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\u4e4b\u95f4\u7684\u5bf9\u9f50\u4e5f\u5f88\u91cd\u8981\uff0c\u56e0\u4e3a\u6211\u4eec\u5728\u6307\u5b9a\u4efb\u52a1\u540e\uff0c\u673a\u5668\u4eba\u9700\u8981\u80fd\u7406\u89e3\u5f53\u524d\u7684\u573a\u666f\u3002\u8bed\u8a00\u662f\u201c\u62ff\u4e00\u4e2a\u6c34\u676f\u201d\uff0c\u90a3\u8fd9\u4e2a\u6c34\u676f\u5bf9\u5e94\u7684\u56fe\u7247\u5230\u5e95\u5728\u54ea\u4e2a\u4f4d\u7f6e\uff1f\u4ee5\u53ca\u5f88\u591a\u65f6\u5019\u4eba\u7c7b\u7684\u8bed\u8a00\u63cf\u8ff0\u6709\u4e9b\u4e0a\u4e0b\u6587\u4fe1\u606f\u662f\u5173\u4e8e\u56fe\u50cf\u7684\uff0c\u90a3\u4e48\u628a\u8fd9\u4e24\u4e2a\u6a21\u6001\u7ed3\u5408\u8d77\u6765\uff0c\u5c31\u53ef\u4ee5\u8ba9\u8fd9\u4e2a\u6a21\u578b\u66f4\u597d\u5730\u53bb\u7406\u89e3\u4eba\u7c7b\u7684\u610f\u56fe\uff0c\u8fd9\u4e9b\u80fd\u529b\u5176\u5b9e\u90fd\u4f9d\u8d56\u4e8e VLM \u7684\u9884\u8bad\u7ec3\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u5bf9\u7684\uff0c\u8bed\u8a00\u6a21\u6001\u672c\u8eab\u4e5f\u80fd\u5e26\u6765\u5f88\u591a\u5bf9\u673a\u5668\u4eba\u6709\u7528\u7684\u989d\u5916\u4fe1\u606f\uff0c\u5305\u62ec\u4ea4\u4e92\u6307\u4ee4\u7684\u63a5\u6536\u7b49\uff0c\u7136\u540e\u53ef\u80fd\u4e5f\u53ef\u4ee5\u901a\u8fc7\u8bed\u8a00\u548c\u89c6\u89c9\u7684\u5bf9\u9f50\u6765\u589e\u5f3a\u89c6\u89c9\u6a21\u6001\u4e0a\u7684\u6cdb\u5316\u6027\u3002\u90a3\u5173\u4e8e\u7b2c\u4e8c\u4e2a\u95ee\u9898\uff0c\u5982\u4f55\u8865\u5145\u7f3a\u5931\u7684\u5c40\u90e8\u4fe1\u606f\uff1f\u4e0d\u77e5\u9053\u8d75\u8001\u5e08\u6709\u6ca1\u6709\u4ec0\u4e48\u60f3\u6cd5\uff1f\u56e0\u4e3a\u8d75\u8001\u5e08\u505a\u81ea\u52a8\u9a7e\u9a76\uff0c\u4e5f\u6709\u5f88\u591a\u975e\u5e38\u9700\u8981\u7cbe\u51c6\u611f\u77e5\u7684\u4efb\u52a1\u3002<\/p>\n<p>\u8d75\u884c\uff1a\u6211\u7b80\u5355\u5206\u4eab\u4e0b\u6211\u7684\u7ecf\u5386\u3002GPT-4V \u53d1\u5e03\u5f53\u665a\uff0c\u6211\u5c31\u548c\u540c\u5b66\u4eec\u5f00\u59cb\u8ba1\u5212\u8be5\u600e\u4e48\u505a\u3002\u4f5c\u4e3a\u505a\u5e94\u7528\u7684 researcher\uff0c\u4ece\u89e3\u51b3\u95ee\u9898\u53cd\u63a8\u65b9\u6cd5\uff0cVLA \u548c VLM \u7684\u4ef7\u503c\u6838\u5fc3\u5728\u4e8e\u586b\u8865\u4e86\u5177\u8eab\u667a\u80fd\u9886\u57df\u6b64\u524d\u6a21\u578b\u666e\u904d\u7f3a\u4e4f\u7684\u5e38\u8bc6\u80fd\u529b\uff0ccommon sense\uff0c\u6bd4\u5982\u9053\u8def\u4ea4\u901a\u89c4\u5219\u3001\u4eba\u673a\u793e\u4ea4\u89c4\u5219\u7b49\uff0c\u8fd9\u4e9b\u88ab\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5305\u542b\u5728\u5185\u7684\u5e38\u8bc6\u80fd\u5e2e\u52a9\u89e3\u51b3\u6570\u636e\u8986\u76d6\u4e0d\u5230\u7684\u957f\u5c3e\u573a\u666f\u95ee\u9898\u3002<\/p>\n<p>\u4ece\u5b9e\u73b0\u8def\u5f84\u770b\uff0c\u65e2\u7136 VLM \u5177\u5907\u8fd9\u79cd\u6f5c\u529b\uff0c\u5373\u4fbf\u5176 3D \u611f\u77e5\u80fd\u529b\u6709\u9650\uff0c\u4e5f\u53ef\u5148\u4e0e\u73b0\u6709\u6210\u719f\u7684\u3001\u8fbe\u5230 80-90 \u5206\u8868\u73b0\u7684 3D \u89c6\u89c9\u611f\u77e5\u6a21\u578b\u7ed3\u5408\uff0c\u901a\u8fc7\u67b6\u6784\u8bbe\u8ba1\u53d6\u957f\u8865\u77ed\u3002\u672a\u6765\u53ea\u6709 VLM \u800c\u6ca1\u6709\u5176\u4ed6\u6a21\u578b\uff0c\u8fd9\u4e5f\u662f\u4e2a\u6bd4\u8f83\u9ad8\u6982\u7387\u7684\u7ed3\u679c\u3002\u957f\u671f\u6765\u770b\uff0c\u5f53\u524d VLM \u9884\u8bad\u7ec3\u6570\u636e\u7f3a\u4e4f\u7269\u7406\u4e16\u754c\u5177\u8eab\u667a\u80fd\u6570\u636e\uff0c\u672a\u6765\u82e5\u80fd\u5c06\u66f4\u591a3D\u51e0\u4f55\u3001\u65f6\u95f4\u7b49\u7269\u7406\u5e38\u8bc6\u6570\u636e\u878d\u5165\u8bad\u7ec3\uff0c\u8fd9\u5f88\u53ef\u80fd\u4f1a\u53d1\u5c55\u4e3a\u4e00\u4e2a\u4e3b\u6d41\u6280\u672f\u7684\u63a2\u7d22\u65b9\u5411\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u8c22\u8c22\u8d75\u8001\u5e08\u7684\u5206\u4eab\u3002\u9996\u5148\u6211\u4eec\u53ef\u4ee5\u628a\u5728 3D \u611f\u77e5\u4e0a\u9762\u6548\u679c\u597d\u7684\u6a21\u578b\u548c VLM\u3001VLA \u7ed3\u5408\uff0c\u5176\u6b21\u8fd8\u53ef\u4ee5\u5728\u6570\u636e\u4e0a\u9762\u591a\u5f15\u5165\u7269\u7406\u89c4\u5f8b\uff0c\u5bf9\u843d\u5730\u548c\u5e94\u7528\u4e5f\u5f88\u6709\u542f\u53d1\u3002\u4e0d\u77e5\u9053\u8000\u4e1c\u8001\u5e08\u8fd9\u8fb9\u8fd8\u6709\u8981\u8865\u5145\u7684\u5417\uff1f<\/p>\n<p>\u6768\u8000\u4e1c\uff1a\u524d\u9762\u4e24\u4f4d\u8001\u5e08\u5df2\u6e05\u6670\u63cf\u8ff0\u4e86\u73b0\u72b6\u3002\u5982\u4eca\u5927\u6a21\u578b\u5df2\u5728\u8bed\u8a00\u6a21\u578b\u4e0a\u53d6\u5f97\u7a81\u7834\uff0c\u4ee5\u5f80\u662f\u5c06\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u7684\u597d\u6a21\u578b\u5f80\u8bed\u8a00\u6a21\u578b\u4e0a\u8fc1\u79fb\uff0c\u73b0\u5728\u5219\u662f\u628a\u81ea\u7136\u8bed\u8a00\u5904\u7406\u4e0a\u597d\u7684\u67b6\u6784\u5e94\u7528\u5230\u8ba1\u7b97\u673a\u89c6\u89c9\u67b6\u6784\u4e2d\u3002\u4e00\u65b9\u9762\uff0cTransformer\u7684\u6210\u529f\u63a8\u52a8\u4e86\u8fd9\u4e00\u8f6c\u53d8\uff1b\u53e6\u4e00\u65b9\u9762\uff0c\u4eba\u5de5\u667a\u80fd\u5728\u8bed\u8a00\u6a21\u6001\u4e0a\u5b9e\u73b0\u4e86\u5927\u6a21\u578b\u3001\u5927\u6570\u636e\u3001\u5927\u7b97\u529b\u7684\u4e09\u4f4d\u4e00\u4f53\uff0c\u4ea7\u751f\u4e86Scaling Law\u3002<\/p>\n<p>\u4ece\u54f2\u5b66\u89d2\u5ea6\u770b\uff0c\u7ef4\u7279\u6839\u65af\u5766\u8ba4\u4e3a\u8bed\u8a00\u8ba4\u77e5\u662f\u4e16\u754c\u7684\u8fb9\u754c\uff0c\u8bed\u8a00\u80fd\u8868\u8fbe\u6240\u6709\u4e8b\u7269\uff0c\u4e14\u8bed\u8a00\u5904\u4e8e\u79bb\u6563\u7a7a\u95f4\uff0c\u5728\u5efa\u6a21\u4e0a\u4f1a\u66f4\u5bb9\u6613\u3002\u7136\u800c\uff0c\u5982\u4f55\u4ece\u8bed\u8a00\u6a21\u6001\u7a81\u7834\u5230\u89c6\u89c9\u548c\u52a8\u4f5c\u6a21\u6001\u4ecd\u662f\u6311\u6218\u3002\u76ee\u524d\u5de5\u7a0b\u4e0a\u901a\u8fc7\u62fc\u63a5\uff0c\u6bd4\u5982\u5c06\u9ad8\u8d28\u91cf\u89c6\u89c9\u6a21\u578b\u3001\u5e95\u5c42\u52a8\u4f5c\u6a21\u578b\u4e0e\u8bed\u8a00\u6a21\u578b\u7ed3\u5408\uff0c\u80fd\u89e3\u51b3\u90e8\u5206\u95ee\u9898\u3002<\/p>\n<p>\u4f46\u4ece\u901a\u7528\u667a\u80fd\u4f53\u548c AGI \u7684\u89d2\u5ea6\u51fa\u53d1\uff0c\u672a\u6765\u9700\u8981\u6280\u672f\u53d8\u9769\uff0c\u5c06\u5404\u6a21\u6001\u878d\u5408\uff0c\u8fd8\u662f\u671f\u671b\u6709\u5927\u4e00\u7edf\u7684\u8868\u5f81\uff0c\u628a\u6240\u6709\u53d8\u91cf\u7eb3\u5165\u5176\u4e2d\uff0c\u4f46\u8fd9\u4e2a\u7ef4\u5ea6\u592a\u9ad8\u4e86\u3002\u82e5\u76f8\u4fe1\u6240\u6709\u6a21\u6001\u80fd\u6295\u5f71\u5230\u4f4e\u6d41\u884c\u7a7a\u95f4\uff08\u67cf\u62c9\u56fe\u5047\u8bbe\uff09\uff0c\u90a3\u5c06\u6709\u52a9\u4e8e VLA \u548c\u5177\u8eab\u667a\u80fd\u7684\u5927\u4e00\u7edf\uff0c\u4ee5\u53ca\u5b9e\u73b0\u66f4\u5f3a\u7684\u667a\u80fd\u7a81\u7834\u3002\u76ee\u524d VLA \u521a\u8d77\u6b65\uff0c\u8bed\u8a00\u548c VLM \u6709\u4e00\u5b9a\u7a81\u7834\uff0c\u62fc\u63a5\u601d\u8def\u5df2\u73b0\uff0c\u672a\u6765\u6280\u672f\u9769\u65b0\u53ef\u80fd\u4f1a\u89e3\u51b3\u5982 3D \u4fe1\u606f\u611f\u77e5\u4e0d\u51c6\u786e\u7b49\u95ee\u9898\uff0c\u867d\u7136\u4e0d\u77e5\u6240\u9700\u65f6\u95f4\uff0c\u4f46\u5e94\u8be5\u4e0d\u4f1a\u592a\u4e45\u3002<\/p>\n<p><\/p>\n<p class=\"heading-3 ace-line old-record-id-YOBZdfKWqoMjyyxmjTycdRtunff\" style=\"text-align: center\"><strong>VLA \u7684\u4eca\u751f<\/strong><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u6211\u4eec\u521a\u624d\u8ba8\u8bba\u4e86 VLA \u7684\u524d\u4e16\uff0c\u73b0\u5728\u6765\u804a\u804a\u5b83\u7684\u4eca\u751f\uff0c\u5373 VLA \u76ee\u524d\u6709\u51e0\u79cd\u6280\u672f\u8def\u7ebf\uff0c\u4ee5\u53ca\u770b\u770b\u8001\u5e08\u4eec\u6709\u6ca1\u6709\u5173\u4e8e\u6700\u65b0\u8fdb\u5c55\u7684\u4e00\u4e9b\u5206\u4eab\uff0c\u6bd4\u5982\u50cf\u6d77\u5916 Physical Intelligence \u56e2\u961f\u53d1\u5e03 \u03c0 0.5 \u6a21\u578b\u3001Figure AI \u7684 Helix\uff0c\u9ad8\u9633\u8001\u5e08\u6700\u8fd1\u53d1\u5e03\u7684 Spirit v1\uff0c\u8fd8\u6709\u661f\u6d77\u56fe\u548c PI \u7d27\u5bc6\u7684\u5408\u4f5c\uff0c\u5305\u62ec\u6211\u4eec\u56e2\u961f\u6700\u8fd1\u4e5f\u548c\u7075\u521d\u667a\u80fd\u5728\u5408\u4f5c\u3002\u5927\u5bb6\u4f5c\u4e3a\u8d44\u6df1\u4e13\u5bb6\uff0c\u8c08\u4e00\u8c08\u5404\u4f4d\u5bf9 VLA \u6280\u672f\u8def\u7ebf\u53ca\u6700\u65b0\u8fdb\u5c55\u7684\u770b\u6cd5\u5427\u3002<\/p>\n<p>\u9ad8\u9633\uff1aVLA \u591a\u5e74\u6280\u672f\u8fdb\u5c55\u96c6\u4e2d\u4e8e\u67b6\u6784\u4e0e\u6570\u636e\u4e24\u65b9\u9762\u3002\u67b6\u6784\u4e0a\uff0c\u4ece\u8c37\u6b4c\u65e0\u9884\u8bad\u7ec3\u7684 RT-1 \u5230 RT-2\u3001Sergey Levine \u505a\u7684 OpenVLA \u5230 \u03c0 0.5\uff0c\u53d1\u5c55\u4f9d\u6258\u4e8e VLM\u8fdb\u6b65\u3002\u968f\u7740\u5f00\u6e90 VLM \u67b6\u6784\u4f18\u5316\u4e0e\u8bad\u7ec3\u65b9\u6cd5\u9769\u65b0\uff0c\u76f8\u5173\u6210\u679c\u62d3\u5c55\u81f3 VLA\uff0c\u540c\u65f6 Flow Matching\u3001Diffusion \u7b49\u6280\u672f\u63d0\u5347\u4e86\u673a\u5668\u4eba\u52a8\u4f5c\u751f\u6210\u80fd\u529b\u3002<\/p>\n<p>\u6570\u636e\u5c42\u9762\uff0c\u4ece\u8c37\u6b4c\u7528 Everyday Robots \u91c7\u7684\u79c1\u6709\u6570\u636e\u96c6\uff0c\u5230 Open X-Embodiment \u7b49\u5f00\u6e90\u6570\u636e\uff0c\u5305\u62ec\u4ec9\u5c1a\u822a\u8001\u5e08\u4e5f\u505a\u4e86\u4e9b\u5f88\u597d\u7684\u6570\u636e\u96c6\u5de5\u4f5c\uff0c\u56fd\u5185\u5916\u673a\u6784\u79ef\u6781\u63a2\u7d22\uff0c\u901a\u8fc7\u65b0\u91c7\u96c6\u3001\u5386\u53f2\u6570\u636e\u5904\u7406\u7b49\u65b9\u5f0f\u4e30\u5bcc\u6570\u636e\u6e90\u3002\u6b64\u5916\uff0c\u03c0 0.5 \u5e76\u975e\u66b4\u529b\u91c7\u5927\u91cf\u6570\u636e\u800c\u662f\u8f6c\u5411\u4e92\u8054\u7f51\u6570\u636e\uff0c\u6211\u4eec\u5343\u5bfb\u667a\u80fd\u4e5f\u5c1d\u8bd5\u7528\u89c6\u9891\u9884\u8bad\u7ec3\u3002\u6570\u636e\u8d28\u91cf\u51b3\u5b9a\u6a21\u578b\u4e0a\u9650\uff0c\u8fd9\u662f VLA \u53d1\u5c55\u6700\u6839\u672c\u3001\u6301\u4e45\u7684\u9a71\u52a8\u529b\u3002<\/p>\n<p>\u6768\u8000\u4e1c\uff1a\u6211\u4ece\u6a21\u578b\u67b6\u6784\u89d2\u5ea6\u518d\u8bf4\u8bf4\uff0c\u6309\u5bf9 action \u7684\u8868\u5f81\u65b9\u5f0f\uff0cVLA \u53ef\u5206\u4e3a\u4e24\u5927\u7c7b\u578b\uff1a\u5c06 action \u4f5c\u4e3a\u8fde\u7eed\u52a8\u4f5c\u5904\u7406\u65f6\uff0c\u9700\u91c7\u7528 diffusion \u7c7b\u751f\u6210\u5f0f\u6a21\u578b\uff08\u5982 \u03c0 \u7cfb\u5217\u5de5\u4f5c\uff09\uff0c\u56e0\u4e3a\u81ea\u56de\u5f52\u6a21\u578b\u4e3b\u8981\u5904\u7406\u79bb\u6563 token\uff1b\u82e5\u628a action \u62bd\u8c61\u6210\u8bed\u8a00\u6a21\u578b\u4e2d\u7684 token\uff0c\u5219\u4ee5 Helix \u4e3a\u4ee3\u8868\u3002\u8fd9\u4e24\u7c7b\u6a21\u578b\u90fd\u4f9d\u8d56 VLM\uff0c\u65e8\u5728\u5c06\u8bed\u8a00\u7a7a\u95f4\u7684\u5e38\u8bc6\u6620\u5c04\u5230\u7269\u7406\u7a7a\u95f4\u7684 action\uff0c\u6211\u4eec\u6700\u8fd1\u4e5f\u5728\u5199\u4e00\u4e2a VLA \u603b\u7ed3\uff0c\u63a2\u7d22 action \u8868\u5f81\u4e3a\u79bb\u6563\u6216\u8fde\u7eed\u7a7a\u95f4\u7684\u66f4\u4f18\u65b9\u5f0f\u3002<\/p>\n<p>\u8fdb\u4e00\u6b65\u800c\u8a00\uff0c\u884c\u4e3a\u52a8\u4f5c\u7a7a\u95f4\u65e0\u8bba\u662f\u79bb\u6563\u8fd8\u662f\u8fde\u7eed\u8868\u5f81\uff0c\u90fd\u53ef\u7c7b\u6bd4\u4e3a\u4eba\u7684\u5927\u5c0f\u8111\uff08\u867d\u6b64\u7c7b\u6bd4\u6709\u5f85\u5546\u69b7\uff09\uff0c\u5176\u4e2d VLM \u5982\u540c\u5927\u8111\u8d1f\u8d23\u63a8\u7406\u51b3\u7b56\u89c4\u5212\uff0caction \u7684 token \u5316\u6216 diffusion policy \u5219\u7c7b\u4f3c\u5c0f\u8111\u6267\u884c\u7cbe\u7ec6\u5316\u64cd\u4f5c\uff0c\u8fd9\u4e24\u79cd\u6280\u672f\u8303\u5f0f\u4e0d\u65ad\u53d1\u5c55\u6f14\u53d8\uff0c\u884d\u751f\u51fa\u4f17\u591a\u53d8\u4f53\uff0c\u4f46\u59cb\u7ec8\u56f4\u7ed5\u8fd9\u4e24\u5927\u4e3b\u6d41\u6846\u67b6\u3002<\/p>\n<p>\u5728\u8bad\u7ec3\u65b9\u6cd5\u4e0a\uff0c\u5f53\u524d VLA \u4e3b\u8981\u91c7\u7528\u76d1\u7763\u5b66\u4e60\uff0c\u4e0e\u4e24\u5e74\u524d\u5927\u6a21\u578b\u9886\u57df\u7c7b\u4f3c\uff0c\u4f9d\u9760\u767e\u4e07\u7ea7\u6570\u636e\u96c6\u8f93\u5165\u6307\u4ee4\u4ee5\u5b9e\u73b0\u8ddf\u968f\u4eba\u529b\u6307\u4ee4\u6548\u679c\u3002\u7136\u800c\uff0c\u5982\u4f55\u63d0\u5347 VLA \u5728\u6d4b\u8bd5\u65f6\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5145\u5206\u53d1\u6325\u8bed\u8a00\u6a21\u578b\u7684\u63a8\u7406\u4f18\u52bf\uff0c\u4ecd\u662f\u4e9f\u5f85\u89e3\u51b3\u7684\u5173\u952e\u95ee\u9898\u3002<\/p>\n<p>\u8d75\u884c\uff1a\u6211\u8f83\u5173\u6ce8\u7684\u5207\u5165\u70b9\u662f\u53cc\u7cfb\u7edf\u3002\u521a\u624d\u63d0\u5230\u6211\u4eec\u505a\u5e94\u7528\u7684\u4eba\u66f4\u5173\u6ce8\u5230\u5e95\u89e3\u51b3\u4ec0\u4e48\u95ee\u9898\uff0c\u8bf4\u5230\u73b0\u5728\u7684\u5177\u8eab\u667a\u80fd\u90fd\u7f3a\u5e38\u8bc6\uff0c\u800c VLM \u89e3\u51b3\u5e38\u8bc6\uff0c\u90a3\u5c31\u628a VLM \u548c\u73b0\u6709\u7684\u7aef\u5230\u7aef\u6a21\u578b\u5408\u4f5c\u4ee5\u5b9e\u73b0\u4e00\u4e2a\u53cc\u7cfb\u7edf\u3002<\/p>\n<p>VLM \u662f\u4e00\u4e2a\u63a8\u7406\u901f\u5ea6\u8f83\u6162\u7684\u6a21\u578b\uff0c\u90e8\u7f72\u540e\u5927\u6982\u80fd\u5b9e\u73b0 2-3 \u8d6b\u5179\u7684\u63a8\u7406\u901f\u5ea6\uff0c\u800c\u7aef\u5230\u7aef\u6a21\u578b\u80fd\u5b9e\u73b0 10-20 \u8d6b\u5179\u7684\u63a8\u7406\u901f\u5ea6\uff0c\u5b83\u4fe9\u8fdb\u884c\u67d0\u79cd\u5408\u4f5c\u5b9e\u73b0\u53cc\u7cfb\u7edf\u3002\u6211\u4eec\u6700\u65e9\u5728\u81ea\u52a8\u9a7e\u9a76\u5b9e\u73b0\u5e76\u4e14\u843d\u5730\u4e86\uff0c\u8fd9\u662f\u6211\u4eec\u4e00\u4e2a\u633a\u81ea\u8c6a\u7684\u6210\u679c\uff0c\u63a5\u7740\u6211\u4eec\u4e3b\u8981\u5173\u6ce8\u673a\u5668\u4eba\u9886\u57df\u7684 VLA \u8bbe\u8ba1\uff0c\u7b80\u5355\u5206\u89e3\u4e3a\u4ee5\u4e0b\u51e0\u7c7b\u3002<\/p>\n<p>\u9996\u5148\u662f\u6700\u6709\u4ee3\u8868\u6027\u7684 \u03c0 0\uff0c\u6211\u79f0\u4e4b\u4e3a\u7d27\u51d1\u7684\u4e00\u6bb5\u5f0f VLA\uff0c\u5373\u56fe\u50cf\u3001\u8bed\u8a00\u6307\u4ee4\u4f5c\u4e3a\u8f93\u5165\uff0c\u76f4\u63a5\u8f93\u51fa\u52a8\u4f5c\uff0c\u548c\u7aef\u5230\u7aef\u6a21\u578b\u5dee\u4e0d\u591a\u3002Hi Robot \u662f\u53cc\u7cfb\u7edf\u8bbe\u8ba1\uff0c\u7531 VLM \u62c6\u89e3\u9ad8\u5c42\u6b21\u6307\u4ee4\u4e3a\u539f\u5b50\u52a8\u4f5c\u540e\u4ea4\u7ed9 VLA \u6267\u884c\uff0c\u6a21\u5f0f\u548c\u81ea\u9a7e\u7684\u53cc\u7cfb\u7edf\u5dee\u4e0d\u591a\uff0cVLM \u662f\u4e00\u4e2a\u4f4e\u9891\u7387\u8fd0\u4f5c\u7684\u7cfb\u7edf\uff0cVLA \u662f\u4e00\u4e2a\u9ad8\u901f\u8fd0\u4f5c\u7cfb\u7edf\u3002<\/p>\n<p>\u76f8\u4f3c\u7684\u53cc\u7cfb\u7edf\u5de5\u4f5c\u6709 Figure AI \u7684 Helix \u548c\u82f1\u4f1f\u8fbe\u7684 GROOT N1\uff0c\u4f46\u548c PI \u7a0d\u4e0d\u540c\u7684\u662f\u4ed6\u4eec\u6ca1\u6709\u8bad\u7ec3 VLM\uff0c\u90a3\u4e2a VLM \u662f\u4ece\u4e92\u8054\u7f51\u4e0a\u62ff\u5927\u5bb6\u8bad\u7ec3\u597d\u7684\u5f00\u6e90\u6a21\u578b\u53bb\u63d0\u53d6 VLM \u7684\u4e2d\u95f4\u7279\u5f81\uff0c\u628a\u4e2d\u95f4\u7279\u5f81\u4f5c\u4e3a\u4e00\u4e2a\u989d\u5916\u8f93\u5165\u7ed9\u4e00\u4e2a\u7aef\u5230\u7aef\u7684 DP\uff08\u52a8\u6001\u89c4\u5212\uff09\u6a21\u578b\uff0c\u7136\u540e\u8ba9 DP \u6a21\u578b\u6700\u540e\u8f93\u51fa\u52a8\u4f5c\uff0c\u662f\u4e00\u79cd VLM \u4e0d\u8bad\u7ec3\u3001\u63d0\u53d6\u5176\u7279\u5f81\u4f20\u7ed9 DP \u7684\u8bbe\u8ba1\u3002\u03c00.5 \u548c Dex VLA \u5219\u4ee5\u89c6\u89c9\u4e3a\u8f93\u5165\uff0c\u4e2d\u95f4\u505a\u4e2a COT\uff08\u601d\u7ef4\u94fe\uff09\u89e3\u91ca\u5b83\u4e3a\u4e86\u5b8c\u6210\u52a8\u4f5c\u6240\u8981\u505a\u7684\u63a8\u7406\u548c\u89c4\u5212\uff0c\u6700\u540e\u518d\u628a\u52a8\u4f5c\u8f93\u51fa\u6765\uff0c\u7b97\u662f\u4e00\u6bb5\u5f0f\u7684\u3001\u6709\u4e2d\u95f4\u8f93\u51fa\u7684 VLA\u3002<\/p>\n<p>\u6700\u8fd1\u6709\u4e00\u4e2a\u6bd4\u8f83\u6709\u610f\u601d\u7684\u65b9\u5411\u662f\uff0c\u8c37\u6b4c\u63d0\u7684 embodied reasoning\uff08\u5177\u8eab\u63a8\u7406\uff09\uff0c\u5373\u4e0d\u90a3\u4e48\u7740\u6025\u5730\u8bad\u7ec3\u4e00\u4e2a VLA \u6a21\u578b\uff0c\u56e0\u5176\u672c\u8eab\u4ece\u611f\u77e5\u5230\u89c4\u5212\u7684\u80fd\u529b\u4e0d\u662f\u7279\u522b\u5f3a\uff0c\u4e0d\u5982\u5148\u628a\u5177\u8eab\u7684\u63a8\u7406\u6a21\u578b\u8bad\u7ec3\u597d\uff0c\u5f53\u7ed9\u6a21\u578b\u6307\u4ee4\u65f6\uff0c\u6a21\u578b\u770b\u5230\u56fe\u7247\u80fd\u6307\u51fa\u5e94\u64cd\u4f5c\u56fe\u7247\u91cc\u7684\u54ea\u4e00\u4e2a\u7269\u4f53\uff0c\u5982\u628a\u5b83\u4ece a \u4f4d\u7f6e\u653e\u5230 b \u4f4d\u7f6e\uff0c\u5b83\u7684 3D \u7a7a\u95f4\u4f4d\u7f6e\u662f 1.5 \u7c73\u8fd8\u662f 2 \u7c73\uff0c\u8bad\u597d\u540e\u518d\u628a\u91cc\u9762\u7684\u77e5\u8bc6\u84b8\u998f\u7ed9 VLA\uff0c\u8fde\u4e0a\u540e\u9762\u7684 action decoder\uff0c\u4fa7\u91cd\u5728 VLM \u6a21\u578b\u672c\u8eab\u7684\u80fd\u529b\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u786e\u5b9e\u662f\u5e72\u8d27\u6ee1\u6ee1\u3002\u4f60\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u4e5f\u662f\u5f88\u65e9\u5c31\u5f00\u59cb\u505a\u53cc\u7cfb\u7edf\uff0c\u5173\u4e8e\u521a\u624d\u63d0\u5230\u7684\u8fd9\u51e0\u79cd\u6280\u672f\u8def\u7ebf\uff0c\u4f1a\u89c9\u5f97\u54ea\u4e00\u79cd\u66f4\u6709\u53ef\u80fd\u5b9e\u73b0\u6216\u80dc\u4efb\u5f00\u653e\u4e16\u754c\u7684\u66f4\u843d\u5730\u6216\u8005\u662f Out Of Lab\uff08\u8131\u79bb\u5b9e\u9a8c\u5ba4\uff09\u7684\u4efb\u52a1\u5462\uff1f<\/p>\n<p>\u8d75\u884c\uff1a\u5176\u5b9e\u8fd9\u4e2a\u7b54\u6848\u6211\u4e5f\u4e0d\u77e5\u9053\uff0c\u76ee\u524d VLA \u6846\u67b6\u8bbe\u8ba1\u4ecd\u5904\u4e8e\u767e\u82b1\u9f50\u653e\u7684\u72b6\u6001\uff0c\u6709\u7d27\u51d1\u5f0f\u3001\u4e2d\u95f4\u8f93\u51fa\u3001\u4e24\u6bb5\u5f0f\u3001\u5e76\u8054\u6216\u4e32\u8054\u7b49\u5404\u79cd\u7ec4\u5408\u3002\u4f46\u5927\u8d8b\u52bf\u662f\uff0c\u65e0\u8bba\u539f\u672c\u505a VLM\uff08\u4ece\u5927\u8bed\u8a00\u6a21\u578b\u51fa\u53d1\uff09\u8fd8\u662f\u505a\u673a\u5668\u4eba\uff08\u4e13\u6ce8 planning model\u3001action model\uff09\u7684\u56e2\u961f\uff0c\u90fd\u5728\u505a\u5168\u6808\u5f00\u53d1\u3002<\/p>\n<p>\u4e3a\u63d0\u5347 VLM \u80fd\u529b\uff0c\u73b0\u5728\u4f1a\u5f15\u5165\u52a8\u4f5c\u6570\u636e\u8fdb\u884c\u8054\u5408\u8bad\u7ec3\uff0c\u76ee\u6807\u662f\u8bad\u7ec3\u51fa\u5177\u8eab\u63a8\u7406\u6a21\u578b\uff0c\u751a\u81f3\u662f\u5230\u52a8\u4f5c\u7ea7\u522b\u7684\u5b8c\u6574\u6a21\u578b VLA\u3002\u65e0\u8bba\u662f\u5927\u8bed\u8a00\u6a21\u578b\u516c\u53f8\uff0c\u8fd8\u662f\u505a\u5177\u8eab\u667a\u80fd\u7684\u7814\u7a76\u8005 \/ \u4f01\u4e1a\uff0c\u90fd\u5728\u671d\u8fd9\u4e2a\u65b9\u5411\u53d1\u5c55\u3002\u5927\u8bed\u8a00\u6a21\u578b\u9635\u8425\u4f1a\u5411 VLA \u5ef6\u4f38\uff0c\u878d\u5408\u89c6\u89c9\u4e0e\u52a8\u4f5c\u80fd\u529b\uff1b\u673a\u5668\u4eba\u9635\u8425\u5219\u4ece\u89e3\u51b3\u7cbe\u7ec6\u64cd\u4f5c\u7684\u539f\u5b50\u4efb\u52a1\u5165\u624b \u2014\u2014 \u8fc7\u53bb\u4e00\u4e2a Benchmark \u5305\u542b 10 \u4e2a\u52a8\u4f5c\u5c31\u80fd\u8bc1\u660e\u6a21\u578b\u80fd\u529b\uff0c\u73b0\u5728\u9700\u8981\u8986\u76d6 100\u3001200 \u751a\u81f3 500 \u4e2a task\u3002\u5728\u5806\u79ef\u5927\u91cf\u4efb\u52a1\u7684\u8fc7\u7a0b\u4e2d\uff0c\u5927\u5bb6\u53d1\u73b0\u7b80\u5355\u62fc\u51d1\u4efb\u52a1\u4e0d\u53ef\u884c\uff0c\u9700\u8981\u4e00\u4e2a\u9ad8\u6548\u7684 VLM \u7f16\u7801\u5668\u548c\u89e3\u7801\u5668\u6765\u505a\u8de8\u6a21\u5757\u878d\u5408\u3002\u4e24\u80a1\u529b\u91cf\u6b63\u671d\u7740\u7ec8\u5c40\u7684 VLA \u5171\u540c\u52aa\u529b\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u73b0\u5728 VLA \u786e\u5b9e\u662f\u4e00\u4e2a\u767e\u82b1\u9f50\u653e\u7684\u72b6\u6001\uff0c\u5c31\u50cf\u4eba\u5de5\u667a\u80fd\u5728\u6700\u65e9\u671f\u7684\u7b26\u53f7\u4e3b\u4e49\u3001\u8fde\u63a5\u4e3b\u4e49\u4e5f\u662f\u767e\u82b1\u9f50\u653e\uff0c\u4f46\u968f\u7740\u7814\u7a76\u8fdb\u7a0b\u6162\u6162\u5730\u6536\u655b\u3002\u76ee\u524d\u50cf Gemini Robotics\u3001Nvidia GROOT N1\u3001Hi Robot\u3001Helix \u7b49\u90fd\u5728\u505a\u53cc\u7cfb\u7edf\u4e5f\u53d1\u5e03\u4e86\u76f8\u5e94\u7684 Demo\uff0c\u4e5f\u8bb8\u8fd9\u79cd\u53cc\u7cfb\u7edf\u662f\u5728\u8fd1\u671f\u53ef\u80fd\u4f1a\u66f4\u5bb9\u6613\u8ba9\u5927\u5bb6\u89c9\u5f97\u66f4\u5177\u6709\u843d\u5730\u6216\u6cdb\u5316\u6f5c\u529b\u7684\u8bbe\u8ba1\uff0c\u4f46\u672a\u6765\u8fd8\u4e0d\u597d\u8bf4\u3002<\/p>\n<p>VLA \u5305\u542b\u5404\u79cd\u5404\u6837\u7684 Action\uff0c\u5bf9\u4e8e\u673a\u5668\u4eba\u4e2d\u73b0\u5728\u7814\u7a76\u6700\u591a\u7684 Manipulation\u3001\u8fc7\u53bb\u7684 Navigation\uff08VLN\uff09\u548c \u4eba\u5f62\u673a\u5668\u4eba\u76f8\u5173\u7684 Locomotion \u4e09\u5927\u4efb\u52a1\uff0c\u5404\u4f4d\u80fd\u5426\u8bf7\u5404\u4f4d\u7ed3\u5408\u81ea\u8eab\u7814\u7a76\uff0c\u5206\u4eab\u4e00\u4e2a\u60a8\u8ba4\u4e3a\u8be5\u9886\u57df\u6700\u9700\u7a81\u7834\u7684\u6838\u5fc3\u6280\u672f\u74f6\u9888\u5462\uff1f<\/p>\n<p>\u9ad8\u9633\uff1a\u6211\u8ba4\u4e3a\u63a8\u7406\u662f\u5f53\u524d\u4e00\u5927\u96be\u70b9\uff0c\u6267\u884c\u590d\u6742\u4efb\u52a1\u65f6\u5f80\u5f80\u9700\u8981\u63a8\u7406\uff0c\u8d75\u8001\u5e08\u3001\u6768\u8001\u5e08\u7b49\u5b66\u8005\u5728 VLA \u4e0e\u63a8\u7406\u7ed3\u5408\u65b9\u9762\u4e5f\u5f00\u5c55\u4e86\u8bf8\u591a\u7814\u7a76\uff0c\u4f46\u6211\u89c9\u5f97\u54ea\u79cd\u8def\u5f84\u6700\u4f18\u4ecd\u65e0\u5b9a\u8bba\u3002<\/p>\n<p>\u53e6\u4e00\u4e2a\u6838\u5fc3\u6311\u6218\u662f\u6570\u636e\u3002\u5f53\u524d\u6570\u636e\u91cf\u7ea7\u8fdc\u4e0d\u53ca\u8bad\u7ec3 VLM \u7684\u6570\u636e\uff0c\u4e14\u591a\u6837\u6027\u4e0d\u8db3\u66f4\u4e3a\u5173\u952e\u3002\u6211\u4eec\u91c7\u96c6\u7684\u6570\u636e\u591a\u6765\u81ea\u7b80\u5355\u73af\u5883\uff0c\u7406\u8bba\u4e0a\u82e5\u6709\u65e0\u7a77\u591a\u6837\u7684\u6570\u636e\uff0cVLA \u96be\u9898\u6216\u53ef\u8fce\u5203\u800c\u89e3\uff0c\u4f46\u73b0\u5b9e\u4e2d\u5b58\u5728\u201c\u6570\u636e\u4e0d\u8db3\u9650\u5236\u6a21\u578b\u80fd\u529b\uff0c\u6a21\u578b\u80fd\u529b\u6709\u9650\u53c8\u5bfc\u81f4\u6570\u636e\u91c7\u96c6\u56f0\u96be\u201d\u7684\u9e21\u751f\u86cb\u95ee\u9898\u3002\u5982\u4f55\u7834\u89e3\u6570\u636e\u56f0\u5883\uff0c\u662f VLA \u7814\u7a76\u7684\u91cd\u4e2d\u4e4b\u91cd\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1aReasoning\uff08\u63a8\u7406\uff09\u80fd\u529b\u548c\u6570\u636e\u8fd9\u4e24\u70b9\u7684\u786e\u662f\u5f88\u5927\u7684\u6311\u6218\uff0c\u8981\u4e0d\u8bf7\u8000\u4e1c\u8001\u5e08\u4e5f\u5206\u4eab\u4e00\u4e0b\uff0c\u4f60\u6240\u9047\u5230\u7684\u6838\u5fc3\u6280\u672f\u74f6\u9888\u662f\u4ec0\u4e48\u5462\uff1f<\/p>\n<p>\u6768\u8000\u4e1c\uff1a\u6211\u89c9\u5f97\u5f53\u524d VLA \u8bad\u7ec3\u4ecd\u5904\u4e8e\u5272\u88c2\u72b6\u6001\uff0c\u5927\u8111\u548c\u5c0f\u8111\u5206\u5f00\u8bad\u7ec3\uff0c\u5f88\u5c11\u7aef\u5230\u7aef\u8bad\u7684\u3002\u8fd9\u4e0d\u50cf\u4eba\u7c7b\u5927\u8111\u4e0e\u5c0f\u8111\u7684\u53cc\u5411\u4ea4\u4e92\uff08\u5c0f\u8111\u6267\u884c\u4e2d\u7684\u53cd\u9988\u4f1a\u5b9e\u65f6\u4f5c\u7528\u4e8e\u5927\u8111\uff09\uff0c\u73b0\u6709\u53cc\u7cfb\u7edf\u67b6\u6784\u662f\u8bad\u7ec3\u4ea7\u7269\u800c\u975e\u751f\u7406\u7ed3\u6784\u3002\u5982\u4f55\u6253\u901a\u7aef\u5230\u7aef\u8bad\u7ec3\u662f\u5173\u952e\uff0c\u82e5\u5e95\u5c42\u7b56\u7565\uff08\u5982diffusion\u6a21\u578b\uff09\u4e0e\u4e0a\u5c42\u67b6\u6784\u8131\u8282\uff0c\u8054\u8c03\u96be\u5ea6\u5927\uff0c\u867d\u6709\u6e05\u534e RDT\u3001PI \u7b49\u5c1d\u8bd5\u63a2\u7d22\u7aef\u5230\u7aef\u67b6\u6784\uff08PI\u867d\u662f frozen \u7684\u4f46\u5177\u5907\u7aef\u5230\u7aef\u80fd\u529b\uff09\uff0c\u6240\u4ee5\u6253\u901a\u5927\u5c0f\u8111\u662f\u4e00\u4e2a\u6bd4\u8f83\u91cd\u8981\u7684\u95ee\u9898\u3002<\/p>\n<p>\u53e6\u4e00\u4e2a\u95ee\u9898\u662f\uff0c\u8bed\u8a00\u6a21\u578b\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u5728\u6d4b\u8bd5\u65f6\uff08test time\uff09\u6301\u7eed\u8ba1\u7b97\u4f18\u5316\u63a8\u7406\u80fd\u529b\uff08\u8f93\u51fa\u884c\u4e3a\u53cd\u54fa\u8f93\u5165\u5f62\u6210\u8bed\u4e49\u95ed\u73af\uff09\uff0c\u4f46 VLA \u76ee\u524d\u4ec5\u80fd\u8ba9\u5927\u6a21\u578b\u751f\u6210\u4e2d\u95f4\u4fe1\u53f7\uff08embedding\/token\/condition\uff09\u9a71\u52a8\u5c0f\u6a21\u578b\u8f93\u51fa\u52a8\u4f5c\uff0c\u7f3a\u4e4f\u771f\u6b63\u7684\u201c\u6d4b\u8bd5\u65f6\u8ba1\u7b97\u95ed\u73af\u201d\u2014\u2014\u52a8\u4f5c\u6267\u884c\u540e\u65e0\u6cd5\u56de\u6d41\u81f3VLM\u5f62\u6210\u8fed\u4ee3\u4f18\u5316\u3002<\/p>\n<p>\u8981\u7a81\u7834\u8fd9\u4e00\u70b9\uff0c\u9700\u501f\u9274\u8bed\u8a00\u6a21\u578b\u7ecf\u9a8c\uff0c\u7528\u7aef\u5230\u7aef\u67b6\u6784\u7ed3\u5408\u5f3a\u5316\u5b66\u4e60\uff0c\u8d4b\u4e88 VLA \u5728\u52a8\u4f5c\u7a7a\u95f4\u7684\u95ed\u73af\u63a8\u7406\u80fd\u529b\u3002\u8fd9\u4e00\u6280\u672f\u65b9\u5411\u5df2\u88ab\u5173\u6ce8\uff0c\u4f46\u5de5\u7a0b\u5316\u843d\u5730\uff08\u7ed3\u5408\u9ad8\u8001\u5e08\u63d0\u5230\u7684\u6570\u636e\u96be\u9898\uff09\u4ecd\u662f VLA \u4e9f\u5f85\u89e3\u51b3\u7684\u6838\u5fc3\u8bfe\u9898\uff0c\u5426\u5219\u5b83\u53ef\u80fd\u53ea\u662f\u6a21\u5757\u62fc\u63a5\u4ea7\u7269\uff0c\u96be\u4ee5\u91ca\u653e\u5177\u8eab\u667a\u80fd\u7684\u771f\u6b63\u6f5c\u529b\u3002<\/p>\n<p>\u7b2c\u4e8c\u4e2a\u95ee\u9898\u662f\uff0c\u6253\u901a\u8bad\u7ec3\u540e\u5982\u4f55\u901a\u8fc7\u6211\u4eec\u5728\u8bed\u8a00\u6a21\u578b\u4e0a\u5df2\u7ecf\u770b\u5230\u7684\u3001\u5229\u7528\u5f3a\u5316\u5b66\u4e60\u7684\u65b9\u6cd5\u663e\u8457\u63d0\u5347\u5176\u63a8\u7406\u80fd\u529b\u3002\u73b0\u5728\u7684 VLA\uff0c\u5b83\u6240\u6709\u63a8\u7406\u80fd\u529b\u90fd\u6765\u81ea\u4e8e VLM\uff0c\u4f46\u8fd9\u8fdc\u8fdc\u4e0d\u591f\uff0c\u56e0\u4e3a\u6211\u4eec\u77e5\u9053\u5728\u8bed\u8a00\u6a21\u578b\u63a8\u7406\u80fd\u529b\u5f3a\u7684\u5927\u90e8\u5206\u539f\u56e0\u662f\u56e0\u4e3a\u5b83\u80fd\u505a test time compute\uff0c\u5728\u6d4b\u8bd5\u65f6\u95f4\u4e0d\u505c\u5730\u601d\u8003\uff0c\u51c6\u786e\u5ea6\u8d8a\u6765\u8d8a\u9ad8\uff0c\u6240\u4ee5\u5728\u8bed\u4e49\u7a7a\u95f4\u80fd\u5f62\u6210\u95ed\u73af\uff0c\u5373\u8f93\u51fa\u7684\u884c\u4e3a\u80fd\u5728\u53d8\u6210\u8f93\u5165\u5230 VLM \u53bb\u3002<\/p>\n<p>\u4f46\u5bf9\u4e8e VLA \u6765\u8bb2\uff0c\u73b0\u5728\u5927\u6a21\u578b\u751f\u6210\u4e00\u4e2a\u4e2d\u95f4\u4ea7\u7269\uff0c\u5982\u67d0\u79cd embedding\u3001token \u6216 condition\uff0c\u7136\u540e\u5230\u4e86\u5c0f\u6a21\u578b\u5c0f\u8111\u8f93\u51fa\u4e86\u4e00\u4e2a\u884c\u4e3a\u5c31\u6ca1\u4e86\uff0c\u8fd9\u6ca1\u529e\u6cd5 test time compute\u3002\u771f\u6b63\u7684 test time compute \u662f\u4e00\u4e2a\u89c6\u89c9\u6216\u6307\u4ee4\u8f93\u5165\uff0c\u8f93\u51fa\u4e00\u4e2a action\uff0c\u8fd9\u4e2a action \u8fd8\u5f97\u56de\u5230 VLA \u91cc\u53bb\uff0c\u8fd9\u6837\u624d\u80fd\u5f62\u6210\u95ed\u73af\uff0c\u52a0\u4e4b\u4ee5\u6d4b\u8bd5\u65f6\u95f4\u7684\u7b97\u529b\u63d0\u5347\uff0c\u5f7b\u5e95\u63d0\u5347\u6574\u4e2a\u884c\u4e3a\u52a8\u4f5c\u7a7a\u95f4\u7684\u6cdb\u5316\u6027\u3001\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u7b49\u3002<\/p>\n<p>\u8fd9\u80cc\u540e\u9700\u8981\u653b\u514b\u7684\u6280\u672f\u96be\u70b9\u662f\u600e\u4e48\u5229\u7528\u7aef\u5230\u7aef\u67b6\u6784\u8d4b\u4ee5\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u7684\u77e5\u8bc6\u548c knowhow\uff0c\u590d\u523b\u51fa\u6211\u4eec\u5728\u8bed\u8a00\u6a21\u578b\u4e0a\u5df2\u7ecf\u53d6\u5f97\u7684\u6210\u529f\u3002\u8fd9\u4e00\u6280\u672f\u65b9\u5411\u5df2\u88ab\u5173\u6ce8\uff0c\u4f46\u5de5\u7a0b\u5316\u843d\u5730\u53ca\u9ad8\u8001\u5e08\u63d0\u5230\u7684\u6570\u636e\u96be\u9898\uff0c\u4ecd\u662f VLA \u4e9f\u5f85\u89e3\u51b3\u7684\u6838\u5fc3\u8bfe\u9898\uff0c\u5426\u5219\u5b83\u53ef\u80fd\u53ea\u662f\u6a21\u5757\u62fc\u63a5\u4ea7\u7269\uff0c\u96be\u4ee5\u5f7b\u5e95\u91ca\u653e\u667a\u80fd\u5230\u5177\u8eab\u667a\u80fd\u4e2d\u53bb\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u5176\u5b9e\u6211\u4e0b\u4e00\u4e2a\u95ee\u9898\u5c31\u662f\u5173\u4e8e\u600e\u4e48\u7ed3\u5408\u5f3a\u5316\u5b66\u4e60\u6765\u63d0\u5347\u95ed\u73af\u53cd\u9988\u80fd\u529b\uff0c\u8000\u4e1c\u8001\u5e08\u6b63\u597d\u5148\u5e2e\u6211\u56de\u7b54\u4e86\u3002\u6211\u4eec\u7ee7\u7eed\u8bf7\u8d75\u8001\u5e08\u8c08\u4e00\u4e0b\u4f60\u89c9\u5f97 VLA \u7684\u6838\u5fc3\u74f6\u9888\u662f\u4ec0\u4e48\uff1f<\/p>\n<p>\u8d75\u884c\uff1a\u6211\u521a\u521a\u63d0\u5230\u7684\u5404\u7c7b VLA \u8303\u5f0f\uff0c\u5e76\u8054\u3001\u4e32\u8054\u3001\u4e00\u6bb5\u5f0f\u3001\u4e2d\u95f4\u8f93\u51fa\u7b49\u5927\u591a\u662f\u7b80\u5355\u7684\u7ebf\u6027\u65e0\u73af\u56fe\uff0c\u800c\u6211\u4eec\u7406\u60f3\u4e2d\u7684 VLA \u5e94\u8ba9\u89c6\u89c9\u3001\u8bed\u8a00\u3001\u52a8\u4f5c\u4e09\u6a21\u6001\u5f62\u6210\u95ed\u73af\uff0c\u8fd9\u4e2a\u8000\u4e1c\u8001\u5e08\u89e3\u91ca\u5f97\u5df2\u7ecf\u975e\u5e38\u6e05\u695a\u4e86\u3002<\/p>\n<p>\u53e6\u4e00\u4e2a\u53ef\u80fd\u7684\u6311\u6218\u662f\uff0c\u5b9e\u9645\u5e94\u7528\u90e8\u7f72\u65f6\uff0c\u6211\u4eec\u4e0d\u5e0c\u671b\u6574\u4e2a\u7cfb\u7edf\u4ee5\u5355\u4e00\u9891\u7387\u8fd0\u884c\uff0c\u8fd9\u4e0d\u4ec5\u6d89\u53ca\u7ecf\u6d4e\u6210\u672c\uff0c\u4e5f\u662f\u7cfb\u7edf\u4f18\u5316\u5c42\u9762\u7684\u96be\u9898\u3002\u4ece\u54fa\u4e73\u52a8\u7269\u7684\u89d2\u5ea6\u6765\u770b\uff0c\u52a8\u4f5c\u63a7\u5236\u9700\u8981\u9ad8\u9891\u8fd0\u884c\uff0c\u5b9e\u73b0\u5feb\u901f\u611f\u77e5\u53cd\u9988\uff0c\u800c\u9ad8\u5c42\u6b21\u601d\u7ef4\u95ed\u73af\u7684\u9891\u7387\u5219\u5e94\u66f4\u4f4e\u3002\u4ece\u8fd9\u4e2a\u7b2c\u4e00\u6027\u539f\u7406\u53bb\u601d\u8003\uff0c\u5e94\u8be5\u8bbe\u8ba1\u51fa\u7c7b\u4f3c\u4eba\u7c7b\u7684\u9ad8\u4f4e\u9891\u81ea\u9002\u5e94\u95ed\u73af\u7cfb\u7edf\uff0c\u4f46\u81f3\u4eca\u4ecd\u662f\u672a\u88ab\u653b\u514b\u7684\u8bfe\u9898\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u4f60\u8bf4\u7684\u9ad8\u9891\u7387\u3001\u4f4e\u9891\u7387\uff0cHelix \u8fd9\u4e2a\u5de5\u4f5c\u662f\u4e0d\u662f\u8fd9\u79cd\u7ed3\u5408\uff1f<\/p>\n<p>\u8d75\u884c\uff1a\u5bf9\uff0c\u6211\u4eec\u73b0\u5728\u8bbe\u8ba1\u51fa\u4e86\u4e00\u79cd\u4e0d\u95ed\u73af\u7684\u67b6\u6784\uff0c\u6bd4\u5982 Helix \u7684\u8bbe\u8ba1\uff0c\u5b83\u7684 VLM \u662f frozen \u7684\uff0c\u6ca1\u6709\u8bad\u7ec3\u5c31\u662f\u628a feature \u62ff\u51fa\u6765\u52a0\u4e0a\u4e00\u4e2a action \u7684 diffusion policy model\uff0c\u662f\u4e32\u8054\u5f0f\u7684\uff0c\u4f46\u6211\u89c9\u5f97\u53ef\u80fd\u4e0d\u662f\u6700\u597d\u7684\uff0c\u5b83\u9700\u8981\u628a\u52a8\u4f5c\u53cd\u9988\u56de\u6765\uff0c\u4f46\u4e00\u65e6\u53cd\u9988\u56de\u6765\u540e\uff0c\u4e0d\u540c\u9891\u7387\u7684\u4e24\u4e2a\u7cfb\u7edf\u5982\u4f55\u5b9e\u73b0\u95ed\u73af\uff1f\u6211\u89c9\u5f97\u8fd9\u662f\u4e2a\u6bd4\u8f83\u5927\u7684\u6311\u6218\uff0c\u90a3\u5f53\u7136\u5e0c\u671b\u7ec8\u5c40\u6709\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u8bad\u7ec3\u65b9\u5f0f\uff0c\u628a\u8fd9\u79cd\u591a\u5c42\u6b21\u3001\u4e0d\u540c\u9891\u7387\u7684\u4e00\u6574\u4e2a\u5927\u7cfb\u7edf\u90fd\u80fd\u8bad\u7ec3\u8d77\u6765\u3002<\/p>\n<p><\/p>\n<p class=\"heading-3 ace-line old-record-id-J4UEdxmRvoKv8TxxaQWcy4GNnX0\" style=\"text-align: center\"><strong>RL \u4e4b\u4e8e VLA<\/strong><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u7cfb\u7edf\u7ea7\u7684\u95ed\u73af\u8bbe\u8ba1\u786e\u5b9e\u662f\u5f88\u91cd\u8981\u7684\u3002\u521a\u624d\u8000\u4e1c\u4e5f\u63d0\u5230\u548c\u5f3a\u5316\u5b66\u4e60\u7684\u7ed3\u5408\uff0c\u90a3 VLA \u5df2\u6709\u5927\u91cf\u7684\u9884\u8bad\u7ec3\uff0c\u4e5f\u4f53\u73b0\u4e86\u4e00\u5b9a\u7684\u6cdb\u5316\u80fd\u529b\u3001\u63a8\u7406\u80fd\u529b\u3002\u4f46\u521a\u521a\u63d0\u5230\u7684 Reasoning \u8fd8\u9700\u8981\u8fdb\u4e00\u6b65\u63d0\u5347\uff0c\u6bd4\u5982\u548c\u5f3a\u5316\u5b66\u4e60\u7684\u7ed3\u5408\uff0c\u4e5f\u8bb8\u662f\u4e00\u79cd\u4e0d\u9519\u7684\u601d\u8def\u3002\u5148\u8bf7\u8000\u4e1c\u6765\u8865\u5145\u4e00\u4e0b VLA \u548c\u5f3a\u5316\u5b66\u4e60\u5982\u4f55\u66f4\u597d\u5730\u7ed3\u5408\uff1f<\/p>\n<p>\u6768\u8000\u4e1c\uff1a\u89e3\u51b3\u8fd9\u7c7b\u95ee\u9898\u6ca1\u6709\u201c\u4e00\u62db\u9c9c\u201d\u7684\u65b9\u6848\u3002\u4ece\u8bed\u8a00\u6a21\u578b\u63a8\u7406\u6a21\u578b\u7684\u53d1\u5c55\u6765\u770b\uff0c\u65e0\u8bba\u662f OpenAI \u7684 o \u7cfb\u5217\u8fd8\u662f DeepSeek \u7684 r \u7cfb\u5217\uff0c\u80cc\u540e\u90fd\u662f\u4e00\u5957\u5b8c\u6574\u7684\u5de5\u7a0b pipeline\uff0c\u4e0d\u662f\u8dd1\u4e00\u4e2a RLHF \u6216 GRPO \u5c31\u89e3\u51b3\u7684\uff0c\u6d89\u53ca\u51b7\u542f\u52a8\u3001\u8fed\u4ee3\u84b8\u998f\u3001\u6570\u636e\u5236\u9020\u4e0e\u5408\u6210\u7b49\u591a\u4e2a\u73af\u8282\u3002\u6211\u4eec\u5728\u4e0e\u7075\u521d\u7684\u5b9e\u9a8c\u5ba4\u5408\u4f5c\u4e2d\u7684\u5c1d\u8bd5\u867d\u6709\u521d\u6b65\u6210\u679c\uff0c\u4f46\u786e\u5b9e\u6ca1\u8fbe\u5230\u7ec8\u5c40\u3002<\/p>\n<p>\u4ece\u6570\u636e\u89d2\u5ea6\u770b\uff0c\u76f8\u6bd4\u79bb\u6563\u7a7a\u95f4\u95ee\u9898\uff0c\u8fde\u7eed\u52a8\u4f5c\u7a7a\u95f4\u7684\u7814\u7a76\u96be\u5ea6\u66f4\u5927\u3002\u4ee5 AlphaGo \u4e3a\u4f8b\uff0c\u4ec5\u9760 3000 \u591a\u4e07\u6761\u4eba\u7c7b\u52a8\u4f5c\u6837\u672c\uff08\u7ea616\u4e07\u5c40\u6e38\u620f\uff09\u5c31\u80fd\u89e3\u51b3\u4e0b\u68cb\u8fd9\u7c7b\u79bb\u6563\u63a7\u5236\u95ee\u9898\uff1b\u800c Helix \u4f7f\u7528 500 \u5c0f\u65f6\u6570\u636e\uff0c\u6298\u7b97\u540e\u8fbe 1 \u4ebf &#8211; 5 \u4ebf\u6761\u3002\u79bb\u6563\u95ee\u9898\u7528\u5343\u4e07\u7ea7\u6570\u636e\u5c1a\u53ef\u89e3\u51b3\uff0c\u4f46\u8fde\u7eed\u52a8\u4f5c\u7a7a\u95f4\uff0c\u5c24\u5176\u6d89\u53ca\u7075\u5de7\u624b\u64cd\u4f5c\u65f6\uff0c\u6570\u636e\u7684\u8d28\u91cf\u548c\u591a\u6837\u6027\u4f1a\u4e25\u91cd\u5f71\u54cd VLA\u7684\u8bad\u7ec3\u4e0e\u5f3a\u5316\u6548\u679c\uff0c\u800c\u5f53\u524d\u5927\u90e8\u5206\u7684 VLA \u5176\u5b9e\u8fd8\u5728\u505a\u5939\u722a\u3002<\/p>\n<p>\u56de\u987e\u8bed\u8a00\u6a21\u578b\u53d1\u5c55\uff0c\u65e9\u671f\u6307\u4ee4\u8ddf\u8e2a\u9700\u767e\u4e07\u7ea7\u6570\u636e\uff0c\u5982\u4eca\u51e0\u4e07\u6761\u5c31\u80fd\u5b9e\u73b0\u4e0d\u9519\u6548\u679c\u3002\u6570\u636e\u9700\u6c42\u4f1a\u7ecf\u5386\u4ece\u201c\u591a\u201d\u5230\u201c\u5c11\u800c\u7cbe\u201d\u7684\u9636\u6bb5\uff0c\u5f80\u4e0b\u53d1\u5c55\u80af\u5b9a\u662f less is more\uff0c\u4f46\u8fd9\u4e2a less \u6ca1\u6709 more \u7684\u9636\u6bb5\uff0c\u662f\u6ca1\u6cd5\u8ba4\u77e5\u91cc\u5934\u7684\u7ed3\u6784\u7684\u3002\u76ee\u524d\u7684\u6570\u636e\u91c7\u96c6\u591a\u91c7\u7528\u76d1\u7763\u5b66\u4e60\u601d\u8def\uff0c\u5982\u901a\u8fc7\u9065\u64cd\u4f5c\u83b7\u53d6\u6293\u53d6\u8f68\u8ff9\uff0c\u867d\u80fd\u7528\u4e8e\u51b7\u542f\u52a8\uff0c\u6709\u4e00\u4e2a\u4e0d\u9519\u7684\u5c0f\u8111 policy\uff0c\u4f46\u548c\u5927\u5c0f\u8111\u8054\u52a8\u7684\u5f3a\u5316\u5b66\u4e60\u81ea\u8bad\u7ec3\u8303\u5f0f\u8fd8\u4e0d\u662f\u4e00\u56de\u4e8b\u3002<\/p>\n<p>\u597d\u5728\u6211\u4eec\u73b0\u5728\u6709 Issac Gym\u3001Issac Sim \u7b49\u63d0\u4f9b\u514d\u8d39\u5408\u6210\u6570\u636e\uff0c\u53ef\u4ee5\u5728\u865a\u62df\u73af\u5883\u4e2d\u5927\u91cf\u8bad\u7ec3\uff0c\u7ed3\u5408 sim to real \u6280\u672f\u6709\u671b\u7f13\u89e3\u6570\u636e\u95ee\u9898\u3002\u4f46\u5982\u4f55\u5229\u7528\u5f3a\u5316\u5b66\u4e60\u5b9e\u73b0\u6570\u636e\u81ea\u5408\u6210\u3001\u81ea\u8bad\u7ec3\uff0c\u5c24\u5176\u662f\u5728\u7075\u5de7\u624b\u5e94\u7528\u573a\u666f\u4e2d\uff0c\u76ee\u524d\u7814\u7a76\u4ecd\u8f83\u5c11\uff0c\u6311\u6218\u5de8\u5927\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u611f\u8c22\u8000\u4e1c\u7684\u5206\u4eab\uff0c\u5176\u4e2d\u63d0\u5230\u7684\u89c2\u70b9\u6781\u5177\u542f\u53d1\u6027\u2014\u2014VLA \u4e0e\u5f3a\u5316\u5b66\u4e60\u7ed3\u5408\u65f6\uff0c\u6570\u636e\u51c6\u5907\u4e0d\u5e94\u9075\u5faa\u81ea\u76d1\u7763\u8bad\u7ec3\u6846\u67b6\uff0c\u800c\u9700\u91c7\u7528\u9762\u5411\u81ea\u8bad\u7ec3\u7684\u6a21\u5f0f\uff0c\u7c7b\u4f3c AlphaGo \u4e4b\u540e AlphaZero \u901a\u8fc7\u81ea\u8bad\u7ec3\u63d0\u5347\u68cb\u529b\u7684\u8def\u5f84\u3002\u4f5c\u4e3a\u5f3a\u5316\u5b66\u4e60\u9886\u57df\u7684\u4e13\u5bb6\uff0c\u80fd\u5426\u8bf7\u9ad8\u8001\u5e08\u5206\u4eab\u4e00\u4e0b\u4e24\u8005\u5982\u4f55\u66f4\u597d\u5730\u7ed3\u5408\uff1f<\/p>\n<p>\u9ad8\u9633\uff1a\u6211\u8ba4\u4e3a\u5f3a\u5316\u5b66\u4e60\u662f VLA \u53d1\u5c55\u7684\u5fc5\u7531\u4e4b\u8def\u3002\u5982\u540c\u5927\u8bed\u8a00\u6a21\u578b\u4ece\u9884\u8bad\u7ec3\u8d77\u6b65\uff0c\u7ecf GPT-1 \u5230 3.5 \u9010\u6b65\u5f00\u5c55 SFT \u5fae\u8c03\u3001RLHF \u5fae\u8c03\uff0cVLA \u53d1\u5c55\u5927\u6982\u7387\u4e5f\u4f1a\u5386\u7ecf\u8fd9\u4e09\u4e2a\u9636\u6bb5\u3002RLHF \u5bf9 VLA \u4f5c\u7528\u4e0e\u5355\u4e00\u8bed\u8a00\u6a21\u578b\u76f8\u4f3c\uff0c\u53ef\u51cf\u5c11\u5e7b\u89c9\u548c\u52a8\u4f5c\u9519\u8bef\u3002<\/p>\n<p>\u4f46\u76ee\u524d\u4ecd\u5b58\u5728\u8bb8\u591a\u672a\u89e3\u95ee\u9898\u3002\u6bd4\u5982\u5728 VLA \u7684 RLHF \u4e2d\uff0c\u5982\u4f55\u6fc0\u53d1\u7c7b\u4f3c COT \u7684\u884c\u4e3a\uff1f\u5bf9\u673a\u5668\u4eba\u6765\u8bf4\uff0c\u600e\u6837\u7684\u8fde\u7eed\u52a8\u4f5c\u5e8f\u5217\u624d\u7b26\u5408 COT \u6807\u51c6\uff1f\u8fd9\u4e9b\u6982\u5ff5\u5c1a\u65e0\u660e\u786e\u5b9a\u4e49\uff0c\u6211\u4eec\u5b9e\u9a8c\u5ba4\u6b63\u5728\u63a2\u7d22\u3002<\/p>\n<p>\u5c06\u5f3a\u5316\u5b66\u4e60\u5e94\u7528\u4e8e\u5b9e\u4f53\u673a\u5668\u4eba\u4e0e\u5728\u4eff\u771f\u5668\u4e2d\u6709\u7740\u672c\u8d28\u533a\u522b\u3002\u5728\u73b0\u5b9e\u7269\u7406\u4e16\u754c\u5f00\u5c55\u5f3a\u5316\u5b66\u4e60\uff0c\u9762\u4e34\u5b89\u5168\u6027\u3001\u6570\u636e\u91cf\u7b49\u6311\u6218\uff0c\u4e9f\u9700\u6df1\u5165\u7814\u7a76\u89e3\u51b3\u3002\u4e00\u65e6\u7a81\u7834\u8fd9\u4e9b\u96be\u9898\uff0c\u673a\u5668\u4eba\u6216\u80fd\u5728\u73b0\u5b9e\u4e16\u754c\u5b9e\u73b0\u81ea\u4e3b\u8bad\u7ec3\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u5c31\u50cf\u9ad8\u8001\u5e08\u8bf4\u7684\uff0cRL \u4e0e VLA \u7ed3\u5408\u6709\u591a\u79cd\u65b9\u5f0f\uff0c\u6bd4\u5982\u5728\u771f\u673a\u4e0a\u7528\u5728\u7ebf\u5f3a\u5316\u5b66\u4e60\u505a\u4e0b\u6e38\u4efb\u52a1\u5fae\u8c03\uff0c\u6216\u7ed3\u5408\u79bb\u7ebf RL \u4e0e\u6a21\u4eff\u5b66\u4e60\u8fdb\u884c VLA \u9884\u8bad\u7ec3\u3002\u76ee\u524d\u8fd9\u4ecd\u5904\u4e8e\u65e9\u671f\u63a2\u7d22\u9636\u6bb5\uff0c\u601d\u8def\u591a\u6837\u3002\u8d75\u8001\u5e08\u600e\u4e48\u770b\u5f3a\u5316\u5b66\u4e60\u4e0e VLA \u7684\u7ed3\u5408\uff1f\u662f\u5426\u6709\u66f4\u597d\u7684\u7ed3\u5408\u65b9\u6cd5\uff1f\u00a0<\/p>\n<p>\u00a0\u8d75\u884c\uff1a\u6211\u6765\u8ba8\u8bba\u4e00\u4e2a\u5927\u5bb6\u53ef\u80fd\u6ca1\u63d0\u53ca\u7684\u4efb\u52a1\u3002\u6211\u4eec\u505a\u4e86\u5f88\u591a\u673a\u5668\u4eba\u5168\u8eab\u8fd0\u52a8\u7684\u7814\u7a76\uff0c\u4ece\u56db\u8db3\u673a\u5668\u72d7\u5230\u53cc\u8db3\u4eba\u5f62\u7684\u8fd0\u52a8\u63a7\u5236\uff0c\u8fd9\u4e2a\u9886\u57df\u5f3a\u5316\u5b66\u4e60\u5df2\u5f97\u5230\u9a8c\u8bc1\uff0c\u6bd4\u5982\u8ba9\u673a\u5668\u4eba\u8dd1\u9177\u3001\u8df3\u821e\u3001\u6253\u62f3\u7b49\u90fd\u80fd\u51fa\u8272\u5b8c\u6210\uff0c\u8fd9\u8868\u660e\u5f3a\u5316\u5b66\u4e60\u7528\u4e8e\u8bad\u7ec3 low level \u7684\u63a7\u5236\u662f\u53ef\u884c\u7684\u3002<\/p>\n<p>\u518d\u770b\u4e0a\u5c42\uff0c\u4e00\u822c\u4f1a\u7528\u5230 VLA \u6a21\u578b\uff0c\u5b83\u6709\u66f4\u591a\u63a8\u7406\u6b65\u9aa4\u3002\u4ece\u672a\u6765\u53d1\u5c55\u770b\uff0c\u5f3a\u5316\u5b66\u4e60\u548c VLA \u6a21\u578b\u5fc5\u7136\u6709\u878d\u5408\u8d8b\u52bf\uff0c\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u7684\u6a21\u578b\u68af\u5ea6\u6709\u673a\u4f1a\u4ece\u63a7\u5236\u6a21\u578b\u53cd\u5411\u4f20\u64ad\u5230\u4e0a\u5c42 VLA \u6a21\u578b\u3002\u4e0d\u8fc7\uff0c\u878d\u5408\u7684\u5177\u4f53\u7ec6\u8282\u8fd8\u9700\u5927\u5bb6\u8fdb\u4e00\u6b65\u63a2\u7d22\u3002<\/p>\n<p><\/p>\n<p class=\"heading-3 ace-line old-record-id-QeZxdWILfoywZYxcuhWc4IunnP5\" style=\"text-align: center\"><strong>\u771f\u5b9e\u6570\u636e\u3001\u4eff\u771f\u6570\u636e\u8fd8\u662f\u4e92\u8054\u7f51\u6570\u636e\uff1f<\/strong><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u6ca1\u9519\uff0c\u8fd9\u786e\u5b9e\u662f\u4e2a\u5f88\u6709\u610f\u601d\u7684\u7814\u7a76\u65b9\u5411\u3002\u4e0d\u4ec5 RL \u80fd\u52a9\u529b VLA\uff0cVLA \u4e5f\u80fd\u53cd\u54fa RL\uff0c\u4f18\u5316\u8fd0\u52a8\u63a7\u5236\u3002\u521a\u624d\u5927\u5bb6\u90fd\u63d0\u5230\u4e86\u6570\u636e\uff0c\u6211\u6b63\u597d\u4e5f\u51c6\u5907\u4e86\u76f8\u5173\u95ee\u9898\u3002\u5c31\u50cf \u03c0 0.5 \u548c\u8bb8\u534e\u54f2\u8001\u5e08\u62a5\u544a\u4e2d\u5c55\u793a\u7684\u6570\u636e\u91d1\u5b57\u5854\uff0c\u5e95\u5c42\u662f\u4e92\u8054\u7f51\u6570\u636e\uff0c\u4e2d\u5c42\u662f\u4eff\u771f\u6570\u636e\uff0c\u4e0a\u5c42\u662f\u771f\u673a\u6570\u636e\uff0c\u8fd9\u4f53\u73b0\u4e86\u591a\u6e90\u6570\u636e\u8bad\u7ec3\u7684\u6709\u6548\u6027\u3002<\/p>\n<p>\u6211\u60f3\u8bf7\u6559\u5404\u4f4d\u8001\u5e08\uff0cVLA \u8bad\u7ec3\u8be5\u7528\u771f\u673a\u6570\u636e\uff0c\u8fd8\u662f\u6df7\u5408\u6570\u636e\uff1f\u82e5\u9009\u62e9\u6df7\u5408\uff0c\u8be5\u5982\u4f55\u914d\u6bd4\uff1f\u4e0d\u540c\u8bad\u7ec3\u9636\u6bb5\uff08\u9884\u8bad\u7ec3\u3001\u5fae\u8c03\u3001\u540e\u8bad\u7ec3\uff09\u53c8\u8be5\u5982\u4f55\u9009\u62e9\u6570\u636e\uff1f\u9ad8\u8001\u5e08\u5148\u8c08\u8c08\u5427\u3002<\/p>\n<p>\u9ad8\u9633\uff1a\u6211\u8ba4\u4e3a\u6570\u636e\u7684\u591a\u6837\u6027\u6700\u4e3a\u5173\u952e\u3002\u6211\u4eec\u66fe\u5728\u8bba\u6587\u300adata scaling law in imitation learning\u300b\u4e2d\u63d0\u51fa\uff0c\u6570\u636e\u7684\u7edd\u5bf9\u6570\u91cf\u5e76\u975e\u6838\u5fc3\uff0c\u591a\u6837\u6027\u624d\u662f\u91cd\u4e2d\u4e4b\u91cd\u3002\u57fa\u4e8e\u6b64\uff0c\u6211\u5bf9\u4eff\u771f\u6570\u636e\u662f\u6bd4\u8f83\u60b2\u89c2\u7684\u3002\u867d\u7136\u4eff\u771f\u6570\u636e\u5bb9\u6613\u5927\u91cf\u751f\u6210\uff0c\u4e5f\u80fd\u901a\u8fc7\u57df\u968f\u673a\u5316\u589e\u52a0\u968f\u673a\u6027\uff0c\u4f46\u76ee\u524d\u6ca1\u6709\u4eff\u771f\u5668\u80fd\u590d\u523b\u7269\u7406\u4e16\u754c\u7684\u4e30\u5bcc\u591a\u6837\u6027\uff0c\u65e0\u8bba\u662f\u7269\u4f53\u79cd\u7c7b\u8fd8\u662f\u4ea4\u4e92\u5f62\u5f0f\u3002<\/p>\n<p>\u56e0\u6b64\uff0c\u4eff\u771f\u6570\u636e\u6216\u8bb8\u53ef\u7528\u4e8e\u7c97\u7cd9\u7684\u9884\u8bad\u7ec3\uff0c\u8fc7\u5f80\u4e00\u4e9b\u6293\u53d6\u7c7b\u4eff\u771f\u5668\u548c\u6570\u636e\u96c6\u5728\u73b0\u5b9e\u5e94\u7528\u4e2d\u4e5f\u53d6\u5f97\u8fc7\u4e00\u5b9a\u6548\u679c\u3002\u4e0d\u8fc7\uff0c\u9664\u4e86\u7b80\u5355\u6293\u53d6\u548c\u5c40\u90e8\u8fd0\u52a8\u63a7\u5236\uff0c\u6d89\u53ca\u590d\u6742\u901a\u7528\u64cd\u4f5c\u4efb\u52a1\u65f6\uff0c\u4eff\u771f\u5668\u7684\u80fd\u529b\u4ecd\u8fdc\u8fbe\u4e0d\u5230\u73b0\u5b9e\u4e16\u754c\u7684\u590d\u6742\u5ea6\u3002\u6240\u4ee5\u6211\u8ba4\u4e3a\uff0c\u4e30\u5bcc\u7684\u4e92\u8054\u7f51\u56fe\u6587\u6570\u636e\u3001\u4eba\u7c7b\u89c6\u9891\u6570\u636e\u4ee5\u53ca\u73b0\u5b9e\u573a\u666f\u91c7\u96c6\u7684\u9065\u64cd\u6570\u636e\uff0c\u624d\u5e94\u662f VLA \u8bad\u7ec3\u7684\u4e3b\u8981\u6570\u636e\u6765\u6e90\u3002\u00a0<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u6211\u5728\u5177\u8eab\u667a\u80fd\u5927\u4f1a\u542c\u5230\u4f60\u7684\u62a5\u544a\u4e5f\u4e13\u95e8\u4ecb\u7ecd\u4e86\u5982\u4f55\u66f4\u597d\u5730\u5229\u7528\u4e92\u8054\u7f51\u6570\u636e\uff0c\u8981\u4e0d\u518d\u7ed9\u5927\u5bb6\u4ecb\u7ecd\u4e00\u4e0b\uff1f<\/p>\n<p>\u00a0\u9ad8\u9633\uff1a\u5343\u5bfb\u667a\u80fd\u6295\u5165\u5927\u91cf\u7cbe\u529b\u63a2\u7d22\u5982\u4f55\u5229\u7528\u4e92\u8054\u7f51\u6570\u636e\u4f18\u5316 VLA \u6a21\u578b\uff0c\u5176\u4e2d\u4ee3\u8868\u6027\u5de5\u4f5c\u4e4b\u4e00\u662f\u63d0\u51fa Any-point Trajectory Modeling\uff08ATM\uff09\u3002\u6211\u4eec\u4ece\u4e92\u8054\u7f51\u4eba\u7c7b\u6d3b\u52a8\u89c6\u9891\u4e2d\u63d0\u53d6\u5173\u952e\u70b9\u8fd0\u52a8\u4fe1\u606f\uff0c\u8ba9\u6a21\u578b\u9884\u6d4b\u8fd9\u4e9b\u5173\u952e\u70b9\u8f68\u8ff9\uff0c\u4ee5\u6b64\u5b66\u4e60\u4eba\u7c7b\u884c\u4e3a\u6a21\u5f0f\u3002\u901a\u8fc7\u5bf9\u9884\u8bad\u7ec3\u540e\u7684\u6a21\u578b\u8fdb\u884c\u5fae\u8c03\uff0c\u5176\u6cdb\u5316\u80fd\u529b\u663e\u8457\u63d0\u5347\uff0c\u5c24\u5176\u5728\u573a\u666f\u9002\u914d\u548c\u7269\u4f53\u7c7b\u578b\u8bc6\u522b\u65b9\u9762\u8868\u73b0\u51fa\u8272\u3002\u4e92\u8054\u7f51\u6570\u636e\u4e30\u5bcc\u591a\u6837\uff0c\u6211\u4eec\u89c9\u5f97\u8fd9\u4e00\u65b9\u5411\u6781\u5177\u6f5c\u529b\uff0c\u8fd8\u6709\u5927\u91cf\u6570\u636e\u5c1a\u672a\u88ab\u5145\u5206\u6316\u6398\u548c\u5229\u7528\u3002\u00a0<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u975e\u5e38\u8d5e\u540c\uff0c\u6570\u636e\u548c\u6a21\u578b\u662f\u76f8\u8f85\u76f8\u6210\u7684\u3002\u82e5\u60f3\u66f4\u597d\u5730\u5229\u7528\u4f4e\u6210\u672c\u7684\u4e92\u8054\u7f51\u6570\u636e\uff0c\u5bf9\u6a21\u578b\u8bbe\u8ba1\u7684\u8981\u6c42\u4f1a\u66f4\u9ad8\uff1b\u800c\u4f7f\u7528\u9ad8\u6210\u672c\u7684\u771f\u673a\u6570\u636e\u65f6\uff0c\u6a21\u578b\u8bbe\u8ba1\u6216\u8bb8\u53ef\u4ee5\u66f4\u7b80\u5355\u76f4\u63a5\u3002\u5173\u4e8e\u6570\u636e\u65b9\u9762\uff0c\u9ad8\u8001\u5e08\u63d0\u5230\u4eff\u771f\u6570\u636e\u56e0\u4e0d\u591f\u771f\u5b9e\uff0c\u5bf9\u8bad\u7ec3\u7684\u5e2e\u52a9\u6709\u9650\u3002\u60f3\u95ee\u95ee\u53e6\u5916\u4e24\u4f4d\u8001\u5e08\uff0c\u5bf9\u4e8e VLA 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sim to real \u548c\u540e\u8bad\u7ec3 VLA 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center\"><strong>\u5982\u4f55\u63d0\u9ad8\u6cdb\u5316\u6027\uff1f<\/strong><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u597d\uff0c\u6211\u4eec\u63a5\u7740 Sim2Real\uff08\u4ece\u4eff\u771f\u5230\u73b0\u5b9e\uff09\u4ee5\u53ca\u6cdb\u5316\u6027\u7684\u95ee\u9898\u7ee7\u7eed\u63a2\u8ba8\u3002\u4e4b\u524d\u6211\u4eec\u8ba8\u8bba\u8fc7 VLA \u7684\u63a8\u7406\u80fd\u529b\uff0c\u800c\u6cdb\u5316\u80fd\u529b\u4e5f\u5f88\u91cd\u8981\uff0c\u5404\u4f4d\u8001\u5e08\u5728\u62a5\u544a\u4e2d\u4e5f\u5e38\u63d0\u53ca\u3002\u90a3\u4e48\uff0c\u8be5\u5982\u4f55\u8fdb\u4e00\u6b65\u63d0\u5347\u73b0\u6709 VLA \u7684\u6cdb\u5316\u80fd\u529b\u5462\uff1f\u8fd9\u5176\u4e2d\u5305\u62ec\u8de8\u672c\u4f53\u3001\u8de8\u573a\u666f\u3001\u8de8\u4efb\u52a1\u3001\u8de8\u7269\u4f53\u7b49\u65b9\u9762\u7684\u6cdb\u5316\u80fd\u529b\u3002\u60f3\u8bf7\u8001\u5e08\u4eec\u7ed9\u51fa\u4e00\u4e9b\u5efa\u8bae\uff0c\u9ad8\u8001\u5e08\u80fd\u5426\u5148\u8bf4\u8bf4\u5462\uff1f \u00a0<\/p>\n<p>\u9ad8\u9633\uff1a\u6211\u8ba4\u4e3a\u5c31 VLA \u7684\u6cdb\u5316\u80fd\u529b\u800c\u8a00\uff0c\u6700\u7b80\u5355\u76f4\u63a5\u7684\u65b9\u5f0f\u662f\u5229\u7528\u5927\u91cf\u4e92\u8054\u7f51\u7684\u89c6\u89c9\u8bed\u8a00\u6570\u636e\u8fdb\u884c\u8054\u5408\u8bad\u7ec3\u3002\u6bd4\u5982\u52a0\u5165\u5404\u7c7b\u4e0d\u540c\u7684\u76f8\u5173\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\uff0c\u8fd8\u53ef\u4ee5\u5f15\u5165\u89c6\u9891\uff0c\u5e76\u4f7f\u7528\u8f85\u52a9\u7684\u635f\u5931\u51fd\u6570\u3002<\/p>\n<p>\u63d0\u5347\u6cdb\u5316\u80fd\u529b\u65b9\u9762\uff0c\u65e0\u8bba\u662f\u5927\u8bed\u8a00\u6a21\u578b\u8fd8\u662f\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff0c\u90fd\u6ca1\u6709\u7b97\u6cd5\u4e0a\u7684\u5947\u8ff9\u3002\u4e3b\u8981\u662f\u901a\u8fc7\u5404\u79cd\u65b9\u5f0f\u751f\u6210\u5927\u91cf\u6570\u636e\uff0c\u8fd9\u4e9b\u6570\u636e\u4e00\u90e8\u5206\u6765\u81ea\u771f\u5b9e\u4e16\u754c\uff0c\u4e00\u90e8\u5206\u662f\u901a\u8fc7\u4eff\u771f\u65b9\u6cd5\u5f97\u5230\u7684\u3002\u5f53\u6a21\u578b\u63a5\u89e6\u5230\u4e30\u5bcc\u591a\u6837\u7684\u6570\u636e\u540e\uff0c\u5c31\u80fd\u81ea\u7136\u5730\u5b66\u4f1a\u907f\u514d\u795e\u7ecf\u7f51\u7edc\u4e2d\u7684\u4e00\u4e9b\u6377\u5f84\uff0c\u4ece\u800c\u6cdb\u5316\u5230\u65b0\u7684\u573a\u666f\u3002\u5bf9\u4e8e VLA \u6765\u8bf4\uff0c\u5728\u8fd9\u65b9\u9762\u4e5f\u5e76\u65e0\u592a\u5927\u4e0d\u540c\u3002<\/p>\n<p>\u6768\u8000\u4e1c\uff1a\u6211\u89c9\u5f97\u6709\u4e2a\u89d2\u5ea6\u503c\u5f97\u601d\u8003\uff0c\u5373\u628a VLA \u5f53\u4f5c\u5927\u6a21\u578b\u6765\u62d3\u5c55\u5176\u6cdb\u5316\u80fd\u529b\u3002\u4ece\u6570\u636e\u3001\u6a21\u578b\u67b6\u6784\u548c\u8bad\u7ec3\u89d2\u5ea6\u6765\u770b\uff0c\u521a\u624d\u63d0\u5230\u6570\u636e\u8981\u591a\u6837\uff0c\u6a21\u578b\u67b6\u6784\u53ef\u80fd\u6539\u53d8\uff0c\u8bad\u7ec3\u8981\u589e\u52a0\u5f3a\u5316\u5b66\u4e60\u3001\u7aef\u5230\u7aef\u7b49\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u6216\u8bb8\u9700\u8981\u8df3\u51fa\u73b0\u6709\u6846\u67b6\u601d\u8003\u4e0b\u4e00\u4ee3\u6280\u672f\u3002<\/p>\n<p>\u6bd4\u5982\u5728\u5927\u8bed\u8a00\u6a21\u578b\u65b9\u9762\uff0c\u8bad\u7ec3\u5927\u6a21\u578b\u5f88\u56f0\u96be\uff0c\u800c\u4eba\u7c7b\u7684\u5f3a\u5927\u5728\u4e8e\u80fd\u4e0d\u65ad\u5728\u7ebf\u81ea\u9002\u5e94\u5b66\u4e60\u65b0\u6280\u80fd\u3002\u8fd9\u5bf9\u5927\u8bed\u8a00\u6a21\u578b\u610f\u5473\u7740\u6d4b\u8bd5\u65f6\u7684\u8ba1\u7b97\u3001\u8bad\u7ec3\u6216\u5bf9\u9f50\uff0c\u5373\u5728\u4e0d\u52a8\u6216\u53ea\u52a8\u4e00\u70b9\u6743\u91cd\u7684\u524d\u63d0\u4e0b\uff0c\u5feb\u901f\u9002\u5e94\u65b0\u7ed3\u6784\u3001\u4efb\u52a1\u548c\u7269\u4f53\u3002\u8fd9\u5728\u5c0f\u8111\u65b9\u9762\u5c24\u5176\u91cd\u8981\uff0c\u56e0\u4e3a\u4eba\u7c7b\u5c0f\u8111\u7684\u53ef\u5851\u6027\u5f88\u5f3a\uff0c\u5c0f\u5b69\u7684\u7075\u5de7\u64cd\u4f5c\u80fd\u529b\uff0c\u6bd4\u598213\u300114\u4e2a\u6708\u5927\u7684\u5b69\u5b50\u770b\u51e0\u6b21\u793a\u8303\u5c31\u80fd\u5b66\u4f1a\u62e7\u53d1\u6761\u3002<\/p>\n<p>\u76ee\u524d\u5728\u7eaf\u8bed\u8a00\u5927\u6a21\u578b\u4e0a\u5df2\u770b\u5230\u4e00\u4e9b\u597d\u8ff9\u8c61\uff0c\u5982 John Schulman \u63d0\u5230\uff0c\u6a21\u578b\u8bad\u7ec3\u5230\u4e00\u5b9a\u7a0b\u5ea6\u540e\uff0c\u53d1\u73b0\u4fc4\u8bed\u4e2d\u7684\u4e00\u4e2a\u9519\u8bef\uff0c\u4ed6\u7528 20 \u6761\u5bf9\u5e94\u7684\u82f1\u8bed\u6570\u636e\u8c03\u6574\u540e\u5c31\u4fee\u590d\u4e86\u9519\u8bef\u3002\u6240\u4ee5\u6211\u4eec\u8981\u8ffd\u5bfb\u4e00\u79cd\u4e0b\u4e00\u4ee3\u7684\u8303\u5f0f\uff0c\u5373\u65e0\u9700\u5927\u52a8\u5e72\u6208\u5c31\u80fd\u5feb\u901f\u5b66\u4f1a\u65b0\u80fd\u529b\u7684\u65b9\u5f0f\uff0c\u4e5f\u5c31\u662f\u7814\u7a76\u795e\u7ecf\u7f51\u7edc\u7684\u53ef\u5851\u6027\uff0c\u8fd9\u53ef\u80fd\u9700\u8981\u7b97\u6cd5\u4e0a\u7684\u9769\u547d\uff0c\u50cf\u73b0\u5728\u4e00\u4e9b TTT \u8303\u5f0f\u5c31\u503c\u5f97\u5173\u6ce8\u3002<\/p>\n<p>\u53e6\u5916\uff0c\u6211\u4eec\u8fd8\u9700\u7a81\u7834\u73b0\u6709\u201c\u5927\u8111\u52a0\u5c0f\u8111\u201d\u7684\u5927\u6a21\u578b\u8ba4\u77e5\u5c40\u9650\uff0c\u8fd9\u79cd\u8ba4\u77e5\u8f83\u4e3a\u7247\u9762\u6b66\u65ad\uff0c\u6216\u8bb8\u662f\u51fa\u4e8e\u5546\u4e1a\u5316\u6216\u9762\u5411\u5927\u4f17\u3001\u6295\u8d44\u4eba\u7684\u8003\u8651\uff0c\u4fbf\u4e8e\u5927\u5bb6\u7406\u89e3\u201c\u5927\u8111\u5c0f\u8111\u201d\u6982\u5ff5\u3002\u4f46\u4eba\u7c7b\u751f\u7406\u673a\u5236\u590d\u6742\uff0c\u4ee5\u547c\u5438\u548c\u5fc3\u8df3\u4e3a\u4f8b\uff0c\u6309\u201c\u5927\u8111\u5c0f\u8111\u201d\u5206\u6790\u672c\u5e94\u5f52\u5c5e\u5c0f\u8111\uff0c\u4f46\u5b9e\u9645\u7531\u8111\u5e72\u63a7\u5236\u3002<\/p>\n<p>\u76ee\u524d\u7684 VLA\uff0c\u65e0\u8bba\u662f Helix \u8fd8\u662f \u03c0\uff0c\u90fd\u7f3a\u5931\u201c\u8111\u5e72\u201d\u8fd9\u6837\u7684\u7ed3\u6784\u3002\u6240\u4ee5\uff0c\u5bf9\u67b6\u6784\u8fdb\u884c\u521b\u65b0\u81f3\u5173\u91cd\u8981\uff0c\u8fd9\u53ef\u80fd\u662f\u5b9e\u73b0\u5f3a\u5927\u6cdb\u5316\u80fd\u529b\u3001\u63a8\u52a8 VLA \u5411\u4e0b\u4e00\u9636\u6bb5\u89c4\u6a21\u5316\u53d1\u5c55\u7684\u5173\u952e\u3002\u5f53\u7136\uff0c\u5f53\u4e0b\u4e5f\u9700\u505a\u597d\u6570\u636e\u4f18\u5316\u3001\u5f3a\u5316\u8bad\u7ec3\u3001\u5b9e\u73b0\u5177\u8eab\u8ba4\u77e5\u7b49\u5de5\u4f5c\uff0c\u4f46\u8981\u5b9e\u73b0\u771f\u6b63\u7684\u6cdb\u5316\uff0c\u8fd8\u9700\u4ed8\u51fa\u66f4\u591a\u52aa\u529b\u3002\u00a0<\/p>\n<p>\u8d75\u884c\uff1a\u6211\u8ba4\u4e3a\u672a\u6765\u673a\u5668\u4eba\u4f1a\u50cf\u5730\u7403\u751f\u7269\u4e00\u6837\u5f62\u6001\u591a\u6837\u3002\u5927\u6982\u7387\u4e0d\u9700\u8981\u5355\u4e00\u7684\u5927\u8111\u6216 VLA \u6a21\u578b\uff0c\u8000\u4e1c\u8001\u5e08\u63d0\u5230\u7684\u540e\u8bad\u7ec3\u6216 test time training \u8303\u5f0f\u66f4\u9002\u5408\u5177\u8eab\u667a\u80fd\u3002\u673a\u5668\u4eba\u5404\u6709\u72ec\u7279\u672c\u4f53\u548c\u4f5c\u4e1a\u7a7a\u95f4\uff0c\u4e0d\u50cf\u81ea\u52a8\u9a7e\u9a76\u8f66\u8ffd\u6c42\u901a\u7528\uff0c\u6bd4\u5982\u4e9a\u9a6c\u900a\u6700\u8fd1\u5c55\u793a\u7684\u4ed3\u5e93\u673a\u5668\u4eba\uff0c\u7528\u5e26\u89e6\u89c9\u7684\u53cc\u9762\u5c65\u5e26\u5939\u722a\uff0c\u51cf\u5c11\u5bf9\u89c6\u89c9\u7684\u4f9d\u8d56\uff0c\u7279\u5b9a\u4efb\u52a1\u6548\u7387\u66f4\u9ad8\u3002<\/p>\n<p>\u4f46\u6211\u4eec\u66f4\u9700\u8981\u4e00\u5957\u5b8c\u5584\u5de5\u5177\uff0c\u5305\u542b\u9884\u8bad\u7ec3 checkpoint\u3001\u540e\u8bad\u7ec3\u6216 test time training \u5de5\u5177\uff0c\u80fd\u9488\u5bf9\u5177\u4f53\u573a\u666f\u91c7\u96c6\u5c11\u91cf\u6570\u636e\u5b8c\u6210\u9002\u914d\uff0c\u6700\u540e\u53bb\u628a\u8fd9\u4e2a\u95ee\u9898\u7ed9\u89e3\u51b3\u5230 99.9% 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90% &#8211; 95% \u7684\u4efb\u52a1\uff0c\u8fd9\u4e9b\u56e0\u7d20\u5171\u540c\u51b3\u5b9a\u5408\u9002\u7684\u672c\u4f53\u5f62\u6001\u3002\u6240\u4ee5\u7b2c\u4e00\u9636\u6bb5\uff0c\u6211\u4eec\u9009\u62e9\u8f6e\u5f0f\u5e95\u76d8\u52a0\u53cc\u81c2\u5939\u722a\u7684\u673a\u5668\u4eba\u5f62\u6001\uff0c\u5b83\u4fbf\u4e8e\u667a\u80fd\u6a21\u578b\u63a7\u5236\u3001\u6570\u636e\u91c7\u96c6\uff0c\u4e5f\u80fd\u5904\u7406\u4e0d\u5c11\u4efb\u52a1\uff0c\u540e\u7eed\u518d\u9010\u6b65\u6dfb\u52a0\u7075\u5de7\u624b\u7b49\u590d\u6742\u90e8\u4ef6\u3002<\/p>\n<p>\u9700\u8981\u8bf4\u660e\u7684\u662f\uff0c\u6211\u4eec\u8ba4\u4e3a\u672a\u6765\u673a\u5668\u4eba\u751f\u6001\u4f1a\u4e30\u5bcc\u591a\u6837\u3002\u4f46\u5728 ToC \u7aef\uff0c\u9762\u5411\u5bb6\u5ead\u6d88\u8d39\u8005\uff0c\u5927\u6982\u7387\u4f1a\u51fa\u73b0\u901a\u7528\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u56e0\u4e3a\u4eba\u5f62\u662f\u4eba\u7c7b\u4e16\u754c\u7684\u201c\u6700\u5927\u516c\u7ea6\u6570\u201d\uff0c\u80fd\u89e3\u51b3\u66f4\u591a\u95ee\u9898\uff1b\u800c\u5728 ToB \u7aef\uff0c\u5546\u4e1a\u548c\u5de5\u4e1a\u573a\u666f\u4e2d\uff0c\u9884\u8ba1\u4f1a\u6709\u51e0\u79cd\u4e3b\u6d41\u5f62\u6001\u7684\u673a\u5668\u4eba\uff0c\u9488\u5bf9\u5177\u4f53\u5e94\u7528\u573a\u666f\uff0c\u901a\u8fc7\u540e\u8bad\u7ec3\u3001test time training\uff0c\u6216\u672c\u4f53\u4e0e\u4efb\u52a1\u534f\u540c\u8bbe\u8ba1\uff0c\u8fdb\u884c\u624b\u81c2\u52a0\u957f\u3001\u8f6e\u5b50\u52a0\u5927\u7b49\u7ec6\u5316\u6539\u9020\u3002\u8fd9\u5c31\u662f\u6211\u4eec\u6574\u4f53\u7684\u601d\u8def\u3002<\/p>\n<p><\/p>\n<p class=\"heading-3 ace-line old-record-id-Uf5Yd72x4oCdvqxClX9ceSVmn2x\" style=\"text-align: center\"><strong>\u957f\u7a0b\u4efb\u52a1\u4e0e\u5546\u4e1a\u843d\u5730<\/strong><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u6700\u540e 20 \u5206\u949f\u6709\u4e00\u4e2a\u6211\u81ea\u5df1\u975e\u5e38\u5173\u6ce8\u7684\u95ee\u9898\uff0c\u5c31\u662f\u5173\u4e8e\u957f\u7a0b\u4efb\u52a1\u3002\u6211\u4eec\u901a\u5e38\u7528 VLM \u62c6\u89e3\u957f\u7a0b\u4efb\u52a1\u4e3a\u539f\u5b50\u4efb\u52a1\uff0c\u518d\u7531 VLA \u6267\u884c\u3002\u4f46 VLA \u53ea\u80fd\u505a\u539f\u5b50\u4efb\u52a1\u5417\uff1f\u5b83\u80fd\u5426\u76f4\u63a5\u5b8c\u6210\u957f\u7a0b\u4efb\u52a1\uff1f\u76ee\u524d\u76f8\u5173\u7814\u7a76\u5f88\u5c11\uff0cVLA \u5927\u591a\u4ecd\u5728\u6267\u884c\u77ed\u7a0b\u4efb\u52a1\u3002\u6211\u60f3\u8bf7\u6559\u5927\u5bb6\uff0cVLA \u662f\u5426\u6709\u6f5c\u529b\u72ec\u7acb\u5b8c\u6210\u957f\u7a0b\u4efb\u52a1\uff1f\u82e5\u6709\uff0c\u6211\u4eec\u662f\u5426\u8be5\u671d\u6b64\u65b9\u5411\u63a2\u7d22\uff1f\u5982\u679c\u8981\u5b9e\u73b0\uff0c\u8be5\u600e\u4e48\u505a\uff0c\u624d\u80fd\u907f\u514d\u5148\u7531 VLM \u62c6\u89e3\u3001\u518d\u8ba9 VLA \u6267\u884c\u77ed\u7a0b\u4efb\u52a1\u7684\u6a21\u5f0f\uff1f<\/p>\n<p>\u9ad8\u9633\uff1a\u6211\u8ba4\u4e3a\u8fd9\u5e76\u975e\u6700\u5173\u952e\u3001\u6700\u6025\u9700\u89e3\u51b3\u7684\u95ee\u9898\u3002\u82e5 VLA \u80fd\u5b8c\u6210\u5927\u91cf\u77ed\u7a0b\u4efb\u52a1\uff0c\u90a3\u642d\u914d\u4e0a\u5c42\u4efb\u52a1\u8c03\u5ea6\u5668\uff0c\u5c31\u80fd\u89e3\u51b3\u73b0\u5b9e\u4e2d\u591a\u6570\u95ee\u9898\u3002\u5c4a\u65f6\uff0c\u4e3b\u8981\u6311\u6218\u5728\u4e8e\u8c03\u5ea6\u5668\u4e0e VLA \u7684\u534f\u540c\u3002\u76f4\u63a5\u7528 GPT \u7b49\u505a\u8c03\u5ea6\u5668\u53ef\u80fd\u6548\u679c\u6b20\u4f73\uff0c\u56e0\u5176\u4e0d\u4e86\u89e3 VLA \u7684\u80fd\u529b\u8fb9\u754c\uff0c\u4f46\u53ef\u901a\u8fc7\u5c11\u91cf prompt \u4f7f\u5176\u638c\u63e1\u4e0b\u5c42\u7684\u80fd\u529b\u8fb9\u754c\u3002\u867d\u7136\u8fd9\u79cd\u4efb\u52a1\u62c6\u89e3\u65b9\u5f0f\u5e76\u975e\u6700\u4f18\uff0c\u5374\u8db3\u4ee5\u5e94\u5bf990% &#8211; 95%\u7684\u4efb\u52a1\u3002\u6240\u4ee5\uff0c\u8fd9\u4e2a\u95ee\u9898\u6709\u7814\u7a76\u4ef7\u503c\uff0c\u4f46\u5efa\u8bae\u5148\u642d\u5efa\u597d\u57fa\u7840\u6846\u67b6\uff0c\u518d\u6df1\u5165\u63a2\u7d22\u4f1a\u66f4\u6709\u610f\u4e49\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u660e\u767d\uff0c\u9ad8\u8001\u5e08\u8ba4\u4e3a\u8fd9\u4e0d\u662f\u6211\u4eec\u7279\u522b\u7d27\u6025\u8981\u89e3\u51b3\u7684\u7b2c\u4e00\u4e2a\u4f18\u5148\u7ea7\uff0c\u90a3\u8000\u4e1c\u89c9\u5f97 VLA \u662f\u5426\u9700\u8981\u5c3d\u91cf\u53bb\u89e3\u51b3\u957f\u7a0b\u4efb\u52a1\uff1f\u8fd8\u662f\u4e5f\u50cf\u9ad8\u8001\u5e08\u8fd9\u6837\u89c9\u5f97\u8bf4\u5176\u5b9e\u914d\u5408\u4e00\u4e2a\u5927\u8111\u6a21\u578b\u505a\u62c6\u89e3\u5c31\u53ef\u4ee5\u4e86\u3002<\/p>\n<p>\u6768\u8000\u4e1c\uff1a\u6211\u8ba4\u4e3a\u8fd9\u662f\u4e2a\u5f88\u8feb\u5207\u7684\u4efb\u52a1\u3002\u5728\u7ec4\u5efa\u7075\u521d\u5b9e\u9a8c\u5ba4\u65f6\uff0c\u6211\u9080\u8bf7\u4e86\u5317\u5927\u4e13\u95e8\u505a\u63a8\u7406\u6a21\u578b VLA \u7684\u6881\u4e00\u97ec\u8001\u5e08\u3002\u4ece Nvidia \u7684\u8bdd\u8bed\u4f53\u7cfb\u770b\uff0c\u7b2c\u4e00\u4ee3\u5177\u8eab\u667a\u80fd\u662f Minecraft agent\uff0c\u867d\u64cd\u4f5c\u9f20\u6807\u952e\u76d8\u7684\u81ea\u7531\u5ea6\u4e0d\u9ad8\uff0c\u4f46\u5f00\u653e\u73af\u5883\u4e0b\u4efb\u52a1\u590d\u6742\u3002\u4e00\u5e74\u591a\u524d\uff0c\u901a\u8fc7\u8bed\u8a00\u667a\u80fd\u4f53\uff0c\u5728 Minecraft \u4e0a\u7684 VLA \u8fd0\u7528 self reflection\uff08\u81ea\u6211\u53cd\u601d\uff09\u3001correction\uff08\u4fee\u6b63\uff09\u3001replanning\uff08\u91cd\u65b0\u89c4\u5212\uff09\u7b49\u6280\u672f\uff0c\u8ba9\u5176\u73a9\u4e09\u56db\u4e2a\u5c0f\u65f6\u4e0d\u72af\u9519\uff0c\u5b8c\u6210\u6709\u7a00\u758f\u5956\u52b1\u4e14\u9700\u4f7f\u7528\u591a\u79cd\u5de5\u5177\u7684\u4efb\u52a1\u5df2\u6ca1\u95ee\u9898\u3002<\/p>\n<p>\u4e0e\u673a\u5668\u4eba\u64cd\u4f5c\u76f8\u6bd4\uff0c\u5f88\u591a\u673a\u5668\u4eba\u64cd\u4f5c\u89c6\u9891\u65f6\u957f\u5927\u6982 10 \u5230 15 \u79d2\u3002\u800c\u50cf\u8d85\u5e02\u8865\u8d27\u8fd9\u7c7b\u590d\u6742\u4efb\u52a1\uff0c\u7bee\u5b50\u91cc\u53ef\u80fd\u6709\u4e8c\u4e09\u5341\u4e2a\u7269\u4f53\u3001\u51e0\u5343\u4e2a SKU\uff08\u5e93\u5b58\u4fdd\u6709\u5355\u4f4d\uff09\uff0c\u64cd\u4f5c\u8fc7\u7a0b\u8fdc\u8d85 10 \u5230 15 \u79d2\uff0c\u8fd9\u5bf9\u73b0\u6709 VLA \u662f\u5f88\u5927\u6311\u6218\uff0c\u82e5\u4e0d\u80fd\u81ea\u6211\u7ea0\u9519\u548c\u91cd\u65b0\u89c4\u5212\uff0c\u4efb\u52a1\u6210\u529f\u7387\u4f1a\u663e\u8457\u964d\u4f4e\u3002<\/p>\n<p>\u5728\u548c\u7075\u521d\u5f00\u53d1\u5927\u8111\u548c\u5c0f\u8111\u65f6\uff0cVLA \u7684\u63a8\u7406\u80fd\u529b\u4f18\u5148\u7ea7\u5f88\u9ad8\u3002\u6700\u8fd1\u505a\u4e86\u4e2a\u7075\u5de7\u624b\u6253\u9ebb\u5c06\u7684 demo\uff0c\u4e00\u955c\u5230\u5e95\uff0c\u673a\u68b0\u81c2\u4e0d\u4ec5\u8981\u8ba1\u7b97\u51fa\u724c\uff0c\u8fd8\u8981\u8003\u8651\u5404\u79cd\u539f\u5b50\u52a8\u4f5c\uff0c\u5982\u724c\u7684\u6293\u53d6\u65b9\u5f0f\u7b49\u3002\u4ec5\u9760 VLM \u6216\u5f3a\u63a8\u7406\u6a21\u578b\uff0c\u6ca1\u6709\u7aef\u5230\u7aef\u4e14\u5177\u5907embody COT\uff08\u5177\u8eab\u601d\u7ef4\u94fe\uff09\u80fd\u529b\u7684 VLA \u662f\u89e3\u51b3\u4e0d\u4e86\u95ee\u9898\u7684\u3002\u6253\u9ebb\u5c06\u662f\u8fd9\u6837\uff0c\u8865\u8d27\u3001\u626b\u7801\u6253\u5305\u3001\u7269\u6599\u5206\u62e3\u7b49\u573a\u666f\u4e5f\u90fd\u9700\u8981\u8fd9\u79cd\u80fd\u529b\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u5c31\u662f\u53c8\u56de\u5230\u54b1\u4eec\u521a\u624d\u8bf4\u7684\u95ed\u73af\u4e86\uff0c\u8981\u662f VLA \u80fd\u540c\u65f6\u5177\u5907\u8bb0\u5fc6\u3001\u672a\u6765\u9884\u6d4b\u53cd\u9988\u95ed\u73af\uff0c\u8fdb\u800c\u5b8c\u6210\u8d85\u957f\u4efb\u52a1\uff0c\u786e\u5b9e\u5f88\u6709\u4ef7\u503c\u3002\u8d75\u8001\u5e08\uff0c\u4f60\u89c9\u5f97\u8fd1\u671f\u7684 VLA \u7814\u7a76\u662f\u5426\u8981\u805a\u7126\u4e8e\u8fd9\u7c7b\u957f\u7a0b\u4efb\u52a1\uff1f\u5982\u679c\u9700\u8981\uff0c\u8be5\u5982\u4f55\u63a8\u8fdb\uff1f\u9ad8\u8001\u5e08\u548c\u8000\u4e1c\u8001\u5e08\u63d0\u51fa\u4e86\u4e0d\u540c\u601d\u8def\uff0c\u4f60\u600e\u4e48\u770b\uff1f<\/p>\n<p>\u8d75\u884c\uff1a\u5728\u6211\u4eec\u7684\u7814\u7a76\u4e2d\uff0c\u76f8\u5bf9\u66f4\u5173\u6ce8\u52a8\u4f5c\u80fd\u529b\u672c\u8eab\u3002\u6bd5\u7adf\u957f\u7a0b\u63a8\u7406\u8f83\u96be\u5b9a\u4e49\uff0c\u800c\u8bed\u8a00\u548c\u89c6\u89c9\u7684\u5b9a\u4e49\u76f8\u5bf9\u6e05\u6670\u3002\u6211\u4eec\u89c1\u8fc7\u4e0d\u5c11\u89c6\u89c9\u8bed\u8a00\u7684 reasoning benchmark\uff0c\u4f46\u8fd8\u6ca1\u6709\u89c6\u89c9\u8bed\u8a00\u52a8\u4f5c\u7684 benchmark\uff0c\u8fd9\u5c31\u6025\u9700\u5b66\u672f\u754c\u5171\u540c\u53bb\u5b9a\u4e49\u5e76\u5f62\u5f0f\u5316\u8fd9\u4e2a\u95ee\u9898\uff0c\u7136\u540e\u5168\u529b\u7814\u7a76\u3002<\/p>\n<p>\u5728\u673a\u5668\u4eba\u4efb\u52a1\u91cc\u5b58\u5728\u4e00\u4e2a\u5927\u5751\u3002\u6bd4\u5982\u505a\u7814\u7a76\u65f6\uff0c\u60f3\u8ba9\u673a\u5668\u4eba\u505a\u5496\u5561\uff0c\u90a3\u4e3a\u4f55\u975e\u8981\u7528VLA\u6a21\u578b\u5462\uff1f\u4e3a\u4ec0\u4e48\u4e0d\u81ea\u5df1\u5199\u4e2a\u72b6\u6001\u673a\uff0c\u8bad\u7ec3\u4e00\u4e9b\u52a8\u4f5c\u518d\u4e32\u8054\u8d77\u6765\u89e3\u51b3\u95ee\u9898\u5462\uff1f\u4f5c\u4e3a\u8bc4\u5ba1\u65f6\uff0c\u4e5f\u4f1a\u95ee\u5199\u8bba\u6587\u7684\u4eba\uff0c\u4e3a\u4ec0\u4e48\u8981\u7528VLA\u6765\u89e3\u51b3\u95ee\u9898\uff0c\u6bd5\u7adf\u73b0\u6709\u7684\u72b6\u6001\u673a\u5199100\u6761\u89c4\u5219\u5c31\u80fd\u5904\u7406\u6240\u6709\u60c5\u51b5\u3002<\/p>\n<p>\u6240\u4ee5\uff0cVLA \u9886\u57df\u6025\u7f3a\u4e00\u4e2a\u597d\u7684\u63a8\u7406\u8bc4\u4ef7\u4f53\u7cfb\uff0c\u8ba9\u6211\u4eec\u6e05\u695a VLA \u7684\u957f\u7a0b\u4efb\u52a1\u662f\u4ec0\u4e48\uff0c\u5e76\u4e14\u5728\u957f\u7a0b\u4efb\u52a1\u4e2d\uff0c\u6e05\u695a\u662f\u54ea\u51e0\u6b65\u56e0\u4e3a\u63a8\u7406\u5931\u8d25\u800c\u5931\u6548\uff0c\u800c\u4e0d\u53ea\u662f\u56e0\u4e3a\u52a8\u4f5c\u6267\u884c\u3001\u81ea\u9002\u5e94\u63a7\u5236\u6216\u6062\u590d\u7b49\u80fd\u529b\u4e0d\u8db3\u800c\u5931\u8d25\u3002\u76ee\u524d\u5bf9\u4e8e\u771f\u6b63\u7684\u673a\u5668\u4eba VLA \u63a8\u7406\u6a21\u578b\u8fd8\u6ca1\u6709\u4e00\u4e2a\u786e\u5b9a\u7684\u7ed3\u8bba\uff0c\u8fd9\u70b9\u5f88\u91cd\u8981\u3002\u00a0<\/p>\n<p>\u00a0<\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u5bf9\uff0c\u8d75\u8001\u5e08\u4e5f\u5206\u4eab\u4e86\u6211\u4eec\u76ee\u524d\u4e3a\u6b62\u6ca1\u6709\u8ba8\u8bba\u5230\u7684\u5c42\u9762\uff0c\u5c31\u662f\u5982\u4f55\u5b9a\u4e49\u548c\u8bc4\u6d4b\u63a8\u7406\u80fd\u529b\u3002<\/p>\n<p>\u8d75\u884c\uff1a\u5bf9\uff0c\u73b0\u5728\u5927\u5bb6\u89c9\u5f97\u957f\u7a0b\u53ea\u662f\u65f6\u95f4\u957f\uff0c\u4f46\u6211\u4eec\u8fd8\u5f97\u4ece\u4efb\u52a1\u7684\u590d\u6742\u5ea6\u4ee5\u53ca\u6240\u9700\u7684\u903b\u8f91\u63a8\u7406\u80fd\u529b\u7684\u590d\u6742\u5ea6\u8fd9\u4e9b\u89d2\u5ea6\u6765\u770b\u95ee\u9898\uff0c\u6211\u89c9\u5f97\u4f1a\u66f4\u597d\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u5b9a\u4e49\u3001\u8bc4\u4ef7\u3001\u8bc4\u6d4b\u7684\u786e\u91cd\u8981\u3002\u76ee\u524d\u4e3a\u6b62\u6211\u4eec\u5df2\u7ecf\u8ddf\u5927\u5bb6\u8ba8\u8bba\u4e86\u5173\u4e8e VLA \u6a21\u578b\u7684\u67b6\u6784\u8bbe\u8ba1\u3001\u6570\u636e\u3001\u8bad\u7ec3\u7b56\u7565\uff0c\u5305\u62ec RL \u7b49\uff0c\u4f46\u8fd8\u6ca1\u8ba8\u8bba\u5230\u7684\u95ee\u9898\u5c31\u662f\u5b83\u7684\u8f93\u51fa\uff0c\u8fd9\u4e5f\u662f\u76f4\u64ad\u89c2\u4f17\u4eec\u6bd4\u8f83\u611f\u5174\u8da3\u7684\u95ee\u9898\u3002<\/p>\n<p>\u76ee\u524d\u4e3b\u6d41\u7684 VLA \u8f93\u51fa\u8303\u5f0f\u6709\u56db\u79cd\uff0c\u5206\u522b\u662f\u81ea\u56de\u5f52\u7684 Next Action Prediction\uff08OpenVLA\uff0cFAST\uff09\uff0cDiffusion \u6216\u8005 Flow Match Modeling\uff08Pi0\uff0cRDT-1B\uff09\uff0c\u548c\u6700\u7b80\u5355\u7684\u57fa\u4e8e\u56de\u5f52\u76d1\u7763\u7684\uff08RoboMamba\uff0cRoboFlamingo\uff09\uff0c\u540c\u65f6\u5229\u7528\u81ea\u56de\u5f52\u548c Diffusion \u8fdb\u884c\u9c81\u68d2 Action \u8f93\u51fa\uff08HybridVLA\uff09\uff0c\u5927\u5bb6\u5982\u4f55\u770b\u5f85\u8fd9\u51e0\u79cd\u8f93\u51fa\u8303\u5f0f\u7684\u53d1\u5c55\u5462\uff1f<\/p>\n<p>\u9ad8\u9633\uff1a\u4ece\u63a8\u7406\u5b9e\u65f6\u6027\u89d2\u5ea6\u770b\uff0c\u6211\u8ba4\u4e3a Diffusion \u548c Flow Matching \u4e0d\u53ef\u6216\u7f3a\uff0c\u5426\u5219\u96be\u4ee5\u4fdd\u8bc1\u5b9e\u65f6\u6027\u3002\u81f3\u4e8e\u9884\u8bad\u7ec3\u662f\u5426\u91c7\u7528 Next Token Prediction\uff0c\u8fd9\u53d6\u51b3\u4e8e\u6280\u672f\u53d1\u5c55\uff0c\u7279\u522b\u662f\u80fd\u5426\u63d0\u5347 Flow Matching \u548c Diffusion \u7684\u8bad\u7ec3\u901f\u5ea6\uff0c\u8fd9\u4e9b\u90fd\u6709\u5f85\u8fdb\u4e00\u6b65\u7814\u7a76\u63a2\u7d22\u3002\u00a0<\/p>\n<p>\u6768\u8000\u4e1c\uff1a\u6211\u4eec\u8ba4\u4e3a tokenization \u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u6211\u4eec\u5e0c\u671b\u63a2\u7d22\u5177\u8eab\u601d\u7ef4\u94fe\uff08embodied COT\uff09\u548c\u6d4b\u8bd5\u65f6\u8ba1\u7b97\uff08test time compute\uff09\u7684\u5b9e\u73b0\u65b9\u5f0f\u3002\u82e5\u8981\u4ee5\u6b64\u4e3a\u57fa\u7840\uff0c\u65e0\u6cd5\u5c06\u52a8\u4f5c\u8f93\u51fa\u8f6c\u5316\u4e3a\u6a21\u578b\u8f93\u5165\uff0c\u5c31\u65e0\u6cd5\u8fdb\u884c test time compute\u3002<\/p>\n<p>\u56e0\u6b64\uff0c\u6211\u4eec\u6df1\u5165\u7814\u7a76\u4e86\u591a\u79cd action tokenization \u5f62\u5f0f\uff0c\u8fd9\u6216\u8bb8\u662f\u77ed\u671f\u5185\u5c06\u5927\u6a21\u578b\u6210\u719f\u6280\u672f\u8303\u5f0f\u6700\u5feb\u8fc1\u79fb\u5230 VLA \u8bad\u7ec3\u4e2d\u7684\u65b9\u6cd5\uff0c\u80fd\u5feb\u901f\u628a\u5927\u6a21\u578b\u7684\u7ecf\u9a8c\u5e94\u7528\u5230 VLA \u4e0a\u3002\u4e0d\u8fc7\uff0c\u5176\u4e2d\u5b58\u5728\u8bf8\u591a\u5de5\u7a0b\u95ee\u9898\uff0c\u7279\u522b\u662f tokenization \u7684\u5f62\u5f0f\u548c\u8868\u5f81\u5f71\u54cd\u5f88\u5927\uff0c\u800c\u4e14\u6700\u5927\u7684\u5f0a\u7aef\u662f\u901f\u5ea6\u95ee\u9898\u3002<\/p>\n<p>\u8fd9\u5f88\u8003\u9a8c\u5de5\u7a0b\u8bbe\u8ba1\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u5206\u5757\uff08chunking\uff09\u65b9\u6cd5\u89c4\u907f\uff0c\u4e5f\u80fd\u63a2\u7d22 hybrid \u6df7\u5408\u65b9\u6cd5\u3002\u76ee\u524d\u6765\u770b\uff0c\u81ea\u56de\u5f52\u5f62\u5f0f\u4f9d\u7136\u5173\u952e\uff0c\u56e0\u4e3a\u60f3\u8d4b\u4e88\u6a21\u578b\u63a8\u7406\u80fd\u529b\uff0c\u4ece\u8bbe\u8ba1\u89d2\u5ea6\uff0cdiffusion \u8fd9\u7c7b\u65b9\u6cd5\u8fd8\u672a\u663e\u73b0\u51fa\u6253\u9020\u5f3a\u63a8\u7406\u6a21\u578b\u7684\u660e\u663e\u8d8b\u52bf\u3002\u00a0<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u90a3\u4f60\u4f1a\u8ba4\u4e3a Hybrid\uff08\u6df7\u5408\uff09\u7684\u7ed3\u6784\u53ef\u80fd\u662f\u8fd1\u671f\u6bd4\u8f83 Promising\uff08\u6709\u6f5c\u529b\u7684\uff09\u7684\u4e00\u79cd\u65b9\u5f0f\u5417\uff1f<\/p>\n<p>\u6768\u8000\u4e1c\uff1a\u53ef\u80fd\u662f\u7684\uff0c\u6211\u4eec\u4ece\u7075\u521d\u8fd9\u8fb9\u53d1\u5e03\u7684 VLA \u89d2\u5ea6\u6765\u8bb2\uff0c\u8fd8\u662f\u505a\u81ea\u56de\u5f52\u5f62\u5f0f\uff0c\u4e3b\u8981\u76ee\u7684\u662f\u80fd\u8ba9\u5b83\u505a test time compute\uff0c\u8fd9\u4e2a\u662f\u6211\u4eec\u6bd4\u8f83\u5173\u6ce8\u7684\u70b9\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u5927\u5bb6\u5173\u6ce8\u7684\u8fd9\u4e2a\u4fa7\u91cd\u70b9\u4e5f\u4e0d\u540c\uff0c\u8d75\u8001\u5e08\u5bf9 VLA \u7684\u8f93\u51fa\u8303\u5f0f\u8fd9\u5757\u6709\u4ec0\u4e48\u60f3\u6cd5\u5462\uff1f<\/p>\n<p>\u8d75\u884c\uff1a\u5f53\u4e0b diffusion model \u70ed\u5ea6\u5f88\u9ad8\uff0c\u6211\u5bf9\u5176\u539f\u7406\u548c\u65b9\u6cd5\u4e5f\u6709\u4e0d\u5c11\u7814\u7a76\u3002\u867d\u7136\u6269\u6563\u6a21\u578b\u5728\u6587\u751f\u56fe\u3001\u6587\u751f\u89c6\u9891\u9886\u57df\u5c55\u73b0\u51fa\u5f3a\u5927\u80fd\u529b\uff0c\u4f46\u5c1a\u672a\u8bc1\u660e\u81ea\u8eab\u5728\u9884\u8bad\u7ec3\uff0c\u5c24\u5176\u662f\u591a\u6a21\u6001\u9884\u8bad\u7ec3\u65b9\u9762\u7684\u4ef7\u503c\u3002\u73b0\u6709\u7684\u6587\u751f\u56fe\u6216\u6587\u751f\u89c6\u9891\u6a21\u578b\uff0c\u5927\u591a\u4f7f\u7528\u56fa\u5b9a\u7684\u6587\u672c\u7f16\u7801\u5668\u63d0\u53d6\u7279\u5f81\uff0c\u5c06\u5176\u4f5c\u4e3a\u6761\u4ef6\u8fdb\u884c\u4ece\u566a\u58f0\u5230\u56fe\u50cf\u3001\u89c6\u9891\u7684\u751f\u6210\uff0c\u672c\u8d28\u4e0a\u66f4\u591a\u662f\u8bad\u7ec3\u4e00\u4e2a\u8f83\u5927\u7684\u89e3\u7801\u5668\uff0c\u59cb\u7ec8\u672a\u80fd\u8bc1\u660e\u53ef\u7528\u4e8e\u591a\u6a21\u6001\u6216\u8de8\u6a21\u6001\u6df7\u5408\u9884\u8bad\u7ec3\u3002<\/p>\n<p>\u53cd\u89c2\u4e0b\u4e00\u4e2atoken\u9884\u6d4b\uff08next token prediction\uff09\u65b9\u6cd5\uff0c\u5728 VLM \u7684\u7814\u7a76\u4e2d\uff0c\u8bb8\u591a\u5de5\u4f5c\u5c06\u56fe\u50cf\u5207\u5206 patch\uff0c\u7ecf\u7ebf\u6027\u6295\u5f71\u540e\u653e\u5165\u5927\u7684 Transformer\uff0c\u7528\u8be5\u65b9\u6cd5\u8bad\u7ec3\u80fd\u53d6\u5f97\u826f\u597d\u6548\u679c\u3002\u7531\u6b64\u53ef\u89c1\uff0c\u81f3\u5c11\u76ee\u524d\u6765\u770b\uff0cnext token prediction \u5728\u9884\u8bad\u7ec3\u65b9\u9762\u7684\u53ef\u9760\u6027\u66f4\u9ad8\u3002\u56e0\u6b64\uff0c\u6211\u66f4\u503e\u5411\u4e8e\u8ba4\u4e3a\u81ea\u56de\u5f52\u65b9\u5f0f\u5728\u5f53\u4e0b\u662f\u66f4\u6709\u6f5c\u529b\u7684\u7814\u7a76\u8def\u7ebf\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u597d\uff0c\u6700\u540e\u4e00\u4e2a\u95ee\u9898\u76f8\u4fe1\u4e5f\u662f\u5927\u5bb6\u975e\u5e38\u611f\u5174\u8da3\u7684\u5177\u8eab\u667a\u80fd\u7684\u843d\u5730\u573a\u666f\u3002\u5f88\u591a\u6295\u8d44\u4eba\u3001\u8001\u5e08\u4eec\u90fd\u5728\u8ba8\u8bba\u5177\u8eab\u667a\u80fd\u7b2c\u4e00\u6b65\u80fd\u843d\u5730\u7684\u573a\u666f\u662f\u4ec0\u4e48\uff1f\u5404\u4f4d\u8001\u5e08\u5728\u4ea7\u5b66\u7814\u7ed3\u5408\u4e0a\u505a\u5f97\u975e\u5e38\u51fa\u8272\uff0c\u5bf9\u4e8e\u4ea7\u4e1a\u4e5f\u6709\u5f88\u597d\u7684\u89c2\u5bdf\uff0c\u6240\u4ee5\u60f3\u8bf7\u95ee\u4e00\u4e0b\u5927\u5bb6\u6bd4\u8f83\u5e0c\u671b\u5177\u8eab\u667a\u80fd\u5148\u5728\u54ea\u4e2a\u573a\u666f\u4e0b\u9762\u843d\u5730\uff1f\u662f\u5de5\u4e1a\u3001\u5bb6\u5ead\u3001\u533b\u7597\u8fd8\u662f\u5176\u4ed6\uff1f\u00a0<\/p>\n<p>\u9ad8\u9633\uff1a\u6211\u8ba4\u4e3a\u5728\u843d\u5730\u5e94\u7528\u65b9\u9762\uff0c\u5de5\u4e1a\u573a\u666f\u6700\u5bb9\u6613\u5b9e\u73b0\u3002\u5c3d\u7ba1 VLA \u524d\u666f\u5e7f\u9614\uff0c\u4f46\u76ee\u524d\u5176\u80fd\u529b\u5c1a\u5904\u521d\u7ea7\u9636\u6bb5\uff0c\u73b0\u9636\u6bb5\u9002\u5408\u5728\u9700\u6c42\u6700\u8feb\u5207\u7684\u573a\u666f\u843d\u5730\u3002<\/p>\n<p>\u4ece\u4f20\u7edf\u673a\u5668\u4eba\u56db\u5927\u5bb6\u65cf\u7684\u60c5\u51b5\u6765\u770b\uff0c\u5de5\u4e1a\u751f\u4ea7\u662f\u5bf9\u673a\u5668\u4eba\u9700\u6c42\u6700\u65fa\u76db\u7684\u884c\u4e1a\u3002\u4f8b\u5982\u6c7d\u8f66\u4ea7\u4e1a\u94fe\uff0c\u5927\u90e8\u5206\u603b\u88c5\u7ebf\u5df2\u5b9e\u73b0\u9ad8\u5ea6\u673a\u5668\u4eba\u81ea\u52a8\u5316\uff0c\u5de5\u4e1a\u5ba2\u6237\u6e05\u695a\u673a\u5668\u4eba\u80fd\u5e26\u6765\u7684\u4ef7\u503c\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5546\u4e1a B \u7aef\u5ba2\u6237\u8fc7\u53bb\u5f88\u5c11\u4f7f\u7528\u673a\u5668\u4eba\uff0c\u4e0d\u592a\u4e86\u89e3\u673a\u5668\u4eba\u5e94\u7528\u7684\u610f\u4e49\u548c\u9884\u671f\u6548\u679c\uff0c\u8f83\u96be\u63a5\u53d7\u3002\u800c\u4e14\u5de5\u4e1a\u573a\u666f\u76f8\u5bf9\u7b80\u5355\uff0c\u6240\u4ee5\u65e0\u8bba\u662f\u4ece\u573a\u666f\u590d\u6742\u5ea6\uff0c\u8fd8\u662f\u5ba2\u6237\u4f7f\u7528\u7ecf\u9a8c\u6765\u770b\uff0c\u5de5\u4e1a\u573a\u666f\u90fd\u662f VLA \u6700\u5148\u843d\u5730\u7684\u9009\u62e9\u3002 \u00a0\u00a0<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u5bf9\uff0c\u6211\u548c\u9ad8\u9633\u8001\u5e08\u3001\u8d75\u884c\u8001\u5e08\u6bd4\u8f83\u76f8\u540c\u7684\u70b9\u662f\u4e4b\u524d\u90fd\u505a\u8fc7\u81ea\u52a8\u9a7e\u9a76\uff0c\u548c\u8f66\u5382\u672c\u6765\u5c31\u6709\u5408\u4f5c\uff0c\u6240\u4ee5\u5bf9\u6c7d\u8f66\u4ea7\u4e1a\u4e5f\u975e\u5e38\u5173\u6ce8\u3002\u90a3\u8000\u4e1c\u8001\u5e08\u89c9\u5f97\u54ea\u4e2a\u843d\u5730\u573a\u666f\u6bd4\u8f83 Promising 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50 &#8211; 100 \u5bb6\u5177\u8eab\u667a\u80fd\u516c\u53f8\uff0c\u53bb\u5e74\u6295\u8d44\u989d\u7ea6 100 \u4ebf\uff0c\u73b0\u9636\u6bb5\u9700\u8981\u5404\u516c\u53f8\u591a\u5c1d\u8bd5\u4e0d\u540c\u573a\u666f\uff0c\u63a2\u5bfb\u80fd\u63d0\u5347\u751f\u4ea7\u529b\u3001\u4ea7\u91cf\u5927\u3001\u76c8\u5229\u4e14\u6709 sweet point \u7684\u573a\u666f\uff0c\u4e00\u65b9\u9762\u771f\u7684\u80fd\u63d0\u5347\u751f\u4ea7\u529b\uff0c\u4e00\u65b9\u9762\u4ea7\u91cf\u53c8\u5f88\u5927\uff0c\u4e00\u65b9\u9762\u8fd8\u80fd\u6323\u94b1\uff0c\u771f\u80fd\u7b26\u5408\u8fd9\u4e09\u4e2a\u5708\u7684\u5e76\u96c6\u7684\u6280\u80fd\u96c6\uff0c\u6211\u8ba4\u4e3a\u4e0d\u4f1a\u5f88\u591a\uff0c\u4e0d\u592a\u50cf\u662f\u77ed\u65f6\u95f4\u5185\u6211\u4eec\u7a81\u7136\u80fd\u591f\u6d77\u91cf\u751f\u4ea7\u3001\u5e7f\u800c\u544a\u4e4b\uff0c\u7136\u540e\u75af\u72c2\u5f80\u5916\u6251\u7684\u5c40\u9762\u3002<\/p>\n<p>\u4ece\u5de5\u4e1a\u53ca ToB\u3001ToC \u89d2\u5ea6\u5206\u6790\uff0c\u5de5\u4e1a\u573a\u666f\u867d\u9002\u5408\u673a\u5668\u4eba\u5e94\u7528\uff0c\u4f46\u5de5\u4e1a\u673a\u5668\u4eba\u5e74\u4ea7\u91cf\u4ec5 60 \u4e07\u53f0\uff0c\u4ea7\u91cf\u6709\u9650\uff0c\u548c\u9884\u60f3\u7684\u5dee\u8ddd\u592a\u5927\uff1bToC \u9886\u57df\uff0c\u4eba\u5f62\u673a\u5668\u4eba\u867d\u6709\u524d\u666f\uff0c\u4f46\u5b9e\u9645\u5e94\u7528\u529f\u80fd\u4e0d\u660e\u786e\uff0c\u73b0\u9636\u6bb5\u96be\u4ee5\u843d\u5730\uff1b\u8fd8\u6709 ToBC \u6a21\u5f0f\uff0c\u5373\u673a\u5668\u4eba\u5356\u7ed9B\u7aef\u7528\u4e8eC\u7aef\u670d\u52a1\uff08\u5982\u8fce\u5bbe\u3001\u5012\u5496\u5561\uff09\uff0c\u4ee5\u53ca\u6587\u5a31\u7c7b\uff08\u626d\u79e7\u6b4c\u3001\u9605\u5175\u673a\u5668\u4eba\uff09\u7b49\u65b0\u573a\u666f\u6216\u8bb8\u6709\u53d1\u5c55\u7a7a\u95f4\uff0c\u5982\u540c\u65e0\u4eba\u673a\u7528\u4e8e\u70df\u82b1\u8868\u6f14\u3002\u5f53\u524d\u6700\u5927\u6311\u6218\u5728\u4e8e\u673a\u5668\u4eba\u4ea7\u91cf\u5c11\uff0c\u9009\u62e9\u5e94\u7528\u573a\u666f\u65f6\u9700\u8003\u91cf\u89c4\u6a21\u548c\u5f71\u54cd\u529b\uff0c\u8fc7\u5c0f\u7684\u573a\u666f\u5373\u4fbf\u80fd\u505a\u4e5f\u7f3a\u4e4f\u5546\u4e1a\u4ef7\u503c\uff0c\u8fd9\u662f\u6211\u7684\u4e00\u4e9b\u601d\u8003\u3002<\/p>\n<p><\/p>\n<p>\u4ec9\u5c1a\u822a\uff1a\u662f\u7684\uff0c\u73b0\u5728\u8fd8\u9700\u8981\u8010\u5fc3\uff0c\u4e0d\u540c\u516c\u53f8\u63a2\u7d22\u4e0d\u540c\u573a\u666f\uff0c\u5927\u5bb6\u628a\u6574\u4e2a\u751f\u6001\u505a\u8d77\u6765\u4e5f\u8fd8\u662f\u86ee\u597d\u7684\uff0c\u53ef\u4ee5\u4e0d\u7528\u62d8\u6ce5\u4e8e\u4e00\u683c\u3002\u90a3\u8d75\u8001\u5e08\u5bf9\u843d\u5730\u573a\u666f\u6709\u4ec0\u4e48\u770b\u6cd5\u5462\uff1f<\/p>\n<p>\u8d75\u884c\uff1a\u6bcf\u4e2a\u505a\u5177\u8eab\u667a\u80fd\u7684\u516c\u53f8\u90fd\u4f1a\u6df1\u5165\u601d\u8003\u8fc7\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u7684\u7ed3\u8bba\u662f\uff0c\u8fd9\u4e00\u4ee3\u901a\u7528 AI \u673a\u5668\u4eba\u4e0d\u5e94\u4e0e\u4f20\u7edf\u673a\u5668\u4eba\u6216\u8bbe\u5907\u7ade\u4e89\uff0c\u800c\u8981\u5f00\u8f9f\u65b0\u8d5b\u9053\u3002\u4f20\u7edf\u673a\u5668\u4eba\u8282\u62cd\u9ad8\u3001\u7cbe\u5ea6\u9ad8\uff0c\u65b0\u4e00\u4ee3\u901a\u7528 AI \u673a\u5668\u4eba\u5e94\u907f\u5f00\u9ad8\u7cbe\u5ea6\u3001\u9ad8\u8282\u62cd\u4efb\u52a1\uff0c\u4e3b\u653b\u7cbe\u5ea6\u8981\u6c42\u4e0d\u9ad8\u4f46\u9700\u6cdb\u5316\u80fd\u529b\u7684\u4efb\u52a1\uff0c\u8fd9\u7c7b\u4efb\u52a1\u5728\u5de5\u5382\u91cc\u5f88\u5e38\u89c1\uff0c\u6bd4\u5982\u5904\u7406\u5f62\u72b6\u4e0d\u89c4\u5219\u3001\u4f4d\u7f6e\u4e0d\u5b9a\u751a\u81f3\u67d4\u6027\u7269\u4f53\u7684\u4f4e\u8282\u62cd\u4efb\u52a1\uff0c\u73b0\u6709\u6280\u672f\u90fd\u53ef\u4ee5\u89e3\u51b3\u3002<\/p>\n<p>\u7136\u540e\u6211\u4eec\u8ba4\u4e3a\u66f4\u5927\u673a\u4f1a\u5728\u5546\u4e1a\u9886\u57df\u3002\u5546\u4e1a\u573a\u666f\u4e2d\u7684\u4efb\u52a1\u540c\u6837\u5bf9\u7cbe\u5ea6\u548c\u8282\u62cd\u8981\u6c42\u4e0d\u9ad8\uff0c\u800c\u4e14\u5728\u8fd9\u4e9b\u573a\u666f\u91cc\uff0c\u673a\u5668\u4eba\u4e0d\u4ec5\u80fd\u53d1\u6325\u5b9e\u7528\u4f5c\u4e1a\u4ef7\u503c\uff0c\u8fd8\u80fd\u63d0\u4f9b\u60c5\u7eea\u4ef7\u503c\uff0c\u5927\u6982\u516b\u6210\u5b9e\u7528\u4ef7\u503c\uff0c\u4e24\u5230\u4e09\u6210\u60c5\u7eea\u4ef7\u503c 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\u5206\u949f\uff0c\u4e24\u5c0f\u65f6\u6df1\u5ea6\u4ea4\u6d41\u5c24\u4e3a\u73cd\u8d35\u3002\u671f\u5f85\u672a\u6765\u770b\u5230\u8001\u5e08\u4eec\u66f4\u591a\u7cbe\u5f69\u6210\u679c\uff0c\u4e5f\u76fc\u671b\u4e0e\u5404\u4f4d\u52a0\u5f3a\u4ea4\u6d41\u3001\u6df1\u5316\u5408\u4f5c\u3002\u4eca\u5929\u7684\u4ea4\u6d41\u5230\u6b64\u7ed3\u675f\uff0c\u8c22\u8c22\u5927\u5bb6\uff01<\/p>\n<p>\u66f4\u591a\u5177\u8eab\u667a\u80fd\u6545\u4e8b\uff0c\u6b22\u8fce\u6dfb\u52a0\u96f7\u5cf0\u7f51\u4f5c\u8005anna042023\u4ea4\u6d41\u3002<span style=\"color: #FFFFFF\">\u96f7\u5cf0\u7f51<\/span><\/p>\n<p>\u76f8\u5173\u6587\u7ae0\uff1a<\/p>\n<p><a href=\"https:\/\/www.leiphone.com\/category\/ai\/0ampeSPNdNrhEz5x.html\" target=\"_self\">CMU \u5177\u8eab\u667a\u80fd\u98ce\u4e91\u699c\uff1a\u4ece\u4f20\u7edf\u5230\u5168\u9762<\/a><\/p>\n<p><a href=\"https:\/\/www.leiphone.com\/category\/ai\/uBU8X9A54xNK3P1C.html\" target=\"_self\">MIT \u5177\u8eab\u667a\u80fd\u8fbe\u4eba\u5fd7<\/a><\/p>\n<p><a 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