{"id":23655,"date":"2024-12-23T10:56:54","date_gmt":"2024-12-23T02:56:54","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=23655"},"modified":"2024-12-23T10:56:54","modified_gmt":"2024-12-23T02:56:54","slug":"%e9%87%8d%e5%a1%91%e8%b7%a8%e6%99%ba%e8%83%bd%e4%bd%93%e7%81%b5%e5%b7%a7%e6%89%8b%e6%8a%93%e5%8f%96%ef%bc%8cnus%e9%82%b5%e6%9e%97%e5%9b%a2%e9%98%9f%e6%8f%90%e5%87%ba%e5%85%a8%e6%96%b0%e4%ba%a4","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/12\/23\/23655\/","title":{"rendered":"\u91cd\u5851\u8de8\u667a\u80fd\u4f53\u7075\u5de7\u624b\u6293\u53d6\uff0cNUS\u90b5\u6797\u56e2\u961f\u63d0\u51fa\u5168\u65b0\u4ea4\u4e92\u5f0f\u8868\u5f81\uff0c\u65a9\u83b7CoRL Workshop\u4f18\u79c0\u673a\u5668\u4eba\u8bba\u6587\u5956"},"content":{"rendered":"<div><img data-dominant-color=\"3584b8\" data-has-transparency=\"false\" style=\"--dominant-color: #3584b8;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-23657\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/12\/d758ae4931bca0b507b935ca6e5c3970d1e0a7-300x167-1.jpg\" width=\"300\" height=\"167\" alt=\"\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/12\/d758ae4931bca0b507b935ca6e5c3970d1e0a7-300x167-1.jpg 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/12\/d758ae4931bca0b507b935ca6e5c3970d1e0a7-300x167-1-150x84.jpg 150w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/div>\n<div><\/div>\n<div class=\"article-desc\">\u5728\u672c\u8bba\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u76f8\u5bf9\u8ddd\u79bb\u77e9\u9635 D(R,O) \u7684\u65b0\u9896\u8868\u5f81\u65b9\u6cd5\uff0c\u7528\u4e8e\u6355\u6349\u673a\u5668\u4eba\u624b\u4e0e\u7269\u4f53\u4e4b\u95f4\u7684\u4ea4\u4e92\u4fe1\u606f\uff0c\u4ece\u800c\u63d0\u5347\u7075\u5de7\u624b\u7684\u6293\u53d6\u6027\u80fd\u3002\u4e0e\u73b0\u6709\u65b9\u6cd5\u8fc7\u4e8e\u4f9d\u8d56\u7279\u5b9a\u7269\u4f53\u6216\u673a\u5668\u624b\u8868\u793a\u7684\u5c40\u9650\u6027\u4e0d\u540c\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u901a\u8fc7\u5f15\u5165\u7edf\u4e00\u6846\u67b6\u5f25\u5408\u4e86\u8fd9\u79cd\u5dee\u8ddd\uff0c\u5e76\u5728\u4e0d\u540c\u673a\u5668\u4eba\u548c\u7269\u4f53\u51e0\u4f55\u5f62\u72b6\u4e4b\u95f4\u5b9e\u73b0\u4e86\u826f\u597d\u7684\u6cdb\u5316\u80fd\u529b\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>\u60f3\u8c61\u4e00\u4e0b\uff0c\u5e02\u9762\u4e0a\u6709\u6570\u5341\u79cd\u5f62\u6001\u5404\u5f02\u7684\u7075\u5de7\u624b\uff0c\u6bcf\u4e00\u6b3e\u90fd\u88ab\u8bbe\u8ba1\u5f97\u7cbe\u5de7\u800c\u72ec\u7279\u3002\u7136\u800c\uff0c\u662f\u5426\u6709\u53ef\u80fd\u5b58\u5728\u4e00\u79cd\u901a\u7528\u7684\u6293\u53d6\u7b56\u7565\uff0c\u65e0\u9700\u4e3a\u6bcf\u6b3e\u7075\u5de7\u624b\u5355\u72ec\u4f18\u5316\uff0c\u5374\u80fd\u591f\u9002\u5e94\u5404\u79cd\u673a\u5668\u4eba\u624b\u578b\u548c\u591a\u6837\u7269\u4f53\u5f62\u72b6\uff1f\u8fd9\u4e00\u770b\u4f3c\u9065\u4e0d\u53ef\u53ca\u7684\u68a6\u60f3\uff0c\u6b63\u5728\u9010\u6b65\u6210\u4e3a\u73b0\u5b9e\u3002<\/p>\n<p>\u7075\u5de7\u6293\u53d6\u662f\u673a\u5668\u4eba\u64cd\u4f5c\u9886\u57df\u7684\u4e00\u9879\u6838\u5fc3\u6311\u6218\uff0c\u5b83\u8981\u6c42\u673a\u5668\u4eba\u624b\u80fd\u591f\u4e0e\u7269\u4f53\u5b9e\u73b0\u7cbe\u786e\u4e14\u7a33\u5b9a\u7684\u4ea4\u4e92\u63a5\u89e6\u3002\u7136\u800c\uff0c\u5982\u4f55\u6709\u6548\u5efa\u6a21\u8fd9\u79cd\u9ad8\u81ea\u7531\u5ea6\u4e14\u590d\u6742\u7684\u4ea4\u4e92\u5173\u7cfb\uff0c\u5e76\u751f\u6210\u7cbe\u51c6\u3001\u591a\u6837\u4e14\u9ad8\u6548\u7684\u6293\u53d6\u7b56\u7565\uff0c\u4e00\u76f4\u662f\u8be5\u9886\u57df\u4e9f\u5f85\u89e3\u51b3\u7684\u96be\u9898\u3002<\/p>\n<p>\u8fd1\u671f\uff0c\u65b0\u52a0\u5761\u56fd\u7acb\u5927\u5b66\u8ba1\u7b97\u673a\u5b66\u9662\u7684\u90b5\u6797\u56e2\u961f\u63d0\u51fa\u4e86 D(R,O) Grasp\uff1a\u4e00\u79cd\u9762\u5411\u8de8\u667a\u80fd\u4f53\u7075\u5de7\u6293\u53d6\u7684\u673a\u5668\u4eba\u4e0e\u7269\u4f53\u4ea4\u4e92\u7edf\u4e00\u8868\u793a\u3002\u8be5\u65b9\u6cd5\u901a\u8fc7\u521b\u65b0\u6027\u5730\u5efa\u6a21\u673a\u5668\u4eba\u624b\u4e0e\u7269\u4f53\u5728\u6293\u53d6\u59ff\u6001\u4e0b\u7684\u4ea4\u4e92\u5173\u7cfb\uff0c\u6210\u529f\u5b9e\u73b0\u4e86\u5bf9\u591a\u79cd\u673a\u5668\u4eba\u624b\u578b\u4e0e\u7269\u4f53\u51e0\u4f55\u5f62\u72b6\u7684\u9ad8\u5ea6\u6cdb\u5316\u80fd\u529b\uff0c\u4e3a\u7075\u5de7\u6293\u53d6\u6280\u672f\u7684\u672a\u6765\u5f00\u8f9f\u4e86\u5168\u65b0\u7684\u65b9\u5411\u3002\u8be5\u8bba\u6587\u5728 CoRL 2024 MAPoDeL Workshop \u4e2d\u83b7\u5f97\u4e86 Best Robotics Paper Award\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s9.51cto.com\/oss\/202412\/21\/497553d843732d2c6b9843a19e2988690453ed.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<ul data-id=\"ua73dd4b-LPlnnhYU\">\n<li data-id=\"ld70c578-bcER1ReQ\">\u8bba\u6587\u6807\u9898\uff1aD(R,O) Grasp: A Unified Representation of Robot and Object Interaction for Cross-Embodiment Dexterous Grasping<\/li>\n<li data-id=\"ld70c578-JDsNRKDP\">\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/nus-lins-lab.github.io\/drograspweb\/<\/li>\n<li data-id=\"ld70c578-mj4baEyF\">\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2410.01702<\/li>\n<li data-id=\"ld70c578-JYi8Irde\">\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/zhenyuwei2003\/DRO-Grasp<\/li>\n<\/ul>\n<h3>\u4e00\u3001\u5f15\u8a00<\/h3>\n<p>\u7075\u5de7\u6293\u53d6\u662f\u673a\u5668\u4eba\u5b8c\u6210\u590d\u6742\u64cd\u4f5c\u4efb\u52a1\u7684\u5173\u952e\uff0c\u4f46\u7531\u4e8e\u7075\u5de7\u624b\u7684\u9ad8\u81ea\u7531\u5ea6\u53ca\u7a33\u5b9a\u6293\u53d6\u6240\u9700\u7684\u590d\u6742\u4ea4\u4e92\uff0c\u4efb\u52a1\u6311\u6218\u5de8\u5927\u3002\u76ee\u524d\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u65b9\u6cd5\u4e3b\u8981\u5206\u4e3a\u673a\u5668\u4eba\u4e2d\u5fc3 (robot-centric) \u548c\u7269\u4f53\u4e2d\u5fc3 (object-centric) \u4e24\u7c7b\u3002<\/p>\n<p>\u673a\u5668\u4eba\u4e2d\u5fc3\u65b9\u6cd5\uff08\u5982\u624b\u8155\u59ff\u6001\u6216\u5173\u8282\u89d2\u5ea6\u8868\u793a\uff09\u76f4\u63a5\u5c06\u89c2\u6d4b\u6620\u5c04\u4e3a\u63a7\u5236\u547d\u4ee4\uff0c\u63a8\u7406\u901f\u5ea6\u5feb\uff0c\u4f46\u6837\u672c\u6548\u7387\u4f4e\uff0c\u4e14\u56e0\u6620\u5c04\u4f9d\u8d56\u7279\u5b9a\u673a\u5668\u4eba\u7ed3\u6784\uff0c\u96be\u4ee5\u6cdb\u5316\u5230\u4e0d\u540c\u624b\u578b\u3002<\/p>\n<p>\u7269\u4f53\u4e2d\u5fc3\u65b9\u6cd5\uff08\u5982\u63a5\u89e6\u70b9\u548c\u63a5\u89e6\u70ed\u529b\u56fe\u8868\u793a\uff09\u901a\u8fc7\u63cf\u8ff0\u7269\u4f53\u51e0\u4f55\u4e0e\u63a5\u89e6\u4fe1\u606f\uff0c\u6cdb\u5316\u80fd\u529b\u5f3a\uff0c\u9002\u5e94\u4e0d\u540c\u7269\u4f53\u548c\u624b\u578b\u3002\u7136\u800c\uff0c\u9700\u989d\u5916\u4f18\u5316\u6b65\u9aa4\uff08\u5982\u6307\u5c16\u9006\u8fd0\u52a8\u5b66\u6c42\u89e3\uff09\u5c06\u9884\u6d4b\u7ed3\u679c\u8f6c\u5316\u4e3a\u8fd0\u52a8\u5b66\u53ef\u884c\u7684\u6293\u53d6\u59ff\u6001\uff0c\u8ba1\u7b97\u590d\u6742\u4e14\u8017\u65f6\u3002<\/p>\n<p>\u4e3a\u514b\u670d\u8fd9\u4e9b\u5c40\u9650\uff0c\u6211\u4eec\u63d0\u51fa\u4ea4\u4e92\u4e2d\u5fc3 (interaction-centric) \u7684\u7edf\u4e00\u8868\u793a D(R,O)\u3002\u8be5\u65b9\u6cd5\u6355\u6349\u673a\u5668\u624b\u8fd0\u52a8\u5b66\u4e0e\u7269\u4f53\u51e0\u4f55\u7684\u4ea4\u4e92\u5173\u7cfb\uff0c\u5f25\u8865\u673a\u5668\u4eba\u4e2d\u5fc3\u65b9\u6cd5\u7684\u6cdb\u5316\u4e0d\u8db3\uff0c\u540c\u65f6\u63d0\u5347\u7269\u4f53\u4e2d\u5fc3\u65b9\u6cd5\u7684\u63a8\u7406\u6548\u7387\uff0c\u5b9e\u73b0\u8de8\u673a\u5668\u4eba\u624b\u578b\u4e0e\u7269\u4f53\u5f62\u72b6\u7684\u6cdb\u5316\uff0c\u4e3a\u7075\u5de7\u6293\u53d6\u63d0\u4f9b\u9ad8\u6548\u4e14\u9c81\u68d2\u7684\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s6.51cto.com\/oss\/202412\/21\/c1b1609342ca03efed3698b63aa53b2277077c.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u56fe 1 \u7075\u5de7\u624b\u6293\u53d6\u65b9\u6cd5\u6bd4\u8f83<\/p>\n<h3>\u4e8c\u3001\u65b9\u6cd5<\/h3>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s2.51cto.com\/oss\/202412\/21\/e5bd3c17947a2c6065c9245d9853aa87537dcb.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u56fe 2\u00a0D(R,O) Grasp \u6574\u4f53\u6846\u67b6<\/p>\n<p>\u7ed9\u5b9a\u7269\u4f53\u70b9\u4e91\u548c\u673a\u5668\u4eba\u624b\u7684 URDF \u6587\u4ef6\uff0c\u6a21\u578b\u7684\u76ee\u6807\u662f\u751f\u6210\u7075\u5de7\u4e14\u591a\u6837\u5316\u7684\u6293\u53d6\u59ff\u6001\uff0c\u80fd\u591f\u5728\u4e0d\u540c\u7684\u7269\u4f53\u548c\u673a\u5668\u4eba\u624b\u578b\u4e4b\u95f4\u5b9e\u73b0\u5e7f\u6cdb\u7684\u6cdb\u5316\u3002D(R,O) Grasp \u6574\u4f53\u6846\u67b6\u5982\u56fe 2 \u6240\u793a\uff0c\u4e3b\u8981\u6709\u4ee5\u4e0b\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\uff1a<\/p>\n<ul data-id=\"u738a58b-NmSLefVf\">\n<li data-id=\"ld70c578-HURnKl9E\">\u57fa\u4e8e\u5bf9\u6bd4\u5b66\u4e60\u7684\u914d\u7f6e\u4e0d\u53d8\u9884\u8bad\u7ec3<\/li>\n<li data-id=\"ld70c578-dJiZCm6e\">D(R,O)\u8868\u5f81\u9884\u6d4b<\/li>\n<li data-id=\"ld70c578-pDkeZR70\">\u57fa\u4e8e D(R,O) \u8868\u5f81\u7684\u6293\u53d6\u59ff\u6001\u751f\u6210<\/li>\n<\/ul>\n<h4>1.\u57fa\u4e8e\u5bf9\u6bd4\u5b66\u4e60\u7684\u914d\u7f6e\u4e0d\u53d8\u9884\u8bad\u7ec3<\/h4>\n<p>\u5b66\u4e60\u7075\u5de7\u6293\u53d6\u9700\u8981\u7406\u89e3\u673a\u5668\u624b\u4e0e\u7269\u4f53\u7684\u7a7a\u95f4\u5173\u7cfb\uff0c\u76ee\u6807\u662f\u5c06\u673a\u5668\u624b\u7684\u7279\u5b9a\u914d\u7f6e\u4e0e\u7269\u4f53\u5339\u914d\u3002\u7136\u800c\uff0c\u7531\u4e8e\u4e0d\u540c\u914d\u7f6e\u4e0b\u673a\u5668\u624b\u6574\u4f53\u59ff\u6001\u53d8\u5316\u663e\u8457\uff0c\u6a21\u578b\u96be\u4ee5\u6355\u6349\u5c40\u90e8\u51e0\u4f55\u7279\u5f81\u7684\u4e00\u81f4\u6027\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e00\u79cd\u914d\u7f6e\u4e0d\u53d8\u7684\u9884\u8bad\u7ec3\u65b9\u6cd5\uff0c\u901a\u8fc7\u8bad\u7ec3\u795e\u7ecf\u7f51\u7edc\u5bf9\u9f50\u4e0d\u540c\u914d\u7f6e\u4e0b\u7684\u51e0\u4f55\u7279\u5f81\uff0c\u4fc3\u8fdb\u5339\u914d\u5e76\u63d0\u5347\u591a\u59ff\u6001\u9002\u5e94\u80fd\u529b\u3002<\/p>\n<p>\u6211\u4eec\u9996\u5148\u91c7\u6837\u5e76\u5b58\u50a8\u673a\u5668\u624b\u5404 link \u7684\u70b9\u4e91\u6570\u636e\u3002\u57fa\u4e8e\u524d\u5411\u8fd0\u52a8\u5b66\u6a21\u578b\uff0c\u53ef\u4e3a\u4efb\u610f\u914d\u7f6e\u8ba1\u7b97\u5bf9\u5e94\u70b9\u4e91\uff0c\u786e\u4fdd\u4e0d\u540c\u914d\u7f6e\u4e0b\u70b9\u4e91\u7684\u4e00\u81f4\u6027\u3002\u5728\u9884\u8bad\u7ec3\u4e2d\uff0c\u89c4\u8303\u914d\u7f6e\uff08\u5982\u5f20\u5f00\u624b\u59ff\u6001\uff09\u548c\u6293\u53d6\u914d\u7f6e\u7684\u70b9\u4e91\u5206\u522b\u8f93\u5165\u673a\u5668\u4eba\u7f16\u7801\u5668\u7f51\u7edc\u63d0\u53d6\u9010\u70b9\u7279\u5f81\u3002\u6211\u4eec\u901a\u8fc7\u70b9\u95f4\u6b27\u6c0f\u8ddd\u79bb\u52a0\u6743\u6b63\u8d1f\u70b9\u5bf9\u5173\u7cfb\uff0c\u8fdb\u884c\u9010\u70b9\u5bf9\u6bd4\u5b66\u4e60\uff0c\u5e76\u8ba1\u7b97\u5982\u4e0b\u635f\u5931\u51fd\u6570\uff1a<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s6.51cto.com\/oss\/202412\/21\/326145f4233d7786020763dc2c9ccb3fceb80a.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u8be5\u65b9\u6cd5\u901a\u8fc7\u5bf9\u9f50\u4e0d\u540c\u914d\u7f6e\u4e0b\u7f16\u7801\u5668\u7684\u51e0\u4f55\u7279\u5f81\uff0c\u7b80\u5316\u673a\u5668\u624b\u4e0e\u7269\u4f53\u5339\u914d\u96be\u5ea6\uff0c\u63d0\u9ad8\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n<h4>2.D(R,O) \u8868\u5f81\u9884\u6d4b<\/h4>\n<p>\u6211\u4eec\u9884\u6d4b\u7684 D(R,O) \u8868\u5f81\u662f\u4e00\u4e2a\u673a\u5668\u624b\u70b9\u4e91\u548c\u7269\u4f53\u70b9\u4e91\u4e4b\u95f4\u76f8\u5bf9\u8ddd\u79bb\u77e9\u9635\uff08Distances of Robot and Object\uff09\u3002\u9996\u5148\uff0c\u6211\u4eec\u4f7f\u7528\u4e24\u4e2a\u76f8\u540c\u7ed3\u6784\u7684\u7f16\u7801\u5668\u5206\u522b\u63d0\u53d6\u673a\u5668\u624b\u70b9\u4e91\u548c\u7269\u4f53\u70b9\u4e91\u7684\u51e0\u4f55\u7279\u5f81\uff1a<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s6.51cto.com\/oss\/202412\/21\/41d743f25955cd0e3f5525e2610d53f179f73a.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u5728\u6b64\u8fc7\u7a0b\u4e2d\uff0c\u673a\u5668\u624b\u7684\u7f16\u7801\u5668\u4f7f\u7528\u9884\u8bad\u7ec3\u7f51\u7edc\u5e76\u5728\u8bad\u7ec3\u4e2d\u4fdd\u6301\u51bb\u7ed3\u3002\u4e3a\u5efa\u7acb\u4e24\u7ec4\u7279\u5f81\u7684\u5bf9\u5e94\u5173\u7cfb\uff0c\u6211\u4eec\u5f15\u5165\u4e24\u4e2a Transformer \u6a21\u578b\u5d4c\u5165\u70b9\u95f4\u5bf9\u5e94\u4fe1\u606f\uff0c\u5e76\u4f7f\u7528\u6b8b\u5dee\u8fde\u63a5\uff1a<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s9.51cto.com\/oss\/202412\/21\/f10dff494b9021c6bd27256d8dc8f4fce60874.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u4e3a\u5b9e\u73b0\u8de8\u667a\u80fd\u4f53\u6293\u53d6\u7684\u591a\u6837\u6027\uff0c\u6211\u4eec\u91c7\u7528\u6761\u4ef6\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08CVAE\uff09\u7f51\u7edc\u6355\u6349\u673a\u5668\u624b\u3001\u7269\u4f53\u4e0e\u6293\u53d6\u59ff\u6001\u7684\u591a\u79cd\u7ec4\u5408\u53d8\u5316\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5c06\u673a\u5668\u624b\u4e0e\u7269\u4f53\u5728\u6293\u53d6\u59ff\u6001\u4e0b\u7684\u70b9\u4e91\u62fc\u63a5\u540e\u8f93\u5165 CVAE \u7f16\u7801\u5668\uff0c\u5229\u7528\u70b9\u4e91\u7279\u5f81\u4f5c\u4e3a\u6761\u4ef6\u751f\u6210\u9690\u53d8\u91cf\u3002\u968f\u540e\uff0c\u5c06\u9690\u53d8\u91cf\u4e0e\u6bcf\u4e2a\u70b9\u7279\u5f81\u62fc\u63a5\uff0c\u5f97\u5230\u673a\u5668\u624b\u548c\u7269\u4f53\u7684\u7efc\u5408\u7279\u5f81\u3002<\/p>\n<p>\u5bf9\u4e8e\u673a\u5668\u624b\u67d0\u70b9\u4e0e\u7269\u4f53\u67d0\u70b9\u7684\u7efc\u5408\u7279\u5f81\uff0c\u6211\u4eec\u91c7\u7528\u7ed3\u5408 MLP \u7f51\u7edc\u548c softplus \u51fd\u6570\u7684\u6838\u51fd\u6570\u8ba1\u7b97\u76f8\u5bf9\u8ddd\u79bb\uff0c\u786e\u4fdd\u7ed3\u679c\u5177\u6709\u5bf9\u79f0\u6027\u548c\u975e\u8d1f\u6027\uff1a<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s7.51cto.com\/oss\/202412\/21\/797e19e397f15e3c2ac32826f51d78c9adc8b0.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u901a\u8fc7\u5bf9\u6240\u6709\u70b9\u5bf9\u8fdb\u884c\u4e0a\u8ff0\u8ba1\u7b97\uff0c\u6211\u4eec\u6700\u7ec8\u5f97\u5230\u5b8c\u6574\u7684 D(R,O) \u8868\u5f81\u5982\u4e0b\uff1a<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s8.51cto.com\/oss\/202412\/21\/2298e8f1144aa8e89b0166edc3ee06eec840dc.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<h4>3.\u57fa\u4e8e D(R,O) \u8868\u5f81\u7684\u6293\u53d6\u59ff\u6001\u751f\u6210<\/h4>\n<p>\u7ed9\u5b9a\u9884\u6d4b\u7684 D(R,O) \u8868\u5f81\uff0c\u6211\u4eec\u83b7\u5f97\u4e86\u673a\u5668\u4eba\u624b\u70b9\u4e91\u4e0e\u7269\u4f53\u70b9\u4e91\u4e4b\u95f4\u7684\u76f8\u5bf9\u8ddd\u79bb\u5173\u7cfb\u3002\u7531\u4e8e\u7269\u4f53\u70b9\u4e91\u5df2\u77e5\uff0c\u6211\u4eec\u53ef\u5229\u7528\u8fd9\u4e9b\u8ddd\u79bb\u5173\u7cfb\u901a\u8fc7\u591a\u70b9\u5b9a\u4f4d\uff08Multilateration\uff09\u6280\u672f\u8ba1\u7b97\u51fa\u9690\u5f0f\u63cf\u8ff0\u7684\u673a\u5668\u4eba\u624b\u70b9\u4e91\u3002\u672c\u8d28\u4e0a\uff0c\u8fd9\u662f\u4e00\u4e2a\u6700\u5c0f\u4e8c\u4e58\u4f18\u5316\u95ee\u9898\uff1a<\/p>\n<p>\u8be5\u95ee\u9898\u5df2\u8bc1\u660e\u5177\u6709\u95ed\u5f0f\u89e3\uff0c\u53ef\u5feb\u901f\u8ba1\u7b97\u673a\u5668\u4eba\u624b\u70b9\u4e91\u3002\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\uff0c\u786e\u5b9a\u4e00\u4e2a\u70b9\u7684\u4f4d\u7f6e\u4ec5\u9700\u56db\u4e2a\u76f8\u5bf9\u8ddd\u79bb\uff0c\u800c D(R,O) \u8868\u5f81\u63d0\u4f9b\u4e86\u4e0a\u767e\u4e2a\u8ddd\u79bb\u3002\u76f8\u6bd4\u76f4\u63a5\u9884\u6d4b\u70b9\u4e91\uff0c\u8fd9\u79cd\u8868\u5f81\u5bf9\u795e\u7ecf\u7f51\u7edc\u9884\u6d4b\u8bef\u5dee\u66f4\u52a0\u9c81\u68d2\u3002<\/p>\n<p>\u5f97\u5230\u673a\u5668\u4eba\u624b\u70b9\u4e91\u540e\uff0c\u4e3a\u6c42\u89e3\u76f8\u5e94\u5173\u8282\u503c\uff0c\u6211\u4eec\u5c06\u9006\u8fd0\u52a8\u5b66\u5206\u4e3a\u4e24\u6b65\uff1a\u9996\u5148\uff0c\u4f7f\u7528 SVD \u5206\u89e3\u4ece\u70b9\u4e91\u8ba1\u7b97\u51fa\u6bcf\u4e2a link \u7684 6D \u59ff\u6001\uff1b\u7136\u540e\uff0c\u4ee5\u8fd9\u4e9b 6D \u59ff\u6001\u4e3a\u4f18\u5316\u76ee\u6807\uff0c\u5229\u7528\u96c5\u514b\u6bd4\u77e9\u9635\u8fed\u4ee3\u66f4\u65b0\u521d\u59cb\u5173\u8282\u503c\uff0c\u6700\u7ec8\u5f97\u5230\u671f\u671b\u6293\u53d6\u59ff\u6001\u7684\u5173\u8282\u503c\u3002<\/p>\n<p>\u8fd9\u4e00\u4f18\u5316\u8fc7\u7a0b\u7ea6\u675f\u7b80\u5355\uff0c\u5373\u4fbf\u662f ShadowHand \u7b49\u9ad8\u81ea\u7531\u5ea6\u7075\u5de7\u624b\uff0c\u4e5f\u53ef\u5728\u4e0d\u5230 1 \u79d2\u5185\u5b8c\u6210\u4f18\u5316\uff0c\u5927\u5e45\u63d0\u5347\u6293\u53d6\u751f\u6210\u901f\u5ea6\u3002<\/p>\n<h3>\u4e09\u3001\u5b9e\u9a8c\u7ed3\u679c<\/h3>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s5.51cto.com\/oss\/202412\/21\/e43b9ac75e6cbfced46632133b8e68d0442f02.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u56fe 3 \u4e0e baseline \u7684\u5b9e\u9a8c\u7ed3\u679c\u5bf9\u6bd4<\/p>\n<p>\u5728\u5b9e\u9a8c\u4e2d\uff0c\u6211\u4eec\u8bc4\u4f30\u4e86\u6293\u53d6\u6210\u529f\u7387\u3001\u59ff\u6001\u591a\u6837\u6027\u53ca\u751f\u6210\u6548\u7387\u4e09\u4e2a\u6307\u6807\u3002\u6293\u53d6\u7ed3\u679c\u5728 10 \u4e2a\u5168\u65b0\u7269\u4f53\u4e0a\u8fdb\u884c\u4e86\u6d4b\u8bd5\uff0c\u4f7f\u7528 Barrett\u3001Allegro \u548c ShadowHand \u4e09\u6b3e\u7075\u5de7\u624b\u8fdb\u884c\u6bd4\u8f83\u3002\u56fe 3 \u8868\u663e\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6240\u6709\u7075\u5de7\u624b\u4e0a\u90fd\u663e\u8457\u8d85\u8d8a\u4e86\u73b0\u6709\u65b9\u6cd5\u7684\u6210\u529f\u7387\uff0c\u9a8c\u8bc1\u4e86\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002\u6b64\u5916\uff0c\u751f\u6210\u901f\u5ea6\u4ea6\u5927\u5e45\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u8fd9\u5bf9\u7075\u5de7\u64cd\u63a7\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s2.51cto.com\/oss\/202412\/21\/057803101bc3d067f80666536bbdd6d49239e2.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u56fe 4 \u751f\u6210\u6293\u53d6\u4e0e baseline \u5931\u8d25\u6293\u53d6\u53ef\u89c6\u5316<\/p>\n<p>\u4e0e\u57fa\u51c6\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u751f\u6210\u7684\u6293\u53d6\u59ff\u6001\u66f4\u81ea\u7136\u4e14\u9c81\u68d2\uff0c\u800c\u57fa\u51c6\u65b9\u6cd5\u6613\u4ea7\u751f\u4e0d\u81ea\u7136\u3001\u7a7f\u900f\u4e25\u91cd\u4e14\u7a33\u5b9a\u6027\u5dee\u7684\u6293\u53d6\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s3.51cto.com\/oss\/202412\/21\/65db70340de9dcfdb120686af063d883337bf3.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u56fe 5 \u4e0d\u540c\u6761\u4ef6\u4e0b\u5b9e\u9a8c\u7ed3\u679c\u5bf9\u6bd4<\/p>\n<p>\u4ece\u56fe 5 \u8868\u524d\u4e24\u884c\u53ef\u89c1\uff0c\u8de8\u667a\u80fd\u4f53\u8bad\u7ec3\u8f83\u5355\u4e00\u673a\u5668\u4eba\u8bad\u7ec3\u5728\u6210\u529f\u7387\u4e0a\u7565\u6709\u63d0\u5347\uff0c\u8bc1\u660e\u4e86\u8de8\u667a\u80fd\u4f53\u7684\u826f\u597d\u6cdb\u5316\u80fd\u529b\u3002\u5373\u4fbf\u8f93\u5165\u90e8\u5206\u70b9\u4e91\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4e5f\u80fd\u53d6\u5f97\u4f18\u5f02\u8868\u73b0\uff0c\u5c55\u793a\u4e86\u5176\u5e7f\u6cdb\u9002\u7528\u6027\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s2.51cto.com\/oss\/202412\/21\/11c4ceb863635a91ac2499faa1c0480fbf871d.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u56fe 6 \u591a\u6837\u5316\u7684\u6293\u53d6\u59ff\u6001\u751f\u6210<\/p>\n<p>\u7531\u4e8e\u8bad\u7ec3\u6570\u636e\u4e2d\u8f93\u5165\u548c\u6293\u53d6\u65cb\u8f6c\u5df2\u5bf9\u9f50\uff0c\u6a21\u578b\u80fd\u9690\u5f0f\u6620\u5c04\u8fd9\u4e9b\u65cb\u8f6c\uff0c\u4ece\u800c\u6839\u636e\u8f93\u5165\u65b9\u5411\u751f\u6210\u9002\u5b9c\u6293\u53d6\u59ff\u6001\u3002\u5982\u56fe 6 \u6240\u793a\uff0c\u516d\u4e2a\u4e0d\u540c\u65b9\u5411\u4e0b\u6a21\u578b\u5747\u751f\u6210\u53ef\u884c\u6293\u53d6\uff0c\u4f53\u73b0\u65b9\u6cd5\u7684\u53ef\u63a7\u6027\u3002\u540c\u65f6\uff0c\u901a\u8fc7\u4ece\u6b63\u6001\u5206\u5e03\u4e2d\u91c7\u6837\u9690\u53d8\u91cf\uff0c\u6a21\u578b\u5728\u76f8\u540c\u65b9\u5411\u4e0a\u751f\u6210\u591a\u4e2a\u6293\u53d6\u59ff\u6001\uff0c\u5c55\u73b0\u591a\u6837\u6027\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s8.51cto.com\/oss\/202412\/21\/71fa2c49792262788ca995af93d66a430d2770.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p>\u56fe 7 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