{"id":40652,"date":"2025-11-28T00:05:33","date_gmt":"2025-11-27T16:05:33","guid":{"rendered":"https:\/\/17aitech.com\/?p=40652"},"modified":"2025-11-28T00:05:33","modified_gmt":"2025-11-27T16:05:33","slug":"bfm-zero%ef%bc%8c%e8%ae%a9%e4%ba%ba%e5%bd%a2%e6%9c%ba%e5%99%a8%e4%ba%ba%e4%b8%8d%e5%86%8d%e4%be%9d%e8%b5%96%e9%ab%98%e8%b4%a8%e9%87%8f%e5%8a%a8%e6%8d%95%e6%95%b0%e6%8d%ae","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=40652","title":{"rendered":"BFM-Zero\uff0c\u8ba9\u4eba\u5f62\u673a\u5668\u4eba\u4e0d\u518d\u4f9d\u8d56\u9ad8\u8d28\u91cf\u52a8\u6355\u6570\u636e"},"content":{"rendered":"<p>\u8ba9\u4eba\u5f62\u673a\u5668\u4eba\u771f\u6b63\u8d70\u51fa\u5b9e\u9a8c\u5ba4\uff0c\u4e00\u76f4\u662f\u8fd9\u4e2a\u9886\u57df\u6700\u96be\u7684\u6311\u6218\u3002<\/p>\n<p>\u4eff\u771f\u91cc\u7684\u673a\u5668\u4eba\u5f80\u5f80\u52a8\u4f5c\u6d41\u7545\u3001\u6267\u884c\u51c6\u786e\uff0c\u4f46\u4e00\u65e6\u6765\u5230\u73b0\u5b9e\u4e16\u754c\uff0c\u5f88\u591a\u770b\u4f3c\u5f3a\u5927\u7684\u65b9\u6cd5\u90fd\u4f1a\u56e0\u4e3a\u73af\u5883\u5dee\u5f02\u800c\u8fc5\u901f\u5931\u6548\u3002\u5730\u9762\u6469\u64e6\u7a0d\u5fae\u53d8\u4e00\u4e0b\u3001\u8eab\u4f53\u8d1f\u8f7d\u591a\u4e00\u70b9\u3001\u4f20\u611f\u5668\u566a\u58f0\u5927\u4e00\u4e9b\uff0c\u751a\u81f3\u53ea\u662f\u88ab\u4eba\u8f7b\u8f7b\u63a8\u4e00\u628a\uff0c\u673a\u5668\u4eba\u5c31\u53ef\u80fd\u52a8\u4f5c\u50f5\u786c\u3001\u7ad9\u4e0d\u7a33\u751a\u81f3\u76f4\u63a5\u5012\u4e0b\u3002\u80fd\u4e0d\u80fd\u8ba9\u673a\u5668\u4eba\u505a\u5230\u4e0d\u4f9d\u8d56\u7cbe\u7ec6\u89c4\u5219\u3001\u4e0d\u4f9d\u8d56\u6602\u8d35\u6570\u636e\uff0c\u4e5f\u80fd\u5728\u771f\u5b9e\u573a\u666f\u4e2d\u4fdd\u6301\u7a33\u5b9a\u3001\u81ea\u7136\u548c\u53ef\u9760\uff0c\u8fd9\u662f\u8fd1\u5e74\u6765\u7814\u7a76\u8005\u4eec\u8d8a\u6765\u8d8a\u5173\u6ce8\u7684\u95ee\u9898\u3002<\/p>\n<p>\u800c\u6700\u8fd1 CMU \u548c Meta \u7814\u7a76\u56e2\u961f\u5171\u540c\u63d0\u51fa\uff0c\u6e05\u534e\u59da\u73ed\u674e\u5fc6\u5510\u4e3a\u7b2c\u4e00\u4f5c\u8005\u4e00\u7bc7\u8bba\u6587\u5f15\u8d77\u4e86\u5e7f\u6cdb\u5173\u6ce8\u3002\u8fd9\u4e2a\u7814\u7a76\u9879\u76ee\u5c1d\u8bd5\u7528\u4e00\u79cd\u66f4\u7edf\u4e00\u66f4\u6734\u7d20\u7684\u65b9\u5f0f\u6765\u8bad\u7ec3\u673a\u5668\u4eba\uff0c\u8ba9\u6a21\u578b\u5728\u5927\u89c4\u6a21\u4eff\u771f\u4e2d\u901a\u8fc7\u65e0\u76d1\u7763\u4ea4\u4e92\u81ea\u5df1\u79ef\u7d2f\u7ecf\u9a8c\uff0c\u518d\u628a\u5956\u52b1\u3001\u59ff\u6001\u3001\u52a8\u4f5c\u5e8f\u5217\u7b49\u4e0d\u540c\u5f62\u5f0f\u7684\u4efb\u52a1\u63d0\u793a\u4e00\u5e76\u538b\u7f29\u5230\u540c\u4e00\u4e2a\u6f5c\u5728\u7a7a\u95f4\u4e2d\u3002<\/p>\n<p>\u901a\u8fc7\u8fd9\u79cd\u8bbe\u8ba1\uff0c\u673a\u5668\u4eba\u4e0d\u9700\u8981\u9488\u5bf9\u6bcf\u4e2a\u4efb\u52a1\u53cd\u590d\u8bad\u7ec3\uff0c\u53ea\u8981\u751f\u6210\u5408\u9002\u7684\u6f5c\u5728\u5411\u91cf\uff0c\u5c31\u80fd\u5728\u73b0\u5b9e\u73af\u5883\u4e2d\u96f6\u6837\u672c\u6267\u884c\u52a8\u4f5c\uff0c\u5e76\u80fd\u5728\u9762\u5bf9\u6270\u52a8\u6216\u6761\u4ef6\u53d8\u5316\u65f6\u8fc5\u901f\u6062\u590d\u7a33\u5b9a\u8868\u73b0\u3002<\/p>\n<p>\u8fd9\u9879\u5de5\u4f5c\u7684\u4eae\u70b9\u4e0d\u5728\u4e8e\u67d0\u4e00\u4e2a\u6280\u5de7\uff0c\u800c\u5728\u4e8e\u5b83\u8ba9\u673a\u5668\u4eba\u5728\u771f\u5b9e\u4e16\u754c\u4e2d\u7684\u8868\u73b0\u7b2c\u4e00\u6b21\u5448\u73b0\u51fa\u4e00\u79cd\u81ea\u7136\u7684\u8fde\u8d2f\u6027\u3002\u4f8b\u5982\u5b83\u80fd\u50cf\u4eba\u4e00\u6837\u5e94\u5bf9\u63a8\u6421\uff0c\u80fd\u4ece\u6454\u5012\u4e2d\u987a\u52bf\u6eda\u52a8\u518d\u7ad9\u8d77\u6765\uff0c\u80fd\u5728\u566a\u58f0\u5f88\u5927\u7684\u52a8\u4f5c\u5e8f\u5217\u4e0b\u4f9d\u7136\u8ddf\u968f\u6307\u4ee4\uff0c\u8fd8\u80fd\u5728\u8d1f\u8f7d\u6216\u6469\u64e6\u7a81\u7136\u53d8\u5316\u65f6\uff0c\u4ec5\u901a\u8fc7\u6f5c\u5728\u7a7a\u95f4\u641c\u7d22\u5c31\u91cd\u65b0\u627e\u56de\u7a33\u5b9a\u52a8\u4f5c\u3002\u76f8\u6bd4\u4f20\u7edf\u9700\u8981\u5927\u91cf\u89c4\u5219\u3001\u811a\u672c\u548c\u4e13\u95e8\u8bad\u7ec3\u4efb\u52a1\u7684\u505a\u6cd5\uff0c\u8fd9\u79cd\u65b9\u5f0f\u663e\u5f97\u66f4\u76f4\u63a5\u4e5f\u66f4\u901a\u7528\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-9e18430bf5c7e2958643e22178861fa1.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-9e18430bf5c7e2958643e22178861fa1.png\"><\/a><\/p>\n<p>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/pdf\/2511.04131<\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_78 ez-toc-wrap-left-text counter-hierarchy ez-toc-counter ez-toc-light-blue ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u6587\u7ae0\u76ee\u5f55<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span 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href=\"https:\/\/17aitech.com\/?p=40652\/#GAIR_2025%EF%BC%8C%E8%AE%A9%E6%8A%80%E6%9C%AF%E3%80%8C%E8%B5%B0%E5%87%BA%E3%80%8D%E8%AE%BA%E6%96%87\" >GAIR 2025\uff0c\u8ba9\u6280\u672f\u300c\u8d70\u51fa\u300d\u8bba\u6587<\/a><\/li><\/ul><\/nav><\/div>\n<h2><span class=\"ez-toc-section\" id=\"%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E7%8E%B0%E5%AE%9E%E7%9A%84%E8%B7%A8%E5%9F%9F%E8%83%BD%E5%8A%9B\"><\/span>\u4ece\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u8de8\u57df\u80fd\u529b<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>\u8bba\u6587\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u5206\u6210\u4e09\u5927\u90e8\u5206\uff1a\u5728\u4eff\u771f\u73af\u5883\u91cc\u7684\u96f6\u6837\u672c\u6d4b\u8bd5\u3001\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u7684\u96f6\u6837\u672c\u90e8\u7f72\uff0c\u4ee5\u53ca\u5728\u7279\u6b8a\u60c5\u51b5\u4e0b\u5229\u7528\u5f88\u5c11\u7684\u6570\u636e\u8fdb\u884c\u5feb\u901f\u9002\u5e94\u3002\u6574\u4f53\u6765\u770b\uff0c\u8fd9\u4e9b\u5b9e\u9a8c\u5171\u540c\u5c55\u793a\u4e86 BFM Zero \u7684\u6cdb\u5316\u80fd\u529b\u3001\u9c81\u68d2\u6027\u548c\u53ef\u6269\u5c55\u6027\u3002<\/p>\n<p>\u5728\u4eff\u771f\u9636\u6bb5\uff0c\u7814\u7a76\u8005\u4e3b\u8981\u4f7f\u7528 Isaac \u548c Mujoco \u4e24\u79cd\u7269\u7406\u6a21\u62df\u73af\u5883\u5bf9\u6a21\u578b\u8fdb\u884c\u5168\u9762\u6d4b\u8bd5\u3002\u8fd9\u4e24\u4e2a\u73af\u5883\u7684\u7269\u7406\u7279\u6027\u5dee\u5f02\u8f83\u5927\uff0c\u56e0\u6b64\u80fd\u5f88\u597d\u5730\u68c0\u9a8c\u7b56\u7565\u662f\u5426\u4f9d\u8d56\u67d0\u4e00\u79cd\u7279\u5b9a\u7269\u7406\u8bbe\u5b9a\u3002<\/p>\n<p>\u5b9e\u9a8c\u4efb\u52a1\u5305\u62ec\u4e09\u7c7b\uff1a\u52a8\u4f5c\u8ddf\u8e2a\u3001\u76ee\u6807\u59ff\u6001\u5230\u8fbe\u4ee5\u53ca\u5956\u52b1\u9a71\u52a8\u7684\u884c\u4e3a\u751f\u6210\u3002\u5728\u52a8\u4f5c\u8ddf\u8e2a\u65b9\u9762\uff0c\u6a21\u578b\u5728 Isaac 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src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-d6e661fd56a1dc5915def456aa16160c.png\"><\/a><\/p>\n<p>\u5728\u5956\u52b1\u4f18\u5316\u4efb\u52a1\u4e2d\uff0c\u7814\u7a76\u8005\u8ba9\u6a21\u578b\u6839\u636e\u4e0d\u540c\u5956\u52b1\u5b9a\u4e49\uff0c\u5728\u6ca1\u6709\u7279\u5b9a\u8bad\u7ec3\u7684\u60c5\u51b5\u4e0b\u81ea\u52a8\u63a8\u65ad\u5e94\u8be5\u6267\u884c\u7684\u884c\u4e3a\u3002\u8fd9\u7c7b\u4efb\u52a1\u7684\u96be\u70b9\u5728\u4e8e\u5956\u52b1\u5f80\u5f80\u5f88\u7a00\u758f\uff0c\u4e14\u76ee\u6807\u591a\u6837\u3002<\/p>\n<p>\u4f8b\u5982\u67d0\u4e9b\u5956\u52b1\u8981\u6c42\u673a\u5668\u4eba\u4ee5\u6307\u5b9a\u901f\u5ea6\u671d\u67d0\u65b9\u5411\u79fb\u52a8\uff0c\u4f46\u7531\u4e8e\u7269\u7406\u968f\u673a\u5316\u5bfc\u81f4\u72b6\u6001\u5206\u5e03\u53d8\u5f97\u590d\u6742\uff0c\u6709\u4e9b\u4efb\u52a1\u4f1a\u51fa\u73b0\u660e\u663e\u6ce2\u52a8\uff0c\u751a\u81f3\u4e2a\u522b\u60c5\u51b5\u8868\u73b0\u5f88\u5dee\u3002<\/p>\n<p>\u8fd9\u5e76\u4e0d\u662f\u6a21\u578b\u672c\u8eab\u9000\u5316\uff0c\u800c\u662f\u63a8\u65ad\u5956\u52b1\u65f6\u4f9d\u8d56 replay buffer \u7684\u968f\u673a\u91c7\u6837\uff0c\u52a0\u4e0a\u7269\u7406\u6270\u52a8\u8ba9\u6570\u636e\u66f4\u52a0\u5206\u6563\u3002\u8fd9\u79cd\u73b0\u8c61\u6070\u6070\u8bc1\u660e\u6a21\u578b\u786e\u5b9e\u5728\u9762\u5bf9\u590d\u6742\u591a\u53d8\u7684\u6761\u4ef6\uff0c\u800c\u4e0d\u662f\u5728\u4e00\u4e2a\u201c\u5e72\u51c0\u73af\u5883\u201d\u91cc\u53d6\u5de7\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-5b9873a8c41f7ea74f10d126fdc6fbf8.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-5b9873a8c41f7ea74f10d126fdc6fbf8.png\"><\/a><\/p>\n<p>\u5bf9\u4e8e\u76ee\u6807\u59ff\u6001\u5230\u8fbe\u4efb\u52a1\uff0c\u6a21\u578b\u8868\u73b0\u5f97\u66f4\u4e3a\u7a33\u5065\u3002\u65e0\u8bba\u76ee\u6807\u59ff\u6001\u662f\u5426\u5728\u8bad\u7ec3\u6570\u636e\u4e2d\u51fa\u73b0\u8fc7\uff0c\u5b83\u90fd\u80fd\u5e73\u7a33\u5730\u5411\u76ee\u6807\u9760\u62e2\uff0c\u4e0d\u4f1a\u51fa\u73b0\u5267\u70c8\u6296\u52a8\u6216\u4e71\u8e66\u4e71\u8df3\u7684\u5f02\u5e38\u884c\u4e3a\u3002\u66f4\u5173\u952e\u7684\u662f\uff0c\u5373\u4fbf\u4ece AMASS \u8fd9\u7c7b\u5b8c\u5168\u4e0d\u540c\u7684\u52a8\u4f5c\u5e93\u4e2d\u53d6\u59ff\u6001\uff0c\u6a21\u578b\u4e5f\u80fd\u6210\u529f\u5b8c\u6210\uff0c\u8fd9\u8bf4\u660e\u5176\u6f5c\u5728\u7a7a\u95f4\u4e0d\u4ec5\u80fd\u8986\u76d6\u8bad\u7ec3\u6570\u636e\uff0c\u8fd8\u80fd\u6269\u5c55\u5230\u6570\u636e\u4e4b\u5916\u3002<\/p>\n<p>\u7814\u7a76\u8005\u751a\u81f3\u76f4\u63a5\u53d6 AMASS \u4e2d\u7684\u52a8\u4f5c\u7247\u6bb5\u8ba9\u6a21\u578b\u8ddf\u968f\uff0c\u8fd9\u4e9b\u52a8\u4f5c\u7684\u98ce\u683c\u53ef\u80fd\u4e0e\u8bad\u7ec3\u7528\u7684 LAFAN1 \u6570\u636e\u5dee\u5f97\u5f88\u8fdc\uff0c\u4f46\u6a21\u578b\u7167\u6837\u80fd\u6267\u884c\uff0c\u8bf4\u660e\u6f5c\u5728\u7a7a\u95f4\u5df2\u7ecf\u628a\u8fd9\u4e9b\u52a8\u4f5c\u6620\u5c04\u5230\u540c\u4e00\u4e2a\u201c\u53ef\u63a7\u884c\u4e3a\u533a\u57df\u201d\u4e2d\uff0c\u98ce\u683c\u5dee\u5f02\u5df2\u7ecf\u4e0d\u662f\u969c\u788d\u3002<\/p>\n<p>\u5f53\u6a21\u578b\u88ab\u90e8\u7f72\u5230\u771f\u5b9e\u7684 Unitree G1 humanoid \u4e0a\u65f6\uff0c\u5b83\u7684\u96f6\u6837\u672c\u80fd\u529b\u8868\u73b0\u5f97\u66f4\u4e3a\u76f4\u89c2\u548c\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u3002\u5728\u52a8\u4f5c\u8ddf\u8e2a\u4efb\u52a1\u4e2d\uff0c\u673a\u5668\u4eba\u4e0d\u4ec5\u80fd\u8d70\u8def\u3001\u8f6c\u8eab\uff0c\u8fd8\u80fd\u505a\u8f83\u590d\u6742\u7684\u821e\u8e48\u52a8\u4f5c\u3001\u8fd0\u52a8\u52a8\u4f5c\u751a\u81f3\u683c\u6597\u59ff\u6001\u3002<\/p>\n<p>\u66f4\u91cd\u8981\u7684\u662f\u5f53\u5b83\u5931\u7a33\u65f6\uff0c\u4e0d\u4f1a\u50cf\u4f20\u7edf\u673a\u5668\u4eba\u90a3\u6837\u50f5\u786c\u6216\u8005\u76f4\u63a5\u5012\u4e0b\uff0c\u800c\u662f\u50cf\u4eba\u4e00\u6837\u8fdb\u884c\u81ea\u7136\u7684\u8c03\u6574\uff0c\u4f8b\u5982\u91cd\u5fc3\u504f\u79fb\u3001\u6491\u5730\u3001\u6eda\u52a8\u7f13\u51b2\u7b49\uff0c\u7136\u540e\u91cd\u65b0\u7ad9\u8d77\u6765\u7ee7\u7eed\u4efb\u52a1\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-c61d599b1b7e7549d53d8744fd4b3d16.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-c61d599b1b7e7549d53d8744fd4b3d16.png\"><\/a><\/p>\n<p>\u8fd9\u79cd\u81ea\u7136\u7684\u6062\u590d\u52a8\u4f5c\u5b8c\u5168\u6765\u81ea\u7b56\u7565\u672c\u8eab\u7684\u7ed3\u6784\u5316\u6f5c\u5728\u7a7a\u95f4\u4e0e\u98ce\u683c\u7ea6\u675f\uff0c\u5e76\u4e0d\u662f\u5355\u72ec\u8bad\u7ec3\u201c\u6454\u5012\u6062\u590d\u201d\u4e4b\u7c7b\u7684\u6280\u80fd\u3002\u751a\u81f3\u5728\u7ed9\u5b83\u7528\u4e8e\u8ddf\u8e2a\u7684\u52a8\u4f5c\u662f\u4ece\u5355\u76ee\u89c6\u9891\u4f30\u8ba1\u51fa\u6765\u7684\u3001\u8d28\u91cf\u5f88\u5dee\u7684\u52a8\u4f5c\u5e8f\u5217\u65f6\uff0c\u5b83\u4f9d\u7136\u80fd\u5e73\u7a33\u8ddf\u968f\uff0c\u8bf4\u660e\u6a21\u578b\u5bf9\u8f93\u5165\u8d28\u91cf\u6709\u5f88\u5f3a\u7684\u5bb9\u9519\u80fd\u529b\u3002<\/p>\n<p>\u5728\u76ee\u6807\u59ff\u6001\u5230\u8fbe\u4efb\u52a1\u4e2d\uff0c\u7814\u7a76\u8005\u968f\u673a\u91c7\u6837\u4e86\u5927\u91cf\u76ee\u6807\u59ff\u6001\uff0c\u8981\u6c42\u673a\u5668\u4eba\u6309\u7167\u987a\u5e8f\u9010\u4e00\u5230\u8fbe\u3002\u673a\u5668\u4eba\u5728\u59ff\u6001\u4e4b\u95f4\u5207\u6362\u65f6\u52a8\u4f5c\u5341\u5206\u5e73\u6ed1\uff0c\u4e0d\u9700\u8981\u4eba\u4e3a\u6dfb\u52a0\u63d2\u503c\u6216\u8fc7\u6e21\u52a8\u4f5c\uff0c\u8fd9\u8bf4\u660e\u5176\u5185\u90e8\u6f5c\u5728\u7a7a\u95f4\u5177\u6709\u5929\u7136\u7684\u8fde\u7eed\u6027\u3002\u5982\u679c\u6709\u4e9b\u59ff\u6001\u672c\u8eab\u4e0d\u53ef\u80fd\u5728\u73b0\u5b9e\u4e2d\u7cbe\u786e\u5b9e\u73b0\uff08\u4f8b\u5982\u5173\u8282\u89d2\u5ea6\u8d85\u51fa\u6781\u9650\uff09\uff0c\u673a\u5668\u4eba\u4f1a\u81ea\u52a8\u627e\u5230\u4e00\u4e2a\u6700\u63a5\u8fd1\u540c\u65f6\u53c8\u81ea\u7136\u3001\u5b89\u5168\u7684\u59ff\u6001\uff0c\u800c\u4e0d\u662f\u786c\u8981\u6a21\u4eff\u5bfc\u81f4\u6454\u5012\u6216\u62bd\u6410\u3002<\/p>\n<p>\u5728\u5956\u52b1\u4f18\u5316\u4efb\u52a1\u4e2d\uff0c\u7814\u7a76\u8005\u901a\u8fc7\u5404\u79cd\u5956\u52b1\u4fe1\u53f7\uff0c\u8ba9\u673a\u5668\u4eba\u81ea\u52a8\u751f\u6210\u5bf9\u5e94\u884c\u4e3a\u3002\u4f8b\u5982\u8ba9\u5b83\u964d\u4f4e\u9aa8\u76c6\u9ad8\u5ea6\uff0c\u5b83\u5c31\u4f1a\u5750\u4e0b\u6216\u8e72\u8d77\uff1b\u5956\u52b1\u624b\u90e8\u9ad8\u5ea6\uff0c\u5b83\u5c31\u4f1a\u4e3e\u624b\uff1b\u5956\u52b1\u901f\u5ea6\uff0c\u5b83\u5c31\u4f1a\u79fb\u52a8\u6216\u8f6c\u5411\u3002\u8fd9\u4e9b\u4e0d\u540c\u5956\u52b1\u8fd8\u80fd\u7ec4\u5408\uff0c\u4f8b\u5982\u8ba9\u5b83\u4e00\u8fb9\u5012\u9000\u4e00\u8fb9\u62ac\u624b\u3002<\/p>\n<p>\u8fd9\u79cd\u53ef\u7ec4\u5408\u6027\u610f\u5473\u7740\u672a\u6765\u53ef\u4ee5\u901a\u8fc7\u8bed\u8a00\u63cf\u8ff0\u9700\u6c42\uff0c\u518d\u628a\u8bed\u8a00\u89e3\u6790\u6210\u5956\u52b1\uff0c\u5c31\u80fd\u8ba9\u673a\u5668\u4eba\u81ea\u52a8\u201c\u7406\u89e3\u201d\u8981\u505a\u4ec0\u4e48\u3002\u66f4\u6709\u8da3\u7684\u662f\uff0c\u5728\u76f8\u540c\u5956\u52b1\u4e0b\uff0c\u901a\u8fc7\u4e0d\u540c replay buffer \u5b50\u6837\u672c\u751f\u6210\u7684\u6f5c\u5728\u8868\u8fbe\u4f1a\u7565\u6709\u4e0d\u540c\uff0c\u4ece\u800c\u5f97\u5230\u4e0d\u540c\u98ce\u683c\u7684\u52a8\u4f5c\u3002\u8fd9\u8bf4\u660e\u7b56\u7565\u7a7a\u95f4\u672c\u8eab\u662f\u591a\u6a21\u6001\u7684\uff0c\u5b58\u5728\u591a\u4e2a\u53ef\u884c\u89e3\uff0c\u800c\u4e0d\u662f\u4e00\u4e2a\u6b7b\u677f\u7684\u6700\u4f18\u52a8\u4f5c\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-b4155ebde5197d4235e65f19e9f0d0a2.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-b4155ebde5197d4235e65f19e9f0d0a2.png\"><\/a><\/p>\n<p>\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u9762\u5bf9\u5de8\u5927\u5916\u529b\u5e72\u6270\u65f6\uff0c\u673a\u5668\u4eba\u8868\u73b0\u51fa\u6781\u9ad8\u7684\u67d4\u987a\u6027\u548c\u7a33\u5b9a\u6027\u3002\u5f53\u88ab\u63a8\u6421\u3001\u8e22\u51fb\u3001\u62c9\u5012\u65f6\uff0c\u5b83\u4e0d\u4f1a\u7b80\u5355\u50f5\u786c\u53cd\u6297\uff0c\u800c\u4f1a\u4ee5\u67d4\u548c\u65b9\u5f0f\u5438\u6536\u51b2\u51fb\uff0c\u4f8b\u5982\u540e\u9000\u51e0\u6b65\u7f13\u51b2\u91cd\u5fc3\u3001\u8c03\u6574\u624b\u81c2\u59ff\u52bf\u4fdd\u6301\u5e73\u8861\u7b49\u3002<\/p>\n<p>\u5373\u4fbf\u88ab\u5b8c\u5168\u6454\u5012\u5728\u5730\uff0c\u5b83\u4e5f\u80fd\u901a\u8fc7\u81ea\u7136\u6d41\u7545\u7684\u52a8\u4f5c\u722c\u8d77\uff0c\u7136\u540e\u56de\u5230\u539f\u672c\u4efb\u52a1\uff0c\u6bd4\u5982\u7ee7\u7eed\u6062\u590d\u7ad9\u59ff\u6216\u76ee\u6807\u59ff\u6001\u3002\u8fd9\u4e9b\u6062\u590d\u52a8\u4f5c\u4e0d\u662f\u786c\u6027\u7f16\u5199\u7684\uff0c\u800c\u662f\u7b56\u7565\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u81ea\u7136\u8868\u8fbe\u51fa\u6765\u7684\uff0c\u8fd9\u8ba9\u673a\u5668\u4eba\u663e\u5f97\u66f4\u201c\u50cf\u4eba\u201d\u3002<\/p>\n<p>\u6700\u540e\uff0c\u7814\u7a76\u8005\u5c55\u793a\u4e86\u6a21\u578b\u7684\u5feb\u901f\u9002\u5e94\u80fd\u529b\u3002\u5728\u9002\u5e94\u8fc7\u7a0b\u4e2d\u5e76\u4e0d\u9700\u8981\u8c03\u6574\u7f51\u7edc\u6743\u91cd\uff0c\u53ea\u9700\u8981\u9488\u5bf9\u65b0\u60c5\u51b5\u5bf9\u6f5c\u5728\u5411\u91cf\u8fdb\u884c\u4f18\u5316\u5c31\u884c\u3002\u7b2c\u4e00\u4e2a\u9002\u5e94\u6848\u4f8b\u662f\u5728\u673a\u5668\u4eba torso \u4e0a\u589e\u52a0\u56db\u516c\u65a4\u8d1f\u8f7d\u3002\u539f\u672c\u96f6\u6837\u672c latent \u5e76\u4e0d\u8db3\u4ee5\u652f\u6491\u5355\u817f\u7ad9\u7acb\uff0c\u4f46\u901a\u8fc7\u4e8c\u5341\u6b21\u4ea4\u53c9\u71b5\u4f18\u5316\u8fed\u4ee3\u540e\u5373\u53ef\u627e\u5230\u4e00\u4e2a\u65b0\u7684\u6f5c\u5728\u5411\u91cf\uff0c\u4f7f\u673a\u5668\u4eba\u80fd\u5728\u5e26\u8f7d\u60c5\u51b5\u4e0b\u7a33\u5b9a\u7ad9\u7acb\u5341\u4e94\u79d2\u4ee5\u4e0a\uff0c\u800c\u4e14\u4f18\u5316\u7ed3\u679c\u76f4\u63a5\u8fc1\u79fb\u5230\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u4e5f\u80fd\u6210\u529f\u3002<\/p>\n<p>\u7b2c\u4e8c\u4e2a\u6848\u4f8b\u662f\u6469\u64e6\u53d8\u5316\u5bfc\u81f4\u8df3\u8dc3\u8f68\u8ff9\u4e0d\u7a33\u5b9a\u3002\u7814\u7a76\u8005\u901a\u8fc7\u53cc\u91cd\u9000\u706b\u548c\u91c7\u6837\u65b9\u6cd5\u4f18\u5316\u6f5c\u5728\u5411\u91cf\u5e8f\u5217\uff0c\u6700\u7ec8\u4f7f\u8f68\u8ff9\u8bef\u5dee\u964d\u4f4e\u4e86\u8fd1\u4e09\u6210\uff0c\u6574\u4f53\u52a8\u4f5c\u66f4\u7a33\u5b9a\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4e0d\u4f9d\u8d56\u91cd\u65b0\u8bad\u7ec3\u6a21\u578b\uff0c\u800c\u5b8c\u5168\u4f9d\u8d56\u6f5c\u5728\u7a7a\u95f4\u7684\u7075\u6d3b\u6027\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-aa9fac7080b6eafe6d59fb1e4adc47f2.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-aa9fac7080b6eafe6d59fb1e4adc47f2.png\"><\/a><\/p>\n<h2><span class=\"ez-toc-section\" id=\"%E9%80%9A%E5%BE%80%E9%80%9A%E7%94%A8%E8%A1%8C%E4%B8%BA%E6%A8%A1%E5%9E%8B%E7%9A%84%E4%B8%89%E6%AD%A5%E6%A1%86%E6%9E%B6\"><\/span>\u901a\u5f80\u901a\u7528\u884c\u4e3a\u6a21\u578b\u7684\u4e09\u6b65\u6846\u67b6<span class=\"ez-toc-section-end\"><\/span><\/h2>\n<p>\u603b\u7684\u6765\u8bf4\u8fd9\u9879\u7814\u7a76\u7684\u5b9e\u9a8c\u6d41\u7a0b\u53ef\u4ee5\u5206\u6210\u4e09\u4e2a\u9636\u6bb5\uff0c\u5206\u522b\u662f\u65e0\u76d1\u7763\u9884\u8bad\u7ec3\u3001\u96f6\u6837\u672c\u63a8\u7406\u4ee5\u53ca\u5c11\u91cf\u6837\u672c\u9002\u5e94\u3002<\/p>\n<p>\u7814\u7a76\u8005\u5e0c\u671b\u8ba9\u673a\u5668\u4eba\u5728\u9762\u5bf9\u4e0d\u540c\u7c7b\u578b\u7684\u4efb\u52a1\u65f6\uff0c\u4e0d\u5fc5\u4f9d\u8d56\u591a\u5957\u4e0d\u540c\u7684\u8bad\u7ec3\u65b9\u5f0f\uff0c\u800c\u662f\u901a\u8fc7\u540c\u4e00\u4e2a\u6f5c\u5728\u7a7a\u95f4\u8868\u8fbe\u5c31\u80fd\u7406\u89e3\u4efb\u52a1\u3001\u751f\u6210\u52a8\u4f5c\uff0c\u5e76\u4e14\u5728\u6761\u4ef6\u53d8\u5316\u65f6\u4ecd\u80fd\u4fdd\u6301\u7a33\u5b9a\u8868\u73b0\u3002\u8fd9\u6837\u7684\u8bbe\u8ba1\u4e0d\u4ec5\u8ba9\u673a\u5668\u4eba\u5728\u8bad\u7ec3\u9636\u6bb5\u66f4\u52a0\u7edf\u4e00\uff0c\u4e5f\u4f7f\u540e\u7eed\u7684\u5b9e\u9645\u90e8\u7f72\u66f4\u52a0\u7075\u6d3b\u3002<\/p>\n<p>\u5728\u65e0\u76d1\u7763\u9884\u8bad\u7ec3\u9636\u6bb5\uff0c\u6a21\u578b\u9700\u8981\u5728\u6ca1\u6709\u660e\u786e\u4efb\u52a1\u5956\u52b1\u7684\u60c5\u51b5\u4e0b\uff0c\u901a\u8fc7\u4e0e\u5927\u91cf\u4eff\u771f\u73af\u5883\u7684\u4e92\u52a8\u79ef\u7d2f\u7ecf\u9a8c\u3002\u4e3a\u4e86\u8ba9\u673a\u5668\u4eba\u80fd\u591f\u5e94\u5bf9\u591a\u79cd\u7c7b\u578b\u7684\u4efb\u52a1\uff0c\u7814\u7a76\u8005\u6784\u5efa\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u6f5c\u5728\u7a7a\u95f4\uff0c\u628a\u5956\u52b1\u3001\u76ee\u6807\u59ff\u6001\u548c\u52a8\u4f5c\u5e8f\u5217\u7b49\u4fe1\u606f\u5168\u90e8\u6620\u5c04\u5230\u540c\u4e00\u79cd\u6f5c\u5728\u8868\u793a\u4e2d\u3002\u96f7\u5cf0\u7f51<span style=\"color:#FD5D3C\">(\u516c\u4f17\u53f7\uff1a\u96f7\u5cf0\u7f51)<\/span><\/p>\n<p>\u8fd9\u4e2a\u6f5c\u5728\u7a7a\u95f4\u7684\u6784\u5efa\u4f9d\u8d56 forward-backward \u65b9\u6cd5\uff0c\u5b83\u80fd\u8ba9\u673a\u5668\u4eba\u901a\u8fc7\u89c2\u5bdf\u81ea\u8eab\u8f68\u8ff9\u6216\u4efb\u52a1\u63d0\u793a\uff0c\u63a8\u65ad\u51fa\u5bf9\u5e94\u7684\u6f5c\u5728\u5411\u91cf\u3002\u4e3a\u4e86\u8ba9\u6a21\u578b\u62e5\u6709\u8db3\u591f\u5e7f\u7684\u7ecf\u9a8c\u57fa\u7840\uff0c\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4f7f\u7528\u4e86 1024 \u4e2a\u5e76\u884c\u7684 Isaac \u7269\u7406\u6a21\u62df\u73af\u5883\u3002\u8fd9\u4e9b\u73af\u5883\u4ee5\u9ad8\u9891\u7387\u8fd0\u884c\uff0c\u6a21\u62df\u4e86\u5168\u8eab\u5173\u8282\u7684\u52a8\u529b\u5b66\u3001\u5730\u9762\u63a5\u89e6\u7684\u6469\u64e6\u7279\u6027\u4ee5\u53ca\u91cd\u529b\u7684\u53d8\u5316\u89c4\u5f8b\u3002\u6574\u4e2a\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u6a21\u578b\u7d2f\u8ba1\u83b7\u5f97\u8d85\u8fc7\u4e94\u767e\u4e07\u6761\u4ea4\u4e92\u6837\u672c\uff0c\u4f7f\u5176\u5f62\u6210\u8f83\u4e3a\u5168\u9762\u7684\u884c\u4e3a\u7ecf\u9a8c\u5e93\u3002<\/p>\n<p>\u9664\u4e86\u5927\u91cf\u7684\u73af\u5883\u7ecf\u9a8c\uff0c\u8bad\u7ec3\u8fc7\u7a0b\u8fd8\u5f15\u5165\u4e86\u4e30\u5bcc\u7684\u7269\u7406\u968f\u673a\u5316\u3002\u7814\u7a76\u8005\u4f1a\u5728\u4eff\u771f\u8fc7\u7a0b\u4e2d\u968f\u673a\u6539\u53d8\u673a\u5668\u4eba\u5404\u4e2a\u90e8\u4f4d\u7684\u8d28\u91cf\u5206\u5e03\u3001\u8c03\u6574\u5730\u9762\u7684\u6469\u64e6\u7cfb\u6570\u3001\u65bd\u52a0\u968f\u673a\u5916\u529b\u3001\u6539\u53d8\u8eab\u4f53\u59ff\u6001\u521d\u59cb\u72b6\u6001\uff0c\u5e76\u52a0\u5165\u4f20\u611f\u5668\u566a\u58f0\u3002<\/p>\n<p>\u8fd9\u4e9b\u968f\u673a\u5316\u8bbe\u7f6e\u903c\u8fd1\u771f\u5b9e\u4e16\u754c\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u4f7f\u5f97\u8bad\u7ec3\u51fa\u7684\u7b56\u7565\u5728\u73b0\u5b9e\u90e8\u7f72\u65f6\u4e0d\u4f1a\u56e0\u4e3a\u73af\u5883\u4e0e\u4eff\u771f\u7565\u6709\u5dee\u5f02\u5c31\u5d29\u6e83\u3002\u540c\u65f6\uff0c\u4e3a\u4e86\u8ba9\u673a\u5668\u4eba\u52a8\u4f5c\u66f4\u7b26\u5408\u4eba\u4f53\u7279\u5f81\uff0c\u7814\u7a76\u8005\u8fd8\u5f15\u5165\u4e86\u52a8\u4f5c\u6570\u636e\u96c6\u4f5c\u4e3a\u98ce\u683c\u53c2\u8003\uff0c\u901a\u8fc7\u98ce\u683c\u5224\u522b\u5668\u8ba9\u7b56\u7565\u5728\u751f\u6210\u52a8\u4f5c\u65f6\u4fdd\u7559\u81ea\u7136\u52a8\u4f5c\u7684\u7ed3\u6784\u3002\u4f8b\u5982\u624b\u81c2\u7684\u6446\u52a8\u3001\u8eab\u4f53\u7684\u91cd\u5fc3\u53d8\u5316\u90fd\u4f1a\u56e0\u4e3a\u98ce\u683c\u7ea6\u675f\u663e\u5f97\u66f4\u8d34\u8fd1\u4eba\u7c7b\u52a8\u4f5c\u3002<\/p>\n<p>\u4e3a\u4e86\u907f\u514d\u7b56\u7565\u5b66\u5230\u6f5c\u5728\u5371\u9669\u52a8\u4f5c\uff0c\u8bad\u7ec3\u4e2d\u8fd8\u52a0\u5165\u786c\u4ef6\u76f8\u5173\u7684\u5b89\u5168\u7ea6\u675f\u3002\u4f8b\u5982\u9650\u5236\u5173\u8282\u89d2\u5ea6\u8303\u56f4\u3001\u9632\u6b62\u4e0e\u5730\u9762\u53d1\u751f\u5947\u602a\u7684\u78b0\u649e\u3001\u9650\u5236\u8eab\u4f53\u504f\u79fb\u8fc7\u5927\u7b49\u3002\u8fd9\u4e9b\u8f85\u52a9\u5956\u52b1\u786e\u4fdd\u6a21\u578b\u5728\u5e9e\u5927\u7684\u8bad\u7ec3\u7a7a\u95f4\u4e2d\u4e0d\u4f1a\u504f\u5411\u90a3\u4e9b\u867d\u7136\u6709\u6548\u4f46\u4e0d\u5b89\u5168\u7684\u52a8\u4f5c\u6a21\u5f0f\uff0c\u4e5f\u4fdd\u8bc1\u5b83\u5728\u672a\u6765\u7684\u771f\u5b9e\u5b9e\u9a8c\u4e2d\u4e0d\u4f1a\u635f\u4f24\u673a\u5668\u4eba\u786c\u4ef6\u3002<\/p>\n<p style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-38bba6cc437bfef4dba5f25c921a42b2.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-38bba6cc437bfef4dba5f25c921a42b2.png\"><\/a><\/p>\n<p>\u5728\u96f6\u6837\u672c\u63a8\u7406\u9636\u6bb5\uff0c\u6a21\u578b\u5df2\u7ecf\u5177\u5907\u89e3\u91ca\u4e0d\u540c\u4efb\u52a1\u63d0\u793a\u7684\u80fd\u529b\uff0c\u56e0\u6b64\u4e0d\u518d\u9700\u8981\u7ee7\u7eed\u8bad\u7ec3\u5176\u7f51\u7edc\u7ed3\u6784\u3002\u5f53\u5b83\u63a5\u6536\u5230\u65b0\u7684\u4efb\u52a1\u65f6\uff0c\u53ea\u9700\u8981\u6839\u636e\u4efb\u52a1\u7c7b\u578b\u751f\u6210\u5bf9\u5e94\u7684\u6f5c\u5728\u5411\u91cf z\u3002\u8fd9\u79cd\u5411\u91cf\u80fd\u591f\u660e\u786e\u8868\u8fbe\u4efb\u52a1\u9700\u6c42\uff0c\u7b56\u7565\u7f51\u7edc\u6839\u636e\u5b83\u5c31\u80fd\u751f\u6210\u76f8\u5e94\u52a8\u4f5c\u3002<\/p>\n<p>\u5982\u679c\u4efb\u52a1\u662f\u57fa\u4e8e\u5956\u52b1\uff0c\u90a3\u4e48\u6f5c\u5728\u5411\u91cf\u4f1a\u4ece replay buffer \u7684\u7ecf\u9a8c\u4e2d\uff0c\u901a\u8fc7\u5956\u52b1\u4fe1\u53f7\u4e0e backward embedding \u7684\u5173\u7cfb\u63a8\u65ad\u51fa\u6765\u3002\u5982\u679c\u4efb\u52a1\u662f\u59ff\u6001\u5230\u8fbe\uff0c\u90a3\u4e48\u7814\u7a76\u8005\u76f4\u63a5\u5c06\u76ee\u6807\u72b6\u6001\u8f93\u5165 backward embedding 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style=\"text-align: center\"><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-f813751b604bcebffd1b64680cf762e9.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-f813751b604bcebffd1b64680cf762e9.png\"><\/a><\/p>\n<h2><span class=\"ez-toc-section\" id=\"%E9%80%9A%E7%94%A8%E5%8C%96%E7%9A%84%E5%85%B3%E9%94%AE%E4%B8%80%E6%AD%A5\"><\/span>\u901a\u7528\u5316\u7684\u5173\u952e\u4e00\u6b65<span 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src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/11\/frc-ef1b38dfb738ad25d47c69ef4a8cea34.jpeg\"><\/a><br \/>\n                        <\/a>\n                    <\/p>\n<p>                                            \u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.leiphone.com\/category\/ai\/PJXZyCWjF54hAEfT.html\" target=\"_blank\">BFM-Zero\uff0c\u8ba9\u4eba\u5f62\u673a\u5668\u4eba\u4e0d\u518d\u4f9d\u8d56\u9ad8\u8d28\u91cf\u52a8\u6355\u6570\u636e<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8ba9\u4eba\u5f62\u673a\u5668\u4eba\u771f\u6b63\u8d70\u51fa\u5b9e\u9a8c\u5ba4\uff0c\u4e00\u76f4\u662f\u8fd9\u4e2a\u9886 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