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23\u5e74\u4ed6\u5c31\u80fd\u7528\u5f3a\u5316\u5b66\u4e60\u548cFCNet\u7f51\u7edc\u67b6\u6784\u628a\u673a\u5668\u72d7\u4e0b\u80a2\u505a\u5230\u7279\u522b\u9c81\u68d2\uff0c\u51e0\u4e4e\u8986\u76d6\u4e86\u6240\u6709\u771f\u5b9e\u4e16\u754c\u5730\u5f62\uff0c\u4e94\u9053\u53e3\u65f6\u4e0d\u65f6\u5c31\u80fd\u770b\u5230\u4ed6\u7684\u673a\u5668\u72d7\u5728\u722c\u697c\u68af\u3002<\/p>\n<\/p>\n

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OpenVLA \u662f\u57fa\u4e8e\u81ea\u56de\u5f52\uff0c\u4ece\u8bed\u8a00\u4efb\u52a1\u91cc\u505a\u79bb\u6563token\u7684\u5efa\u6a21\u3002\u8c2d\u6052\u6977\u548c\u56e2\u961f\u5374\u9009\u62e9\u7528\u6269\u6563\u6a21\u578b\u505a\u8fde\u7eedtoken\u7684\u5efa\u6a21\uff0c\u201c\u6211\u4eec\u53d1\u73b0 diffusion \u5bf9\u52a8\u4f5c\u591a\u5cf0\u5206\u5e03\u7684\u5efa\u6a21\u5f88\u5f3a\uff0cdiffusion head \u8d8a\u5927\uff0c\u5efa\u6a21\u6548\u679c\u8d8a\u597d\u3002\u201d<\/p>\n

\u4ed6\u4eec\u8bad\u7ec3\u51fa\u4e86\u5f53\u65f6\u5168\u7403\u6700\u5927\u7684diffusion policy\u2014\u2014RDT-1B\u3002<\/p>\n<\/p>\n

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Christensen\u5728\u300a\u521b\u65b0\u8005\u7684\u7a98\u5883\u300b\u91cc\u8bb2\u5230\uff0c\u6240\u6709\u521b\u65b0\u8005\u90fd\u6ca1\u6cd5\u5728\u4e0b\u4e00\u4e2a\u98a0\u8986\u6027\u7684\u65f6\u4ee3\u91cc\u5360\u5f97\u5148\u673a\u3002\u5176\u4e2d\u6709\u5546\u4e1a\u6a21\u5f0f\u7684\u95ee\u9898\uff0c\u4e5f\u6709\u6280\u672f\u8ba4\u77e5\u7684\u5c40\u9650\u3002\u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48\uff0cGoogle\u6253\u4e0d\u8fc7OpenAI\uff0c\u5927\u5382\u6253\u4e0d\u8fc7DeepSeek\u3002<\/p>\n

00\u540e\u7684\u8c2d\u6052\u6977\u4e0d\u5403\u4e92\u8054\u7f51\u90a3\u4e00\u5957\uff0c\u6b63\u56e0\u5982\u6b64\uff0c\u4ed6\u8ba4\u4e3a\u81ea\u5df1\u80fd\u591f\u7a81\u7834\u201c\u521b\u65b0\u8005\u7684\u7a98\u5883\u201d\u3002\u5927\u5382\u7684\u57fa\u56e0\u51b3\u5b9a\u4ed6\u4eec\u505a\u4e0d\u4e86\u901a\u7528\u667a\u80fd\uff0c\u6253\u8d4f\u3001\u8c46\u5305\u3001\u6295\u6d41\u3001\u4ea7\u54c1\uff0c\u8fd9\u4e9b\u5728AGI\u65f6\u4ee3\u90fd\u6ca1\u7528\u3002\u8981\u7a81\u7834\u7a98\u5883\uff0c\u4e0d\u662f\u589e\u91cf\u7684\u6539\u8fdb\uff0c\u4e5f\u4e0d\u662fVLM\u53d8VLA\uff0c\u800c\u662f\u98a0\u8986\u6027\u7684\u6280\u672f\u8303\u5f0f\u3002<\/p>\n

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ChatGPT\u7b49\u5927\u6a21\u578b\u7684\u51fa\u73b0\uff0c\u8ba9\u4ed6\u770b\u5230AI\u771f\u6b63\u6d8c\u73b0\u51fa\u6765\u7684\u4e00\u4e9b\u667a\u80fd\u3002\u76ee\u524d\u5177\u8eab\u7684GPT\u65f6\u523b\u8fd8\u672a\u6765\u4e34\uff0c\u5c31\u50cf17\u5e74transformer\u521a\u51fa\u6765\u7684\u65f6\u5019\uff0c\u73b0\u5728\u6b63\u662f\u767e\u82b1\u9f50\u653e\u7684\u63a2\u7d22\u9636\u6bb5\u3002\u201c\u6211\u611f\u89c9\u5468\u56f4\u6709\u70ed\u60c5\u7684\u5e74\u8f7b\u4eba\u5176\u5b9e\u5e76\u4e0d\u591a\uff0c\u6e05\u534e\u641e\u8ba1\u7b97\u673a\u7684\u540c\u5b66\u4e2d\u5c31\u6ca1\u51e0\u4e2a\uff0c\u5927\u5bb6\u8be5\u66f4\u72c2\u5984\u4e00\u70b9\uff0c\u575a\u6301\u505a\u96be\u800c\u6b63\u786e\u7684\u4e8b\u60c5\u3002\u201d<\/p>\n

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\u201c\u4f55\u6559\u6388\u7684\u7406\u89e3\u5f88\u900f\u5f7b\uff0c\u6211\u505ainterface design\u7684\u601d\u8003\u5f88\u591a\u6765\u81ea\u4e8e\u90a3\u5929\u804a\u5929\u4e2d\u7684\u542f\u53d1\u3002\u89c1\u9762\u90a3\u5929\u7684kaiming\u4e00\u8eabT\u6064\u725b\u4ed4\u88e4\uff0c\u7279\u522b\u5e73\u6613\u8fd1\u4eba\u3002\u201d<\/p>\n

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\u627e\u5230\uff0c\u4e14\u77e5\u9053<\/strong><\/p>\n

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\u77e5\u65f6\u4ee3\uff0c<\/p>\n

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