{"id":4494,"date":"2023-10-31T09:14:02","date_gmt":"2023-10-31T01:14:02","guid":{"rendered":""},"modified":"2023-10-31T09:14:02","modified_gmt":"2023-10-31T01:14:02","slug":"","status":"publish","type":"post","link":"http:\/\/www.idea2003.com\/dongtai\/4494.html","title":{"rendered":"AI\u667a\u80fd\u8d85\u8d8a\u4eba\u7c7b\u7ec8\u7834\u89e3\uff01\u674e\u98de\u98de\u9ad8\u5f92\u65b0\u4f5c\u7834\u5708\uff0c5\u4e07\u4e2a\u5408\u6210\u6570\u636e\u78be\u538b\u4eba\u7c7b\u793a\u4f8b\uff0c\u5907\u5496\u5561\u52a8\u4f5c\u8d85\u4e1d\u6ed1"},"content":{"rendered":"
\n

\u58f0\u660e:\u672c\u6587\u6765\u81ea\u4e8e\u5fae\u4fe1\u516c\u4f17\u53f7 \u65b0\u667a\u5143\uff08ID:AI<\/span>_era\uff09\uff0c\u4f5c\u8005:\u65b0\u667a\u5143\uff0c\u6388\u6743\u5fae\u65b0\u521b\u60f3\u8f6c\u8f7d\u53d1\u5e03\u3002<\/p>\n<\/blockquote>\n

AI\u5de8\u4f6cGeoffrey Hinton\u79f0\uff0c\u300c\u79d1\u6280\u516c\u53f8\u4eec\u6b63\u5728\u672a\u676518\u4e2a\u6708\u5185\uff0c\u8981\u4f7f\u7528\u6bd4\u73b0\u5728GPT-4\u591a100\u500d\u7684\u7b97\u529b\u8bad\u7ec3\u65b0\u6a21\u578b\u300d\u3002<\/p>\n

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\u4f46\u662f\uff0c\u66f4\u591a\u7684\u9ad8\u8d28\u91cf\u6570\u636e\u8be5\u4ece\u4f55\u6765?<\/p>\n

\u82f1\u4f1f\u8fbe\u9ad8\u7ea7<\/span>\u79d1\u5b66\u5bb6Jim Fan\u8868\u793a\uff0c\u300c\u5408\u6210\u6570\u636e\uff0c\u5c06\u4e3a\u6211\u4eec\u9965\u6e34\u7684\u6a21\u578b\u63d0\u4f9b\u4e07\u4ebf\u4e2atoken\u300d\u3002<\/p>\n

\n

\u4f5c\u4e3a\u4f8b\u8bc1\uff0c\u82f1\u4f1f\u8fbe\u4e0eUT\u7684\u7814\u7a76\u4eba\u5458\u5728\u6700\u65b0<\/span>\u7814\u7a76\u4e2d\uff0c\u63d0\u51fa\u4e86\u4e00\u4e2aMimicGen\u7cfb\u7edf\uff0c\u80fd\u591f\u5927\u91cf\u751f\u6210\u673a\u5668\u4eba\u8bad\u7ec3\u6570\u636e\u3002<\/p>\n

\n

\u8bba\u6587\u5730\u5740:https:\/\/arxiv.org\/pdf\/2310.17596.pdf<\/p>\n

\u5177\u4f53\u8fc7\u7a0b\u662f\uff0c\u901a\u8fc7\u5728\u6a21\u62df\u73af\u5883\u4e2d\uff0c\u4f7f\u7528\u6570\u5b57\u5b6a\u751f\u6280\u672f\u590d\u5236\u771f\u5b9e\u4e16\u754c\u4e2d\uff0c\u4eba\u7c7b\u7684\u64cd\u4f5c\u6570\u636e\u3002<\/p>\n

\u4ec5\u7528\u4e86\u4e0d\u5230200\u4e2a\u4eba\u7c7b\u6f14\u793a\uff0cMimicGen\u5b9e\u73b0\u4e86\u572818\u4e2a\u4efb\u52a1\u3001\u591a\u4e2a\u6a21\u62df\u73af\u5883\uff0c\u751a\u81f3\u662f\u73b0\u5b9e\u4e16\u754c\u4e2d\uff0c\u81ea\u4e3b\u751f\u62105\u4e07\u4e2a\u8bad\u7ec3\u6570\u636e\u3002<\/p>\n

\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u8fd9\u9879\u7814\u7a76\u6240\u6709\u6570\u636e\u96c6\u5168\u90e8\u5f00\u6e90\u3002<\/p>\n

\n

\u5728Jim Fan\u770b\u6765\uff0c\u5408\u6210\u6570\u636e\u548c\u6a21\u62df\u5bf9AI\u53d1\u5c55\u975e\u5e38\u91cd\u8981\uff0c\u53ef\u4ee5\u83b7\u5f97\u66f4\u591a\u8bad\u7ec3\u6570\u636e\uff0c\u7ef4\u6301\u5b66\u4e60\u7b97\u6cd5\u7684\u8fdb\u6b65\u3002\u5b83\u4e0d\u4ec5\u9002\u7528\u4e8e\u673a\u5668\u4eba\u9886\u57df\uff0c\u4e5f\u4f1a\u5e94\u7528\u5230\u5176\u4ed6AI\u9886\u57df\u3002<\/p>\n

\u6211\u4eec\u6b63\u5728\u8fc5\u901f\u8017\u5c3d\u6765\u81ea\u7f51\u7edc\u7684\u9ad8\u8d28\u91cf\u7684\u771f\u5b9etoken\u3002\u4ece\u4eba\u5de5\u5408\u6210\u6570\u636e\u4e2d\u83b7\u5f97\u4eba\u5de5\u667a\u80fd\uff0c\u5c06\u662f\u672a\u6765\u7684\u53d1\u5c55\u65b9\u5411\u3002<\/p>\n

\u6070\u6070\uff0cMimicGen\u5c55\u793a\u4e86\u5408\u6210\u6570\u636e\u548c\u6a21\u62df\u7684\u529b\u91cf\uff0c\u8ba9\u300c\u7f29\u653e\u6cd5\u5219\u300d\uff08scaling law\uff09\u5f97\u4ee5\u5ef6\u7eed\u3002<\/p>\n

\n

\u51c6\u5907\u5496\u5561\uff0c\u64cd\u4f5c\u5982\u6b64\u4e1d\u6ed1<\/p>\n

MimicGen\u5b9e\u9645\u8868\u73b0\u5982\u4f55\uff0c\u4e00\u8d77\u770b\u4e9b\u6f14\u793a\u3002<\/p>\n

\u5728\u4e0b\u56fe\u7684\u793a\u4f8b\u4e2d\uff0cMimicGen\u4ec5\u4ece10\u4e2a\u4eba\u7c7b\u6f14\u793a\u4e2d\uff0c\u4e3a3\u79cd\u4e0d\u540c\u7684\u73af\u5883\u5206\u5e03\u751f\u6210\u4e861000\u4e2a\u6f14\u793a\u3002<\/p>\n

\n

\u4e0b\u9762\uff0c\u5c06\u5c55\u793aMimicGen\u5728\u8de8\u591a\u4e2a\u4e0d\u540c\u4efb\u52a1\u548c\u73af\u5883\u5206\u5e03\u4e2d\u751f\u6210\u7684\u51e0\u4e2a\u6570\u636e\u96c6\uff0c\u6bd4\u5982\u79ef\u6728\u5806\u53e0\u3001\u300c\u7a7f\u9488\u5f15\u7ebf\u300d\u3001\u5496\u5561\u51c6\u5907\u3001\u62fc\u88c5\u7b49\u7b49\u3002<\/p>\n

\n

\u5bf9\u4e8e\u4ece\u672a\u89c1\u8fc7\u7684\u676f\u5b50\uff0cMimicGen\u4e5f\u80fd\u591f\u5c06\u5176\u6536\u7eb3\u5230\u62bd\u5c49\u91cc\u3002<\/p>\n

\n

\u4e0d\u540c\u7684\u673a\u68b0\u81c2\uff0c\u4e5f\u80fd\u7075\u6d3b\u81ea\u5982\u5730\u64cd\u4f5c\u3002<\/p>\n

\n

MimicGen\u5728\u957f\u671f\u590d\u6742\u7684\u4efb\u52a1\u4e2d\u7684\u8868\u73b0\u3002<\/p>\n

\n

\u53e6\u5916\uff0cMimicGen\u9002\u7528\u4e8e\u9700\u8981\u6beb\u7c73\u7ea7\u7cbe\u5ea6\u7684\u63a5\u89e6\u5f0f\u4efb\u52a1\u3002<\/p>\n

\n

\u51c6\u5907\u5496\u5561\u7684\u8fc7\u7a0b\u5f88\u4e1d\u6ed1\u3002<\/p>\n

\n

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\n

MimicGen:\u751f\u6210\u5f0f\u6570\u636e\u65e0\u9650\u6269\u5c55<\/p>\n

\u53ef\u4ee5\u770b\u5230\uff0c\u4ece\u4eba\u7c7b\u6f14\u793a\u4e2d\u8fdb\u884c\u6a21\u4eff\u5b66\u4e60\uff0c\u5df2\u6210\u4e3a\u8bad\u7ec3\u673a\u5668\u4eba\u6267\u884c\u5404\u79cd\u64cd\u4f5c\u884c\u4e3a\u7684\u6709\u6548\u8303\u4f8b\u3002<\/p>\n

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\u5728\u6700\u65b0<\/span>\u7814\u7a76\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u578b\u7cfb\u7edfMimicGen\uff0c\u901a\u8fc7\u5bf9\u4eba\u7c7b\u6f14\u793a\u8fdb\u884c\u5904\u7406\uff0c\u81ea\u52a8\u751f\u6210\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u5927\u89c4\u6a21\u6570\u636e\u96c6\uff0c\u8fdb\u800c\u7528\u4e8e\u673a\u5668\u4eba\u7684\u6a21\u4eff\u5b66\u4e60\u3002<\/p>\n

\n

\u5177\u4f53\u6765\u8bf4:<\/p>\n

– \u4eba\u7c7b\u8fdc\u7a0b\u64cd\u63a7\u673a\u5668\u4eba\u5b8c\u6210\u4e00\u4e2a\u4efb\u52a1\uff0c\u751f\u6210\u975e\u5e38\u9ad8\u8d28\u91cf\u6f14\u793a\u6570\u636e\uff0c\u4f46\u7f13\u6162\u4e14\u6602\u8d35\u3002<\/p>\n

– \u5728\u9ad8\u4fdd\u771f\u7684GPU\u52a0\u901f\u7684\u6a21\u62df\u73af\u5883\u4e2d\uff0c\u521b\u5efa\u673a\u5668\u4eba\u548c\u573a\u666f\u7684\u6570\u5b57\u5b6a\u751f\u3002<\/p>\n

– \u5728\u6a21\u62df\u73af\u5883\u4e2d\u79fb\u52a8\u5bf9\u8c61\uff0c\u66ff\u6362\u65b0\u7684\u7269\u4f53\uff0c\u751a\u81f3\u6539\u53d8\u673a\u68b0\u81c2\uff0c\u57fa\u672c\u4e0a\u662f\u4f7f\u7528\u7a0b\u5e8f\u751f\u6210\u7684\u65b9\u5f0f\u6269\u5145\u8bad\u7ec3\u6570\u636e\u3002<\/p>\n

– \u5bfc\u51fa\u6210\u529f\u7684\u573a\u666f\uff0c\u63d0\u4f9b\u7ed9\u795e\u7ecf\u7f51\u7edc\u8fdb\u884c\u8bad\u7ec3\u3002\u8fd9\u6837\u5c31\u83b7\u5f97\u4e86\u4e00\u4e2a\u8fd1\u4e4e\u65e0\u9650\u7684\u8bad\u7ec3\u6570\u636e\u6d41\u3002<\/p>\n

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\n

MimicGen\u5e7f\u6cdb\u9002\u7528\u4e8e\u9700\u8981\u4e0d\u540c\u64cd\u4f5c\u6280\u80fd\u7684\u957f\u5e8f\u5217\u4efb\u52a1\u548c\u9ad8\u7cbe\u786e\u5ea6\u4efb\u52a1\uff0c\u6bd4\u5982\u6293\u653e\u3001\u7ec4\u88c5\u7b49\u3002<\/p>\n

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\u4f7f\u7528MimicGen\u751f\u6210\u7684\u5408\u6210\u6570\u636e\uff08\u4f8b\u5982\u4ece10\u4e2a\u4eba\u7c7b\u6f14\u793a\u751f\u6210200\u4e2a\u6f14\u793a\uff09\u4e0e200\u4e2a\u4eba\u7c7b\u6f14\u793a\u8bad\u7ec3\u51fa\u7684\u667a\u80fd\u4f53\u6027\u80fd\u76f8\u5f53\u3002<\/p>\n

\u8bba\u6587\u7ec6\u8282<\/p>\n

\u95ee\u9898\u8bbe\u5b9a<\/strong><\/h3>\n

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

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\u95ee\u9898\u9648\u8ff0\u548c\u5047\u8bbe<\/strong><\/p>\n

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\u751f\u6210\u65b0\u6f14\u793a\u7684\u6b65\u9aa4\u5982\u4e0b:<\/p>\n

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\uff082\uff09\u4eceD1\u4e2d\u9009\u62e9\u5e76\u9002\u5e94\u4e00\u4e2a\u6f14\u793a\u4ee5\u751f\u6210\u4e00\u4e2a\u65b0\u7684\u673a\u5668\u4eba\u8f68\u8ff9\u03c4'\uff0c<\/p>\n

\uff083\uff09\u673a\u5668\u4eba\u5728\u5f53\u524d\u573a\u666f\u4e2d\u6267\u884c\u8f68\u8ff9\u03c4'\uff0c\u5982\u679c\u4efb\u52a1\u6210\u529f\u5b8c\u6210\uff0c\u5219\u5c06\u72b6\u6001\u548c\u52a8\u4f5c\u7684\u5e8f\u5217\u6dfb\u52a0\u5230\u751f\u6210\u7684\u6570\u636e\u96c6D\u4e2d(\u5177\u4f53\u7684\u6bcf\u4e00\u6b65\u8bf7\u53c2\u89c1\u65b9\u6cd5)\u3002\u63a5\u4e0b\u6765\uff0c\u7814\u7a76\u4eba\u5458\u6982\u8ff0\u7cfb\u7edf\u5229\u7528\u7684\u4e00\u4e9b\u5047\u8bbe\u3002<\/p>\n

\u5047\u8bbe1:\u589e\u91cf\u672b\u7aef\u6267\u884c\u5668\u4f4d\u59ff\uff08 delta end effector Pose\uff09\u52a8\u4f5c\u7a7a\u95f4\u3002\u52a8\u4f5c\u7a7a\u95f4(action space)A\u5305\u62ec\u7528\u4e8e\u672b\u7aef\u6267\u884c\u5668\u63a7\u5236\u5668\u548c\u5939\u6301\u5668\u5f00\/\u5173\u547d\u4ee4\u7684\u589e\u91cf\u4f4d\u59ff\u547d\u4ee4\u3002<\/p>\n

\u8fd9\u4f7f\u7814\u7a76\u4eba\u5458\u80fd\u591f\u5c06\u6f14\u793a\u4e2d\u7684\u52a8\u4f5c\u89c6\u4e3a\u672b\u7aef\u6267\u884c\u5668\u63a7\u5236\u5668\u7684\u4e00\u7cfb\u5217\u76ee\u6807\u4f4d\u59ff\u3002<\/p>\n

\u5047\u8bbe2:\u4efb\u52a1\u7531\u5df2\u77e5\u7684\u5bf9\u8c61\u4e2d\u5fc3\u5b50\u4efb\u52a1\u5e8f\u5217\u7ec4\u6210\u3002\u8bbe O = {o\u2081\uff0c …\uff0c o\u2096} \u4e3a\u4efb\u52a1 M \u4e2d\u7684\u5bf9\u8c61\u96c6\u5408\u3002<\/p>\n

\u7814\u7a76\u4eba\u5458\u5047\u8bbe\u4efb\u52a1\u7531\u4e00\u7cfb\u5217\u5bf9\u8c61\u4e2d\u5fc3\u5b50\u4efb\u52a1<\/p>\n

\n

\u7ec4\u6210\uff0c\u5176\u4e2d\u6bcf\u4e2a\u5b50\u4efb\u52a1<\/p>\n

\n

\u76f8\u5bf9\u4e8e\u5355\u4e00\u5bf9\u8c61\u7684\u5750\u6807\u7cfb<\/p>\n

\n

\u3002\u7814\u7a76\u4eba\u5458\u5047\u8bbe\u8fd9\u4e2a\u5e8f\u5217\u662f\u5df2\u77e5\u7684\u3002<\/p>\n

\u5047\u8bbe3:\u5728\u6570\u636e\u6536\u96c6\u671f\u95f4\uff0c\u6bcf\u4e2a\u5b50\u4efb\u52a1\u5f00\u59cb\u65f6\u90fd\u53ef\u4ee5\u89c2\u5bdf\u5230\u5bf9\u8c61\u7684\u59ff\u6001\u3002\u7814\u7a76\u4eba\u5458\u5047\u8bbe\u5728\u6bcf\u4e2a\u5b50\u4efb\u52a1<\/p>\n

\n

\u7684\u6570\u636e\u6536\u96c6\u671f\u95f4\uff08\u4f46\u5728\u7b56\u7565\u90e8\u7f72\u671f\u95f4\u5219\u4e0d\u662f\uff09\uff0c\u7814\u7a76\u4eba\u5458\u53ef\u4ee5\u89c2\u5bdf\u5230\u76f8\u5173\u5bf9\u8c61 o\u209b\u1d62 \u7684\u59ff\u6001\u3002<\/p>\n

\u7814\u7a76\u65b9\u6cd5<\/h3>\n

\u7814\u7a76\u4eba\u5458\u5c55\u793a\u4e86\u5982\u4f55\u4f7f\u7528\u4e00\u4e2a\u5c0f\u578b\u7684\u4eba\u7c7b\u6f14\u793a\u6e90\u6570\u636e\u96c6\u6765\u751f\u6210\u65b0\u7684\u6f14\u793a\uff08\u4e0b\u56fe2\uff09\u3002<\/p>\n

\n

MimicGen\u9996\u5148\u5c06\u6e90\u6570\u636e\u96c6\u89e3\u6790\u4e3a\u591a\u4e2a\u6bb5\uff08segment\uff09 \u2014 \u6bcf\u4e2a\u6bb5\u5bf9\u5e94\u4e8e\u4efb\u52a1\u4e2d\u7684\u4e00\u4e2a\u5bf9\u8c61\u4e2d\u5fc3\u5b50\u4efb\u52a1\u3002<\/p>\n

\u7136\u540e\uff0c\u4e3a\u4e86\u5728\u65b0\u573a\u666f\u4e2d\u751f\u6210\u4e00\u4e2a\u6f14\u793a\uff0cMimicGen\u4f1a\u4e3a\u6bcf\u4e00\u4e2a\u5b50\u4efb\u52a1\u751f\u6210\u5e76\u6267\u884c\u4e00\u4e2a\u8f68\u8ff9\uff08\u672b\u7aef\u6267\u884c\u5668\u63a7\u5236\u4f4d\u59ff\u7684\u5e8f\u5217\uff0csequence of end-effector control poses\uff09\u3002<\/p>\n

\u65b9\u6cd5\u662f\u4ece\u6e90\u793a\u4f8b\u4e2d\u9009\u62e9\u4e00\u4e2a\u53c2\u8003\u6bb5\uff0c\u6839\u636e\u65b0\u573a\u666f\u4e2d\u5bf9\u8c61\u7684\u4f4d\u59ff\u8fdb\u884c\u8f6c\u6362\uff0c\u7136\u540e\u4f7f\u7528\u672b\u7aef\u6267\u884c\u5668\u63a7\u5236\u5668\u6267\u884c\u76ee\u6807\u4f4d\u59ff\u7684\u5e8f\u5217\u3002<\/p>\n

\u5c06\u6e90\u6570\u636e\u96c6\u89e3\u6790\u4e3a\u5bf9\u8c61\u4e2d\u5fc3\u7684\u6bb5<\/strong><\/p>\n

\u6bcf\u4e2a\u4efb\u52a1\u90fd\u7531\u4e00\u7cfb\u5217\u5bf9\u8c61\u4e2d\u5fc3\u7684\u5b50\u4efb\u52a1\u7ec4\u6210 \u2014 \u7814\u7a76\u4eba\u5458\u5e0c\u671b\u5c06\u6e90\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u4e2a\u8f68\u8ff9\u03c4\u89e3\u6790\u4e3a\u591a\u4e2a\u6bb5 {\u03c4\u1d62}\u2098\u2071=\u2081\uff0c\u5176\u4e2d\u6bcf\u4e2a\u6bb5\u03c4\u1d62\u5bf9\u5e94\u4e8e\u4e00\u4e2a\u5b50\u4efb\u52a1S\u1d62\uff08o\u209b\u1d62\uff09\u3002<\/p>\n

\u4e3a\u65b0\u573a\u666f\u8f6c\u6362\u6e90\u6570\u636e\u6bb5<\/strong><\/p>\n

\u4e3a\u4e86\u5728\u65b0\u573a\u666f\u4e2d\u751f\u6210\u4e00\u4e2a\u4efb\u52a1\u6f14\u793a\uff0cMimicGen\u4f1a\u4e3a\u4efb\u52a1\u4e2d\u7684\u6bcf\u4e00\u4e2a\u5bf9\u8c61\u4e2d\u5fc3\u5b50\u4efb\u52a1\u751f\u6210\u5e76\u6267\u884c\u4e00\u4e2a\u6bb5\u3002\u5982\u4e0a\u56fe2\uff08\u53f3\uff09\u6240\u793a\uff0c\u8fd9\u5305\u62ec\u6bcf\u4e2a\u5b50\u4efb\u52a1\u7684\u4e09\u4e2a\u5173\u952e\u6b65\u9aa4:<\/p>\n

\uff081\uff09\u5728\u6e90\u6570\u636e\u96c6\u4e2d\u9009\u62e9\u4e00\u4e2a\u53c2\u8003\u5b50\u4efb\u52a1\u6bb5\uff0c<\/p>\n

\uff082\uff09\u4e3a\u65b0\u7684\u4e0a\u4e0b\u6587\u8f6c\u6362\u5b50\u4efb\u52a1\u6bb5\uff0c<\/p>\n

\uff083\uff09\u5728\u573a\u666f\u4e2d\u6267\u884c\u8be5\u6bb5\u3002<\/p>\n

\u9009\u62e9\u4e00\u4e2a\u53c2\u8003\u6bb5:MimicGen\u5c06\u6e90\u6570\u636e\u96c6\u89e3\u6790\u4e3a\u4e0e\u6bcf\u4e2a\u5b50\u4efb\u52a1\u76f8\u5bf9\u5e94\u7684\u6bb5<\/p>\n

\n

\u5728\u6bcf\u4e2a\u5b50\u4efb\u52a1 S\u1d62\uff08o\u209b\u1d62\uff09 \u5f00\u59cb\u65f6\uff0cMimicGen\u4ece\u96c6\u5408<\/p>\n

\n

\u4e2d\u9009\u62e9\u4e00\u4e2a\u76f8\u5e94\u7684\u6bb5\u3002\u8fd9\u4e9b\u6bb5\u53ef\u4ee5\u968f\u673a\u9009\u62e9\u6216\u4f7f\u7528\u76f8\u5173\u5bf9\u8c61\u7684\u4f4d\u59ff\u3002<\/p>\n

\u8f6c\u6362\u6e90\u5b50\u4efb\u52a1\u6bb5:\u7814\u7a76\u4eba\u5458\u53ef\u4ee5\u5c06\u9009\u5b9a\u7684\u6e90\u5b50\u4efb\u52a1\u6bb5 \u03c4\u1d62 \u89c6\u4e3a\u672b\u7aef\u6267\u884c\u5668\u63a7\u5236\u5668\u7684\u76ee\u6807\u4f4d\u59ff\u5e8f\u5217\u3002<\/p>\n

\u6267\u884c\u65b0\u6bb5\uff08Executing the new segment\uff09<\/strong><\/p>\n

\u6700\u540e\uff0cMimicGen\u901a\u8fc7\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u53d6\u76ee\u6807\u4f4d\u59ff\uff0c\u5c06\u5176\u8f6c\u6362\u4e3a\u589e\u91cf\u4f4d\u59ff\u52a8\u4f5c\uff0c\u4e0e\u6e90\u6bb5\u4e2d\u76f8\u5e94\u7684\u6293\u53d6\u5668\u6253\u5f00\/\u5173\u95ed\u52a8\u4f5c\u914d\u5bf9\uff0c\u5e76\u6267\u884c\u65b0\u52a8\u4f5c\u6765\u6267\u884c\u65b0\u6bb5\u03c4\u2032\u1d62\u3002<\/p>\n

\u4ee5\u4e0a\u6b65\u9aa4\u91cd\u590d\u6bcf\u4e2a\u5b50\u4efb\u52a1\uff0c\u76f4\u5230\u6267\u884c\u4e86\u6700\u540e\u4e00\u4e2a\u6bb5\u3002<\/p>\n

\u7136\u800c\uff0c\u8fd9\u4e2a\u8fc7\u7a0b\u53ef\u80fd\u662f\u4e0d\u5b8c\u7f8e\u7684\u2014\u2014\u7531\u4e8e\u63a7\u5236\u548c\u624b\u81c2\u8fd0\u52a8\u5b66\u95ee\u9898\u5bfc\u81f4\u7684\u5c0f\u8f68\u8ff9\u504f\u5dee\u53ef\u80fd\u5bfc\u81f4\u4efb\u52a1\u5931\u8d25\u3002<\/p>\n

\u56e0\u6b64\uff0cMimicGen\u5728\u6267\u884c\u6240\u6709\u6bb5\u540e\u68c0\u67e5\u4efb\u52a1\u6210\u529f\u4e0e\u5426\uff0c\u5e76\u4ec5\u4fdd\u7559\u6210\u529f\u7684\u6f14\u793a\u3002\u7814\u7a76\u4eba\u5458\u5c06\u6210\u529f\u751f\u6210\u8f68\u8ff9\u7684\u6570\u91cf\u4e0e\u603b\u5c1d\u8bd5\u6b21\u6570\u4e4b\u95f4\u7684\u6bd4\u7387\u79f0\u4e3a\u6570\u636e\u751f\u6210\u7387\u3002<\/p>\n

\u8fd9\u4e2a\u6d41\u7a0b\u53ea\u4f9d\u8d56\u4e8e\u5bf9\u8c61\u6846\u67b6\u548c\u673a\u5668\u4eba\u63a7\u5236\u5668\u6846\u67b6\u2014\u2014\u8fd9\u4f7f\u5f97\u6570\u636e\u751f\u6210\u53ef\u4ee5\u5728\u5177\u6709\u4e0d\u540c\u521d\u59cb\u72b6\u6001\u5206\u5e03\u3001\u5bf9\u8c61\uff08\u5047\u8bbe\u5b83\u4eec\u6709\u89c4\u8303\u6846\u67b6\u5b9a\u4e49\uff09\u548c\u673a\u5668\u4eba\u624b\u81c2(\u5047\u8bbe\u5b83\u4eec\u5171\u4eab\u672b\u7aef\u6267\u884c\u5668\u63a7\u5236\u6846\u67b6\u7684\u7ea6\u5b9a)\u7684\u4efb\u52a1\u4e4b\u95f4\u8fdb\u884c\u3002<\/p>\n

\u5728\u7814\u7a76\u4eba\u5458\u7684\u5b9e\u9a8c\u4e2d\uff0c\u7814\u7a76\u4eba\u5458\u4e3a\u6bcf\u4e2a\u673a\u5668\u4eba\u64cd\u4f5c\u4efb\u52a1\u8bbe\u8ba1\u4e86\u4efb\u52a1\u53d8\u4f53\uff0c\u5176\u4e2d\u7814\u7a76\u4eba\u5458\u6539\u53d8\u521d\u59cb\u72b6\u6001\u5206\u5e03\uff08D\uff09\u3001\u4efb\u52a1\u4e2d\u7684\u4e00\u4e2a\u5bf9\u8c61(O)\u6216\u673a\u5668\u4eba\u624b\u81c2(R)\uff0c\u5e76\u8868\u660e MimicGen \u652f\u6301\u8fd9\u4e9b\u53d8\u4f53\u4e4b\u95f4\u7684\u6570\u636e\u6536\u96c6\u548c\u6a21\u4eff\u5b66\u4e60\u3002<\/p>\n

175\u4e2a\u4eba\u7c7b\u6f14\u793a\uff0c\u751f\u62105\u4e07\u4e2a\u6570\u636e\u96c6<\/p>\n

\u7814\u7a76\u4eba\u5458\u5c06MimicGen\u5e94\u7528\u4e8e\u591a\u79cd\u4e0d\u540c\u7684\u4efb\u52a1\uff08\u89c1\u4e0b\u56fe3\uff09\u548c\u4efb\u52a1\u53d8\u4f53\uff0c\u4ee5\u5c55\u793a\u5b83\u5982\u4f55\u4e3a\u6a21\u4eff\u5b66\u4e60\u5728\u5305\u62ec\u62fe\u53d6-\u653e\u7f6e\u3001\u5bcc\u6709\u63a5\u89e6\u6027\u7684\u4ea4\u4e92\u4ee5\u53ca\u5173\u8282\u52a8\u4f5c\u5728\u5185\u7684\u591a\u6837\u5316\u7684\u64cd\u63a7\u884c\u4e3a\u751f\u6210\u6709\u7528\u7684\u6570\u636e\u3002<\/p>\n

\n

\u5b9e\u9a8c\u548c\u7ed3\u679c<\/strong><\/h3>\n

\u7814\u7a76\u4eba\u5458\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u76ee\u7684\u662f\uff081\uff09\u7a81\u51fa\u663e\u793aMimicGen\u80fd\u591f\u751f\u6210\u6570\u636e\u7684\u591a\u6837\u60c5\u5883;(2)\u5c55\u793aMimicGen\u4e0e\u6536\u96c6\u989d\u5916\u4eba\u7c7b\u793a\u8303\u76f8\u6bd4\u5728\u52aa\u529b\u548c\u6570\u636e\u4e0b\u6e38\u653f\u7b56\u6027\u80fd\u65b9\u9762\u90fd\u6709\u4f18\u52bf;(3)\u63d0\u4f9b\u7cfb\u7edf\u4e0d\u540c\u65b9\u9762\u7684\u6d1e\u89c1;(4)\u8bc1\u660eMimicGen\u80fd\u5728\u771f\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\u624b\u81c2\u4e0a\u5de5\u4f5c\u3002<\/p>\n

MimicGen\u7684\u5e94\u7528<\/strong><\/h4>\n

\u7814\u7a76\u4eba\u5458\u6982\u8ff0\u4e86\u51e0\u4e2a\u5c55\u793aMimicGen\u6709\u7528\u5c5e\u6027\u7684\u5e94\u7528\u573a\u666f\u3002<\/p>\n

MimicGen\u6570\u636e\u5927\u5e45\u63d0\u5347\u4e86\u4ee3\u7406\u5728\u6e90\u4efb\u52a1\u4e0a\u7684\u6027\u80fd\u3002MimicGen\u4e00\u4e2a\u76f4\u63a5\u7684\u5e94\u7528\u5c31\u662f\u6536\u96c6\u67d0\u4e2a\u611f\u5174\u8da3\u4efb\u52a1\u7684\u5c0f\u578b\u6570\u636e\u96c6\uff0c\u7136\u540e\u4e3a\u8be5\u4efb\u52a1\u751f\u6210\u66f4\u591a\u6570\u636e\u3002\u4e0e\u5728\u5c0f\u578b\u6e90\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u7684\u4ee3\u7406\u76f8\u6bd4\uff0c\u4f7f\u7528MimicGen\u751f\u6210\u7684D0\u6570\u636e\u96c6\u8bad\u7ec3\u7684\u4ee3\u7406\u8868\u73b0\u6709\u663e\u8457\u63d0\u5347\u3002<\/p>\n

MimicGen\u6570\u636e\u80fd\u5728\u5e7f\u6cdb\u7684\u521d\u59cb\u72b6\u6001\u5206\u5e03\u4e0b\u751f\u6210\u9ad8\u6027\u80fd\u7684\u4ee3\u7406\u3002\u5982\u4e0b\u56fe4\u6240\u793a\uff0c\u4f7f\u7528\u5728\u5e7f\u6cdb\u7684\u521d\u59cb\u72b6\u6001\u5206\u5e03\uff08D1\u3001D2\uff09\u4e0a\u751f\u6210\u7684\u6570\u636e\u96c6\u8bad\u7ec3\u7684\u4ee3\u7406\u5177\u6709\u5f88\u9ad8\u7684\u6027\u80fd\u3002<\/p>\n

\n

MimicGen\u80fd\u4e3a\u4e0d\u540c\u5bf9\u8c61\u751f\u6210\u6570\u636e\u3002\u4f8b\u5982\uff0c\u5728\u300cMug Cleanup\uff08\u9a6c\u514b\u676f\u6536\u7eb3\uff09\u300d\u4efb\u52a1\u7684\u6e90\u6570\u636e\u96c6\u4e2d\u53ea\u6709\u4e00\u4e2a\u9a6c\u514b\u676f\uff0c\u4f46\u7814\u7a76\u4eba\u5458\u7528MimicGen\u4e3a\u4e00\u4e2a\u672a\u89c1\u8fc7\u7684\u9a6c\u514b\u676f(O1)\u548c\u4e00\u7ec412\u4e2a\u9a6c\u514b\u676f(O2)\u751f\u6210\u4e86\u6f14\u793a\u3002<\/p>\n

MimicGen\u53ef\u4ee5\u4e3a\u591a\u79cd\u673a\u5668\u4eba\u786c\u4ef6\u751f\u6210\u6570\u636e\u3002\u7814\u7a76\u4eba\u5458\u5c06MimicGen\u5e94\u7528\u4e8e\u4f7f\u7528Panda\u624b\u81c2\u7684Square\u548cThreading\u6e90\u6570\u636e\u96c6\uff0c\u5e76\u4e3aSawyer\u3001IIWA\u548cUR5e\u751f\u6210\u4e86\u8de8D0\u548cD1\u91cd\u7f6e\u5206\u5e03\u53d8\u4f53\u7684\u6570\u636e\u96c6\u3002<\/p>\n

\u5c06MimicGen\u5e94\u7528\u4e8e\u79fb\u52a8\u64cd\u7eb5\u3002\u5728\u300cMobile Kitchen\uff08\u79fb\u52a8\u53a8\u623f\uff09\u300d\u4efb\u52a1\u4e2d\uff0cMimicGen\u4f7f\u5f97\u6210\u529f\u7387\u4ece2.0%\u63d0\u5347\u523046.7%\u3002<\/p>\n

MimicGen\u662f\u6a21\u62df\u5668\u4e0d\u53ef\u77e5\u7684\u3002\u7814\u7a76\u4eba\u5458\u8bc1\u660eMimicGen\u4e0d\u4ec5\u9650\u4e8e\u4e00\u4e2a\u6a21\u62df\u6846\u67b6\uff0c\u901a\u8fc7\u5c06\u5176\u5e94\u7528\u4e8e\u5728Isaac Gym\u4e4b\u4e0a\u6784\u5efa\u7684Factory\u6a21\u62df\u6846\u67b6\u4e2d\u9700\u8981\u6beb\u7c73\u7ea7\u7cbe\u5ea6\u7684\u9ad8\u7cbe\u5ea6\u4efb\u52a1\u3002<\/p>\n

MimicGen\u548c\u4eba\u7c7b\u6570\u636e\u5bf9\u6bd4<\/strong><\/h4>\n

MimicGen\u53ef\u4ee5\u5229\u7528\u5c11\u91cf\u4eba\u7c7b\u793a\u4f8b\u751f\u6210\u5927\u89c4\u6a21\u6570\u636e\u96c6:<\/p>\n

\u572818\u4e2a\u4efb\u52a1\u4e2d\uff0c\u53ea\u7528175\u4e2a\u4eba\u7c7b\u793a\u4f8b\u5c31\u751f\u6210\u4e86\u8d85\u8fc75\u4e07\u4e2a\u793a\u4f8b\u3002\u5728Square\u4efb\u52a1\u4e2d\uff0c\u53ea\u752810\u4eba\u7c7b\u793a\u4f8b\u5c31\u751f\u6210\u4e861000\u4e2a\u793a\u4f8b\uff0c\u8986\u76d6\u4e0d\u540c\u573a\u666f\u914d\u7f6e\u3002<\/p>\n

\u800c\u4e14MimicGen\u751f\u6210\u7684\u6570\u636e\u96c6\u53ef\u4ee5\u8bad\u7ec3\u51fa\u9ad8\u6027\u80fd\u7b56\u7565\uff0c\u751a\u81f3\u6bd4\u4eba\u7c7b\u793a\u4f8b\u7684\u6548\u679c\u597d\u5f88\u591a:<\/p>\n

\u5728Square\u4efb\u52a1\u4e2d\uff0c\u4ece10\u4eba\u7c7b\u793a\u4f8b\u7684\u6570\u636e\u96c6\u6210\u529f\u738711.3%\uff0c\u4ece\u751f\u6210\u6570\u636e\u96c6\u6210\u529f\u7387\u53ef\u8fbe90.7%\u3002<\/p>\n

\u5728\u590d\u6742\u7684Coffee Preparation\u4efb\u52a1\u4e2d\uff0c\u6210\u529f\u7387\u4ece12.7%\u63d0\u5347\u523097.3%\uff0c\u5728\u9ad8\u7cbe\u5ea6\u88c5\u914d\u4efb\u52a1Gear Assembly\u4e2d\uff0c\u6210\u529f\u7387\u4ece14.7%\u63d0\u5347\u523098.7%\u3002<\/p>\n

MimicGen\u751f\u6210\u7684\u6570\u636e\u96c6\u4e0e\u4eba\u7c7b\u6570\u636e\u96c6\u6027\u80fd\u76f8\u5f53:<\/p>\n

\u5728Square\u4efb\u52a1\u4e2d\uff0c200\u4eba\u7c7b\u793a\u4f8b\u6210\u529f\u7387\u4e3a12%\uff0c200\u4e2a\u751f\u6210\u793a\u4f8b\u6210\u529f\u7387\u4e3a11.3%\uff0c\u5728Three Piece Assembly\u4efb\u52a1\u4e2d\uff0c200\u4eba\u7c7b\u793a\u4f8b\u6210\u529f\u7387\u4e3a14%\uff0c200\u751f\u6210\u793a\u4f8b\u6210\u529f\u7387\u4e3a13.3%\u3002<\/p>\n

\u5728\u673a\u68b0\u81c2\u4e0a\u7684\u8868\u73b0\u4e0a\uff0cMimicGen\u751f\u6210\u7684\u6570\u636e\u7684Stack\u4efb\u52a1\u4ece\u6e90\u57df0%\u7684\u6210\u529f\u7387\u63d0\u5347\u5230\u4e8636%\uff0cCoffee\u4efb\u52a1\uff0c\u6210\u529f\u7387\u4ece\u6e90\u57df\u76840%\u6210\u529f\u7387\u5230\u76ee\u6807\u57df14%\u6210\u529f\u529f\u7387\u3002<\/p>\n

\n

\u7f51\u53cb\u70ed\u8bae<\/p>\n

\u5408\u6210\u6570\u636e\u5c06\u4e3b\u5bfc\u5927\u90e8\u5206\u751f\u6210\u5f0f\u4eba\u5de5\u667a\u80fd\u884c\u52a8!<\/p>\n

\n

\u7ec8\u6709\u4e00\u5929\uff0c\u4eba\u7c7b\u6807\u6ce8\u548c\u6f14\u793a\u6210\u4e3a\u8fc7\u53bb\u3002<\/p>\n

\n

\u6709\u7f51\u53cb\u60ca\u547c\uff0c\u8fd9\u4e0eAGI\u5927\u5dee\u4e0d\u5dee\u4e86\uff0c\u4eba\u7c7b\u7075\u5de7\u7a0b\u5ea6\u7684\u673a\u5668\u4eba\u4e5f\u4f1a\u7a81\u7136\u80fd\u529b\u5927\u7206\u53d1\u3002<\/p>\n

\n

\u8fd9\u6b63\u662f\u6211\u4e4b\u524d\u601d\u8003\u7684AI\u667a\u80fd\u8d85\u8d8a\u4eba\u7c7b\u667a\u80fd\uff0c\u5927\u6982\u7387\u53ea\u662f\u65f6\u95f4\u95ee\u9898:\u56e0\u4e3a\u771f\u5b9e\u4e16\u754c\u6709\u9650\u7684\u6570\u636e\u5e76\u4e0d\u662f\u9650\u5236\uff0c\u6570\u636e\u53ef\u4ee5\u901a\u8fc7AI\u5408\u6210\uff0c\u4e4b\u540e\u518d\u6295\u5165\u5230\u6a21\u578b\u8bad\u7ec3\u4e2d:Artificial synthetic data \u21d2 Training AI \u21d2 AI smarter \u21d2 Generating more synthetic data \u21d2 more into trianing AI model; Feedback Loop\u5df2\u5efa\u7acb\u3002<\/p>\n

\n

\n

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