{"id":27135,"date":"2025-09-16T07:25:45","date_gmt":"2025-09-15T23:25:45","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=27135"},"modified":"2025-09-16T07:25:45","modified_gmt":"2025-09-15T23:25:45","slug":"%e5%91%8a%e5%88%abros%e7%9a%84%e7%b9%81%e7%90%90%ef%bc%8c%e6%98%93%e7%94%a8%e6%98%93%e5%ad%a6%e7%9a%84%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%ad%a6%e4%b9%a0%e7%b3%bb%e7%bb%9f%ef%bc%9a%e5%8d%8e%e4%b8%ba","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2025\/09\/16\/27135\/","title":{"rendered":"\u544a\u522bROS\u7684\u7e41\u7410\uff0c\u6613\u7528\u6613\u5b66\u7684\u673a\u5668\u4eba\u5b66\u4e60\u7cfb\u7edf\uff1a\u534e\u4e3a\u8bfa\u4e9a\u9762\u5411\u673a\u5668\u4eba\u5b66\u4e60\u7684\u5f00\u6e90Python\u6846\u67b6"},"content":{"rendered":"
\u6765\u81ea\u534e\u4e3a\u8bfa\u4e9a\u65b9\u821f\u5b9e\u9a8c\u5ba4\uff0c\u5fb7\u56fd\u8fbe\u59c6\u65bd\u5854\u7279\u5de5\u4e1a\u5927\u5b66\uff0c\u82f1\u56fd\u4f26\u6566\u5927\u5b66\u5b66\u9662\uff0c\u5e1d\u56fd\u7406\u5de5\u5b66\u9662\u548c\u725b\u6d25\u5927\u5b66\u7684\u7814\u7a76\u8005\u4eec\u8054\u5408\u63a8\u51fa\u4e86\u00a0Ark \u2014\u2014 \u4e00\u4e2a\u57fa\u4e8e Python \u7684\u673a\u5668\u4eba\u5f00\u53d1\u6846\u67b6\uff0c\u652f\u6301\u5feb\u901f\u539f\u578b\u6784\u5efa\uff0c\u5e76\u53ef\u4fbf\u6377\u5730\u5728\u4eff\u771f\u548c\u771f\u5b9e\u673a\u5668\u4eba\u7cfb\u7edf\u4e0a\u90e8\u7f72\u65b0\u7b97\u6cd5\u3002<\/div>\n
\n
\n

\u8fd1\u5e74\u6765\uff0c\u673a\u5668\u4eba\u6280\u672f\u5728\u786c\u4ef6\u9886\u57df\u53d6\u5f97\u4e86\u663e\u8457\u7a81\u7834 \u2014\u2014 \u65e0\u8bba\u662f DARPA \u673a\u5668\u4eba\u6311\u6218\u8d5b\uff0c\u8fd8\u662f\u9996\u5c4a\u4eba\u5f62\u673a\u5668\u4eba\u81ea\u7531\u640f\u51fb\u8868\u6f14\uff0c\u90fd\u5c55\u793a\u4e86\u4ee4\u4eba\u77a9\u76ee\u7684\u8fdb\u5c55\u3002\u7136\u800c\uff0c\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u80fd\u529b\u4ecd\u660e\u663e\u843d\u540e\u4e8e\u673a\u5668\u5b66\u4e60\u7684\u53d1\u5c55\u6b65\u4f10\u3002<\/span><\/p>\n

\u9020\u6210\u8fd9\u4e00\u5dee\u8ddd\u7684\u5173\u952e\u74f6\u9888\u5728\u4e8e\u8f6f\u4ef6\u5c42\u9762\uff1a\u73b0\u6709\u7684\u673a\u5668\u4eba\u6280\u672f\u6808\u5b66\u4e60\u95e8\u69db\u8f83\u9ad8\uff0c\u4ecd\u5927\u91cf\u4f9d\u8d56 C\/C++ \u8fdb\u884c\u5e95\u5c42\u5f00\u53d1\uff0c\u5de5\u5177\u94fe\u5206\u6563\u4e14\u786c\u4ef6\u96c6\u6210\u590d\u6742\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u63a8\u52a8\u73b0\u4ee3\u4eba\u5de5\u667a\u80fd\u53d1\u5c55\u7684\u751f\u6001\u7cfb\u7edf\u4ee5 Python \u4e3a\u6838\u5fc3\uff0c\u6587\u6863\u5b8c\u5584\u3001\u6613\u4e8e\u4f7f\u7528 \u2014\u2014 \u4e24\u8005\u5f62\u6210\u4e86\u9c9c\u660e\u5bf9\u6bd4\u3002<\/span><\/p>\n

\u4e3a\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u6765\u81ea\u534e\u4e3a\u8bfa\u4e9a\u65b9\u821f\u5b9e\u9a8c\u5ba4\uff0c\u5fb7\u56fd\u8fbe\u59c6\u65bd\u5854\u7279\u5de5\u4e1a\u5927\u5b66\uff0c\u82f1\u56fd\u4f26\u6566\u5927\u5b66\u5b66\u9662\uff0c\u5e1d\u56fd\u7406\u5de5\u5b66\u9662\u548c\u725b\u6d25\u5927\u5b66\u7684\u7814\u7a76\u8005\u4eec\u8054\u5408\u63a8\u51fa\u4e86\u00a0Ark\u00a0\u2014\u2014 \u4e00\u4e2a\u57fa\u4e8e Python \u7684\u673a\u5668\u4eba\u5f00\u53d1\u6846\u67b6\uff0c\u652f\u6301\u5feb\u901f\u539f\u578b\u6784\u5efa\uff0c\u5e76\u53ef\u4fbf\u6377\u5730\u5728\u4eff\u771f\u548c\u771f\u5b9e\u673a\u5668\u4eba\u7cfb\u7edf\u4e0a\u90e8\u7f72\u65b0\u7b97\u6cd5\u3002<\/span><\/p>\n

Ark \u4e0e\u4e3b\u6d41\u673a\u5668\u5b66\u4e60\u5de5\u4f5c\u6d41\u6df1\u5ea6\u517c\u5bb9\uff0c\u80fd\u591f\u4ece\u4eff\u771f\u73af\u5883\u6216\u5b9e\u9645\u673a\u5668\u4eba\u4e2d\u91c7\u96c6\u548c\u9884\u5904\u7406\u6570\u636e\uff0c\u5e76\u652f\u6301\u4f7f\u7528\u5982 ACT\u3001Diffusion Policy \u7b49\u524d\u6cbf\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u8fdb\u884c\u7b56\u7565\u8bad\u7ec3\u3002\u8be5\u6846\u67b6\u91c7\u7528\u7c7b\u4f3c OpenAI Gym \u98ce\u683c\u7684\u4e3b\u63a5\u53e3\u8bbe\u8ba1\uff0c\u6781\u5927\u964d\u4f4e\u4e86\u673a\u5668\u5b66\u4e60\u7814\u7a76\u8005\u7684\u4e0a\u624b\u95e8\u69db\uff0c\u4fbf\u4e8e\u96c6\u6210\u4e0e\u5b9e\u9a8c\u3002\u5728\u67b6\u6784\u5c42\u9762\uff0cArk \u4f7f\u7528\u57fa\u4e8e\u7f51\u7edc\u7684 Python \u8282\u70b9\u5b9e\u73b0\u53d1\u5e03 \/ \u8ba2\u9605\u901a\u4fe1\u673a\u5236\uff0c\u540c\u65f6\u4e5f\u63d0\u4f9b C\/C++ \u5de5\u5177\u4ee5\u517c\u5bb9\u9ad8\u6027\u80fd\u9700\u6c42\u573a\u666f\u3002\u6846\u67b6\u8fd8\u5185\u7f6e\u4e86\u5bf9 ROS \u7684\u539f\u751f\u652f\u6301\uff0c\u5305\u542b\u5e95\u5c42\u63a7\u5236\u3001\u6570\u636e\u5de5\u5177\u3001\u53ef\u89c6\u5316\u3001\u7cfb\u7edf\u8fa8\u8bc6\u3001\u79fb\u52a8\u5e95\u76d8\u5bfc\u822a\u7b49\u591a\u4e2a\u6838\u5fc3\u6a21\u5757\uff0c\u5e76\u914d\u5907\u5b8c\u6574\u7684\u6587\u6863\u4e0e\u5b9e\u7528\u793a\u4f8b\u3002<\/span><\/p>\n

<\/p>\n

\u56fe 1: Ark \u7684\u6574\u4f53\u6846\u67b6<\/span><\/p>\n

<\/p>\n

    \n
  • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2506.21628<\/span><\/li>\n
  • \u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/Robotics-Ark<\/span><\/li>\n
  • \u6559\u7a0b\u94fe\u63a5\uff1ahttps:\/\/arkrobotics.notion.site\/Ark-Home-22be053d9c6f8096bcdbefd6276aba61<\/span><\/li>\n<\/ul>\n

    <\/p>\n

    \u56fe 2: Ark \u76ee\u524d\u7684\u4e0b\u8f7d\u91cf<\/span><\/p>\n

    Ark \u6846\u67b6\u6982\u8ff0<\/span><\/h4>\n

    \u4e3a\u63a8\u8fdb\u5177\u8eab\u667a\u80fd\u7814\u7a76\u7684\u53d1\u5c55\uff0cArk \u5e94\u8fd0\u800c\u751f\u3002\u8be5\u6846\u67b6\u81f4\u529b\u4e8e\u4e0e\u5178\u578b\u673a\u5668\u5b66\u4e60\u5de5\u4f5c\u6d41\u6df1\u5ea6\u6574\u5408\uff0c\u4f7f\u7528\u6237\u80fd\u591f\u5feb\u901f\u6784\u5efa\u539f\u578b\u5e76\u5c06\u5176\u90e8\u7f72\u81f3\u7269\u7406\u673a\u5668\u4eba\u3002\u5176\u8bbe\u8ba1\u79c9\u6301\u4e09\u5927\u7406\u5ff5\uff1a<\/span><\/p>\n

    \uff08D1\uff09\u517c\u5bb9\u4e3b\u6d41\u673a\u5668\u5b66\u4e60\u751f\u6001<\/span><\/p>\n

    Ark \u63d0\u4f9b\u4e0e\u5e7f\u6cdb\u4f7f\u7528\u7684\u673a\u5668\u5b66\u4e60\u5e93\u4e00\u81f4\u7684\u7528\u6237\u63a5\u53e3\uff0c\u964d\u4f4e\u673a\u5668\u5b66\u4e60\u80cc\u666f\u7814\u7a76\u8005\u53c2\u4e0e\u673a\u5668\u4eba\u5f00\u53d1\u7684\u95e8\u69db\uff0c\u5f25\u8865\u673a\u5668\u4eba\u5b66\u4e60\u7cfb\u7edf\u5728\u6210\u719f\u5ea6\u4e0e\u6807\u51c6\u5316\u65b9\u9762\u7684\u4e0d\u8db3\u3002<\/span><\/p>\n

    \uff08D2\uff09\u652f\u6301\u4eff\u771f – \u5b9e\u673a\u65e0\u7f1d\u5207\u6362<\/span><\/p>\n

    Ark \u7740\u529b\u6253\u901a\u6a21\u62df\u73af\u5883\u4e0e\u771f\u5b9e\u7cfb\u7edf\u4e4b\u95f4\u7684\u58c1\u5792\uff0c\u65e2\u4fdd\u969c\u5f00\u53d1\u9636\u6bb5\u7684\u5b89\u5168\u6027\uff0c\u4e5f\u663e\u8457\u964d\u4f4e\u4ece\u4eff\u771f\u8fc1\u79fb\u5230\u5b9e\u673a\u8fc7\u7a0b\u4e2d\u7684\u590d\u6742\u5ea6\u548c\u9519\u8bef\u7387\u3002<\/span><\/p>\n

    \uff08D3\uff09\u4ee5 Python \u4e3a\u4e2d\u5fc3\uff0c\u517c\u987e\u9ad8\u6027\u80fd\u9700\u6c42<\/span><\/p>\n

    Ark \u4ee5 Python \u4f5c\u4e3a\u6838\u5fc3\u5f00\u53d1\u8bed\u8a00\uff0c\u4f9d\u6258\u5176\u4e30\u5bcc\u7684\u751f\u6001\u7cfb\u7edf\u652f\u6301\u5feb\u901f\u8fed\u4ee3\u4e0e\u5b9e\u9a8c\u3002\u540c\u65f6\uff0c\u9488\u5bf9\u9ad8\u9891\u4efb\u52a1\uff08\u5982\u5e95\u5c42\u8fd0\u52a8\u63a7\u5236\uff09\uff0c\u4e5f\u63d0\u4f9b\u4e86\u4fbf\u6377\u7684 C\/C++ \u63a5\u53e3\u6269\u5c55\u80fd\u529b\uff0c\u786e\u4fdd\u5173\u952e\u6a21\u5757\u7684\u6267\u884c\u6548\u7387\u3002<\/span><\/p>\n

    \u4e0b\u6587\u5c06\u5177\u4f53\u4ecb\u7ecd Ark \u7684\u6838\u5fc3\u529f\u80fd\u4e0e\u5b9e\u73b0\u7279\u70b9\u3002<\/span><\/p>\n

    Ark \u7f51\u7edc<\/strong><\/span><\/p>\n

    \u6a21\u5757\u5316\u662f\u673a\u5668\u4eba\u8f6f\u4ef6\u7cfb\u7edf\u8bbe\u8ba1\u7684\u4e00\u9879\u57fa\u672c\u539f\u5219\uff1a\u901a\u8fc7\u5c06\u7cfb\u7edf\u62c6\u5206\u4e3a\u6570\u636e\u91c7\u96c6\u3001\u72b6\u6001\u4f30\u8ba1\u3001\u4efb\u52a1\u89c4\u5212\u4e0e\u63a7\u5236\u7b49\u72ec\u7acb\u6a21\u5757\uff0c\u53ef\u6709\u6548\u63d0\u5347\u53ef\u7ef4\u62a4\u6027\u548c\u6269\u5c55\u6027\u3002Ark \u6846\u67b6\u5c06\u6bcf\u4e2a\u6a21\u5757\u5b9e\u73b0\u4e3a\u72ec\u7acb\u7684 Python \u8fdb\u7a0b\uff08\u79f0\u4e3a \u201c\u8282\u70b9\u201d\uff09\uff0c\u8282\u70b9\u4e4b\u95f4\u901a\u8fc7\u5f02\u6b65\u6d88\u606f\u901a\u9053\u8fdb\u884c\u901a\u4fe1\uff0c\u91c7\u7528\u7075\u6d3b\u7684\u53d1\u5e03 \/ \u8ba2\u9605\u673a\u5236\u5b9e\u73b0\u6570\u636e\u4ea4\u6362\u3002\u7528\u6237\u53ef\u901a\u8fc7\u5f62\u5982 NODE_NAME\/CHANNEL_NAME \u7684\u547d\u540d\u65b9\u5f0f\u5b9a\u4e49\u901a\u9053\uff0c\u5e76\u52a8\u6001\u521b\u5efa\u53d1\u5e03\u7aef\u548c\u8ba2\u9605\u7aef\u3002\u6211\u4eec\u9075\u5faa LCM \u7c7b\u578b\u89c4\u8303\u8bed\u8a00\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\uff0c\u6bcf\u4e2a\u6d88\u606f\u901a\u9053\u901a\u8fc7\u540d\u79f0\u548c\u6d88\u606f\u7c7b\u578b\u6807\u8bc6\u3002Ark \u63d0\u4f9b\u540d\u4e3a ark_types \u7684\u6d88\u606f\u7c7b\u578b\u5e93\uff0c\u5305\u542b\u591a\u79cd\u673a\u5668\u5e38\u7528\u7c7b\u578b\uff08\u5982 joint_state_t \u6216 transform_t\uff09\u3002<\/span><\/p>\n

    \u5f53\u524d\u7248\u672c\u4e2d\uff0cArk \u4f7f\u7528 LCM \u4f5c\u4e3a\u5e95\u5c42\u901a\u4fe1\u540e\u7aef\uff0c\u5176\u8f7b\u91cf\u5316\u67b6\u6784\u548c\u4e30\u5bcc\u7684\u914d\u5957\u5de5\u5177\uff08\u5982\u65e5\u5fd7\u8bb0\u5f55\u3001\u8c03\u8bd5\u548c\u5185\u7701\u652f\u6301\uff09\u7279\u522b\u9002\u7528\u4e8e\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u6570\u636e\u8bb0\u5f55\u4e0e\u5f00\u53d1\u8c03\u8bd5\u3002\u540c\u65f6\uff0c\u7f51\u7edc\u5c42\u88ab\u8bbe\u8ba1\u4e3a\u53ef\u63d2\u62d4\u7ed3\u6784\uff0c\u4fbf\u4e8e\u672a\u6765\u6269\u5c55\u5982\u5206\u5e03\u5f0f\u8bad\u7ec3\u4e0e\u63a8\u7406\u7b49\u590d\u6742\u673a\u5668\u5b66\u4e60\u5de5\u4f5c\u6d41\u3002<\/span><\/p>\n

    \u4f7f\u7528 LCM \u7684\u53e6\u4e00\u4f18\u52bf\u662f\u6613\u4e8e\u96c6\u6210 C\/C++\/Java \u7b49\u5e95\u5c42\u8bed\u8a00\u3002\u7531\u4e8e Ark \u8282\u70b9\u901a\u8fc7 LCM \u6d88\u606f\u901a\u9053\u901a\u4fe1\uff0c\u5176\u4ed6\u8bed\u8a00\u7f16\u5199\u7684\u811a\u672c\u4e5f\u53ef\u5229\u7528\u6807\u51c6 LCM \u63a5\u53e3\u8fdb\u884c\u7f51\u7edc\u901a\u4fe1\u3002\u8fd9\u5bf9\u4e8e\u4ec5\u652f\u6301\u5382\u5546\u63d0\u4f9b\u7684 C\/C++\/Java API \u7684\u786c\u4ef6\u8bbe\u5907\uff08\u5982\u529b\u53cd\u9988\u63a5\u53e3\uff09\u975e\u5e38\u6709\u7528\u3002\u7528\u6237\u53ef\u901a\u8fc7\u5b9e\u73b0\u76f8\u5e94\u7684 LCM \u53d1\u5e03 \/ \u8ba2\u9605\u63a5\u53e3\u5c06\u8bbe\u5907\u63a5\u5165 Ark\u3002\u7136\u800c\uff0c\u57fa\u4e8e Ark \u5728\u4eff\u771f\u4e0e\u771f\u5b9e\u73af\u5883\u95f4\u534f\u8c03\u7684\u67b6\u6784\u8bbe\u8ba1\uff08\u540e\u6587\u8ba8\u8bba\uff09\uff0c\u4ee5 LCM \u4f5c\u4e3a\u5176\u4ed6\u8bed\u8a00\u4e0e Python \u4e4b\u95f4\u7684\u6865\u6881\u5e76\u975e\u603b\u662f\u6700\u4f73\u9009\u62e9\u3002\u4e3a\u6b64\uff0cArk \u63d0\u4f9b\u4e00\u7cfb\u5217\u5de5\u5177\u548c\u8f85\u52a9\u51fd\u6570 \/ \u7c7b\uff0c\u5e2e\u52a9\u7528\u6237\u76f4\u63a5\u5c06 C\/C++ \u529f\u80fd\u5c01\u88c5\u5230 Python\u3002<\/span><\/p>\n

    Ark \u8fd8\u63d0\u4f9b\u4ee5\u4e0b\u529f\u80fd\uff1a<\/span><\/p>\n

      \n
    • Services\uff1a\u4e3a\u9700\u660e\u786e\u8bf7\u6c42 – \u54cd\u5e94\u7684\u64cd\u4f5c\uff08\u5982\u673a\u68b0\u81c2\u6807\u5b9a\u89e6\u53d1\uff09\u63d0\u4f9b\u652f\u6301\uff0c\u57fa\u4e8e LCM \u7c7b\u578b\u7cfb\u7edf\u5b9a\u4e49\u8bf7\u6c42\u4e0e\u54cd\u5e94\u7ed3\u6784\uff1b<\/span><\/li>\n
    • Registry\uff1a\u4f5c\u4e3a\u8f7b\u91cf\u7ea7\u7684\u7f51\u7edc\u534f\u8c03\u4e0e\u670d\u52a1\u53d1\u73b0\u67a2\u7ebd\uff0c\u652f\u6301\u8fd0\u884c\u65f6\u53ef\u89c6\u5316\u4e0e\u6545\u969c\u9694\u79bb\uff1b<\/span><\/li>\n
    • Launcher\uff1a\u5141\u8bb8\u7528\u6237\u5728\u5355\u4e00 YAML \u683c\u5f0f\u914d\u7f6e\u6587\u4ef6\u4e2d\u5b9a\u4e49\u6574\u4e2a\u7f51\u7edc\uff0c\u901a\u8fc7\u4e00\u6b21\u7ec8\u7aef\u6267\u884c\u81ea\u52a8\u542f\u52a8\u6240\u6709\u6307\u5b9a\u5b50\u8fdb\u7a0b\u3002<\/span><\/li>\n<\/ul>\n

      \u89c2\u6d4b\u4e0e\u52a8\u4f5c\u901a\u9053<\/strong><\/span><\/p>\n

      Ark \u91c7\u7528 Gymnasium\uff08OpenAI Gym\uff09\u98ce\u683c\u7684\u63a5\u53e3\u8bbe\u8ba1\uff1areset () \u65b9\u6cd5\u8fd4\u56de\u521d\u59cb\u89c2\u6d4b\u503c\u548c\u73af\u5883\u4fe1\u606f\uff1bstep () \u65b9\u6cd5\u5219\u8fd4\u56de\u4e0b\u4e00\u6b65\u7684\u89c2\u6d4b\u503c\u3001\u5956\u52b1\u3001\u7ec8\u6b62 \/ \u622a\u65ad\u6807\u5fd7\u4ee5\u53ca\u4fe1\u606f\u5b57\u5178\u3002\u6bcf\u4e2a\u73af\u5883\u5728\u521d\u59cb\u5316\u65f6\u901a\u8fc7\u4e00\u4e2a\u5b57\u5178\u7ed3\u6784\u5206\u522b\u5b9a\u4e49\u5176\u89c2\u6d4b\u7a7a\u95f4\u4e0e\u52a8\u4f5c\u7a7a\u95f4\u6240\u4f9d\u8d56\u7684\u6d88\u606f\u901a\u9053\uff1a\u89c2\u6d4b\u7a7a\u95f4\u901a\u8fc7\u8ba2\u9605\u591a\u4e2a\u6d88\u606f\u901a\u9053\u83b7\u53d6\u6570\u636e\uff0c\u52a8\u4f5c\u7a7a\u95f4\u5219\u901a\u8fc7\u5411\u6307\u5b9a\u901a\u9053\u53d1\u5e03\u6307\u4ee4\u6765\u63a7\u5236\u673a\u5668\u4eba\u3002\u4e0d\u540c\u89c2\u6d4b\u901a\u9053\u53ef\u652f\u6301\u4e0d\u540c\u7684\u91c7\u6837\u9891\u7387\uff0c\u73af\u5883\u5728\u6bcf\u4e00\u6b65\u6267\u884c\u65f6\u81ea\u52a8\u8fd4\u56de\u5404\u901a\u9053\u6700\u65b0\u7684\u4e00\u6761\u6d88\u606f\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u7814\u7a76\u8005\u80fd\u591f\u5feb\u901f\u539f\u578b\u5316\u4e0d\u540c\u7684\u7b56\u7565\u8f93\u5165\u8f93\u51fa\u7ec4\u5408\uff0c\u7075\u6d3b\u9002\u914d\u591a\u79cd\u7b97\u6cd5\u4e0e\u4efb\u52a1\u7ed3\u6784\u3002<\/span><\/p>\n

      \u771f\u5b9e\u4e16\u754c\u4e0e\u7269\u7406\u4eff\u771f<\/strong><\/span><\/p>\n

      Ark \u7684\u4e00\u5927\u80fd\u529b\u662f\u901a\u8fc7\u5355\u4e2a\u914d\u7f6e\u5f00\u5173\u5728\u4eff\u771f\u4e0e\u771f\u5b9e\u673a\u5668\u4eba\u4e4b\u95f4\u5207\u6362\uff08sim = True\/False\uff09\u3002Ark \u4ee5\u5206\u5e03\u5f0f\u8282\u70b9\u67b6\u6784\u628a\u673a\u5668\u4eba\u4e0e\u4f20\u611f\u5668\uff08\u65e0\u8bba\u771f\u5b9e\u8fd8\u662f\u4eff\u771f\uff09\u90fd\u5b9e\u73b0\u4e3a\u72ec\u7acb\u8282\u70b9\uff1b\u4eff\u771f\u7aef\u7531\u4e00\u4efd YAML \u914d\u7f6e\u9a71\u52a8\uff0c\u4f7f\u4eff\u771f\u4e0e\u771f\u5b9e\u7cfb\u7edf\u63a5\u53e3\u7684\u8282\u70b9\u4fdd\u6301\u4e00\u81f4\uff0c\u4ece\u800c\u53ef\u4ee5\u5728\u4eff\u771f\u6a21\u62df\u548c\u73b0\u5b9e\u90e8\u7f72\u4e2d\u8f7b\u677e\u5207\u6362\u3002\u00a0<\/span><\/p>\n

      \u5728\u4eff\u771f\u540e\u7aef\u4e0a\uff0cArk \u5e76\u4e0d\u662f\u7ed1\u5b9a\u5355\u4e00\u6a21\u62df\u5668\uff0c\u800c\u662f\u63d0\u4f9b\u540e\u7aef\u62bd\u8c61\u5c42\u4ee5\u4fbf\u6309\u9700\u5bf9\u63a5\u3002\u5f53\u524d Ark \u5df2\u652f\u6301 PyBullet \u4e0e MuJoCo\uff0c\u540e\u7eed\u8ba1\u5212\u96c6\u6210 Isaac Sim \u7b49\uff1b\u4eff\u771f \/ \u73b0\u5b9e\u7684\u5207\u6362\u548c\u540e\u7aef\u9009\u62e9\u5168\u90e8\u901a\u8fc7 YAML \u914d\u7f6e\u5b8c\u6210\uff0cArk \u81ea\u52a8\u521d\u59cb\u5316\u76f8\u5e94\u9a71\u52a8\uff0c\u4fdd\u8bc1\u6d88\u606f\u6a21\u5f0f\u3001\u901a\u9053\u547d\u540d\u4e0e\u6267\u884c\u6d41\u7a0b\u4fdd\u6301\u4e00\u81f4\u3002<\/span><\/p>\n

      <\/p>\n

      \u56fe 2: Ark \u4f7f\u7528\u7edf\u4e00\u914d\u7f6e\u6587\u4ef6\u6765\u5b9e\u4f8b\u5316\u53cd\u6620\u771f\u5b9e\u4e16\u754c\u90e8\u7f72\u7684\u5206\u5e03\u5f0f\u6a21\u62df\u7cfb\u7edf<\/span><\/p>\n

      \u673a\u5668\u4eba\u4e0e\u4f20\u611f\u5668\u9a71\u52a8<\/strong><\/span><\/p>\n

      Ark \u867d\u7136\u5728\u7528\u6237\u63a5\u53e3\u5c42\u9762\uff08\u5982\u7c7b Gym \u7684\u4ea4\u4e92\u65b9\u5f0f\uff09\u63d0\u4f9b\u4e86\u6807\u51c6\u5316\u7684\u8bbe\u8ba1\uff0c\u4f46\u6574\u4e2a\u6846\u67b6\u5728\u67b6\u6784\u4e0a\u4fdd\u6301\u4e86\u9ad8\u5ea6\u7684\u53ef\u6269\u5c55\u6027\u3002\u81ea\u8bbe\u8ba1\u4e4b\u521d\uff0c\u6211\u4eec\u5c31\u4ee5\u5e7f\u6cdb\u7684\u673a\u5668\u4eba\u53ca\u4f20\u611f\u5668\u517c\u5bb9\u6027\u4e3a\u76ee\u6807\uff0c\u81f4\u529b\u4e8e\u652f\u6301\u591a\u6837\u5316\u7684\u786c\u4ef6\u751f\u6001\u3002\u4e0e\u8fd1\u5e74\u51fa\u73b0\u7684\u67d0\u4e9b\u4ec5\u9488\u5bf9\u7279\u5b9a\u673a\u578b\uff08\u5982 LeRobot\u3001PyRobot\uff09\u7684\u6846\u67b6\u4e0d\u540c\uff0cArk \u65e8\u5728\u652f\u6301\u66f4\u591a\u7684\u786c\u4ef6\uff0c\u5e76\u901a\u8fc7\u591a\u79cd\u7075\u6d3b\u7684\u5bf9\u63a5\u673a\u5236\u5b9e\u73b0\u901a\u7528\u5316\u96c6\u6210\u3002<\/span><\/p>\n

      Python \u9a71\u52a8\u63a5\u53e3\uff1a<\/span><\/p>\n

      Ark \u63d0\u4f9b\u4e86\u62bd\u8c61\u57fa\u7c7b ComponentDriver\uff0c\u7528\u4e8e\u7edf\u4e00\u786c\u4ef6\u7ec4\u4ef6\u4e0e\u6846\u67b6\u7684\u96c6\u6210\u65b9\u5f0f\u3002\u7528\u6237\u5728\u5b9e\u73b0\u5177\u4f53\u9a71\u52a8\u65f6\uff0c\u53ea\u9700\u7ee7\u627f\u8be5\u7c7b\u5e76\u91cd\u5199\u6807\u51c6\u62bd\u8c61\u65b9\u6cd5\uff0c\u4f8b\u5982\u4f20\u611f\u5668\u7684 get_data \u6216\u673a\u5668\u4eba\u7684 send_command\u3002\u6bcf\u4e2a\u9a71\u52a8\u5747\u53ef\u4e0e Ark \u7684 \u201c\u4eff\u771f – \u73b0\u5b9e\u201d \u5f00\u5173\u65e0\u7f1d\u96c6\u6210\uff0c\u7cfb\u7edf\u4f1a\u6839\u636e\u5168\u5c40\u914d\u7f6e\u81ea\u52a8\u5c06\u6d88\u606f\u8def\u7531\u5230\u771f\u5b9e\u786c\u4ef6\u6216\u5bf9\u5e94\u7684\u4eff\u771f\u8282\u70b9\u3002<\/span><\/p>\n

      C++ \u9a71\u52a8\u652f\u6301\uff1a<\/span><\/p>\n

      \u5728\u5f88\u591a\u5b9e\u9645\u573a\u666f\u4e2d\uff0c\u4ecd\u7136\u9700\u8981\u4f9d\u8d56 C\/C++ \u5b9e\u73b0\u5e95\u5c42\u9a71\u52a8\uff0c\u4f8b\u5982\u67d0\u4e9b\u8bbe\u5907\u4ec5\u63d0\u4f9b\u539f\u751f C\/C++ \u63a5\u53e3\uff0c\u6216\u9700\u8981\u9ad8\u91c7\u6837\u7387\u4ee5\u6ee1\u8db3\u5b9e\u65f6\u63a7\u5236\u9700\u6c42\uff08\u5982\u8db3\u5f0f\u673a\u5668\u4eba\u7684\u6b65\u884c\u63a7\u5236\uff09\u3002\u4e3a\u6b64\uff0cArk \u63d0\u4f9b\u57fa\u4e8e pybind11 \u7684 C++ \u5c01\u88c5\u5de5\u5177\uff0c\u4f7f\u5f97\u4ec5\u5177\u5907 C++ \u63a5\u53e3\u7684\u786c\u4ef6\u4e5f\u80fd\u591f\u4ee5\u4e0e Python \u9a71\u52a8\u4e00\u81f4\u7684\u65b9\u5f0f\u63a5\u5165 Ark\uff0c\u5728\u4fdd\u6301\u6027\u80fd\u7684\u540c\u65f6\u5b9e\u73b0\u7cfb\u7edf\u4e00\u4f53\u5316\u3002<\/span><\/p>\n

      ROS\u2013Ark\u00a0\u6865\u63a5\uff1a<\/span><\/p>\n

      \u76ee\u524d ROS \u4ecd\u662f\u673a\u5668\u4eba\u9886\u57df\u5e94\u7528\u6700\u5e7f\u6cdb\u7684\u4e2d\u95f4\u4ef6\u4f53\u7cfb\uff0c\u90e8\u5206\u673a\u5668\u4eba\uff08\u5982 ViperX \u673a\u68b0\u81c2\uff09\u4ec5\u63d0\u4f9b\u57fa\u4e8e ROS \u7684\u5b98\u65b9\u63a5\u53e3\u3002\u4e3a\u517c\u5bb9\u6b64\u7c7b\u7cfb\u7edf\uff0cArk \u63d0\u4f9b\u4e13\u7528\u7684 ROS\u2013Ark \u6865\u63a5\u9a71\u52a8\uff0c\u53ef\u5b9e\u73b0 ROS topic \u4e0e Ark \u6d88\u606f\u901a\u9053\u4e4b\u95f4\u7684\u53cc\u5411\u901a\u4fe1\u3002\u7528\u6237\u53ef\u5728\u4e0d\u6539\u52a8\u539f\u6709 ROS \u4ee3\u7801\u7684\u524d\u63d0\u4e0b\uff0c\u5b9e\u73b0 ROS \u4e0e Ark \u7684\u6df7\u5408\u8fd0\u884c\uff0c\u8fd9\u4e5f\u4e3a\u4ece ROS \u9010\u6b65\u8fc1\u79fb\u81f3 Ark \u63d0\u4f9b\u4e86\u5e73\u6ed1\u8fc7\u6e21\u8def\u5f84\u3002\u6839\u636e\u6211\u4eec\u4e0e\u591a\u5bb6\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\u7684\u5b9e\u9645\u4f7f\u7528\u53cd\u9988\uff0c\u76ee\u524d\u6865\u63a5\u5668\u4e3b\u8981\u652f\u6301 ROS 1\uff1b\u5bf9 ROS 2 \u7684\u652f\u6301\u5c06\u6839\u636e\u793e\u533a\u9700\u6c42\u8fdb\u4e00\u6b65\u8bc4\u4f30\u548c\u63a8\u8fdb\u3002<\/span><\/p>\n

      \u5185\u7701\u4e0e\u8c03\u8bd5\u5de5\u5177<\/strong><\/span><\/p>\n

      \u673a\u5668\u4eba\u7cfb\u7edf\u901a\u5e38\u7531\u591a\u4e2a\u8fdb\u7a0b\u6784\u6210\uff0c\u6a21\u5757\u95f4\u8026\u5408\u590d\u6742\uff0c\u56e0\u6b64\u4e00\u5957\u5b8c\u5584\u7684\u53ef\u89c6\u5316\u4e0e\u8c03\u8bd5\u5de5\u5177\u5bf9\u5feb\u901f\u5b9a\u4f4d\u548c\u89e3\u51b3\u95ee\u9898\u81f3\u5173\u91cd\u8981\u3002Ark \u4e3a\u6b64\u63d0\u4f9b\u4e86\u4ee5\u4e0b\u6838\u5fc3\u5de5\u5177\uff1a<\/span><\/p>\n

        \n
      • Ark Graph\uff1a\u5b9e\u65f6\u663e\u793a\u7cfb\u7edf\u4e2d\u6240\u6709\u6d3b\u8dc3\u8282\u70b9\u3001\u5b83\u4eec\u53d1\u5e03\u4e0e\u8ba2\u9605\u7684\u6d88\u606f\u901a\u9053\u4ee5\u53ca\u5f53\u524d\u53ef\u7528\u7684\u670d\u52a1\uff0c\u5e2e\u52a9\u7528\u6237\u5feb\u901f\u7406\u89e3\u7cfb\u7edf\u62d3\u6251\u548c\u901a\u4fe1\u5173\u7cfb\u3002<\/span><\/li>\n
      • Ark Plot\uff1a\u652f\u6301\u5bf9\u4efb\u610f\u6570\u503c\u578b\u6d88\u606f\u901a\u9053\u8fdb\u884c\u5b9e\u65f6\u7ed8\u56fe\uff0c\u53ef\u7528\u4e8e\u89c2\u5bdf\u53d8\u91cf\u968f\u65f6\u95f4\u7684\u53d8\u5316\u8d8b\u52bf\uff0c\u4f8b\u5982\u6574\u5b9a\u63a7\u5236\u53c2\u6570\u6216\u8bca\u65ad\u4f20\u611f\u5668\u6570\u636e\u884c\u4e3a\u3002<\/span><\/li>\n
      • Ark Viewer\uff1a\u5b9e\u65f6\u53ef\u89c6\u5316\u4efb\u610f\u57fa\u4e8e LCM \u4f20\u8f93\u7684\u56fe\u50cf\u6d88\u606f\u901a\u9053\uff0c\u9002\u7528\u4e8e\u76f8\u673a\u6807\u5b9a\u3001\u8fd0\u884c\u76d1\u63a7\u548c\u56fe\u50cf\u7b97\u6cd5\u8c03\u8bd5\u3002<\/span><\/li>\n<\/ul>\n

        \u6b64\u5916\uff0cArk \u9009\u62e9 LCM \u4f5c\u4e3a\u901a\u4fe1\u4e2d\u95f4\u4ef6\u7684\u53e6\u4e00\u4e2a\u91cd\u8981\u539f\u56e0\uff0c\u5728\u4e8e\u5176\u539f\u751f\u63d0\u4f9b\u7684\u8c03\u8bd5\u4e0e\u5185\u7701\u5de5\u5177\u5957\u4ef6\u3002\u4f8b\u5982 lcm-spy \u80fd\u591f\u4ee5\u56fe\u5f62\u5316\u65b9\u5f0f\u67e5\u770b\u7f51\u7edc\u4e2d\u6d41\u901a\u7684\u6d88\u606f\uff0c\u63d0\u4f9b\u7c7b\u4f3c\u4e8e\u00a0Wireshark\u00a0\u6216 tcpdump \u7684\u6293\u5305\u5206\u6790\u4f53\u9a8c\uff0c\u7528\u6237\u53ef\u4ee5\u67e5\u770b\u5404\u901a\u9053\u7684\u8be6\u7ec6\u7edf\u8ba1\u4fe1\u606f\uff0c\u5305\u62ec\u63a5\u6536\u6d88\u606f\u6570\u91cf\u3001\u6d88\u606f\u9891\u7387\uff08Hz\uff09\u3001\u7f51\u7edc\u6296\u52a8\uff08ms\uff09\u7b49\u5173\u952e\u6307\u6807\uff0c\u6781\u5927\u589e\u5f3a\u4e86\u7cfb\u7edf\u7684\u53ef\u89c2\u6d4b\u6027\u4e0e\u8c03\u8bd5\u6548\u7387\u3002<\/span><\/p>\n

        <\/p>\n

        \u56fe 3: Ark \u53ef\u89c6\u5316\u8c03\u8bd5\u5de5\u5177<\/span><\/p>\n

        \u7528\u4f8b<\/span><\/h4>\n

        \u672c\u8282\u5c06\u901a\u8fc7\u4e00\u7cfb\u5217\u5178\u578b\u7528\u4f8b\uff0c\u5c55\u793a\u5982\u4f55\u4f7f\u7528 Ark \u5feb\u901f\u6784\u5efa\u5e38\u89c1\u7684\u673a\u5668\u4eba\u5b66\u4e60\u5de5\u4f5c\u6d41\u3002\u6240\u6709\u793a\u4f8b\u5747\u63d0\u4f9b\u5b8c\u6574\u4ee3\u7801\uff0c\u4ee5\u4fbf\u8bfb\u8005\u590d\u73b0\u548c\u5b9e\u8df5\u3002<\/span><\/p>\n

        \u5728\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e4b\u95f4\u5207\u6362<\/strong><\/span><\/p>\n

        \u5c06\u8bad\u7ec3\u597d\u7684\u7b56\u7565\u90e8\u7f72\u81f3\u771f\u5b9e\u673a\u5668\u4eba\u5f80\u5f80\u4f34\u968f\u663e\u8457\u7684\u5b89\u5168\u4e0e\u5de5\u7a0b\u5316\u6311\u6218\uff0c\u800c\u8bb8\u591a\u73b0\u6709\u6846\u67b6\u7f3a\u4e4f\u7aef\u5230\u7aef\u7684\u4e00\u4f53\u5316\u6d41\u7a0b\uff0c\u5bfc\u81f4\u89e3\u51b3\u65b9\u6848\u5206\u6563\u3001\u96be\u4ee5\u7cfb\u7edf\u5316\u548c\u6cdb\u5316\u3002Ark \u901a\u8fc7\u4e00\u5c42\u9ad8\u5ea6\u53ef\u914d\u7f6e\u7684\u62bd\u8c61\u673a\u5236\uff0c\u57fa\u4e8e\u7edf\u4e00\u7684 Python\/C++ \u9a71\u52a8\u67b6\u6784\uff0c\u5b9e\u73b0\u4e86\u4ece\u4eff\u771f\u5230\u771f\u5b9e\u7cfb\u7edf\u7684\u65e0\u7f1d\u90e8\u7f72\u3002\u7528\u6237\u53ea\u9700\u5728\u5b8c\u6210\u73af\u5883\uff08\u5305\u62ec\u673a\u5668\u4eba\u3001\u4f20\u611f\u5668\u3001\u7269\u4f53\u7b49\uff09\u7684\u7edf\u4e00\u5b9a\u4e49\u540e\uff0c\u4e8e\u914d\u7f6e\u6587\u4ef6\u4e2d\u5207\u6362 sim=True\/False\uff0c\u5373\u53ef\u5207\u6362\u81f3\u76ee\u6807\u8fd0\u884c\u73af\u5883\u3002<\/span><\/p>\n

        \u6211\u4eec\u5728 ViperX 300s \u56fa\u5b9a\u57fa\u5ea7\u673a\u68b0\u81c2\u4e0a\u8fdb\u884c\u4e86\u6293\u53d6 – \u653e\u7f6e\u4efb\u52a1\u7684\u5b9e\u4f8b\u9a8c\u8bc1\u3002\u6574\u4e2a\u73af\u5883\u901a\u8fc7\u4e00\u4efd YAML \u914d\u7f6e\u6587\u4ef6\u7edf\u4e00\u6307\u5b9a\uff0c\u5305\u62ec\u7269\u4f53\u7684\u521d\u59cb\u4f4d\u7f6e\u3001\u76f8\u673a\u4e0e\u673a\u5668\u4eba\u7684\u4f4d\u59ff\u4ee5\u53ca\u7269\u7406\u53c2\u6570\u3002\u89c2\u6d4b\u503c\u4e3a\u5f53\u524d\u5173\u8282\u4f4d\u7f6e\u6307\u4ee4\uff0c\u52a8\u4f5c\u4e3a\u76ee\u6807\u5173\u8282\u901f\u5ea6\u3002\u4eff\u771f\u548c\u771f\u5b9e\u73af\u5883\u5747\u4f7f\u7528\u540c\u4e00\u4eba\u5de5\u7f16\u5199\u7684\u4e13\u5bb6\u7b56\u7565\u8fdb\u884c\u63a7\u5236\u3002\u5728\u5411\u771f\u5b9e\u673a\u5668\u4eba\u8fc1\u79fb\u65f6\uff0c\u4ec5\u9700\u4fee\u6539\u4e00\u4e2a\u914d\u7f6e\u53d8\u91cf sim\uff0cArk \u4fbf\u5728\u5185\u90e8\u81ea\u52a8\u5c06\u6d88\u606f\u901a\u9053\u4ece\u4eff\u771f\u9a71\u52a8\u7a0b\u5e8f\u5207\u6362\u81f3\u7269\u7406\u786c\u4ef6\u9a71\u52a8\uff0c\u5176\u4f59\u6240\u6709\u4ee3\u7801\u53ca\u6570\u636e\u7ed3\u6784\u5747\u65e0\u9700\u53d8\u66f4\u3002<\/span><\/p>\n

        <\/p>\n

        \u56fe 4: \u57fa\u4e8e\u7edf\u4e00\u914d\u7f6e\u7684 Ark \u5206\u5e03\u5f0f\u4eff\u771f\u7cfb\u7edf\u67b6\u6784\uff0c\u901a\u8fc7 YAML \u6587\u4ef6\u5b9a\u4e49\u673a\u5668\u4eba\u3001\u4f20\u611f\u5668\u53ca\u7ec4\u7f51\u53c2\u6570\uff0c\u5b9e\u73b0\u4e0e\u771f\u5b9e\u90e8\u7f72\u4e00\u81f4\u7684\u591a\u8282\u70b9\u4eff\u771f\uff0c\u652f\u6301\u7b56\u7565\u65e0\u7f1d\u8fc1\u79fb<\/span><\/p>\n

        \u6a21\u4eff\u5b66\u4e60\u7684\u6570\u636e\u91c7\u96c6<\/strong><\/span><\/p>\n

        \u6a21\u4eff\u5b66\u4e60\u901a\u5e38\u9700\u8981\u5927\u89c4\u6a21\u7684\u9ad8\u8d28\u91cf\u6f14\u793a\u6570\u636e\uff0c\u76ee\u524d\u5e38\u89c1\u7684\u91c7\u96c6\u65b9\u5f0f\u4e3b\u8981\u5305\u62ec\u4ee5\u4e0b\u4e24\u79cd\uff1a<\/span><\/p>\n

          \n
        • \u5f92\u624b\u793a\u6559\uff08Kinesthetic Teaching\uff09\uff1a\u64cd\u4f5c\u8005\u76f4\u63a5\u901a\u8fc7\u7269\u7406\u5f15\u5bfc\u673a\u68b0\u81c2\u5b8c\u6210\u52a8\u4f5c\u4efb\u52a1\u3002\u8fd9\u79cd\u65b9\u5f0f\u76f4\u89c2\u81ea\u7136\uff0c\u4f46\u5b58\u5728\u8bbe\u5907\u5b89\u5168\u4e0e\u4eba\u5458\u64cd\u4f5c\u98ce\u9669\uff1b<\/span><\/li>\n
        • \u9065\u64cd\u4f5c\uff08Teleoperation\uff09\uff1a\u901a\u8fc7 VR \u5934\u663e\u4e0e\u624b\u67c4\u3001\u6e38\u620f\u624b\u67c4\u7b49\u8bbe\u5907\uff0c\u5728\u5b89\u5168\u8ddd\u79bb\u5916\u5bf9\u673a\u5668\u4eba\u8fdb\u884c\u63a7\u5236\u3002\u8be5\u65b9\u6cd5\u907f\u514d\u4e86\u76f4\u63a5\u63a5\u89e6\uff0c\u4f46\u53ef\u80fd\u53d7\u9650\u4e8e\u89c6\u89c9\u53cd\u9988\u8d28\u91cf\u548c\u8fd0\u52a8\u6620\u5c04\u51c6\u786e\u6027\uff0c\u5bf9\u64cd\u4f5c\u8005\u6280\u80fd\u6709\u4e00\u5b9a\u8981\u6c42\u3002<\/span><\/li>\n<\/ul>\n

          \u5f97\u76ca\u4e8e Ark \u9ad8\u5ea6\u6a21\u5757\u5316\u7684\u67b6\u6784\u548c\u5f3a\u7c7b\u578b\u6d88\u606f\u901a\u9053\u673a\u5236\uff0c\u7528\u6237\u53ef\u4ee5\u7075\u6d3b\u63a5\u5165\u4e0d\u540c\u7c7b\u578b\u7684\u793a\u6559\u63a5\u53e3\u3002\u6211\u4eec\u5229\u7528 LCM \u63d0\u4f9b\u7684 lcm-logger \u5de5\u5177\u5b9e\u65f6\u8bb0\u5f55\u6240\u6709\u901a\u9053\u7684\u6570\u636e\u81f3\u65e5\u5fd7\u6587\u4ef6\u3002Ark \u5185\u7f6e\u4ece\u65e5\u5fd7\u4e2d\u63d0\u53d6\u6570\u636e\u5e76\u8f6c\u6362\u4e3a CSV \u683c\u5f0f\u7684\u5de5\u5177\uff0c\u5e76\u652f\u6301\u6cbf\u7528\u73af\u5883\u4e2d\u5df2\u5b9a\u4e49\u7684\u89c2\u6d4b\u4e0e\u52a8\u4f5c\u901a\u9053\u914d\u7f6e\uff0c\u4ece\u800c\u786e\u4fdd\u6570\u636e\u683c\u5f0f\u5728\u91c7\u96c6\u3001\u8bad\u7ec3\u4e0e\u6700\u7ec8\u90e8\u7f72\u9636\u6bb5\u5b8c\u5168\u4e00\u81f4\u3002<\/span><\/p>\n

          \u5f92\u624b\u793a\u6559\uff1a<\/span><\/p>\n

          \u4ee5 ViperX 300s \u673a\u68b0\u81c2\u4e3a\u4f8b\uff0c\u64cd\u4f5c\u8005\u53ef\u76f4\u63a5\u7275\u5f15\u673a\u68b0\u81c2\u5b8c\u6210\u76ee\u6807\u4efb\u52a1\uff0cLCM \u540c\u6b65\u8bb0\u5f55\u5b8c\u6574\u7684\u5173\u8282\u8f68\u8ff9\u4e0e\u7cfb\u7edf\u72b6\u6001\u3002\u5c3d\u7ba1\u5728\u8be5\u793a\u4f8b\u4e2d\u76f8\u673a\u672a\u53c2\u4e0e\u63a7\u5236\u56de\u8def\uff0c\u4f46\u4ecd\u53ef\u7528\u4e8e\u5f55\u5236\u89c6\u89c9\u6570\u636e\u4ee5\u4f9b\u540e\u7eed\u5206\u6790\u3002\u6f14\u793a\u7ed3\u675f\u540e\uff0c\u8bb0\u5f55\u7684\u6570\u636e\u65e2\u53ef\u7528\u4e8e\u7b56\u7565\u8bad\u7ec3\uff0c\u4e5f\u53ef\u901a\u8fc7 lcm-logplayer \u8fdb\u884c\u9010\u5e27\u56de\u653e\uff0c\u8fd9\u5bf9\u4e8e\u5904\u7406\u5305\u542b\u4eba\u4f53\u5f71\u50cf\uff08\u53ef\u80fd\u5f15\u5165\u89c6\u89c9\u504f\u7f6e\uff09\u6216\u590d\u6742\u7269\u7406\u4ea4\u4e92\u7684\u4efb\u52a1\u5c24\u4e3a\u6709\u7528\u3002Ark \u8fd8\u63d0\u4f9b\u4e86\u4e00\u952e\u91cd\u7f6e\u670d\u52a1\uff0c\u4f8b\u5982\u5c06 \u201c\u91cd\u7f6e\u201d \u64cd\u4f5c\u7ed1\u5b9a\u81f3\u952e\u76d8\u6309\u952e\uff0c\u6781\u5927\u65b9\u4fbf\u4e86\u8fde\u7eed\u591a\u6b21\u793a\u6559\u4e0e\u7cfb\u7edf\u8bc4\u4f30\u3002<\/span><\/p>\n

          \u9065\u64cd\u4f5c\uff1a<\/span><\/p>\n

          Ark \u652f\u6301\u591a\u79cd\u8f93\u5165\u8bbe\u5907\uff0c\u5982 VR \u63a7\u5236\u5668\u4e0e\u6e38\u620f\u624b\u67c4\uff08\u5982 PS4 \u624b\u67c4\uff09\u3002\u5728\u4e00\u79cd\u5178\u578b\u914d\u7f6e\u4e2d\uff0c\u7528\u6237\u901a\u8fc7 VR \u63a7\u5236\u5668\u5b9e\u65f6\u53d1\u9001 6 \u81ea\u7531\u5ea6\u4f4d\u59ff\u6307\u4ee4\uff0c\u7cfb\u7edf\u901a\u8fc7\u9006\u8fd0\u52a8\u5b66\uff08IK\uff09\u8282\u70b9\u5c06\u5176\u8f6c\u5316\u4e3a\u5173\u8282\u901f\u5ea6\u76ee\u6807\uff1b\u53e6\u4e00\u79cd\u914d\u7f6e\u5219\u4f7f\u7528\u624b\u67c4\u76f4\u63a5\u63a7\u5236\u673a\u68b0\u81c2\u672b\u7aef\u4f4d\u59ff\u3002\u6574\u4e2a\u6570\u636e\u91c7\u96c6\u6d41\u7a0b\u7531\u4e00\u7cfb\u5217\u53ef\u590d\u7528\u7684 Ark \u8282\u70b9\u534f\u540c\u5b8c\u6210\uff0c\u5305\u62ec\u624b\u67c4\u63a7\u5236\u8282\u70b9\u3001\u73af\u5883\u8f6c\u6362\u8282\u70b9\uff08\u5c06\u624b\u67c4\u4fe1\u53f7\u8f6c\u4e3a\u672b\u7aef\u76ee\u6807\uff09\u3001IK \u89e3\u7b97\u8282\u70b9\uff08\u5c06\u4f4d\u59ff\u8f6c\u4e3a\u5173\u8282\u6307\u4ee4\uff09\uff0c\u4ee5\u53ca\u7528\u4e8e\u53d1\u5e03\u56fe\u50cf\u548c\u5173\u8282\u72b6\u6001\u7684\u4f20\u611f\u5668\u8282\u70b9\u3002\u51ed\u501f LCM \u5f3a\u7c7b\u578b\u548c\u901a\u9053\u9694\u79bb\u7684\u7279\u6027\uff0c\u66f4\u6362\u76f8\u673a\u6216\u63a7\u5236\u5668\u65f6\u65e0\u9700\u4fee\u6539\u5176\u4ed6\u6a21\u5757\u3002\u91c7\u96c6\u5b8c\u6210\u540e\uff0c\u7528\u6237\u53ef\u4f7f\u7528\u76f8\u540c\u7684\u901a\u9053\u914d\u7f6e\u4ece\u65e5\u5fd7\u4e2d\u63d0\u53d6\u6807\u51c6\u5316\u6570\u636e\uff0c\u76f4\u63a5\u7528\u4e8e\u8bad\u7ec3\u3002\u64cd\u4f5c\u8005\u8fd8\u53ef\u901a\u8fc7\u624b\u67c4\u7684 \u201cX\u201d \u952e\u5feb\u6377\u4fdd\u5b58\u5f53\u524d\u8f68\u8ff9\u5e76\u89e6\u53d1\u673a\u68b0\u81c2\u590d\u4f4d\u81f3\u4e2d\u7acb\u59ff\u6001\u3002<\/span><\/p>\n

          <\/p>\n

          \u56fe 5: lcm-logger \u901a\u8fc7\u8bb0\u5f55\u6765\u81ea\u591a\u79cd\u63a7\u5236\u63a5\u53e3\u7684\u6f14\u793a\u5b9e\u73b0\u9ad8\u6548\u7684\u6570\u636e\u91c7\u96c6<\/span><\/p>\n

          \u6a21\u4eff\u5b66\u4e60<\/strong><\/span><\/p>\n

          \u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u82e5\u5e72\u5b9e\u73b0\u6a21\u4eff\u5b66\u4e60\u7684\u5e94\u7528\u6848\u4f8b\uff0c\u91cd\u70b9\u4ecb\u7ecd\u5982\u4f55\u4f7f\u7528 Ark \u8fdb\u884c\u6570\u636e\u91c7\u96c6\u3001\u8bad\u7ec3\u548c\u7b56\u7565\u90e8\u7f72\u3002\u6211\u4eec\u5c06\u5c55\u793a\u4e86\u4e24\u79cd\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\uff1a\uff08i\uff09Diffusion Policy\uff0c\uff08ii\uff09ACT\uff0cArk \u4f5c\u4e3a\u6838\u5fc3\u57fa\u7840\u8bbe\u65bd\uff0c\u63d0\u4f9b\u6a21\u5757\u5316\u7ec4\u4ef6\u3001\u6807\u51c6\u5316\u63a5\u53e3\u548c\u5b9e\u65f6\u901a\u4fe1\u673a\u5236\uff0c\u663e\u8457\u7b80\u5316\u4e86\u4ece\u6570\u636e\u6536\u96c6\u5230\u7b56\u7565\u90e8\u7f72\u7684\u6574\u4e2a\u6d41\u7a0b\u3002<\/span><\/p>\n

          Diffusion Policy \u5b9e\u73b0\u4e0e\u90e8\u7f72\u793a\u4f8b\uff1a<\/span><\/p>\n

          \u6211\u4eec\u5728 ViperX 300s \u673a\u68b0\u81c2\u4e0e Intel RealSense RGB \u76f8\u673a\u4e0a\u5b8c\u6210\u4e86\u63a8\u52a8\u4efb\u52a1\uff08pushing\uff09Diffusion Policy \u5b9e\u9a8c\u3002\u8be5\u4efb\u52a1\u7684\u89c2\u6d4b\u7a7a\u95f4\u5305\u62ec\u673a\u5668\u4eba\u5173\u8282\u4f4d\u7f6e\u53ca\u8fde\u7eed\u7684 RGB \u56fe\u50cf\u6d41\uff0c\u52a8\u4f5c\u7a7a\u95f4\u4e3a\u5173\u8282\u4f4d\u7f6e\u6307\u4ee4\u3002\u5728\u90e8\u7f72\u9636\u6bb5\uff0c\u7cfb\u7edf\u5b8c\u5168\u590d\u7528\u4e86\u6570\u636e\u91c7\u96c6\u65f6\u7684\u67b6\u6784\uff1a\u4ec5\u5c06\u539f\u672c\u7684 \u201c\u624b\u67c4\u63a7\u5236\u8282\u70b9\u201d \u66ff\u6362\u4e3a \u201c\u7b56\u7565\u8282\u70b9\u201d\u3002\u8be5\u7b56\u7565\u8282\u70b9\u4ece\u89c2\u6d4b\u901a\u9053\u8bfb\u53d6\u56fe\u50cf\u548c\u5173\u8282\u72b6\u6001\uff0c\u5e76\u901a\u8fc7\u540c\u4e00\u52a8\u4f5c\u901a\u9053\u53d1\u5e03\u76ee\u6807\u672b\u7aef\u4f4d\u59ff\u3002\u7531\u4e8e\u6267\u884c\u901a\u8def\u4e0e\u91c7\u96c6\u9636\u6bb5\u4fdd\u6301\u4e00\u81f4\uff0c\u7528\u6237\u65e0\u9700\u4fee\u6539\u4efb\u4f55\u5e95\u5c42\u57fa\u7840\u8bbe\u65bd\u5373\u53ef\u76f4\u63a5\u9a8c\u8bc1\u5b66\u4e60\u5230\u7684\u7b56\u7565\u3002<\/span><\/p>\n

          <\/p>\n

          \u56fe 6: Viper X 300s \u673a\u68b0\u81c2\u6267\u884c\u6269\u6563\u7b56\u7565\u7684\u8fde\u7eed\u52a8\u4f5c\u5e8f\u5217<\/span><\/p>\n

          ACT \u5b9e\u73b0\u4e0e\u90e8\u7f72\u793a\u4f8b\uff1a<\/span><\/p>\n

          \u9664\u6269\u6563\u7b56\u7565\u5916\uff0c\u6211\u4eec\u8fd8\u57fa\u4e8e OpenPyro-A1 \u4eba\u5f62\u673a\u5668\u4eba\u5e73\u53f0\u5b9e\u73b0\u4e86 ACT \u65b9\u6cd5\u7684\u793a\u4f8b\u3002\u901a\u8fc7 VR \u8bbe\u5907\u8fdb\u884c\u9065\u64cd\u4f5c\uff0c\u6536\u96c6\u4e86\u5305\u62ec \u201c\u8863\u670d\u6574\u7406\u201d \u4e0e \u201c\u7269\u4f53\u63a5\u529b\u201d \u5728\u5185\u7684\u591a\u7c7b\u4efb\u52a1\u6570\u636e\u3002\u901a\u8fc7\u8bad\u7ec3\u5f97\u5230\u7684\u7b56\u7565\u80fd\u591f\u751f\u6210\u7cbe\u7ec6\u4e14\u5305\u542b\u4e30\u5bcc\u63a5\u89e6\u4ea4\u4e92\u7684\u64cd\u4f5c\u884c\u4e3a\uff0c\u5c55\u73b0\u51fa\u8f83\u5f3a\u7684\u6cdb\u5316\u4e0e\u5b9e\u7269\u64cd\u4f5c\u80fd\u529b\u3002<\/span><\/p>\n

          <\/p>\n

          \u56fe 7: OpenPyro \u4f7f\u7528 ACT \u7b56\u7565\u6267\u884c\u8863\u670d\u6574\u7406\u548c\u7269\u4f53\u63a5\u529b\u4efb\u52a1<\/span><\/p>\n

          \u79fb\u52a8\u673a\u5668\u4eba<\/strong><\/span><\/p>\n

          \u8bb8\u591a\u73b0\u5b9e\u4efb\u52a1\uff08\u5982\u8bbe\u5907\u5de1\u68c0\uff09\u8981\u6c42\u673a\u5668\u4eba\u80fd\u591f\u5728\u73af\u5883\u4e2d\u81ea\u4e3b\u79fb\u52a8\u81f3\u591a\u4e2a\u76ee\u6807\u70b9\u3002\u5b9e\u73b0\u8be5\u80fd\u529b\u9700\u540c\u65f6\u89e3\u51b3\u4e24\u4e2a\u95ee\u9898\uff1a\u6784\u5efa\u73af\u5883\u5730\u56fe\uff08\u5efa\u56fe\uff09\u5e76\u5728\u5730\u56fe\u4e2d\u5b9e\u65f6\u5b9a\u4f4d\u81ea\u8eab\uff08\u5b9a\u4f4d\uff09\uff0c\u8fd9\u4e00\u8fc7\u7a0b\u5408\u79f0\u4e3a\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5efa\u56fe\uff08SLAM\uff09\u3002\u5f53\u5730\u56fe\u6784\u5efa\u5b8c\u6210\u4e14\u5b9a\u4f4d\u7a33\u5b9a\u53ef\u9760\u540e\uff0c\u673a\u5668\u4eba\u5373\u53ef\u901a\u8fc7\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u5b9e\u73b0\u5bfc\u822a\u3002<\/span><\/p>\n

          \u6211\u4eec\u5728 Ark \u4e2d\u5b9e\u73b0\u4e86\u4e00\u5957\u5b8c\u6574\u7684\u79fb\u52a8\u673a\u5668\u4eba\u5bfc\u822a\u6d41\u7a0b\uff1a\u9996\u5148\u901a\u8fc7\u9065\u64cd\u4f5c\u63a7\u5236\u673a\u5668\u4eba\u8fd0\u52a8\uff0c\u5e76\u5229\u7528\u673a\u8f7d\u00a0LiDAR\u00a0\u6570\u636e\u6784\u5efa\u5730\u56fe\uff1b\u5efa\u56fe\u5b8c\u6210\u540e\uff0c\u4f7f\u7528 A* \u7b97\u6cd5\u8fdb\u884c\u5168\u5c40\u8def\u5f84\u89c4\u5212\uff0c\u5e76\u7ed3\u5408\u8ddd\u79bb\u53d8\u6362\u6280\u672f\u786e\u4fdd\u4e0e\u969c\u788d\u7269\u4fdd\u6301\u5b89\u5168\u8ddd\u79bb\uff1b\u6700\u540e\u901a\u8fc7 PD \u63a7\u5236\u5668\u8ddf\u8e2a\u8def\u5f84\u70b9\uff0c\u751f\u6210\u5dee\u901f\u9a71\u52a8\u6240\u9700\u7684\u8f6e\u901f\u6307\u4ee4\u3002<\/span><\/p>\n

          \u5efa\u56fe\uff1a<\/span><\/p>\n

          \u4e3a\u5b9e\u73b0\u5efa\u56fe\u4e0e\u5b9a\u4f4d\uff0cArk \u63d0\u4f9b\u4e86\u4e00\u5957 \u201c\u9065\u64cd\u4f5c\u8f85\u52a9 SLAM\u201d \u6d41\u7a0b\uff0c\u5305\u542b\u4e24\u4e2a\u6838\u5fc3\u8282\u70b9\uff1a\u9065\u64cd\u4f5c\u63a7\u5236\u5668\u4e0e\u6982\u7387 SLAM \u6a21\u5757\uff0c\u4e24\u8005\u901a\u8fc7\u6d88\u606f\u901a\u9053\u901a\u4fe1\u3002\u7528\u6237\u901a\u8fc7\u9065\u64cd\u4f5c\u8282\u70b9\u53d1\u9001\u7ebf\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\u6307\u4ee4\uff0c\u8fd9\u4e9b\u6307\u4ee4\u7ecf Ark \u52a8\u4f5c\u901a\u9053\u53d1\u9001\u81f3\u5e95\u5c42\u63a7\u5236\u5668\uff0c\u8f6c\u6362\u4e3a\u5de6\u53f3\u8f6e\u901f\u3002\u540c\u65f6\uff0cLiDAR \u6570\u636e\u4e0e\u63a7\u5236\u6307\u4ee4\u88ab\u5b9e\u65f6\u53d1\u9001\u81f3 SLAM \u8282\u70b9\uff0c\u7528\u4e8e\u878d\u5408\u4f30\u8ba1\u673a\u5668\u4eba\u4f4d\u59ff\u5e76\u6784\u5efa\u5730\u56fe\u3002\u6211\u4eec\u91c7\u7528\u57fa\u4e8e Rao\u2013Blackwellized \u7c92\u5b50\u6ee4\u6ce2\u7684 FastSLAM \u65b9\u6cd5\uff1a\u6bcf\u4e2a\u7c92\u5b50\u540c\u65f6\u7ef4\u62a4\u4f4d\u59ff\u4f30\u8ba1\u548c\u4e00\u4e2a\u5360\u636e\u6805\u683c\u5730\u56fe\uff0c\u6805\u683c\u6982\u7387\u53d6\u503c\u4ece 0\uff08\u7a7a\u95f2\uff09\u5230 1\uff08\u5360\u636e\uff09\u3002\u7cfb\u7edf\u7ed3\u6784\u5982\u56fe 8 \u6240\u793a\u3002<\/span><\/p>\n

          <\/p>\n

          \u56fe 8\uff1aHusky \u673a\u5668\u4eba\u5728 Ark \u5de5\u5177\u652f\u6301\u4e0b\u4e8e\u53a8\u623f\u73af\u5883\u5b9e\u73b0 SLAM \u5efa\u56fe\u4e0e\u5bfc\u822a<\/span><\/p>\n

          \u5bfc\u822a\uff1a<\/span><\/p>\n

          \u5728\u5df2\u77e5\u5730\u56fe\u4e14\u80fd\u53ef\u9760\u5b9a\u4f4d\u7684\u57fa\u7840\u4e0a\uff0c\u673a\u5668\u4eba\u53ef\u8fdb\u884c\u8fd0\u52a8\u89c4\u5212\u3002\u6211\u4eec\u96c6\u6210 A* \u7b97\u6cd5\u4f5c\u4e3a\u5168\u5c40\u89c4\u5212\u5668\u3002\u89c4\u5212\u5668\u63a5\u6536\u76ee\u6807\u70b9\u4f4d\u7f6e\u548c SLAM \u751f\u6210\u7684\u5360\u636e\u6805\u683c\u5730\u56fe\u3002\u9996\u5148\u901a\u8fc7\u9608\u503c\u5c06\u5730\u56fe\u4e8c\u503c\u5316\uff0c\u518d\u8ba1\u7b97\u8ddd\u79bb\u53d8\u6362\u56fe\u4ee5\u83b7\u53d6\u6bcf\u4e2a\u6805\u683c\u5230\u6700\u8fd1\u969c\u788d\u7269\u7684\u8ddd\u79bb\uff0c\u786e\u4fdd\u8def\u5f84\u6ee1\u8db3 \u201c\u534a\u8f66\u5bbd + \u5b89\u5168\u88d5\u91cf\u201d \u7684\u907f\u969c\u8981\u6c42\u3002A* \u8f93\u51fa\u4e00\u6761\u5e73\u6ed1\u7684\u907f\u969c\u8def\u5f84\uff0c\u8868\u793a\u4e3a\u4e00\u7cfb\u5217\u7b1b\u5361\u5c14\u8def\u6807\u70b9 (x,y)\uff0c\u5e76\u6309\u8bbe\u5b9a\u5206\u8fa8\u7387\u8fdb\u884c\u4e0b\u91c7\u6837\u4ee5\u63d0\u9ad8\u6267\u884c\u6548\u7387\u3002\u63a7\u5236\u5b50\u7cfb\u7edf\u6839\u636e\u5b9e\u65f6\u4f4d\u59ff\u548c\u8def\u5f84\u70b9\u5e8f\u5217\u9010\u70b9\u8ddf\u8e2a\uff1a\u5148\u8c03\u6574\u673a\u5668\u4eba\u671d\u5411\uff0c\u518d\u6cbf\u76f4\u7ebf\u79fb\u52a8\u81f3\u5f53\u524d\u8def\u6807\uff0c\u8fdb\u5165\u5bb9\u5dee\u8303\u56f4\u540e\u81ea\u52a8\u5207\u6362\u4e0b\u4e00\u76ee\u6807\u3002\u6700\u7ec8\u8f93\u51fa\u7ebf\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\uff0c\u5e76\u8f6c\u6362\u4e3a\u5dee\u901f\u9a71\u52a8\u7684\u8f6e\u901f\u6307\u4ee4\u3002<\/span><\/p>\n

          \u5177\u8eab\u667a\u80fd<\/strong><\/span><\/p>\n

          \u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u4e0e\u89c6\u89c9 – \u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u663e\u8457\u63d0\u5347\u4e86\u673a\u5668\u4eba\u7684\u9ad8\u5c42\u63a8\u7406\u80fd\u529b\u3002Ark \u51ed\u501f\u5176\u6a21\u5757\u5316\u8bbe\u8ba1\u4e0e Python \u4f18\u5148\u7684\u67b6\u6784\uff0c\u5929\u7136\u9002\u5408\u5c06 LLM\/VLM \u4f5c\u4e3a\u9ad8\u5c42\u7b56\u7565\u9009\u62e9\u5668\u96c6\u6210\u5230\u673a\u5668\u4eba\u63a7\u5236\u56de\u8def\u4e2d\u3002<\/span><\/p>\n

          \u6211\u4eec\u5728 Viper \u673a\u68b0\u81c2\u4e0a\u6784\u5efa\u4e86\u4e00\u4e2a\u57fa\u4e8e LLM \u7684\u667a\u80fd\u4f53\u7cfb\u7edf\uff08\u56fe 9\uff09\uff0c\u91c7\u7528 DeepSeek-R1 \u4f5c\u4e3a\u5e95\u5c42\u6a21\u578b\uff0c\u9075\u5faa \u201c\u4ee3\u7801\u5373\u7b56\u7565\uff08code-as-policy\uff09\u201d \u8303\u5f0f\uff1a\u5c06 \u201c\u6293\u53d6\u201d\u201c\u6309\u4f4d\u7f6e\u653e\u7f6e\u201d\u201c\u79fb\u9664\u7269\u4f53\u201d \u7b49\u64cd\u4f5c\u5c01\u88c5\u4e3a\u53ef\u53c2\u6570\u5316\u7684\u7b56\u7565\u51fd\u6570\u3002\u8fd9\u4e9b\u51fd\u6570\u7ec4\u6210\u7b56\u7565\u5e93\u4f9b LLM \u8c03\u7528\uff0c\u6a21\u578b\u6839\u636e\u4efb\u52a1\u4e0a\u4e0b\u6587\u4ece\u5e93\u4e2d\u9009\u62e9\u5408\u9002\u6280\u80fd\u5e76\u751f\u6210\u4ee3\u7801\u6267\u884c\u3002<\/span><\/p>\n

          Ark \u5c06\u6574\u4e2a\u7cfb\u7edf\u89e3\u8026\u4e3a\u611f\u77e5\u3001\u8bed\u8a00\u63a8\u7406\u4e0e\u8fd0\u52a8\u6267\u884c\u7b49\u591a\u4e2a\u72ec\u7acb\u8282\u70b9\u3002DeepSeek \u88ab\u5c01\u88c5\u4e3a\u4e00\u4e2a\u670d\u52a1\u8282\u70b9\uff0c\u63a5\u6536\u7ed3\u6784\u5316\u63d0\u793a\u8bcd\uff08\u5305\u542b\u573a\u666f\u89c2\u6d4b\u3001\u53ef\u7528\u51fd\u6570\u548c\u4efb\u52a1\u63cf\u8ff0\uff09\u5e76\u8fd4\u56de\u63a8\u7406\u7ed3\u679c\u3002\u6bcf\u4e00\u6b65\u51b3\u7b56\u4e2d\uff0c\u611f\u77e5\u8282\u70b9\u5c06\u68cb\u76d8\u72b6\u6001\u3001\u56fe\u50cf\u7b49\u89c2\u6d4b\u6570\u636e\u53d1\u5e03\u5230\u6d88\u606f\u901a\u9053\uff0c\u7ecf\u6574\u7406\u540e\u901a\u8fc7\u670d\u52a1\u8c03\u7528\u53d1\u9001\u81f3 LLM \u8282\u70b9\uff0c\u89e6\u53d1\u4e00\u6b21\u7b56\u7565\u751f\u6210\u3002<\/span><\/p>\n

          <\/p>\n

          \u56fe 9\uff1aArk \u6846\u67b6\u901a\u8fc7\u96c6\u6210 DeepSeek \u5927\u6a21\u578b\u8d4b\u4e88 Viper \u673a\u68b0\u81c2\u56fd\u9645\u8c61\u68cb\u5bf9\u5f08\u80fd\u529b<\/span><\/p>\n

          \u672a\u6765\u5de5\u4f5c\u548c\u603b\u7ed3<\/span><\/h4>\n

          \u5c55\u671b\u672a\u6765\uff0cArk \u8ba1\u5212\u91cd\u70b9\u53d1\u5c55\u4e24\u5927\u65b9\u5411\uff1a\u4e00\u662f\u5f3a\u5316\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u57fa\u7840\u8bbe\u65bd\uff0c\u901a\u8fc7\u539f\u751f\u96c6\u6210 Stable Baselines3 \u548c RLlib \u7b49\u4e3b\u6d41\u6846\u67b6\uff0c\u652f\u6301\u5e76\u884c\u73af\u5883\u6267\u884c\uff0c\u5e76\u63d0\u4f9b\u7edf\u4e00\u7684\u73af\u5883\u62bd\u8c61\u63a5\u53e3\uff0c\u5b9e\u73b0\u5728\u4eff\u771f\u4e0e\u771f\u5b9e\u673a\u5668\u4eba\u4e4b\u95f4\u9ad8\u6548\u8bad\u7ec3\u3001\u8bc4\u4f30\u548c\u90e8\u7f72 RL \u7b56\u7565\uff1b\u4e8c\u662f\u63d0\u5347\u9ad8\u4fdd\u771f\u4eff\u771f\u80fd\u529b\uff0c\u5728\u73b0\u6709 PyBullet \u548c MuJoCo \u652f\u6301\u7684\u57fa\u7840\u4e0a\uff0c\u8fdb\u4e00\u6b65\u5f15\u5165\u57df\u968f\u673a\u5316\u3001\u53ef\u5fae\u7269\u7406\u7b49\u5173\u952e\u7279\u6027\uff0c\u589e\u5f3a\u7b56\u7565\u7684\u9c81\u68d2\u6027\u548c\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u8fc1\u79fb\u6548\u679c\uff0c\u540c\u65f6\u4e0e\u9ad8\u6027\u80fd\u4eff\u771f\u540e\u7aef\u6df1\u5ea6\u96c6\u6210\uff0c\u6784\u5efa\u66f4\u7cbe\u786e\u3001\u53ef\u6269\u5c55\u4e14\u529f\u80fd\u4e30\u5bcc\u7684\u6a21\u62df\u73af\u5883\u3002<\/span><\/p>\n

          Ark \u4ee5\u73b0\u4ee3\u5316\u3001\u6a21\u5757\u5316\u548c\u7528\u6237\u53cb\u597d\u7684\u67b6\u6784\uff0c\u81f4\u529b\u4e8e\u5728\u673a\u5668\u4eba\u5b66\u4e0e\u673a\u5668\u5b66\u4e60\u4e4b\u95f4\u5efa\u7acb\u9ad8\u6548\u6865\u6881\uff1a\u65e2\u5927\u5e45\u964d\u4f4e\u4e86\u771f\u5b9e\u673a\u5668\u4eba\u90e8\u7f72\u7684\u6280\u672f\u95e8\u69db\uff0c\u53c8\u4fdd\u6301\u4e86\u9762\u5411\u524d\u6cbf\u7814\u7a76\u7684\u7075\u6d3b\u6027\u4e0e\u6269\u5c55\u6027\u3002\u968f\u7740\u4eff\u771f\u6027\u80fd\u7684\u63d0\u5347\u3001RL \u751f\u6001\u878d\u5408\u7684\u6df1\u5316\u4ee5\u53ca\u5de5\u5177\u94fe\u7684\u6301\u7eed\u5b8c\u5584\uff0cArk \u6709\u671b\u53d1\u5c55\u6210\u4e3a\u652f\u6491\u5177\u8eab\u667a\u80fd\u7814\u7a76\u7684\u91cd\u8981\u901a\u7528\u5e73\u53f0\uff0c\u63a8\u52a8\u673a\u5668\u4eba\u5b66\u4e60\u793e\u533a\u4e0d\u65ad\u5411\u524d\u8fc8\u8fdb\u3002<\/span><\/p>\n

          <\/p>\n

          \u8868 1\uff1aArk \u4e0e\u540c\u7c7b\u6846\u67b6\u7684\u529f\u80fd\u5bf9\u6bd4\uff0c\u7ea2\u8272\u5706\u5708\u8868\u793a\u8be5\u6846\u67b6\u4e0d\u652f\u6301\u8be5\u7279\u6027<\/span><\/p>\n

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

          <\/div>\n

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

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

          \u6765\u81ea\u534e\u4e3a\u8bfa\u4e9a\u65b9\u821f\u5b9e\u9a8c\u5ba4\uff0c\u5fb7\u56fd\u8fbe\u59c6\u65bd\u5854\u7279\u5de5\u4e1a\u5927\u5b66\uff0c\u82f1\u56fd\u4f26\u6566\u5927\u5b66\u5b66\u9662\uff0c\u5e1d\u56fd\u7406\u5de5\u5b66\u9662\u548c\u725b\u6d25\u5927\u5b66\u7684\u7814\u7a76\u8005\u4eec\u8054\u5408\u63a8\u51fa\u4e86\u00a0 […]<\/p>\n

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