{"id":4082,"date":"2026-04-21T21:00:15","date_gmt":"2026-04-21T13:00:15","guid":{"rendered":"https:\/\/1ow.top\/index.php\/2026\/04\/21\/%e7%89%a9%e7%90%86%e4%bc%98%e5%85%88vla%e9%97%ad%e7%8e%af%e8%bf%9b%e5%8c%96%ef%bc%9a%e9%ab%98%e5%be%b7abot-world%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%ef%bc%8c%e7%a0%b4%e8%a7%a3%e5%85%b7%e8%ba%ab\/"},"modified":"2026-04-21T21:00:15","modified_gmt":"2026-04-21T13:00:15","slug":"%e7%89%a9%e7%90%86%e4%bc%98%e5%85%88vla%e9%97%ad%e7%8e%af%e8%bf%9b%e5%8c%96%ef%bc%9a%e9%ab%98%e5%be%b7abot-world%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%ef%bc%8c%e7%a0%b4%e8%a7%a3%e5%85%b7%e8%ba%ab","status":"publish","type":"post","link":"https:\/\/1ow.top\/index.php\/2026\/04\/21\/%e7%89%a9%e7%90%86%e4%bc%98%e5%85%88vla%e9%97%ad%e7%8e%af%e8%bf%9b%e5%8c%96%ef%bc%9a%e9%ab%98%e5%be%b7abot-world%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%ef%bc%8c%e7%a0%b4%e8%a7%a3%e5%85%b7%e8%ba%ab\/","title":{"rendered":"\u7269\u7406\u4f18\u5148+VLA\u95ed\u73af\u8fdb\u5316\uff1a\u9ad8\u5fb7ABot-World\u4e16\u754c\u6a21\u578b\uff0c\u7834\u89e3\u5177\u8eab\u667a\u80fd\u96f6\u6837\u672c\u6cdb\u5316\u96be\u9898"},"content":{"rendered":"
\"\u7269\u7406\u4f18\u5148+VLA\u95ed\u73af\u8fdb\u5316\uff1a\u9ad8\u5fb7ABot-World\u4e16\u754c\u6a21\u578b\uff0c\u7834\u89e3\u5177\u8eab\u667a\u80fd\u96f6\u6837\u672c\u6cdb\u5316\u96be\u9898\"\/<\/div><\/figure>\n
\"\u7269\u7406\u4f18\u5148+VLA\u95ed\u73af\u8fdb\u5316\uff1a\u9ad8\u5fb7ABot-World\u4e16\u754c\u6a21\u578b\uff0c\u7834\u89e3\u5177\u8eab\u667a\u80fd\u96f6\u6837\u672c\u6cdb\u5316\u96be\u9898\"\/<\/div><\/figure>\n
\"\u7269\u7406\u4f18\u5148+VLA\u95ed\u73af\u8fdb\u5316\uff1a\u9ad8\u5fb7ABot-World\u4e16\u754c\u6a21\u578b\uff0c\u7834\u89e3\u5177\u8eab\u667a\u80fd\u96f6\u6837\u672c\u6cdb\u5316\u96be\u9898\"\/<\/div><\/figure>\n
\"\u7269\u7406\u4f18\u5148+VLA\u95ed\u73af\u8fdb\u5316\uff1a\u9ad8\u5fb7ABot-World\u4e16\u754c\u6a21\u578b\uff0c\u7834\u89e3\u5177\u8eab\u667a\u80fd\u96f6\u6837\u672c\u6cdb\u5316\u96be\u9898\"\/<\/div><\/figure>\n

\u968f\u7740\u9ad8\u5fb7\u516c\u5f00\u5168\u7403\u9996\u6b3e\u5f00\u653e\u73af\u5883\u5168\u81ea\u4e3b\u5177\u8eab\u673a\u5668\u4eba\u201c\u9014\u9014\u201d\uff0c\uff0c\u5176\u80cc\u540e\u7684\u6570\u636e\u53ca\u8bad\u7ec3\u57fa\u5ea7\u2014\u2014ABot-World\u4e16\u754c\u6a21\u578b\u540c\u6b65\u5f15\u53d1\u884c\u4e1a\u5173\u6ce8\u3002\u8be5\u6a21\u578b\u5b9e\u73b0\u4e86\u5177\u8eab\u667a\u80fd\u5e95\u5c42\u8bad\u7ec3\u8303\u5f0f\u5b8c\u6210\u4e86\u4ece\u201c\u4f20\u7edf\u89c6\u89c9\u6e32\u67d3\u201d\u5411\u201c\u53ef\u5fae\u5206\u7269\u7406\u5f15\u64ce\u201d\u7684\u6839\u672c\u6027\u8fc1\u79fb\uff0c\u4e3a\u673a\u5668\u4eba\u4ece\u4eff\u771f\u8d70\u5411\u771f\u5b9e\u7269\u7406\u4e16\u754c\u63d0\u4f9b\u4e86\u7edf\u4e00\u4e14\u53ef\u8fdb\u5316\u7684\u64cd\u4f5c\u7cfb\u7edf\u3002<\/p>\n

ABot-World \u521b\u65b0\u6027\u91c7\u7528\u53cc\u5f15\u64ce\u67b6\u6784\uff0c\u5728\u7269\u7406\u5408\u89c4\u6027\u3001\u52a8\u4f5c\u53ef\u63a7\u6027\u4e0e\u96f6\u6837\u672c\u6cdb\u5316\u4e09\u5927\u6838\u5fc3\u7ef4\u5ea6\u4e0a\u540c\u6b65\u5b9e\u73b0\u7a81\u7834\uff0c\u6210\u4e3a\u5168\u7403\u552f\u4e00\u5728\u6b64\u4e09\u9879\u5173\u952e\u6307\u6807\u4e0a\u5168\u9762\u8fbe\u5230 SOTA \u6c34\u5e73\u7684\u6a21\u578b\u3002<\/p>\n

\u4e0e\u4f20\u7edf\u4eff\u771f\u4f9d\u8d56\u201c\u50cf\u7d20\u7ea7\u903c\u771f\u201d\u4e0d\u540c\uff0cABot-World \u786e\u7acb\u4e86\u201c\u7269\u7406\u4f18\u5148\u201d\u539f\u5219\uff1a\u7cfb\u7edf\u751f\u6210\u7684\u6bcf\u4e00\u5e27\u4e0d\u4ec5\u662f\u89c6\u89c9\u753b\u9762\uff0c\u66f4\u662f\u5305\u542b\u8d28\u91cf\u5206\u5e03\u3001\u60ef\u6027\u5f20\u91cf\u4e0e\u63a5\u89e6\u529b\u573a\u7684\u53ef\u5fae\u5206\u7269\u7406\u72b6\u6001\u5feb\u7167\u3002\u57fa\u4e8e\u6b64\u67b6\u6784\uff0c\u7cfb\u7edf\u80fd\u591f\u6839\u636e\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u4e0e\u5939\u722a\u72b6\u6001\uff0c\u7cbe\u786e\u63a8\u6f14\u672a\u6765\u65f6\u7a7a\u7684\u52a8\u529b\u5b66\u53d8\u5316\uff0c\u5b9e\u73b0\u9ad8\u4fdd\u771f\u7684\u201c\u52a8\u4f5c\u6761\u4ef6\u5316\u201d\u63a7\u5236\u3002<\/p>\n

\u4f20\u7edf\u4e16\u754c\u6a21\u578b\uff08\u5982 Sora\u3001Veo\uff09\u4e3b\u8981\u57fa\u4e8e\u6700\u5927\u4f3c\u7136\u4f30\u8ba1\uff08MLE\uff09\u5728\u901a\u7528\u89c6\u9891\u6570\u636e\u4e0a\u8bad\u7ec3\uff0c\u672c\u8d28\u662f\u6982\u7387\u5206\u5e03\u4e0b\u7684\u50cf\u7d20\u9884\u6d4b\u5668\uff0c\u7f3a\u4e4f\u5bf9\u8d28\u91cf\u3001\u6469\u64e6\u3001\u78b0\u649e\u7b49\u7269\u7406\u5b9a\u5f8b\u7684\u5185\u5efa\u7ea6\u675f\u3002\u8fd9\u5bfc\u81f4\u751f\u6210\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u5e8f\u5217\u5e38\u51fa\u73b0\uff1a\u7269\u4f53\u7a7f\u900f\u3001\u53cd\u91cd\u529b\u60ac\u6d6e\u3001\u975e\u63a5\u89e6\u6293\u53d6\u3001\u63a5\u89e6\u7f3a\u5931\u5bfc\u81f4\u7684\u8fd0\u52a8\u4e0d\u81ea\u7136\u3002\u8fd9\u4e9b\u95ee\u9898\u4e0d\u662f\u7b80\u5355\u7684\u6e32\u67d3\u7455\u75b5\uff0c\u800c\u662f\u7269\u7406\u63a8\u7406\u7684\u6839\u672c\u6027\u5931\u8d25\uff0c\u9650\u5236\u4e86\u6a21\u578b\u5728\u4e0b\u6e38\u673a\u5668\u4eba\u5e94\u7528\u4e2d\u7684\u53ef\u9760\u6027\u3002<\/p>\n

ABot-World \u5c06\u7269\u7406\u5b9a\u5f8b\u6df1\u5ea6\u5d4c\u5165\u5efa\u6a21\u3001\u8bad\u7ec3\u4e0e\u8bc4\u4f30\u7684\u5168\u94fe\u8def\uff1a<\/p>\n

\u521b\u65b0\u7ef4\u5ea6<\/p>\n

\u4f20\u7edf\u6a21\u578b<\/p>\n

ABot-World<\/p>\n

\u4f18\u5316\u76ee\u6807<\/p>\n

\u89c6\u89c9\u7f8e\u5b66<\/p>\n

\u7269\u7406\u4e00\u81f4\u6027\uff08\u52a8\u529b\u5b66\u5408\u7406\u3001\u56e0\u679c\u53ef\u63a8\u6f14\uff09<\/p>\n

\u8f93\u51fa\u5185\u5bb9<\/p>\n

\u50cf\u7d20\u77e9\u9635<\/p>\n

\u89c6\u9891\u5e8f\u5217\uff0c\u9690\u542b\u7269\u7406\u72b6\u6001\u6f14\u5316\uff0c\u884c\u4e3a\u7b26\u5408\u529b\u5b66\u89c4\u5f8b<\/p>\n

\u63a7\u5236\u65b9\u5f0f<\/p>\n

\u6587\u672c\u63d0\u793a<\/p>\n

\u591a\u6a21\u6001\u6761\u4ef6\u8f93\u5165\uff1a\u6587\u672c + \u52a8\u4f5c\u6307\u4ee4\uff08\u672b\u7aef\u4f4d\u59ff+\u5939\u722a\u72b6\u6001\uff09<\/p>\n

\u8fdb\u5316\u80fd\u529b<\/p>\n

\u9759\u6001\u6a21\u578b<\/p>\n

\u652f\u6301VLA\u95ed\u73af\uff1a\u9884\u6d4b \u2192 \u6267\u884c \u2192 \u53cd\u9988 \u2192 \u81ea\u6211\u4fee\u6b63<\/p>\n

\u4e09\u5927\u6838\u5fc3\u7279\u6027\uff1a<\/p>\n

1.\u7269\u7406\u4f18\u5148\u7684\u5efa\u6a21\u8303\u5f0f\u4e0d\u518d\u5355\u7eaf\u8ffd\u6c42\u89c6\u89c9\u7f8e\u5b66\uff0c\u800c\u662f\u5c06\u7269\u7406\u4e00\u81f4\u6027\u4f5c\u4e3a\u6838\u5fc3\u4f18\u5316\u76ee\u6807\u3002\u6bcf\u4e00\u5e27\u751f\u6210\u7ed3\u679c\u4e0d\u4ec5\u662f\u50cf\u7d20\u77e9\u9635\uff0c\u66f4\u662f\u5305\u542b\u8d28\u91cf\u3001\u60ef\u6027\u5f20\u91cf\u3001\u63a5\u89e6\u529b\u573a\u7684\u53ef\u5fae\u5206\u7269\u7406\u72b6\u6001\u5feb\u7167\u3002<\/p>\n

2.\u52a8\u4f5c\u6761\u4ef6\u5316\u7684\u56e0\u679c\u63a8\u6f14\u901a\u8fc7\u89e3\u8026\u7684\u52a8\u4f5c\u6ce8\u5165\u6a21\u5757\uff0c\u6a21\u578b\u80fd\u591f\u6839\u636e\u7ed9\u5b9a\u7684\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\uff08End-effector Pose\uff09\u548c\u5939\u722a\u72b6\u6001\uff0c\u7cbe\u786e\u63a8\u6f14\u672a\u6765\u7684\u65f6\u7a7a\u52a8\u529b\u5b66\u53d8\u5316\uff0c\u5b9e\u73b0\u201d\u6307\u4ee4\u5373\u56e0\u679c\u201d\u7684\u53ef\u63a7\u751f\u6210\u3002<\/p>\n

3.\u95ed\u73af\u8fdb\u5316\u7684\u8ba4\u77e5\u57fa\u5ea7\u652f\u6301\u201d\u9884\u6d4b \u2013 \u6267\u884c \u2013 \u53cd\u9988\u201d\u7684 VLA\uff08Vision-Language-Action\uff09\u95ed\u73af\uff0c\u4f7f\u6a21\u578b\u5177\u5907\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u901a\u8fc7\u8bef\u5dee\u4fe1\u53f7\u81ea\u6211\u4fee\u6b63\u7684\u80fd\u529b\u3002<\/p>\n

\u56fe\uff1aABot-World \u53cc\u5f15\u64ce\u9a71\u52a8\u67b6\u6784\u2014\u2014ABot-3DGS\uff08\u6570\u5b57\u5b6a\u751f\u5de5\u5382\uff09\u00d7 ABot-PhysWorld\uff08\u7269\u7406\u5f15\u64ce\u5185\u6838\uff09<\/p>\n

\u6211\u4eec\u5c06\u4e16\u754c\u6a21\u578b\u5b9a\u4e49\u4e3a\u673a\u5668\u4eba\u4e16\u754c\u7684\u64cd\u4f5c\u7cfb\u7edf\u5185\u6838\uff0c\u5fc5\u987b\u80fd\u7406\u89e3\u7269\u7406\u3001\u54cd\u5e94\u6307\u4ee4\u3001\u9884\u6d4b\u540e\u679c\u3001\u5e76\u652f\u6301\u95ed\u73af\u8fdb\u5316\u3002\u4e3a\u6b64\u6784\u5efa\u4e86\u201d\u53cc\u5f15\u64ce\u9a71\u52a8\u201d\u7684\u5168\u65b0\u67b6\u6784\u8303\u5f0f\uff1a<\/p>\n

\u25cfABot-3DGS\uff1a\u7269\u7406\u4e16\u754c\u7684\u201d\u6570\u5b57\u5b6a\u751f\u5de5\u5382\u201d<\/p>\n

\u25cfABot-PhysWorld\uff1a\u56e0\u679c\u63a8\u6f14\u7684\u201d\u7269\u7406\u5f15\u64ce\u5185\u6838\u201d<\/p>\n

\u4ee5\u9ad8\u5fb7\u79ef\u7d2f\u7684\u5398\u7c73\u7ea7\u57ce\u5e02\u3001\u9053\u8def\u3001\u5ba4\u5185\u7a7a\u95f4\u6570\u636e + \u771f\u5b9e\u8f68\u8ff9\u6570\u636e\u4e3a\u57fa\u7840\uff0c\u7ed3\u5408\u524d\u6cbf\u76843D Gaussian Splatting\uff083DGS\uff09\u6280\u672f\uff0c\u6784\u5efa\u201d\u53ef\u7f16\u7a0b\u7684\u6570\u5b57\u5b6a\u751f\u7a7a\u95f4\u201d\u3002<\/p>\n

\u6838\u5fc3\u80fd\u529b\uff1a<\/p>\n

\u25cf\u6d77\u91cf\u573a\u666f\u91cd\u5efa\uff1a\u57fa\u4e8e\u9ad8\u5fb7\u5730\u56fe\u6570\u636e\u751f\u6210\u4ebf\u7ea7\u9ad8\u4fdd\u771f\u65e0\u9650\u5c3a\u5bf8\u7684\u4eff\u771f\u573a\u666f<\/p>\n

\u25cf\u4efb\u610f\u89c6\u89d2\u5408\u6210\uff1a\u65e0\u9700\u771f\u5b9e\u6444\u50cf\u5934\uff0c\u5373\u53ef\u6e32\u67d3\u591a\u5f62\u6001\u673a\u5668\u4eba\u64cd\u4f5c\u573a\u666f<\/p>\n

\u25cf\u8de8\u5f62\u6001\u6cdb\u5316\uff1a\u652f\u6301\u5355\u81c2\u3001\u53cc\u81c2\u3001\u7075\u5de7\u624b\u3001\u8db3\u5f0f\u673a\u5668\u4eba\u7b49\u4e0d\u540c\u672c\u4f53\u7684\u6570\u636e\u751f\u6210<\/p>\n

\u25cf\u957f\u5c3e\u8986\u76d6\uff1a\u901a\u8fc7\u80cc\u666f\u7f16\u8f91\u3001\u906e\u6321\u6a21\u62df\u3001\u5149\u7167\u6270\u52a8\uff0c\u8986\u76d6 99% \u5178\u578b\u957f\u5c3e\u4ea4\u4e92\u573a\u666f<\/p>\n

\u6280\u672f\u5b9e\u73b0\uff1a<\/p>\n

\u25cf \u5229\u7528 3DGS \u7684\u9ad8\u4fdd\u771f\u6e32\u67d3\u80fd\u529b\uff0c\u5b9e\u73b0\u7167\u7247\u7ea7\u771f\u5b9e\u7684\u573a\u666f\u91cd\u5efa<\/p>\n

\u25cf \u652f\u6301\u5b9e\u65f6\u89c6\u89d2\u5207\u6362\u548c\u52a8\u6001\u5149\u7167\u8c03\u6574<\/p>\n

\u25cf \u53ef\u7f16\u7a0b\u7684\u7269\u7406\u5c5e\u6027\u6807\u6ce8\uff0c\u4e3a\u6bcf\u4e2a\u573a\u666f\u5143\u7d20\u8d4b\u4e88\u8d28\u91cf\u3001\u6469\u64e6\u7cfb\u6570\u7b49\u7269\u7406\u53c2\u6570<\/p>\n

\u67b6\u6784\u5b9a\u4f4d\uff1a\u5b83\u4e0d\u662f\u6570\u636e\u589e\u5f3a\u5de5\u5177\uff0c\u800c\u662f\u5177\u8eab\u667a\u80fd\u7684\u201d\u6570\u636e\u539f\u751f\u5f15\u64ce\u201d\uff0c\u4e3b\u52a8\u521b\u9020\u6bd4\u73b0\u5b9e\u66f4\u4e30\u5bcc\u3001\u66f4\u53ef\u63a7\u3001\u66f4\u7269\u7406\u4e00\u81f4\u7684\u8bad\u7ec3\u5b87\u5b99\u3002<\/p>\n

\u57fa\u4e8e 14B \u53c2\u6570\u7684 Diffusion Transformer \u4e3b\u5e72\uff0c\u5728 300 \u4e07\u6761\u771f\u5b9e\u64cd\u4f5c\u89c6\u9891\u4e0a\u8bad\u7ec3\uff0c\u63d0\u51fa\u201d\u7269\u7406\u4f18\u5148\u201d\u7684\u5efa\u6a21\u8303\u5f0f\u3002<\/p>\n

\u6838\u5fc3\u80fd\u529b\uff1a<\/p>\n

\u25cf\u52a8\u4f5c\u6761\u4ef6\u5316\u63a8\u6f14\uff1a\u7ed9\u5b9a\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u4e0e\u5939\u722a\u72b6\u6001\uff0c\u7cbe\u786e\u9884\u6d4b\u672a\u6765\u65f6\u7a7a\u52a8\u529b\u5b66\u53d8\u5316<\/p>\n

\u25cf\u56e0\u679c\u94fe\u5efa\u6a21\uff1a\u652f\u6301\u201d\u6307\u4ee4\u2192\u72b6\u6001\u53d8\u5316\u2192\u7ed3\u679c\u53cd\u9988\u201d\u7684 VLA \u95ed\u73af<\/p>\n

\u25cf\u53ef\u5fae\u5206\u7269\u7406\u72b6\u6001\u8f93\u51fa\uff1a\u6bcf\u4e00\u5e27\u4e0d\u4ec5\u8f93\u51fa\u50cf\u7d20\uff0c\u8fd8\u9690\u542b\u8d28\u91cf\u3001\u63a5\u89e6\u529b\u573a\u3001\u60ef\u6027\u5f20\u91cf\u7b49\u7269\u7406\u5c5e\u6027<\/p>\n

\u6280\u672f\u5b9e\u73b0\uff1a<\/p>\n

\u25cf \u57fa\u4e8e Wan2.1-I2V-14B \u4e3b\u5e72\u7f51\u7edc\u8fdb\u884c\u5168\u91cf\u5fae\u8c03<\/p>\n

\u25cf \u91c7\u7528 LoRA \u4f4e\u79e9\u9002\u914d\u6280\u672f\u8fdb\u884c\u9ad8\u6548\u53c2\u6570\u4f18\u5316<\/p>\n

\u25cf \u5e76\u884c\u4e0a\u4e0b\u6587\u5757\u5b9e\u73b0\u52a8\u4f5c\u6761\u4ef6\u7684\u7a7a\u95f4\u6ce8\u5165<\/p>\n

\u67b6\u6784\u5b9a\u4f4d\uff1a\u5b83\u4e0d\u662f\u89c6\u9891\u751f\u6210\u5668\uff0c\u800c\u662f\u673a\u5668\u4eba\u7684\u201d\u7269\u7406\u601d\u7ef4\u5f15\u64ce\u201d\uff0c\u80fd\u56de\u7b54\u201d\u5982\u679c\u8fd9\u6837\u505a\uff0c\u4f1a\u53d1\u751f\u4ec0\u4e48\uff1f\u201d<\/p>\n

\u6d41\u7a0b\u7c7b\u578b<\/p>\n

\u6570\u636e\u6d41\u5411<\/p>\n

\u4ef7\u503c<\/p>\n

\u6570\u636e\u6d41<\/p>\n

ABot-3DGS \u751f\u6210\u4ebf\u7ea7\u9ad8\u4fdd\u771f\u4eff\u771f\u6570\u636e \u2192 \u8f93\u5165 ABot-PhysWorld \u8fdb\u884c\u7269\u7406\u5bf9\u9f50\u8bad\u7ec3<\/p>\n

\u4ece\u201d\u6570\u636e\u5236\u9020\u201d\u5230\u201d\u7269\u7406\u63a8\u6f14\u201d\u7684\u65e0\u7f1d\u8854\u63a5<\/p>\n

\u63a7\u5236\u6d41<\/p>\n

\u7528\u6237\u8f93\u5165\u6307\u4ee4 \u2192 ABot-PhysWorld \u63a8\u6f14\u52a8\u4f5c\u8f68\u8ff9 \u2192 \u8f93\u51fa\u7269\u7406\u5408\u89c4\u89c6\u9891 \u2192 \u53cd\u9988\u81f3\u771f\u5b9e\u673a\u5668\u4eba\u6267\u884c<\/p>\n

\u652f\u6301\u5b9e\u65f6\u51b3\u7b56\u4e0e\u89c4\u5212<\/p>\n

\u8fdb\u5316\u6d41<\/p>\n

\u771f\u5b9e\u6267\u884c\u8bef\u5dee \u2192 \u56de\u4f20\u81f3 ABot-PhysWorld \u2192 \u66f4\u65b0\u6a21\u578b\u53c2\u6570 \u2192 \u4e0b\u4e00\u8f6e\u9884\u6d4b\u66f4\u7cbe\u51c6<\/p>\n

\u81ea\u751f\u957f\u3001\u81ea\u4fee\u6b63\u3001\u81ea\u9002\u5e94<\/p>\n

\u8fd9\u662f\u4e00\u4e2a\u81ea\u751f\u957f\u3001\u81ea\u4fee\u6b63\u3001\u81ea\u9002\u5e94\u7684\u5177\u8eab\u667a\u80fd\u64cd\u4f5c\u7cfb\u7edf\uff0c\u6bcf\u4e00\u6b21\u6267\u884c\uff0c\u90fd\u5728\u4e3a\u4e16\u754c\u6a21\u578b\u6ce8\u5165\u65b0\u7684\u7269\u7406\u8ba4\u77e5\u3002<\/p>\n

\u7ef4\u5ea6<\/p>\n

\u521b\u65b0\u70b9<\/p>\n

\u6570\u636e<\/p>\n

\u7ed3\u6784\u5316\u91c7\u6837 + \u7269\u7406\u8bed\u4e49\u6807\u6ce8 \u2192 \u6784\u5efa\u56e0\u679c\u7406\u89e3\u57fa\u7840<\/p>\n

\u67b6\u6784<\/p>\n

\u51bb\u7ed3\u4e3b\u5e72+LoRA+\u52a8\u4f5c\u6ce8\u5165 \u2192 \u96f6\u6837\u672c\u63a7\u5236+\u4f4e\u663e\u5b58\u5360\u7528<\/p>\n

\u8bad\u7ec3<\/p>\n

\u89e3\u8026\u5224\u522b+Diffusion-DPO \u2192 \u5b66\u4f1a\u7269\u7406\u89c4\u5f8b\u5224\u522b<\/p>\n

\u6838\u5fc3\u80fd\u529b\uff1a\u57fa\u4e8e140\u4ebf\u53c2\u6570Diffusion Transformer\u4e3b\u5e72\u67b6\u6784\uff0c\u901a\u8fc7\u7cfb\u7edf\u6027\u6570\u636e\u6cbb\u7406 + \u7269\u7406\u7ea6\u675f\u6ce8\u5165 + \u95ed\u73af\u8bc4\u4f30\u673a\u5236\u4e09\u4f4d\u4e00\u4f53\u8bbe\u8ba1\uff0c\u5b9e\u73b0\u7269\u7406\u4e00\u81f4\u6027\u3001\u52a8\u4f5c\u53ef\u63a7\u6027\u3001\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u7684\u6709\u673a\u7edf\u4e00\u3002<\/p>\n

\u6570\u636e\u6765\u6e90\u4e0e\u89c4\u6a21\uff1a\u6574\u5408\u4e94\u5927\u4e3b\u6d41\u5f00\u6e90\u6570\u636e\u96c6\uff08AgiBot\u3001RoboCoin\u3001RoboMind\u3001Galaxea\u3001OXE\uff09\uff0c\u6db5\u76d6\u591a\u5f62\u6001\u673a\u5668\u4eba\u4e0e\u957f\u5c3e\u4efb\u52a1\u573a\u666f\uff0c\u7d2f\u8ba1\u6c47\u805a\u8fd1300\u4e07\u6761\u771f\u5b9e\u64cd\u4f5c\u89c6\u9891\u7247\u6bb5\uff0c\u4e3a\u6a21\u578b\u63d0\u4f9b\u4e30\u5bcc\u7684\u5177\u8eab\u4ea4\u4e92\u4fe1\u53f7\u57fa\u7840\u3002<\/p>\n

1\u3001 \u56db\u5c42\u5206\u5c42\u91c7\u6837\u7b56\u7565\uff1a\u4fdd\u8bc1\u591a\u6837\u6027\u4e0e\u5e73\u8861\u6027<\/p>\n

\u5c42\u7ea7<\/p>\n

\u76ee\u6807<\/p>\n

\u5b9e\u73b0\u65b9\u5f0f<\/p>\n

\u7b2c\u4e00\u5c42\uff1a\u5185\u90e8\u591a\u6837\u6027\u4fdd\u7559<\/p>\n

\u9632\u6b62\u7a00\u6709\u4ea4\u4e92\u6a21\u5f0f\u4e22\u5931<\/p>\n

\u4fdd\u7559OXE\u7b49\u805a\u5408\u6570\u636e\u96c6\u4e2d\u5c0f\u578b\u5b50\u96c6<\/p>\n

\u7b2c\u4e8c\u5c42\uff1a\u8de8\u673a\u5668\u4eba\u91cd\u5e73\u8861<\/p>\n

\u589e\u5f3a\u8de8\u5e73\u53f0\u6cdb\u5316<\/p>\n

\u5bf9\u6b20\u4ee3\u8868\u673a\u5668\u4eba\u7c7b\u578b\u4e0a\u6743\u91cd<\/p>\n

\u7b2c\u4e09\u5c42\uff1a\u4efb\u52a1\u611f\u77e5\u914d\u989d\u5206\u914d<\/p>\n

\u6291\u5236\u5934\u90e8\u4efb\u52a1\u4e3b\u5bfc<\/p>\n

\u5934\u90e8\u4efb\u52a1\u226415%\uff0c\u4e2d\u90e8\u4efb\u52a140\u201350%\uff0c\u957f\u5c3e\u4efb\u52a1\u5168\u91cf\u4fdd\u7559<\/p>\n

\u7b2c\u56db\u5c42\uff1a\u5b8f\u89c2\u89c4\u6a21\u8c03\u63a7<\/p>\n

\u5e73\u8861\u6570\u636e\u96c6\u4f53\u91cf\u5dee\u5f02<\/p>\n

AgiBot\/OXE\u964d\u91c7\u6837\uff1bRoboMind\u4fdd\u8bc1\u6700\u4f4e\u8986\u76d6\u7387\uff0c\u4e09\u8f6e\u8865\u5145\u6539\u5584\u957f\u5c3e<\/p>\n

2\u3001 \u7269\u7406\u611f\u77e5\u6807\u6ce8\u7cfb\uff1a\u53cc\u9636\u6bb5+\u56db\u5c42\u7ea7\u8bed\u4e49\u7ed3\u6784<\/p>\n

\u91c7\u7528 VLM + LLM \u53cc\u9636\u6bb5\u534f\u540c\u6807\u6ce8\uff0c\u5c06\u6bcf\u6bb5\u89c6\u9891\u8f6c\u5316\u4e3a\u7ed3\u6784\u5316\u7269\u7406\u8bed\u4e49\u63cf\u8ff0\uff0c\u5206\u4e3a\u56db\u4e2a\u5c42\u7ea7\uff1a<\/p>\n

\u25cf \u5b8f\u89c2\u5c42\uff08\u610f\u56fe\uff09\uff1a\u81ea\u7136\u8bed\u8a00\u63cf\u8ff0\u6574\u4f53\u4efb\u52a1\u76ee\u6807\uff0c\u5982\uff1a\u201c\u6293\u53d6\u5e76\u653e\u7f6e\u82f9\u679c\u201d\u3002<\/p>\n

\u25cf \u4e2d\u89c2\u5c42\uff08\u52a8\u4f5c\u5e8f\u5217\uff09\uff1a\u52a8\u8bcd-\u540d\u8bcd\u77ed\u8bed\u5e8f\u5217\uff0c\u5982\uff1a\u201c\u63a5\u8fd1 \u2192 \u6293\u63e1 \u2192 \u63d0\u8d77 \u2192 \u79fb\u52a8 \u2192 \u91ca\u653e\u201d\u3002<\/p>\n

\u25cf \u5fae\u89c2\u5c42\uff08\u8f68\u8ff9\u7ec6\u8282\uff09\uff1a\u8bb0\u5f55\u7b1b\u5361\u5c14\u8f68\u8ff9\u3001\u76f8\u5bf9\u8fd0\u52a8\u3001\u5939\u722a\u72b6\u6001\uff0c\u5982\uff1a\u201c\u672b\u7aef\u6cbfZ\u8f74\u4e0b\u964d5cm\uff0c\u5939\u722a\u95ed\u5408\u81f320mm\u201d\u3002<\/p>\n

\u25cf \u573a\u666f\u5c42\uff08\u7269\u7406\u5173\u7cfb\uff09\uff1a\u63cf\u8ff0\u63a5\u89e6\u3001\u652f\u6491\u3001\u5305\u542b\u5173\u7cfb\u53ca\u4efb\u52a1\u7ed3\u679c\uff0c\u5982\uff1a\u201c\u82f9\u679c\u4e0e\u684c\u9762\u63a5\u89e6\uff0c\u88ab\u5939\u722a\u7a33\u56fa\u6293\u63e1\uff0c\u6210\u529f\u653e\u7f6e\u4e8e\u888b\u4e2d\u201d\u3002<\/p>\n

3\u3001 \u56db\u7ea7\u53d9\u4e8b\u7ed3\u6784\uff1a\u6784\u5efa\u56e0\u679c\u7406\u89e3\u57fa\u7840<\/p>\n

\u6807\u6ce8\u6d41\u7a0b\u6309\u56db\u7ea7\u53d9\u4e8b\u63a8\u8fdb\uff1a\u573a\u666f\u6784\u5efa \u2192 \u52a8\u4f5c\u6d41\u7a0b \u2192\u6700\u7ec8\u72b6\u6001\u786e\u8ba4 \u2192 \u955c\u5934\u603b\u7ed3<\/p>\n

\u4e0d\u4ec5\u56de\u7b54\u201c\u53d1\u751f\u4e86\u4ec0\u4e48\u201d\uff0c\u66f4\u89e3\u91ca\u201c\u4e3a\u4ec0\u4e48\u53d1\u751f\u201d\uff0c\u4e3a\u4e16\u754c\u6a21\u578b\u8bad\u7ec3\u5960\u5b9a\u56e0\u679c\u63a8\u7406\u4e0e\u7269\u7406\u89c4\u5f8b\u7406\u89e3\u7684\u8bed\u4e49\u57fa\u7840\u3002<\/p>\n

ABot-PhysWorld \u7684\u6838\u5fc3\u662f\u786e\u4fdd\u751f\u6210\u7ed3\u679c\u5728\u52a8\u529b\u5b66\u4e0a\u5408\u7406\u3001\u5728\u63a7\u5236\u4e0a\u53ef\u54cd\u5e94\u3001\u5728\u8bad\u7ec3\u4e0a\u53ef\u6301\u7eed\u3002\u8be5\u6a21\u578b\u57fa\u4e8e DiT \u4e3b\u5e72\u6784\u5efa\uff0c\u4f46\u5728\u8bad\u7ec3\u7b56\u7565\u4e0e\u7ed3\u6784\u8bbe\u8ba1\u4e0a\u505a\u4e86\u5173\u952e\u8c03\u6574\uff0c\u4f7f\u5176\u80fd\u591f\u5185\u5316\u7269\u7406\u89c4\u5f8b\u5e76\u652f\u6301\u52a8\u4f5c\u6761\u4ef6\u5316\u63a8\u6f14\u3002\u6574\u4e2a\u8bad\u7ec3\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\uff1a<\/p>\n

\u25cf \u7b2c\u4e00\u9636\u6bb5\uff1a\u76d1\u7763\u5fae\u8c03\u3002\u6a21\u578b\u5b66\u4e60\u4ece\u5f53\u524d\u89c6\u89c9\u72b6\u6001\u4e0e\u8bed\u8a00\u6307\u4ee4\u51fa\u53d1\uff0c\u9884\u6d4b\u672a\u6765\u82e5\u5e72\u5e27\u7684\u6f14\u5316\uff0c\u5efa\u7acb\u57fa\u7840\u7684\u65f6\u5e8f\u5efa\u6a21\u80fd\u529b\u3002<\/p>\n

\u25cf \u7b2c\u4e8c\u9636\u6bb5\uff1a\u504f\u597d\u4f18\u5316\u673a\u5236\u3002\u5728\u51bb\u7ed3\u4e3b\u5e72\u7684\u524d\u63d0\u4e0b\uff0c\u901a\u8fc7\u8f7b\u91cf\u7ea7\u9002\u914d\u5668\u5bf9\u6a21\u578b\u8fdb\u884c\u5b9a\u5411\u8c03\u6574\u3002\u8fd9\u4e00\u9636\u6bb5\u4e0d\u518d\u4f9d\u8d56\u50cf\u7d20\u76f8\u4f3c\u5ea6\uff0c\u800c\u662f\u4ee5\u201c\u7269\u7406\u5408\u7406\u6027\u201d\u4f5c\u4e3a\u4f18\u5316\u4fe1\u53f7\u2014\u2014\u6a21\u578b\u751f\u6210\u591a\u4e2a\u5019\u9009\u89c6\u9891\uff0c\u7531\u8f85\u52a9\u8bc4\u4f30\u6a21\u5757\u5224\u65ad\u5176\u662f\u5426\u7b26\u5408\u7269\u7406\u5e38\u8bc6\uff08\u5982\u63a5\u89e6\u662f\u5426\u5b58\u5728\u3001\u8fd0\u52a8\u662f\u5426\u53d7\u91cd\u529b\u5f71\u54cd\u7b49\uff09\uff0c\u5e76\u636e\u6b64\u5f3a\u5316\u5408\u89c4\u884c\u4e3a\u3001\u6291\u5236\u8fdd\u89c4\u8f93\u51fa\u3002\u8fd9\u4f7f\u6a21\u578b\u9010\u6b65\u5b66\u4f1a\u533a\u5206\u201c\u770b\u8d77\u6765\u50cf\u201d\u548c\u201c\u7269\u7406\u4e0a\u5bf9\u201d\uff0c\u4ece\u800c\u63d0\u5347\u5728\u771f\u5b9e\u4efb\u52a1\u4e2d\u7684\u53ef\u9760\u6027\u3002<\/p>\n

\u67b6\u6784\u4e0a\u7684\u5173\u952e\u6280\u672f\u652f\u6491\u4f53\u73b0\u5728\u4e24\u65b9\u9762\uff1a<\/p>\n

\u25cf \u57fa\u4e8e LoRA \u7684\u8f7b\u91cf\u5316\u53c2\u6570\u9002\u914d\u673a\u5236\u3002\u5728\u4fdd\u6301\u4e3b\u5e72\u7f51\u7edc\u5b8c\u6574\u6027\u7684\u524d\u63d0\u4e0b\uff0c\u4ec5\u5bf9\u90e8\u5206\u6f5c\u7a7a\u95f4\u53c2\u6570\u8fdb\u884c\u5fae\u8c03\uff0c\u663e\u8457\u964d\u4f4e\u8bad\u7ec3\u6210\u672c\u4e0e\u663e\u5b58\u5360\u7528\uff0c\u540c\u65f6\u907f\u514d\u7834\u574f\u9884\u8bad\u7ec3\u83b7\u5f97\u7684\u901a\u7528\u89c6\u89c9\u5148\u9a8c\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u5f97\u6a21\u578b\u65e2\u80fd\u5438\u6536\u5927\u89c4\u6a21\u6570\u636e\u4e2d\u7684\u8bed\u4e49\u77e5\u8bc6\uff0c\u53c8\u80fd\u4e13\u6ce8\u4f18\u5316\u4e0e\u7269\u7406\u5efa\u6a21\u76f8\u5173\u7684\u5c40\u90e8\u80fd\u529b\u3002<\/p>\n

\u25cf \u5e76\u884c\u4e0a\u4e0b\u6587\u6ce8\u5165\u673a\u5236\u3002\u6a21\u578b\u652f\u6301\u5c06\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u4e0e\u5939\u722a\u72b6\u6001\u4f5c\u4e3a\u663e\u5f0f\u8f93\u5165\uff0c\u901a\u8fc7\u7a7a\u95f4\u7f16\u7801\u65b9\u5f0f\u5d4c\u5165\u5230\u751f\u6210\u8fc7\u7a0b\u4e2d\u3002\u8fd9\u79cd\u673a\u5236\u5e76\u975e\u7b80\u5355\u53e0\u52a0\u7279\u5f81\uff0c\u800c\u662f\u5728Transformer\u7ed3\u6784\u4e2d\u5e76\u884c\u5f15\u5165\u52a8\u4f5c\u4e0a\u4e0b\u6587\uff0c\u4f7f\u6bcf\u4e00\u5e27\u7684\u751f\u6210\u90fd\u53d7\u5230\u5f53\u524d\u63a7\u5236\u610f\u56fe\u7684\u5f71\u54cd\uff0c\u4ece\u800c\u5b9e\u73b0\u201c\u6307\u4ee4\u5373\u56e0\u679c\u201d\u7684\u53ef\u63a7\u63a8\u6f14\u3002\u8be5\u8bbe\u8ba1\u5929\u7136\u652f\u6301\u591a\u5f62\u6001\u673a\u5668\u4eba\u63a7\u5236\uff0c\u65e0\u9700\u9488\u5bf9\u4e0d\u540c\u672c\u4f53\u91cd\u65b0\u8bad\u7ec3\uff0c\u5177\u5907\u826f\u597d\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n

ABot-PhysWorld \u7684\u67b6\u6784\u8bbe\u8ba1\u5728\u4fdd\u8bc1\u4e3b\u5e72\u6a21\u578b\u6cdb\u5316\u80fd\u529b\u7684\u524d\u63d0\u4e0b\uff0c\u901a\u8fc7\u8f7b\u91cf\u9002\u914d\u4e0e\u6761\u4ef6\u6ce8\u5165\u673a\u5236\uff0c\u5b9e\u73b0\u7269\u7406\u4e00\u81f4\u6027\u3001\u52a8\u4f5c\u53ef\u63a7\u6027\u4e0e\u8bad\u7ec3\u6548\u7387\u7684\u534f\u540c\u4f18\u5316\u3002\u5176\u76ee\u6807\u662f\u89e3\u51b3\u673a\u5668\u4eba\u4e16\u754c\u6a21\u578b\u7684\u5173\u952e\u7ea6\u675f\uff1a\u8f93\u51fa\u9700\u7b26\u5408\u7269\u7406\u89c4\u5f8b\u3001\u54cd\u5e94\u9700\u5339\u914d\u63a7\u5236\u6307\u4ee4\u3001\u8bad\u7ec3\u9700\u63a7\u5236\u8d44\u6e90\u5f00\u9500\u3002<\/p>\n

\u4f20\u7edf\u4e16\u754c\u6a21\u578b\u91c7\u7528\u6700\u5927\u4f3c\u7136\u4f30\u8ba1\uff08MLE\uff09\u8fdb\u884c\u8bad\u7ec3\uff0c\u5176\u4f18\u5316\u76ee\u6807\u4e3a\u6700\u5c0f\u5316\u751f\u6210\u5e27\u4e0e\u771f\u5b9e\u5e27\u4e4b\u95f4\u7684\u50cf\u7d20\u7ea7\u5dee\u5f02\u3002\u8be5\u65b9\u5f0f\u5728\u901a\u7528\u89c6\u9891\u751f\u6210\u4efb\u52a1\u4e2d\u6709\u6548\uff0c\u4f46\u5728\u673a\u5668\u4eba\u64cd\u4f5c\u573a\u666f\u4e2d\u5b58\u5728\u7ed3\u6784\u6027\u7f3a\u9677\uff1a\u5b83\u65e0\u6cd5\u533a\u5206\u7269\u7406\u5408\u89c4\u4e0e\u7269\u7406\u8fdd\u89c4\u6837\u672c\u3002\u4f8b\u5982\uff0c\u7269\u4f53\u7a7f\u900f\u3001\u65e0\u63a5\u89e6\u6293\u53d6\u3001\u53cd\u91cd\u529b\u8fd0\u52a8\u7b49\u884c\u4e3a\uff0c\u53ea\u8981\u50cf\u7d20\u5206\u5e03\u63a5\u8fd1\u771f\u5b9e\u6570\u636e\uff0c\u4ecd\u53ef\u80fd\u88ab\u6a21\u578b\u89c6\u4e3a\u5408\u6cd5\u8f93\u51fa\u3002\u8fd9\u5bfc\u81f4\u751f\u6210\u7ed3\u679c\u5728\u89c6\u89c9\u4e0a\u5408\u7406\uff0c\u4f46\u5728\u52a8\u529b\u5b66\u4e0a\u4e0d\u53ef\u6267\u884c\uff0c\u9650\u5236\u5176\u5728\u771f\u5b9e\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u53ef\u7528\u6027\u3002<\/p>\n

ABot-PhysWorld \u7684\u8bad\u7ec3\u65b9\u6cd5\u5f15\u5165\u7269\u7406\u5224\u522b\u673a\u5236\uff0c\u5c06\u4f18\u5316\u76ee\u6807\u4ece\u201c\u50cf\u7d20\u76f8\u4f3c\u5ea6\u201d\u8f6c\u5411\u201c\u7269\u7406\u4e00\u81f4\u6027\u201d\u3002\u5177\u4f53\u5b9e\u73b0\u8def\u5f84\u4e3a\uff1a\u5728\u51bb\u7ed3\u4e3b\u5e72\u7f51\u7edc\u7684\u524d\u63d0\u4e0b\uff0c\u901a\u8fc7\u7ed3\u6784\u5316\u8bc4\u4f30\u4f53\u7cfb\u5bf9\u5019\u9009\u8f93\u51fa\u8fdb\u884c\u7269\u7406\u5408\u89c4\u6027\u8bc4\u5206\uff0c\u5e76\u57fa\u4e8e\u6b64\u6784\u5efa\u5bf9\u6bd4\u5b66\u4e60\u4fe1\u53f7\uff0c\u9a71\u52a8\u6a21\u578b\u5411\u66f4\u7b26\u5408\u7269\u7406\u89c4\u5f8b\u7684\u65b9\u5411\u6f14\u5316\u3002\u8be5\u673a\u5236\u5305\u542b\u4e24\u4e2a\u6838\u5fc3\u7ec4\u4ef6\uff1a<\/p>\n

\u25cf proposer module\uff1a\u8d1f\u8d23\u6839\u636e\u521d\u59cb\u72b6\u6001\u4e0e\u6307\u4ee4\uff0c\u52a8\u6001\u6784\u5efa\u8be5\u4efb\u52a1\u4e0b\u7684\u7269\u7406\u68c0\u67e5\u6e05\u5355\u2014\u2014\u5373\u54ea\u4e9b\u884c\u4e3a\u662f\u5141\u8bb8\u7684\u3001\u54ea\u4e9b\u662f\u81f4\u547d\u8fdd\u89c4\uff08\u5982\u7a7f\u900f\u3001\u65e0\u63a5\u89e6\u6293\u53d6\u3001\u53cd\u91cd\u529b\u8fd0\u52a8\uff09\uff0c\u54ea\u4e9b\u5c5e\u4e8e\u7ec6\u5fae\u4f46\u5173\u952e\u7684\u7269\u7406\u4fdd\u771f\u70b9\uff08\u5982\u63a5\u89e6\u529b\u53cd\u9988\u3001\u6469\u64e6\u54cd\u5e94\uff09\u3002<\/p>\n

\u25cf scorer module\uff1a\u5bf9\u591a\u4e2a\u5019\u9009\u751f\u6210\u7ed3\u679c\u8fdb\u884c\u9010\u5e27\u8bc4\u4f30\uff0c\u4e0d\u4ec5\u5224\u65ad\u662f\u5426\u5b8c\u6210\u4efb\u52a1\uff0c\u66f4\u5173\u6ce8\u5176\u8fc7\u7a0b\u662f\u5426\u7b26\u5408\u7269\u7406\u5e38\u8bc6\uff0c\u5e76\u8f93\u51fa\u7ed3\u6784\u5316\u63a8\u7406\u8def\u5f84\u4f5c\u4e3a\u53cd\u9988\u4fe1\u53f7\u3002<\/p>\n

\u5206\u5c42\u7269\u7406\u68c0\u67e5\u6e05\u5355<\/p>\n

\u5c42\u7ea7<\/p>\n

\u7c7b\u578b<\/p>\n

\u793a\u4f8b<\/p>\n

\u6743\u91cd<\/p>\n

L1<\/p>\n

\u81f4\u547d\u8fdd\u89c4<\/p>\n

\u7269\u4f53\u7a7f\u900f\u3001\u53cd\u91cd\u529b<\/p>\n

\u4e00\u7968\u5426\u51b3<\/p>\n

L2<\/p>\n

\u5fae\u7269\u7406\u4fdd\u771f<\/p>\n

\u63a5\u89e6\u52a8\u529b\u5b66\u3001\u6469\u64e6\u54cd\u5e94<\/p>\n

\u533a\u5206\u5408\u89c4\u6837\u672c<\/p>\n

L3<\/p>\n

\u8d1f\u9762\u95ee\u9898\u5f3a\u5236\u5360\u6bd4<\/p>\n

\u201c\u7ea2\u82f9\u679c\u662f\u5426\u53d8\u7eff\uff1f\u201d<\/p>\n

30\u201350%\uff0c\u9632\u6377\u5f84\u5b66\u4e60<\/p>\n

\u8bad\u7ec3\u8fc7\u7a0b\u91c7\u7528\u6269\u6563\u7a7a\u95f4\u5185\u7684\u504f\u597d\u4f18\u5316\uff08Diffusion-DPO\uff09\uff0c\u5728\u6f5c\u7a7a\u95f4\u5c42\u9762\u5bf9\u5408\u89c4\u6837\u672c\u63d0\u5347\u7f6e\u4fe1\u5ea6\uff0c\u5bf9\u8fdd\u89c4\u6837\u672c\u964d\u4f4e\u7f6e\u4fe1\u5ea6\u3002\u8be5\u65b9\u6cd5\u907f\u514d\u4e86\u4f20\u7edfMLE\u5bf9\u6240\u6709\u8bef\u5dee\u5e73\u7b49\u5bf9\u5f85\u7684\u95ee\u9898\uff0c\u4f7f\u6a21\u578b\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4e3b\u52a8\u89c4\u907f\u7269\u7406\u9519\u8bef\uff0c\u800c\u975e\u88ab\u52a8\u6a21\u4eff\u8868\u9762\u76f8\u4f3c\u6027\u3002<\/p>\n

\u4e3a\u63a7\u5236\u8ba1\u7b97\u5f00\u9500\uff0c\u6574\u4e2a\u8bad\u7ec3\u5728\u51bb\u7ed3\u4e3b\u5e72\u7f51\u7edc\u7684\u57fa\u7840\u4e0a\u8fdb\u884c\uff0c\u4ec5\u5bf9\u8f7b\u91cf\u9002\u914d\u5668\u6a21\u5757\u8fdb\u884c\u53c2\u6570\u66f4\u65b0\u3002\u540c\u65f6\uff0c\u5728\u8ba1\u7b97\u53c2\u8003\u8f93\u51fa\u65f6\u91c7\u7528\u4e34\u65f6\u5173\u95ed\u9002\u914d\u5668\u7684\u7b56\u7565\uff0c\u907f\u514d\u7ef4\u62a4\u5b8c\u6574\u526f\u672c\uff0c\u4ece\u800c\u663e\u8457\u964d\u4f4e\u663e\u5b58\u5360\u7528\u4e0e\u8ba1\u7b97\u6210\u672c\u3002\u5b9e\u6d4b\u663e\u793a\uff0c\u8be5\u65b9\u6848\u572814B\u53c2\u6570\u89c4\u6a21\u4e0b\u53ef\u8282\u770160%\u4ee5\u4e0a\u663e\u5b58\uff0c\u540c\u65f6\u4fdd\u6301\u8bad\u7ec3\u7a33\u5b9a\u6027\u4e0e\u6536\u655b\u6548\u7387\u3002<\/p>\n

\u6700\u7ec8\uff0cABot-PhysWorld \u7684\u8f93\u51fa\u89c6\u9891\u5728\u89c6\u89c9\u4e0a\u8fde\u7eed\u3001\u5728\u52a8\u529b\u5b66\u4e0a\u5408\u7406\uff0c\u652f\u6301\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\u4e0e\u5939\u722a\u72b6\u6001\u4f5c\u4e3a\u8f93\u5165\u8fdb\u884c\u53ef\u63a7\u63a8\u6f14\uff0c\u5177\u5907\u8de8\u5f62\u6001\u3001\u96f6\u6837\u672c\u3001\u9ad8\u7cbe\u5ea6\u7684\u52a8\u4f5c\u54cd\u5e94\u80fd\u529b\u3002\u5176\u8bad\u7ec3\u673a\u5236\u4e0d\u662f\u4e3a\u4e86\u63d0\u5347\u6e32\u67d3\u8d28\u91cf\uff0c\u800c\u662f\u4e3a\u4e86\u786e\u4fdd\u751f\u6210\u7ed3\u679c\u5728\u7269\u7406\u5c42\u9762\u53ef\u88ab\u673a\u5668\u4eba\u7cfb\u7edf\u5b89\u5168\u6267\u884c\u3002<\/p>\n

\n

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

\u672c\u535a\u5ba2\u90e8\u5206\u5185\u5bb9\u4e3a\u8f6c\u8f7d\u6587\u7ae0\uff0c\u65e8\u5728\u5206\u4eab\u6709\u4ef7\u503c\u7684\u4fe1\u606f\uff0c\u7248\u6743\u5f52\u539f\u4f5c\u8005\u6240\u6709\u3002<\/p>\n

\u8f6c\u8f7d\u4ec5\u4e3a\u4e2a\u4eba\u5b66\u4e60\u4e0e\u4ea4\u6d41\u76ee\u7684\uff0c\u4e0d\u5bf9\u6587\u7ae0\u89c2\u70b9\u8d1f\u8d23\uff0c\u4ea6\u4e0d\u7528\u4e8e\u4efb\u4f55\u5546\u4e1a\u7528\u9014\u3002<\/p>\n

\u5982\u6d89\u53ca\u7248\u6743\u95ee\u9898\uff0c\u8bf7\u8054\u7cfb\u672c\u4eba\u5220\u9664\u3002<\/p>\n<\/blockquote>\n","protected":false},"excerpt":{"rendered":"

\u968f\u7740\u9ad8\u5fb7\u516c\u5f00\u5168\u7403\u9996\u6b3e\u5f00\u653e\u73af\u5883\u5168\u81ea\u4e3b\u5177\u8eab\u673a\u5668\u4eba\u201c\u9014\u9014\u201d\uff0c\uff0c\u5176\u80cc\u540e\u7684\u6570\u636e\u53ca\u8bad\u7ec3\u57fa\u5ea7\u2014\u2014ABot-World\u4e16\u754c\u6a21\u578b\u540c\u6b65\u5f15\u53d1\u884c\u4e1a\u5173\u6ce8\u3002\u8be5\u6a21\u578b\u5b9e\u73b0\u4e86\u5177\u8eab\u667a\u80fd\u5e95\u5c42\u8bad\u7ec3\u8303\u5f0f\u5b8c\u6210\u4e86\u4ece\u201c\u4f20\u7edf\u89c6\u89c9\u6e32\u67d3\u201d\u5411\u201c\u53ef\u5fae\u5206\u7269\u7406\u5f15\u64ce\u201d\u7684\u6839\u672c\u6027\u8fc1\u79fb\uff0c\u4e3a\u673a\u5668\u4eba\u4ece\u4eff\u771f\u8d70\u5411\u771f\u5b9e\u7269\u7406\u4e16\u754c\u63d0\u4f9b\u4e86\u7edf\u4e00\u4e14\u53ef\u8fdb\u5316\u7684\u64cd\u4f5c\u7cfb\u7edf\u3002<\/p>\n

ABot-World \u521b\u65b0\u6027\u91c7\u7528\u53cc\u5f15\u64ce\u67b6\u6784\uff0c\u5728\u7269\u7406\u5408\u89c4\u6027\u3001\u52a8\u4f5c\u53ef\u63a7\u6027\u4e0e\u96f6\u6837\u672c\u6cdb\u5316\u4e09\u5927\u6838\u5fc3\u7ef4\u5ea6\u4e0a\u540c\u6b65\u5b9e\u73b0\u7a81\u7834\uff0c\u6210\u4e3a\u5168\u7403\u552f<\/p>\n","protected":false},"author":1,"featured_media":4078,"comment_status":"","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[725],"class_list":["post-4082","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-xwzx","tag-abot"],"_links":{"self":[{"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/posts\/4082","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/comments?post=4082"}],"version-history":[{"count":0,"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/posts\/4082\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/media\/4078"}],"wp:attachment":[{"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/media?parent=4082"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/categories?post=4082"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/1ow.top\/index.php\/wp-json\/wp\/v2\/tags?post=4082"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}