{"id":16454,"date":"2023-11-09T12:42:25","date_gmt":"2023-11-09T04:42:25","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=16454"},"modified":"2023-11-09T12:42:25","modified_gmt":"2023-11-09T04:42:25","slug":"%e6%9d%a5%e8%81%8a%e8%81%8a%e8%bf%91%e6%9c%9f%e7%81%ab%e7%88%86%e7%9a%84%e5%87%a0%e4%b8%aa%e5%a4%a7%e6%a8%a1%e5%9e%8b%e5%92%8c%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%a6%82%e5%bf%b5","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2023\/11\/09\/16454\/","title":{"rendered":"\u6765\u804a\u804a\u8fd1\u671f\u706b\u7206\u7684\u51e0\u4e2a\u5927\u6a21\u578b\u548c\u81ea\u52a8\u9a7e\u9a76\u6982\u5ff5"},"content":{"rendered":"<div><img data-dominant-color=\"298ebc\" data-has-transparency=\"false\" style=\"--dominant-color: #298ebc;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-16456\" 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scratch\u8bad\u7ec3\uff0c\u4f46\u662fLLM\u5f88\u597d\u89e3\u51b3\u4e86\u8fd9\u6837\u7684\u95ee\u9898\u3002\u4f46\u5176\u5b9e\u4e5f\u6709\u51e0\u4e2a\u5e76\u6ca1\u6709\u5f88\u597d\u89e3\u51b3\u7684\u95ee\u9898\uff1a1) \u5b8c\u6210pretrain\u4e4b\u540e\uff0c\u4e00\u5b9a\u8981\u4fdd\u7559\u8bed\u8a00\u4f5c\u4e3a\u8f93\u51fa\u7684\u63a5\u53e3\u5417\uff1f\u8fd9\u5176\u5b9e\u5728\u5f88\u591a\u4efb\u52a1\u4e2d\u5e26\u6765\u4e86\u5f88\u591a\u7684\u4e0d\u4fbf\uff0c\u4e5f\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u9020\u6210\u4e86\u5197\u4f59\u7684\u8ba1\u7b97\u91cf\u30022) LLM as agent\u7684\u505a\u6cd5\u4e0a\u4ecd\u7136\u6ca1\u6709\u514b\u670d\u73b0\u6709RL\u7c7bmodel free\u65b9\u6cd5\u7684\u672c\u8d28\u95ee\u9898\uff0c\u6240\u6709model free\u6709\u7684\u95ee\u9898\u8fd9\u6837\u7684\u65b9\u6cd5\u4ecd\u7136\u5b58\u5728\u3002\u6700\u8fd1\u4e5f\u770b\u5230\u4e00\u4e9bmodel based + LLM as 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\u900f\u89c6\u4f7f\u5f97\u8fdc\u5904\u7684\u7269\u4f53\u5bf9\u4e8e\u8bef\u5dee\u7684\u654f\u611f\u7a0b\u5ea6\u6781\u9ad8\u3002\u8fd9\u5bf9\u4e8e\u4e0b\u6e38\u9ed8\u8ba4\u5728\u4e00\u4e2a\u7b49\u8bef\u5dee\u76843D\u7a7a\u95f4\u4e2d\u5b9e\u73b0\u7684planning\u548ccontrol\u6765\u8bf4\u975e\u5e38\u4e0d\u53cb\u597d\u3002\u4f46\u662f\uff0c\u4eba\u9760\u89c6\u89c9\u5f00\u8f66\u7b49\u540c\u4e8e\u4eba\u80fd\u51c6\u786e\u4f30\u8ba13D\u8ddd\u79bb\u548c\u901f\u5ea6\u5417\uff1f\u6211\u89c9\u5f97\u8fd9\u624d\u662f\u7eaf\u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76\u9664\u4e86\u8bed\u4e49\u7406\u89e3\u4e4b\u5916\uff0c\u503c\u5f97\u6df1\u5165\u7814\u7a76\u7684representation\u7684\u95ee\u9898\u3002<\/p>\n<h4>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/h4>\n<p>\u8fd9\u4e2a\u6982\u5ff5\u662f\u6307\u4ece\u4f20\u611f\u5668\u5230\u6700\u7ec8\u8f93\u51fa\u7684\u63a7\u5236\u4fe1\u53f7\uff08\u5176\u5b9e\u6211\u8ba4\u4e3a\u4e5f\u53ef\u4ee5\u5e7f\u4e49\u5730\u5305\u62ec\u5230\u66f4\u4e0a\u6e38\u4e00\u5c42planning\u7684\u8def\u70b9\u4fe1\u606f\uff09\u4f7f\u7528\u4e00\u4e2a\u8054\u5408\u4f18\u5316\u7684\u6a21\u578b\u3002\u8fd9\u65e2\u53ef\u4ee5\u662f\u50cf\u65e9\u572880\u5e74\u4ee3\u7684ALVINN\u4e00\u6837\u8f93\u5165\u4f20\u611f\u5668\u6570\u636e\uff0c\u76f4\u63a5\u901a\u8fc7\u4e00\u4e2a\u795e\u7ecf\u7f51\u7edc\u8f93\u51fa\u63a7\u5236\u4fe1\u53f7\u7684\u76f4\u63a5\u7aef\u5230\u7aef\u65b9\u6cd5\uff0c\u4e5f\u53ef\u4ee5\u6709\u50cf\u4eca\u5e74CVPR best paper UniAD\u8fd9\u6837\u7684\u5206\u9636\u6bb5\u7aef\u5230\u7aef\u65b9\u6cd5\u3002\u4f46\u662f\u8fd9\u4e9b\u65b9\u6cd5\u7684\u4e00\u4e2a\u5171\u540c\u8981\u70b9\u90fd\u662f\u901a\u8fc7\u4e0b\u6e38\u7684\u76d1\u7763\u4fe1\u53f7\u80fd\u591f\u76f4\u63a5\u4f20\u9012\u7ed9\u5230\u4e0a\u6e38\uff0c\u800c\u4e0d\u662f\u6bcf\u4e2a\u6a21\u5757\u53ea\u6709\u81ea\u5df1\u81ea\u5b9a\u7684\u4f18\u5316\u76ee\u6807\u3002\u6574\u4f53\u6765\u8bf4\u8fd9\u662f\u6b63\u786e\u7684\u4e00\u4e2a\u601d\u8def\uff0c\u6bd5\u7adf\u6df1\u5ea6\u5b66\u4e60\u5c31\u662f\u9760\u7740\u8fd9\u6837\u7684\u8054\u5408\u4f18\u5316\u53d1\u5bb6\u7684\u3002\u4f46\u662f\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6216\u8005\u901a\u7528\u673a\u5668\u4eba\u8fd9\u79cd\u5f80\u5f80\u590d\u6742\u7a0b\u5ea6\u6781\u9ad8\uff0c\u4e14\u548c\u7269\u7406\u4e16\u754c\u6253\u4ea4\u9053\u7684\u7cfb\u7edf\u6765\u8bf4\uff0c\u5de5\u7a0b\u5b9e\u73b0\u548c\u6570\u636e\u7ec4\u7ec7\u548c\u5229\u7528\u6548\u7387\u4e0a\u90fd\u5b58\u5728\u5f88\u591a\u9700\u8981\u514b\u670d\u7684\u96be\u9898\u3002<\/p>\n<h4>Feed-Forward\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/h4>\n<p>\u8fd9\u4e2a\u6982\u5ff5\u597d\u50cf\u5f88\u5c11\u6709\u4eba\u63d0\u5230\uff0c\u4f46\u5176\u5b9e\u6211\u53d1\u73b0\u7aef\u5230\u7aef\u672c\u8eab\u7684\u5b58\u5728\u662f\u6709\u4ef7\u503c\u7684\uff0c\u4f46\u662f\u95ee\u9898\u5728\u4e8e\u5bf9\u4e8e\u89c2\u6d4b\u8fd9\u79cdFeed-Forward\u7684\u4f7f\u7528\u65b9\u5f0f\u3002\u5305\u62ec\u6211\u5728\u5185\uff0c\u5176\u5b9e\u4e4b\u524d\u4e5f\u90fd\u4f1a\u9ed8\u8ba4\u7aef\u5230\u7aef\u9a7e\u9a76\u4e00\u5b9a\u662fFeed-Forward\u5f62\u5f0f\u7684\uff0c\u56e0\u4e3a\u76ee\u524d99%\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u65b9\u6cd5\u90fd\u5047\u8bbe\u4e86\u8fd9\u6837\u7684\u7ed3\u6784\uff0c\u4e5f\u5c31\u662f\u8bf4\u6700\u7ec8\u5173\u5fc3\u7684\u8f93\u51fa\u91cf\uff08\u6bd4\u5982\u63a7\u5236\u4fe1\u53f7\uff09u = f(x)\uff0cx\u662f\u4f20\u611f\u5668\u7684\u5404\u79cd\u89c2\u6d4b\u3002\u8fd9\u91ccf\u53ef\u4ee5\u662f\u4e00\u4e2a\u5f88\u590d\u6742\u7684\u51fd\u6570\u3002\u4f46\u5176\u5b9e\uff0c\u6211\u4eec\u5728\u67d0\u4e9b\u95ee\u9898\u91cc\uff0c\u6211\u4eec\u5e0c\u671b\u80fd\u591f\u4f7f\u5f97\u6700\u7ec8\u7684\u8f93\u51fa\u91cf\u6ee1\u8db3\u6216\u63a5\u8fd1\u67d0\u4e9b\u6027\u8d28\uff0c\u8fd9\u6837Feed-Forward\u7684\u5f62\u5f0f\u4fbf\u5f88\u96be\u7ed9\u51fa\u8fd9\u6837\u7684\u4fdd\u8bc1\u3002\u6240\u4ee5\u80fd\u8fd8\u6709\u4e00\u79cd\u65b9\u5f0f\u6211\u4eec\u53ef\u4ee5\u5199\u6210u* = argmin g(u, x) s.t. h(u, x) &lt;= c \u8fd9\u6837\u7684\u7ea6\u675f\u4f18\u5316\u5f62\u5f0f\uff08\u67d0\u79cd\u610f\u4e49\u4e0a\u6765\u8bf4\uff0c\u8fd9\u4e5f\u7b97\u5f15\u5165\u4e86\u53cd\u9988\uff0c\u59d1\u4e14\u4e0d\u51c6\u786e\u5730\u53eb\u505aFeedback\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5427\uff09\u3002\u5176\u5b9e\u5728CV\u9886\u57df\u4e5f\u6709\u4e00\u4e9b\u5de5\u4f5c\u662f\u8bd5\u56fe\u5c06\u8fd9\u4e24\u8005\u7684\u4f18\u52bf\u7ed3\u5408\u8d77\u6765\uff0c\u6bd4\u5982\u6211\u6bd4\u8f83\u719f\u6089\u7684\u901a\u8fc7Implict Function\u6784\u9020\u5bfc\u6570\u7684\u65b9\u5f0f\uff0c\u8fd9\u5728\u4e4b\u524d\u7684\u6587\u7ae0\u91cc\u9762\u591a\u6b21\u63d0\u5230\u8fc7\u3002\u8fd9\u6837\u7684\u8303\u5f0f\u5176\u5b9e\u6211\u8ba4\u4e3a\u624d\u4f1a\u662f\u53d6\u4e24\u5bb6\u4e4b\u957f\u7684\u4e00\u4e2a\u5b8c\u7f8e\u7aef\u5230\u7aef\u65b9\u6848\u3002<\/p>\n<p>\u968f\u7740\u5927\u6a21\u578b\u7684\u53d1\u5c55\uff0c\u8fd9\u79cd\u76f4\u63a5\u5f0f\u7684Feed-Forward\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u65b9\u6848\u53c8\u8fce\u6765\u4e86\u4e00\u6ce2\u590d\u5174\u3002\u5927\u6a21\u578b\u5f53\u7136\u662f\u975e\u5e38\u5f3a\u5927\u7684\uff0c\u4f46\u662f\u6211\u629b\u51fa\u4e00\u4e2a\u95ee\u9898\u5e0c\u671b\u5927\u5bb6\u6765\u60f3\u60f3\uff1a\u5982\u679c\u5927\u6a21\u578b\u7aef\u5230\u7aef\u662f\u4e07\u80fd\u7684\uff0c\u90a3\u662f\u4e0d\u662f\u610f\u5473\u7740\u5927\u6a21\u578b\u5c31\u5e94\u8be5\u53ef\u4ee5\u7aef\u5230\u7aef\u4e0b\u56f4\u68cb\/\u4e94\u5b50\u68cb\u5462\uff1f\u7c7b\u4f3cAlphaGo\u7684\u8303\u5f0f\u5c31\u5e94\u8be5\u5df2\u7ecf\u6beb\u65e0\u610f\u4e49\u4e86\uff1f\u76f8\u4fe1\u5927\u5bb6\u4e5f\u90fd\u77e5\u9053\u8fd9\u4e2a\u7b54\u6848\u662f\u5426\u5b9a\u7684\u3002\u5f53\u7136\u8fd9\u79cdFeed-Forward\u7684\u65b9\u5f0f\u53ef\u4ee5\u4f5c\u4e3a\u4e00\u4e2a\u5feb\u901f\u7684\u8fd1\u4f3c\u6c42\u89e3\u5668\uff0c\u5728\u5927\u90e8\u5206\u573a\u666f\u4e0b\u53d6\u5f97\u4e0d\u9519\u7684\u7ed3\u679c\u3002<\/p>\n<p>\u4ee5\u76ee\u524d\u516c\u5f00\u4e86\u81ea\u5df1\u4f7f\u7528\u4e86Neural 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