{"id":22719,"date":"2024-10-24T10:09:34","date_gmt":"2024-10-24T02:09:34","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=22719"},"modified":"2024-10-24T10:09:34","modified_gmt":"2024-10-24T02:09:34","slug":"%e6%9c%b1%e7%8e%89%e5%8f%af%e5%9b%a2%e9%98%9f%e6%96%b0%e4%bd%9c%ef%bc%9a%e7%9c%8b%e4%b8%80%e7%9c%bc%e5%b0%b1%e8%83%bd%e6%a8%a1%e4%bb%bf%ef%bc%8c%e5%a4%a7%e6%a8%a1%e5%9e%8b%e8%ae%a9%e6%9c%ba%e5%99%a8","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/10\/24\/22719\/","title":{"rendered":"\u6731\u7389\u53ef\u56e2\u961f\u65b0\u4f5c\uff1a\u770b\u4e00\u773c\u5c31\u80fd\u6a21\u4eff\uff0c\u5927\u6a21\u578b\u8ba9\u673a\u5668\u4eba\u8f7b\u677e\u5b66\u4f1a\u6492\u76d0"},"content":{"rendered":"<div class=\"article-desc\">\u8fd1\u65e5\uff0c\u5fb7\u514b\u8428\u65af\u5927\u5b66\u5965\u65af\u6c40\u5206\u6821\u548c NVIDIA Research \u7684\u6731\u7389\u53ef\u56e2\u961f\u516c\u5e03\u4e86\u4ed6\u4eec\u7684\u4e00\u7bc7 CoRL 2024 oral 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data-element=\"root\">\n<p>\u5728\u4eba\u5f62\u673a\u5668\u4eba\u9886\u57df\uff0c\u6709\u4e00\u4e2a\u975e\u5e38\u503c\u94b1\u7684\u95ee\u9898\uff1a\u65e2\u7136\u4eba\u5f62\u673a\u5668\u4eba\u7684\u6837\u5b50\u4e0e\u4eba\u7c7b\u7c7b\u4f3c\uff0c\u90a3\u4e48\u5b83\u4eec\u80fd\u4f7f\u7528\u7f51\u7edc\u89c6\u9891\u7b49\u6570\u636e\u8fdb\u884c\u5b66\u4e60\u548c\u8bad\u7ec3\u5417\uff1f<\/p>\n<p>\u5982\u679c\u53ef\u4ee5\uff0c\u90a3\u8003\u8651\u5230\u7f51\u7edc\u89c6\u9891\u7684\u5e9e\u5927\u89c4\u6a21\uff0c\u673a\u5668\u4eba\u5c31\u518d\u4e5f\u4e0d\u7528\u62c5\u5fc3\u6ca1\u6709\u5b66\u4e60\u8d44\u6e90\u4e86\u3002<\/p>\n<p>\u8fd1\u65e5\uff0c\u5fb7\u514b\u8428\u65af\u5927\u5b66\u5965\u65af\u6c40\u5206\u6821\u548c NVIDIA Research \u7684\u6731\u7389\u53ef\u56e2\u961f\u516c\u5e03\u4e86\u4ed6\u4eec\u7684\u4e00\u7bc7 CoRL 2024 oral \u8bba\u6587\uff0c\u5176\u4e2d\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3a OKAMI \u7684\u65b9\u6cd5\uff0c\u53ef\u57fa\u4e8e\u5355\u4e2a RGB-D 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src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/d98e7a1446b664beb4a1320fbfe7a3485d16eb.jpg\" width=\"751\" height=\"420\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/d98e7a1446b664beb4a1320fbfe7a3485d16eb.jpg 751w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/d98e7a1446b664beb4a1320fbfe7a3485d16eb-300x168.jpg 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/d98e7a1446b664beb4a1320fbfe7a3485d16eb-150x84.jpg 150w\" sizes=\"auto, (max-width: 751px) 100vw, 751px\" \/><\/p>\n<p>\u53ef\u4ee5\u770b\u5230\uff0c\u673a\u5668\u4eba\u5728\u770b\u8fc7\u4eba\u7c7b\u6f14\u793a\u8005\u5411\u888b\u5b50\u4e2d\u88c5\u4e1c\u897f\u540e\uff0c\u4e5f\u5b66\u4f1a\u4e86\u4ee5\u540c\u6837\u7684\u52a8\u4f5c\u5411\u888b\u5b50\u4e2d\u88c5\u4e1c\u897f\u3002\u4e0d\u4ec5\u5982\u6b64\uff0cOKAMI 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src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/b6c84515726e9e89d7a7005f8ef9ef573c3f67.gif\" width=\"700\" height=\"394\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" \/><\/p>\n<p><img data-dominant-color=\"867f78\" data-has-transparency=\"false\" style=\"--dominant-color: #867f78;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-22723\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/94a1eb52178abc95d9c483461ecfaac2dc5af5.gif\" width=\"700\" height=\"394\" \/>\u548c AI \u9886\u57df\u5185\u7684\u8bb8\u591a\u6280\u672f\u4e00\u6837\uff0cOKAMI \u4e5f\u662f\u4e00\u4e2a\u7f29\u5199\u8bcd\uff0c\u5168\u79f0\u662f Object-aware Kinematic retArgeting for huManoid 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loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-22725\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/837d44e85b316fa714951800d32a92016e4b17.gif\" width=\"1079\" height=\"607\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" \/><\/p>\n<p>\u56fe 2 \u5c55\u793a\u4e86\u5176\u6574\u4e2a\u5de5\u4f5c\u6d41\u7a0b\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s4.51cto.com\/oss\/202410\/24\/47e631672c699daee53104c3dc37afe0991413.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p><strong>\u95ee\u9898\u63cf\u8ff0<\/strong><\/p>\n<p>\u9996\u5148\uff0c\u8be5\u56e2\u961f\u5c06\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u4efb\u52a1\u63cf\u8ff0\u6210\u4e86\u4e00\u4e2a\u79bb\u6563\u65f6\u95f4\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b\uff0c\u5e76\u5c06\u5176\u5b9a\u4e49\u6210\u4e86\u4e00\u4e2a\u5143\u7ec4 M = (S, A, P, R, \u03b3, \u00b5)\u3002\u5176\u4e2d S 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\u53ef\u5b9e\u73b0\u8de8\u5404\u79cd\u7a7a\u95f4\u5e03\u5c40\u7684\u6cdb\u5316\u3002<\/p>\n<h4>\u5b9e\u9a8c\u53ca\u7ed3\u679c<\/h4>\n<p>\u7814\u7a76\u8005\u5728\u5b9e\u9a8c\u90e8\u5206\u4e3b\u8981\u56de\u7b54\u4e86\u4ee5\u4e0b\u56db\u4e2a\u7814\u7a76\u95ee\u9898\uff1a<\/p>\n<ol class=\"list-paddingleft-1\" data-id=\"oce3d02a-DP3hkhZ1\">\n<li data-id=\"ld70c578-iL0qkCQV\">OKAMI \u80fd\u5426\u6709\u6548\u5730\u8ba9\u4eba\u5f62\u673a\u5668\u4eba\u57fa\u4e8e\u5355\u4e2a\u4eba\u7c7b\u6f14\u793a\u89c6\u9891\u6765\u6a21\u4eff\u5404\u79cd\u64cd\u4f5c\u4efb\u52a1\uff1f<\/li>\n<li data-id=\"ld70c578-WmfpUW3n\">\u5728 OKAMI \u4e2d\uff0c\u5c06\u6f14\u793a\u8005\u7684\u8eab\u4f53\u52a8\u4f5c\u91cd\u65b0\u5b9a\u4f4d\u5230\u4eba\u5f62\u673a\u5668\u4eba\u8eab\u4e0a\u662f\u5426\u91cd\u8981\uff0c\u4ee5\u53ca\u4e3a\u4ec0\u4e48\u6ca1\u6709\u9009\u62e9\u4ec5\u6839\u636e\u7269\u4f53\u4f4d\u7f6e\u8fdb\u884c\u91cd\u65b0\u5b9a\u4f4d\uff1f<\/li>\n<li data-id=\"ld70c578-h4YWddkN\">OKAMI \u80fd\u5426\u5728\u591a\u6837\u5316\u4eba\u4f53\u7edf\u8ba1\u5b66\u7279\u5f81\u7684\u4eba\u7c7b\u6f14\u793a\u89c6\u9891\u4e2d\u59cb\u7ec8\u4fdd\u6301\u81ea\u8eab\u6027\u80fd\uff1f<\/li>\n<li data-id=\"ld70c578-0S84lYaa\">OKAMI \u751f\u6210\u7684\u5c55\u793a\uff08rollout\uff09\u662f\u5426\u53ef\u4ee5\u7528\u6765\u8bad\u7ec3\u95ed\u73af\u89c6\u89c9\u8fd0\u52a8\u7b56\u7565\uff1f<\/li>\n<\/ol>\n<p>\u4efb\u52a1\u8bbe\u8ba1\u3002\u7814\u7a76\u8005\u5728\u5b9e\u9a8c\u4e2d\u6267\u884c\u4e86\u516d\u9879\u4efb\u52a1\uff0c\u5206\u522b\u5982\u4e0b\uff1a<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s4.51cto.com\/oss\/202410\/24\/23563bd67cae8791c7a995768be0945acfa1cc.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<ol class=\"list-paddingleft-1\" data-id=\"oce3d02a-gajSd60T\">\n<li data-id=\"ld70c578-tqw6Y1w7\">\u5c06\u6bdb\u7ed2\u73a9\u5177\u653e\u5165\u7bee\u5b50\u91cc\uff08Plush-toy-in-basket\uff09<\/li>\n<li data-id=\"ld70c578-L7DcpKht\">\u5c06\u5c11\u8bb8\u76d0\u6492\u5165\u7897\u4e2d\uff08Sprinkle-salt\uff09<\/li>\n<li data-id=\"ld70c578-rs2hOyRt\">\u5173\u4e0a\u62bd\u5c49\uff08Close-the-drawer\uff09<\/li>\n<li data-id=\"ld70c578-OuVudMkJ\">\u5408\u4e0a\u7b14\u8bb0\u672c\u7535\u8111\u7684\u76d6\u5b50\uff08Close-the-laptop\uff09<\/li>\n<li data-id=\"ld70c578-huyxOuQ5\">\u5c06\u4e00\u888b\u96f6\u98df\u653e\u5728\u76d8\u5b50\u4e0a\uff08Place-snacks-on-plate\uff09<\/li>\n<li data-id=\"ld70c578-pCHpz2pa\">\u5c06\u85af\u7247\u888b\u653e\u5165\u8d2d\u7269\u888b\u4e2d\uff08Bagging\uff09<\/li>\n<\/ol>\n<p>\u786c\u4ef6\u8bbe\u7f6e\u3002\u7814\u7a76\u8005\u4f7f\u7528 Fourier GR1 \u673a\u5668\u4eba\u4f5c\u4e3a\u81ea\u5df1\u7684\u786c\u4ef6\u5e73\u53f0\uff0c\u914d\u5907\u4e86\u4e24\u4e2a 6 \u81ea\u7531\u5ea6\uff08DoF\uff09\u7684 Inspire \u7075\u5de7\u624b\u4ee5\u53ca\u4e00\u4e2a\u7528\u6765\u5f55\u5236\u89c6\u9891\u548c\u8fdb\u884c\u6d4b\u8bd5\u65f6\u89c2\u5bdf\u7684 D435i Intel RealSense \u6444\u50cf\u5934\u3002\u6b64\u5916\u8fd8\u5b9e\u73b0\u4e86\u4e00\u4e2a\u4ee5 400Hz \u8fd0\u884c\u7684\u5173\u8282\u4f4d\u7f6e\u63a7\u5236\u5668\u3002\u4e3a\u4e86\u907f\u514d\u51fa\u73b0\u6296\u52a8\uff0c\u7814\u7a76\u8005\u4ee5 40Hz \u6765\u8ba1\u7b97\u5173\u8282\u4f4d\u7f6e\u547d\u4ee4\uff0c\u5e76\u5c06\u547d\u4ee4\u63d2\u5165 400Hz \u8f68\u8ff9\u3002<\/p>\n<p>\u8bc4\u4f30\u65b9\u6848\u3002\u7814\u7a76\u8005\u9488\u5bf9\u6bcf\u9879\u4efb\u52a1\u8fd0\u884c\u4e86 12 \u6b21\u8bd5\u9a8c\u3002\u8fc7\u7a0b\u4e2d\uff0c\u7269\u4f53\u7684\u4f4d\u7f6e\u5728\u673a\u5668\u4eba\u6444\u50cf\u5934\u89c6\u91ce\u548c\u4eba\u5f62\u624b\u81c2\u53ef\u89e6\u53ca\u8303\u56f4\u7684\u4ea4\u70b9\u5185\u8fdb\u884c\u968f\u673a\u521d\u59cb\u5316\u3002<\/p>\n<p>\u57fa\u7ebf\u3002\u7814\u7a76\u8005\u5c06 OKAMI \u4e0e\u57fa\u7ebf ORION \u8fdb\u884c\u4e86\u6bd4\u8f83\u3002<\/p>\n<p><strong>\u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n<p>\u4e3a\u4e86\u56de\u7b54\u95ee\u9898 1\uff09\uff0c\u7814\u7a76\u8005\u8bc4\u4f30\u4e86 OKAMI \u5728\u6240\u6709\u4efb\u52a1\u4e2d\u7684\u7b56\u7565\uff0c\u8986\u76d6\u65e5\u5e38\u53d6\u653e\u3001\u503e\u5012\u548c\u64cd\u7eb5\u94f0\u63a5\u7269\u4f53\u7b49\u591a\u6837\u6027\u884c\u4e3a\u3002\u7ed3\u679c\u5982\u4e0b\u56fe 4\uff08a\uff09\u6240\u793a\uff0c\u5b9e\u9a8c\u4e2d\u968f\u673a\u521d\u59cb\u5316\u4e86\u7269\u4f53\u4f4d\u7f6e\uff0c\u8fd9\u6837\u505a\u8ba9\u673a\u5668\u4eba\u9700\u8981\u9002\u5e94\u7269\u4f53\u7684\u4f4d\u7f6e\u3002\u4ece\u7ed3\u679c\u6765\u770b\uff0cOKAMI \u53ef\u4ee5\u6709\u6548\u5730\u6cdb\u5316\u5230\u4e0d\u540c\u7684\u89c6\u89c9\u548c\u7a7a\u95f4\u6761\u4ef6\u3002<\/p>\n<p>\u4e3a\u4e86\u56de\u7b54\u95ee\u9898 2\uff09\uff0c\u7814\u7a76\u8005\u5728\u4e24\u9879\u4ee3\u8868\u6027\u4efb\u52a1\u4e0a\u5c06 OKAMI \u4e0e ORION \u8fdb\u884c\u6bd4\u8f83\uff0c\u5206\u522b\u662f\u5c06 Place-snacks-on-plate \u548c Close-the-laptop\u3002\u4e8c\u8005\u7684\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e ORION \u4e0d\u4ee5\u4eba\u7c7b\u8eab\u4f53\u59ff\u6001\u4e3a\u6761\u4ef6\u3002\u7ed3\u679c\u663e\u793a\uff0cOKAMI \u5728\u4e24\u9879\u4efb\u52a1\u4e0a\u5206\u522b\u5b9e\u73b0\u4e86 75.0% \u548c 83.3% \u7684\u6210\u529f\u7387\uff0c\u800c ORION \u5206\u522b\u53ea\u6709 0.0% \u548c 41.2%\uff0c\u62c9\u5f00\u4e86\u5f88\u5927\u7684\u5dee\u8ddd\u3002<\/p>\n<p>\u4e3a\u4e86\u56de\u7b54\u95ee\u9898 3\uff09\uff0c\u7814\u7a76\u8005\u8fdb\u884c\u4e86\u4e00\u9879\u53d7\u63a7\u5b9e\u9a8c\uff0c\u8bb0\u5f55\u4e86\u4e0d\u540c\u6f14\u793a\u8005\u7684\u89c6\u9891\uff0c\u5e76\u6d4b\u8bd5 OKAMI \u7b56\u7565\u662f\u5426\u5bf9\u6240\u6709\u89c6\u9891\u8f93\u5165\u90fd\u80fd\u4fdd\u6301\u826f\u597d\u7684\u6027\u80fd\u3002\u540c\u6837\u5730\uff0c\u4ed6\u4eec\u9009\u62e9\u7684\u4efb\u52a1\u662f Place-snacks-on-plate \u548c Close-the-laptop\uff0c\u7ed3\u679c\u5982\u56fe 4\uff08b\uff09\u6240\u793a\u3002<\/p>\n<p>\u603b\u4f53\u800c\u8a00\uff0cOKAMI \u80fd\u591f\u5728\u5904\u7406\u4e0d\u540c\u6f14\u793a\u8005\u7684\u89c6\u9891\u65f6\u4fdd\u6301\u76f8\u5f53\u4e0d\u9519\u7684\u6027\u80fd\uff0c\u4e0d\u8fc7\u5904\u7406\u8fd9\u7c7b\u591a\u6837\u6027\u7684\u89c6\u89c9 pipeline \u4ecd\u6709\u6539\u8fdb\u7684\u7a7a\u95f4\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s6.51cto.com\/oss\/202410\/24\/c80ba6b974f76d59a1c849fbd7b6d12e7891a9.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p><strong>\u5229\u7528 OKAMI Rollout \u6570\u636e\u5b66\u4e60\u89c6\u89c9\u8fd0\u52a8\u7b56\u7565<\/strong><\/p>\n<p>\u4e3a\u4e86\u89e3\u51b3\u95ee\u9898 4\uff09\uff0c\u7814\u7a76\u8005\u5728 OKAMI rollout \u4e0a\u8bad\u7ec3\u4e86\u795e\u7ecf\u89c6\u89c9\u8fd0\u52a8\u7b56\u7565\u3002\u4ed6\u4eec\u9996\u5148\u5728\u968f\u673a\u521d\u59cb\u5316\u7684\u7269\u4f53 rollout \u4e0a\u8fd0\u884c OKAMI\uff0c\u5e76\u5728\u6536\u96c6\u4e00\u4e2a\u5305\u542b\u6210\u529f\u8f68\u8ff9\u7684\u6570\u636e\u96c6\u540c\u65f6\u4e22\u5f03\u5931\u8d25\u7684\u8f68\u8ff9\u3002\u6b64\u5916\u4ed6\u4eec\u901a\u8fc7\u884c\u4e3a\u514b\u9686\u7b97\u6cd5\u5728\u8be5\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u795e\u7ecf\u7f51\u7edc\u7b56\u7565\uff0c\u5e76\u4e3a Sprinkle-salt \u548c Bagging \u4e24\u9879\u4efb\u52a1\u8bad\u7ec3\u89c6\u89c9\u8fd0\u52a8\u7b56\u7565\u3002<\/p>\n<p>\u4e0b\u56fe 5 \u5c55\u793a\u4e86\u8fd9\u4e9b\u7b56\u7565\u7684\u6210\u529f\u7387\uff0c\u8868\u660e OKAMI rollout \u53ef\u4ee5\u6210\u4e3a\u6709\u6548\u7684\u8bad\u7ec3\u6570\u636e\u6e90\u3002\u5e76\u4e14\uff0c\u968f\u7740\u6536\u96c6\u5230\u7684 rollout \u589e\u591a\uff0c\u5b66\u4e60\u5230\u7684\u7b56\u7565\u4f1a\u968f\u4e4b\u6539\u8fdb\u3002\u8fd9\u4e9b\u7ed3\u679c\u6709\u671b\u6269\u5c55\u6570\u636e\u6536\u96c6\u8303\u56f4\uff0c\u4ece\u800c\u65e0\u9700\u8d39\u529b\u8fdc\u7a0b\u64cd\u4f5c\u4e5f\u80fd\u5b66\u4e60\u4eba\u5f62\u673a\u5668\u4eba\u64cd\u4f5c\u6280\u80fd\u3002<\/p>\n<h4>\u5c40\u9650\u6027\u548c\u672a\u6765\u5de5\u4f5c<\/h4>\n<p>OKAMI \u867d\u5f3a\uff0c\u4f46\u4e5f\u5e76\u4e0d\u5b8c\u7f8e\uff0c\u4e0b\u9762\u5c55\u793a\u4e86\u4e24\u4e2a\u5931\u8d25\u5b9e\u4f8b\uff1a<\/p>\n<p><img data-dominant-color=\"847b6f\" data-has-transparency=\"false\" style=\"--dominant-color: #847b6f;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-22726\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/a1c4473990d55c5ee2a128f2281c72332b0f2b.gif\" width=\"618\" height=\"342\" alt=\"\u56fe\u7247\" title=\"\u56fe\u7247\" \/><\/p>\n<p><img data-dominant-color=\"766d67\" 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