{"id":2997,"date":"2023-08-14T10:17:00","date_gmt":"2023-08-14T02:17:00","guid":{"rendered":""},"modified":"2023-08-14T10:17:00","modified_gmt":"2023-08-14T02:17:00","slug":"","status":"publish","type":"post","link":"http:\/\/www.idea2003.com\/dongtai\/2997.html","title":{"rendered":"\u5355\u5f20A100\uff0c50\u4ebf\u6b65\u8bad\u7ec3\uff01\u82f1\u4f1f\u8fbe\u5f00\u6e90\u6700\u5f3a\u865a\u62df\u89d2\u8272\u5b9a\u5236\u6a21\u578b\uff0c\u8d85\u903c\u771f\u52a8\u4f5c\u96f6\u6837\u672c\u751f\u6210\uff0c\u6e38\u620f\u52a8\u753b\u884c\u4e1a\u8981\u53d8\u5929"},"content":{"rendered":"

\u7f16\u8005\u6309\uff1a\u672c\u6587\u6765\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7 \u65b0\u667a\u5143\uff08ID\uff1aAI_era\uff09\uff0c\u7f16\u8f91\uff1a\u7f16\u8f91\u90e8\uff0c\u5fae\u65b0\u521b\u60f3\u7ecf\u6388\u6743\u8f6c\u8f7d\u3002<\/p>\n

8\u67088\u65e5\u6df1\u591c\uff0c\u82f1\u4f1f\u8fbeCEO\u9ec4\u4ec1\u52cb\uff0c\u518d\u6b21\u767b\u4e0a\u4e86\u4e16\u754c\u9876\u7ea7\u8ba1\u7b97\u673a\u56fe\u5f62\u5b66\u4f1a\u8baeSIGGRAPH\u7684\u821e\u53f0\uff0c\u7528\u4e00\u7cfb\u5217\u91cd\u78c5\u66f4\u65b0\u5c55\u793a\u4e86\u5728AI\u548c\u5143\u5b87\u5b99\u65b9\u5411\u4e0a\u7684\u91ce\u5fc3\u3002<\/p>\n

\u800c\u5c31\u5728\u6700\u8fd1\uff0c\u88abSIGGRAPH 2023\u6536\u5f55\u7684CALM\u6a21\u578b\u7684\u6b63\u5f0f\u5f00\u6e90\uff0c\u4e5f\u8ba9\u6e38\u620f\u548c\u52a8\u753b\u5f00\u53d1\u76f4\u63a5\u98d9\u4e0a\u4e86AI\u52a0\u6301\u7684\u5feb\u8f66\u9053\u3002<\/p>\n

CALM\u53ef\u4ee5\u81ea\u5b66\u300c\u4eba\u7c7b\u7684\u52a8\u4f5c\u300d\uff0c\u65e0\u9700\u989d\u5916\u8bad\u7ec3\u5c31\u80fd\u81ea\u7531\u5408\u6210\u548c\u63a7\u5236\u865a\u62df\u89d2\u8272\u7684\u52a8\u4f5c\uff0c\u6548\u679c\u903c\u771f\u81ea\u7136\u3002<\/p>\n

\u4e5f\u8bb8\u9a6c\u4e0a\u6574\u4e2a\u6e38\u620f\uff0c\u52a8\u753b\u5de5\u4e1a\u7684\u683c\u5c40\u5c31\u8981\u5f7b\u5e95\u6539\u53d8\uff0c\u800cVR\u573a\u666f\u4e2d\u7684\u4eba\u7269\u548c\u89d2\u8272\u4e5f\u5c06\u4ece\u6b64\u4e0d\u518d\u751f\u786c\uff0c\u5143\u5b87\u5b99\u53ef\u80fd\u771f\u7684\u8981\u52a0\u901f\u5230\u6765\u4e86\uff01<\/p>\n

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

AI\u63a7\u5236\u89d2\u8272\u8e72\u884c\u9760\u8fd1\u76ee\u6807\uff0c\u5f53\u8ddd\u79bb\u8db3\u591f\u8fd1\u65f6\u8e22\u817f\uff0c\u6700\u540e\u4e3e\u8d77\u53cc\u81c2\u5e86\u795d<\/p>\n

\u5177\u4f53\u6765\u8bf4\uff0c\u82f1\u4f1f\u8fbe\u8054\u5408\u4ee5\u8272\u5217\u7406\u5de5\u5b66\u9662\u3001\u5df4\u4f0a\u5170\u5927\u5b66\u548c\u897f\u8499\u83f2\u838e\u5927\u5b66\uff0c\u5171\u540c\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u6761\u4ef6\u5bf9\u6297\u6f5c\u6a21\u578b\uff08Conditional Adversarial Latent Models\uff0cCALM\uff09\u3002<\/p>\n

\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\uff0cCALM\u5b66\u4e60\u5230\u4e86\u4e00\u79cd\u53ef\u4ee5\u6355\u6349\u4eba\u7c7b\u52a8\u4f5c\u590d\u6742\u6027\u548c\u591a\u6837\u6027\u7684\u52a8\u4f5c\u8868\u5f81\uff0c\u5e76\u80fd\u76f4\u63a5\u63a7\u5236\u89d2\u8272\u7684\u52a8\u4f5c\u3002<\/p>\n

\u8be5\u65b9\u6cd5\u53ef\u4ee5\u8054\u5408\u5b66\u4e60\u63a7\u5236\u7b56\u7565\u548c\u52a8\u4f5c\u7f16\u7801\u5668\uff0c\u5bf9\u7ed9\u5b9a\u52a8\u4f5c\u7684\u5173\u952e\u7279\u5f81\u8fdb\u884c\u91cd\u5efa\uff0c\u800c\u4e0d\u4ec5\u4ec5\u662f\u590d\u5236\u3002<\/p>\n

\u7ed3\u679c\u8868\u660e\uff0cCALM\u53ef\u4ee5\u901a\u8fc7\u5b66\u4e60\u8bed\u4e49\u52a8\u4f5c\u8868\u5f81\uff0c\u5bf9\u751f\u6210\u7684\u52a8\u4f5c\u8fdb\u884c\u63a7\u5236\uff0c\u5e76\u4e14\u4e3a\u66f4\u9ad8\u7ea7\u7684\u4efb\u52a1\u8bad\u7ec3\u63d0\u4f9b\u98ce\u683c\u8c03\u6574\u3002<\/p>\n

\u8bad\u7ec3\u5b8c\u6210\u540e\uff0c\u7528\u6237\u5c31\u53ef\u4ee5\u5229\u7528\u50cf\u7535\u8111\u6e38\u620f\u4e00\u6837\u7684\u754c\u9762\uff0c\u975e\u5e38\u76f4\u89c2\u5730\u5bf9\u89d2\u8272\u8fdb\u884c\u63a7\u5236\u4e86\u3002<\/p>\n

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

\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2305.02195<\/p>\n

\u9879\u76ee\u5730\u5740\uff1ahttps:\/\/github.com\/NVlabs\/CALM<\/p>\n

\u5b9e\u73b0\u65b9\u6cd5<\/h2>\n

CALM\u4ee5\u5bf9\u6297\u6027\u6280\u80fd\u5d4c\u5165\u4e3a\u57fa\u7840\uff0c\u5e76\u501f\u9274\u4e86\u5176\u4ee3\u7801\u3002<\/p>\n

\u7814\u7a76\u4eba\u5458\u5229\u7528\u5355\u4e2aA100 GPU\uff0c\u901a\u8fc7\u57284096\u4e2aIsaac Gym\u73af\u5883\u4e0a\u8fdb\u884c\u5e76\u884c\u8bad\u7ec3\uff0c\u5171\u8ba15\u4ebf\u6b65\u3002<\/p>\n

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

\u9879\u76ee\u5730\u5740\uff1ahttps:\/\/xbpeng.github.io\/projects\/ASE\/index.html<\/p>\n

\u4e3a\u4e86\u5b9e\u73b0\u96f6\u6837\u672c\u4efb\u52a1\u89e3\u51b3\u65b9\u6848\uff0cCALM\u75313\u4e2a\u9636\u6bb5\u7ec4\u6210\uff1a<\/p>\n

\uff081\uff09\u52a8\u4f5c\u7f16\u7801\u5668\u548c\u5e95\u5c42\u7b56\u7565\uff08\u89e3\u7801\u5668\uff09\u8054\u5408\u8bad\u7ec3\uff0c\u5c06\u52a8\u4f5c\u6355\u6349\u5e8f\u5217\u6620\u5c04\u4e3a\u63a7\u5236\u6a21\u62df\u89d2\u8272\u7684\u52a8\u4f5c\u3002<\/strong><\/p>\n

\uff082\uff09\u4f7f\u7528\u6f5c\u7a7a\u95f4\u8c03\u8282\u8bad\u7ec3\u9ad8\u7ea7\u7b56\u7565\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u6267\u884c\u52a8\u4f5c\u65b9\u5411\u7684\u63a7\u5236\uff0c\u540c\u65f6\u4fdd\u7559\u6240\u9700\u7684\u98ce\u683c\u3002<\/strong><\/p>\n

\uff083\uff09\u5c06\u6b65\u9aa41\u548c2\u7ed3\u5408\u8d77\u6765\uff0c\u4f7f\u7528\u7b80\u5355\u7684\u6709\u9650\u72b6\u6001\u673a\u6765\u89e3\u51b3\u4efb\u52a1\uff0c\u65e0\u9700\u8fdb\u4e00\u6b65\u8bad\u7ec3\uff0c\u4e5f\u65e0\u9700\u7cbe\u5fc3\u8bbe\u8ba1\u5956\u52b1\/\u7ec8\u6b62\u6761\u4ef6\u3002<\/strong><\/p>\n

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

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

\u9636\u6bb51\uff1a\u5e95\u5c42\u8bad\u7ec3<\/strong><\/h3>\n

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

\u5728\u5e95\u5c42\u8bad\u7ec3\u9636\u6bb5\uff0cCALM\u5b66\u4e60\u4e86\u4e00\u4e2a\u7f16\u7801\u5668\u548c\u4e00\u4e2a\u89e3\u7801\u5668\u3002<\/p>\n

\u7f16\u7801\u5668\u63a5\u6536\u6765\u81ea\u52a8\u4f5c\u53c2\u8003\u6570\u636e\u96c6\u7684\u52a8\u4f5c\uff0c\u5373\u5173\u8282\u4f4d\u7f6e\u7684\u65f6\u95f4\u5e8f\u5217\uff0c\u5e76\u5c06\u5176\u6620\u5c04\u5230\u4f4e\u7ef4\u6f5c\u8868\u5f81\uff08low-dimensional latent representation\uff09\u3002<\/p>\n

\u89e3\u7801\u5668\u662f\u4e00\u4e2a\u5e95\u5c42\u7b56\u7565\uff0c\u901a\u8fc7\u4e0e\u6a21\u62df\u5668\u8fdb\u884c\u4ea4\u4e92\uff0c\u6765\u751f\u6210\u7c7b\u4f3c\u4e8e\u53c2\u8003\u6570\u636e\u96c6\u7684\u52a8\u4f5c\u3002<\/p>\n

\u8fd9\u4e2a\u7b56\u7565\u80fd\u591f\u6309\u9700\u4ea7\u751f\u5404\u79cd\u884c\u4e3a\uff0c\u4f46\u4e0d\u53d7\u52a8\u4f5c\u65b9\u5411\u6027\u7684\u5f71\u54cd\u3002\u4f8b\u5982\uff0c\u5b83\u53ef\u4ee5\u88ab\u6307\u793a\u8d70\u8def\uff0c\u4f46\u65e0\u6cd5\u672c\u80fd\u7684\u5730\u63a7\u5236\u884c\u8d70\u7684\u65b9\u5411\u3002<\/p>\n

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

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\u5728\u8fd9\u91cc\uff0c\u521d\u59cb\u7684\u6f5c\u8868\u5f81\u662f\u300c\u51b2\u523a\u300d\uff0c\u6700\u7ec8\u7684\u6f5c\u8868\u5f81\u662f\u300c\u8e72\u4e0b\u4e0d\u52a8\u300d\u3002<\/p>\n

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\u9636\u6bb52\uff1a\u65b9\u5411\u63a7\u5236<\/strong><\/h3>\n

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\u800c\u8bad\u7ec3\u597d\u7684\u65b9\u5411\u63a7\u5236\u5668\uff0c\u5c31\u53ef\u4ee5\u63a7\u5236\u89d2\u8272\u6240\u6267\u884c\u7684\u52a8\u4f5c\u5f62\u5f0f\u548c\u65b9\u5411\u4e86\u3002<\/p>\n

\u6bd4\u5982\u4e0b\u9762\u7684\u300c\u8e72\u4e0b\u884c\u8d70\u300d\u3001\u300c\u4e3e\u76fe\u884c\u8d70\u300d\u548c\u300c\u5954\u8dd1\u300d\u3002<\/p>\n

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

\u8e72\u884c<\/p>\n

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

\u4e3e\u76fe<\/p>\n

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

\u5954\u8dd1<\/p>\n

\u9636\u6bb53\uff1a\u63a8\u7406<\/strong><\/h3>\n

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\u4e3a\u6b64\uff0c\u7528\u6237\u521b\u5efa\u4e00\u4e2a\u5305\u542b\u6807\u51c6\u89c4\u5219\u548c\u6307\u4ee4\u7684\u6709\u9650\u72b6\u6001\u673a\uff08finite-state machine\uff0cFSM\uff09\u3002<\/p>\n

\u8fd9\u4e9b\u89c4\u5219\u548c\u6307\u4ee4\u786e\u5b9a\u8981\u6267\u884c\u54ea\u79cd\u52a8\u4f5c\uff0c\u7c7b\u4f3c\u4e8e\u7528\u6237\u63a7\u5236\u6e38\u620f\u89d2\u8272\u7684\u65b9\u5f0f\u3002<\/p>\n

\u4f8b\u5982\uff0c\u5b83\u4eec\u51b3\u5b9a\u89d2\u8272\u662f\u5426\u5e94\u8be5\u6267\u884c\u7b80\u5355\u7684\u52a8\u4f5c\uff0c\u76f4\u63a5\u4f7f\u7528\u5e95\u5c42\u7b56\u7565\u8fdb\u884c\u6267\u884c\uff0c\u6216\u8005\u662f\u5426\u9700\u8981\u9ad8\u7ea7\u63a7\u5236\u6765\u8fdb\u884c\u5b9a\u5411\u52a8\u4f5c\u3002<\/p>\n

\u6bd4\u5982\uff0cFSM\u53ef\u4ee5\u6784\u5efa\u5982\u4e0b\u7684\u52a8\u4f5c\u6d41\u7a0b\uff1a<\/p>\n

\uff081\uff09\u8f6c\u8eab\uff0c<\/p>\n

\uff082\uff09\u5411\u7740\u76ee\u6807\u8e72\u884c\uff0c\u76f4\u5230\u8ddd\u79bb<1m\uff0c<\/p>\n

\uff083\uff09\u5e86\u795d\u3002<\/p>\n

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

\u4ee5\u4e0b\u662f\u66f4\u591a\u7684\u6548\u679c\u5c55\u793a\uff1a<\/p>\n

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

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

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

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

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

\u6d4b\u8bd5\u7ed3\u679c<\/h2>\n

\u53ef\u63a7\u52a8\u4f5c\u751f\u6210<\/strong><\/h3>\n

\u7814\u7a76\u4eba\u5458\u9996\u5148\u5206\u6790\u4e86CALM\u7684\u4e09\u4e2a\u65b9\u9762\uff1a\uff081\uff09\u7f16\u7801\u5668\u8d28\u91cf\uff0c\uff082\uff09\u5e95\u5c42\u63a7\u5236\u5668\u7684\u591a\u6837\u6027\uff0c\u4ee5\u53ca\uff083\uff09\u7ec4\u5408\u7cfb\u7edf\u7684\u53ef\u63a7\u6027\u3002<\/p>\n

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

\u7f16\u7801\u5668\u8d28\u91cf<\/strong><\/p>\n

\u4f7f\u7528\u4e4b\u524d\u7814\u7a76\u4e2d\u7684\u7c7b\u522b\u5206\u79bb\u6027\uff08separability\uff09\u6d4b\u8bd5\uff0c\u7814\u7a76\u4eba\u5458\u5728\u7f16\u7801\u5668\u5b66\u4e60\u7684\u8868\u793a\u4e0a\u8861\u91cf\u4e86\u6f5c\u7a7a\u95f4\u5185\u52a8\u4f5c\u7c7b\u522b\u4e4b\u95f4\u7684\u5206\u79bb\u6027\uff0c\u5c06\u52a8\u4f5c\u7c7b\u522b\u5b9a\u4e49\u4e3a\u5355\u4e2a\u52a8\u4f5c\u6587\u4ef6\uff08motion file\uff09\u4e2d\u7684\u5b50\u52a8\u4f5c\u3002<\/p>\n

\u5982\u4e0a\u8868\u6240\u793a\uff0cCALM\u5c06\u52a8\u4f5c\u7f16\u7801\u4e3a\u5177\u6709\u66f4\u597d\u5206\u79bb\u6027\u7684\u8868\u5f81\u3002<\/p>\n

\u591a\u6837\u6027<\/strong><\/p>\n

\u7814\u7a76\u4eba\u5458\u4f7f\u7528\u53c2\u8003\u6570\u636e\u96c6\u8bad\u7ec3\u4e86\u4e00\u4e2a\u5206\u7c7b\u5668\uff0c\u5c06\u52a8\u4f5c\u5e8f\u5217\u6620\u5c04\u5230\u539f\u59cb\u52a8\u4f5c\u7d22\u5f15\uff08originating motion index\uff09\u3002<\/p>\n

\u5f53\u4ece\u968f\u673a\u91c7\u6837\u7684\u6f5c\u53d8\u91cf? \u223c Z\u751f\u6210\u65f6\uff0c\u7814\u7a76\u4eba\u5458\u8bb0\u5f55\u4e86\u751f\u6210\u52a8\u4f5c\u7684Inception Score\u3002<\/p>\n

\u5982\u4e0a\u8868\u6240\u793a\uff0cCALM\u663e\u8457\u6539\u5584\u4e86\u751f\u6210\u52a8\u4f5c\u7684\u591a\u6837\u6027\u3002<\/p>\n

\u53ef\u63a7\u6027<\/strong><\/p>\n

\u6700\u540e\uff0c\u7814\u7a76\u4eba\u5458\u901a\u8fc7\u7528\u6237\u8c03\u7814\u6765\u91cf\u5316\u4e86CALM\u751f\u6210\u6240\u8981\u6c42\u52a8\u4f5c\u7684\u80fd\u529b\u3002<\/p>\n

\u4e3a\u4e86\u8fdb\u884c\u8bc4\u4f30\uff0c\u7814\u7a76\u4eba\u5458\u7ed9\u7528\u6237\u63d0\u4f9b\u4e86\u4e00\u4e2a\u53c2\u8003\u52a8\u4f5c\u548c\u4e00\u4e2a\u6587\u672c\u63cf\u8ff0\uff0c\u7136\u540e\u8be2\u95ee\u7528\u6237\u5bf9\u751f\u6210\u7684\u52a8\u4f5c\u662f\u5426\u548c\u63cf\u8ff0\u76f8\u4f3c\u8fdb\u884c\u5206\u7c7b\u3002<\/p>\n

\u5bf9\u4e8e\u6bcf\u4e2a\u6a21\u578b\uff0c\u7814\u7a76\u4eba\u5458\u5411\u7528\u6237\u5448\u73b0\u4e8640\u4e2a\u53c2\u8003\u52a8\u4f5c\uff0c\u6bcf\u4e2a\u53c2\u8003\u52a8\u4f5c\u751f\u6210\u4e863\u4e2a\u7248\u672c\u3002<\/p>\n

\u8bb0\u5f55\u4e0b\u51c6\u786e\u6027\u2014\u2014\u7531\u63a7\u5236\u5668\u751f\u6210\u7684\u51c6\u786e\u7248\u672c\u6240\u5360\u7684\u767e\u5206\u6bd4\u3002<\/p>\n

\u7ed3\u679c\u663e\u793a\uff0c\u4e0eASE\u76f8\u6bd4\uff0cCALM\u4f7f\u751f\u6210\u7684\u52a8\u4f5c\u66f4\u6613\u63a7\u5236\uff0c\u5c06\u611f\u77e5\u751f\u6210\u7684\u51c6\u786e\u7387\u4ece35\uff05\u63d0\u9ad8\u523078\uff05\u3002<\/p>\n

\u8fd9\u4e9b\u6539\u8fdb\u548c\u63d0\u9ad8\u662f\u901a\u8fc7\u4f7f\u7528\u6761\u4ef6\u9274\u522b\u6027\u76ee\u6807\u6765\u5bf9\u8868\u793a\uff08\u7f16\u7801\u5668\uff09\u548c\u751f\u6210\u52a8\u4f5c\u6a21\u578b\uff08\u5e95\u5c42\u7b56\u7565\uff09\u8fdb\u884c\u7aef\u5230\u7aef\u5b66\u4e60\u6765\u5b9e\u73b0\u7684\u3002<\/p>\n

\u4e00\u7cfb\u5217\u7684\u7ed3\u679c\u8868\u660e\uff0cCALM\u5b66\u4e60\u4e86\u5c06\u52a8\u4f5c\u7f16\u7801\u4e3a\u8bed\u4e49\u4e0a\u6709\u610f\u4e49\u7684\u8868\u793a\uff0c\u80fd\u591f\u751f\u6210\u4e0e\u793a\u8303\u5177\u6709\u7c7b\u4f3c\u7279\u5f81\u52a8\u4f5c\u7684\u63a7\u5236\u5668\u3002<\/p>\n

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

\u5728\u6574\u4e2a\u8fc7\u7a0b\u4e2d\uff0c\u6761\u4ef6\u52a8\u4f5c\uff08conditional motion\uff09\u53d1\u751f\u4e86\u6539\u53d8\uff0c\u4ece\u800c\u751f\u6210\u4e86\u5411\u88ab\u8981\u6c42\u7684\u52a8\u4f5c\u4e4b\u95f4\u7c7b\u4f3c\u4eba\u7c7b\u52a8\u4f5c\u7684\u8fc7\u6e21\u3002<\/p>\n

\u6b64\u5916\uff0c\u4e3a\u4e86\u8bf4\u660e\u6f5c\u7a7a\u95f4\u7684\u8bed\u4e49\u7ed3\u6784\uff0c\u7814\u7a76\u4eba\u5458\u5c06\u4e24\u4e2a\u8bed\u4e49\u76f8\u5173\u7684\u52a8\u4f5c\u300c\u51b2\u523a\u300d\u548c\u300c\u8e72\u4e0b\u7a7a\u95f2\u300d\u8fdb\u884c\u7f16\u7801\uff0c\u5e76\u5728\u65f6\u95f4\u4e0a\u5728\u7f16\u7801\u4e4b\u95f4\u8fdb\u884c\u63d2\u503c\u3002<\/p>\n

\u5982\u4e0a\u56fee\u6240\u793a\uff0cCALM\u5728\u4e24\u4e2a\u52a8\u4f5c\u4e4b\u95f4\u5e73\u7a33\u8fc7\u6e21\uff0c\u540c\u65f6\u4e0d\u95f4\u65ad\u5730\u6267\u884c\u8fde\u8d2f\u7684\u884c\u8d70\u52a8\u4f5c\uff0c\u540c\u65f6\u964d\u4f4e\u4e86\u901f\u5ea6\u548c\u9ad8\u5ea6\u3002<\/p>\n

\u89e3\u51b3\u4e0b\u6e38\u4efb\u52a1<\/strong><\/h3>\n

\u4f7f\u7528\u7f16\u7801\u5668\u548c\u5e95\u5c42\u7b56\u7565\uff0c\u7814\u7a76\u4eba\u5458\u5c55\u793a\u4e86\u5982\u4f55\u4f7f\u7528\u7c7b\u4f3c\u4e8e\u89c6\u9891\u6e38\u620f\u63a7\u5236\u7684\u547d\u4ee4\u6765\u4e3a\u89e3\u51b3\u672a\u89c1\u8fc7\u7684\u4efb\u52a1\u7ec4\u5408\u52a8\u4f5c\u3002<\/p>\n

\u65b9\u5411<\/strong>\u8fd0\u52a8\u63a7\u5236<\/strong><\/p>\n

\u9996\u5148\uff0c\u7814\u7a76\u4eba\u5458\u5c55\u793a\u4e86\u5728\u7ed9\u5b9a\u4e00\u4e2a\u53c2\u8003\u52a8\u4f5c?\u548c\u4e00\u4e2a\u65b9\u5411?\u2217\u7684\u60c5\u51b5\u4e0b\uff0c\u4e00\u4e2a\u9ad8\u7ea7\u7b56\u7565\u53ef\u4ee5\u5b66\u4f1a\u63a7\u5236\u5e95\u5c42\u7b56\u7565\u3002<\/p>\n

\u7814\u7a76\u4eba\u5458\u5c06\u8fd9\u4e2a\u4efb\u52a1\u79f0\u4e3aHeading\u3002\u89d2\u8272\u5e94\u8be5\u5728\u8bf7\u6c42\u7684\u65b9\u5411\u4e0a\u4ea7\u751f\u5177\u6709\u76f8\u4f3c\u7279\u5f81\u7684\u52a8\u4f5c\u3002<\/p>\n

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

\u7814\u7a76\u4eba\u5458\u5728\u4e0a\u4e2d\u5c55\u793a\u4e86\u5b66\u5230\u7684\u52a8\u4f5c\uff0c\u5e76\u5728\u4e0b\u8868\u7684Heading\u5217\u4e2d\u5bf9\u5b83\u4eec\u8fdb\u884c\u4e86\u91cf\u5316\u3002\u9ad8\u7ea7\u7b56\u7565\u88ab\u8bbe\u5b9a\u4e3a\u540c\u65f6\u5b66\u4e60\u300c\u5954\u8dd1\u300d\uff0c\u300c\u6301\u76fe\u884c\u8d70\u300d\u548c\u300c\u8e72\u4e0b\u884c\u8d70\u300d\u7684\u6761\u4ef6\u3002<\/p>\n

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

\u5728\u8bc4\u4f30\u8fc7\u7a0b\u4e2d\uff0c\u9ad8\u7ea7\u7b56\u7565\u88ab\u8bbe\u5b9a\u4e3a\u4e00\u4e2a\u56fa\u5b9a\u7684\u98ce\u683c\uff0c\u5e76\u4e14\u5728\u968f\u673a\u65f6\u95f4\u6b65\u9aa4\u4e0a\u66f4\u6539\u65b9\u5411\u3002<\/p>\n

\u7814\u7a76\u4eba\u5458\u8bb0\u5f55\u4e86\u751f\u6210\u8bf7\u6c42\u98ce\u683c\u7684\u6210\u529f\u7a0b\u5ea6\uff0c\u4f7f\u7528\u4eba\u5de5\u8bc4\u4f30\u5458\u8fdb\u884c\u8bc4\u4f30\uff0c\u5e76\u4e14\u6d4b\u91cf\u52a8\u4f5c\u7684\u65b9\u5411\u2014\u2014\u8bf7\u6c42\u52a8\u4f5c\u65b9\u5411\u4e0e\u5b9e\u9645\u52a8\u4f5c\u65b9\u5411\u4e4b\u95f4\u7684\u4f59\u5f26\u8ddd\u79bb\u3002<\/p>\n

\u7ed3\u679c\u8868\u660e\uff0c\u901a\u8fc7\u5c06\u6f5c\u53d8\u91cf\u7ea6\u675f\u5728\u63a5\u8fd1\u53c2\u8003\u52a8\u4f5c\u7f16\u7801\uff08reference motion encoding\uff09\u7684\u8303\u56f4\u5185\uff0c\u9ad8\u7ea7\u7b56\u7565\u80fd\u591f\u5728\u6307\u5b9a\u7684\u98ce\u683c\u4e2d\u751f\u6210\u52a8\u4f5c\uff0c\u540c\u65f6\u786e\u4fdd\u5b83\u5728\u8981\u6c42\u7684\u65b9\u5411\u4e0a\u79fb\u52a8\u3002<\/p>\n

\u5728\u6ca1\u6709\u8fdb\u4e00\u6b65\u8bad\u7ec3\u7684\u60c5\u51b5\u4e0b\u89e3\u51b3\u4efb\u52a1<\/strong><\/p>\n

\u5728\u7814\u7a76\u4eba\u5458\u7684\u6700\u7ec8\u5b9e\u9a8c\u4e2d\uff0c\u7814\u7a76\u4eba\u5458\u5c06\u53ef\u5b9a\u5411\u7684\u5e95\u5c42\u63a7\u5236\u5668\u4e0e\u9ad8\u7ea7\u52a8\u4f5c\u7b56\u7565\u7ed3\u5408\u5728\u4e00\u8d77\uff0c\u4e3a\u65b0\u7684\u4efb\u52a1\u63d0\u4f9b\u96f6\u6837\u672c\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n

\u7814\u7a76\u4eba\u5458\u8bbe\u8ba1\u4e86\u4e24\u4e2a\u4efb\u52a1\uff0c\u4f4d\u7f6e\u548c\u653b\u51fb\u3002<\/p>\n

\u5bf9\u4e8e\u4f4d\u7f6e\u4efb\u52a1\uff0c\u4eba\u7269\u5e94\u8be5\u8fbe\u5230\u5e76\u4fdd\u6301\u5728\u76ee\u6807\u4f4d\u7f6e\u5185\u2014\u2014\u4ee5\u56f4\u7ed5\u65d7\u6746\u7684\u5706\u5708\u6765\u8868\u793a\u3002<\/p>\n

\u66f4\u590d\u6742\u7684\u4efb\u52a1\u300c\u653b\u51fb\u300d\u8981\u6c42\u4eba\u7269\u5230\u8fbe\u76ee\u6807\u5e76\u51fb\u5012\u76ee\u6807\u3002<\/p>\n

\u5728\u8fd9\u4e24\u79cd\u4efb\u52a1\u4e2d\uff0c\u4eba\u7269\u90fd\u53d7\u5230\u4e00\u7cfb\u5217\u53c2\u8003\u52a8\u4f5c\u7684\u63a7\u5236\u3002<\/p>\n

\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e00\u70b9\uff0c\u5c06\u65b9\u5411\u5411\u91cf\u8bbe\u5b9a\u5230\u76ee\u6807\u4f4d\u7f6e\uff0c\u5728\u4eba\u7269\u7684\u672c\u5730\u5750\u6807\u6846\u67b6\u4e2d\u8868\u793a\u3002<\/p>\n

\u4e00\u65e6\u5728\u8303\u56f4\u5185\uff0c\u5e95\u5c42\u7b56\u7565\u76f4\u63a5\u63d0\u4f9b\u76f8\u5e94\u4e8e\u6240\u8bf7\u6c42\u52a8\u4f5c\uff08\u4f8b\u5982\u8e22\u3001\u6301\u76fe\u51b2\u523a\u6216\u5251\u6325\uff09\u7684\u6f5c\u5728\u53d8\u91cf\u3002<\/p>\n

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

\u5982\u4e0a\u56fe\u6240\u793a\uff0cCALM\u53ef\u4ee5\u7528\u4e8e\u89e3\u51b3\u4efb\u52a1\uff0c\u5177\u4f53\u6570\u503c\u89c1\u4e4b\u524d\u65b9\u5411\u8fd0\u52a8\u63a7\u5236\u90e8\u5206\u4e2d\u7684\u8868\u4e00\u3002<\/p>\n

\u5c31\u50cf\u4e00\u4e2a\u4eba\u7c7b\u73a9\u5bb6\u7528\u624b\u67c4\u63a7\u5236\u4eba\u7269\u4e00\u6837\uff0c\u7531\u4e8eCALM\u7684\u53ef\u63a7\u6027\u5f88\u597d\uff0c\u5728\u6ca1\u6709\u4efb\u4f55\u8fdb\u4e00\u6b65\u7684\u8bad\u7ec3\u6216\u8bbe\u8ba1\u4e86\u4efb\u52a1\u7279\u5b9a\u7684\u5956\u52b1\u7684\u6761\u4ef6\u4e0b\uff0cFSM\u6309\u987a\u5e8f\u5730\u547d\u4ee4\u4eba\u7269\u5728\u52a8\u4f5c\u4e4b\u95f4\u8fdb\u884c\u8fc7\u6e21\u3002<\/p>\n

\u89d2\u8272\u4ee5\u4e00\u79cd\u7c7b\u4f3c\u4eba\u7c7b\u7684\u52a8\u4f5c\u7ec4\u5408\uff0c\u5b8c\u6210\u4e86\u4efb\u52a1\u3002<\/p>\n

\u9879\u76ee\u5f00\u6e90<\/h2>\n

\u51c6\u5907\u5de5\u4f5c<\/strong><\/h3>\n

\u4e0b\u8f7d\u5b89\u88c5Isaac Gym\uff0c\u5e76\u5b89\u88c5\u5916\u90e8\u4f9d\u8d56\u9879\uff1a<\/p>\n

pip install -r requirements.txt<\/p>\n

\u9884\u8bad\u7ec3<\/strong><\/h3>\n

\u9996\u5148\uff0c\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5bf9CALM\u6a21\u578b\u8fdb\u884c\u8bad\u7ec3\uff0c\u4ece\u800c\u6a21\u4eff\u6570\u636e\u96c6\u4e2d\u7684\u52a8\u4f5c\u7247\u6bb5\uff1a<\/p>\n

    <\/ul>\n

    python calm\/run.py –task HumanoidAMPGetup –cfg_env calm\/data\/cfg\/humanoid_calm_sword_shield_getup.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/calm_humanoid.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/dataset_reallusion_sword_shield.yaml –headless –track<\/p>\n

    \u8981\u6d4b\u8bd5\u8bad\u7ec3\u597d\u7684\u6a21\u578b\uff0c\u8bf7\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n

      <\/ul>\n

      python calm\/run.py –test –task HumanoidAMPGetup –num_envs 16 –cfg_env calm\/data\/cfg\/humanoid_calm_sword_shield_getup.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/calm_humanoid.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/dataset_reallusion_sword_shield.yaml –checkpoint [path_to_calm_checkpoint]<\/p>\n

      \u7cbe\u786e\u8bad\u7ec3<\/strong><\/h3>\n

      \u5728\u8bad\u7ec3\u5b8cCALM\u5e95\u5c42\u63a7\u5236\u5668\u4e4b\u540e\uff0c\u5c31\u53ef\u4ee5\u4f7f\u7528\u5b83\u6765\u8bad\u7ec3\u8fd0\u52a8\u63a7\u5236\u5668\u4e86\u3002<\/p>\n

      \u4ee5\u4e0b\u547d\u4ee4\u5c06\u4f7f\u7528\u9884\u8bad\u7ec3\u7684CALM\u6a21\u578b\u6267\u884c\u76ee\u6807\u671d\u5411\u4efb\u52a1\uff1a<\/p>\n

        <\/ul>\n

        python calm\/run.py –task HumanoidHeadingConditioned –cfg_env calm\/data\/cfg\/humanoid_sword_shield_heading_conditioned.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/hrl_humanoid_style_control.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/dataset_reallusion_sword_shield_fsm_movements.yaml –llc_checkpoint [path_to_llc_checkpoint] –headless –track<\/p>\n

        \u8981\u6d4b\u8bd5\u8bad\u7ec3\u597d\u7684\u6a21\u578b\uff0c\u8bf7\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n

          <\/ul>\n

          python calm\/run.py –test –task HumanoidHeadingConditioned –num_envs 16 –cfg_env calm\/data\/cfg\/humanoid_sword_shield_heading_conditioned.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/hrl_humanoid.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/dataset_reallusion_sword_shield_fsm_movements.yaml –llc_checkpoint [path_to_llc_checkpoint] –checkpoint [path_to_hlc_checkpoint]<\/p>\n

          \u4efb\u52a1\u89e3\u51b3\uff08\u53ea\u7528\u63a8\u7406\uff0c\u65e0\u9700\u8bad\u7ec3\uff09<\/strong><\/h3>\n

          CALM\u5e95\u5c42\u63a7\u5236\u5668\u548c\u9ad8\u7ea7\u8fd0\u52a8\u63a7\u5236\u5668\u53ef\u4ee5\u7ed3\u5408\u8d77\u6765\uff0c\u65e0\u9700\u8fdb\u4e00\u6b65\u8bad\u7ec3\u5373\u53ef\u89e3\u51b3\u4efb\u52a1\u3002<\/p>\n

          \u6b64\u9636\u6bb5\u4ec5\u8fdb\u884c\u63a8\u7406\uff1a<\/p>\n

            <\/ul>\n

            python calm\/run.py –test –task HumanoidStrikeFSM –num_envs 16 –cfg_env calm\/data\/cfg\/humanoid_sword_shield_strike_fsm.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/hrl_humanoid_fsm.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/dataset_reallusion_sword_shield_fsm_movements.yaml –llc_checkpoint [path_to_llc_checkpoint] –checkpoint [path_to_hlc_checkpoint]<\/p>\n

            \u5185\u7f6e\u4efb\u52a1\u53ca\u5176\u5404\u81ea\u7684\u914d\u7f6e\u6587\u4ef6\u4e3a\uff1a<\/p>\n

              <\/ul>\n

              HumanoidStrikeFSM: calm\/data\/cfg\/humanoid_sword_shield_strike_fsm.yamlHumanoidLocationFSM: calm\/data\/cfg\/humanoid_sword_shield_location_fsm.yaml<\/p>\n

              \u4efb\u52a1\u8bad\u7ec3<\/strong><\/h3>\n

              \u9664\u4e86\u7cbe\u786e\u8bad\u7ec3\u5916\uff0c\u8fd8\u53ef\u4ee5\u8bad\u7ec3\u9ad8\u7ea7\u63a7\u5236\u5668\u76f4\u63a5\u89e3\u51b3\u4efb\u52a1\u3002<\/p>\n

              \u4ee5\u4e0b\u547d\u4ee4\u5c06\u4f7f\u7528\u9884\u8bad\u7ec3\u7684CALM\u6a21\u578b\u6267\u884c\u76ee\u6807\u671d\u5411\u4efb\u52a1\uff1a<\/p>\n

                <\/ul>\n

                python calm\/run.py –task HumanoidHeading –cfg_env calm\/data\/cfg\/humanoid_sword_shield_heading.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/hrl_humanoid.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/RL_Avatar_Idle_Ready_Motion.npy –llc_checkpoint [path_to_llc_checkpoint] –headless –track<\/p>\n

                \u5185\u7f6e\u4efb\u52a1\u53ca\u5176\u5404\u81ea\u7684\u914d\u7f6e\u6587\u4ef6\u4e3a\uff1a<\/p>\n

                  <\/ul>\n

                  HumanoidReach: calm\/data\/cfg\/humanoid_sword_shield_reach.yamlHumanoidHeading: calm\/data\/cfg\/humanoid_sword_shield_heading.yamlHumanoidLocation: calm\/data\/cfg\/humanoid_sword_shield_location.yamlHumanoidStrike: calm\/data\/cfg\/humanoid_sword_shield_strike.yaml<\/p>\n

                  \u8981\u6d4b\u8bd5\u8bad\u7ec3\u597d\u7684\u6a21\u578b\uff0c\u8bf7\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n

                    <\/ul>\n

                    python calm\/run.py –test –task HumanoidHeading –num_envs 16 –cfg_env calm\/data\/cfg\/humanoid_sword_shield_heading.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/hrl_humanoid.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/RL_Avatar_Idle_Ready_Motion.npy –llc_checkpoint [path_to_llc_checkpoint] –checkpoint [path_to_hlc_checkpoint]<\/p>\n

                    AMP<\/strong><\/h3>\n

                    \u540c\u65f6\uff0c\u9879\u76ee\u8fd8\u63d0\u4f9b\u4e86Adversarial Motion Priors\u7684\u5b9e\u73b0\u3002\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u53ef\u4ee5\u8bad\u7ec3\u6a21\u578b\u6a21\u4eff\u7ed9\u5b9a\u7684\u53c2\u8003\u52a8\u4f5c\uff1a<\/p>\n

                      <\/ul>\n

                      python calm\/run.py –task HumanoidAMP –cfg_env calm\/data\/cfg\/humanoid_sword_shield.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/amp_humanoid.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/sword_shield\/RL_Avatar_Atk_2xCombo01_Motion.npy –headless –track<\/p>\n

                      \u8bad\u7ec3\u597d\u7684\u6a21\u578b\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u65b9\u5f0f\u8fdb\u884c\u6d4b\u8bd5\uff1a<\/p>\n

                        <\/ul>\n

                        python calm\/run.py –test –task HumanoidAMP –num_envs 16 –cfg_env calm\/data\/cfg\/humanoid_sword_shield.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/amp_humanoid.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/sword_shield\/RL_Avatar_Atk_2xCombo01_Motion.npy –checkpoint [path_to_amp_checkpoint]<\/p>\n

                        \u52a8\u4f5c\u6570\u636e<\/strong><\/h3>\n

                        \u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u5bf9\u52a8\u4f5c\u7247\u6bb5\u8fdb\u884c\u53ef\u89c6\u5316\uff1a<\/p>\n

                          <\/ul>\n

                          python calm\/run.py –test –task HumanoidViewMotion –num_envs 2 –cfg_env calm\/data\/cfg\/humanoid_sword_shield.yaml –cfg_train calm\/data\/cfg\/train\/rlg\/amp_humanoid.yaml –motion_file calm\/data\/motions\/reallusion_sword_shield\/sword_shield\/RL_Avatar_Atk_2xCombo01_Motion.npy<\/p>\n

                          \u53c2\u8003\u8d44\u6599\uff1a<\/p>\n

                          https:\/\/research.nvidia.com\/labs\/par\/calm\/<\/p>\n

                          \u672c\u6587\u4e3a\u4e13\u680f\u4f5c\u8005\u6388\u6743\u5fae\u65b0\u521b\u60f3\u53d1\u8868\uff0c\u7248\u6743\u5f52\u539f\u4f5c\u8005\u6240\u6709\u3002\u6587\u7ae0\u7cfb\u4f5c\u8005\u4e2a\u4eba\u89c2\u70b9\uff0c\u4e0d\u4ee3\u8868\u5fae\u65b0\u521b\u60f3\u7acb\u573a\uff0c\u8f6c\u8f7d\u8bf7\u8054\u7cfb\u539f\u4f5c\u8005\u3002\u5982\u6709\u4efb\u4f55\u7591\u95ee\uff0c\u8bf7\u8054\u7cfbhttp:\/\/www.idea2003.com\/\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

                          \u7f16\u8005\u6309\uff1a\u672c\u6587\u6765\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7 \u65b0\u667a\u5143\uff08ID\uff1aAI_era\uff09\uff0c\u7f16\u8f91\uff1a\u7f16\u8f91...<\/p>\n","protected":false},"author":1,"featured_media":831,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[19],"tags":[],"class_list":["post-2997","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-dongtai"],"_links":{"self":[{"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/posts\/2997","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/comments?post=2997"}],"version-history":[{"count":0,"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/posts\/2997\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/media\/831"}],"wp:attachment":[{"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/media?parent=2997"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/categories?post=2997"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.idea2003.com\/wp-json\/wp\/v2\/tags?post=2997"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}