{"id":22414,"date":"2024-09-27T10:55:10","date_gmt":"2024-09-27T02:55:10","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=22414"},"modified":"2024-09-27T10:55:10","modified_gmt":"2024-09-27T02:55:10","slug":"%e4%bb%a3%e7%a0%81%e5%8d%b3%e7%ad%96%e7%95%a5%ef%bc%9a%e5%85%b7%e8%ba%ab%e6%8e%a7%e5%88%b6%e7%9a%84%e8%af%ad%e8%a8%80%e6%a8%a1%e5%9e%8b%e7%a8%8b%e5%ba%8f","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/09\/27\/22414\/","title":{"rendered":"\u4ee3\u7801\u5373\u7b56\u7565\uff1a\u5177\u8eab\u63a7\u5236\u7684\u8bed\u8a00\u6a21\u578b\u7a0b\u5e8f"},"content":{"rendered":"<div><img data-dominant-color=\"104c8b\" data-has-transparency=\"false\" style=\"--dominant-color: #104c8b;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-22416\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/09\/565a3864313014859bd80848a9491e5351e7af-300x167-1.jpg\" width=\"300\" height=\"167\" alt=\"\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/09\/565a3864313014859bd80848a9491e5351e7af-300x167-1.jpg 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/09\/565a3864313014859bd80848a9491e5351e7af-300x167-1-150x84.jpg 150w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/div>\n<div><\/div>\n<div class=\"article-desc\">\u672c\u6587\u4ecb\u7ecd\u4ee3\u7801\u5373\u7b56\u7565\uff08CaP\uff09\uff1a\u4e00\u79cd\u4ee5\u673a\u5668\u4eba\u4e3a\u4e2d\u5fc3\u7684\u8bed\u8a00\u6a21\u578b\u751f\u6210\u7a0b\u5e8f (LMP) \u516c\u5f0f\uff0c\u53ef\u4ee5\u8868\u793a\u53cd\u5e94\u7b56\u7565\uff08\u4f8b\u5982\u963b\u6297\u63a7\u5236\u5668\uff09\u4ee5\u53ca\u57fa\u4e8e\u8def\u5f84\u70b9\u7684\u7b56\u7565\uff08\u57fa\u4e8e\u89c6\u89c9\u7684\u62fe\u53d6-\u548c-\u653e\u7f6e\u3001\u57fa\u4e8e\u8f68\u8ff9\u7684\u63a7\u5236\uff09\uff0c\u5df2\u5728\u591a\u4e2a\u771f\u5b9e\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u8fdb\u884c\u6f14\u793a\u3002<\/div>\n<div id=\"postspictures\" class=\"article-content\">\n<div id=\"container\" class=\"container am-engine\" data-v-1d7a5742=\"\" data-element=\"root\">\n<p>23\u5e745\u6708\u6765\u81ea\u8c37\u6b4c\u7684\u8bba\u6587\u201cCode as Policies: Language Model Programs for Embodied Control\u201d\u3002<\/p>\n<p class=\"js_darkmode__27\">\u7ecf\u8fc7\u4ee3\u7801\u8865\u5168\u8bad\u7ec3\u7684\u5927\u8bed\u8a00\u6a21\u578b (LLM) \uff0c\u5df2\u88ab\u8bc1\u660e\u80fd\u591f\u4ece\u6587\u6863\u5b57\u7b26\u4e32\u5408\u6210\u7b80\u5355\u7684 Python \u7a0b\u5e8f [1]\u3002\u8fd9\u4e9b\u7f16\u5199\u4ee3\u7801\u7684 LLM \u53ef\u4ee5\u91cd\u65b0\u7528\u4e8e\u7f16\u5199\u673a\u5668\u4eba\u7b56\u7565\u4ee3\u7801\uff0c\u53ea\u9700\u63d0\u4f9b\u81ea\u7136\u8bed\u8a00\u547d\u4ee4\u5373\u53ef\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u7b56\u7565\u4ee3\u7801\u53ef\u4ee5\u8868\u8fbe\u5904\u7406\u611f\u77e5\u8f93\u51fa\uff08\u4f8b\u5982\u6765\u81ea\u76ee\u6807\u68c0\u6d4b\u5668 [2]\u3001[3]\uff09\u548c\u53c2\u6570\u5316\u63a7\u5236\u539f\u8bed API \u7684\u51fd\u6570\u6216\u53cd\u9988\u5faa\u73af\u3002\u5f53\u63d0\u4f9b\u51e0\u4e2a\u793a\u4f8b\u8bed\u8a00\u547d\u4ee4\uff08\u683c\u5f0f\u5316\u4e3a\u6ce8\u91ca\uff09\u4f5c\u4e3a\u8f93\u5165\u65f6\uff0c\u7136\u540e\u63d0\u4f9b\u76f8\u5e94\u7684\u7b56\u7565\u4ee3\u7801\uff08\u901a\u8fc7\u5c11\u91cf\u63d0\u793a\uff09\uff0cLLM \u53ef\u4ee5\u63a5\u6536\u65b0\u547d\u4ee4\u5e76\u81ea\u4e3b\u91cd\u65b0\u7f16\u5199 API \u8c03\u7528\uff0c\u5206\u522b\u751f\u6210\u65b0\u7b56\u7565\u4ee3\u7801\u3002\u901a\u8fc7\u94fe\u63a5\u7ecf\u5178\u903b\u8f91\u7ed3\u6784\u5e76\u5f15\u7528\u7b2c\u4e09\u65b9\u5e93\uff08\u4f8b\u5982 NumPy\u3001Shapely\uff09\u6765\u6267\u884c\u7b97\u672f\uff0c\u4ee5\u8fd9\u79cd\u65b9\u5f0f\u4f7f\u7528\u7684 LLM \u53ef\u4ee5\u7f16\u5199\u673a\u5668\u4eba\u7b56\u7565\uff0c\u8fd9\u4e9b\u7b56\u7565 (i) \u5c55\u793a\u7a7a\u95f4\u51e0\u4f55\u63a8\u7406\uff0c(ii) \u63a8\u5e7f\u5230\u65b0\u6307\u4ee4\uff0c\u4ee5\u53ca (iii) \u6839\u636e\u4e0a\u4e0b\u6587\uff08\u5373\u884c\u4e3a\u5e38\u8bc6\uff09\u4e3a\u6a21\u7cca\u63cf\u8ff0\uff08\u201c\u66f4\u5feb\u201d\uff09\u6307\u5b9a\u7cbe\u786e\u503c\uff08\u4f8b\u5982\u901f\u5ea6\uff09\u3002<\/p>\n<p class=\"js_darkmode__32\">\u672c\u6587\u4ecb\u7ecd\u4ee3\u7801<strong>\u5373\u7b56\u7565\uff08CaP\uff09<\/strong>\uff1a\u4e00\u79cd\u4ee5\u673a\u5668\u4eba\u4e3a\u4e2d\u5fc3\u7684\u8bed\u8a00\u6a21\u578b\u751f\u6210\u7a0b\u5e8f (LMP) \u516c\u5f0f\uff0c\u53ef\u4ee5\u8868\u793a\u53cd\u5e94\u7b56\u7565\uff08\u4f8b\u5982\u963b\u6297\u63a7\u5236\u5668\uff09\u4ee5\u53ca\u57fa\u4e8e\u8def\u5f84\u70b9\u7684\u7b56\u7565\uff08\u57fa\u4e8e\u89c6\u89c9\u7684\u62fe\u53d6-\u548c-\u653e\u7f6e\u3001\u57fa\u4e8e\u8f68\u8ff9\u7684\u63a7\u5236\uff09\uff0c\u5df2\u5728\u591a\u4e2a\u771f\u5b9e\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u8fdb\u884c\u6f14\u793a\u3002\u6838\u5fc3\u662f\u63d0\u793a\u5206\u5c42\u4ee3\u7801\u751f\u6210\uff08\u9012\u5f52\u5b9a\u4e49\u672a\u5b9a\u4e49\u7684\u51fd\u6570\uff09\uff0c\u5b83\u53ef\u4ee5\u7f16\u5199\u66f4\u590d\u6742\u7684\u4ee3\u7801\uff0c\u8fd8\u53ef\u4ee5\u63d0\u9ad8\u73b0\u6709\u6280\u672f\u6c34\u5e73\uff0c\u4ee5\u89e3\u51b3 HumanEval [1] \u57fa\u51c6\u4e0a 39.8% \u7684\u95ee\u9898\u3002<\/p>\n<p class=\"js_darkmode__34\">\u5982\u56fe\u6240\u793a\uff1a\u901a\u8fc7\u7ed9\u5b9a\u793a\u4f8b\uff08\u901a\u8fc7\u5c11\u91cf\u63d0\u793a\uff09\uff0c\u673a\u5668\u4eba\u53ef\u4ee5\u4f7f\u7528\u7f16\u5199\u4ee3\u7801\u7684\u5927\u8bed\u8a00\u6a21\u578b (LLM) \u5c06\u81ea\u7136\u8bed\u8a00\u547d\u4ee4\u8f6c\u6362\u4e3a\u673a\u5668\u4eba\u7b56\u7565\u4ee3\u7801\uff0c\u8be5\u4ee3\u7801\u5904\u7406\u611f\u77e5\u8f93\u51fa\u3001\u53c2\u6570\u5316\u63a7\u5236\u539f\u8bed\u3001\u9012\u5f52\u751f\u6210\u672a\u5b9a\u4e49\u51fd\u6570\u7684\u4ee3\u7801\u5e76\u63a8\u5e7f\u5230\u65b0\u4efb\u52a1\u3002<\/p>\n<p>&nbsp;<\/p>\n<p class=\"js_darkmode__36\">\u672f\u8bed\u201c<strong>\u8bed\u8a00\u6a21\u578b\u7a0b\u5e8f\uff08LMP\uff09<\/strong>\u201d\u6307\u4ee3\u7531\u8bed\u8a00\u6a21\u578b\u751f\u6210\u5e76\u5728\u7cfb\u7edf\u4e0a\u6267\u884c\u7684\u4efb\u4f55\u7a0b\u5e8f\u3002\u8fd9\u9879\u5de5\u4f5c\u7814\u7a76<strong>\u4ee3\u7801\u5373\u7b56\u7565<\/strong>\uff0c\u8fd9\u662f\u4e00\u7c7b LMP\uff0c\u5b83\u5c06\u8bed\u8a00\u6307\u4ee4\u6620\u5c04\u5230\u4ee3\u7801\u7247\u6bb5\uff0c\u8fd9\u4e9b\u4ee3\u7801\u7247\u6bb5 (i) \u5bf9\u611f\u77e5\u8f93\u5165\u505a\u51fa\u53cd\u5e94\uff08\u5373\u6765\u81ea\u4f20\u611f\u5668\u6216\u4f20\u611f\u5668\u4e4b\u4e0a\u7684\u6a21\u5757\uff09\uff0c(ii) \u53c2\u6570\u5316\u63a7\u5236\u539f\u8bed API\uff0c\u4ee5\u53ca (iii) \u76f4\u63a5\u5728\u673a\u5668\u4eba\u4e0a\u7f16\u8bd1\u548c\u6267\u884c\uff0c\u4f8b\u5982\uff1a<\/p>\n<p>&nbsp;<\/p>\n<p class=\"js_darkmode__40\">\u8f93\u5165\u6307\u4ee4\u88ab\u683c\u5f0f\u5316\u4e3a\u6ce8\u91ca\uff08\u7eff\u8272\uff09\uff0c\u53ef\u4ee5\u7531\u4eba\u7c7b\u63d0\u4f9b\u6216\u7531\u53e6\u4e00\u4e2a LMP \u7f16\u5199\u3002LLM \u7684\u9884\u6d4b\u8f93\u51fa\uff08\u7a81\u51fa\u663e\u793a\uff09\u5e94\u4e3a\u6709\u6548\u7684 Python \u4ee3\u7801\uff0c\u7531\u81ea\u56de\u5f52\u751f\u6210 [11]\uff0c[12]\u3002LMP \u662f\u4f7f\u7528\u793a\u4f8b\u63d0\u793a\u7684\u5c11\u91cf\u6837\u672c\uff0c\u7528\u4e8e\u751f\u6210\u4e0d\u540c\u7684\u5b50\u7a0b\u5e8f\uff0c\u8fd9\u4e9b\u5b50\u7a0b\u5e8f\u53ef\u80fd\u5904\u7406\u76ee\u6807\u68c0\u6d4b\u7ed3\u679c\u3001\u6784\u5efa\u8f68\u8ff9\u6216\u5e8f\u5217\u63a7\u5236\u539f\u8bed\u3002\u53ef\u4ee5\u901a\u8fc7\u7ec4\u5408\u5df2\u77e5\u51fd\u6570\uff08\u4f8b\u5982\uff0c\u4f7f\u7528\u611f\u77e5\u6a21\u5757\u7684 get_obj_names()\uff09\u6216\u8c03\u7528\u5176\u4ed6 LMP \u5b9a\u4e49\u672a\u5b9a\u4e49\u7684\u51fd\u6570\u6765\u5206\u5c42\u751f\u6210 LMP\uff1a<\/p>\n<p>&nbsp;<\/p>\n<p class=\"js_darkmode__42\">\u5bf9\u4e8e\u65b0\u7684\u5177\u8eab\uff0c\u8fd9\u4e9b\u6d3b\u52a8\u51fd\u6570\u8c03\u7528\uff0c\u53ef\u4ee5\u7528\u8868\u793a\u667a\u4f53\u52a8\u4f5c\u7a7a\u95f4\uff08\u4f8b\u5982 set_velocity\uff09\u7684\u53ef\u7528\u63a7\u5236 API \u66ff\u6362\u3002\u5177\u6709\u8be6\u7ec6\u53d8\u91cf\u540d\u7684\u5206\u5c42\u4ee3\u7801\u751f\u6210\uff0c\u53ef\u4ee5\u770b\u4f5c\u662f\u901a\u8fc7\u51fd\u6570\u5f0f\u7f16\u7a0b\u8fdb\u884c\u601d\u7ef4\u94fe\u63d0\u793a [47] \u7684\u53d8\u578b\u3002LMP \u5b9a\u4e49\u7684\u51fd\u6570\u53ef\u4ee5\u968f\u65f6\u95f4\u7684\u63a8\u79fb\u9010\u6e10\u79ef\u7d2f\uff0c\u5176\u4e2d\u65b0\u7684 LMP \u53ef\u4ee5\u5f15\u7528\u4ee5\u524d\u6784\u5efa\u7684\u51fd\u6570\u6765\u6269\u5c55\u7b56\u7565\u903b\u8f91\u3002<\/p>\n<p class=\"js_darkmode__43\">\u8981\u6267\u884c LMP\uff0c\u9996\u5148\u68c0\u67e5\u5b83\u662f\u5426\u53ef\u4ee5\u5b89\u5168\u8fd0\u884c\uff0c\u786e\u4fdd\u6ca1\u6709 import \u8bed\u53e5\u3001\u4ee5 __ \u5f00\u5934\u7684\u7279\u6b8a\u53d8\u91cf\u6216\u5bf9 exec \u548c eval \u7684\u8c03\u7528\u3002\u7136\u540e\uff0c\u8c03\u7528 Python \u7684 exec \u51fd\u6570\uff0c\u4f7f\u7528\u4ee3\u7801\u4f5c\u4e3a\u8f93\u5165\u5b57\u7b26\u4e32\u548c\u4e24\u4e2a\u5b57\u5178\u6784\u6210\u8be5\u4ee3\u7801\u6267\u884c\u7684\u8303\u56f4\uff1a(i) global \u53d8\u91cf\uff0c\u5305\u542b\u751f\u6210\u7684\u4ee3\u7801\u53ef\u80fd\u8c03\u7528\u7684\u6240\u6709 API\uff0c\u4ee5\u53ca (ii) local \u53d8\u91cf\uff0c\u4e00\u4e2a\u7a7a\u5b57\u5178\uff0c\u5b83\u5c06\u586b\u5145\u5728 exec \u671f\u95f4\u5b9a\u4e49\u7684\u53d8\u91cf\u548c\u65b0\u51fd\u6570\u3002\u5982\u679c\u9884\u8ba1 LMP \u5c06\u8fd4\u56de\u4e00\u4e2a\u503c\uff0c\u4f1a\u5728 exec \u5b8c\u6210\u540e\u4ece local \u53d8\u91cf\u4e2d\u83b7\u53d6\u5b83\u3002<\/p>\n<p class=\"js_darkmode__44\">\u5982\u56fe\u6240\u793a<strong>\u4ee3\u7801\u5373\u7b56\u7565<\/strong>\u53ef\u4ee5\u9075\u5faa\u4e0d\u540c\u9886\u57df\u548c\u673a\u5668\u4eba\u7684\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\uff1a\u684c\u9762\u64cd\u4f5c (a)-(b)\u30012D \u5f62\u72b6\u7ed8\u5236 (c) \u4ee5\u53ca\u5728\u53a8\u623f\u4e2d\u4f7f\u7528 Everyday Robots \u673a\u5668\u4eba\u8fdb\u884c\u79fb\u52a8\u64cd\u4f5c (d)\u3002\u8be5\u65b9\u6cd5\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u4f7f\u7528\u73b0\u6210\u7684\u6a21\u578b\u548c\u5c11\u91cf\u63d0\u793a\u8fdb\u884c\u7a7a\u95f4\u51e0\u4f55\u63a8\u7406\u3001\u89e3\u6790\u76ee\u6807\u5173\u7cfb\u5e76\u5f62\u6210\u591a\u6b65\u884c\u4e3a\uff0c\u800c\u65e0\u9700\u989d\u5916\u8bad\u7ec3\u3002<\/p>\n<p>&nbsp;<\/p>\n<p class=\"js_darkmode__47\">\u5728\u673a\u5668\u4eba\u7b56\u7565\u7684\u80cc\u666f\u4e0b\uff0cLMP \u53ef\u4ee5\u6839\u636e\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u7f16\u5199\u611f\u77e5\u5230\u63a7\u5236\u7684\u53cd\u9988\u903b\u8f91\uff0c\u5176\u4e2d\u611f\u77e5\u6a21\u578b\uff08\u72b6\u6001\uff09\u7684\u9ad8\u7ea7\u8f93\u51fa\u53ef\u4ee5\u901a\u8fc7\u7f16\u7a0b\u65b9\u5f0f\u8fdb\u884c\u64cd\u4f5c\uff0c\u5e76\u7528\u4e8e\u901a\u77e5\u4f4e\u7ea7\u63a7\u5236 API\uff08\u64cd\u4f5c\uff09\u7684\u53c2\u6570\u3002\u6709\u5173\u53ef\u7528\u611f\u77e5\u548c\u63a7\u5236 API \u7684\u5148\u524d\u4fe1\u606f\u53ef\u4ee5\u901a\u8fc7\u793a\u4f8b\u548c\u63d0\u793a\u8fdb\u884c\u5f15\u5bfc\u3002\u8fd9\u4e9b API \u5c06 LMP \u201c\u63a5\u5730\u201d\u5230\u73b0\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\u7cfb\u7edf\uff0c\u611f\u77e5\u548c\u63a7\u5236\u7b97\u6cd5\u7684\u6539\u8fdb\u53ef\u4ee5\u76f4\u63a5\u63d0\u9ad8\u57fa\u4e8e LMP \u7684\u7b56\u7565\u7684\u80fd\u529b\u3002\u4f8b\u5982\uff0c\u771f\u5b9e\u4e16\u754c\u5b9e\u9a8c\u4e2d\uff0c\u7528\u6700\u8fd1\u5f00\u53d1\u7684\u3001\u73b0\u6210\u7684\u3001\u5f00\u653e\u8bcd\u6c47\u76ee\u6807\u68c0\u6d4b\u6a21\u578b\uff08\u5982 ViLD [3] \u548c MDETR [2]\uff09\u6765\u83b7\u53d6\u76ee\u6807\u4f4d\u7f6e\u548c\u8fb9\u6846\u3002<\/p>\n<p class=\"js_darkmode__48\">\u57fa\u4e8e LMP \u7684\u7b56\u7565\u6709\u4e09\u65b9\u9762\u7684\u597d\u5904\uff1a(i) \u53ef\u4ee5\u5c06\u7b56\u7565\u4ee3\u7801\u548c\u53c2\u6570\u8c03\u6574\u4e3a\uff0c\u7531\u672a\u89c1\u8fc7\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u6307\u5b9a\u7684\u65b0\u4efb\u52a1\u548c\u884c\u4e3a\uff1b(ii) \u53ef\u4ee5\u901a\u8fc7\u5f15\u5bfc\u5f00\u653e\u8bcd\u6c47\u611f\u77e5\u7cfb\u7edf\u548c\/\u6216\u663e\u7740\u6027\uff08saliency\uff09\u6a21\u578b\u63a8\u5e7f\u5230\u65b0\u76ee\u6807\u548c\u73af\u5883\uff1b(iii) \u4e0d\u9700\u8981\u4efb\u4f55\u989d\u5916\u7684\u6570\u636e\u6536\u96c6\u6216\u6a21\u578b\u8bad\u7ec3\u3002\u751f\u6210\u7684\u89c4\u5212\u548c\u7b56\u7565\u4e5f\u662f\u53ef\u89e3\u91ca\u7684\uff0c\u56e0\u4e3a\u5b83\u4eec\u4ee5\u4ee3\u7801\u8868\u793a\uff0c\u56e0\u6b64\u53ef\u4ee5\u8f7b\u677e\u4fee\u6539\u548c\u91cd\u7528\u3002\u4f7f\u7528 LMP \u8fdb\u884c\u9ad8\u7ea7\u7528\u6237\u4ea4\u4e92\u7ee7\u627f\u4e86 LLM 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class=\"js_darkmode__50\">\u79fb\u52a8\u64cd\u63a7\u5b9e\u9a8c\u7531 Everyday Robots \u7684\u673a\u5668\u4eba\u5728\u73b0\u5b9e\u4e16\u754c\u7684\u529e\u516c\u5ba4\u53a8\u623f\u4e2d\u5bfc\u822a\u548c\u4e0e\u76ee\u6807\u4ea4\u4e92\u800c\u8bbe\u7f6e\u3002\u8be5\u673a\u5668\u4eba\u6709\u4e00\u4e2a\u79fb\u52a8\u5e95\u5ea7\u548c\u4e00\u4e2a 7DoF \u81c2\u3002\u4e3a\u4e86\u5b9e\u73b0\u611f\u77e5 API\uff0c\u4e3b\u8981\u4f7f\u7528\u673a\u5668\u4eba\u4e0a\u7684 RGBD \u76f8\u673a\u4f20\u611f\u5668\u3002\u5176\u4e2d\u7684\u673a\u5668\u4eba\u5982\u56fe\u6240\u793a\u3002<\/p>\n<p>&nbsp;<\/p>\n<p class=\"js_darkmode__52\">\u4e0e\u73b0\u5b9e\u4e16\u754c\u7684\u684c\u9762\u9886\u57df\u7c7b\u4f3c\uff0c\u6784\u5efa\u4e86\u4e00\u4e2a\u6a21\u62df\u684c\u9762\u73af\u5883\uff0c\u5176\u4e2d\u914d\u5907\u4e86 Robotiq 2F85 \u5939\u722a\u7684 UR5e 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