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\u603b\u4e4b\u60f3\u8981\u8ba9\u4eba\u5de5\u667a\u80fd\u771f\u6b63\u5730\u5177\u5907\u4eba\u7c7b\u7ea7\u522b\u7684\u5b66\u4e60\u80fd\u529b\uff0c\u5c31\u9700\u8981\u5e2e\u52a9\u5927\u6a21\u578b\u771f\u6b63\u5730\u7406\u89e3\u6211\u4eec\u7684\u201c\u7269\u7406\u4e16\u754c\u201d\uff0c\u800c\u8fd9\u6761\u8def\u7ebf\u5c31\u88ab\u79f0\u4e3a\u201c\u4e16\u754c\u6a21\u578b\u201d<\/strong>\u3002\u6768\u7acb\u6606\u8bf4\uff1a\u201c\u4e16\u754c\u6a21\u578b\u662f\u4f60\u5bf9\u4e16\u754c\u8fd0\u884c\u65b9\u5f0f\u7684\u5fc3\u7406\u6a21\u578b\u3002\u4f60\u53ef\u4ee5\u60f3\u8c61\u4e00\u7cfb\u5217\u4f60\u53ef\u80fd\u4f1a\u91c7\u53d6\u7684\u884c\u52a8\uff0c\u800c\u4f60\u7684\u4e16\u754c\u6a21\u578b\u5c06\u4f7f\u4f60\u80fd\u591f\u9884\u6d4b\u8fd9\u4e00\u7cfb\u5217\u884c\u52a8\u4f1a\u5bf9\u4e16\u754c\u4ea7\u751f\u4ec0\u4e48\u5f71\u54cd\u3002\u201d<\/p>\n\n\n\n

\u6301\u6709\u76f8\u540c\u89c2\u70b9\u7684\u8fd8\u6709\u77e5\u540d\u534e\u4eba\u79d1\u5b66\u5bb6\u674e\u98de\u98de\u3002\u674e\u98de\u98de\u8ba4\u4e3a\u4eba\u5de5\u667a\u80fd\u4e0b\u4e00\u4e2a\u5341\u5e74\u7684\u4e3b\u8981\u6280\u672f\u65b9\u5411\uff0c\u5e94\u8be5\u662f\u5177\u5907\u7a7a\u95f4\u667a\u80fd\u7684\u201c\u4e16\u754c\u6a21\u578b\u201d\u3002\u800c\u5224\u65ad\u662f\u5426\u5177\u5907\u201c\u7a7a\u95f4\u667a\u80fd\u201d\u7684\u6807\u51c6\u662f\uff1a\u80fd\u591f\u751f\u6210\u7b26\u5408\u7269\u7406\u5b9a\u5f8b\u4e14\u7a7a\u95f4\u4e00\u81f4\u7684\u4e16\u754c\uff0c\u5904\u7406\u4ece\u56fe\u50cf\u5230\u52a8\u4f5c\u7684\u591a\u6a21\u6001\u8f93\u5165\uff0c\u5e76\u9884\u6d4b\u8fd9\u4e9b\u4e16\u754c\u5c06\u5982\u4f55\u6f14\u53d8\u6216\u4e0e\u5b83\u4eec\u4e92\u52a8\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u5f53\u7136\uff0c\u4e4b\u6240\u4ee5\u73b0\u5728\u51fa\u73b0\u4e86\u6240\u8c13\u7684\u201c\u8def\u7ebf\u4e4b\u4e89\u201d\uff0c\u5e76\u4e0d\u662f\u56e0\u4e3a\u5176\u4ed6\u5927\u6a21\u578b\u5f00\u53d1\u8005\u5e76\u4e0d\u8ba4\u540c\u201c\u4e16\u754c\u6a21\u578b\u201d\u7684\u4ef7\u503c\uff0c\u800c\u662f\u4e00\u5207\u90fd\u662f\u6709\u96be\u70b9\u7684\u3002<\/p>\n\n\n\n

\u4ece\u6570\u5b57\u4e16\u754c\u8d70\u5230\u771f\u5b9e\u4e16\u754c\uff0c\u4e00\u9879\u57fa\u672c\u80fd\u529b\u662f\u5224\u65ad\u5728\u771f\u5b9e\u4e16\u754c\u6267\u884c\u7684\u52a8\u4f5c\u3001\u5e76\u4e0e\u771f\u5b9e\u4e16\u754c\u8fdb\u884c\u4ea4\u4e92\uff0c\u76ee\u524d\u4e3b\u6d41\u7684\u5927\u6a21\u578b\u67b6\u6784\uff0c\u5373\u89c6\u89c9\u2014\u8bed\u8a00\u2014\u52a8\u4f5c\u6a21\u578b\uff08VLA\uff09\u5185\u90e8\u5b58\u5728\u7740\u65e0\u6cd5\u56de\u907f\u7684\u4e24\u4e2a\u7f3a\u9677\uff0c\u54ea\u6015\u5f15\u5165\u4e16\u754c\u6a21\u578b\u4e5f\u96be\u4ee5\u5f7b\u5e95\u89e3\u51b3\uff1a<\/p>\n\n\n\n

\u7b2c\u4e00\uff0cVLA \u901a\u5e38\u5c06\u89c6\u89c9\u8f93\u5165\u5148\u538b\u7f29\u5230\u8bed\u8a00token\u7a7a\u95f4\uff0c\u8fd9\u4e00\u8fc7\u7a0b\u5929\u7136\u4f1a\u4e22\u5931\u8fde\u7eed\u7a7a\u95f4\u4e2d\u81f3\u5173\u91cd\u8981\u7684\u51e0\u4f55\u3001\u62d3\u6251\u4e0e\u7269\u7406\u91cf\u4fe1\u606f\uff0c\u4f7f\u6a21\u578b\u96be\u4ee5\u7406\u89e3\u7cbe\u786e\u4f4d\u7f6e\u5173\u7cfb\uff0c\u4ece\u800c\u5728\u52a8\u4f5c\u63a7\u5236\u4e0a\u4ea7\u751f\u504f\u5dee\uff0c\u751a\u81f3\u8f93\u51fa\u8fdd\u80cc\u7269\u7406\u7ea6\u675f\u7684\u64cd\u4f5c\u5e8f\u5217\uff1b<\/p>\n\n\n\n

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\u53ef\u4ee5\u8bf4\uff0c\u8fd9\u4e24\u4e2a\u74f6\u9888\u5b58\u5728\u76f4\u63a5\u5bfc\u81f4AI\u5728\u7269\u7406\u7a7a\u95f4\u4e2d\u80fd\u529b\u4e25\u91cd\u4e0d\u8db3\uff0c\u4e5f\u8ba9\u5f53\u524d\u7684\u201c\u901a\u5f80AGI\u4e4b\u8def\u201d\u770b\u4e0a\u53bb\u50cf\u662f\u4e00\u4e2a\u65e0\u5e95\u6d1e<\/strong>\u3002\u4e00\u4e2a\u4fa7\u9762\u4f8b\u8bc1\u662f\uff0c\u5c31\u57282025\u5e7410\u6708\u2014\u2014\u4e5f\u5c31\u662f\u6768\u7acb\u6606\u5b98\u5ba3\u79bb\u804c\u521b\u4e1a\u7684\u4e00\u4e2a\u6708\u4e4b\u524d\u2014\u2014\u624e\u514b\u4f2f\u683c\u66fe\u7ecf\u516c\u5f00\u8868\u793a\uff0c\u4e3a\u4e86\u4fdd\u6301\u884c\u4e1a\u7ade\u4e89\u529b\uff0cMeta\u660e\u5e74\u7684\u652f\u51fa\u6210\u672c\u5c06\u8d85\u8fc71000\u4ebf\u7f8e\u5143\u3002\u8fd9\u4e2a\u8a00\u8bba\u76f4\u63a5\u5f15\u53d1\u4e86\u4eba\u4eec\u201c\u5927\u6a21\u578b\u70e7\u94b1\u201d\u7684\u7126\u8651\uff0c\u4e5f\u4e25\u91cd\u5730\u8003\u9a8c\u4e86\u6295\u8d44\u4eba\u4eec\u7684\u8010\u5fc3\uff0c10\u6708\u4e0b\u65ecMeta\u80a1\u4ef7\u66b4\u8dcc12.6%\uff0c\u5e02\u503c\u84b8\u53d1\u8fd12400\u4ebf\u7f8e\u5143\u3002<\/p>\n\n\n\n

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\"\"\/<\/figure>\n\n\n\n

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\u4ed6\u4eec\u7ed9\u51fa\u7684\u7b54\u6848\u662f\u201cVWA\u201d\uff0c\u5373Vision-World-Action\u6a21\u578b\uff0c\u662f\u4e00\u79cd\u533a\u522b\u4e8eVLA\u6a21\u578b\u7684\u5168\u65b0\u67b6\u6784<\/strong>\u3002<\/p>\n\n\n\n

\u62d3\u5143\u56e2\u961f\u8ba4\u4e3a\uff0c\u5236\u7ea6\u5f53\u524d\u5927\u6a21\u578b\u80fd\u529b\u63d0\u5347\u7684\u5173\u952e\u74f6\u9888\uff0c\u662f\u76ee\u524d\u7684\u6a21\u578b\u666e\u904d\u7f3a\u4e4f\u6cdb\u5316\u6027\u3002\u60f3\u8981\u6253\u7834\u8fd9\u4e2a\u74f6\u9888\uff0c\u5c31\u9700\u8981\u5c06\u6574\u4f53\u80fd\u529b\u89e3\u8026\u4e3a\u201c\u7269\u7406\u5efa\u6a21\u201d\u4e0e\u201c\u7a7a\u95f4\u5efa\u6a21\u201d\u4e24\u5927\u6a21\u5757\u3002\u901a\u8fc7\u8fd9\u79cd\u62c6\u5206\uff0c\u6a21\u578b\u80fd\u591f\u83b7\u5f97\u9ad8\u5ea6\u901a\u7528\u3001\u8de8\u73af\u5883\u7a33\u5b9a\u7684\u7269\u7406\u5efa\u6a21\u80fd\u529b\uff1b\u800c\u771f\u6b63\u5f71\u54cd\u6cdb\u5316\u6027\u7684\u90e8\u5206\uff0c\u4ec5\u5b58\u5728\u4e8e\u5bf9\u5177\u4f53\u573a\u666f\u7684\u7a7a\u95f4\u5efa\u6a21\u4e0a\u3002\u8fd9\u4e00\u673a\u5236\u4e0e\u4eba\u7c7b\u5728\u64cd\u63a7\u964c\u751f\u73af\u5883\u4e2d\u7684\u673a\u5668\u4eba\u65f6\u7684\u884c\u4e3a\u9ad8\u5ea6\u4e00\u81f4\uff1a\u4eba\u7c7b\u5e76\u975e\u5929\u7136\u5177\u5907\u201c\u6cdb\u5316\u6027\u201d\uff0c\u800c\u662f\u4f9d\u9760\u5728\u65b0\u73af\u5883\u4e2d\u5feb\u901f\u9002\u5e94\u7a7a\u95f4\u5e03\u5c40\u6765\u5b8c\u6210\u4efb\u52a1<\/strong>\u3002<\/p>\n\n\n\n

VWA\u6b63\u662f\u57fa\u4e8e\u8fd9\u4e2a\u601d\u8def\u6240\u8bbe\u8ba1\u3002\u4e0eVLA\u5fc5\u987b\u5c06\u89c6\u89c9\u4fe1\u606f\u538b\u7f29\u5230\u8bed\u8a00token\u7a7a\u95f4\u4e0d\u540c\uff0cVWA\u6a21\u578b\u53ef\u4ee5\u76f4\u63a5\u5728\u7269\u7406\u7a7a\u95f4\u8fdb\u884c\u63a8\u7406\u4e0e\u51b3\u7b56\uff0c\u5728\u8fde\u7eed\u7269\u7406\u7a7a\u95f4\u4e2d\u8fdb\u884c\u591a\u6b65roll-out\u3001\u9884\u6d4b\u672a\u6765\u72b6\u6001\u53d8\u6362\uff0c\u4ece\u800c\u5728\u89c4\u5212\u3001\u5b89\u5168\u8bc4\u4f30\u4e0e\u7a33\u5b9a\u63a7\u5236\u65b9\u9762\u8fc8\u51fa\u5173\u952e\u4e00\u6b65\u3002<\/p>\n\n\n\n

\u5b9e\u73b0VWA\u6a21\u578b\u67b6\u6784\u7684\u6838\u5fc3\uff0c\u5219\u662f\u62d3\u5143\u5f00\u53d1\u7684\u7269\u7406\u81ea\u56de\u5f52\u6a21\u578b\uff08Physical Autoregressive Model, PAR\uff09<\/strong>\u3002PAR\u6a21\u578b\u901a\u8fc7\u5c06\u89c6\u9891\u5e27\u4e0e\u673a\u5668\u4eba\u52a8\u4f5c\u5171\u540c\u7f16\u7801\u4e3a\u201c\u7269\u7406token\u201d\uff0c\u4f7f\u5f97\u6a21\u578b\u80fd\u591f\u4ee5\u81ea\u56de\u5f52\u65b9\u5f0f\u9010\u6b65\u9884\u6d4b\u4e0b\u4e00\u6b65\u89c6\u9891\u4e0e\u52a8\u4f5c\uff0c\u5f62\u6210\u201c\u9884\u6d4b\u2014\u6267\u884c\u2014\u518d\u9884\u6d4b\u201d\u7684\u95ed\u73af\u3002\u5c24\u4e3a\u5173\u952e\u7684\u662f\uff0cPAR\u6a21\u578b\u5728\u65e0\u9700\u8fdb\u884c\u52a8\u4f5c\u9884\u8bad\u7ec3\u7684\u524d\u63d0\u4e0b\uff0c\u5373\u53ef\u6709\u6548\u5b66\u4e60\u7269\u7406\u4e16\u754c\u7684\u52a8\u6001\u89c4\u5f8b\uff0c\u5728\u673a\u5668\u4eba\u64cd\u4f5c\u57fa\u51c6ManiSkill\u7684PushCube\u4efb\u52a1\u4e0a\u5b9e\u73b0\u4e86100%\u7684\u6210\u529f\u7387\uff0c\u5e76\u5728\u591a\u9879\u4efb\u52a1\u4e2d\u5ab2\u7f8e\u9700\u52a8\u4f5c\u9884\u8bad\u7ec3\u7684\u5f3a\u57fa\u7ebf\u6a21\u578b\u3002\u8fd9\u4e00\u6210\u679c\u663e\u8457\u63a8\u8fdb\u4e86\u4ece\u5927\u89c4\u6a21\u89c6\u9891\u9884\u8bad\u7ec3\u6a21\u578b\u5411\u771f\u5b9e\u4e16\u754c\u673a\u5668\u4eba\u64cd\u63a7\u80fd\u529b\u8fc1\u79fb\u7684\u6280\u672f\u8def\u5f84\uff0c\u4e3a\u6784\u5efa\u5177\u5907\u901a\u7528\u7269\u7406\u5e38\u8bc6\u7684\u5177\u8eab\u667a\u80fd\u5960\u5b9a\u4e86\u91cd\u8981\u57fa\u7840\u3002<\/p>\n\n\n\n

\u5176\u6b21\u5728\u5e95\u5c42\u63a8\u7406\u673a\u5236\u4e0a\uff0c\u62d3\u5143\u5f00\u53d1\u63d0\u51fa\u4e86\u5168\u65b0\u7684Tweedie Framework\uff0c\u663e\u8457\u63d0\u5347\u52a8\u4f5c\u63a7\u5236\u7684\u51c6\u786e\u6027\uff1b\u540c\u65f6\u5f15\u5165\u9ad8\u6548\u7684 Eon \u8ba1\u7b97\u673a\u5236\uff0c\u5927\u5e45\u589e\u5f3a\u6a21\u578b\u7684\u8fd0\u884c\u6548\u7387\u4e0e\u957f\u5e8f\u5217\u5efa\u6a21\u80fd\u529b\u3002\u4e24\u8005\u7ed3\u5408\uff0c\u4e3a\u6784\u5efa\u66f4\u53ef\u9760\u3001\u66f4\u667a\u80fd\u3001\u66f4\u5177\u6cdb\u5316\u80fd\u529b\u7684\u7269\u7406\u7a7a\u95f4\u667a\u80fd\u5960\u5b9a\u4e86\u575a\u5b9e\u57fa\u7840\u3002<\/p>\n\n\n\n

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