{"id":861,"date":"2026-01-12T21:00:15","date_gmt":"2026-01-12T13:00:15","guid":{"rendered":"https:\/\/1ow.top\/index.php\/2026\/01\/12\/%e5%85%b7%e8%ba%ab%e5%bc%80%e6%ba%90%e6%a8%a1%e5%9e%8b%e6%96%b0%e7%8e%8b%ef%bc%81%e5%8d%83%e5%af%bbspirit-v1-5%e6%a8%a1%e5%9e%8b%e7%99%bb%e9%a1%b6-robochallenge%ef%bc%8c%e7%bb%88%e7%bb%93-pi0-5\/"},"modified":"2026-01-12T21:00:15","modified_gmt":"2026-01-12T13:00:15","slug":"%e5%85%b7%e8%ba%ab%e5%bc%80%e6%ba%90%e6%a8%a1%e5%9e%8b%e6%96%b0%e7%8e%8b%ef%bc%81%e5%8d%83%e5%af%bbspirit-v1-5%e6%a8%a1%e5%9e%8b%e7%99%bb%e9%a1%b6-robochallenge%ef%bc%8c%e7%bb%88%e7%bb%93-pi0-5","status":"publish","type":"post","link":"https:\/\/1ow.top\/index.php\/2026\/01\/12\/%e5%85%b7%e8%ba%ab%e5%bc%80%e6%ba%90%e6%a8%a1%e5%9e%8b%e6%96%b0%e7%8e%8b%ef%bc%81%e5%8d%83%e5%af%bbspirit-v1-5%e6%a8%a1%e5%9e%8b%e7%99%bb%e9%a1%b6-robochallenge%ef%bc%8c%e7%bb%88%e7%bb%93-pi0-5\/","title":{"rendered":"\u5177\u8eab\u5f00\u6e90\u6a21\u578b\u65b0\u738b\uff01\u5343\u5bfbSpirit v1.5\u6a21\u578b\u767b\u9876 RoboChallenge\uff0c\u7ec8\u7ed3 Pi0.5\u9886\u8dd1\u65f6\u4ee3"},"content":{"rendered":"
\"\u5177\u8eab\u5f00\u6e90\u6a21\u578b\u65b0\u738b\uff01\u5343\u5bfbSpirit<\/div><\/figure>\n
\"\u5177\u8eab\u5f00\u6e90\u6a21\u578b\u65b0\u738b\uff01\u5343\u5bfbSpirit<\/div><\/figure>\n
\"\u5177\u8eab\u5f00\u6e90\u6a21\u578b\u65b0\u738b\uff01\u5343\u5bfbSpirit<\/div><\/figure>\n
\"\u5177\u8eab\u5f00\u6e90\u6a21\u578b\u65b0\u738b\uff01\u5343\u5bfbSpirit<\/div><\/figure>\n

henry \u53d1\u81ea \u51f9\u975e\u5bfa<\/p>\n

\u4e8b\u60c5\u5f00\u59cb\u53d8\u5f97\u6709\u8da3\u8d77\u6765\u4e86\u3002<\/p>\n

\u521a\u521a\uff0c\u6765\u81ea\u5343\u5bfb\u667a\u80fd\u7684\u5177\u8eab\u667a\u80fd\u57fa\u7840\u6a21\u578bSpirit v1.5\uff0c\u5728RoboChallenge\u771f\u673a\u8bc4\u6d4b\u699c\u4e0a\uff0c\u4ee5\u603b\u520666.09\uff0c\u6210\u529f\u738750.33%\u7684\u6210\u7ee9\uff0c\u8d85\u8d8a\u7f8e\u56fd\u660e\u661f\u516c\u53f8Physical Intelligence\u7684Pi0.5\uff08\u03c00.5\uff09\uff0c\u767b\u9876\u699c\u9996\u3002<\/p>\n

\u57fa\u4e8e\u591a\u6837\u5316\u7684\u9884\u8bad\u7ec3\u6570\u636e\u91c7\u96c6\u8303\u5f0f\uff0cSpirit v1.5\u5728\u63d2\u82b1\u3001\u628a\u6c34\u679c\u653e\u8fdb\u7bee\u5b50\u3001\u6302\u7259\u5237\u676f\u7b49\u591a\u9879\u4efb\u52a1\u4e2d\uff0c\u62ff\u4e0b\u7b2c\u4e00\uff0c\u5237\u65b0\u699c\u5355\u7eaa\u5f55\u3002<\/p>\n

\u7ecf\u6b64\u4e00\u5f79\uff0cSpirit v1.5\u4e0d\u4ec5\u662fRoboChallenge\u81ea\u53bb\u5e7410\u6708\u4e0a\u7ebf\u4ee5\u6765\uff0c\u9996\u4e2a\u51fb\u8d25baseline\u6a21\u578bPi0.5\u7684\u56fd\u4ea7\u5177\u8eab\u6a21\u578b\uff0c\u540c\u65f6\u4e5f\u662f\u9996\u4e2a\u5728RoboChallenge\u4e0a\u6210\u529f\u7387\u8d85\u8fc750%\u7684\u5177\u8eab\u667a\u80fd\u6a21\u578b\u3002<\/p>\n

\u5728\u6b64\u4e4b\u524d\uff0cRoboChallenge\u699c\u5355\u4e0a\uff0c\u6a21\u578b\u95f4\u7684\u7ade\u4e89\u5df2\u9010\u6e10\u8fdb\u5165\u767d\u70ed\u5316\u9636\u6bb5\uff0cPi\u7cfb\u5217\u57fa\u7ebf\u6a21\u578b\u4e0d\u65ad\u88ab\u903c\u8fd1\u3002<\/p>\n

\u800c\u73b0\u5728\uff0cSpirit v1.5\u76f4\u63a5\u8d8a\u8fc7Pi0.5\uff0c\u62ff\u4e0b\u699c\u9996\u3002<\/p>\n

\u8fd9\u79cd\u5bc6\u96c6\u3001\u8fde\u7eed\u7684\u5237\u699c\u8282\u594f\uff0c\u591a\u5c11\u6709\u70b9\u8ba9\u4eba\u60f3\u8d77\u5f53\u5e74AlexNet\u3001VGG\u3001GoogLeNet\u3001ResNet\u5237\u65b0ImageNet\u7684\u90a3\u6bb5\u65f6\u95f4\u2014\u2014<\/p>\n

\u57fa\u51c6\u5728\u88ab\u4e0d\u65ad\u6253\u7834\uff0c\u6a21\u578b\u5929\u82b1\u677f\u88ab\u4e00\u518d\u62ac\u9ad8\u3002<\/p>\n

\u4e5f\u6b63\u5982\u5f53\u5e74CV\u7684\u5f00\u6e90\u666f\u8c61\uff0cSpirit v1.5\u540c\u6b65\u5f00\u6e90\u4e86\u57fa\u6a21\u6743\u91cd\u3001\u63a8\u7406\u4ee3\u7801\u4ee5\u53ca\u4f7f\u7528\u6837\u4f8b\uff0c\u65b9\u4fbf\u540e\u7eed\u7684\u7814\u7a76\u8005\u590d\u73b0\u548c\u8fdb\u4e00\u6b65\u63a2\u7d22\u3002<\/p>\n

\u800c\u6b63\u662f\u5728\u8fd9\u88ab\u8a89\u4e3a\u5177\u8eab\u667a\u80fd\u300cImageNet\u300d\u7684RoboChallenge\u4e0a\uff0c\u5f00\u6e90\u6a21\u578b\u6b63\u4ee5\u53ef\u9a8c\u8bc1\u3001\u53ef\u590d\u73b0\u7684\u65b9\u5f0f\uff0c\u6301\u7eed\u63a8\u52a8\u5177\u8eab\u80fd\u529b\u5411\u524d\u53d1\u5c55\u3002<\/p>\n

\u622a\u81f32026\u5e741\u670812\u65e5\uff0cSpirit v1.5\u5728RoboChallenge\u4e0a\u53d6\u5f97\u4e86\u5f53\u524d\u6700\u4f18\u7684\u6027\u80fd\uff0c\u8d85\u8d8a\u4e86Pi0.5\u7b49\u4e4b\u524d\u7684\u5168\u7403\u9886\u5148\u5f00\u6e90\u6a21\u578b\u3002<\/p>\n

\u5728RoboChallenge\u7684Table30\u4efb\u52a1\u4e2d\uff0cSpirit v1.5\u8868\u73b0\u582a\u79f0 \u201c\u78be\u538b\u7ea7\u201d\uff0c\u4e0d\u4ec5\u5728\u4e0b\u5217\u591a\u9879\u4efb\u52a1\u4e2d\u593a\u5f97\u7b2c\u4e00\uff1a<\/p>\n

\u8fd8\u5728\u8d34\u80f6\u5e26\uff08stick tape to box\uff09\u3001\u6e05\u626b\u5783\u573e\uff08sweep the rubbish\uff09\u3001\u5f00\u5173\u706f\uff08turn on light switch\uff09\u7b49\u4efb\u52a1\u4e0a\u5b9e\u73b0\u7edd\u5bf9\u9886\u5148\u3002<\/p>\n

\u5176\u4e2d \u201c\u5bfb\u627e\u7eff\u76d2\u201d \u4efb\u52a1\u582a\u79f0\u9ad8\u5149\u65f6\u523b\u2014\u2014Spirit v1.5\u76f4\u63a5\u5c06\u6210\u529f\u7387\u62c9\u81f390%\u3002<\/p>\n

\u6f14\u793a\u753b\u9762\u4e2d\uff0c\u5b83\u80fd\u5feb\u901f\u4ece\u4e00\u5806\u5f69\u8272\u65b9\u5757\u4e2d\u9501\u5b9a\u7eff\u8272\u76ee\u6807\uff0c\u7a33\u7a33\u653e\u5165\u6307\u5b9a\u7bee\u5b50\uff0c\u6574\u4e2a\u8fc7\u7a0b\u5e72\u8106\u5229\u843d\uff0c\u6ca1\u6709\u4e1d\u6beb\u62d6\u6ce5\u5e26\u6c34\u3002<\/p>\n

\u5728\u6c34\u679c\u5165\u7bee\u4efb\u52a1\u4e2d\uff0cSpirit v1.5\u66f4\u662f\u4ee580%\u7684\u6210\u529f\u7387\uff0c\u9886\u5148Pi0.5\u6574\u6574\u4e00\u500d\u3002<\/p>\n

\u5728\u6f14\u793a\u4e2d\uff0cSpirit v1.5\u80fd\u591f\u8f7b\u677e\u5730\u62ff\u8d77\u9999\u8549\uff0c\u653e\u8fdb\u7bee\u5b50\uff08\u4e0b\u56fe\u7ecf5\u500d\u52a0\u901f\uff09\u3002<\/p>\n

\u800c\u5728\u63d2\u82b1\u4efb\u52a1\u4e2d\uff0c\u867d\u7136\u4e24\u6b3e\u6a21\u578b\u6210\u529f\u7387\u5747 50%\uff0c\u4f46\u5b9e\u9645\u6267\u884c\u4e2d\uff0cSpirit v1.5\u7684\u7a33\u5b9a\u6027\u78be\u538bPi0.5\uff0c\u6ca1\u6709\u51fa\u73b0\u6781\u7aef\u7684\u5931\u8d25\u6848\u4f8b\u3002<\/p>\n

\u5728\u6f14\u793a\u4e2d\uff0cSpirit v1.5\u57fa\u672c\u4e0a\u53ef\u4ee5\u7a33\u7a33\u5730\u5c06\u9c9c\u82b1\u653e\u5165\u82b1\u74f6\u3002<\/p>\n

\u800cPi0.5\u6709\u65f6\u5219\u4f1a\u51fa\u73b0\u7a81\u7136\u5361\u6b7b\u7684\u60c5\u51b5\uff0c\u4ece\u800c\u5bfc\u81f4\u4efb\u52a1\u4e2d\u65ad\u3002<\/p>\n

\u5728\u6700\u8003\u9a8c\u6280\u672f\u529f\u5e95\u7684\u8d34\u80f6\u5e26\u4efb\u52a1\u4e2d\uff0c\u5373\u4fbfSpirit v1.5\u00a020%\u7684\u6210\u529f\u7387\u4e0d\u7b97\u7279\u522b\u7a81\u51fa\uff0c\u4f46\u5bf9\u6bd4Pi0.5\u4ec510%\u7684\u8868\u73b0\uff0c\u4ecd\u5b9e\u73b0\u4e86\u7ffb\u500d\u9886\u5148\u3002<\/p>\n

\u8d34\u80f6\u5e26\u5c5e\u4e8e\u5178\u578b\u7684\u95ed\u73af\u89e6\u89c9\u63a5\u89e6\u4efb\u52a1\uff08\u673a\u5668\u4eba\u624b\u6307 \/ \u5939\u722a\u95f4\u9699\u6781\u5c0f\uff09\uff0c\u5bf9\u673a\u68b0\u81c2\u534f\u540c\u4e0e\u89e6\u89c9\u611f\u77e5\u8981\u6c42\u6781\u9ad8\uff0c\u673a\u5668\u4eba\u7ecf\u5e38\u4f1a\u51fa\u73b0\u7a7a\u6293\u7684\u73b0\u8c61\u3002<\/p>\n

\u5728\u6f14\u793a\u4e2d\uff0cSpirit v1.5\u51ed\u501f\u53cc\u673a\u68b0\u81c2\u7cbe\u51c6\u914d\u5408\uff0c\u80fd\u6d41\u7545\u5b8c\u6210\u6495\u80f6\u3001\u8d34\u76d2\u5168\u6d41\u7a0b\u3002<\/p>\n

\u800c\u76f8\u6bd4\u4e4b\u4e0b\uff0cPi0.5\u867d\u7136\u80fd\u5f88\u5feb\u7684\u5b9a\u4f4d\u5230\u80f6\u5e26\u7684\u4f4d\u7f6e\uff0c\u4f46\u5374\u96be\u4ee5\u611f\u77e5\u5230\u662f\u5426\u6495\u5230\u80f6\u5e26\uff0c\u9891\u9891\u51fa\u73b0\u4e86\u7a7a\u8d34\u7684\u73b0\u8c61\u3002<\/p>\n

\u900f\u8fc7\u4e0a\u8ff0\u4efb\u52a1\u6211\u4eec\u4e0d\u96be\u770b\u51fa\uff0cSpirit v1.5\u5728\u590d\u6742\u957f\u6307\u4ee4\u4efb\u52a1\u4e2d\u7684\u7a33\u5b9a\u53d1\u6325\uff0c\u610f\u5473\u7740\u5176\u5df2\u7ecf\u8fdb\u5316\u4e3a\u4e00\u4e2a\u5177\u5907\u51fa\u8272\u903b\u8f91\u63a8\u7406\u4e0e\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\u7684\u201c\u5177\u8eab\u5927\u8111\u201d\u3002<\/p>\n

\u800c\u8fd9\u4efd\u5b9e\u529b\u7684\u8ba4\u8bc1\uff0c\u6b63\u6765\u81ea\u5177\u8eab\u667a\u80fd\u9886\u57df\u7684\u6807\u6746\u7ea7 \u201c\u8bd5\u70bc\u573a\u201d\u2014\u2014RoboChallenge\u3002<\/p>\n

RoboChallenge\u7531Dexmal\u539f\u529b\u7075\u673a\u8054\u5408Hugging Face\u53d1\u8d77\uff0c\u662f\u9996\u4e2a\u5728\u771f\u5b9e\u7269\u7406\u73af\u5883\u4e2d\uff0c\u7531\u771f\u5b9e\u673a\u5668\u4eba\u6267\u884c\u64cd\u4f5c\u7684\u5927\u89c4\u6a21\u3001\u591a\u4efb\u52a1\u57fa\u51c6\u6d4b\u8bd5\u3002<\/p>\n

\u5b83\u7684Table30\u4efb\u52a1\u96c6\uff0c\u901a\u8fc730\u4e2a\u9ad8\u9891\u684c\u9762\u53ca\u5468\u8fb9\u65e5\u5e38\u573a\u666f\uff0c\u4eceVLA\u96be\u70b9\u3001\u673a\u5668\u4eba\u5f62\u6001\u3001\u4efb\u52a1\u6d41\u7a0b\u4e0e\u7269\u4f53\u5c5e\u6027\u7b49\u7ef4\u5ea6\u8003\u5bdf\u6a21\u578b\u771f\u5b9e\u4e16\u754c\u901a\u7528\u64cd\u4f5c\u80fd\u529b\u3002<\/p>\n

\u8003\u8bd5\u673a\u578b\u8986\u76d6ARX5\u3001UR5e\u3001ALOHA\u3001Franka\u3001UR5\u7b49\uff1b\u6d4b\u8bd5\u4efb\u52a1\u6db5\u76d6\u6293\u53d6\u3001\u653e\u7f6e\u3001\u5806\u53e0\u3001\u6253\u5f00\u3001\u6309\u538b\u3001\u5206\u7c7b\u7b49\u590d\u6742\u52a8\u4f5c\u3002<\/p>\n

\u9664\u4e0a\u8ff0\u4efb\u52a1\u8bbe\u7f6e\u5916\uff0cRoboChallenge\u5b83\u7684\u6838\u5fc3\u521b\u65b0\uff0c\u5728\u4e8eRemote Robot Paradigm\uff08\u8fdc\u7a0b\u673a\u5668\u4eba\u8303\u5f0f\uff09\uff1a<\/p>\n

\u53c2\u8d5b\u8005\u5728\u672c\u5730\u8fd0\u884c\u6a21\u578b\uff0c\u53ea\u9700\u901a\u8fc7HTTP\u63a5\u53e3\u5411\u673a\u5668\u4eba\u53d1\u9001\u63a7\u5236\u6307\u4ee4\uff0c\u673a\u5668\u4eba\u88ab\u89c6\u4f5c\u4e00\u4e2a\u53ef\u8fdc\u7a0b\u8c03\u7528\u7684\u201c\u5916\u8bbe\u201d\u3002<\/p>\n

\u8fd9\u4e00\u8bbe\u8ba1\u663e\u8457\u964d\u4f4e\u4e86\u53c2\u8d5b\u95e8\u69db\uff0c\u540c\u65f6\u907f\u514d\u4e86\u590d\u6742\u73af\u5883\u914d\u7f6e\u5e26\u6765\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u4f7f\u4e0d\u540c\u56e2\u961f\u7684\u7b97\u6cd5\u80fd\u591f\u5728\u540c\u4e00\u5957\u771f\u5b9e\u786c\u4ef6\u6761\u4ef6\u4e0b\u63a5\u53d7\u7edf\u4e00\u8bc4\u6d4b\u3002<\/p>\n

\u6240\u6709\u53c2\u8d5b\u8005\u5747\u53ef\u901a\u8fc7\u5b98\u65b9\u9875\u9762\u67e5\u770b\u6bd4\u8d5b\u5b9e\u51b5\uff0c\u5168\u7a0b\u4fdd\u969c\u8d5b\u4e8b\u7684\u516c\u5e73\u4e0e\u900f\u660e\u3002<\/p>\n

\u4e0d\u8fc7\uff0c\u7531\u4e8e\u63a8\u7406\u53d1\u751f\u5728\u7528\u6237\u4fa7\uff0c\u6a21\u578b\u7684\u5177\u4f53\u5b9e\u73b0\u4ecd\u4e3b\u8981\u4f9d\u8d56\u53c2\u8d5b\u8005\u81ea\u5f8b\u4e0e\u793e\u533a\u5171\u8bc6\u2014\u2014<\/p>\n

\u4f8b\u5982\u662f\u5426\u59cb\u7ec8\u4fdd\u6301\u4e0e\u6240\u58f0\u660e\u65b9\u6848\u7684\u4e00\u81f4\u6027\uff0c\u662f\u5426\u5728\u591a\u4efb\u52a1\u901a\u7528\u578b\u6a21\u578b\uff08multi-task generalist model\uff09\u7684\u8bbe\u5b9a\u4e0b\uff0c\u907f\u514d\u9488\u5bf9\u5355\u4e00\u4efb\u52a1\u7684\u7279\u6b8a\u5316\u8c03\u4f18\u3002<\/p>\n

\uff08\u6ce8\uff1aRoboChallenge\u533a\u5206\u4efb\u52a1\u7279\u5b9a\u4e0e\u901a\u7528\u578b\u4e24\u79cd\u8bad\u7ec3\u534f\u8bae\uff1a\u524d\u8005\u9488\u5bf9\u5355\u4e00\u4efb\u52a1\u5355\u72ec\u8bad\u7ec3\uff0c\u540e\u8005\u7528\u5c11\u91cf\u6df7\u5408\u6570\u636e\u8bad\u7ec3\u4e00\u4e2a\u591a\u4efb\u52a1\u7edf\u4e00\u6a21\u578b\u3002\u699c\u5355\u4e2d\u5e26\u6709\/multi \u540e\u7f00\u7684\u6a21\u578b\uff0c\u5982Pi0.5\/multi\uff0c\u9075\u5faa\u7684\u6b63\u662f\u8fd9\u4e00\u66f4\u5177\u6311\u6218\u6027\u7684\u901a\u7528\u578b\u8bbe\u5b9a\u3002\uff09<\/p>\n

\u4e5f\u6b63\u662f\u5728\u8fd9\u4e00\u80cc\u666f\u4e0b\uff0cSpirit v1.5\u6b64\u6b21\u9009\u62e9\u540c\u6b65\u5f00\u6e90\uff0c\u5176\u610f\u4e49\u4e0d\u4ec5\u5728\u4e8e\u6210\u7ee9\u672c\u8eab\uff0c\u4e5f\u5951\u5408\u4e86RoboChallenge\u9f13\u52b1\u901a\u8fc7\u53ef\u590d\u73b0\u3001\u53ef\u9a8c\u8bc1\u7684\u65b9\u5f0f\uff0c\u5171\u540c\u63a8\u52a8\u5177\u8eab\u667a\u80fd\u57fa\u51c6\u5411\u524d\u53d1\u5c55\u7684\u521d\u8877\u3002<\/p>\n

\u90a3\u4e48\uff0cSpirit v1.5\u5177\u4f53\u662f\u600e\u4e48\u505a\u5230\u7684\u5462\uff1f<\/p>\n

Spirit v1.5\u7684\u6838\u5fc3\u521b\u65b0\uff0c\u4e3b\u8981\u4f53\u73b0\u5728\u9884\u8bad\u7ec3\u9636\u6bb5\u7684\u6570\u636e\u7b56\u7565\u4e0a\u3002<\/p>\n

\u5b83\u5c06\u5177\u8eab\u6a21\u578b\u7684\u9884\u8bad\u7ec3\u6570\u636e\uff0c\u4ece\u9ad8\u5ea6\u7cbe\u9009\u3001\u5f3a\u63a7\u5236\u7684\u300c\u5e72\u51c0\u6570\u636e\u300d\uff0c\u8f6c\u5411\u591a\u6837\u5316\u3001\u5f00\u653e\u5f0f\u3001\u5f31\u63a7\u5236\u7684\u6570\u636e\u91c7\u96c6\u8303\u5f0f\u3002<\/p>\n

\u8fd9\u91cc\u6240\u8bf4\u7684\u300c\u5e72\u51c0\u6570\u636e\u300d\uff0c\u901a\u5e38\u6307\u52a8\u4f5c\u6a21\u5f0f\u76f8\u5bf9\u5355\u4e00\u3001\u7269\u4f53\u6446\u653e\u4f4d\u7f6e\u4e0e\u89c6\u89d2\u9ad8\u5ea6\u56fa\u5b9a\u7684\u7cbe\u9009\u6570\u636e\u96c6\u3002<\/p>\n

\u4f8b\u5982Open X-Embodiment\u3001Agibot\u548cRoboCOIN\u7b49\u5177\u8eab\u6a21\u578b\u8bad\u7ec3\u7684\u4e3b\u6d41\u6570\u636e\u96c6\u3002<\/p>\n

\u8fd9\u7c7b\u6570\u636e\u7684\u4f18\u52bf\u5728\u4e8e\uff1a\u6570\u91c7\u6210\u672c\u4f4e\u3001\u5b66\u4e60\u96be\u5ea6\u53ef\u63a7\uff1b<\/p>\n

\u4f46\u4ee3\u4ef7\u540c\u6837\u660e\u663e\u2014\u2014\u52a8\u4f5c\u6a21\u5f0f\u7684\u591a\u6837\u6027\u88ab\u663e\u8457\u538b\u7f29\uff0c\u6a21\u578b\u5bf9\u771f\u5b9e\u4e16\u754c\u4e0d\u786e\u5b9a\u6027\u7684\u9002\u5e94\u80fd\u529b\u56e0\u6b64\u53d7\u9650\u3002<\/p>\n

\u9488\u5bf9\u8fd9\u4e00\u95ee\u9898\uff0cSpirit v1.5\u91c7\u53d6\u4e86\u76f8\u53cd\u7684\u7b56\u7565\u3002<\/p>\n

\u5728\u6570\u636e\u91c7\u96c6\u9636\u6bb5\uff0c\u5b83\u9f13\u52b1\u6570\u91c7\u5458\u53ea\u56f4\u7ed5\u4efb\u52a1\u76ee\u6807\u884c\u52a8\uff0c\u800c\u4e0d\u5f3a\u5236\u9075\u5faa\u56fa\u5b9a\u7684\u52a8\u4f5c\u6d41\u7a0b\u3002<\/p>\n

\u4f8b\u5982\uff0c\u5728\u4e3a\u5047\u4eba\u5934\u90e8\u5316\u5986\u65f6\uff0c\u91c7\u96c6\u5458\u5e76\u4e0d\u4f1a\u4e25\u683c\u590d\u73b0\u67d0\u4e00\u5957\u6807\u51c6\u64cd\u4f5c\uff0c\u800c\u662f\u4ee5\u66f4\u63a5\u8fd1\u771f\u5b9e\u4eba\u7c7b\u884c\u4e3a\u7684\u65b9\u5f0f\u81ea\u7531\u5b8c\u6210\u4efb\u52a1\u3002<\/p>\n

\u8fd9\u6837\u505a\u7684\u7ed3\u679c\u662f\u91c7\u96c6\u6765\u7684\u6570\u636e\u4e0d\u518d\u662f\u5355\u4efb\u52a1\u3001\u5355\u76ee\u6807\u7684\u5355\u6210\u529f\u8f68\u8ff9\u3002<\/p>\n

\u800c\u662f\u5728\u81ea\u7136\u6267\u884c\u8fc7\u7a0b\u4e2d\uff0c\u8fde\u7eed\u8986\u76d6\u4e86\u6293\u53d6\u3001\u63d2\u5165\u3001\u6574\u7406\u3001\u53cc\u81c2\u534f\u4f5c\u3001\u5f02\u5e38\u5904\u7406\u7b49\u5927\u91cf\u539f\u5b50\u6280\u80fd\uff0c\u5e76\u4ee5\u771f\u5b9e\u4e16\u754c\u7684\u65f6\u5e8f\u5173\u7cfb\u4e32\u8054\u5728\u4e00\u8d77\u3002<\/p>\n

\u8fd9\u79cd\u5f00\u653e\u5f0f\u91c7\u96c6\u663e\u8457\u6269\u5927\u4e86\u52a8\u4f5c\u5206\u5e03\uff0c\u4f7f\u6a21\u578b\u5728\u9884\u8bad\u7ec3\u9636\u6bb5\u201c\u89c1\u8fc7\u66f4\u591a\u53ef\u80fd\u6027\u201d\uff0c\u4ece\u800c\u5177\u5907\u66f4\u5f3a\u7684\u8fc1\u79fb\u4e0e\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n

\u5728\u5de5\u7a0b\u5c42\u9762\uff0c\u8fd9\u4e00\u7b56\u7565\u540c\u6837\u5e26\u6765\u4e86\u53ef\u89c2\u6536\u76ca\uff1a\u4eba\u5747\u6709\u6548\u91c7\u96c6\u65f6\u957f\u63d0\u5347\u7ea6200%\uff0c\u5bf9\u7b97\u6cd5\u4e13\u5bb6\u6df1\u5ea6\u4ecb\u5165\u7684\u9700\u6c42\u964d\u4f4e\u7ea660%\u3002<\/p>\n

\u800c\u5728\u5b9e\u9a8c\u9a8c\u8bc1\u4e2d\uff0c\u8fd9\u79cd\u4ee5\u591a\u6837\u6027\u4e3a\u6838\u5fc3\u7684\u6570\u636e\u7b56\u7565\uff0c\u540c\u6837\u5f97\u5230\u4e86\u5370\u8bc1\u3002<\/p>\n

\u4e00\u65b9\u9762\uff0c\u5728RoboChallenge Table30\u7684\u771f\u673a\u8bc4\u6d4b\u4e2d\uff0cSpirit v1.5\u5df2\u7ecf\u5728\u6574\u4f53\u80fd\u529b\u5c42\u9762\u8bc1\u660e\u4e86\u8be5\u8303\u5f0f\u662f\u6210\u7acb\u7684\uff08\u76f8\u5173\u7ed3\u679c\u5df2\u5728\u524d\u6587\u5c55\u5f00\uff09\u3002<\/p>\n

\u53e6\u4e00\u65b9\u9762\uff0c\u5728\u6d88\u878d\u5b9e\u9a8c\u4e2d\uff0c\u7814\u7a76\u56e2\u961f\u5728\u9884\u8bad\u7ec3\u6570\u636e\u89c4\u6a21\u5b8c\u5168\u4e00\u81f4\u7684\u524d\u63d0\u4e0b\uff0c\u5bf9\u6bd4\u4e86\u4e24\u79cd\u7b56\u7565\uff1a<\/p>\n

\u7ed3\u679c\u663e\u793a\uff0c\u591a\u6837\u5316\u9884\u8bad\u7ec3\u7684\u6a21\u578b\u5728\u65b0\u4efb\u52a1\u4e0a\u7684\u5fae\u8c03\u6548\u7387\u663e\u8457\u66f4\u9ad8\uff1a\u5728\u8fbe\u5230\u76f8\u540c\u6027\u80fd\u65f6\uff0c\u6240\u9700\u8fed\u4ee3\u6b21\u6570\u51cf\u5c11\u7ea640%\u3002<\/p>\n

\u8fdb\u4e00\u6b65\u6269\u5927\u591a\u6837\u5316\u6570\u636e\u89c4\u6a21\u540e\uff0c\u6a21\u578b\u7684\u9a8c\u8bc1\u8bef\u5dee\u4ecd\u5728\u6301\u7eed\u4e0b\u964d\uff0c\u5e76\u672a\u51fa\u73b0\u660e\u663e\u7684\u65e9\u671f\u9971\u548c\u73b0\u8c61\u3002<\/p>\n

\u8fd9\u4e9b\u53d1\u73b0\u8868\u660e\uff0c\u5bf9\u5177\u8eab\u6a21\u578b\u800c\u8a00\uff0c\u4efb\u52a1\u591a\u6837\u6027\u6bd4\u5355\u4e00\u4efb\u52a1\u7684\u6f14\u793a\u6570\u91cf\u66f4\u4e3a\u5173\u952e\u3002<\/p>\n

\u6a21\u578b\u771f\u6b63\u5b66\u5230\u7684\uff0c\u5e76\u975e\u67d0\u4e2a\u4efb\u52a1\u7684\u6700\u4f18\u52a8\u4f5c\u5e8f\u5217\uff0c\u800c\u662f\u4e00\u5957\u53ef\u8fc1\u79fb\u7684\u901a\u7528\u7b56\u7565\uff0c\u4f7f\u5176\u80fd\u591f\u7528\u66f4\u5c11\u7684\u6b65\u9aa4\u9002\u5e94\u65b0\u4efb\u52a1\u3002<\/p>\n

\u7531\u6b64\uff0c\u4f7f\u7528\u9ad8\u591a\u6837\u6027\u3001\u5f31\u63a7\u5236\u7684\u6570\u636e\u8fdb\u884c\u9884\u8bad\u7ec3\u4e0d\u4ec5\u53ef\u884c\uff0c\u800c\u4e14\u663e\u8457\u4f18\u4e8e\u6587\u732e\u4e2d\u5e38\u89c1\u7684\u5229\u7528\u201c\u5e72\u51c0\u201d\u6570\u636e\u7684\u505a\u6cd5\u3002<\/p>\n

\u4e5f\u6b63\u56e0\u4e3a\u5e76\u975e\u9488\u5bf9\u5355\u4e00\u4efb\u52a1\u4f18\u5316\uff0cSpirit v1.5\u66f4\u9002\u5408\u4f5c\u4e3a\u4e00\u4e2a\u901a\u7528\u5177\u8eab\u667a\u80fd\u7684\u57fa\u7840\u6a21\u578b\u88ab\u590d\u7528\u3002<\/p>\n

\u5bf9\u5b66\u754c\u800c\u8a00\uff0c\u5b83\u63d0\u4f9b\u4e86\u4e00\u6761\u4e0d\u540c\u4e8ePi\u7cfb\u5217\u4e14\u66f4\u4f18\u7684\u5f00\u6e90\u6280\u672f\u8def\u5f84\u3002<\/p>\n

\u5bf9\u4ea7\u4e1a\u56e2\u961f\u800c\u8a00\uff0c\u8fd9\u79cd\u4ee5\u771f\u5b9e\u4e16\u754c\u591a\u6837\u6027\u4e3a\u8d77\u70b9\u7684\u9884\u8bad\u7ec3\u65b9\u5f0f\uff0c\u663e\u8457\u964d\u4f4e\u4e86\u65b0\u573a\u666f\u7684\u8fc1\u79fb\u4e0e\u9002\u914d\u6210\u672c\u3002<\/p>\n

\u968f\u7740\u6a21\u578b\u6743\u91cd\u4e0e\u4ee3\u7801\u540c\u6b65\u5f00\u6e90\uff0cSpirit v1.5\u5728RoboChallenge\u4e0a\u7684\u6210\u7ee9\u4e0d\u518d\u53ea\u662f\u4e00\u6b21\u5c55\u793a\uff0c\u800c\u6210\u4e3a\u4e00\u4e2a\u53ef\u9a8c\u8bc1\u3001\u53ef\u590d\u73b0\u3001\u53ef\u7ee7\u7eed\u63a8\u8fdb\u7684\u8d77\u70b9\u3002<\/p>\n

\u6700\u540e\uff0c\u518d\u628a\u89c6\u89d2\u62c9\u56de\u5230Spirit v1.5\u80cc\u540e\u7684\u56e2\u961f\u2014\u2014\u5343\u5bfb\u667a\u80fd\uff08Spirit AI\uff09\u3002<\/p>\n

\u6210\u7acb\u4e8e2024\u5e741\u6708\u7684\u5343\u5bfb\u667a\u80fd\uff0c\u662f\u4e00\u652f\u975e\u5e38\u201c\u5e74\u8f7b\u201d\u7684\u961f\u4f0d\uff0c\u5374\u5df2\u7ecf\u6210\u957f\u4e3a\u56fd\u5185\u5c11\u6570\u5177\u5907AI+\u673a\u5668\u4eba\u5168\u6808\u3001\u751f\u4ea7\u529b\u7ea7\u6280\u672f\u80fd\u529b\u7684\u5177\u8eab\u667a\u80fd\u516c\u53f8\u3002<\/p>\n

\u7b80\u5355\u6982\u62ec\uff0c\u5343\u5bfb\u7684\u8def\u7ebf\u975e\u5e38\u660e\u786e\u2014\u2014\u901a\u7528\u4eba\u5f62\u673a\u5668\u4eba+\u5177\u8eab\u5927\u6a21\u578b\uff08VLA\uff09\u4e00\u4f53\u63a8\u8fdb\uff0c\u56e0\u6b64\u5e38\u88ab\u5916\u754c\u79f0\u4e3a\u201c\u4e2d\u56fd\u7248 Figure\u201d\u3002<\/p>\n

\u521b\u59cb\u4eba\u517cCEO\u97e9\u5cf0\u6d9b\uff1a\u673a\u5668\u4eba\u884c\u4e1a\u8fde\u7eed\u521b\u4e1a\u8005\uff0c\u66fe\u4efb\u73de\u77f3\u673a\u5668\u4eba\u8054\u5408\u521b\u59cb\u4eba\u517cCTO\uff0c\u5728\u673a\u5668\u4eba\u884c\u4e1a\u62e5\u6709\u5341\u4f59\u5e74\u7ecf\u9a8c\uff0c\u4e3b\u5bfc\u4ea4\u4ed8\u8fc7\u8d852\u4e07\u53f0\u5de5\u4e1a\u673a\u5668\u4eba\u3002<\/p>\n

\u8054\u5408\u521b\u59cb\u4eba\u517c\u9996\u5e2d\u79d1\u5b66\u5bb6\u9ad8\u9633\uff1a\u6e05\u534e\u4ea4\u53c9\u4fe1\u606f\u7814\u7a76\u9662\u52a9\u7406\u6559\u6388\uff0c\u201c\u4f2f\u514b\u5229\u5f52\u56fd\u56db\u5b50\u4e4b\u4e00\u201d\uff0c\u5e08\u4ece\u5177\u8eab\u667a\u80fd\u6743\u5a01\u5b66\u8005Pieter Abbeel\uff0c\u5176\u63d0\u51fa\u7684ViLa\u7b97\u6cd5\u88abFigure\u91c7\u7528\u3002<\/p>\n

\u5728\u878d\u8d44\u65b9\u9762\uff0c2025\u5e74\u5343\u5bfb\u667a\u80fd\u72c2\u63fd\u8d8515\u4ebf\u5143\u878d\u8d44\uff0c6\u6708PreA+\u8f6e\u7531\u4eac\u4e1c\u9886\u62956\u4ebf\u5143\uff0c\u6d59\u6c5f\u7701\u79d1\u521b\u6bcd\u57fa\u91d1\u3001\u534e\u6cf0\u7d2b\u91d1\u7b49\u65b0\u52bf\u529b\u8ddf\u6295\uff0c\u987a\u4e3a\u8d44\u672c\u3001\u534e\u63a7\u57fa\u91d1\u7b49\u8001\u80a1\u4e1c\u66f4\u662f\u7ee7\u7eed\u8ddf\u6295\u3002<\/p>\n

\u5728\u5546\u4e1a\u843d\u5730\u65b9\u9762\uff0c\u5176\u901a\u7528\u4eba\u5f62\u673a\u5668\u4eba \u201c\u5c0f\u58a8\u201d\uff08Moz1\uff09\u5df2\u4e8e2025\u5e74\u5e95\u5728\u5b81\u5fb7\u65f6\u4ee3\u7535\u6c60\u4ea7\u7ebf\u89c4\u6a21\u5316\u843d\u5730\uff0c\u7cbe\u7ec6\u4f5c\u4e1a\u6210\u529f\u7387\u7a81\u783499%\uff0c\u7528\u5de5\u4e1a\u7ea7\u573a\u666f\u5b8c\u6210\u4e86\u4e00\u6b21\u786c\u6838\u9a8c\u8bc1\u3002<\/p>\n

\u800c\u5728\u6280\u672f\u8def\u5f84\u4e0a\uff0c\u4eceSpirit v1\u653b\u514b\u67d4\u6027\u7269\u4f53\u957f\u7a0b\u64cd\u4f5c\uff0c\u5230\u5f00\u6e90\u300c\u8fb9\u60f3\u8fb9\u505a\u300d\u7684OneTwoVLA\uff0c\u518d\u5230\u5982\u4eca\u57fa\u4e8e\u591a\u6837\u5316\u771f\u5b9e\u6570\u636e\u91c7\u96c6\u7684Spirit v1.5\u2014\u2014<\/p>\n

\u5343\u5bfb\u59cb\u7ec8\u5728\u505a\u4e00\u4ef6\u4e8b\uff1a\u628a\u5177\u8eab\u667a\u80fd\u4ece\u201c\u5b9e\u9a8c\u6548\u679c\u201d\uff0c\u63a8\u8fdb\u5230\u201c\u53ef\u590d\u73b0\u3001\u53ef\u91cf\u4ea7\u3001\u53ef\u843d\u5730\u201d\u7684\u5de5\u7a0b\u4f53\u7cfb\u4e2d\u3002<\/p>\n

\u800c\u8fd9\u6b21Spirit v1.5\u5728RoboChallenge\u4e0a\u7684\u767b\u9876\uff0c\u5e76\u4e0d\u4ec5\u4ec5\u610f\u5473\u7740\u4e00\u6b21\u699c\u5355\u4e0a\u7684\u9886\u5148\u3002<\/p>\n

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\u5728\u771f\u5b9e\u673a\u5668\u4eba\u3001\u771f\u5b9e\u4efb\u52a1\u3001\u7edf\u4e00\u8bc4\u6d4b\u6761\u4ef6\u4e0b\uff0c\u5bf9\u73b0\u6709\u7684\u6280\u672f\u8def\u7ebf\u8fdb\u884c\u4e86\u4e00\u6b21\u9636\u6bb5\u6027\u9a8c\u8bc1\u3002<\/p>\n

\u4ece\u7ed3\u679c\u6765\u770b\uff0cSpirit v1.5\u5728\u6cdb\u5316\u6027\u3001\u7a33\u5b9a\u6027\u4e0e\u9c81\u68d2\u6027\u7b49\u7cfb\u7edf\u5c42\u9762\u7684\u80fd\u529b\uff0c\u5df2\u7ecf\u51fa\u73b0\u4e86\u6574\u4f53\u8dc3\u8fc1\uff0c\u800c\u4e0d\u4ec5\u662f\u5355\u70b9\u4efb\u52a1\u7684\u201c\u5237\u5206\u201d\u3002<\/p>\n

\u66f4\u91cd\u8981\u7684\u662f\uff0c\u8fd9\u4e00\u6210\u7ee9\u5e76\u672a\u505c\u7559\u5728\u5c55\u793a\u5c42\u9762\u3002<\/p>\n

Spirit v1.5\u540c\u6b65\u5f00\u6e90\u6a21\u578b\u6743\u91cd\u3001\u63a8\u7406\u4ee3\u7801\u548c\u4f7f\u7528\u6837\u4f8b\uff0c\u4f7f\u5f97\u8fd9\u4e00\u7ed3\u679c\u53ef\u4ee5\u88ab\u590d\u73b0\u3001\u88ab\u68c0\u9a8c\u3001\u4e5f\u53ef\u4ee5\u88ab\u540e\u7eed\u7814\u7a76\u7ee7\u7eed\u63a8\u8fdb\u3002<\/p>\n

\u6b63\u5982\u5f53\u5e74ImageNet\u4e4b\u4e8e\u8ba1\u7b97\u673a\u89c6\u89c9\uff0c\u53ea\u6709\u5728\u4e00\u4e2a\u53ef\u590d\u73b0\u3001\u516c\u6b63\u3001\u5f00\u653e\u7684\u57fa\u51c6\u4e4b\u4e0a\uff0c\u6a21\u578b\u80fd\u529b\u7684\u8fdb\u6b65\u624d\u5177\u5907\u771f\u6b63\u7684\u53c2\u8003\u4ef7\u503c\u3002<\/p>\n

\u800c\u6a21\u578b\u7684\u5f00\u6e90\u4e5f\u8fdb\u4e00\u6b65\u65b9\u4fbf\u540e\u7eed\u7814\u7a76\u8005\u7684\u5feb\u901f\u8fed\u4ee3\u4f18\u5316\u4e0e\u521b\u65b0\u63a2\u7d22\u3002<\/p>\n

\u5728\u88ab\u4e0d\u5c11\u7814\u7a76\u8005\u89c6\u4f5c\u5177\u8eab\u667a\u80fd\u300cImageNet\u300d\u7684RoboChallenge\u4e0a\uff0c\u8fd9\u6b21\u767b\u9876\u65e2\u662f\u4e00\u6b21\u80fd\u529b\u786e\u8ba4\uff0c\u4e5f\u662f\u4e00\u79cd\u660e\u786e\u8868\u6001\u2014\u2014<\/p>\n

\u5343\u5bfb\u9009\u62e9\u5c06\u6280\u672f\u8fdb\u5c55\u653e\u5165\u5f00\u6e90\u4f53\u7cfb\u4e4b\u4e2d\uff0c\u4e0e\u793e\u533a\u4e00\u8d77\uff0c\u628a\u5177\u8eab\u667a\u80fd\u7684\u5929\u82b1\u677f\u6301\u7eed\u5f80\u524d\u63a8\u3002<\/p>\n

\u6b63\u5982\u5343\u5bfb\u9996\u5e2d\u79d1\u5b66\u5bb6\u9ad8\u9633\u9488\u5bf9Spirit v1.5\u5728\u5f00\u6e90\u6a21\u578b\u8d5b\u9053\u65a9\u83b7\u5168\u7403\u7b2c\u4e00\u65f6\u8bf4\u6240\u7684\uff1a<\/p>\n

\u5b83\u4e0d\u4ec5\u662f\u4e00\u6b21\u6280\u672f\u4e0a\u7684\u7a81\u7834\uff0c\u4e5f\u610f\u5473\u7740\u6211\u4eec\u5728\u8ffd\u5bfb\u667a\u80fd\u7684\u9053\u8def\u4e0a\uff0c\u518d\u6b21\u7ad9\u5230\u4e86\u5f53\u4e0b\u4eba\u7c7b\u667a\u80fd\u6240\u80fd\u4f01\u53ca\u7684\u9ad8\u5ea6\u4e4b\u4e00\u3002\u66f4\u91cd\u8981\u7684\u662f\uff0c\u8fd9\u4e2a\u6a21\u578b\u662f\u5f00\u6e90\u7684\u3002\u6211\u4eec\u9009\u62e9\u628a\u5b83\u4ea4\u5230\u66f4\u591a\u4eba\u624b\u4e2d\uff0c\u8ba9\u5927\u5bb6\u4e00\u8d77\u4f7f\u7528\u3001\u4e00\u8d77\u9a8c\u8bc1\u3001\u4e00\u8d77\u63a8\u8fdb\u8fd9\u6761\u8def\u3002\u667a\u80fd\u4e0d\u5e94\u8be5\u88ab\u5c11\u6570\u4eba\u5784\u65ad\uff0c\u800c\u5e94\u8be5\u88ab\u5171\u540c\u5efa\u8bbe\u3002<\/p>\n

\u5f00\u6e90\u5730\u5740\uff1aCode: https:\/\/github.com\/Spirit-AI-Team\/spirit-v1.5Model: https:\/\/huggingface.co\/Spirit-AI-robotics\/Spirit-v1.5Blog\uff1ahttps:\/\/www.spirit-ai.com\/en\/blog\/spirit-v1-5<\/p>\n

\n

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

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\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":"

henry \u53d1\u81ea \u51f9\u975e\u5bfa<\/p>\n

\u4e8b\u60c5\u5f00\u59cb\u53d8\u5f97\u6709\u8da3\u8d77\u6765\u4e86\u3002<\/p>\n

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