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\"\u6a21\u578b\u3001\u6846\u67b6\u3001\u5e94\u7528\u91cf\u4ea7\u5de5\u4f5c\u6d41\uff0c\u539f\u529b\u7075\u673a\u4e09\u7bad\u9f50\u53d1\uff0c\u5f00\u542f\u5177\u8eab\u667a\u80fd\u201d\u539f\u751f\u65f6\u523b\u201d\"\/<\/div><\/figure>\n
\"\u6a21\u578b\u3001\u6846\u67b6\u3001\u5e94\u7528\u91cf\u4ea7\u5de5\u4f5c\u6d41\uff0c\u539f\u529b\u7075\u673a\u4e09\u7bad\u9f50\u53d1\uff0c\u5f00\u542f\u5177\u8eab\u667a\u80fd\u201d\u539f\u751f\u65f6\u523b\u201d\"\/<\/div><\/figure>\n

2 \u6708 10 \u65e5\uff0c\u4ee5\u201c\u5177\u8eab\u539f\u751f\u201d\u4e3a\u4e3b\u9898\u7684\u539f\u529b\u7075\u673a\u6280\u672f\u5f00\u653e\u65e5\u5728\u5317\u4eac\u4e2d\u5173\u6751\u5c55\u793a\u4e2d\u5fc3\u4e3e\u884c\u3002\u5728\u8fd9\u573a\u88ab\u79f0\u4e3a\u201c\u6700\u786c\u6838\u7684\u5177\u8eab\u4ea7\u54c1\u53d1\u5e03\u4f1a\u201d\u4e0a\uff0c\u539f\u529b\u7075\u673a\u4e00\u4e3e\u53d1\u5e03\u4e09\u5927\u6838\u5fc3\u4ea7\u54c1\uff1a\u5168\u7403\u9996\u4e2a\u5177\u8eab\u539f\u751f\u5927\u6a21\u578b DM0\u3001\u5177\u8eab\u539f\u751f\u5f00\u53d1\u6846\u67b6 Dexbotic 2.0\u3001\u4ee5\u53ca\u5177\u8eab\u539f\u751f\u5e94\u7528\u91cf\u4ea7\u5de5\u4f5c\u6d41 DFOL\u3002<\/p>\n

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\u539f\u529b\u7075\u673a\u8ba4\u4e3a\uff0c\u4e0d\u4ec5\u4ec5\u662f\u4e00\u4e2a\u201c\u80fd\u5728\u673a\u5668\u4eba\u4e0a\u8fd0\u884c\u7684\u5927\u6a21\u578b\u201d\uff0c\u800c\u662f\u4e00\u4e2a\u201c\u667a\u80fd\u672c\u8d28\u548c\u5f62\u6210\u673a\u5236\u90fd\u6839\u690d\u4e8e\u7269\u7406\u4ea4\u4e92\u7684\u65b0AI\u8303\u5f0f\u201d\u3002<\/p>\n

\u57fa\u4e8e\u6b64\uff0c\u539f\u529b\u7075\u673a\u5728\u4e1a\u5185\u9996\u6b21\u63d0\u51fa\u201c\u5177\u8eab\u539f\u751f\u201d\u6982\u5ff5\uff1a\u5177\u8eab\u667a\u80fd\u4ece\u8bde\u751f\u4e4b\u521d\u5c31\u9700\u7acb\u8db3\u771f\u5b9e\u4e16\u754c\uff0c\u805a\u7126\u201c\u590d\u6742\u73af\u5883\u4e2d\u7cbe\u51c6\u5b8c\u6210\u4eba\u7c7b\u4efb\u52a1\u201d\uff0c\u5e76\u53d1\u5e03\u5168\u7403\u9996\u4e2a\u5177\u8eab\u5927\u6a21\u578b DM0\u3002<\/p>\n

DM0 \u5177\u6709\u4e24\u5927\u4f18\u52bf\uff1a\u4e00\u662f\u4ece0\u5f00\u59cb\u8bad\u7ec3\u7684\u5177\u8eab\u539f\u751f\u5927\u6a21\u578b\uff0c\u8054\u5408\u9636\u8dc3\u661f\u8fb0\u8054\u5408\u8bad\u7ec3\uff0c\u9664\u4e86\u6df1\u5ea6\u878d\u5408\u591a\u6a21\u6001\u4e92\u8054\u7f51\u4fe1\u606f\u5916\uff0c\u8fd8\u6db5\u76d6\u9a7e\u9a76\u884c\u4e3a\u6570\u636e\u3001\u673a\u5668\u4eba\u64cd\u4f5c\u3001\u5bfc\u822a\u7b49\u5177\u8eab\u573a\u666f\u7279\u6709\u7684\u591a\u4f20\u611f\u6570\u636e\u3002\u4e8c\u662f DM0 \u6ca1\u6709\u628a\u6a21\u578b\u9650\u5236\u5728\u5355\u4e00\u786c\u4ef6\u6216\u7279\u5b9a\u573a\u666f\uff0c\u800c\u662f\u5728\u9884\u8bad\u7ec3\u9636\u6bb5\u7cfb\u7edf\u6df7\u5408\u6293\u53d6\u3001\u5bfc\u822a\u3001\u5168\u8eab\u63a7\u5236\u4e09\u7c7b\u6838\u5fc3\u4efb\u52a1\uff0c\u5e76\u8986\u76d6 UR\u3001Franka\u3001ARX\u3001UMI\u3001Aloha\u3001R1-Lite\u3001Realman\u3001DOS-W1 \u7b498\u79cd\u5dee\u5f02\u663e\u8457\u7684\u673a\u578b\uff0c\u83b7\u5f97\u5f3a\u8de8\u673a\u578b\u7684\u6cdb\u5316\u4e0e\u8fc1\u79fb\u80fd\u529b\u3002<\/p>\n

DM0 \u4ec5 2.4B \u53c2\u6570\u91cf\uff0c\u5374\u5b9e\u73b0\u4e86\u4e1a\u5185\u6700\u9ad8\u7684\u667a\u80fd\u5bc6\u5ea6\uff0c\u5c24\u5176\u5728\u7cbe\u7ec6\u64cd\u4f5c\u573a\u666f\u4e2d\u8868\u73b0\u7a81\u51fa\u3002\u4e0d\u540c\u4e8e\u5e02\u9762\u4e0a\u591a\u6570 VLA \u6a21\u578b\u4ec5\u6709 224-384 \u50cf\u7d20\u7684\u8f93\u5165\u5206\u8fa8\u7387\uff0cDM0 \u4e13\u5c5e 768\u00d7768 \u9ad8\u5206\u8fa8\u7387\u8bbe\u8ba1\uff0c\u5b9e\u65f6\u63a8\u7406\u5ef6\u8fdf\u4ec5 60ms\uff0c\u5728\u5de5\u4e1a\u7ea7\u7cbe\u7ec6\u4f5c\u4e1a\u4e2d\u8868\u73b0\u4f18\u5f02\u3002<\/p>\n

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\u5728 RoboChallage \u771f\u673a\u8bc4\u6d4b\u4e2d\uff0cDM0 \u83b7\u5f97\u5355\u4efb\u52a1\u4e0e\u591a\u4efb\u52a1\u53cc\u9879\u7b2c\u4e00\uff0c\u76ee\u524d\u4f4d\u5c45\u699c\u5355\u5168\u7403\u7b2c\u4e00\u3002\u4e3a\u63a8\u52a8\u4ea7\u4e1a\u534f\u540c\uff0c\u539f\u529b\u7075\u673a\u5ba3\u5e03DM0\u5168\u9762\u5f00\u6e90\uff0c\u5f00\u53d1\u8005\u53ef\u5728\u6d88\u8d39\u7ea7\u663e\u5361\u4e0a\u4fbf\u6377\u5fae\u8c03\u3001\u4e8c\u6b21\u5f00\u53d1\uff0c\u52a9\u529b\u79d1\u7814\u5de5\u4f5c\u8005\u642d\u5efa\u4e13\u5c5e\u5e94\u7528\u3001\u8bad\u7ec3\u81ea\u6709\u6a21\u578b\u53ca\u4ea7\u54c1\u3002<\/p>\n

\u57fa\u7840\u8bbe\u65bd\u662f\u6280\u672f\u8fed\u4ee3\u6548\u7387\u7684\u6839\u672c\uff0c\u4e5f\u662f\u4e00\u5bb6AI\u516c\u53f8\u771f\u6b63\u7684\u7ade\u4e89\u529b\uff0c\u539f\u529b\u7075\u673a\u91cd\u78c5\u53d1\u5e03\u5168\u7403\u9996\u4e2a\u5177\u8eab\u539f\u751f\u5f00\u53d1\u6846\u67b6Dexbotic 2.0\u3002\u539f\u529b\u7075\u673a\u5408\u4f19\u4eba\u6c6a\u5929\u624d\u8868\u793a\uff0c\u201dPyTorch\u8ba9\u6bcf\u4e2a\u7814\u7a76\u8005\u90fd\u80fd\u5feb\u901f\u9a8c\u8bc1\u60f3\u6cd5\uff0cDexbotic 2.0\u8981\u505a\u7684\u662f\u540c\u6837\u7684\u4e8b\u2014\u2014\u8ba9\u6bcf\u4e2a\u5f00\u53d1\u8005\u90fd\u80fd\u7528\u4e50\u9ad8\u5f0f\u7684\u65b9\u5f0f\u642d\u5efa\u81ea\u5df1\u7684\u5177\u8eab\u5e94\u7528\u3002\u201d<\/p>\n

\u76f8\u6bd4\u53bb\u5e74\u53d1\u5e03\u76841.0\u7248\u672c\uff0cDexbotic2.0\u5b9e\u73b0\u4e86\u5177\u8eab\u539f\u751f\u7684\u5168\u9762\u5347\u7ea7\uff0c\u5177\u5907\u4e94\u5927\u6838\u5fc3\u4f18\u52bf\uff1a\u6a21\u5757\u5316\u67b6\u6784\uff0c\u5c06\u5177\u8eab\u667a\u80fd\u7cfb\u7edf\u62c6\u6210\u4e09\u5757\u53ef\u81ea\u7531\u7ec4\u5408\u7684\u201c\u4e50\u9ad8\u6a21\u5757\u201d\uff0cV\uff08Vision encoder\uff09\u3001L\uff08LLM\uff09\u3001A(Action Expert)\u6a21\u53ef\u4ee5\u72ec\u7acb\u5347\u7ea7\u3001\u66ff\u6362\u548c\u6df7\u642d\uff0c\u4fbf\u4e8e\u5feb\u901f\u8bd5\u9a8c\u65b0\u6a21\u578b\uff0c\u5e76\u9002\u914d\u4e0d\u540c\u786c\u4ef6\u548c\u4efb\u52a1\u573a\u666f\u3002<\/p>\n

\u540c\u65f6\u5168\u9762\u652f\u6301\u591a\u6e90\u6570\u636e\u6df7\u5408\u8bad\u7ec3\uff0c\u7528\u540c\u4e00\u5957\u8bad\u7ec3\u8fc7\u7a0b\uff0c\u8ba9\u6a21\u578b\u540c\u6b65\u5b66\u4f1a\u201c\u770b\u61c2\u4e16\u754c\u201d\u548c\u201c\u52a8\u624b\u64cd\u4f5c\u201d\uff1b\u6b64\u5916\uff0cDexbotic 2.0\u8fd8\u5b9e\u73b0\u7edf\u4e00\u5177\u8eab\u64cd\u4f5c\u4e0e\u5bfc\u822a\u3001\u7edf\u4e00\u6a21\u4eff\u5b66\u4e60\u4e0e\u5f3a\u5316\u5b66\u4e60\u3001\u6807\u51c6\u5316\u5177\u8eab\u5f00\u53d1\u5168\u6d41\u7a0b\uff0c\u4ece\u201c\u6570\u636e\u2014\u8bad\u7ec3\u2014\u8bc4\u6d4b\u2014\u786c\u4ef6\u201d\u56db\u4e2a\u73af\u8282\u5f62\u6210\u95ed\u73af\u3002<\/p>\n

\u76ee\u524d\uff0cDexbotic 2.0\u5df2\u7ecf\u670d\u52a1\u6570\u5341\u5bb6\u673a\u6784\uff0c\u5305\u62ec\u6e05\u534e\u3001\u5317\u5927\u3001\u666e\u6797\u65af\u987f\u3001\u5e1d\u56fd\u7406\u5de5\u7b49\u77e5\u540d\u4f01\u4e1a\uff0c\u4ee5\u53ca\u817e\u8baf\u3001\u5317\u4eac\u5177\u8eab\u667a\u80fd\u673a\u5668\u4eba\u521b\u65b0\u4e2d\u5fc3\u7b49\u77e5\u540d\u4f01\u4e1a\uff0c\u8986\u76d6\u8d85\u5343\u4f4d\u7814\u53d1\u8005\u3002<\/p>\n

\u6b63\u5982 PyTorch \u66fe\u4e3a\u6df1\u5ea6\u5b66\u4e60\u793e\u533a\u63d0\u4f9b\u7edf\u4e00\u3001\u5f00\u653e\u7684\u57fa\u7840\u8bbe\u65bd\uff0c\u52a0\u901f\u6574\u4e2a\u9886\u57df\u7684\u7e41\u8363\uff0c\u539f\u529b\u7075\u673a\u8054\u5408\u6e05\u534e\u5927\u5b66\u3001\u65e0\u95ee\u82af\u7a79\uff0c\u5171\u540c\u5ba3\u5e03\u6253\u9020\u5177\u8eab\u667a\u80fd\u7684 PyTorch\uff0cDexbotic 2.0\u4e0e\u5f3a\u5316\u5b66\u4e60\u6846\u67b6 RLinf \u8fbe\u6210\u6218\u7565\u5408\u4f5c\uff0c\u65e8\u5728\u964d\u4f4e\u5f00\u53d1\u95e8\u69db\uff0c\u8ba9\u7814\u7a76\u8005\u4e0e\u5f00\u53d1\u8005\u4e13\u6ce8\u4e8e\u7b97\u6cd5\u521b\u65b0\u4e0e\u573a\u666f\u7a81\u7834\u3002<\/p>\n

\u5728\u592f\u5b9e\u5177\u8eab\u539f\u751f\u6280\u672f\u5e95\u5ea7\u3001\u6253\u9020\u57fa\u7840\u8bbe\u65bd\u964d\u4f4e\u5f00\u53d1\u95e8\u69db\u7684\u57fa\u7840\u4e0a\uff0c\u539f\u529b\u7075\u673a\u8fdb\u4e00\u6b65\u63a8\u52a8\u673a\u5668\u4eba\u8d70\u8fdb\u5de5\u5382\uff0c\u5b9e\u73b0\u5177\u8eab\u89c4\u6a21\u5316\u573a\u666f\u843d\u5730\uff0c\u539f\u529b\u7075\u673a\u53d1\u5e03\u5177\u8eab\u5e94\u7528\u91cf\u4ea7\u5de5\u4f5c\u6d41 DFOL\uff08Distributed Field Online Learning\uff09\uff0c\u6838\u5fc3\u662f\u901a\u8fc7\u201c\u786c\u4ef6\u901a\u7528+\u6a21\u578b\u667a\u80fd\u201d\u7684\u6a21\u5f0f\uff0c\u4f7f\u673a\u5668\u4eba\u65e2\u80fd\u4fdd\u6301\u8f83\u9ad8\u6548\u7387\u4e0e\u786e\u5b9a\u6027\uff0c\u53c8\u62e5\u6709\u63a5\u8fd1\u4eba\u7c7b\u7684\u7075\u6d3b\u6027\u548c\u9002\u5e94\u6027\u3002<\/p>\n

DFOL \u5173\u952e\u521b\u65b0\u5728\u4e8e\u6570\u636e\u56de\u6d41\u673a\u5236\uff1a\u73b0\u573a\u4ea7\u751f\u7684\u8bad\u7ec3\u7247\u6bb5\uff08episode\uff09\u4e0e\u8d1f\u6837\u672c\u5757\uff08negative chunk\uff09\u5b9e\u65f6\u56de\u4f20\u4e91\u7aef\uff0c\u5f62\u6210\u201c\u4e91\u7aef\u8bad\u7ec3-\u73b0\u573a\u6267\u884c-\u6570\u636e\u56de\u6d41-\u6a21\u578b\u66f4\u65b0\u201d\u7684\u6301\u7eed\u8fdb\u5316\u95ed\u73af\uff0c\u4f7f\u7cfb\u7edf\u80fd\u591f\u5728\u771f\u5b9e\u5de5\u4f5c\u73af\u5883\u4e2d\u4e0d\u65ad\u81ea\u6211\u6539\u8fdb\uff0c\u5b9e\u73b0\u67d4\u6027\u751f\u4ea7\u529b\u7684\u6301\u7eed\u4f18\u5316\u3002\u8fd9\u4e0d\u4ec5\u662f\u4e00\u6b21\u6280\u672f\u5347\u7ea7\uff0c\u66f4\u662f\u521b\u9020\u771f\u5b9e\u5546\u4e1a\u4ef7\u503c\u7684\u5173\u952e\u4e00\u8dc3\uff0c\u6709\u5229\u4e8e\u6253\u7834\u975e\u6807\u81ea\u52a8\u5316\u4e0e\u4eba\u5de5\u7684\u8fb9\u754c\uff0c\u63a8\u52a8\u7269\u7406\u667a\u80fd\u771f\u6b63\u8d70\u5411\u89c4\u6a21\u5316\u548c\u666e\u60e0\u5316\u3002<\/p>\n

\u4ece DM0 \u6253\u7834\u884c\u4e1a\u201c\u6539\u6a21\u578b\u201d\u7684\u8def\u5f84\u4f9d\u8d56\u3001\u4ee5 2.4B \u53c2\u6570\u91cf\u767b\u9876\u5168\u7403\u771f\u673a\u8bc4\u6d4b\u699c\u9996\uff0c\u5230 Dexbotic 2.0 \u8054\u5408 RLinf \u51c6\u5907\u625b\u8d77\u5177\u8eab\u667a\u80fd\u7684\u201cPyTorch\u201d\u5927\u65d7\u3001\u7834\u89e3\u7814\u53d1\u58c1\u5792\uff0c\u518d\u5230 DFOL \u6253\u901a\u5de5\u7a0b\u5316\u96be\u9898\u3001\u53d8\u73b0\u6280\u672f\u843d\u5730\u95ed\u73af\uff0c\u539f\u529b\u7075\u673a\u629b\u51fa\u7684\u201c\u4e09\u679a\u70b8\u5f39\u201d\uff0c\u5bf9\u5177\u8eab\u667a\u80fd\u4ea7\u4e1a\u8fdb\u884c\u5168\u65b9\u4f4d\u91cd\u6784\u3002<\/p>\n

\n

\u7248\u6743\u58f0\u660e\uff1a<\/strong><\/p>\n

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