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\u4e0d\u5149\u662f\u7eb8\u76d2\uff0c\u5bf9\u4e8e\u53e0\u8863\u670d\u8fd9\u79cd\u67d4\u6027\u64cd\u4f5c\uff0cG0.5\u4e5f\u53ef\u4ee5\u8f7b\u677e\u62ff\u634f\u3002<\/p>\n

\u9664\u4e86\u8fd9\u4e9b\u4f9d\u9760\u5177\u8eab\u5927\u8111\u7684\u4efb\u52a1\u4ee5\u5916\uff0c\u661f\u6d77\u56fe\u8fd9\u6b21\u8fd8\u5e26\u6765\u4e86\u6700\u65b0\u7684\u901a\u7528\u5c0f\u8111\u6210\u679c\u2014\u2014<\/p>\n

\u53cc\u8db3\u673a\u5668\u4ebaKengo\u3002<\/p>\n

\u5b83\u9047\u5230\u6ca1\u89c1\u8fc7\u7684\u5730\u5f62\u65f6\uff0c\u4e0d\u9700\u8981\u91cd\u65b0\u8bad\u7ec3\uff0c\u5c31\u80fd\u8fb9\u611f\u77e5\u3001\u8fb9\u8c03\u6574\u6b65\u6001\u3002<\/p>\n

\u8fd9\u5176\u5b9e\u6709\u70b9\u547c\u5e94\u4e86\u6700\u8fd1\u5168\u8eab\u667a\u80fd\u7684\u7814\u7a76\u70ed\u70b9\u3002<\/p>\n

\u6bd5\u7adf\uff0c\u4ee5\u540e\u673a\u5668\u4eba\u771f\u8fdb\u4e86\u5bb6\u5ead\u3001\u5de5\u5382\u548c\u4ed3\u5e93\uff0c\u80fd\u4e0d\u80fd\u8d70\u8fc7\u6ca1\u89c1\u8fc7\u7684\u8def\uff0c\u672c\u8eab\u4e5f\u662f\u6cdb\u5316\u7684\u4e00\u90e8\u5206\u3002<\/p>\n

\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u8fd9\u4e5f\u4e0d\u662f\u661f\u6d77\u56fe\u9996\u6b21\u53d1\u529b\u673a\u5668\u4eba\u8fd0\u63a7\u3002<\/p>\n

\u65e9\u57282023\u5e74\uff0c\u8054\u5408\u521b\u59cb\u4eba\u8d75\u884c\u56e2\u961f\u7684Robot Parkour Learning\uff0c\u5c31\u66fe\u5165\u9009CoRL 2023 Oral\uff0c\u5e76\u8dfb\u8eab\u6700\u4f73\u7cfb\u7edf\u8bba\u6587\u5019\u9009Top 3\uff1b\u6b64\u540e\uff0c\u4ed6\u4eec\u53c8\u5c06\u8fd9\u4e00\u8def\u7ebf\u63a8\u8fdb\u5230\u53cc\u8db3\u4eba\u5f62\u673a\u5668\u4eba\u3002<\/p>\n

\u5f53\u7136\uff0c500\u5e73\u7c73\u7684\u5c55\u53f0\u4e0a\u8fdc\u4e0d\u6b62\u8fd9\u4e9b\u3002<\/p>\n

\u6293\u5305\u88f9\u3001\u7269\u6599\u5206\u62e3\u3001\u6298\u8863\u670d\u3001\u957f\u7a0b\u9001\u4ef6\u2026\u2026\u673a\u5668\u4eba\u5e72\u7684\u6d3b\u4e94\u82b1\u516b\u95e8\uff0c\u56ff\u4e8e\u7bc7\u5e45\uff0c\u5c31\u4e0d\u4e00\u4e00\u5c55\u5f00\u4e86\u3002<\/p>\n

\u4f46\u628a\u524d\u9762\u8fd9\u4e9bDemo\u4e32\u8d77\u6765\u770b\uff0c\u661f\u6d77\u56fe\u8fd9\u6b21\u771f\u6b63\u60f3\u5c55\u793a\u7684\u4e1c\u897f\uff0c\u5176\u5b9e\u5df2\u7ecf\u5f88\u6e05\u695a\u4e86\uff1a<\/p>\n

\u673a\u5668\u4eba\u201c\u80fd\u81ea\u4e3b\u5e72\u6d3b\u201d\uff0c\u53ea\u662f\u751f\u4ea7\u529b\u89c9\u9192\u7684\u8d77\u70b9\u3002<\/p>\n

\u518d\u5f80\u4e0b\uff0c\u81f3\u5c11\u8fd8\u6709\u4e09\u9053\u66f4\u73b0\u5b9e\u7684\u8003\u9898\u3002<\/p>\n

\u7b2c\u4e00\u662f\u6cdb\u5316\u3002\u6362\u4e2aSKU\u3001\u6362\u4e2a\u7269\u4f53\u3001\u6362\u4e2a\u73af\u5883\uff0c\u751a\u81f3\u4e2d\u95f4\u72b6\u6001\u53d1\u751f\u53d8\u5316\uff0c\u673a\u5668\u4eba\u8fd8\u80fd\u4e0d\u80fd\u7ee7\u7eed\u5e72\uff0c\u800c\u4e0d\u662f\u91cd\u65b0\u8bad\u7ec3\u4e00\u5957\u6a21\u578b\u3002<\/p>\n

\u7b2c\u4e8c\u662f\u7cbe\u5ea6\u3002\u5982\u679c\u53ea\u662f\u5728Demo\u91cc\u628a\u52a8\u4f5c\u505a\u4e2a\u5927\u6982\uff0c\u5230\u4e86\u5de5\u5382\u91cc\u7cbe\u5ea6\u4e0d\u591f\u3001\u826f\u7387\u4e0d\u884c\uff0c\u90a3\u4f9d\u7136\u5e72\u4e0d\u4e86\u771f\u6b63\u7684\u6d3b\u3002<\/p>\n

\u518d\u5f80\u524d\u4e00\u6b65\uff0c\u5c31\u662f\u6548\u7387\u3002\u6bd5\u7adf\u771f\u6b63\u5230\u4e86\u751f\u4ea7\u73b0\u573a\uff0c\u673a\u5668\u4eba\u6700\u540e\u8981\u6bd4\u7684\uff0c\u4e0d\u662fDemo\u6f02\u4e0d\u6f02\u4eae\uff0c\u800c\u662f\u80fd\u4e0d\u80fd\u5728\u76f8\u540c\u65f6\u95f4\u91cc\u5b8c\u6210\u4e00\u6837\u7684\u5de5\u4f5c\uff0c\u751a\u81f3\u628a\u8fd9\u7b14\u8d26\u7b97\u5f97\u6bd4\u4eba\u66f4\u5212\u7b97\u3002<\/p>\n

\u6240\u4ee5\u4e00\u5708\u770b\u4e0b\u6765\uff0c\u661f\u6d77\u56fe\u8fd9\u6b21\u81f3\u5c11\u505a\u4e86\u4e00\u4ef6\u633a\u6709\u610f\u601d\u7684\u4e8b\uff1a<\/p>\n

\u5f53\u6574\u4e2a\u884c\u4e1a\u5f00\u59cb\u4ece\u201c\u9065\u64cd\u4f5c\u201d\u8d70\u5411\u201c\u81ea\u4e3b\u5e72\u6d3b\u201d\uff0c\u5b83\u53c8\u628a\u8003\u5377\u5f80\u524d\u7ffb\u4e86\u4e00\u9875\u2014\u2014\u628a\u6cdb\u5316\u3001\u7cbe\u5ea6\u548c\u6548\u7387\uff0c\u540c\u65f6\u6446\u5230\u4e86\u53f0\u9762\u4e0a\u3002<\/p>\n

\u4ece\u201c\u673a\u5668\u4eba\u80fd\u4e0d\u80fd\u81ea\u5df1\u5e72\u201d\uff0c\u53d8\u6210\u4e86\uff1a\u673a\u5668\u4eba\u80fd\u4e0d\u80fd\u5feb\u3001\u51c6\u3001\u6cdb\u5316\u5730\u628a\u6d3b\u5e72\u4e0b\u6765\u3002<\/p>\n

\u800c\u8fd9\uff0c\u53ef\u80fd\u624d\u662f\u771f\u6b63\u7684\u201c\u751f\u4ea7\u529b\u89c9\u9192\u201d\u3002<\/p>\n

\u90a3\u4e48\uff0c\u8fd9\u80cc\u540e\u7a76\u7adf\u662f\u600e\u4e48\u505a\u5230\u7684\uff1f<\/p>\n

\u5728\u524d\u9762\u7684\u5c55\u793a\u91cc\uff0c\u673a\u5668\u4eba\u4e4b\u6240\u4ee5\u80fd\u505a\u5230\u767e\u4e07SKU\u7684\u7269\u54c1\u4e0e\u521a\u6027\u67d4\u6027\u7269\u4f53\u6cdb\u5316\uff0c\u5e76\u628a\u4e00\u6574\u5957\u957f\u7a0b\u4efb\u52a1\u81ea\u5df1\u4e32\u8d77\u6765\uff0c\u80cc\u540e\u7528\u5230\u7684\u5c31\u662f\u661f\u6d77\u56fe\u6700\u65b0\u7684VLA\u6a21\u578bG0.5\u3002<\/p>\n

\u5728\u516c\u5f00\u699c\u5355\u6d4b\u8bd5\u4e2d\uff0cG0.5\u5df2\u7ecf\u5728LIBERO\u3001BEHAVIOR-1K\u3001RoboTwin 2.0\u3001DROID Zero-shot\u7b498\u4e2a\u6743\u5a01Benchmark\u4e2d\u767b\u9876\uff0c\u8986\u76d6\u957f\u7a0b\u4efb\u52a1\u3001\u7cbe\u7ec6\u64cd\u4f5c\u3001\u96f6\u6837\u672c\u6cdb\u5316\u7b49\u4e0d\u540c\u80fd\u529b\uff0c\u6574\u4f53\u4f4d\u5c45\u7b2c\u4e00\u68af\u961f\u3002<\/p>\n

\u5728\u5177\u4f53\u7684\u67b6\u6784\u65b9\u9762\uff0cG0.5\u8d70\u7684\u662f\u4e00\u6761\u7edf\u4e00\u81ea\u56de\u5f52\u8def\u7ebf\uff0c\u7528G0.5\u80cc\u540e\u7814\u7a76\u8005\u7684\u8bdd\u8bf4\u5c31\u662f\uff0c\u4f60\u53ef\u4ee5\u628a\u5b83\u7406\u89e3\u6210\u4e00\u4e2a\u5927\u8bed\u8a00\u6a21\u578b\uff1a<\/p>\n

\u5b83\u628a\u89c6\u89c9\u7406\u89e3\u3001\u5177\u8eab\u63a8\u7406\u548c\u52a8\u4f5c\u751f\u6210\uff0c\u90fd\u653e\u8fdb\u4e86\u540c\u4e00\u4e2aTransformer Decoder\u91cc\u3002<\/p>\n

\u548c\u4e0d\u5c11\u201cVLM\u8d1f\u8d23\u770b\u548c\u60f3\uff0cAction Expert\u8d1f\u8d23\u52a8\u201d\u7684VLA\u67b6\u6784\u4e0d\u540c\u3002G0.5\u66f4\u50cf\u662f\u628a\u201c\u60f3\u201d\u548c\u201c\u505a\u201d\u91cd\u65b0\u63a5\u5728\u4e86\u4e00\u8d77\uff1a\u673a\u5668\u4eba\u4e00\u8fb9\u7406\u89e3\u73af\u5883\u3001\u4e00\u8fb9\u5224\u65ad\u4e0b\u4e00\u6b65\u8be5\u5e72\u4ec0\u4e48\uff0c\u7136\u540e\u7ee7\u7eed\u5f80\u4e0b\u751f\u6210\u52a8\u4f5c\u3002<\/p>\n

\u8fd9\u6837\u505a\u7684\u7b2c\u4e00\u4e2a\u597d\u5904\uff0c\u5c31\u662f\u8fc7\u53bb\u51e0\u5e74LLM\u5df2\u7ecf\u5b66\u51fa\u6765\u7684\u7406\u89e3\u3001\u63a8\u7406\u548c\u4efb\u52a1\u62c6\u89e3\u80fd\u529b\uff0c\u80fd\u66f4\u987a\u7545\u5730\u63a5\u5230\u673a\u5668\u4eba\u8eab\u4e0a\u3002<\/p>\n

\u6a21\u578b\u4e0d\u7528\u4ece\u5934\u518d\u5b66\u4e00\u904d\u201c\u600e\u4e48\u60f3\u201d\uff0c\u800c\u662f\u76f4\u63a5\u628a\u5df2\u7ecf\u4f1a\u7684\u601d\u8003\u53d8\u6210\u52a8\u4f5c\u3002<\/p>\n

\u6240\u4ee5\u5230\u4e86\u524d\u7f6e\u4ed3\u8fd9\u79cd\u4efb\u52a1\u91cc\uff0c\u5b83\u9762\u5bf9\u7684\u5c31\u4e0d\u53ea\u662f\u201c\u6293\u4e00\u4e2a\u4e1c\u897f\u201d\uff0c\u800c\u662f\u53ef\u4ee5\u5148\u7406\u89e3\u8ba2\u5355\uff0c\u518d\u628a\u627e\u8d27\u3001\u89c4\u5212\u3001\u6293\u53d6\u3001\u6253\u5305\u8fd9\u4e00\u6574\u4e32\u4e8b\u60c5\u63a5\u7740\u505a\u4e0b\u53bb\u3002<\/p>\n

\u800c\u7edf\u4e00\u81ea\u56de\u5f52\u7684\u7b2c\u4e8c\u4e2a\u597d\u5904\uff0c\u5c31\u662f\u601d\u8003\u548c\u52a8\u4f5c\u53ef\u4ee5\u8fde\u7eed\u5f80\u4e0b\u8d70\u3002<\/p>\n

\u5728\u524d\u9762\u7684\u6298\u793c\u76d2demo\u4e2d\uff0c\u8fd9\u5c31\u8ba9\u673a\u5668\u4eba\u80fd\u591f\u4e00\u8fb9\u6267\u884c\uff0c\u4e00\u8fb9\u6839\u636e\u7eb8\u76d2\u7684\u53d8\u5316\u53ca\u65f6\u8c03\u6574\u52a8\u4f5c\u3002<\/p>\n

\u800c\u5728G0.5\u4ee3\u8868\u7684VLA\u8def\u7ebf\u4e4b\u5916\uff0c\u661f\u6d77\u56fe\u8fd8\u540c\u65f6\u62bc\u4e86\u53e6\u4e00\u6761\u8def\u7ebf\uff1a\u4e16\u754c\u6a21\u578b\u3002<\/p>\n

\u4ed6\u4eec\u4eca\u5e74\u63a8\u51fa\u7684Fast-WAM\uff0c\u6700\u5927\u7684\u7279\u70b9\u5c31\u662f\u5feb\u3002<\/p>\n

\u9488\u5bf9\u4ee5\u5f80\u4e16\u754c\u6a21\u578b\u63a8\u7406\u8fc7\u6162\uff0c\u96be\u4ee5\u5b9e\u9645\u90e8\u7f72\u7684\u95ee\u9898\uff0cFast-WAM\u628a\u63a8\u7406\u5ef6\u8fdf\u538b\u5230\u4e86\u7ea6190ms\uff0c\u76f8\u6bd4\u4f20\u7edf\u65b9\u6848\u63d0\u5347\u7ea64\u500d\uff0c\u53d1\u5e03\u65f6\u505a\u5230\u4e86\u5168\u7403\u6700\u5feb\u3002<\/p>\n

\u76ee\u524d\uff0cFast-WAM\u8bba\u6587\u5f15\u7528\u91cf\u5df2\u7ecf\u4f4d\u5c45\u4e16\u754c\u6a21\u578b\u9886\u57df\u7b2c\u4e00\uff0c\u4e5f\u5f97\u5230\u4e86\u540c\u4e3a\u4e16\u754c\u6a21\u578b\u521b\u4e1a\u8005\u8c22\u8d5b\u5b81\u7684\u8ba4\u53ef\u3002<\/p>\n

\u6240\u4ee5\u56de\u8fc7\u5934\u770b\uff0c\u661f\u6d77\u56fe\u5728\u201c\u5927\u8111\u201d\u4e0a\u7684\u8def\u7ebf\u5176\u5b9e\u633a\u5b9e\u7528\u4e3b\u4e49\u3002<\/p>\n

VLA\u4e5f\u505a\uff0c\u4e16\u754c\u6a21\u578b\u4e5f\u505a\uff0c\u4e0d\u662f\u5148\u9009\u4e00\u4e2a\u6280\u672f\u4fe1\u4ef0\uff0c\u7136\u540e\u8bc1\u660e\u53e6\u5916\u4e00\u6761\u8def\u7ebf\u662f\u9519\u7684\u3002<\/p>\n

\u800c\u662f\u53cd\u8fc7\u6765\uff1a\u54ea\u4e2a\u4e1c\u897f\u80fd\u8ba9\u673a\u5668\u4eba\u628a\u6d3b\u5e72\u5f97\u66f4\u597d\uff0c\u5c31\u5148\u7528\u54ea\u4e2a\u3002\u5982\u679c\u90fd\u597d\uff0c\u90a3\u5c31\u90fd\u7528\u3002<\/p>\n

\u524d\u9762500\u5e73\u65b9\u7c73\u91cc\u770b\u5230\u7684\u90a3\u4e9bDemo\uff0c\u67d0\u79cd\u7a0b\u5ea6\u4e0a\u5c31\u662f\u8fd9\u5957\u601d\u8def\u7684\u96c6\u4e2d\u5c55\u793a\u3002<\/p>\n

\u4f46\u8bf4\u5230\u5e95\uff0c\u6a21\u578b\u67b6\u6784\u53ea\u662f\u7b2c\u4e00\u6b65\uff0c\u771f\u6b63\u80fd\u5728\u5177\u8eab\u9886\u57df\u62c9\u5f00\u8eab\u4f4d\u7684\uff0c\u8fd8\u5f97\u662f\u6570\u636e\u4ee5\u53ca\u5168\u6808\u81ea\u7814\u5e26\u6765\u7684\u98de\u8f6e\u6548\u5e94\u3002<\/p>\n

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