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\u57284.7B\u53c2\u6570\u89c4\u6a21\u4e0b\uff0cXiaomi-Robotics-0\u5b9e\u73b080ms\u63a8\u7406\u5ef6\u8fdf\u300130Hz\u5b9e\u65f6\u63a7\u5236\u9891\u7387\uff0c\u5728\u6d88\u8d39\u7ea7\u663e\u5361\uff084090\uff09\u4e0a\u5c31\u80fd\u8dd1\u5f97\u98de\u8d77\u3002<\/p>\n

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\u7b2c\u4e00\u9636\u6bb5\uff0c\u901a\u8fc7Choice Policy\u4e0e\u8de8\u5e73\u53f0\u673a\u5668\u4eba\u8f68\u8ff9\u6570\u636e\uff0c\u8ba9VLM\u5728\u7406\u89e3\u56fe\u50cf\u4e0e\u6307\u4ee4\u7684\u540c\u65f6\uff0c\u80fd\u591f\u7c97\u7c92\u5ea6\u9884\u6d4b\u52a8\u4f5c\u5757\u3002<\/p>\n

\u8fd9\u4e00\u6b65\u7684\u6838\u5fc3\u662f\u5bf9\u9f50\u89c6\u89c9\u7279\u5f81\u7a7a\u95f4\u4e0e\u52a8\u4f5c\u7a7a\u95f4\uff0c\u8ba9\u6a21\u578b\u5728\u201c\u770b\u89c1\u4ec0\u4e48\u201d\u4e0e\u201c\u5982\u4f55\u52a8\u201d\u4e4b\u95f4\u5efa\u7acb\u6620\u5c04\u3002<\/p>\n

\u4e0e\u6b64\u540c\u65f6\uff0c\u5728\u9884\u8bad\u7ec3\u4e2d\u6df7\u5408\u89c6\u89c9\u8bed\u8a00\u6570\u636e\uff0c\u907f\u514dVLM\u9057\u5fd8\u539f\u6709\u7684\u89c6\u89c9\u63a8\u7406\u80fd\u529b\uff0c\u5efa\u7acb\u8d77\u4e00\u79cd\u201c\u770b\u5230\u8fd9\u4e2a\u753b\u9762\uff0c\u5c31\u8be5\u6709\u8fd9\u79cd\u624b\u611f\u201d\u7684\u76f4\u89c9\u3002<\/p>\n

\u5728\u8fdb\u5165\u7b2c\u4e8c\u9636\u6bb5\u7cbe\u7ec6\u5316\u52a8\u4f5c\u8bad\u7ec3\u65f6\uff0c\u5c0f\u7c73\u4f1a\u6709\u610f\u8bc6\u5730\u4fdd\u62a4\u6a21\u578b\u539f\u6709\u7684\u591a\u6a21\u6001\u901a\u8bc6\u80fd\u529b\u3002<\/p>\n

\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u7b2c\u4e8c\u9636\u6bb5\u51bb\u7ed3VLM\uff0c\u5355\u72ec\u8bad\u7ec3DiT\u8fdb\u884c\u6d41\u5339\u914d\u7cbe\u7ec6\u5316\u751f\u6210\u3002\u6b64\u65f6VLM\u53ea\u8d1f\u8d23\u63d0\u4f9b\u7a33\u5b9a\u7684\u591a\u6a21\u6001\u7406\u89e3\uff0c\u5c0f\u8111\u4e13\u6ce8\u4e8e\u8fde\u7eed\u52a8\u4f5c\u8f68\u8ff9\u7684\u9ad8\u7cbe\u5ea6\u751f\u6210\u3002<\/p>\n

\u8fd9\u79cd\u5206\u5de5\u786e\u4fdd\u6a21\u578b\u5728\u5f15\u5165\u52a8\u4f5c\u80fd\u529b\u540e\u4f9d\u7136\u4fdd\u6301\u5f3a\u5927\u7684\u89c6\u89c9\u8bed\u8a00\u80fd\u529b\uff0c\u90a3\u4e48\u673a\u5668\u4eba\u5728\u6267\u884c\u4efb\u52a1\u65f6\u5c31\u65e2\u80fd\u8bfb\u61c2\u590d\u6742\u6307\u4ee4\uff0c\u53c8\u80fd\u89c4\u5212\u8fde\u7eed\u52a8\u4f5c\u3002<\/p>\n

\u5bf9\u957f\u7a0b\u4efb\u52a1\u4e0e\u4eba\u673a\u4ea4\u4e92\u6765\u8bf4\uff0c\u8fd9\u79cd\u80fd\u529b\u662f\u5c45\u5bb6\u65c5\u884c\u5fc5\u5907\u57fa\u7840\u3002<\/p>\n

\u7b2c\u4e09\u9879\u521b\u65b0\u5219\u76f4\u6307\u201c\u52a8\u4f5c\u8dd1\u504f\u201d\u8fd9\u4e2a\u987d\u75be\uff0cXiaomi-Robotics-0\u56e2\u961f\u5728\u540e\u8bad\u7ec3\u9636\u6bb5\u5f15\u5165\u4e86\u4e00\u79cd\u6539\u826f\u7248\u5f02\u6b65\u65b9\u6848\u3002<\/p>\n

\u4f20\u7edf\u5f02\u6b65\u6267\u884c\u4f1a\u628a\u4e0a\u4e00\u6b21\u52a8\u4f5c\u4f5c\u4e3a\u8f93\u5165\u524d\u7f00\uff0c\u8ba9\u52a8\u4f5c\u8854\u63a5\u5e73\u6ed1\uff0c\u5374\u5bb9\u6613\u4ea7\u751f\u52a8\u4f5c\u60ef\u6027\u3002\u6a21\u578b\u8fc7\u5ea6\u4f9d\u8d56\u5386\u53f2\u52a8\u4f5c\uff0c\u5ffd\u89c6\u5f53\u524d\u89c6\u89c9\u4fe1\u606f\uff0c\u73af\u5883\u53d8\u5316\u65f6\u4fee\u6b63\u6ede\u540e\u3002<\/p>\n

\u5c0f\u7c73\u521b\u65b0\u6027\u5730\u5728\u540e\u8bad\u7ec3\u9636\u6bb5\u5f15\u5165\u4e86\u039b-shape attention\uff08Lambda\u5f62\u63a9\u7801\u673a\u5236\uff09\u3002<\/p>\n

\u6211\u4eec\u53ef\u4ee5\u628a\u5b83\u7406\u89e3\u4e3a\u7ed9\u673a\u5668\u4eba\u88c5\u4e86\u4e00\u4e2a\u5e26\u540e\u89c6\u955c\u7684\u7784\u51c6\u955c\uff1a<\/p>\n

\u52a8\u4f5c\u5757\u4e2d\u7d27\u90bb\u524d\u7f00\u7684\u52a8\u4f5c\u4f1a\u56de\u770b\u5148\u524d\u52a8\u4f5c\uff0c\u786e\u4fdd\u524d\u540e\u8854\u63a5\u4e0d\u6296\u52a8\uff1b\u8fdc\u79bb\u524d\u7f00\u7684\u90e8\u5206\u5219\u5f3a\u8feb\u773c\u775b\u6b7b\u6b7b\u76ef\u7740\u5f53\u4e0b\u7684\u89c6\u89c9\u53cd\u9988\uff0c\u786e\u4fdd\u52a8\u4f5c\u6839\u636e\u73af\u5883\u5b9e\u65f6\u4fee\u6b63\u3002<\/p>\n

\u8fd9\u79cd\u673a\u5236\u8ba9\u6a21\u578b\u5728\u4fdd\u8bc1\u52a8\u4f5c\u8fde\u7eed\u6027\u7684\u540c\u65f6\uff0c\u5f3a\u5236\u91cd\u65b0\u5ba1\u89c6\u73af\u5883\uff0c\u5728\u771f\u5b9e\u4efb\u52a1\u4e2d\u5b9e\u73b0\u201c\u8fde\u8d2f\u4e14\u53ef\u4fee\u6b63\u201d\uff0c\u5b9e\u73b0\u4e86\u65e2\u4e1d\u6ed1\u53c8\u7cbe\u51c6\u7684\u7406\u60f3\u72b6\u6001\u3002<\/p>\n

\u8fd9\u5957\u6539\u826f\u5f02\u6b65\u673a\u5236\uff0c\u8ba9\u6a21\u578b\u540c\u65f6\u5b9e\u73b0\u52a8\u4f5c\u6d41\u7545+\u7cbe\u5ea6\u4fdd\u6301+\u541e\u5410\u9886\u5148\u3002<\/p>\n

\u5728\u4e09\u91cd\u6280\u672f\u521b\u65b0\u7684\u52a0\u6301\u4e0b\uff0cXiaomi-Robotics-0\u5c55\u73b0\u51fa\u4e86\u6781\u4e3a\u786c\u6838\u7684\u6d4b\u8bc4\u7ed3\u679c\u3002<\/p>\n

\u9996\u5148\uff0c\u6211\u4eec\u6765\u770bXiaomi-Robotics-0\u5728VLA\u4eff\u771fbenchmark\u4e0a\u7684\u6210\u7ee9\u3002<\/p>\n

\u5728\u5177\u8eab\u667a\u80fd\u6700\u770b\u91cd\u7684VLA\u4eff\u771fbenchmark\u4e2d\uff0c\u5c0f\u7c73\u51e0\u4e4e\u662f\u5168\u573a\u6a2a\u626b\u3002<\/p>\n

\u5728LIBERO\u3001CALVIN\u3001SimplerEnv\u7b49\u516d\u4e2a\u4eff\u771f\u73af\u5883\u4e2d\uff0cXiaomi-Robotics-0\u5168\u9762\u8d85\u8fc7\u73b0\u6709\u7684\u5305\u62ec\u03c00\u3001\u03c00.5\u3001OpenVLA\u3001RT-1\u3001RT-2\u7b49\u5934\u90e8\u6a21\u578b\u5728\u5185\u7684\u7ea630\u4e2a\u6a21\u578b\u3002<\/p>\n

\uff08\u6ce8\uff1a\u8be6\u89c1\u8bba\u6587https:\/\/xiaomi-robotics-0.github.io\/assets\/paper.pdf\uff09<\/p>\n

\u65e0\u8bba\u662f\u8003\u5bdf\u591a\u4efb\u52a1\u6cdb\u5316\u80fd\u529b\u7684LIBERO\uff0c\u8fd8\u662f\u8003\u5bdf\u957f\u7a0b\u64cd\u4f5c\u7a33\u5b9a\u6027\u7684CALVIN\uff0cXiaomi-Robotics-0\u90fd\u5237\u65b0\u4e86\u7eaa\u5f55\uff0c\u5176\u6210\u529f\u7387\u8d85\u8fc7\u4e86\u516c\u8ba4\u7684\u5f00\u6e90\u6807\u6746\u03c00.5\u3002<\/p>\n

\u5c24\u5176\u662f\u5728Libero-Object\u4efb\u52a1\u4e0a\uff0cXiaomi-Robotics-0\u8fbe\u5230\u4e86100%\u6210\u529f\u7387\uff0c\u5e76\u4ee598.7%\u7684\u5e73\u5747\u6210\u7ee9\u4f4d\u5217Libero\u6d4b\u8bd5\u673a\u524d\u5217\u3002<\/p>\n

\u63a5\u7740\u6765\u770bXiaomi-Robotics-0\u5728MathVista\u3001ScienceQA\u7b49\u9488\u5bf9\u89c6\u89c9\u7406\u89e3\u548c\u6570\u5b66\u63a8\u7406\u7684VLM benchmark\u4e2d\u7684\u8868\u73b0\u3002<\/p>\n

\u5728MMBench\u3001MME\u3001POPE\u3001SeedBench\u3001AI2D\u3001M3MU\u3001ScienceQA\u3001MathVista\u3001ERQA\u7b49\u4e5d\u4e2a\u6d4b\u8bd5\u96c6\u4e2d\uff0cXiaomi-Robotics-0\u7684\u5927\u591a\u6570\u6307\u6807\u90fd\u9ad8\u4e8e\u5bf9\u6bd4\u6a21\u578b\u3002<\/p>\n

\u6a21\u578b\u5728\u5f15\u5165\u52a8\u4f5c\u80fd\u529b\u540e\u4ecd\u4fdd\u6301\u9ad8\u5206\uff0c\u8fd9\u8bc1\u660e\u5b83\u6ca1\u6709\u901a\u8fc7\u727a\u7272\u7406\u89e3\u80fd\u529b\u6765\u6362\u53d6\u63a7\u5236\u80fd\u529b\u3002<\/p>\n

\u5f53\u7136\uff0c\u5bf9\u4e8e\u5177\u8eab\u667a\u80fd\u6765\u8bf4\uff0c\u7269\u7406\u4e16\u754c\u4e2d\u7684\u771f\u5b9e\u4efb\u52a1\u8868\u73b0\u663e\u7136\u66f4\u5177\u8bf4\u670d\u529b\u3002<\/p>\n

\u201c\u53e0\u6bdb\u5dfe\u201d\u662f\u73b0\u5b9e\u4e16\u754c\u9700\u8981\uff0c\u53c8\u5bf9\u5177\u8eab\u673a\u5668\u4eba\u6709\u9ad8\u8981\u6c42\u7684\u4efb\u52a1\u2014\u2014\u673a\u5668\u4eba\u9700\u8981\u5904\u7406\u975e\u7ed3\u6784\u5316\u7684\u8f6f\u4f53\u3002<\/p>\n

Xiaomi-Robotics-0\u6d4b\u8bd5\u4e866\u5f20\u4e0d\u540c\u6bdb\u5dfe\uff0c\u8fde\u7eed\u4f5c\u4e1a30\u5206\u949f\uff0c\u5747\u4fdd\u6301\u9ad8\u6210\u529f\u7387\u4e0e\u9ad8\u541e\u5410\u3002<\/p>\n

\u800c\u201c\u62c6\u5378\u4e50\u9ad8\u201d\u8fd9\u79cd\u9700\u8981\u6781\u81f4\u5fae\u64cd\u548c\u9ad8\u9891\u53cd\u9988\u7684\u4efb\u52a1\uff0c\u5b83\u9700\u8981\u5148\u5c06\u4e50\u9ad8\u7ec4\u4ef6\u62c6\u5378\u6210\u79ef\u6728\u5757\uff0c\u518d\u6839\u636e\u989c\u8272\u5c06\u6bcf\u4e2a\u79ef\u6728\u653e\u5165\u76f8\u5e94\u7684\u5b58\u50a8\u7bb1\u4e2d\u3002<\/p>\n

\u6a21\u578b\u4e5f\u5c55\u73b0\u51fa\u4e86\u6781\u9ad8\u7684\u5b8c\u6210\u5ea6\uff1a\u5728MA\u4e0eLA-10\u573a\u666f\u8fbe\u5230100%\u6210\u529f\u7387\uff0c\u541e\u5410\u91cf\u9886\u5148\u7ea625%\u3002<\/p>\n

\u7ed3\u5408\u4e09\u7c7b\u6d4b\u8bd5\u96c6\u7684\u8868\u73b0\u6570\u636e\u6765\u770b\uff0cXiaomi-Robotics-0\u6253\u901a\u4e86\u4eff\u771f-\u89c6\u89c9\u7406\u89e3-\u771f\u5b9e\u673a\u5668\u4eba\u64cd\u4f5c\u7684\u95ed\u73af\uff0c\u5df2\u7ecf\u662f\u4e00\u4e2a\u975e\u5e38\u6210\u719f\u7684\u4e00\u4f53\u5316VLA\u6a21\u578b\u4e86\u3002<\/p>\n

\u7efc\u5408\u6765\u770b\uff0cXiaomi-Robotics-0\u5728\u76ee\u524d\u7684\u5177\u8eab\u667a\u80fd\u6a21\u578b\u68af\u961f\u91cc\uff0c\u7edd\u5bf9\u662f\u4e00\u4e2a\u4e0d\u6298\u4e0d\u6263\u7684A+\u7ea7\u9009\u624b\u3002<\/p>\n

\u7531\u6b64\u5f15\u51fa\u4e00\u4e2a\u4e00\u5b9a\u8981\u5f04\u6e05\u695a\u7684\u95ee\u9898\uff0c\u5373\uff1a<\/p>\n

\u5c0f\u7c73\u53d1\u529b\u5177\u8eab\u667a\u80fd\u9886\u57df\uff0c\u5230\u5e95\u662f\u60f3\u505a\u4ec0\u4e48\uff1f<\/p>\n

\u76ee\u524d\u5e02\u9762\u4e0a\u7684\u673a\u5668\u4eba\u843d\u5730\uff0c\u5927\u7ea6\u53ef\u4ee5\u5212\u5206\u4e3a\u4e24\u5927\u6d3e\u7cfb\u3002<\/p>\n

\u4e00\u7c7b\u662f\u9ed1\u79d1\u6280\u8868\u6f14\u6d3e\u3002<\/p>\n

\u5b83\u4eec\u4e3b\u653b\u786c\u4ef6\u80fd\u529b\uff0c\u64c5\u957f\u7ffb\u8ddf\u5934\u3001\u8df3\u821e\uff0c\u5c55\u793a\u6781\u9ad8\u7684\u52a8\u6001\u5e73\u8861\u80fd\u529b\uff0c\u52a8\u4f5c\u590d\u6742\uff0c\u89c6\u89c9\u6548\u679c\u9707\u64bc\uff0c\u9002\u5408\u821e\u53f0\u4e0e\u89c6\u9891\u4f20\u64ad\u3002<\/p>\n

\u53e6\u4e00\u7c7b\u5219\u662f\u52a1\u5b9e\u8fdb\u5382\u6d3e\u3002<\/p>\n

\u5f3a\u8c03\u5de5\u4e1a\u843d\u5730\uff0c\u5b83\u4eec\u66f4\u5173\u6ce8\u7a33\u5b9a\u6027\u3001\u541e\u5410\u91cf\u4e0e\u53ef\u90e8\u7f72\u6027\uff0c\u4ee5\u53ca\u91cd\u89c6\u5bf9\u590d\u6742\u73af\u5883\u7684\u9002\u5e94\u6027\u3002<\/p>\n

\u7ed3\u5408\u5c0f\u7c73\u8fd1\u671f\u7684\u4e00\u7cfb\u5217\u52a8\u4f5c\u2014\u2014\u5c31\u5728\u51e0\u5929\u524d\uff0c\u5c0f\u7c73\u521a\u521a\u5f00\u6e90\u4e86\u89e6\u89c9\u9a71\u52a8\u7684\u7cbe\u7ec6\u6293\u53d6\u5fae\u8c03\u6a21\u578bTacRefineNet\u2014\u2014\u6211\u60f3\uff0c\u5c0f\u7c73\u5728\u5177\u8eab\u6280\u672f\u65b9\u9762\u7684\u8def\u7ebf\u5df2\u7ecf\u4e0d\u96be\u731c\u4e86\u3002<\/p>\n

TacRefineNet\u662f\u4e00\u4e2a\u7eaf\u89e6\u89c9\u9a71\u52a8\u7684\u7cbe\u7ec6\u6293\u53d6\u5fae\u8c03\u6a21\u578b\uff0c\u5b83\u4f9d\u8d5611\u00d79\u538b\u963b\u5f0f\u89e6\u89c9\u9635\u5217\uff0c\u89e6\u70b9\u95f4\u8ddd1.1mm\uff0c\u901a\u8fc7\u591a\u6a21\u6001\u878d\u5408\uff0c\u5b9e\u73b0\u6beb\u7c73\u7ea7\u4f4d\u59ff\u5fae\u8c03\u3002<\/p>\n

\u5b83\u65e0\u9700\u89c6\u89c9\u3001\u65e0\u9700\u7269\u4f53\u4e09\u7ef4\u6a21\u578b\uff0cZero-shot\u5c31\u80fd\u90e8\u7f72\u4e8e\u771f\u5b9e\u4ea7\u7ebf\u3002<\/p>\n

\u5c31\u76ee\u524d\u5c0f\u7c73\u516c\u5f00\u7684\u5177\u8eab\u6280\u672f\u6210\u679c\u6765\u770b\uff0cXiaomi-Robotics-0\u63d0\u4f9b\u5feb\u901f\u54cd\u5e94\u4e0e\u8fde\u7eed\u63a7\u5236\uff0cTacRefineNet\u63d0\u4f9b\u672b\u7aef\u7cbe\u7ec6\u8c03\u6574\u3002\u4e24\u8005\u7ed3\u5408\uff0c\u6784\u6210\u201c\u773c-\u8111-\u624b\u201d\u534f\u540c\u4f53\u7cfb\u3002<\/p>\n

\u8fd9\u76f4\u63a5\u5207\u4e2d\u5de5\u4e1a\u573a\u666f\u4e2d\u6700\u96be\u7684\u975e\u7ed3\u6784\u5316\u73af\u5883\u4f5c\u4e1a\u96be\u9898\u3002<\/p>\n

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