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\u6458\u8981<\/h2>\n\n\n\n

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\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\uff08Humanoid Everyday\uff09\u201d\u2014\u2014 \u4e00\u4e2a\u5927\u89c4\u6a21\u3001\u591a\u6837\u5316\u7684\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6\u3002\u8be5\u6570\u636e\u96c6\u7684\u7279\u70b9\u662f\u4efb\u52a1\u79cd\u7c7b\u4e30\u5bcc\uff0c\u6db5\u76d6\u7075\u5de7\u7269\u4f53\u64cd\u4f5c\u3001\u4eba\u673a\u4ea4\u4e92\u3001\u79fb\u52a8 – \u64cd\u4f5c\u4e00\u4f53\u5316\u52a8\u4f5c\u7b49\u573a\u666f\u3002\u501f\u52a9\u9ad8\u6548\u7684\u4eba\u5de5\u76d1\u7763\u9065\u64cd\u4f5c\u6d41\u7a0b\uff0c\u8be5\u6570\u636e\u96c6\u6574\u5408\u4e86\u9ad8\u8d28\u91cf\u7684\u591a\u6a21\u6001\u4f20\u611f\u6570\u636e\uff08\u5305\u62ec RGB \u56fe\u50cf\u3001\u6df1\u5ea6\u56fe\u50cf\u3001\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u548c\u89e6\u89c9\u8f93\u5165\uff09\u4ee5\u53ca\u81ea\u7136\u8bed\u8a00\u6807\u6ce8\uff0c\u5305\u542b 10.3k \u6761\u8f68\u8ff9\u3001\u8d85\u8fc7 300 \u4e07\u5e27\u6570\u636e\uff0c\u8986\u76d6 7 \u4e2a\u5927\u7c7b\u4e0b\u7684 260 \u9879\u4efb\u52a1\u3002<\/p>\n\n\n\n

\u6b64\u5916\uff0c\u6211\u4eec\u5728\u8be5\u6570\u636e\u96c6\u4e0a\u5bf9\u4e3b\u6d41\u7b56\u7565\u5b66\u4e60\u65b9\u6cd5\u8fdb\u884c\u4e86\u5206\u6790\uff0c\u63ed\u793a\u4e86\u8fd9\u4e9b\u65b9\u6cd5\u5728\u4e0d\u540c\u4efb\u52a1\u7c7b\u522b\u4e2d\u7684\u4f18\u52bf\u4e0e\u5c40\u9650\u6027\u3002\u4e3a\u5b9e\u73b0\u6807\u51c6\u5316\u8bc4\u4f30\uff0c\u6211\u4eec\u8fd8\u63a8\u51fa\u4e86\u4e00\u4e2a\u57fa\u4e8e\u4e91\u7684\u8bc4\u4f30\u5e73\u53f0\uff0c\u7814\u7a76\u4eba\u5458\u53ef\u5728\u8be5\u5e73\u53f0\u7684\u53d7\u63a7\u73af\u5883\u4e2d\u65e0\u7f1d\u90e8\u7f72\u81ea\u5df1\u7684\u7b56\u7565\uff0c\u5e76\u83b7\u53d6\u6027\u80fd\u53cd\u9988\u3002<\/p>\n\n\n\n

\u901a\u8fc7\u53d1\u5e03 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d\uff0c\u4ee5\u53ca\u914d\u5957\u7684\u7b56\u7565\u5b66\u4e60\u5206\u6790\u7ed3\u679c\u548c\u6807\u51c6\u5316\u4e91\u8bc4\u4f30\u5e73\u53f0\uff0c\u6211\u4eec\u65e8\u5728\u63a8\u52a8\u901a\u7528\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u9886\u57df\u7684\u7814\u7a76\uff0c\u4e3a\u5f00\u53d1\u66f4\u5177\u80fd\u529b\u3001\u66f4\u80fd\u878d\u5165\u73b0\u5b9e\u573a\u666f\u7684\u5b9e\u4f53\u673a\u5668\u4eba\u667a\u80fd\u4f53\u5960\u5b9a\u57fa\u7840\u3002\u6211\u4eec\u7684\u6570\u636e\u96c6\u3001\u6570\u636e\u91c7\u96c6\u4ee3\u7801\u548c\u4e91\u8bc4\u4f30\u7f51\u7ad9\u5df2\u5728\u9879\u76ee\u5b98\u7f51\u516c\u5f00\uff1ahttps:\/\/humanoideveryday.github.io<\/a><\/p>\n\n\n\n

1 \u5f15\u8a00<\/h2>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u4eba\u5f62\u673a\u5668\u4eba\u9886\u57df\u7684\u8fdb\u5c55\u5927\u5e45\u7f29\u5c0f\u4e86 \u201c\u5b9e\u4f53\u5dee\u8ddd\u201d\uff08embodiment gap\uff09\uff0c\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u5b8c\u6210\u8dd1\u6b65\u3001\u8df3\u821e\u4ee5\u53ca\u590d\u6742\u7684\u5168\u8eab\u52a8\u4f5c\u7b49\u52a8\u6001\u4efb\u52a1 [1,2,3,4]\u3002\u7136\u800c\uff0c\u91c7\u96c6\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6\u4ecd\u9762\u4e34\u8bf8\u591a\u6311\u6218\uff1a\u9700\u8981\u5728\u5ba4\u5185\u5916\u591a\u79cd\u73af\u5883\u4e2d\u8fd0\u884c\u3001\u6267\u884c\u8303\u56f4\u5e7f\u6cdb\u7684\u4efb\u52a1\uff0c\u5e76\u4e14\u8981\u901a\u8fc7\u53cc\u624b\u534f\u540c\u3001\u5168\u8eab\u8fd0\u52a8\u548c\u4ee5\u4eba\u4e3a\u4e2d\u5fc3\u7684\u4ea4\u4e92\u6765\u53d1\u6325\u4eba\u5f62\u673a\u5668\u4eba\u7684\u5f62\u6001\u4f18\u52bf\u3002<\/p>\n\n\n\n

\u73b0\u6709\u6570\u636e\u96c6\u4e3b\u8981\u9488\u5bf9\u56fa\u5b9a\u673a\u68b0\u81c2\u6216\u5e26\u6709\u7b80\u5355\u6293\u624b\u548c\u8f6e\u5f0f\u5e95\u5ea7\u7684\u79fb\u52a8\u5e73\u53f0 [5,6,7,8,9]\uff08\u8be6\u89c1 \u201c\u6570\u636e\u96c6\u5bf9\u6bd4\u8868\u201d\uff09\uff1b\u5373\u4fbf\u50cf \u201cHumanoid Policy\u201d[10] \u8fd9\u7c7b\u4ee5\u7b2c\u4e00\u89c6\u89d2\u4e3a\u6838\u5fc3\u7684\u7814\u7a76\uff0c\u4e5f\u4fa7\u91cd\u4e8e\u91cd\u590d\u6027\u4efb\u52a1\uff0c\u4e14\u79fb\u52a8\u76f8\u5173\u7684\u6570\u636e\u6709\u9650\u3002\u8fd9\u4e9b\u5c40\u9650\u6027\u51f8\u663e\u4e86\u5bf9\u591a\u6837\u5316\u3001\u4ea4\u4e92\u5f0f\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6\u7684\u9700\u6c42 \u2014\u2014 \u8be5\u7c7b\u6570\u636e\u96c6\u9700\u6db5\u76d6\u4eba\u5f62\u673a\u5668\u4eba\u5728\u4e0d\u540c\u73af\u5883\u548c\u4efb\u52a1\u590d\u6742\u5ea6\u4e0b\u7684\u5168\u8303\u56f4\u7c7b\u4eba\u80fd\u529b\u3002<\/p>\n\n\n\n

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\u8fd9\u4e9b\u5c40\u9650\u6027\u5171\u540c\u5f15\u51fa\u4e86\u4e00\u4e2a\u5173\u952e\u95ee\u9898\uff1a\u4e00\u4e2a\u6709\u6548\u7684\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6\u5e94\u5177\u5907\u54ea\u4e9b\u7279\u5f81\uff0c\u624d\u80fd\u586b\u8865\u5f53\u524d\u5728\u591a\u6837\u6027\u3001\u5b9e\u4f53\u6027\u548c\u8bc4\u4f30\u65b9\u9762\u7684\u7a7a\u767d\uff0c\u52a9\u529b\u5f00\u53d1\u66f4\u667a\u80fd\u7684\u673a\u5668\u4eba\u667a\u80fd\u4f53\uff1f<\/p>\n\n\n\n

\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\uff08Humanoid Everyday\uff09\u201d\u2014\u2014 \u4e00\u4e2a\u5927\u89c4\u6a21\u6570\u636e\u96c6\uff0c\u6db5\u76d6 7 \u4e2a\u7c7b\u522b\u4e0b\u7684 260 \u9879\u4efb\u52a1\uff08\u89c1\u56fe 2\uff09\uff0c\u8bb0\u5f55\u4e86\u4eba\u5f62\u673a\u5668\u4eba\u5728\u591a\u6837\u5316\u73af\u5883\u4e2d\u7684\u5168\u8eab\u79fb\u52a8\u3001\u7075\u5de7\u64cd\u4f5c\u548c\u4e30\u5bcc\u7684\u4eba\u673a\u4ea4\u4e92\u8fc7\u7a0b\u3002\u4e0e\u6b64\u524d\u8303\u56f4\u6709\u9650\u6216\u573a\u666f\u7b80\u5355\u7684\u6570\u636e\u96c6 [10,8,9] \u4e0d\u540c\uff0c\u6211\u4eec\u7684\u6570\u636e\u96c6\u5728\u591a\u79cd\u73af\u5883\u4e2d\u6536\u96c6\u4e86\u66f4\u5168\u9762\u3001\u66f4\u8d34\u8fd1\u4eba\u7c7b\u65e5\u5e38\u7684\u4efb\u52a1\u6570\u636e\uff0c\u5e76\u901a\u8fc7\u4eba\u5de5\u76d1\u7763\u786e\u4fdd\u6570\u636e\u51c6\u786e\u6027\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5bf9\u5b87\u6811\uff08Unitree\uff09\u5b98\u65b9\u9065\u64cd\u4f5c\u811a\u672c\u8fdb\u884c\u4e86\u6280\u672f\u91cd\u6784\uff0c\u5b9e\u73b0\u4e86\u4e0d\u540c\u6a21\u6001\u6570\u636e\u7684\u4e9a\u6beb\u79d2\u7ea7\u540c\u6b65\u3002\u5728 30Hz \u7684\u91c7\u6837\u9891\u7387\u4e0b\uff0c\u6211\u4eec\u7684\u91c7\u96c6\u6d41\u7a0b\u80fd\u8bb0\u5f55\u6bcf\u4e2a\u4eba\u5f62\u673a\u5668\u4eba\u4efb\u52a1\u7247\u6bb5\u7684\u9ad8\u5206\u8fa8\u7387\u4f20\u611f\u6570\u636e\u548c\u52a8\u4f5c\u6570\u636e\u3002\u6bcf\u4e2a\u4efb\u52a1\u5747\u901a\u8fc7\u7b2c\u4e00\u89c6\u89d2 RGB \u89c6\u9891\u3001\u6df1\u5ea6\u4fe1\u606f\u3001\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u3001\u89e6\u89c9\u548c\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u6570\u636e\u3001\u5173\u8282\u59ff\u6001\u3001\u5173\u8282\u52a8\u4f5c\u4ee5\u53ca\u81ea\u7136\u8bed\u8a00\u4efb\u52a1\u63cf\u8ff0\u8fdb\u884c\u8bb0\u5f55\u3002<\/p>\n\n\n\n

\u9664\u6570\u636e\u91c7\u96c6\u5916\uff0c\u6211\u4eec\u8fd8\u5728 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e0a\u5bf9\u4e3b\u6d41\u7b56\u7565\u5b66\u4e60\u65b9\u6cd5\u8fdb\u884c\u4e86\u5206\u6790\uff0c\u660e\u786e\u4e86\u8fd9\u4e9b\u65b9\u6cd5\u5728\u4e0d\u540c\u4efb\u52a1\u7c7b\u522b\u4e2d\u7684\u4f18\u52bf\u4e0e\u5c40\u9650\u6027\u3002\u8fd9\u4e9b\u5206\u6790\u4e3a\u7406\u89e3\u5b9e\u4f53\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u7684\u6311\u6218\u63d0\u4f9b\u4e86\u521d\u6b65\u89c1\u89e3\u3002\u4e3a\u8fdb\u4e00\u6b65\u652f\u6301\u79d1\u7814\u793e\u533a\uff0c\u6211\u4eec\u63a8\u51fa\u4e86\u4e00\u4e2a\u57fa\u4e8e\u4e91\u7684\u8bc4\u4f30\u5e73\u53f0\uff1a\u7814\u7a76\u4eba\u5458\u53ef\u4e0a\u4f20\u81ea\u5df1\u7684\u7b56\u7565\uff0c\u5728\u6211\u4eec\u6807\u51c6\u5316\u7684\u771f\u5b9e\u73af\u5883\u4e2d\u6267\u884c\uff0c\u5e76\u83b7\u53d6\u8be6\u7ec6\u7684\u6027\u80fd\u53cd\u9988\u3002\u4e0e\u73b0\u6709\u805a\u7126\u4e8e\u673a\u68b0\u81c2 [15] \u6216\u6a21\u62df\u667a\u80fd\u4f53 [16] \u7684\u4e91\u8bc4\u4f30\u7cfb\u7edf\u4e0d\u540c\uff0c\u6211\u4eec\u7684\u5e73\u53f0\u662f\u9996\u4e2a\u4e13\u4e3a\u4eba\u5f62\u673a\u5668\u4eba\u8bbe\u8ba1\u7684\u8bc4\u4f30\u5e73\u53f0\uff0c\u65e8\u5728\u964d\u4f4e\u516c\u5e73\u6bd4\u8f83\u7684\u95e8\u69db\uff0c\u4fc3\u8fdb\u4eba\u5f62\u673a\u5668\u4eba\u9886\u57df\u7684\u534f\u4f5c\u8fdb\u5c55\u3002<\/p>\n\n\n\n

\u7efc\u4e0a\uff0c\u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e0e\u914d\u5957\u7684\u8bc4\u4f30\u7cfb\u7edf\u4e3a\u63a8\u52a8\u901a\u7528\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u7814\u7a76\u63d0\u4f9b\u4e86\u5b9d\u8d35\u57fa\u7840\uff0c\u52a9\u529b\u5f00\u53d1\u66f4\u7a33\u5065\u3001\u66f4\u5177\u80fd\u529b\u4e14\u66f4\u80fd\u878d\u5165\u73b0\u5b9e\u573a\u666f\u7684\u5b9e\u4f53\u667a\u80fd\u4f53\u3002<\/p>\n\n\n\n

\u672c\u7814\u7a76\u7684\u8d21\u732e\u4e3b\u8981\u5305\u62ec\u4e09\u65b9\u9762\uff1a\uff081\uff09\u4e00\u4e2a\u5927\u89c4\u6a21\u591a\u6a21\u6001\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6\uff0c\u8be5\u6570\u636e\u96c6\u5728\u591a\u6837\u5316\u771f\u5b9e\u573a\u666f\u4e2d\u91c7\u96c6\uff0c\u5e76\u91c7\u7528\u4f18\u5316\u7684\u9065\u64cd\u4f5c\u6d41\u7a0b\uff1b\uff082\uff09\u5728 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e0a\u5bf9\u4e3b\u6d41\u7b56\u7565\u5b66\u4e60\u65b9\u6cd5\u7684\u5206\u6790\uff0c\u63ed\u793a\u4e86\u8fd9\u4e9b\u65b9\u6cd5\u5728\u4e0d\u540c\u4efb\u52a1\u7c7b\u522b\u4e2d\u7684\u4f18\u52bf\u4e0e\u5c40\u9650\u6027\uff1b\uff083\uff09\u4e00\u4e2a\u57fa\u4e8e\u4e91\u7684\u8bc4\u4f30\u5e73\u53f0\uff0c\u4e3a\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u9886\u57df\u7684\u6807\u51c6\u5316\u3001\u53ef\u590d\u73b0\u548c\u534f\u4f5c\u5f0f\u7814\u7a76\u63d0\u4f9b\u652f\u6301\u3002<\/p>\n\n\n\n

2 \u76f8\u5173\u5de5\u4f5c<\/h2>\n\n\n\n

2.1 \u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6<\/h3>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6\u5728\u63a8\u52a8\u6570\u636e\u9a71\u52a8\u7684\u673a\u5668\u4eba\u7b56\u7565\u5b66\u4e60\u65b9\u9762\u53d1\u6325\u4e86\u91cd\u8981\u4f5c\u7528\u3002\u90e8\u5206\u6570\u636e\u96c6\u805a\u7126\u4e8e\u5355\u4e00\u884c\u4e3a\u6a21\u5f0f\uff0c\u4f8b\u5982\u63a8 [19,22,23]\u3001\u6293 [24,25,26,27,28]\u3001\u5012\u6db2\u4f53 [29,30] \u7b49\u52a8\u4f5c\u3002\u4e5f\u6709\u7814\u7a76\u63d0\u51fa\u4e86\u5927\u89c4\u6a21\u591a\u4efb\u52a1\u6570\u636e\u96c6\uff0c\u4ee5\u63d0\u5347\u5728\u591a\u6837\u5316\u64cd\u4f5c\u573a\u666f\u548c\u73af\u5883\u6761\u4ef6\u4e0b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u4f46\u8fd9\u4e9b\u6570\u636e\u96c6\u4ecd\u4ee5\u673a\u68b0\u81c2\u5e73\u53f0\u4e3a\u6838\u5fc3 [5,7,31]\u3002<\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u968f\u7740\u4eba\u5f62\u673a\u5668\u4eba\u7684\u5174\u8d77\uff0c\u9488\u5bf9\u4eba\u5f62\u673a\u5668\u4eba\u7684\u4e13\u7528\u6570\u636e\u96c6\u5f00\u59cb\u51fa\u73b0\u3002\u6587\u732e [32,10,8] \u5229\u7528\u52a8\u4f5c\u6355\u6349\u6570\u636e\u6216\u4eba\u5de5\u9065\u64cd\u4f5c\uff0c\u5728\u6a21\u62df\u73af\u5883\u6216\u53d7\u9650\u684c\u9762\u573a\u666f\u4e2d\u8bad\u7ec3\u4eba\u5f62\u673a\u5668\u4eba\u667a\u80fd\u4f53\uff0c\u91cd\u70b9\u5173\u6ce8\u7b80\u5316\u7684\u64cd\u4f5c\u4efb\u52a1\u3002\u6587\u732e [33,9] \u91c7\u96c6\u4e86\u771f\u5b9e\u4e16\u754c\u4e2d\u7684\u4eba\u5f62\u673a\u5668\u4eba\u6570\u636e\uff0c\u901a\u8fc7\u4e0a\u80a2\u9065\u64cd\u4f5c\u5c55\u793a\u4e86\u591a\u6837\u5316\u7684\u64cd\u4f5c\u6280\u80fd\u3002<\/p>\n\n\n\n

\u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fd9\u4e9b\u8fdb\u5c55\uff0c\u5927\u591a\u6570\u73b0\u6709\u6570\u636e\u96c6\u4ecd\u805a\u7126\u4e8e\u673a\u68b0\u81c2\u64cd\u4f5c\u6216\u80fd\u529b\u6709\u9650\u7684\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u5f80\u5f80\u7f3a\u4e4f\u591a\u6837\u5316\u4efb\u52a1\u3001\u590d\u6742\u73af\u5883\u548c\u5168\u8eab\u529f\u80fd\u76f8\u5173\u7684\u6570\u636e\u3002\u4e0e\u4e4b\u76f8\u6bd4\uff0c\u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u8bb0\u5f55\u4e86\u4eba\u5f62\u673a\u5668\u4eba\u5728\u591a\u79cd\u5ba4\u5185\u5916\u573a\u666f\u4e2d\u7684\u5168\u8303\u56f4\u5168\u8eab\u6d3b\u52a8\uff0c\u4e3a\u901a\u7528\u4eba\u5f62\u673a\u5668\u4eba\u7b56\u7565\u5f00\u53d1\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u8d44\u6e90\u3002<\/p>\n\n\n\n

2.2 \u4eba\u5f62\u673a\u5668\u4eba\u5b66\u4e60<\/h3>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u7814\u7a76\u4eba\u5458\u63a2\u7d22\u4e86\u591a\u79cd\u57fa\u4e8e\u5b66\u4e60\u7684\u7b56\u7565\u5728\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u7684\u5e94\u7528\u3002\u5176\u4e2d\uff0c\u8bb8\u591a\u7814\u7a76\u5229\u7528\u5f3a\u5316\u5b66\u4e60\u548c \u201c\u6a21\u62df\u5230\u771f\u5b9e\u201d \u8fc1\u79fb\u6280\u672f\uff0c\u5b9e\u73b0\u673a\u5668\u4eba\u7684\u5168\u8eab\u534f\u8c03\uff0c\u4ee5\u5b8c\u6210\u5e73\u8861\u548c\u79fb\u52a8\u4efb\u52a1 [34,35,36,37,38,1]\uff1b\u53e6\u6709\u90e8\u5206\u7814\u7a76\u5728\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u6d41\u7a0b\u4e2d\u878d\u5165\u4eba\u7c7b\u52a8\u4f5c\u6570\u636e\u96c6\uff0c\u4ee5\u7b80\u5316 \u201c\u6a21\u62df\u5230\u771f\u5b9e\u201d \u7684\u8fc1\u79fb\u8fc7\u7a0b [2,39]\u3002<\/p>\n\n\n\n

\u9664\u5168\u8eab\u63a7\u5236\u5916\uff0c\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u5b66\u4e60\u4e5f\u6210\u4e3a\u4e00\u4e2a\u6d3b\u8dc3\u7684\u7814\u7a76\u65b9\u5411\u3002\u8bb8\u591a\u65b9\u6cd5\u9996\u5148\u901a\u8fc7\u865a\u62df\u73b0\u5b9e\uff08VR\uff09\u5e94\u7528\u7a0b\u5e8f\u8fdb\u884c\u9065\u64cd\u4f5c\uff0c\u91c7\u96c6\u6f14\u793a\u6570\u636e [40,41,42,43]\uff0c\u7136\u540e\u5229\u7528\u6a21\u4eff\u5b66\u4e60\u548c\u89c6\u89c9 – \u8bed\u8a00 – \u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u8bad\u7ec3\u76f8\u5e94\u7b56\u7565\uff0c\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u9ad8\u7cbe\u5ea6\u590d\u73b0\u6f14\u793a\u884c\u4e3a [44,45,2,41,42,46,47,48,49]\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u73b0\u6709\u65b9\u6cd5\u672c\u8d28\u4e0a\u53d7\u9650\u4e8e\u6240\u91c7\u96c6\u6f14\u793a\u6570\u636e\u7684\u591a\u6837\u6027 \u2014\u2014 \u8fd9\u4e9b\u6570\u636e\u5927\u591a\u96c6\u4e2d\u5728\u5c11\u91cf\u4efb\u52a1\u6216\u73af\u5883\u4e2d\u3002\u56e0\u6b64\uff0c\u9c9c\u6709\u7814\u7a76\u80fd\u5728\u591a\u6837\u5316\u4efb\u52a1\u7c7b\u522b\u4e2d\u5bf9\u4eba\u5f62\u673a\u5668\u4eba\u7b56\u7565\u8fdb\u884c\u7cfb\u7edf\u8bc4\u4f30\u3002\u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u5177\u5907\u6240\u9700\u7684\u591a\u6837\u6027\u548c\u89c4\u6a21\uff0c\u53ef\u7528\u4e8e\u8bad\u7ec3\u66f4\u7a33\u5065\u3001\u6cdb\u5316\u80fd\u529b\u66f4\u5f3a\u7684\u64cd\u4f5c\u7b56\u7565\uff1b\u540c\u65f6\uff0c\u6211\u4eec\u5bf9\u4e3b\u6d41\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u7684\u5206\u6790\u4e5f\u4e3a\u7406\u89e3\u8fd9\u4e9b\u65b9\u6cd5\u7684\u4f18\u52bf\u4e0e\u5c40\u9650\u6027\u63d0\u4f9b\u4e86\u53c2\u8003\uff0c\u6709\u52a9\u4e8e\u66f4\u9ad8\u6548\u5730\u5b66\u4e60\u548c\u6267\u884c\u590d\u6742\u884c\u4e3a\u3002<\/p>\n\n\n\n

2.3 \u673a\u5668\u4eba\u7b56\u7565\u8bc4\u4f30<\/h3>\n\n\n\n

\u9664\u4e86\u4eba\u5f62\u673a\u5668\u4eba\u6570\u636e\u96c6\u548c\u8bad\u7ec3\u65b9\u6cd5\u7684\u53ef\u7528\u6027\u5916\uff0c\u5bf9\u673a\u5668\u4eba\u7b56\u7565\u8fdb\u884c\u516c\u5e73\u8bc4\u4f30\u5bf9\u4e8e\u8861\u91cf\u7814\u7a76\u8fdb\u5c55\u3001\u786e\u4fdd\u4e0d\u540c\u7cfb\u7edf\u548c\u73af\u5883\u4e0b\u7684\u53ef\u590d\u73b0\u6027\u81f3\u5173\u91cd\u8981\u3002\u6587\u732e [50,51,44,52,53] \u5f00\u53d1\u4e86\u57fa\u51c6\u6d4b\u8bd5\u5957\u4ef6\u548c\u8bc4\u4f30\u534f\u8bae\uff0c\u5728\u53d7\u63a7\u6761\u4ef6\u4e0b\u7684\u6a21\u62df\u7cfb\u7edf\u4e2d\u8bc4\u4f30\u673a\u5668\u4eba\u6027\u80fd\u3002<\/p>\n\n\n\n

\u9664\u6a21\u62df\u8bc4\u4f30\u5916\uff0c\u5728\u771f\u5b9e\u4e16\u754c\u573a\u666f\u4e2d\u76f4\u63a5\u8bc4\u4f30\u7b56\u7565\u4e5f\u662f\u4e00\u79cd\u5e38\u89c1\u505a\u6cd5\u3002\u6587\u732e [54,55,56] \u63d0\u51fa\u4e86\u7b80\u5355\u53ef\u590d\u73b0\u7684\u771f\u5b9e\u4e16\u754c\u673a\u5668\u4eba\u8bbe\u7f6e\uff0c\u786e\u4fdd\u5728\u76f8\u4f3c\u73af\u5883\u4e0b\u8fdb\u884c\u4e00\u81f4\u7684\u7b56\u7565\u63a8\u7406\u548c\u8bc4\u4f30\u3002AutoEval [15] \u5141\u8bb8\u7528\u6237\u5728\u76f8\u540c\u7684\u6807\u51c6\u5316\u8bbe\u7f6e\u4e0b\u4e0a\u4f20\u548c\u90e8\u7f72\u4e0d\u540c\u7684\u5b66\u4e60\u7b56\u7565\uff0c\u8fdb\u884c\u81ea\u4e3b\u8bc4\u4f30\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u8fd9\u4e9b\u8bc4\u4f30\u6846\u67b6\u5927\u591a\u5c40\u9650\u4e8e\u673a\u68b0\u81c2\u5e73\u53f0\uff0c\u5e76\u672a\u6269\u5c55\u5230\u9762\u4e34\u72ec\u7279\u6311\u6218\u7684\u4eba\u5f62\u673a\u5668\u4eba\u9886\u57df\u3002\u4e3a\u586b\u8865\u8fd9\u4e00\u7a7a\u767d\uff0c\u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u63a8\u51fa\u4e86\u4e13\u4e3a\u4eba\u5f62\u673a\u5668\u4eba\u8bbe\u8ba1\u7684\u4e91\u8bc4\u4f30\u5e73\u53f0\u3002\u8be5\u5e73\u53f0\u652f\u6301\u5728\u6807\u51c6\u5316\u7684\u771f\u5b9e\u4e16\u754c\u4eba\u5f62\u673a\u5668\u4eba\u7cfb\u7edf\u4e0a\u90e8\u7f72\u7b56\u7565\uff0c\u4e3a\u4e0d\u540c\u4efb\u52a1\u548c\u7528\u6237\u63d0\u4f9b\u4e00\u81f4\u7684\u63a8\u7406\u548c\u8bc4\u4f30\u73af\u5883\uff0c\u4e3a\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u7b56\u7565\u7684\u57fa\u51c6\u6d4b\u8bd5\u63d0\u4f9b\u652f\u6301\u3002<\/p>\n\n\n\n

3 \u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\uff08Humanoid Everyday Dataset\uff09<\/h2>\n\n\n\n

\u4e3a\u652f\u6301\u4eba\u5f62\u673a\u5668\u4eba\u5728\u5404\u7c7b\u771f\u5b9e\u4e16\u754c\u4efb\u52a1\u4e2d\u7684\u64cd\u4f5c\u5b66\u4e60\u4e0e\u8bc4\u4f30\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d\u2014\u2014 \u4e00\u4e2a\u5927\u89c4\u6a21\u3001\u9ad8\u8d28\u91cf\u7684\u6570\u636e\u96c6\uff0c\u7531\u5168\u8eab\u4eba\u5f62\u673a\u5668\u4eba\u91c7\u96c6\uff0c\u6db5\u76d6\u4eba\u673a\u4ea4\u4e92\u3001\u79fb\u52a8 – \u64cd\u4f5c\u4e00\u4f53\u5316\u7b49\u591a\u6837\u5316\u4efb\u52a1\u3002\u5728 3.1 \u8282\u4e2d\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecd\u786c\u4ef6\u8bbe\u7f6e\uff08\u5305\u62ec\u7528\u4e8e\u6570\u636e\u91c7\u96c6\u7684\u4eba\u5f62\u673a\u5668\u4eba\u5e73\u53f0\u548c\u64cd\u4f5c\u754c\u9762\uff09\uff1b3.2 \u8282\u5c06\u6982\u8ff0\u6211\u4eec\u7684\u6570\u636e\u91c7\u96c6\u6d41\u7a0b\uff0c\u5e76\u8bf4\u660e\u8be5\u65b9\u6cd5\u5982\u4f55\u63d0\u5347\u6574\u4f53\u6548\u7387\uff1b\u6700\u540e\uff0c3.3 \u8282\u5c06\u4ecb\u7ecd\u6570\u636e\u96c6\u7684\u6784\u6210\u4e0e\u7ed3\u6784\u3002<\/p>\n\n\n\n

3.1 \u73af\u5883\u8bbe\u7f6e<\/h3>\n\n\n\n

\u786c\u4ef6\u8bbe\u5907<\/h4>\n\n\n\n

\u6211\u4eec\u4f7f\u7528\u4e24\u53f0\u5b87\u6811\uff08Unitree\uff09\u4eba\u5f62\u673a\u5668\u4eba\u8fdb\u884c\u6570\u636e\u91c7\u96c6\uff1a<\/p>\n\n\n\n

    \n
  • 29 \u81ea\u7531\u5ea6\uff08DoF\uff09\u7684 G1 \u673a\u5668\u4eba\uff0c\u914d\u5907 7 \u81ea\u7531\u5ea6\u4e09\u6307\u7075\u5de7\u624b\uff08Dex3-1\uff09\uff1b<\/li>\n\n\n\n
  • 27 \u81ea\u7531\u5ea6\u7684 H1 \u673a\u5668\u4eba\uff0c\u914d\u5907 6 \u81ea\u7531\u5ea6 INSPIRE \u624b\u3002<\/li>\n<\/ul>\n\n\n\n

    H1 \u548c G1 \u5747\u642d\u8f7d\u4e86\u82f1\u7279\u5c14\u5b9e\u611f\uff08Intel RealSense\uff09RGB-D \u76f8\u673a\u548c Livox \u6fc0\u5149\u96f7\u8fbe\u7cfb\u7edf\u3002\u6b64\u5916\uff0cG1 \u7684 Dex3-1 \u624b\u90e8\u914d\u5907\u4e86\u89e6\u89c9\u4f20\u611f\u5668\uff0c\u8fdb\u4e00\u6b65\u589e\u5f3a\u4e86\u6570\u636e\u96c6\u7684\u591a\u6a21\u6001\u7279\u6027\u3002<\/p>\n\n\n\n

    \u9065\u64cd\u4f5c\u754c\u9762<\/h4>\n\n\n\n

    \u64cd\u4f5c\u4eba\u5458\u4f69\u6234 Apple Vision Pro \u5934\u663e\uff0c\u901a\u8fc7\u5934\u663e\u5e95\u90e8\u7684\u6444\u50cf\u5934\u6355\u6349\u624b\u8155\u548c\u624b\u6307\u5173\u952e\u70b9\u3002\u624b\u6307\u52a8\u4f5c\u901a\u8fc7\u7075\u5de7\u624b\u91cd\u5b9a\u5411\u7cfb\u7edf\uff08dex-retargeting system\uff09[57] \u6620\u5c04\u5230\u673a\u5668\u4eba\u7684\u7075\u5de7\u624b\u4e0a\uff0c\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u5b8c\u6210\u57fa\u672c\u64cd\u4f5c\uff1b\u624b\u8155\u59ff\u6001\u5219\u901a\u8fc7\u57fa\u4e8e Pinocchio \u7684\u9006\u8fd0\u52a8\u5b66\u7b97\u6cd5 [58] \u8f6c\u6362\u4e3a\u624b\u81c2\u5173\u8282\u6307\u4ee4\uff0c\u5b9e\u73b0\u4e0a\u80a2\u7684\u5168\u8303\u56f4\u9065\u64cd\u4f5c\u3002<\/p>\n\n\n\n

    3.2 \u9ad8\u6548\u53ef\u6269\u5c55\u7684\u6570\u636e\u91c7\u96c6<\/h3>\n\n\n\n

    \u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u591a\u8fdb\u7a0b\u9065\u64cd\u4f5c\u6d41\u7a0b\uff0c\u8be5\u6d41\u7a0b\u57fa\u4e8e\u5b87\u6811\u5b98\u65b9\u9065\u64cd\u4f5c\u5e93\u8fdb\u884c\u91cd\u6784\uff0c\u663e\u8457\u63d0\u5347\u4e86\u5927\u89c4\u6a21\u3001\u9ad8\u8d28\u91cf\u4eba\u5f62\u673a\u5668\u4eba\u6570\u636e\u7684\u91c7\u96c6\u6548\u7387\u3002\u6211\u4eec\u7684\u8bbe\u8ba1\u76f4\u89c2\u4e14\u7a33\u5065\uff0c\u652f\u6301\u4f4e\u5ef6\u8fdf\u3001\u9ad8\u9891\u63a7\u5236\u7684\u9065\u64cd\u4f5c\uff0c\u540c\u65f6\u786e\u4fdd\u6570\u636e\u6d41\u7684\u540c\u6b65\u6027\u548c\u9ad8\u8d28\u91cf\u3002<\/p>\n\n\n\n

    \u4e0e\u5b87\u6811\u5b98\u65b9\u9065\u64cd\u4f5c\u811a\u672c\u4e2d\u7684\u963b\u585e\u5f0f\u540c\u6b65\u8bbe\u8ba1\u4e0d\u540c\uff0c\u6211\u4eec\u7684\u6570\u636e\u91c7\u96c6\u6d41\u7a0b\u91c7\u7528\u591a\u8fdb\u7a0b\u548c\u5f02\u6b65 IO \u8bfb\u5199\u65b9\u5f0f\uff0c\u786e\u4fdd\u9ad8\u9891\u9065\u64cd\u4f5c\u548c\u9ad8\u8d28\u91cf\u6570\u636e\u91c7\u96c6\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5982\u56fe 3 (a) \u6240\u793a\uff0c\u6211\u4eec\u5c06 IO \u6570\u636e\u3001\u9006\u8fd0\u52a8\u5b66\uff08IK\uff09\u8ba1\u7b97\u548c\u673a\u5668\u4eba\u5173\u8282\u63a7\u5236\u89e3\u8026\u5230\u4e0d\u540c\u8fdb\u7a0b\u4e2d\uff0c\u901a\u8fc7\u5171\u4eab\u5185\u5b58\u7f13\u51b2\u533a\u5b9e\u73b0\u5feb\u901f\u3001\u4f4e\u5ef6\u8fdf\u7684\u8fdb\u7a0b\u95f4\u901a\u4fe1\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4e3a\u9006\u8fd0\u52a8\u5b66\u6c42\u89e3\u5668\u5206\u914d\u4e86\u66f4\u591a\u8ba1\u7b97\u8d44\u6e90\uff0c\u4f7f\u9065\u64cd\u4f5c\u63a7\u5236\u66f4\u6d41\u7545\u3001\u9891\u7387\u66f4\u9ad8\u3002\u6b64\u5916\uff0c\u6570\u636e\u8bb0\u5f55\u548c\u4f20\u611f\u5668\u5904\u7406\u5728\u4e3b\u6d41\u7a0b\u8fdb\u7a0b\u5185\u7684\u5e76\u884c\u7ebf\u7a0b\u4e2d\u5f02\u6b65\u5904\u7406\uff0c\u786e\u4fdd\u6570\u636e\u91c7\u96c6\u65e0\u963b\u585e\u4e14\u65f6\u95f4\u5bf9\u9f50\u3002<\/p>\n\n\n\n

    \u540c\u65f6\uff0c\u6211\u4eec\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7b80\u6d01\u7684\u6570\u636e\u91c7\u96c6\u754c\u9762\uff0c\u9690\u85cf\u4e86\u7cfb\u7edf\u590d\u6742\u6027\uff1b\u5c06\u673a\u5668\u4eba\u7684\u53cc\u76ee\u7ea2\u5916\u9988\u9001\u6d41\u4f20\u8f93\u5230 VR \u5934\u663e\uff0c\u4ee5\u63d0\u5347\u64cd\u4f5c\u4eba\u5458\u7684\u573a\u666f\u611f\u77e5\u80fd\u529b\uff1b\u5e76\u652f\u6301\u5355\u6b21\u8fd0\u884c\u4e2d\u8fdb\u884c\u591a\u6b21\u8bb0\u5f55\uff0c\u65e0\u9700\u91cd\u542f\u6574\u4e2a\u7a0b\u5e8f\u3002<\/p>\n\n\n\n

    \u6240\u6709\u6570\u636e\u91c7\u96c6\u5747\u5728\u914d\u5907\u7b2c 11 \u4ee3\u82f1\u7279\u5c14 i7 CPU \u7684\u7b14\u8bb0\u672c\u7535\u8111\u4e0a\u5b8c\u6210\u3002\u5982\u56fe 3 (b) \u6240\u793a\uff0c\u4e0e\u5b87\u6811\u5b98\u65b9\u9065\u64cd\u4f5c\u7cfb\u7edf\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u6d41\u7a0b\u5c06\u6570\u636e\u91c7\u96c6\u65f6\u95f4\u7f29\u77ed\u4e86\u4e00\u534a\uff0c\u63a7\u5236\u5ef6\u8fdf\u4ece 500 \u6beb\u79d2\u964d\u81f3 2 \u6beb\u79d2\u3002\u8fd9\u4e9b\u6539\u8fdb\u51f8\u663e\u4e86\u6211\u4eec\u6d41\u7a0b\u7684\u9ad8\u6548\u6027\u548c\u53ef\u6269\u5c55\u6027\uff0c\u80fd\u591f\u5feb\u901f\u3001\u9ad8\u8d28\u91cf\u5730\u91c7\u96c6\u590d\u6742\u4eba\u5f62\u673a\u5668\u4eba\u4efb\u52a1\u7684\u6570\u636e\u3002<\/p>\n\n\n\n

    \u56fe 3\uff1a\u6570\u636e\u91c7\u96c6\u6d41\u7a0b<\/strong><\/p>\n\n\n\n

    (a) \u6211\u4eec\u5c06\u6570\u636e\u6d41\u4f20\u8f93\u3001\u6570\u636e\u5199\u5165\u3001\u673a\u5668\u4eba\u63a7\u5236\u548c\u9006\u8fd0\u52a8\u5b66\u8ba1\u7b97\u5206\u914d\u5230\u4e0d\u540c\u7684\u8fdb\u7a0b\u548c\u7ebf\u7a0b\u4e2d\uff0c\u786e\u4fdd\u53ef\u9760\u9ad8\u6548\u7684\u6570\u636e\u91c7\u96c6\uff1b<\/p>\n\n\n\n

    (b) \u6211\u4eec\u7684\u6d41\u7a0b\u5927\u5e45\u964d\u4f4e\u4e86\u63a7\u5236\u5ef6\u8fdf\uff0c\u63d0\u5347\u4e86\u6570\u636e\u91c7\u96c6\u6548\u7387\u3002<\/p>\n\n\n\n

    3.3 \u591a\u6837\u5316\u7684\u65e5\u5e38\u4eba\u5f62\u673a\u5668\u4eba\u4efb\u52a1\u96c6\u5408<\/h3>\n\n\n\n

    \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u662f\u4e00\u4e2a\u5927\u89c4\u6a21\u3001\u591a\u6837\u5316\u7684\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u4efb\u52a1\u96c6\u5408\uff0c\u5305\u542b 7 \u4e2a\u4e3b\u8981\u7c7b\u522b\uff0c\u5177\u4f53\u5982\u4e0b\uff08\u89c1\u56fe 4\uff09\uff1a<\/p>\n\n\n\n

      \n
    • \u57fa\u7840\u64cd\u4f5c\uff08Basic Manipulation\uff09\uff1a\u7269\u4f53\u7684\u57fa\u672c\u62fe\u53d6 – \u653e\u7f6e\u64cd\u4f5c\uff1b<\/li>\n\n\n\n
    • \u53ef\u53d8\u5f62\u7269\u4f53\u64cd\u4f5c\uff08Deformable Manipulation\uff09\uff1a\u4e0e\u5e03\u6599\u6216\u5176\u4ed6\u53ef\u53d8\u5f62\u7269\u4f53\u7684\u4ea4\u4e92\uff1b<\/li>\n\n\n\n
    • \u5173\u8282\u5f0f\u64cd\u4f5c\uff08Articulated Manipulation\uff09\uff1a\u64cd\u4f5c\u5e26\u94f0\u94fe\u6216\u5173\u8282\u7ed3\u6784\u7684\u7269\u4f53\uff1b<\/li>\n\n\n\n
    • \u5de5\u5177\u4f7f\u7528\uff08Tool Use\uff09\uff1a\u5229\u7528\u5916\u90e8\u5de5\u5177\u5b9e\u73b0\u76ee\u6807\uff1b<\/li>\n\n\n\n
    • \u9ad8\u7cbe\u5ea6\u64cd\u4f5c\uff08High-Precision Manipulation\uff09\uff1a\u9700\u8981\u9ad8\u7cbe\u5ea6\u5b8c\u6210\u7684\u590d\u6742\u4efb\u52a1\uff1b<\/li>\n\n\n\n
    • \u4eba\u673a\u4ea4\u4e92\uff08Human-Robot Interaction\uff09\uff1a\u4e0e\u4eba\u7c7b\u7684\u534f\u4f5c\u52a8\u4f5c\uff1b<\/li>\n\n\n\n
    • \u79fb\u52a8 – \u64cd\u4f5c\u4e00\u4f53\u5316\uff08Loco-Manipulation\uff09\uff1a\u7ed3\u5408\u79fb\u52a8\u548c\u64cd\u4f5c\u7684\u52a8\u4f5c\u3002<\/li>\n<\/ul>\n\n\n\n

      \u8fd9\u4e9b\u4efb\u52a1\u5728\u5ba4\u5185\u5916\u73af\u5883\u4e2d\u6267\u884c\uff0c\u6d89\u53ca\u4e0e\u5468\u56f4\u7269\u4f53\u7684\u590d\u6742\u4ea4\u4e92\u548c\u52a8\u6001\u573a\u666f\u3002\u6b64\u5916\uff0c\u90e8\u5206\u4efb\u52a1\u9700\u8981\u4e0b\u80a2\u79fb\u52a8\uff0c\u8fdb\u4e00\u6b65\u589e\u52a0\u4e86\u6570\u636e\u96c6\u7684\u591a\u6837\u6027\u3002\u73af\u5883\u80cc\u666f\u7684\u8fd9\u79cd\u591a\u6837\u6027\u4e30\u5bcc\u4e86\u91c7\u96c6\u5230\u7684\u6570\u636e\uff0c\u6709\u52a9\u4e8e\u5f00\u53d1\u80fd\u591f\u9002\u5e94\u4e0d\u540c\u771f\u5b9e\u4e16\u754c\u573a\u666f\u7684\u6cdb\u5316\u7b56\u7565\u3002<\/p>\n\n\n\n

      \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u5305\u542b 260 \u9879\u72ec\u7279\u4efb\u52a1\uff0c\u6bcf\u9879\u4efb\u52a1\u6709 40 \u4e2a\u7247\u6bb5\uff08episode\uff09\uff0c\u4e3a\u8bad\u7ec3\u63d0\u4f9b\u4e86\u5145\u8db3\u7684\u6570\u636e\u3002\u6211\u4eec\u901a\u8fc7\u4e30\u5bcc\u7684\u4f20\u611f\u6a21\u6001\u8bb0\u5f55\u6bcf\u4e2a\u4efb\u52a1\uff0c\u5168\u9762\u5448\u73b0\u4eba\u5f62\u673a\u5668\u4eba\u7684\u4ea4\u4e92\u8fc7\u7a0b\u3002\u6bcf\u4e2a\u7247\u6bb5\u5305\u542b RGB \u89c6\u9891\u3001\u6df1\u5ea6\u56fe\u3001\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u3001\u89e6\u89c9\u53cd\u9988\u548c\u81ea\u7136\u8bed\u8a00\u4efb\u52a1\u63cf\u8ff0\u3002\u8fd9\u79cd\u591a\u6a21\u6001\u8bbe\u8ba1\u63d0\u4f9b\u4e86\u66f4\u4e30\u5bcc\u7684\u8bad\u7ec3\u8f68\u8ff9\uff0c\u6709\u52a9\u4e8e\u5f00\u53d1\u66f4\u5177\u9002\u5e94\u6027\u548c\u73af\u5883\u611f\u77e5\u80fd\u529b\u7684\u4eba\u5f62\u673a\u5668\u4eba\u7b56\u7565\u3002<\/p>\n\n\n\n

      \u56fe 4\uff1a\u6570\u636e\u5206\u5e03<\/strong><\/p>\n\n\n\n

      \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e2d\u4efb\u52a1\u548c\u6280\u80fd\u7c7b\u522b\u7684\u5206\u5e03\u60c5\u51b5\u3002<\/p>\n\n\n\n

      4 \u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u7b56\u7565\u8bc4\u4f30<\/h2>\n\n\n\n

      \u4e3a\u5b9e\u73b0\u5bf9\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u7b56\u7565\u7684\u7cfb\u7edf\u3001\u53ef\u590d\u73b0\u8bc4\u4f30\uff0c\u6211\u4eec\u63a8\u51fa\u4e86\u4e00\u4e2a\u4e13\u4e3a\u4eba\u5f62\u673a\u5668\u4eba\u8bbe\u8ba1\u7684\u57fa\u4e8e\u4e91\u7684\u8bc4\u4f30\u5e73\u53f0\uff0c\u5982\u56fe 5 \u6240\u793a\u3002<\/p>\n\n\n\n

      \u6211\u4eec\u7684\u4e91\u8bc4\u4f30\u5e73\u53f0\u652f\u6301\u5728\u672c\u5730\u90e8\u7f72\u7684\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u8fdb\u884c\u8fdc\u7a0b\u7b56\u7565\u90e8\u7f72\uff0c\u89e3\u51b3\u4e86\u771f\u5b9e\u4e16\u754c\u7b56\u7565\u63a8\u7406\u4e2d \u201c\u786c\u4ef6\u8bbf\u95ee\u74f6\u9888\u201d \u7684\u95ee\u9898\u3002\u7814\u7a76\u4eba\u5458\u65e0\u9700\u62e5\u6709\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u5373\u53ef\u5728\u771f\u5b9e\u7684\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u6d4b\u8bd5\u81ea\u5df1\u7684\u7b56\u7565 \u2014\u2014 \u8fd9\u4e00\u8bbe\u8ba1\u5927\u5e45\u964d\u4f4e\u4e86\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u5b66\u4e60\u7814\u7a76\u7684\u95e8\u69db\uff0c\u5e76\u5b9e\u73b0\u4e86\u4e0d\u540c\u65b9\u6cd5\u548c\u7528\u6237\u95f4\u8bc4\u4f30\u6d41\u7a0b\u7684\u6807\u51c6\u5316\u3002<\/p>\n\n\n\n

      \u6211\u4eec\u91cd\u6784\u4e86 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e2d\u7684\u90e8\u5206\u4efb\u52a1\u73af\u5883\uff0c\u4ee5\u652f\u6301\u771f\u5b9e\u3001\u6807\u51c6\u5316\u7684\u8bc4\u4f30\u3002\u7814\u7a76\u4eba\u5458\u82e5\u60f3\u5728\u8be5\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u5176\u8bad\u7ec3\u7684\u7b56\u7565\uff0c\u53ea\u9700\u6307\u5b9a\u7b56\u7565\u670d\u52a1\u5668\u7684 IP \u5730\u5740\u548c\u7aef\u53e3\uff0c\u5373\u53ef\u8fde\u63a5\u5230\u5e73\u53f0\u3002\u4e4b\u540e\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u4f1a\u5c06\u6765\u81ea G1 \u6216 H1 \u673a\u5668\u4eba\u7684\u5b9e\u65f6\u89c6\u89c9\u8f93\u5165\uff08RGB \u56fe\u50cf\u548c\u6df1\u5ea6\u4fe1\u606f\uff09\u548c\u673a\u5668\u4eba\u72b6\u6001\u4fe1\u606f\u4f20\u8f93\u7ed9\u5ba2\u6237\u7aef\u3002\u7528\u6237\u53ef\u5728\u672c\u5730\u4f7f\u7528\u81ea\u5df1\u7684\u7b56\u7565\u8fdb\u884c\u63a8\u7406\uff0c\u5e76\u5c06\u751f\u6210\u7684\u52a8\u4f5c\u6307\u4ee4\u53d1\u9001\u56de\u6211\u4eec\u7684\u670d\u52a1\u5668\uff0c\u8fd9\u4e9b\u6307\u4ee4\u4f1a\u5728\u771f\u5b9e\u7684\u4eba\u5f62\u673a\u5668\u4eba\u4e0a\u5b9e\u65f6\u6267\u884c\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5c06\u673a\u5668\u4eba\u7684\u7b2c\u4e00\u89c6\u89d2 RGB \u56fe\u50cf\u3001\u6df1\u5ea6\u56fe\u50cf\u4ee5\u53ca\u7b2c\u4e09\u4eba\u79f0\u76f8\u673a\u89c6\u89d2\u6d41\u5f0f\u4f20\u8f93\u5230\u7f51\u9875\u754c\u9762\uff0c\u65b9\u4fbf\u7528\u6237\u8fdc\u7a0b\u76d1\u63a7\u4efb\u52a1\u6267\u884c\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

      \u6211\u4eec\u7684\u8bc4\u4f30\u5e73\u53f0\u6846\u67b6\u652f\u6301\u9ad8\u6548\u7684\u4eba\u5f62\u673a\u5668\u4eba\u7b56\u7565\u90e8\u7f72\u3002\u5982\u56fe 6 \u6240\u793a\uff0c\u6211\u4eec\u7684\u5728\u7ebf\u8bc4\u4f30\u7cfb\u7edf\u5728\u7535\u6c60\u8017\u5c3d\u524d\u53ef\u8fde\u7eed\u8fd0\u884c\u8d85\u8fc7 100 \u5206\u949f\uff1b\u4ec5\u56e0\u7535\u673a\u8fc7\u70ed\u9700\u8981 3 \u6b21\u4eba\u5de5\u5e72\u9884\uff0c\u5176\u4f59\u65f6\u95f4\u7cfb\u7edf\u5747\u4fdd\u6301\u8f83\u9ad8\u7684\u8bc4\u4f30\u6548\u7387\u3002\u8fd9\u79cd\u57fa\u4e8e\u4e91\u7684\u7cfb\u7edf\u652f\u6301\u5728 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e0a\u5bf9\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u7b56\u7565\u8fdb\u884c\u53ef\u590d\u73b0\u3001\u4e0e\u786c\u4ef6\u65e0\u5173\u7684\u8bc4\u4f30\u3002\u6211\u4eec\u76f8\u4fe1\uff0c\u8be5\u5e73\u53f0\u80fd\u4e3a\u65e0\u6cd5\u76f4\u63a5\u83b7\u53d6\u4eba\u5f62\u673a\u5668\u4eba\u786c\u4ef6\u7684\u7814\u7a76\u4eba\u5458\u63d0\u4f9b\u5b9e\u7528\u89e3\u51b3\u65b9\u6848\uff0c\u5e76\u4e3a\u516c\u5e73\u7684\u57fa\u51c6\u6d4b\u8bd5\u548c\u534f\u4f5c\u5f00\u53d1\u5efa\u7acb\u901a\u7528\u6d4b\u8bd5\u5e73\u53f0\u3002<\/p>\n\n\n\n

      \u56fe 5\uff1a\u8bc4\u4f30\u5e73\u53f0<\/strong><\/p>\n\n\n\n

      \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u63a8\u51fa\u4e86\u57fa\u4e8e\u4e91\u7684\u8bc4\u4f30\u5e73\u53f0\uff0c\u53ef\u5728\u771f\u5b9e\u4e16\u754c\u7684\u4eba\u5f62\u673a\u5668\u4eba\u8bbe\u7f6e\u4e0a\u8fdb\u884c\u8bc4\u4f30\u3002<\/p>\n\n\n\n

      \u56fe 6\uff1a\u4eba\u5de5\u5e72\u9884\u4e0b\u7684\u6bcf\u5206\u949f\u8bc4\u4f30\u6b65\u9aa4\u6570<\/strong><\/p>\n\n\n\n

      \u6211\u4eec\u7684\u8bc4\u4f30\u7cfb\u7edf\u5728\u7535\u6c60\u8017\u5c3d\u524d\u53ef\u8fde\u7eed\u8fd0\u884c\u8d85\u8fc7 100 \u5206\u949f\uff0c\u4ec5\u56e0\u7535\u673a\u8fc7\u70ed\u9700\u8981 3 \u6b21\u4eba\u5de5\u5e72\u9884\uff1b\u5176\u4f59\u65f6\u95f4\u7cfb\u7edf\u5747\u4fdd\u6301\u7a33\u5b9a\u7684\u9ad8\u8bc4\u4f30\u6548\u7387\u3002<\/p>\n\n\n\n

      \u4efb\u52a1\u7c7b\u522b<\/th>\u4efb\u52a1<\/th>DP<\/th>DP3<\/th>ACT<\/th>OpenVLA<\/th>\u03c0\u2080-FAST<\/th>\u03c0\u2080.5<\/th>GR00T N1.5<\/th><\/tr><\/thead>
      \u5173\u8282\u5f0f\u64cd\u4f5c<\/td>\u65cb\u8f6c\u6905\u5b50<\/td>100%<\/td>90%<\/td>100%<\/td>70%<\/td>100%<\/td>100%<\/td>100%<\/td><\/tr>
      \u5de5\u5177\u4f7f\u7528<\/td>\u7528\u6a61\u76ae\u64e6\u64e6\u62ed\u684c\u9762<\/td>0%<\/td>70%<\/td>0%<\/td>30%<\/td>40%<\/td>40%<\/td>0%<\/td><\/tr>
      \u57fa\u7840\u64cd\u4f5c<\/td>\u5c06\u997a\u5b50\u73a9\u5177\u653e\u5165\u76d8\u5b50<\/td>30%<\/td>20%<\/td>70%<\/td>30%<\/td>60%<\/td>30%<\/td>80%<\/td><\/tr>
      \u53ef\u53d8\u5f62\u7269\u4f53\u64cd\u4f5c<\/td>\u5728\u684c\u9762\u4e0a\u6298\u53e0\u6bdb\u5dfe<\/td>0%<\/td>20%<\/td>0%<\/td>40%<\/td>20%<\/td>40%<\/td>50%<\/td><\/tr>
      \u4eba\u673a\u4ea4\u4e92<\/td>\u4f20\u9012\u997a\u5b50\u73a9\u5177<\/td>40%<\/td>40%<\/td>70%<\/td>60%<\/td>30%<\/td>40%<\/td>100%<\/td><\/tr>
      \u79fb\u52a8 – \u64cd\u4f5c\u4e00\u4f53\u5316<\/td>\u8d70\u5411\u5e76\u6293\u4f4f\u95e8\u628a\u624b<\/td>30%<\/td>0%<\/td>0%<\/td>30%<\/td>10%<\/td>0%<\/td>30%<\/td><\/tr>
      \u9ad8\u7cbe\u5ea6\u64cd\u4f5c<\/td>\u5c06\u73ab\u7470\u63d2\u5165\u82b1\u74f6<\/td>0%<\/td>0%<\/td>0%<\/td>10%<\/td>0%<\/td>0%<\/td>0%<\/td><\/tr>
      \u5e73\u5747\u503c<\/td>–<\/td>29%<\/td>34%<\/td>34%<\/td>39%<\/td>37%<\/td>36%<\/td>51%<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

      \u8868 2\uff1a\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u5728 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e0a\u7684\u6210\u529f\u7387<\/strong><\/p>\n\n\n\n

      \u56fe 7\uff1a\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n

      7 \u4e2a\u4efb\u52a1\u7c7b\u522b\u7684\u4ee3\u8868\u6027\u63a8\u7406\u4efb\u52a1\u3002\u9ec4\u8272\u533a\u57df\u8868\u793a\u4efb\u52a1\u6267\u884c\u533a\u57df\uff08\u5b58\u5728\u8f7b\u5fae\u5dee\u5f02\uff09\uff0c\u7bad\u5934\u8868\u793a\u673a\u5668\u4eba\u624b\u81c2\u7684\u8fd0\u52a8\u8f68\u8ff9\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u4efb\u52a1\uff0c\u6211\u4eec\u5728 7 \u79cd\u4e0d\u540c\u7b56\u7565\u4e0b\u5404\u8fdb\u884c 10 \u6b21\u8bd5\u9a8c\u3002<\/p>\n\n\n\n

      5 \u5b9e\u9a8c<\/h2>\n\n\n\n

      5.1 \u6a21\u4eff\u5b66\u4e60\u7b56\u7565\u7684\u6027\u80fd<\/h3>\n\n\n\n

      \u4e3a\u6df1\u5165\u4e86\u89e3\u73b0\u6709\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u5728\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u573a\u666f\u4e2d\u7684\u8868\u73b0\uff0c\u6211\u4eec\u5728 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e0a\u5bf9\u591a\u79cd\u7b56\u7565\u8fdb\u884c\u4e86\u8bc4\u4f30\uff0c\u5305\u62ec\u6269\u6563\u7b56\u7565\uff08Diffusion Policy, DP\uff09[11]\u30013D \u6269\u6563\u7b56\u7565\uff083D Diffusion Policy, DP3\uff09[12]\u3001\u57fa\u4e8e Transformer \u7684\u52a8\u4f5c\u5206\u5757\u7b56\u7565\uff08Action Chunking with Transformers, ACT\uff09[13]\u3001OpenVLA [14]\u3001\u03c0\u2080-FAST [59]\u3001\u03c0\u2080.5 [60] \u548c GR00T N1.5 [61]\u3002\u6211\u4eec\u5728 30Hz \u7684\u4eba\u5f62\u673a\u5668\u4eba\u6570\u636e\u4e0a\u8bad\u7ec3\u8fd9\u4e9b\u7b56\u7565\uff0c\u76f4\u81f3\u6536\u655b\u3002\u5bf9\u4e8e\u57fa\u4e8e VLA \u7684\u7b56\u7565\uff0c\u6211\u4eec\u91c7\u7528\u4e24\u9636\u6bb5\u5fae\u8c03\u7b56\u7565\uff1a\u9996\u5148\u5728\u5b8c\u6574\u7684 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e0a\u8fdb\u884c\u5fae\u8c03\uff0c\u7136\u540e\u9488\u5bf9\u6bcf\u4e2a\u7c7b\u522b\u7684\u4efb\u52a1\u7279\u5b9a\u6570\u636e\u8fdb\u4e00\u6b65\u8c03\u6574\u6a21\u578b\u3002<\/p>\n\n\n\n

      \u6211\u4eec\u5728 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u7684\u6240\u6709 7 \u4e2a\u4efb\u52a1\u7c7b\u522b\u4e2d\u8fdb\u884c\u4e86\u5b9e\u9a8c\u3002\u6bcf\u4e2a\u4efb\u52a1\u7684\u8be6\u7ec6\u5b9e\u9a8c\u8bbe\u7f6e\u89c1\u56fe 7\u3002\u8868 2 \u5c55\u793a\u4e86\u8fd9\u4e9b\u7b56\u7565\u7684\u5b9e\u9a8c\u7ed3\u679c \u2014\u2014 \u6bcf\u79cd\u7b56\u7565\u5728 7 \u4e2a\u4efb\u52a1\u4e0a\u5404\u8fdb\u884c 10 \u6b21\u8bd5\u9a8c\u3002<\/p>\n\n\n\n

      \u603b\u4f53\u800c\u8a00\uff0c\u7531\u4e8e\u6211\u4eec\u6570\u636e\u96c6\u4e2d\u52a8\u4f5c\u7a7a\u95f4\u7684\u9ad8\u7ef4\u5ea6\uff08\u5171 28 \u4e2a\u81ea\u7531\u5ea6\uff09\uff0c\u6240\u6709\u7aef\u5230\u7aef\u6a21\u4eff\u7b56\u7565\u5728\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u4efb\u52a1\u4e2d\u90fd\u9762\u4e34\u6311\u6218\u3002\u5176\u4e2d\uff0cDP3 \u5728\u5927\u591a\u6570\u60c5\u51b5\u4e0b\u6027\u80fd\u4f18\u4e8e DP\uff0c\u6211\u4eec\u63a8\u6d4b\u8fd9\u662f\u56e0\u4e3a 3D \u70b9\u4e91\u89c2\u6d4b\u5bf9\u73af\u5883\u53d8\u5316\u5177\u6709\u66f4\u5f3a\u7684\u9c81\u68d2\u6027\u3002\u7136\u800c\uff0c\u5728 \u201c\u79fb\u52a8 – \u64cd\u4f5c\u4e00\u4f53\u5316\u201d \u4efb\u52a1\u4e2d\uff08\u673a\u5668\u4eba\u9700\u79fb\u52a8\uff0c\u4e14\u70b9\u4e91\u5728\u5e27\u95f4\u53d1\u751f\u5927\u5e45\u53d8\u5316\uff09\uff0c\u57fa\u4e8e 3D \u7684\u8f93\u5165\u4e0d\u5982 RGB \u56fe\u50cf\u53ef\u9760\uff0c\u5bfc\u81f4\u4efb\u52a1\u5931\u8d25\u3002\u53e6\u4e00\u65b9\u9762\uff0cACT \u7684\u6574\u4f53\u6027\u80fd\u8f83\u5dee\uff0c\u56e0\u4e3a\u5b83\u672a\u80fd\u6709\u6548\u6574\u5408\u89c6\u89c9\u53cd\u9988\uff0c\u4e14\u5bb9\u6613\u8fc7\u62df\u5408\u5230\u6f14\u793a\u8f68\u8ff9\uff0c\u673a\u68b0\u5730\u590d\u73b0\u52a8\u4f5c\u800c\u65e0\u6cd5\u9002\u5e94\u573a\u666f\u53d8\u5316\u3002<\/p>\n\n\n\n

      \u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5927\u578b VLA \u6a21\u578b\u5728\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u66f4\u4e00\u81f4\u3001\u66f4\u7a33\u5b9a\u7684\u6027\u80fd \u2014\u2014 \u8fd9\u5f97\u76ca\u4e8e\u9884\u8bad\u7ec3\u5148\u9a8c\u77e5\u8bc6\u63d0\u5347\u4e86\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u5c24\u5176\u5728\u9700\u8981\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\u7684 \u201c\u53ef\u53d8\u5f62\u7269\u4f53\u64cd\u4f5c\u201d \u548c \u201c\u79fb\u52a8 – \u64cd\u4f5c\u4e00\u4f53\u5316\u201d \u4efb\u52a1\u4e2d\u4f18\u52bf\u660e\u663e\u3002OpenVLA \u6ca1\u6709\u5bf9\u52a8\u4f5c\u7a7a\u95f4\u8fdb\u884c\u538b\u7f29\uff0c\u56e0\u6b64\u5728 30Hz \u9ad8\u9891\u6570\u636e\u4e0a\u8bad\u7ec3\u65f6\uff0c\u5f80\u5f80\u65e0\u6cd5\u751f\u6210\u6709\u6548\u7684\u52a8\u4f5c\uff1b\u5c06\u9891\u7387\u4e0b\u91c7\u6837\u5230 2Hz \u53ef\u7f13\u89e3\u8fd9\u4e00\u95ee\u9898\uff0c\u4f46\u751f\u6210\u7684\u52a8\u4f5c\u6d41\u7545\u5ea6\u4f1a\u4e0b\u964d\u3002\u03c0\u2080-FAST \u91c7\u7528\u57fa\u4e8e\u79bb\u6563\u4f59\u5f26\u53d8\u6362\uff08DCT\uff09\u7684 tokenizer \u8fdb\u884c\u52a8\u4f5c\u538b\u7f29\uff0c\u4f46\u4eba\u5f62\u673a\u5668\u4eba\u7684\u9ad8\u7ef4\u5ea6\u52a8\u4f5c\u65e0\u6cd5\u88ab\u5f88\u597d\u5730\u8868\u793a\uff0c\u5bfc\u81f4 token \u6570\u91cf\u8fc7\u591a\u3001\u8f93\u51fa token \u9519\u8bef\uff0c\u89e3\u7801\u8bef\u5dee\u6709\u65f6\u8fd8\u4f1a\u5bfc\u81f4\u673a\u5668\u4eba\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u505c\u6b62\u8fd0\u884c\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u5c3d\u7ba1 \u03c0\u2080.5 \u751f\u6210\u7684\u4eba\u5f62\u673a\u5668\u4eba\u52a8\u4f5c\u6bd4\u524d\u4e24\u79cd\u6a21\u578b\u66f4\u6d41\u7545\uff0c\u4f46\u5b83\u4ecd\u5bb9\u6613\u8fc7\u62df\u5408\u5230\u8f68\u8ff9\uff0c\u5ffd\u7565\u89c6\u89c9\u53cd\u9988\u3002<\/p>\n\n\n\n

      \u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cGR00T N1.5 \u603b\u4f53\u6027\u80fd\u6700\u4f73\uff0c\u8fd9\u5f88\u5927\u7a0b\u5ea6\u4e0a\u5f97\u76ca\u4e8e\u5b83\u5728\u591a\u4e2a\u5927\u89c4\u6a21\u4eba\u5f62\u673a\u5668\u4eba\u6570\u636e\u96c6\u4e0a\u7684\u5e7f\u6cdb\u9884\u8bad\u7ec3 \u2014\u2014 \u8fd9\u79cd\u9884\u8bad\u7ec3\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u5148\u9a8c\u77e5\u8bc6\uff0c\u975e\u5e38\u9002\u5408\u6211\u4eec\u591a\u6837\u5316\u7684\u64cd\u4f5c\u4efb\u52a1\u3002<\/p>\n\n\n\n

      \u5c3d\u7ba1\u5b58\u5728\u8fd9\u4e9b\u5dee\u5f02\uff0c\u6240\u6709\u6a21\u4eff\u5b66\u4e60\u7b56\u7565\u5728\u6700\u5177\u6311\u6218\u6027\u7684\u4efb\u52a1\u7c7b\u522b\uff08\u5982 \u201c\u79fb\u52a8 – \u64cd\u4f5c\u4e00\u4f53\u5316\u201d \u548c \u201c\u9ad8\u7cbe\u5ea6\u64cd\u4f5c\u201d\uff09\u4e2d\u90fd\u8868\u73b0\u4e0d\u4f73\u3002\u5728 \u201c\u5c06\u73ab\u7470\u63d2\u5165\u82b1\u74f6\u201d \u4efb\u52a1\u4e2d\uff0c\u51e0\u4e4e\u6240\u6709\u7b56\u7565\u7684\u6210\u529f\u7387\u90fd\u4e3a 0%\uff1a\u5c3d\u7ba1\u8bb8\u591a\u7b56\u7565\u80fd\u8ba9\u673a\u5668\u4eba\u62ff\u8d77\u73ab\u7470\uff0c\u4f46\u59cb\u7ec8\u65e0\u6cd5\u5c06\u7ea4\u7ec6\u7684\u82b1\u830e\u63d2\u5165\u82b1\u74f6\u3002\u8fd9\u8868\u660e\u5f53\u524d\u6a21\u578b\u7f3a\u4e4f\u7cbe\u7ec6\u7684\u89c6\u89c9\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff0c\u4e5f\u8bf4\u660e\u4eba\u5f62\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u7684\u6a21\u4eff\u5b66\u4e60\u4ecd\u9762\u4e34\u5de8\u5927\u6311\u6218\uff0c\u540c\u65f6\u4e5f\u5b58\u5728\u5e7f\u9614\u7684\u6539\u8fdb\u7a7a\u95f4\u3002<\/p>\n\n\n\n

      5.2 \u4ee5 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e3a\u5148\u9a8c\u77e5\u8bc6\u8fdb\u884c\u9884\u8bad\u7ec3<\/h3>\n\n\n\n

      \u4e3a\u9a8c\u8bc1 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u80fd\u5426\u4f5c\u4e3a\u5927\u578b\u89c6\u89c9 – \u8bed\u8a00 – \u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u7684\u6709\u6548\u9884\u8bad\u7ec3\u5148\u9a8c\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u9879\u6d88\u878d\u5b9e\u9a8c\uff0c\u6bd4\u8f83\u4e24\u79cd\u8bad\u7ec3\u7b56\u7565\uff1a\uff081\uff09\u524d\u4e00\u8282\u4ecb\u7ecd\u7684\u4e24\u9636\u6bb5\u5fae\u8c03\u6d41\u7a0b\uff1b\uff082\uff09\u4e0d\u4f7f\u7528\u8be5\u6570\u636e\u96c6\u9884\u8bad\u7ec3\uff0c\u76f4\u63a5\u8fdb\u884c\u4efb\u52a1\u7279\u5b9a\u5fae\u8c03\u3002<\/p>\n\n\n\n

      \u6211\u4eec\u9009\u62e9 \u201c\u4f20\u9012\u997a\u5b50\u73a9\u5177\u201d \u8fd9\u4e00\u4eba\u673a\u4ea4\u4e92\u4efb\u52a1\u4f5c\u4e3a\u5b9e\u9a8c\u5bf9\u8c61 \u2014\u2014 \u8be5\u4efb\u52a1\u4ee3\u8868\u4e86\u4e2d\u7b49\u96be\u5ea6\u7684\u64cd\u4f5c\u573a\u666f\uff0c\u65e2\u9700\u8981\u534f\u540c\u80fd\u529b\uff0c\u4e5f\u9700\u8981\u5bf9\u4ea4\u4e92\u52a8\u6001\u7684\u9c81\u68d2\u6027\uff0c\u540c\u65f6\u6240\u6709 VLA \u6a21\u578b\u90fd\u80fd\u5728\u8be5\u4efb\u52a1\u4e0a\u8fbe\u5230\u4e00\u5b9a\u7684\u6210\u529f\u7387\uff08\u975e\u96f6\uff09\u3002<\/p>\n\n\n\n

      \u5982\u56fe 8 \u6240\u793a\uff0c\u5728\u8fdb\u884c\u4efb\u52a1\u7279\u5b9a\u5fae\u8c03\u524d\uff0c\u5148\u5728 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e0a\u8fdb\u884c\u5fae\u8c03\uff0c\u59cb\u7ec8\u80fd\u63d0\u5347 VLA \u6a21\u578b\u7684\u6027\u80fd\u3002\u8fd9\u8868\u660e\uff0c\u63a5\u89e6\u591a\u6837\u5316\u7684\u4eba\u5f62\u673a\u5668\u4eba\u884c\u4e3a\u80fd\u4e3a\u6a21\u578b\u63d0\u4f9b\u6709\u7528\u7684\u5148\u9a8c\u77e5\u8bc6\uff0c\u52a9\u529b\u4e0b\u6e38\u64cd\u4f5c\u4efb\u52a1\u7684\u5b66\u4e60\u3002\u8fd9\u4e00\u7ed3\u679c\u4e5f\u8bf4\u660e\uff0c\u5927\u89c4\u6a21\u3001\u591a\u6837\u5316\u7684\u4eba\u5f62\u673a\u5668\u4eba\u6570\u636e\u80fd\u63d0\u5347\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u7684\u9c81\u68d2\u6027\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

      \u56fe 8\uff1a\u57fa\u4e8e \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u9884\u8bad\u7ec3\u7684\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

      \u76f4\u63a5\u4efb\u52a1\u7279\u5b9a\u5fae\u8c03\u4e0e\u57fa\u4e8e \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u7684\u4e24\u9636\u6bb5\u5fae\u8c03\u7684\u6027\u80fd\u5bf9\u6bd4\u3002<\/p>\n\n\n\n

      6 \u8ba8\u8bba\u4e0e\u7ed3\u8bba<\/h2>\n\n\n\n

      \u672c\u7814\u7a76\u63d0\u51fa\u4e86 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\uff08Humanoid Everyday\uff09\u201d\u2014\u2014 \u4e00\u4e2a\u5927\u89c4\u6a21\u3001\u591a\u6837\u5316\u7684\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u96c6\uff0c\u6db5\u76d6\u4e86\u4eba\u5f62\u673a\u5668\u4eba\u5728\u5404\u7c7b\u65e5\u5e38\u573a\u666f\u4e2d\u7684\u5168\u8eab\u79fb\u52a8\u3001\u7075\u5de7\u64cd\u4f5c\u548c\u4e30\u5bcc\u7684\u4eba\u673a\u4ea4\u4e92\u3002\u501f\u52a9\u8be5\u6570\u636e\u96c6\uff0c\u6211\u4eec\u5bf9\u73b0\u6709\u7b56\u7565\u5b66\u4e60\u65b9\u6cd5\u8fdb\u884c\u4e86\u5206\u6790\uff0c\u63ed\u793a\u4e86\u8fd9\u4e9b\u65b9\u6cd5\u5728\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u4e2d\u7684\u4f18\u52bf\u4e0e\u4e0d\u8db3\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e2a\u57fa\u4e8e\u4e91\u7684\u8bc4\u4f30\u5e73\u53f0\uff0c\u652f\u6301\u5728\u6211\u4eec\u7684\u4eba\u5f62\u673a\u5668\u4eba\u8bbe\u7f6e\u4e0a\u76f4\u63a5\u90e8\u7f72\u7b56\u7565\uff0c\u4e3a\u5168\u7403\u4eba\u5f62\u673a\u5668\u4eba\u79d1\u7814\u793e\u533a\u7684\u53ef\u590d\u73b0\u7814\u7a76\u548c\u534f\u4f5c\u8fdb\u5c55\u63d0\u4f9b\u652f\u6301\u3002\u6211\u4eec\u76f8\u4fe1\uff0c\u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u5c06\u6210\u4e3a\u63a8\u52a8\u591a\u529f\u80fd\u3001\u667a\u80fd\u4eba\u5f62\u673a\u5668\u4eba\u667a\u80fd\u4f53\u53d1\u5c55\u7684\u5b9d\u8d35\u8d44\u6e90\u3002<\/p>\n\n\n\n

      \u5c3d\u7ba1 \u201c\u4eba\u5f62\u673a\u5668\u4eba\u65e5\u5e38\u6570\u636e\u96c6\u201d \u4e3a\u4eba\u4f53\u673a\u5668\u4eba\u64cd\u4f5c\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u6570\u636e\u96c6\uff0c\u4f46\u6211\u4eec\u4ec5\u8bc4\u4f30\u4e86\u73b0\u6709\u7684\u6a21\u4eff\u5b66\u4e60\u7b56\u7565\u67b6\u6784\u3002\u8fd9\u4e9b\u57fa\u51c6\u6a21\u578b\u867d\u63d0\u4f9b\u4e86\u6709\u76ca\u89c1\u89e3\uff0c\u4f46\u5728\u66f4\u5177\u6311\u6218\u6027\u7684\u4efb\u52a1\u4e2d\uff0c\u7531\u4e8e\u4eba\u5f62\u673a\u5668\u4eba\u52a8\u4f5c\u7a7a\u95f4\u7684\u9ad8\u7ef4\u5ea6\uff0c\u5b83\u4eec\u7684\u6027\u80fd\u4f1a\u4e0b\u964d \u2014\u2014 \u8fd9\u8868\u660e\u9700\u8981\u66f4\u4e13\u95e8\u7684\u6a21\u578b\u8bbe\u8ba1\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u4e91\u8bc4\u4f30\u7cfb\u7edf\u76ee\u524d\u5c1a\u4e0d\u652f\u6301\u81ea\u52a8\u573a\u666f\u91cd\u7f6e\uff0c\u56e0\u4e3a\u5f53\u524d\u7684\u6a21\u4eff\u5b66\u4e60\u7b56\u7565\u5c1a\u672a\u8db3\u591f\u7a33\u5065\uff0c\u65e0\u6cd5\u8ba9\u4eba\u5f62\u673a\u5668\u4eba\u5728\u65e0\u4eba\u534f\u52a9\u7684\u60c5\u51b5\u4e0b\u6062\u590d\u73af\u5883\u72b6\u6001\u3002<\/p>\n\n\n\n

      \u5728\u672a\u6765\u7684\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u8ba1\u5212\u5f00\u53d1\u66f4\u7a33\u5065\u7684\u4eba\u5f62\u673a\u5668\u4eba\u7b56\u7565\uff0c\u5e76\u6269\u5c55\u8bc4\u4f30\u7cfb\u7edf\u4ee5\u652f\u6301\u81ea\u4e3b\u573a\u666f\u6062\u590d\u3002<\/p>\n\n\n\n

      \u6587\u7ae0\u6765\u6e90\uff1a<\/p>\n\n\n\n

      https:\/\/arxiv.org\/html\/2510.08807v1<\/a><\/p>\n\n\n\n

      <\/p>\n","protected":false},"excerpt":{"rendered":"

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