{"id":23095,"date":"2024-11-18T11:11:05","date_gmt":"2024-11-18T03:11:05","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=23095"},"modified":"2024-11-18T11:11:05","modified_gmt":"2024-11-18T03:11:05","slug":"lecun-%e7%9a%84%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e5%88%9d%e6%ad%a5%e5%ae%9e%e7%8e%b0%ef%bc%81%e5%9f%ba%e4%ba%8e%e9%a2%84%e8%ae%ad%e7%bb%83%e8%a7%86%e8%a7%89%e7%89%b9%e5%be%81%ef%bc%8c%e7%9c%8b","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/11\/18\/23095\/","title":{"rendered":"LeCun \u7684\u4e16\u754c\u6a21\u578b\u521d\u6b65\u5b9e\u73b0\uff01\u57fa\u4e8e\u9884\u8bad\u7ec3\u89c6\u89c9\u7279\u5f81\uff0c\u770b\u4e00\u773c\u4efb\u52a1\u5c31\u80fd\u96f6\u6837\u672c\u89c4\u5212"},"content":{"rendered":"
\"\"<\/div>\n
<\/div>\n
\u8fd1\u65e5\uff0cLeCun \u56e2\u961f\u53d1\u5e03\u4e86\u4ed6\u4eec\u5728\u4e16\u754c\u6a21\u578b\u65b9\u9762\u7684\u4e00\u9879\u65b0\u7814\u7a76\u6210\u679c\uff1a\u57fa\u4e8e\u9884\u8bad\u7ec3\u7684\u89c6\u89c9\u7279\u5f81\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u53ef\u4ee5\u5b9e\u73b0\u96f6\u6837\u672c\u89c4\u5212\uff01<\/div>\n
\n
\n

\u5728 LLM \u5e94\u7528\u4e0d\u65ad\u8fed\u4ee3\u5347\u7ea7\u66f4\u65b0\u7684\u5f53\u4e0b\uff0c\u56fe\u7075\u5956\u5f97\u4e3b Yann LeCun \u5374\u4ee3\u8868\u4e86\u4e00\u80a1\u4e0d\u540c\u7684\u58f0\u97f3\u3002\u4ed6\u5728\u8bb8\u591a\u4e0d\u540c\u573a\u5408\u90fd\u53cd\u590d\u91cd\u7533\u4e86\u81ea\u5df1\u7684\u4e00\u4e2a\u89c2\u70b9\uff1a\u5f53\u524d\u7684 LLM \u6839\u672c\u65e0\u6cd5\u7406\u89e3\u4e16\u754c\u3002\u4ed6\u66fe\u8bf4\u8fc7\uff1aLLM\u300c\u7406\u89e3\u903b\u8f91\u7684\u80fd\u529b\u975e\u5e38\u6709\u9650\u2026\u2026 \u65e0\u6cd5\u7406\u89e3\u7269\u7406\u4e16\u754c\uff0c\u6ca1\u6709\u6301\u7eed\u6027\u8bb0\u5fc6\uff0c\u4e0d\u80fd\u63a8\u7406\uff08\u53ea\u8981\u63a8\u7406\u7684\u5b9a\u4e49\u662f\u5408\u7406\u7684\uff09\u3001\u4e0d\u80fd\u89c4\u5212\u3002\u300d<\/p>\n

\"\u56fe\u7247\"<\/p>\n

Yann LeCun \u6279\u8bc4 LLM \u7684\u63a8\u6587\u4e4b\u4e00<\/p>\n

\u76f8\u53cd\uff0c\u4ed6\u66f4\u6ce8\u91cd\u6240\u8c13\u7684\u4e16\u754c\u6a21\u578b\uff08World Model\uff09\uff0c\u4e5f\u5c31\u662f\u6839\u636e\u4e16\u754c\u6570\u636e\u62df\u5408\u7684\u4e00\u4e2a\u52a8\u6001\u6a21\u578b\u3002\u6bd4\u5982\u9a74\uff0c\u6b63\u662f\u6709\u4e86\u8fd9\u6837\u7684\u4e16\u754c\u6a21\u578b\uff0c\u5b83\u4eec\u624d\u80fd\u627e\u5230\u66f4\u7701\u529b\u7684\u8d1f\u91cd\u767b\u5c71\u65b9\u6cd5\u3002<\/p>\n

\"\u56fe\u7247\"<\/p>\n

\u8fd1\u65e5\uff0cLeCun \u56e2\u961f\u53d1\u5e03\u4e86\u4ed6\u4eec\u5728\u4e16\u754c\u6a21\u578b\u65b9\u9762\u7684\u4e00\u9879\u65b0\u7814\u7a76\u6210\u679c\uff1a\u57fa\u4e8e\u9884\u8bad\u7ec3\u7684\u89c6\u89c9\u7279\u5f81\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u53ef\u4ee5\u5b9e\u73b0\u96f6\u6837\u672c\u89c4\u5212\uff01\u4e5f\u5c31\u662f\u8bf4\u8be5\u6a21\u578b\u65e0\u9700\u4f9d\u8d56\u4efb\u4f55\u4e13\u5bb6\u6f14\u793a\u3001\u5956\u52b1\u5efa\u6a21\u6216\u9884\u5148\u5b66\u4e60\u7684\u9006\u5411\u6a21\u578b\u3002<\/p>\n

\"\u56fe\u7247\"<\/p>\n

    \n
  • \u8bba\u6587\u6807\u9898\uff1aDINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning<\/li>\n
  • \u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/pdf\/2411.04983v1<\/li>\n
  • \u9879\u76ee\u5730\u5740\uff1ahttps:\/\/dino-wm.github.io\/<\/li>\n<\/ul>\n

    \u8be5\u56e2\u961f\u63d0\u51fa\u7684 DINO-WM \u662f\u4e00\u79cd\u53ef\u57fa\u4e8e\u79bb\u7ebf\u7684\u8f68\u8ff9\u6570\u636e\u96c6\u6784\u5efa\u4e0e\u4efb\u52a1\u65e0\u5173\u7684\u4e16\u754c\u6a21\u578b\u7684\u7b80\u5355\u65b0\u65b9\u6cd5\u3002\u636e\u4ecb\u7ecd\uff0cDINO-WM \u662f\u57fa\u4e8e\u4e16\u754c\u7684\u7d27\u51d1\u5d4c\u5165\u5efa\u6a21\u4e16\u754c\u7684\u52a8\u6001\uff0c\u800c\u4e0d\u662f\u4f7f\u7528\u539f\u59cb\u7684\u89c2\u5bdf\u672c\u8eab\u3002<\/p>\n

    \u5bf9\u4e8e\u5d4c\u5165\uff0c\u4ed6\u4eec\u4f7f\u7528\u7684\u662f\u6765\u81ea DINOv2 \u6a21\u578b\u7684\u9884\u8bad\u7ec3\u56fe\u5757\u7279\u5f81\uff0c\u5176\u80fd\u63d0\u4f9b\u7a7a\u95f4\u7684\u548c\u4ee5\u76ee\u6807\u4e3a\u4e2d\u5fc3\u7684\u8868\u5f81\u5148\u9a8c\u3002\u8be5\u56e2\u961f\u63a8\u6d4b\uff0c\u8fd9\u79cd\u9884\u8bad\u7ec3\u7684\u8868\u5f81\u53ef\u5b9e\u73b0\u7a33\u5065\u4e14\u4e00\u81f4\u7684\u4e16\u754c\u5efa\u6a21\uff0c\u4ece\u800c\u53ef\u653e\u5bbd\u5bf9\u5177\u4f53\u4efb\u52a1\u6570\u636e\u7684\u9700\u6c42\u3002<\/p>\n

    \u6709\u4e86\u8fd9\u4e9b\u89c6\u89c9\u5d4c\u5165\u548c\u52a8\u4f5c\u540e\uff0cDINO-WM \u4f1a\u4f7f\u7528 ViT \u67b6\u6784\u6765\u9884\u6d4b\u672a\u6765\u5d4c\u5165\u3002<\/p>\n

    \"\u56fe\u7247\"<\/p>\n

    \u5b8c\u6210\u6a21\u578b\u8bad\u7ec3\u4e4b\u540e\uff0c\u5728\u89e3\u51b3\u4efb\u52a1\u65f6\uff0c\u89c4\u5212\u4f1a\u88ab\u6784\u5efa\u6210\u89c6\u89c9\u76ee\u6807\u7684\u8fbe\u6210\uff0c\u5373\u7ed9\u5b9a\u5f53\u524d\u89c2\u5bdf\u8fbe\u6210\u672a\u6765\u7684\u9884\u671f\u76ee\u6807\u3002\u7531\u4e8e DINO-WM \u7684\u9884\u6d4b\u8d28\u91cf\u5f88\u9ad8\uff0c\u4e8e\u662f\u5c31\u53ef\u4ee5\u7b80\u5355\u5730\u4f7f\u7528\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u548c\u63a8\u7406\u65f6\u95f4\u4f18\u5316\u6765\u8fbe\u6210\u671f\u671b\u7684\u76ee\u6807\uff0c\u800c\u65e0\u9700\u5728\u6d4b\u8bd5\u671f\u95f4\u4f7f\u7528\u4efb\u4f55\u989d\u5916\u4fe1\u606f\u3002<\/p>\n

    DINO \u4e16\u754c\u6a21\u578b<\/h4>\n

    \u6982\u8ff0\u548c\u95ee\u9898\u8868\u8ff0\uff1a\u8be5\u7814\u7a76\u9075\u5faa\u57fa\u4e8e\u89c6\u89c9\u7684\u63a7\u5236\u4efb\u52a1\u6846\u67b6\uff0c\u5373\u5c06\u73af\u5883\u5efa\u6a21\u4e3a\u90e8\u5206\u53ef\u89c2\u5bdf\u7684\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b \uff08POMDP\uff09\u3002POMDP \u53ef\u5b9a\u4e49\u6210\u4e00\u4e2a\u5143\u7ec4 (O, A, p)\uff0c\u5176\u4e2d O \u8868\u793a\u89c2\u5bdf\u7a7a\u95f4\uff0cA \u8868\u793a\u52a8\u4f5c\u7a7a\u95f4\u3002p (o_{t+1} | o\u2264t, a\u2264t) \u662f\u4e00\u4e2a\u8f6c\u79fb\u5206\u5e03\uff0c\u5efa\u6a21\u4e86\u73af\u5883\u7684\u52a8\u6001\uff0c\u53ef\u6839\u636e\u8fc7\u53bb\u7684\u52a8\u4f5c\u548c\u89c2\u5bdf\u9884\u6d4b\u672a\u6765\u7684\u89c2\u5bdf\u3002<\/p>\n

    \u8fd9\u9879\u7814\u7a76\u7684\u76ee\u6807\u662f\u4ece\u9884\u5148\u6536\u96c6\u7684\u79bb\u7ebf\u6570\u636e\u96c6\u4e2d\u5b66\u4e60\u4e0e\u4efb\u52a1\u65e0\u5173\u7684\u4e16\u754c\u6a21\u578b\uff0c\u7136\u540e\u5728\u6d4b\u8bd5\u65f6\u95f4\u4f7f\u7528\u8fd9\u4e9b\u4e16\u754c\u6a21\u578b\u6765\u6267\u884c\u89c6\u89c9\u63a8\u7406\u3002<\/p>\n

    \u5728\u6d4b\u8bd5\u65f6\u95f4\uff0c\u8be5\u7cfb\u7edf\u53ef\u4ece\u4e00\u4e2a\u4efb\u610f\u7684\u73af\u5883\u72b6\u6001\u5f00\u59cb\uff0c\u7136\u540e\u6839\u636e\u63d0\u4f9b\u7684\u76ee\u6807\u89c2\u5bdf\uff08RGB \u56fe\u50cf\u5f62\u5f0f\uff09\uff0c\u6267\u884c\u4e00\u7cfb\u5217\u52a8\u4f5c a_0, …, a_T\uff0c\u4f7f\u5f97\u76ee\u6807\u72b6\u6001\u5f97\u4ee5\u5b9e\u73b0\u3002<\/p>\n

    \u8be5\u65b9\u6cd5\u4e0d\u540c\u4e8e\u5728\u7ebf\u5f3a\u5316\u5b66\u4e60\u4e2d\u4f7f\u7528\u7684\u4e16\u754c\u6a21\u578b\uff0c\u5176\u76ee\u6807\u662f\u4f18\u5316\u624b\u5934\u4e00\u7ec4\u56fa\u5b9a\u4efb\u52a1\u7684\u5956\u52b1\uff1b\u4e5f\u4e0d\u540c\u4e8e\u57fa\u4e8e\u6587\u672c\u7684\u4e16\u754c\u6a21\u578b\uff0c\u5176\u76ee\u6807\u9700\u8981\u901a\u8fc7\u6587\u672c\u63d0\u793a\u8bcd\u6307\u5b9a\u3002<\/p>\n

    \u57fa\u4e8e DINO \u7684\u4e16\u754c\u6a21\u578b\uff08DINO-WM\uff09<\/h4>\n

    \"\u56fe\u7247\"<\/p>\n

    \u8be5\u56e2\u961f\u5c06\u73af\u5883\u52a8\u6001\u5efa\u6a21\u5230\u4e86\u9690\u85cf\u7a7a\u95f4\u4e2d\u3002\u66f4\u5177\u4f53\u800c\u8a00\uff0c\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u9aa4 t\uff0c\u8be5\u4e16\u754c\u6a21\u578b\u7531\u4ee5\u4e0b\u7ec4\u5206\u6784\u6210\uff1a<\/p>\n

    \"\u56fe\u7247\"<\/p>\n

    \u5176\u4e2d\uff0c\u89c2\u5bdf\u6a21\u578b\u662f\u5c06\u56fe\u50cf\u89c2\u5bdf\u7f16\u7801\u6210\u9690\u85cf\u72b6\u6001 z_t\uff0c\u800c\u8f6c\u79fb\u6a21\u578b\u5219\u662f\u4ee5\u957f\u5ea6\u4e3a H \u7684\u8fc7\u53bb\u9690\u85cf\u72b6\u6001\u5386\u53f2\u4e3a\u8f93\u5165\u3002\u89e3\u7801\u5668\u6a21\u578b\u5219\u662f\u4ee5\u9690\u85cf\u7684 z_t \u4e3a\u8f93\u5165\uff0c\u91cd\u5efa\u51fa\u56fe\u50cf\u89c2\u5bdf o_t\u3002\u8fd9\u91cc\u7684 \u03b8 \u8868\u793a\u8fd9\u4e9b\u6a21\u578b\u7684\u53c2\u6570\u3002<\/p>\n

    \u8be5\u56e2\u961f\u6307\u51fa\uff0c\u5176\u4e2d\u7684\u89e3\u7801\u5668\u662f\u53ef\u9009\u7684\uff0c\u56e0\u4e3a\u89e3\u7801\u5668\u7684\u8bad\u7ec3\u76ee\u6807\u4e0e\u8bad\u7ec3\u4e16\u754c\u6a21\u578b\u7684\u5176\u4f59\u90e8\u5206\u65e0\u5173\u3002\u8fd9\u6837\u4e00\u6765\uff0c\u5c31\u4e0d\u5fc5\u5728\u8bad\u7ec3\u548c\u6d4b\u8bd5\u671f\u95f4\u91cd\u5efa\u56fe\u50cf\u4e86\uff1b\u76f8\u6bd4\u4e8e\u5c06\u89c2\u5bdf\u6a21\u578b\u548c\u89e3\u7801\u5668\u7684\u8bad\u7ec3\u7ed3\u5408\u5728\u4e00\u8d77\u7684\u505a\u6cd5\uff0c\u8fd9\u8fd8\u80fd\u964d\u4f4e\u8ba1\u7b97\u6210\u672c\u3002<\/p>\n

    DINO-WM \u4ec5\u4f1a\u5efa\u6a21\u73af\u5883\u4e2d\u79bb\u7ebf\u8f68\u8ff9\u6570\u636e\u4e2d\u53ef\u7528\u7684\u4fe1\u606f\uff0c\u8fd9\u4e0d\u540c\u4e8e\u8fd1\u671f\u7684\u5728\u7ebf\u5f3a\u5316\u5b66\u4e60\u4e16\u754c\u6a21\u578b\u65b9\u6cd5\uff08\u8fd8\u9700\u8981\u5956\u52b1\u548c\u7ec8\u6b62\u6761\u4ef6\u7b49\u4e0e\u4efb\u52a1\u76f8\u5173\u7684\u4fe1\u606f\uff09\u3002<\/p>\n

    \u4f7f\u7528 DINO-WM \u5b9e\u73b0\u89c6\u89c9\u89c4\u5212<\/strong><\/p>\n

    \u4e3a\u4e86\u8bc4\u4f30\u4e16\u754c\u6a21\u578b\u7684\u8d28\u91cf\uff0c\u9700\u8981\u4e86\u89e3\u5176\u5728\u4e0b\u6e38\u4efb\u52a1\u4e0a\u7684\u63a8\u7406\u548c\u89c4\u5212\u80fd\u529b\u3002\u4e00\u79cd\u6807\u51c6\u7684\u8bc4\u4f30\u6307\u6807\u662f\u5728\u6d4b\u8bd5\u65f6\u95f4\u4f7f\u7528\u4e16\u754c\u6a21\u578b\u6267\u884c\u8f68\u8ff9\u4f18\u5316\u5e76\u6d4b\u91cf\u5176\u6027\u80fd\u3002\u867d\u7136\u89c4\u5212\u65b9\u6cd5\u672c\u8eab\u76f8\u5f53\u6807\u51c6\uff0c\u4f46\u5b83\u53ef\u4ee5\u4f5c\u4e3a\u4e00\u79cd\u5c55\u73b0\u4e16\u754c\u6a21\u578b\u8d28\u91cf\u7684\u624b\u6bb5\u3002<\/p>\n

    \u4e3a\u6b64\uff0c\u8be5\u56e2\u961f\u4f7f\u7528 DINO-WM \u6267\u884c\u4e86\u8fd9\u6837\u7684\u64cd\u4f5c\uff1a\u4ee5\u5f53\u524d\u89c2\u5bdf o_0 \u548c\u76ee\u6807\u89c2\u5bdf o_g\uff08\u90fd\u662f RGB \u56fe\u50cf\uff09\u4e3a\u8f93\u5165\uff0c\u89c4\u5212\u4fbf\u662f\u641c\u7d22\u80fd\u4f7f\u667a\u80fd\u4f53\u5230\u8fbe o_g \u7684\u4e00\u4e2a\u52a8\u4f5c\u5e8f\u5217\u3002\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e00\u70b9\uff0c\u8be5\u56e2\u961f\u4f7f\u7528\u4e86\u6a21\u578b\u9884\u6d4b\u6027\u63a7\u5236\uff08MPC\uff09\uff0c\u5373\u901a\u8fc7\u8003\u8651\u672a\u6765\u52a8\u4f5c\u7684\u7ed3\u679c\u6765\u4fc3\u8fdb\u89c4\u5212\u3002<\/p>\n

    \u4e3a\u4e86\u4f18\u5316\u6bcf\u6b21\u8fed\u4ee3\u7684\u52a8\u4f5c\u5e8f\u5217\uff0c\u8be5\u56e2\u961f\u8fd8\u4f7f\u7528\u4e86\u4e00\u79cd\u968f\u673a\u4f18\u5316\u7b97\u6cd5\uff1a\u4ea4\u53c9\u71b5\u65b9\u6cd5\uff08CEM\uff09\u3002\u5176\u89c4\u5212\u6210\u672c\u5b9a\u4e49\u4e3a\u5f53\u524d\u9690\u85cf\u72b6\u6001\u4e0e\u76ee\u6807\u9690\u85cf\u72b6\u6001\u4e4b\u95f4\u7684\u5747\u65b9\u8bef\u5dee\uff08MSE\uff09\uff0c\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n

    \"\u56fe\u7247\"<\/p>\n

    \u5b9e\u9a8c<\/h4>\n

    \u8be5\u56e2\u961f\u57fa\u4e8e\u4ee5\u4e0b\u56db\u4e2a\u5173\u952e\u95ee\u9898\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff1a<\/p>\n

      \n
    • \u80fd\u5426\u4f7f\u7528\u9884\u5148\u6536\u96c6\u7684\u79bb\u7ebf\u6570\u636e\u96c6\u6709\u6548\u5730\u8bad\u7ec3 DINO-WM\uff1f<\/li>\n
    • \u8bad\u7ec3\u5b8c\u6210\u540e\uff0cDINO-WM \u53ef\u4ee5\u7528\u4e8e\u89c6\u89c9\u89c4\u5212\u5417\uff1f<\/li>\n
    • \u4e16\u754c\u6a21\u578b\u7684\u8d28\u91cf\u5728\u591a\u5927\u7a0b\u5ea6\u4e0a\u53d6\u51b3\u4e8e\u9884\u8bad\u7ec3\u7684\u89c6\u89c9\u8868\u5f81\uff1f<\/li>\n
    • DINO-WM \u662f\u5426\u53ef\u4ee5\u6cdb\u5316\u5230\u65b0\u7684\u914d\u7f6e\uff0c\u4f8b\u5982\u4e0d\u540c\u7684\u7a7a\u95f4\u5e03\u5c40\u548c\u7269\u4f53\u6392\u5217\u65b9\u5f0f\uff1f<\/li>\n<\/ul>\n

      \u4e3a\u4e86\u89e3\u7b54\u8fd9\u4e9b\u95ee\u9898\uff0c\u8be5\u56e2\u961f\u5728 5 \u4e2a\u73af\u5883\u5957\u4ef6\uff08Point Maze\u3001Push-T\u3001Wall\u3001Rope Manipulation\u3001Granular Manipulation\uff09\u4e2d\u8bad\u7ec3\u548c\u8bc4\u4f30\u4e86 DINO-WM\uff0c\u5e76\u5c06\u5176\u4e0e\u591a\u79cd\u5728\u9690\u85cf\u7a7a\u95f4\u548c\u539f\u59cb\u50cf\u7d20\u7a7a\u95f4\u4e2d\u5efa\u6a21\u4e16\u754c\u7684\u4e16\u754c\u6a21\u578b\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002<\/p>\n

      \u4f7f\u7528 DINO-WM \u4f18\u5316\u884c\u4e3a<\/h4>\n

      \u8be5\u56e2\u961f\u7814\u7a76\u4e86 DINO-WM \u662f\u5426\u53ef\u76f4\u63a5\u7528\u4e8e\u5728\u9690\u85cf\u7a7a\u95f4\u4e2d\u5b9e\u73b0\u96f6\u6837\u672c\u89c4\u5212\u3002<\/p>\n

      \u5982\u8868 1 \u6240\u793a\uff0c\u5728 Wall \u548c PointMaze \u7b49\u8f83\u7b80\u5355\u7684\u73af\u5883\u4e2d\uff0cDINO-WM \u4e0e DreamerV3 \u7b49\u6700\u5148\u8fdb\u7684\u4e16\u754c\u6a21\u578b\u76f8\u5f53\u3002\u4f46\u662f\uff0c\u5728\u9700\u8981\u51c6\u786e\u63a8\u65ad\u4e30\u5bcc\u7684\u63a5\u89e6\u4fe1\u606f\u548c\u7269\u4f53\u52a8\u6001\u624d\u80fd\u5b8c\u6210\u4efb\u52a1\u7684\u64cd\u7eb5\u73af\u5883\u4e2d\uff0cDINO-WM \u7684\u8868\u73b0\u660e\u663e\u4f18\u4e8e\u4e4b\u524d\u7684\u65b9\u6cd5\u3002<\/p>\n

      \"\u56fe\u7247\"<\/p>\n

      \u4e0b\u9762\u5c55\u793a\u4e86\u4e00\u4e9b\u53ef\u89c6\u5316\u7684\u89c4\u5212\u7ed3\u679c\uff1a<\/p>\n

      \"\u56fe\u7247\"<\/p>\n

      \u9884\u8bad\u7ec3\u7684\u89c6\u89c9\u8868\u5f81\u91cd\u8981\u5417\uff1f<\/strong><\/p>\n

      \u8be5\u56e2\u961f\u4f7f\u7528\u4e0d\u540c\u7684\u9884\u8bad\u7ec3\u901a\u7528\u7f16\u7801\u5668\u4f5c\u4e3a\u4e16\u754c\u6a21\u578b\u7684\u89c2\u5bdf\u6a21\u578b\uff0c\u5e76\u8bc4\u4f30\u4e86\u5b83\u4eec\u7684\u4e0b\u6e38\u89c4\u5212\u6027\u80fd\u3002<\/p>\n

      \"\u56fe\u7247\"<\/p>\n

      \u5728\u6d89\u53ca\u7b80\u5355\u52a8\u6001\u548c\u63a7\u5236\u7684 PointMaze \u4efb\u52a1\u4e2d\uff0c\u8be5\u56e2\u961f\u89c2\u5bdf\u5230\u5177\u6709\u4e0d\u540c\u89c2\u5bdf\u7f16\u7801\u5668\u7684\u4e16\u754c\u6a21\u578b\u90fd\u5b9e\u73b0\u4e86\u8fd1\u4e4e\u5b8c\u7f8e\u7684\u6210\u529f\u7387\u3002\u7136\u800c\uff0c\u968f\u7740\u73af\u5883\u590d\u6742\u6027\u7684\u589e\u52a0\uff08\u9700\u8981\u66f4\u7cbe\u786e\u7684\u63a7\u5236\u548c\u7a7a\u95f4\u7406\u89e3\uff09\uff0c\u5c06\u89c2\u5bdf\u7ed3\u679c\u7f16\u7801\u4e3a\u5355\u4e2a\u9690\u85cf\u5411\u91cf\u7684\u4e16\u754c\u6a21\u578b\u7684\u6027\u80fd\u4f1a\u663e\u8457\u4e0b\u964d\u3002\u4ed6\u4eec\u731c\u60f3\u57fa\u4e8e\u56fe\u5757\u7684\u8868\u5f81\u53ef\u4ee5\u66f4\u597d\u5730\u6355\u83b7\u7a7a\u95f4\u4fe1\u606f\uff0c\u800c R3M\u3001ResNet \u548c DINO CLS \u7b49\u6a21\u578b\u662f\u5c06\u89c2\u5bdf\u7ed3\u679c\u7b80\u5316\u4e3a\u5355\u4e2a\u5168\u5c40\u7279\u5f81\u5411\u91cf\uff0c\u8fd9\u6837\u4f1a\u4e22\u5931\u64cd\u4f5c\u4efb\u52a1\u6240\u9700\u7684\u5173\u952e\u7a7a\u95f4\u7ec6\u8282\u3002<\/p>\n

      \u6cdb\u5316\u5230\u5168\u65b0\u7684\u73af\u5883\u914d\u7f6e<\/strong><\/p>\n

      \u8be5\u56e2\u961f\u4e5f\u8bc4\u4f30\u4e86\u65b0\u63d0\u51fa\u7684\u6a21\u578b\u5bf9\u4e0d\u540c\u73af\u5883\u7684\u6cdb\u5316\u80fd\u529b\u3002\u4e3a\u6b64\uff0c\u4ed6\u4eec\u6784\u5efa\u4e86\u4e09\u7c7b\u73af\u5883\uff1aWallRandom\u3001PushObj \u548c GranularRandom\u3002\u5b9e\u9a8c\u4e2d\uff0c\u4e16\u754c\u6a21\u578b\u4f1a\u88ab\u90e8\u7f72\u5728\u4ece\u672a\u89c1\u8fc7\u7684\u73af\u5883\u4e2d\u53bb\u5b9e\u73b0\u4ece\u672a\u89c1\u8fc7\u7684\u4efb\u52a1\u3002\u56fe 6 \u5c55\u793a\u4e86\u4e00\u4e9b\u793a\u4f8b\u3002<\/p>\n

      \"\u56fe\u7247\"<\/p>\n

      \u7ed3\u679c\u89c1\u8868 3\u3002\u53ef\u4ee5\u770b\u5230\uff0cDINO-WM \u5728 WallRandom \u73af\u5883\u4e2d\u7684\u8868\u73b0\u660e\u663e\u66f4\u597d\uff0c\u8fd9\u8868\u660e\u4e16\u754c\u6a21\u578b\u5df2\u7ecf\u6709\u6548\u5730\u5b66\u4e60\u4e86\u5899\u58c1\u548c\u95e8\u7684\u4e00\u822c\u6982\u5ff5\uff0c\u5373\u4f7f\u5b83\u4eec\u4f4d\u4e8e\u8bad\u7ec3\u671f\u95f4\u672a\u66fe\u89c1\u8fc7\u7684\u4f4d\u7f6e\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5176\u4ed6\u65b9\u6cd5\u5f88\u96be\u505a\u5230\u8fd9\u4e00\u70b9\u3002<\/p>\n

      \"\u56fe\u7247\"<\/p>\n

      PushObj \u4efb\u52a1\u5bf9\u4e8e\u6240\u6709\u65b9\u6cd5\u6765\u8bf4\u90fd\u633a\u96be\uff0c\u56e0\u4e3a\u8be5\u6a21\u578b\u4ec5\u9488\u5bf9\u56db\u79cd\u7269\u4f53\u5f62\u72b6\u8fdb\u884c\u4e86\u8bad\u7ec3\uff0c\u8fd9\u4f7f\u5176\u5f88\u96be\u7cbe\u786e\u63a8\u65ad\u91cd\u5fc3\u548c\u60ef\u6027\u7b49\u7269\u7406\u53c2\u6570\u3002<\/p>\n

      \u5728 GranularRandom \u4e2d\uff0c\u667a\u80fd\u4f53\u9047\u5230\u7684\u7c92\u5b50\u4e0d\u5230\u8bad\u7ec3\u65f6\u51fa\u73b0\u7684\u4e00\u534a\uff0c\u5bfc\u81f4\u56fe\u50cf\u51fa\u73b0\u5728\u4e86\u8bad\u7ec3\u5b9e\u4f8b\u7684\u5206\u5e03\u4e4b\u5916\u3002\u5c3d\u7ba1\u5982\u6b64\uff0cDINO-WM \u4f9d\u7136\u51c6\u786e\u5730\u7f16\u7801\u4e86\u573a\u666f\uff0c\u5e76\u6210\u529f\u5730\u5c06\u7c92\u5b50\u805a\u96c6\u5230\u4e0e\u57fa\u7ebf\u76f8\u6bd4\u5177\u6709\u6700\u5c0f Chamfer Distance\uff08CD\uff09\u7684\u6307\u5b9a\u65b9\u5f62\u4f4d\u7f6e\u3002\u8fd9\u8bf4\u660e DINO-WM \u5177\u6709\u66f4\u597d\u7684\u573a\u666f\u7406\u89e3\u80fd\u529b\u3002\u8be5\u56e2\u961f\u731c\u60f3\u8fd9\u662f\u7531\u4e8e DINO-WM \u7684\u89c2\u5bdf\u6a21\u578b\u4f1a\u5c06\u573a\u666f\u7f16\u7801\u4e3a\u56fe\u5757\u7279\u5f81\uff0c\u4f7f\u5f97\u7c92\u5b50\u6570\u91cf\u7684\u65b9\u5dee\u4ecd\u7136\u5728\u6bcf\u4e2a\u56fe\u5757\u7684\u5206\u5e03\u8303\u56f4\u5185\u3002<\/p>\n

      \u4e0e\u751f\u6210\u5f0f\u89c6\u9891\u6a21\u578b\u7684\u5b9a\u6027\u6bd4\u8f83<\/strong><\/p>\n

      \u9274\u4e8e\u751f\u6210\u5f0f\u89c6\u9891\u6a21\u578b\u7684\u7a81\u51fa\u5730\u4f4d\uff0c\u53ef\u4ee5\u5408\u7406\u5730\u5047\u8bbe\u5b83\u4eec\u53ef\u4ee5\u5f88\u5bb9\u6613\u5730\u7528\u4f5c\u4e16\u754c\u6a21\u578b\u3002\u4e3a\u4e86\u7814\u7a76 DINO-WM \u76f8\u5bf9\u4e8e\u6b64\u7c7b\u89c6\u9891\u751f\u6210\u6a21\u578b\u7684\u5b9e\u7528\u6027\uff0c\u8be5\u56e2\u961f\u5c06\u5176\u4e0e AVDC\uff08\u4e00\u4e2a\u57fa\u4e8e\u6269\u6563\u7684\u751f\u6210\u5f0f\u6a21\u578b\uff09\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002<\/p>\n

      \u5982\u56fe 7 \u6240\u793a\uff0c\u53ef\u4ee5\u770b\u5230\uff0c\u5728\u57fa\u51c6\u4e0a\u8bad\u7ec3\u7684\u6269\u6563\u6a21\u578b\u80fd\u5f97\u5230\u770b\u8d77\u6765\u76f8\u5f53\u771f\u5b9e\u7684\u672a\u6765\u56fe\u50cf\uff0c\u4f46\u5b83\u4eec\u5728\u7269\u7406\u4e0a\u5e76\u4e0d\u5408\u7406\uff0c\u56e0\u4e3a\u53ef\u4ee5\u770b\u5230\u5728\u5355\u4e2a\u9884\u6d4b\u65f6\u95f4\u6b65\u9aa4\u4e2d\u5c31\u53ef\u80fd\u51fa\u73b0\u8f83\u5927\u7684\u53d8\u5316\uff0c\u5e76\u4e14\u53ef\u80fd\u96be\u4ee5\u8fbe\u5230\u51c6\u786e\u7684\u76ee\u6807\u72b6\u6001\u3002<\/p>\n

      \"\u56fe\u7247\"<\/p>\n

      DINO-WM \u6240\u4ee3\u8868\u7684\u65b9\u6cd5\u770b\u8d77\u6765\u9887\u6709\u6f5c\u529b\uff0c\u8be5\u56e2\u961f\u8868\u793a\uff1a\u300cDINO-WM \u671d\u7740\u586b\u8865\u4efb\u52a1\u65e0\u5173\u578b\u4e16\u754c\u5efa\u6a21\u4ee5\u53ca\u63a8\u7406\u548c\u63a7\u5236\u4e4b\u95f4\u7684\u7a7a\u767d\u8fc8\u51fa\u4e86\u4e00\u6b65\uff0c\u4e3a\u73b0\u5b9e\u4e16\u754c\u5e94\u7528\u4e2d\u7684\u901a\u7528\u4e16\u754c\u6a21\u578b\u63d0\u4f9b\u4e86\u5149\u660e\u7684\u524d\u666f\u3002\u300d<\/p>\n

      \u6587\u7ae0\u6765\u81ea\uff1a51CTO<\/p>\n

       <\/p>\n<\/div>\n<\/div>\n

      <\/div>\n

      <\/g><\/svg><\/i> \"Loading\"<\/p>\n

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

      \u8fd1\u65e5\uff0cLeCun \u56e2\u961f\u53d1\u5e03\u4e86\u4ed6\u4eec\u5728\u4e16\u754c\u6a21\u578b\u65b9\u9762\u7684\u4e00\u9879\u65b0\u7814\u7a76\u6210\u679c\uff1a\u57fa\u4e8e\u9884\u8bad\u7ec3\u7684\u89c6\u89c9\u7279\u5f81\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u53ef\u4ee5\u5b9e\u73b0\u96f6\u6837 […]<\/p>\n

      <\/div>\n

      <\/g><\/svg><\/i> \"Loading\"<\/p>\n

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