\u6307\u4ee4\uff0c\u8fd9\u4e00\u6574\u5408\u51b3\u7b56\u8fc7\u7a0b\u5728\u65e5\u5e38\u573a\u666f\u4e2d\u4e0d\u53ef\u6216\u7f3a\u3002\u4ece\u5b66\u672f\u7814\u7a76\u8d8b\u52bf\u800c\u8a00\uff0c\u81ea\u7136\u8bed\u8a00\u5904\u7406\uff08NLP\uff09\u4e0e\u8ba1\u7b97\u673a\u89c6\u89c9\uff08CV\uff09\u9886\u57df\u7684\u6838\u5fc3\u4efb\u52a1\u5df2\u53d6\u5f97\u663e\u8457\u8fdb\u5c55\uff0c\u7814\u7a76\u8005\u6b63\u79ef\u6781\u63a2\u7d22\u65b0\u7684\u524d\u6cbf\u65b9\u5411\u3002<\/p>\n

\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0cVLA \u9886\u57df\u7684\u7814\u7a76\u8005\u9700\u7cbe\u51c6\u5b9a\u4f4d\u5e94\u7528\u573a\u666f\uff0c\u5f04\u6e05\u695a L\uff08\u8bed\u8a00\uff09\u7684\u6838\u5fc3\u4ef7\u503c\uff0c\u5373\u4e3a\u673a\u5668\u4eba\u63d0\u4f9b\u4e86\u4e00\u79cd\u66f4\u7b80\u4fbf\u7684\u4eba\u673a\u4ea4\u4e92\u65b9\u5f0f\u3002\u8fd9\u79cd\u4ea4\u4e92\u6a21\u5f0f\u5177\u6709\u9ad8\u5ea6\u7684\u7075\u6d3b\u6027\u4e0e\u81ea\u7136\u6027\uff0c\u80fd\u591f\u652f\u6301\u7528\u6237\u4ee5\u968f\u610f\u7684\u65b9\u5f0f\u4e0b\u8fbe\u6307\u4ee4\uff0c\u7531\u6b64\u884d\u751f\u51fa\u4e00\u7cfb\u5217\u5168\u65b0\u7684\u6280\u672f\u6311\u6218\u2014\u2014\u4e0d\u540c\u4e8e\u4f20\u7edf\u9884\u8bbe\u4efb\u52a1\u7684\u56fa\u5b9a\u6a21\u5f0f\uff0cVLA \u9762\u4e34\u7684\u4efb\u52a1\u5f80\u5f80\u5177\u6709\u663e\u8457\u7684\u4e34\u65f6\u6027\u7279\u5f81\uff0c\u9700\u8981\u5b9e\u65f6\u54cd\u5e94\u975e\u9884\u5b9a\u4e49\u7684\u52a8\u6001\u9700\u6c42\u3002<\/p>\n

<\/p>\n

VLN \u4e4b\u4e8e VLA<\/strong><\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u90a3\u60a8\u8ba4\u4e3a\u5bfc\u822a\u7684\u96be\u70b9\u548c\u91cd\u8981\u6027\u5728\u54ea\u91cc\uff1f\u600e\u4e48\u7406\u89e3 VLN \u8ddf VLA \u4e4b\u95f4\u7684\u5173\u7cfb\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u89c6\u89c9\u5bfc\u822a\u4f5c\u4e3a\u4efb\u52a1\u672c\u8eab\u53ef\u80fd\u662f\u7b80\u5355\u7684\uff0c\u4f46\u89c6\u89c9\u8bed\u8a00\u5bfc\u822a\uff08VLN\uff09\u8fd8\u662f\u6bd4\u8f83\u96be\u7684\u3002<\/p>\n

\u4e3e\u4e2a\u4f8b\u5b50\uff0c\u98df\u7269\u6389\u4e0b\u9910\u684c\u540e\u8ba9\u73b0\u6709\u7684\u626b\u5730\u673a\u5668\u4eba\u6e05\u626b\uff0c\u8981\u4e0d\u9009\u5168\u5c4b\u6e05\u626b\uff0c\u8981\u4e0d\u628a\u673a\u5668\u4eba\u642c\u5230\u9644\u8fd1\u8ba9\u5b83\u8f6c\u5708\u626b\uff0c\u6216\u8005\u518d\u806a\u660e\u4e00\u4e9b\u7684\u80fd\u5728 APP \u4e0a\u628a\u9910\u684c\u7684\u533a\u57df\u753b\u51fa\u6765\u8ba9\u5b83\u8f6c\u5708\u626b\u3002<\/p>\n

\u4f46 VLN \u80fd\u5b9e\u73b0\u7684\u662f\u2014\u2014\u7ed9\u4e00\u4e2a\u6307\u4ee4\u8ba9\u5b83\u53bb\u9910\u684c\u9644\u8fd1\u6e05\u7406\u98df\u7269\uff0c\u5b83\u80fd\u5229\u7528\u8fd9\u4fe1\u606f\u77e5\u9053\uff0c\u5148\u5bfc\u822a\u5230\u53a8\u623f\u9910\u684c\u7684\u4f4d\u7f6e\uff0c\u4f7f\u7528\u89c6\u89c9\u4fe1\u606f\u627e\u5230\u98df\u7269\u6b8b\u6e23\u4f4d\u7f6e\uff0c\u53ea\u53bb\u6e05\u626b\u8fd9\u4e00\u5757\u533a\u57df\uff0c\u800c\u4e14\u76f8\u6bd4\u8fc7\u53bb\u7684\u5bfc\u822a\u4efb\u52a1\u548c\u65b9\u6cd5\uff0cVLN \u66f4\u64c5\u957f\u5904\u7406\u5f88\u4e34\u65f6\u6027\u7684\u4e8b\u4ef6\u3002\u6211\u4eec\u6700\u8fd1\u5728\u626b\u5730\u673a\u5668\u4eba\u4e0a\u4e5f\u57fa\u672c\u4e0a\u5b9e\u73b0\u4e86\u8fd9\u4e9b\u529f\u80fd\uff0c\u5bf9\u8fd9\u4e2a\u6280\u672f\u611f\u5174\u8da3\u7684\u626b\u5730\u673a\u5668\u4eba\u6216\u5bb6\u7528\u673a\u5668\u4eba\u516c\u53f8\uff0c\u4e5f\u53ef\u4ee5\u548c\u6211\u4eec\u8054\u7cfb\u8ba8\u8bba\u3002<\/p>\n

\u5f53\u7136\uff0cVLA \u4e2d\u7684 action \u6709\u5f88\u591a\uff0cVLN \u53ea\u662f\u5176\u4e2d\u4e00\u4e2a\u5b50\u96c6\uff0c\u9700\u8981\u5177\u4f53\u573a\u666f\u5177\u4f53\u5206\u6790\u3002\u6709\u4e9b\u65f6\u5019\u53ef\u80fd\u5e76\u4e0d\u9700\u8981 VLN\uff0c\u6bd4\u5982\u673a\u5668\u4eba\u5982\u679c\u5904\u5728\u5de5\u5382\u3001\u8d85\u5e02\u8fd9\u6837\u7684\u56fa\u5b9a\u573a\u666f\u4e0b\uff0c\u505a\u5206\u62e3\u6216\u6e05\u7406\u8d27\u67b6\u8fd9\u4e9b\u805a\u7126\u4e0a\u534a\u8eab\u7684\u4efb\u52a1\uff0c\u5b83\u4eec\u4ee5\u975e\u5e38\u56fa\u5b9a\u7684\u8f68\u8ff9\u53bb\u8fd0\u52a8\u5c31\u53ef\u4ee5\u4e86\u3002<\/p>\n

\u4f46\u662f\u5c06\u6765\u5982\u679c\u5230\u4e86\u5bb6\u7528\u7684\u5b9e\u9645\u573a\u666f\uff0c\u8fd8\u662f\u9700\u8981\u673a\u5668\u4eba\u4e0d\u65ad\u79fb\u52a8\u7684\uff0c\u8fd9\u65f6\u7684\u5bfc\u822a\u95ee\u9898\u5c31\u6bd4\u8f83\u96be\u89e3\u51b3\u3002\u6211\u548c\u5317\u5927\u7684\u738b\u9e64\u8001\u5e08\u4e5f\u8ba8\u8bba\u8fc7\uff0c\u5ba4\u5185\u573a\u666f\u8fd8\u662f\u6709\u5f88\u591a\u6311\u6218\uff0c\u9664\u4e86\u5efa\u6a21\u4e0d\u51c6\u5916\uff0c\u8fd8\u6709\u4eba\u79fb\u52a8\u6216\u4ea4\u4e92\u7684\u5f71\u54cd\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u4eba\u7684\u79fb\u52a8\u6216\u4ea4\u4e92\u8fd9\u7c7b\u52a8\u6001\u573a\u666f\u5bf9 VLN \u6700\u5927\u7684\u6311\u6218\u6216\u96be\u70b9\u5728\u54ea\u91cc\uff1f\u76ee\u524d\u90fd\u6709\u54ea\u4e9b\u53ef\u884c\u7684\u63a2\u7d22\u65b9\u5411\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u5176\u5b9e\u52a8\u6001\u573a\u666f\u5e26\u6765\u6700\u5927\u7684\u5f71\u54cd\u5c31\u662f\u4e4b\u524d\u57fa\u4e8eslam\u5efa\u56fe\u5f0f\u7684\u5bfc\u822a\u4e0d\u518d\u9002\u7528\u4e86\uff0c\u63d0\u524d\u5229\u7528\u5730\u56fe\u4fe1\u606f\u89c4\u5212\u597d\u7684\u5bfc\u822a\u8def\u7ebf\u56e0\u4e3a\u52a8\u6001\u573a\u666f\u53ef\u80fd\u4e0d\u518d\u80fd\u5b8c\u6210\u4efb\u52a1\u3002<\/p>\n

\u8fd9\u4e2a\u65f6\u5019\u5c31\u9700\u8981\u7c7b\u4f3c\u4e8e VLN \u7684\u6280\u672f\u6765\u8f85\u52a9\uff0c\u5c31\u662f\u5229\u7528\u5f53\u524d\u7684\u89c6\u89c9\u4fe1\u606f\u4ee5\u53ca\u6700\u521d\u7684\u8bed\u8a00\u6307\u4ee4\uff0c\u6765\u505a\u51fa\u77ed\u7a0b\u7684\u5bfc\u822a\u8def\u5f84\u89c4\u5212\uff0c\u751a\u81f3\u662f\u53ea\u9884\u6d4b\u4e0b\u4e00\u6b65\u5f80\u54ea\u91cc\u8d70\uff0c\u800c\u5230\u4e86\u4e0b\u4e00\u6b65\uff0c\u518d\u7ed3\u5408\u4fe1\u606f\u505a\u51fa\u65b0\u7684\u9884\u6d4b\u3002<\/p>\n

\u6211\u4eec\u6700\u8fd1\u4e5f\u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u7684\u6570\u636e\u53eb Obstructed VLN\uff0c\u8003\u8651\u7684\u5c31\u662f\u8fd9\u4e2a\u95ee\u9898\uff0c\u5c31\u662f\u5728\u884c\u8d70\u8fc7\u7a0b\u4e2d\u53d1\u73b0\u51fa\u73b0\u4e86\u8def\u5f84\u7684\u906e\u6321\uff0c\u9700\u8981\u505a\u51fa\u4e34\u65f6\u6027\u7684\u8c03\u6574\uff0c\u5927\u5bb6\u53ef\u4ee5\u5173\u6ce8\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u4e4b\u524d\u6797\u501e\u8001\u5e08\u56e2\u961f\u53d1\u8868\u7684\u7efc\u8ff0\u4e5f\u5c06 VLN \u5217\u4e3a\u5177\u8eab\u667a\u80fd\u7684\u4e00\u5927\u5173\u952e\u4efb\u52a1\uff0c\u90a3VLN\u53d1\u5c55\u81f3\u4eca\u5df2\u7ecf\u4e03\u5e74\u4e86\uff0c\u9664\u4e86\u5f00\u5c71\u4e4b\u4f5c\u5916\uff0c\u60a8\u8ba4\u4e3a\u54ea\u4e9b\u5de5\u4f5c\u662f\u5173\u952e\u5462\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u5f88\u8363\u5e78\u6211\u4eec\u4e3b\u5bfc\u4e86 VLN \u9886\u57df\u591a\u4e2a\u5173\u952e\u8282\u70b9\u5de5\u4f5c\u3002\u5728\u63d0\u51fa\u4e09\u4e2a\u6570\u636e\u96c6\u540e\uff0c\u76f8\u7ee7\u91c7\u7528CNN\u3001RNN\u53ca\u6ce8\u610f\u529b\u673a\u5236\u7b49\u65b9\u6cd5\u5f00\u5c55\u7814\u7a76\u3002<\/p>\n

Transformer\u67b6\u6784\u8bde\u751f\u540e\uff0c\u7387\u5148\u57fa\u4e8e\u8be5\u67b6\u6784\u63d0\u51fa\u201cVLN-BERT\u201d\uff0c\u80fd\u57fa\u4e8e Transformer \u5904\u7406 VLN \u4efb\u52a1\uff1b2022 \u5e74 CVPR \u53d1\u8868\u7684\u201cDiscrete-Continuous-VLN\u201d\u5219\u9996\u6b21\u63a2\u7d22 VLN \u5728\u79bb\u6563\u4e0e\u8fde\u7eed\u73af\u5883\u95f4\u7684\u5b66\u4e60\u9e3f\u6c9f\u5f25\u5408\uff1b\u53bb\u5e74\u63a8\u51fa\u7684 NavGPT \u662f\u9996\u4e2a\u5c06 LLM \u5f15\u5165 VLN \u7684\u5de5\u4f5c\uff1b\u800c\u4eca\u5e74 ICRA \u7684 Open-Nav \u5219\u9996\u6b21\u5b9e\u73b0 VLN \u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u7684\u843d\u5730\u5e94\u7528\u3002<\/p>\n

\u5176\u4ed6\u7ec4\u4e5f\u4f5c\u51fa\u4e86\u5f88\u591a\u5173\u952e\u7684\u5de5\u4f5c\uff0c\u6bd4\u5982\u65e9\u671f\u7684\uff0cHao Tan \u5728 NAACL \u4e0a\u63d0\u51fa\u7684 EnvDrop\uff0c\u8fd8\u662f\u6709 Chen Shizhe \u4e5f\u63d0\u51fa\u8fc7\u597d\u51e0\u4e2a\u975e\u5e38\u5173\u952e\u7684\u6a21\u578b\uff0c\u6bd4\u5982\u73b0\u5728\u5e38\u7528\u4f5c baseline \u7684 DUET\u3002\u6211\u4eec\u7684 ScalVLN\uff08\u76ee\u524d\u7684SOTA\uff09\u4e5f\u662f\u57fa\u4e8e DUET \u7684\u5de5\u4f5c\u8fc7\u3002\u8981\u63d0\u4e00\u4e0b\uff0cShizhe \u4e5f\u66fe\u7ecf\u5728\u6211\u4eec V3Alab \u8bbf\u95ee\u8fc7\u4e00\u6bb5\u65f6\u95f4\uff0c\u975e\u5e38\u4f18\u79c0\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u5f53\u524d\u5177\u8eab\u667a\u80fd\u9886\u57df\u91cc\u5927\u5bb6\u5bf9\u64cd\u4f5c\u4efb\u52a1\u7684\u70ed\u60c5\u9ad8\u6da8\uff0c\u4f46\u60a8\u66f4\u5173\u6ce8\u5177\u8eab\u5bfc\u822a\u3002<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u53ef\u80fd\u8fd8\u662f\u843d\u5730\u5bfc\u5411\u5427\uff0c\u73b0\u5728\u5f88\u591a\u843d\u5730\u573a\u666f\u5f0f\u5de5\u4e1a\u573a\u666f\uff0c\u6216\u8005\u5546\u4e1a\u7406\u8d27\u573a\u666f\uff0c\u5927\u90e8\u5206\u65f6\u5019\u673a\u5668\u4eba\u53ef\u4ee5\u4ee5\u56fa\u5b9a\u8def\u5f84\uff0c\u5e76\u4e14\u5728\u76f8\u5bf9\u56fa\u5b9a\u7684\u573a\u666f\u91cc\u79fb\u52a8\u3002\u800c\u5bb6\u7528\u573a\u666f\u76ee\u524d\u843d\u5730\u8fd8\u6bd4\u8f83\u96be\uff0c\u6240\u4ee5\u5f88\u591a\u4eba\u8fd8\u6ca1\u6709\u4f53\u4f1a\u5230\u5ba4\u5185\u89c6\u89c9\u5bfc\u822a\u8fd9\u5757\u7684\u96be\u5ea6\u3002<\/p>\n

\u5f88\u591a\u4eba\u8ba4\u4e3a\u5bfc\u822a\u5df2\u7ecf\u662f\u88ab\u89e3\u51b3\u5b8c\u7684\u95ee\u9898\uff0c\u5ba4\u5185\u5bfc\u822a\u53ea\u9700\u5efa\u597d\u56fe\u5c31\u80fd\u8ba9\u673a\u5668\u4eba\u6307\u54ea\u5230\u54ea\uff0c\u4e0d\u50cf manipulation \u90a3\u4e48\u96be\u3002\u4f46\u4e8b\u5b9e\u4e0a\uff0c\u5047\u5982\u628a\u5b83\u653e\u5728\u5177\u8eab\u667a\u80fd\u9886\u57df\uff0c\u5176\u5b9e\u8fd8\u8981\u4e00\u5b9a\u7684\u65f6\u95f4\u3002\u6bd5\u7adf\uff0c\u673a\u5668\u4eba\u53ea\u6709\u5728\u8d70\u5230\u5bf9\u5e94\u7684\u4f4d\u7f6e\u4e0a\uff0c\u624d\u80fd\u5b8c\u6210\u4e4b\u540e\u7684\u52a8\u4f5c\u3002<\/p>\n

\u5982\u679c\u8ba4\u4e3a\u5177\u8eab\u884c\u52a8\u5c31\u662f\u548c\u4e0a\u534a\u8eab\u6709\u5173\u7684\u6293\u53d6\u6216 manipulation\uff0c\u5176\u5b9e\u662f\u6ca1\u6709\u771f\u6b63\u601d\u8003\u6e05\u695a\u4ec0\u4e48\u662f\u5177\u8eab\u667a\u80fd\u3002\u5173\u4e8e\u5177\u8eab\u667a\u80fd\u4f17\u591a\u7684\u5b9a\u4e49\u91cc\uff0c\u6211\u6700\u559c\u6b22\u7684\u662f CVPR 2024 \u7684\u4e00\u4e2a\u5173\u4e8e\u5177\u8eab\u667a\u80fd\u7684\u8ba8\u8bba\uff0c\u5373 AI agent \u9700\u5177\u5907\u770b\u3001\u542c\u3001\u8bf4\u3001\u884c\u52a8\u548c\u63a8\u7406\u4e94\u9879\u57fa\u672c\u80fd\u529b\uff0c\u518d\u80fd\u5c06\u6a21\u62df\u7684\u673a\u5668\u4eba\u89e3\u51b3\u65b9\u6848\u8fc1\u79fb\u5230\u771f\u5b9e\u7684\u673a\u5668\u4eba\u548c\u73b0\u5b9e\u4e16\u754c\u4e2d\u3002<\/p>\n

\u4e5f\u5c31\u662f\u8bf4\uff0c\u53ea\u6709\u628a\u89c6\u89c9\u4fe1\u606f\u3001\u8bed\u8a00\u80fd\u529b\u548c\u5177\u4f53\u6267\u884c\u7684\u4efb\u52a1\uff08\u65e0\u8bba\u662f\u4e0a\u534a\u8eab\u8fd8\u662f\u4e0b\u534a\u8eab\u7684\u52a8\u4f5c\uff09\u6700\u540e\u5b9e\u73b0\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\uff0c\u624d\u80fd\u79f0\u4e4b\u4e3a\u4e00\u7bc7\u771f\u6b63\u7684\u5177\u8eab\u667a\u80fd\u7814\u7a76\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u90a3\u8fd9\u548c\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5bfc\u822a\u6709\u54ea\u4e9b\u4e0d\u540c\u5462\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u81ea\u9a7e\u7684\u5bfc\u822a\u662f\u5ba4\u5916\u5bfc\u822a\uff0c\u6709\u5f88\u591a\u53ef\u5229\u7528\u7684\u4fe1\u606f\uff0c\u6bd4\u5982 GPS \u63d0\u4f9b\u7cbe\u51c6\u5b9a\u4f4d\uff0c\u7ed3\u5408\u9ad8\u7cbe\u5ea6\u5730\u56fe\u3001\u89c6\u89c9\u611f\u77e5\uff08\u5982\u8f66\u9053\u8bc6\u522b\u3001\u8def\u6807\u68c0\u6d4b\uff09\u53ca\u96f7\u8fbe\u7cfb\u7edf\uff08\u5b9e\u73b0\u969c\u788d\u7269\u68c0\u6d4b\u4e0e\u89c4\u907f\uff09\u3002<\/p>\n

\u800c\u6211\u4eec\u505a\u7684 VLN \u5176\u5b9e\u662f\u5ba4\u5185\u5bfc\u822a\uff0c\u9762\u4e34\u591a\u91cd\u9650\u5236\u3002\u7531\u4e8e\u7f3a\u4e4f GPS \u4fe1\u53f7\u4e14\u73af\u5883\u4fe1\u606f\uff08\u5982\u5730\u6807\u3001\u7eb9\u7406\uff09\u7a00\u758f\uff0c\u65e0\u6cd5\u76f4\u63a5\u590d\u5236\u5ba4\u5916\u65b9\u6848\u3002\u65e9\u671f\u6280\u672f\u4e3b\u8981\u4f9d\u9760\u89c6\u89c9 SLAM\uff08\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff09\u5b9e\u73b0\u73af\u5883\u5efa\u56fe\uff0c\u901a\u8fc7\u6444\u50cf\u5934\u5b9e\u65f6\u91c7\u96c6\u6570\u636e\u6784\u5efa\u5c40\u90e8\u5730\u56fe\u4ee5\u786e\u5b9a\u81ea\u8eab\u4f4d\u7f6e\u3002\u4f46\u8be5\u65b9\u6848\u5bf9\u73af\u5883\u4f9d\u8d56\u6027\u5f3a\uff0c\u5e38\u9700\u4eba\u5de5\u9884\u5904\u7406\uff08\u5982\u6807\u8bb0\u7279\u5f81\u70b9\u3001\u4f18\u5316\u573a\u666f\u7eb9\u7406\uff09\u4ee5\u63d0\u5347\u5efa\u56fe\u7cbe\u5ea6\uff0c\u96be\u4ee5\u5b9e\u73b0\u5b8c\u5168\u81ea\u52a8\u5316\u3002<\/p>\n

\u6700\u5927\u7684\u96be\u70b9\u5728\u4e8e\u6536\u96c6\u6570\u636e\uff0c\u5c24\u5176\u662f\u5927\u91cf\u7684\u5ba4\u5185 3D \u73af\u5883\u6570\u636e\u3002\u6211\u4eec\u5e0c\u671b\u83b7\u53d6\u5c3d\u91cf\u771f\u5b9e\u7684 3D \u73af\u5883\uff0c\u4f46\u8fd9\u4e9b\u73af\u5883\u6570\u636e\u672c\u8eab\u5c31\u5f88\u5c11\uff0c\u4e5f\u6ca1\u6709\u4e00\u4e2a\u7279\u522b\u597d\u7684\u4eff\u771f\u5668\uff0c\u800c\u626b\u5730\u673a\u5668\u4eba\u8fd9\u7c7b\u771f\u5b9e\u6570\u636e\u53c8\u5b58\u5728\u9690\u79c1\u95ee\u9898\u3002\u6211\u4eec\u56e0\u6b64\u4e5f\u66fe\u505a\u8fc7\u5ba4\u5185\u8bbe\u8ba1\u76f8\u5173\u7684\u5de5\u4f5c\uff0c\u662f\u57fa\u4e8e\u89c6\u89c9\u548c\u8bed\u8a00\u7684\u88c5\u4fee\u98ce\u683c\u751f\u6210\uff0c\u548c\u88c5\u4fee\u8bbe\u8ba1\u516c\u53f8\u9177\u5bb6\u4e50\u5408\u4f5c\uff0c\u4ed6\u4eec\u6240\u63d0\u4f9b\u7684 3D \u573a\u666f\u6570\u636e\u5c31\u7279\u522b\u6709\u5e2e\u52a9\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u5c3d\u7ba1\u5ba4\u5185\u4e0d\u53d7\u5929\u6c14\u5f71\u54cd\uff0c\u4f46\u4e5f\u53ef\u80fd\u4f1a\u5728\u4f4e\u5149\u3001\u70df\u96fe\u7b49\u6781\u7aef\u611f\u77e5\u6761\u4ef6\u4e0b\uff0c\u89c6\u89c9\u8f93\u5165\u5931\u6548\u3002\u662f\u5426\u9700\u4e3a VLN \u5f15\u5165\u591a\u6a21\u6001\u5907\u4efd\u65b9\u6848\uff08\u5982\u8d85\u58f0\u6ce2\u96f7\u8fbe\u3001\u7ea2\u5916\u4f20\u611f\uff09\uff1f\u5982\u4f55\u5b9e\u73b0\u591a\u6a21\u6001\u4fe1\u53f7\u4e0e\u8bed\u8a00\u6307\u4ee4\u7684\u5b9e\u65f6\u5bf9\u9f50\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u786e\u5b9e\uff0c\u968f\u7740 simulator \u53d8\u5f97\u8d8a\u6765\u8d8a\u597d\uff0c\u6211\u4eec\u53ef\u4ee5\u6a21\u62df\u51fa\u8fd9\u4e9b\u590d\u6742\u7684\u60c5\u666f\uff0c\u4e5f\u53ef\u4ee5\u8003\u8651\u5f15\u5165\u5176\u4ed6\u7684\u4f20\u611f\u5668\u6765\u8f85\u52a9\u5bfc\u822a\u3002\u6211\u89c9\u5f97\u8fd9\u70b9\u4e0a\u5012\u662f\u53ef\u4ee5\u53c2\u8003\u65e0\u4eba\u9a7e\u9a76\u7684\u4e00\u4e9b\u89e3\u51b3\u65b9\u6848\uff0c\u5b9e\u73b0\u591a\u6a21\u6001\u4fe1\u606f\u7684\u5bf9\u9f50\u548c\u5904\u7406\u3002<\/p>\n

<\/p>\n

\u5361\u8116\u5b50\u7684\u6570\u636e\u4e5f\u6700\u6613\u7a81\u7834<\/strong><\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u5728 VLN \u548c VLA \u9886\u57df\u91cc\uff0c\u5f53\u524d Top 3 \u7684\u7814\u7a76\u95ee\u9898\u90fd\u6709\u54ea\u4e9b\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u6211\u8ba4\u4e3a\u76ee\u524d\u9762\u4e34\u7684\u6838\u5fc3\u6311\u6218\u9996\u8981\u662f\u6570\u636e\u95ee\u9898\u3002\u5f53\u524d\u7f3a\u4e4f\u8db3\u591f\u4f18\u8d28\u3001\u5927\u89c4\u6a21\u7684\u6570\u636e\u96c6\u652f\u6491 VLN \u6216 VLA \u6a21\u578b\u8bad\u7ec3\uff0c\u8fd9\u4e0e GPT \u4f9d\u8d56\u6d77\u91cf\u8bed\u6599\u5f62\u6210\u9c9c\u660e\u5bf9\u6bd4\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6570\u636e\u95ee\u9898\u53ef\u62c6\u89e3\u4e3a\u4e09\u90e8\u5206\u2014\u2014<\/p>\n

\u4e00\u662f\u6a21\u62df\u5668\uff08Simulator\uff09\u7684\u5fc5\u8981\u6027\uff0c\u4e0e\u673a\u5668\u4eba\u6280\u672f\u7ed3\u5408\u7684\u573a\u666f\u4e2d\uff0c\u6a21\u62df\u5668\u662f\u8bad\u7ec3\u548c\u6d4b\u8bd5\u7684\u57fa\u7840\u8f7d\u4f53\uff0c\u5176\u6027\u80fd\u76f4\u63a5\u5f71\u54cd\u6570\u636e\u751f\u6210\u8d28\u91cf\u3002\u8fd9\u91cc\u6709\u5f88\u591a\u4e1c\u897f\u53ef\u4ee5\u53bb\u8003\u8651\uff0c\u50cf\u6750\u8d28\u6469\u64e6\u529b\u3001\u6469\u64e6\u7cfb\u6570\u3001\u73af\u5883\u91cd\u529b\u3001\u751a\u81f3\u662f\u70ed\u4ea4\u4e92\u7b49\u7269\u7406\u7279\u6027\uff0c\u6211\u4eec\u5e38\u89c1\u7684\u7269\u7406\u5b9a\u5f8b\u5728\u76ee\u524d\u7684\u6a21\u62df\u5668\u91cc\u9762\u4f53\u73b0\u5f97\u5e76\u4e0d\u591f\uff0c\u8981\u505a\u771f\u6b63\u7684\u4e16\u754c\u6a21\u578b\uff08 word model \uff09\uff0c\u6570\u5b57\u5b6a\u751f\u4e0d\u80fd\u53ea\u662f\u5b6a\u751f\u8868\u9762\uff0c\u8fd8\u8981\u6db5\u76d6\u5176\u672c\u8eab\u7684\u7269\u7406\u7279\u6027\u3002<\/p>\n

\u4e8c\u662f\u9ad8\u8d28\u91cf 3D \u73af\u5883\u6784\u5efa\u7684\u7a00\u7f3a\u6027\uff0c\u4ec5\u6709\u6a21\u62df\u5668\u4e0d\u8db3\u591f\uff0c\u8fd8\u9700\u5728\u5176\u4e2d\u6784\u5efa\u591a\u6837\u5316\u771f\u5b9e\u573a\u666f\uff08\u5982\u5bb6\u5ead\u3001\u5de5\u5382\u3001\u8d2d\u7269\u4e2d\u5fc3\u7b49\uff09\uff0c\u8fd9\u7c7b 3D \u73af\u5883\u4e0d\u4ec5\u7a00\u7f3a\uff0c\u4e14\u5236\u4f5c\u6210\u672c\u9ad8\u6602\u3002<\/p>\n

\u4e09\u662f\u4e13\u7528\u5e94\u7528\u6570\u636e\u7684\u72ec\u7279\u6027\uff0c\u533a\u522b\u4e8e\u4f20\u7edf AI \u6570\u636e\uff08\u5982 NLP \u7684\u7eaf\u6587\u672c\u3001CV \u7684\u56fe\u50cf\u6807\u7b7e\uff09\uff0cVLA\/VLN \u9700\u8981\u7279\u5b9a\u4efb\u52a1\u6570\u636e\uff08\u5982\u6293\u53d6\u3001\u64cd\u4f5c\u3001\u5bfc\u822a\u7b49\u6570\u636e\uff09\uff0c\u5176\u6570\u636e\u683c\u5f0f\u9700\u6574\u5408\u6a21\u62df\u5668\u3001\u73af\u5883\u53ca\u5e94\u7528\u573a\u666f\u4e09\u7c7b\u8981\u7d20\uff0c\u7f3a\u4e00\u4e0d\u53ef\u3002\u56e0\u6b64\uff0c\u6784\u5efa\u5927\u89c4\u6a21\u590d\u5408\u6570\u636e\u96c6\u662f VLA\/VLN \u7684\u5173\u952e\u53d1\u5c55\u65b9\u5411\u3002<\/p>\n

\u7b2c\u4e8c\u4e2a\u6311\u6218\u662f Sim-to-Real \u7684\u8fc1\u79fb\u9e3f\u6c9f\u3002\u6a21\u578b\u5728\u6a21\u62df\u5668\u4e2d\u5b8c\u6210\u9ad8\u6548\u8bad\u7ec3\u540e\uff0c\u9700\u5728\u771f\u5b9e\u673a\u5668\u4eba\u548c\u73af\u5883\u4e2d\u90e8\u7f72\uff0c\u4f46\u4e8c\u8005\u5b58\u5728\u591a\u91cd\u5dee\u8ddd\u2014\u2014\u5305\u62ec\u73af\u5883\u5dee\u5f02\uff08\u5982\u5149\u7167\u3001\u7269\u4f53\u7269\u7406\u5c5e\u6027\uff09\u548c\u673a\u5668\u4eba\u786c\u4ef6\u5dee\u5f02\uff08\u5982\u6267\u884c\u5668\u7cbe\u5ea6\uff09\uff0c\u5982\u4f55\u5f25\u5408\u8fd9\u4e9b Gap \u662f\u6280\u672f\u843d\u5730\u7684\u6838\u5fc3\u96be\u70b9\u3002<\/p>\n

\u7b2c\u4e09\u4e2a\u6311\u6218\u4e0e\u5de5\u7a0b\u90e8\u7f72\u76f8\u5173\u3002VLA\/VLN \u4efb\u52a1\u6d89\u53ca\u590d\u6742\u63a8\u7406\u548c\u6a21\u578b\u8ba1\u7b97\uff08\u5982\u5bfc\u822a\u6a21\u5757\u4e0eGPT\u5927\u6a21\u578b\u7684\u7ed3\u5408\uff09\uff0c\u4f9d\u8d56\u9ad8\u6027\u80fdGPU\u652f\u6301\uff0c\u800c\u5728\u673a\u5668\u4eba\u7ec8\u7aef\u5b9e\u73b0\u9ad8\u6548\u6a21\u578b\u538b\u7f29\uff0c\u5e73\u8861\u7b97\u529b\u9700\u6c42\u4e0e\u8bbe\u5907\u8f7b\u91cf\u5316\uff0c\u662f\u4e9f\u5f85\u7a81\u7834\u7684\u6280\u672f\u74f6\u9888\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u5728\u8fd9\u4e9b\u74f6\u9888\u4e2d\uff0c\u54ea\u4e00\u4e2a\u662f\u6700\u6709\u53ef\u80fd\u7387\u5148\u88ab\u7a81\u7834\u7684\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u867d\u7136\u6570\u636e\u662f\u6700\u5927\u7684\u96be\u9898\uff0c\u4f46\u5176\u5b9e\u5b83\u4e5f\u662f\u6700\u5bb9\u6613\u7a81\u7834\u7684\uff0c\u5c24\u5176\u662f\u56f4\u7ed5\u7740\u5982\u4f55\u6784\u9020\u66f4\u597d\u7684\u6570\u636e\u96c6\u3001\u4eff\u771f\u5668\u548c\u73af\u5883\u51fa\u53d1\uff0c\u5e76\u5229\u7528\u597d\u5b83\u4eec\u53bb\u8bad\u7ec3\u4e00\u4e2a\u66f4\u597d\u7684 VLA \u6a21\u578b\u3002<\/p>\n

\u6bd4\u5982\u6211\u6700\u8fd1\u5728\u601d\u8003\u73af\u5883\u751f\u6210\u7684\u5de5\u4f5c\uff0c\u4e4b\u524d\u548c\u9177\u5bb6\u4e50\u7684\u5408\u4f5c\u5c31\u662f\u901a\u8fc7\u8f93\u5165\u8bed\u8a00\u63cf\u8ff0\u751f\u6210\u4e09\u7ef4\u7684\u623f\u95f4\u73af\u5883\uff0c\u5305\u62ec\u623f\u95f4\u3001\u5bb6\u5177\u7684\u5e03\u5c40\u3001\u5899\u58c1\u7684\u989c\u8272\u3001\u5730\u677f\u7684\u6750\u8d28\u7b49\uff0c\u4f46\u56e0\u5f53\u65f6\u6a21\u578b\u8fd8\u4e0d\u591f\u5f3a\uff0c\u6548\u679c\u6bd4\u8f83\u4e00\u822c\uff0c\u4f46\u73b0\u5728\u6216\u8bb8\u53ef\u4ee5\u91cd\u65b0\u62ff\u51fa\u6765\u5b9e\u73b0\u4e00\u4e0b\u3002\u8f93\u5165\u53ef\u4ee5\u662f\u5404\u79cd\u6a21\u6001\u7684\uff0c\u5982\u5bf9\u73af\u5883\u7684\u8bed\u8a00\u63cf\u8ff0\u3001\u5df2\u6709\u73af\u5883\u7684\u56fe\u7247\u3001\u89c6\u9891\u3001\u7ed3\u6784\u4fe1\u606f\uff0c\u5e0c\u671b\u6a21\u578b\u80fd\u6309\u7167\u7528\u6237\u9700\u6c42\u5feb\u901f\u5730\u751f\u6210\u4e00\u4e2a\u7cbe\u51c6\u7684\u7b26\u5408\u8981\u6c42\u7684\u73af\u5883\uff0c\u518d\u628a\u6b64\u73af\u5883\u5bfc\u5165\u5230\u6843\u6e90\u6216 Isaac Sim \u7b49\u6a21\u62df\u5668\u91cc\u4f9b\u5927\u5bb6\u8fdb\u884c\u8bad\u7ec3\u3002<\/p>\n

AI\u79d1\u6280\u8bc4\u8bba\uff1a\u90a3\u9488\u5bf9\u6700\u5173\u952e\u7684\u6570\u636e\u95ee\u9898\uff0c\u73b0\u5728\u90fd\u6709\u54ea\u51e0\u79cd\u6280\u672f\u8def\u5f84\u5462\uff1f<\/strong><\/p>\n

\u5434\u7426\uff1a<\/strong>\u6570\u636e\u6784\u5efa\u4e3b\u8981\u5b58\u5728\u4e09\u79cd\u6280\u672f\u8def\u5f84\u3002\u7b2c\u4e00\u662f\u771f\u4eba\u64cd\u63a7\u91c7\u96c6\uff0c\u901a\u8fc7\u4eba\u5de5\u63a7\u5236\u673a\u5668\u4eba\u5b8c\u6210\u884c\u8d70\u3001\u6293\u53d6\u3001\u5bb6\u5177\u7ec4\u88c5\u7b49\u4efb\u52a1\uff0c\u540c\u6b65\u8bb0\u5f55\u52a8\u4f5c\u8f68\u8ff9\u4e0e\u73af\u5883\u4ea4\u4e92\u6570\u636e\uff0c\u76f4\u63a5\u7528\u4e8e\u6a21\u578b\u8bad\u7ec3\u3002\u8fd9\u79cd\u65b9\u5f0f\u4f9d\u8d56\u771f\u5b9e\u573a\u666f\u64cd\u4f5c\uff0c\u6570\u636e\u8d34\u5408\u5b9e\u9645\u5e94\u7528\u4f46\u91c7\u96c6\u6210\u672c\u8f83\u9ad8\u3002<\/p>\n

\u7b2c\u4e8c\u662fSim2Real\u6a21\u62df\u751f\u6210\uff0c\u501f\u52a9\u9ad8\u903c\u771f\u5ea6\u7269\u7406\u6a21\u62df\u5668\uff08\u5982NVIDIA Isaac Sim\u3001\u4e0a\u6d77AI Lab\u6843\u6e90\u7cfb\u7edf\uff09\u6784\u5efa\u865a\u62df\u73af\u5883\uff0c\u901a\u8fc7\u7b97\u6cd5\u81ea\u52a8\u751f\u6210\u673a\u5668\u4eba\u6267\u884c\u5404\u7c7b\u4efb\u52a1\u7684\u6570\u636e\u3002\u8be5\u8def\u5f84\u4f18\u52bf\u5728\u4e8e\u4f4e\u6210\u672c\u6279\u91cf\u751f\u4ea7\u6570\u636e\u2014\u2014\u65e0\u9700\u771f\u5b9e\u786c\u4ef6\u4ecb\u5165\uff0c\u5373\u53ef\u5728\u6a21\u62df\u73af\u5883\u4e2d\u5b8c\u6210\u6d77\u91cf\u8bad\u7ec3\uff0c\u8bad\u7ec3\u540e\u7684\u6a21\u578b\u76f4\u63a5\u90e8\u7f72\u81f3\u771f\u5b9e\u673a\u5668\u4eba\u3002<\/p>\n

\u7b2c\u4e09\u662f\u89c6\u9891\u6570\u636e\u9a71\u52a8\uff0c\u805a\u7126\u4e92\u8054\u7f51\u6d77\u91cf\u516c\u5f00\u89c6\u9891\uff08\u5982\u5bfc\u822a\u3001\u70f9\u996a\u7b49\u573a\u666f\uff09\uff0c\u901a\u8fc7\u5206\u6790\u89c6\u9891\u4e2d\u7684\u9ad8\u5c42\u51b3\u7b56\u903b\u8f91\uff08\u5982\u4efb\u52a1\u89c4\u5212\u3001\u52a8\u4f5c\u5e8f\u5217\uff09\u8bad\u7ec3\u6a21\u578b\u3002\u6b64\u8def\u5f84\u89c4\u907f\u4e86\u4f20\u7edf\u6570\u636e\u91c7\u96c6\u7684\u7e41\u7410\uff0c\u4ec5\u5173\u6ce8\u201c\u505a\u4ec0\u4e48\u201d\u7684\u9ad8\u5c42\u89c4\u5212\uff0c\u65e0\u9700\u5904\u7406\u673a\u5668\u4eba\u201c\u5982\u4f55\u6267\u884c\u201d\u7684\u5e95\u5c42\u63a7\u5236\u7ec6\u8282\u3002<\/p>\n

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\u5434\u7426\uff1a<\/strong>\u786e\u5b9e\u5f53\u65f6\u6211\u4eec\u5728\u8bbe\u8ba1\u548c\u53d1\u5e03 VLN \u8fd9\u4e2a\u4efb\u52a1\u7684\u65f6\u5019\uff0c\u5c31\u505a\u4e86\u4e00\u4e2a\u57fa\u4e8e MP3D \u6570\u636e\u7684 MP3D simulator\uff0c\u8fd9\u4e2a simulator \u4e5f\u4ec5\u4ec5\u662f\u4e3a MP3D \u63d0\u4f9b\u7684 environment \u6570\u636e\u4ee5\u53ca VLN \u8fd9\u4e2a\u4efb\u52a1\u6765\u670d\u52a1\u7684\uff0c\u975e\u5e38\u7684\u7b80\u5355\u3002<\/p>\n

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