{"id":4660,"date":"2024-09-14T17:57:35","date_gmt":"2024-09-14T09:57:35","guid":{"rendered":"https:\/\/nullthought.net\/?p=4660"},"modified":"2025-02-23T11:09:47","modified_gmt":"2025-02-23T03:09:47","slug":"%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%95%88%e7%94%a8%e6%a8%a1%e5%9e%8b%ef%bc%88robot-utility-models-rum%ef%bc%89%e5%ae%9e%e7%8e%b0%e9%9b%b6%e6%a0%b7%e6%9c%ac%e9%83%a8%e7%bd%b2%ef%bc%88zero-shot-deployment","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=4660","title":{"rendered":"\u673a\u5668\u4eba\u6548\u7528\u6a21\u578b\uff08Robot Utility Models, RUM\uff09\u5b9e\u73b0\u96f6\u6837\u672c\u90e8\u7f72\uff08Zero-Shot Deployment\uff09"},"content":{"rendered":"\n<p>\u8bba\u6587\u300a<strong><a href=\"https:\/\/arxiv.org\/abs\/2409.05865\" target=\"_blank\" rel=\"noreferrer noopener\">Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments<\/a><\/strong>\u300b\u8be6\u7ec6\u4ecb\u7ecd\u4e86\u5982\u4f55\u8bbe\u8ba1\u548c\u5b9e\u73b0<strong>\u673a\u5668\u4eba\u6548\u7528\u6a21\u578b\uff08Robot Utility Models, RUM\uff09<\/strong>\uff0c\u4f7f\u5f97\u673a\u5668\u4eba\u5728\u65b0\u73af\u5883\u4e2d\u65e0\u9700\u5fae\u8c03\u5373\u53ef\u6267\u884c\u4efb\u52a1\uff0c\u5373\u6240\u8c13\u7684<strong>\u96f6\u6837\u672c\u90e8\u7f72\uff08Zero-Shot Deployment\uff09<\/strong>\u3002RUM\u6210\u529f\u5b9e\u73b0\u4e86\u673a\u5668\u4eba\u5728\u4e0d\u540c\u73af\u5883\u4e2d\u7684\u4efb\u52a1\u6267\u884c\u3002\u8be5\u6846\u67b6\u4e0d\u4ec5\u51cf\u5c11\u4e86\u6570\u636e\u6536\u96c6\u548c\u5fae\u8c03\u7684\u6210\u672c\uff0c\u8fd8\u5c55\u793a\u4e86\u673a\u5668\u4eba\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u7684\u9ad8\u6548\u6027\u548c\u53ef\u9760\u6027\uff0c\u4e3a\u672a\u6765\u66f4\u591a\u7c7b\u578b\u4efb\u52a1\u7684\u96f6\u6837\u672c\u90e8\u7f72\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u501f\u9274\u548c\u53c2\u8003\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u4f5c\u8005\u4e3aHaritheja Etukuru, Norihito Naka, Zijin Hu, Seungjae Lee, Julian Mehu, Aaron Edsinger, Chris Paxton, Soumith Chintala, Lerrel Pinto, Nur Muhammad Mahi Shafiullah\uff0c\u6765\u81eaNew York University, Hello Robot Inc.\u548cMeta\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"817\" height=\"566\" src=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/09\/image-6.png\" alt=\"\" class=\"wp-image-4661\" srcset=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/09\/image-6.png 817w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/09\/image-6-300x208.png 300w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/09\/image-6-768x532.png 768w\" sizes=\"auto, (max-width: 817px) 100vw, 817px\" \/><figcaption class=\"wp-element-caption\"><strong><a href=\"https:\/\/arxiv.org\/abs\/2409.05865\" target=\"_blank\" rel=\"noreferrer noopener\">Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments<\/a><\/strong><\/figcaption><\/figure>\n\n\n\n<p>\u4ee5\u4e0b\u662f\u8bba\u6587\u6982\u8981\u5185\u5bb9\uff1a<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">1. \u5f15\u8a00<\/h5>\n\n\n\n<p>\u673a\u5668\u4eba\u6280\u672f\u5728\u64cd\u63a7\u548c\u5bfc\u822a\u4efb\u52a1\u4e0a\u53d6\u5f97\u4e86\u957f\u8db3\u7684\u8fdb\u5c55\uff0c\u5c24\u5176\u662f\u901a\u8fc7\u6df1\u5ea6\u5b66\u4e60\u548c\u6a21\u4eff\u5b66\u4e60\uff0c\u673a\u5668\u4eba\u80fd\u591f\u5728\u76f8\u5bf9\u7a33\u5b9a\u7684\u73af\u5883\u4e2d\u8868\u73b0\u51fa\u8f83\u5f3a\u7684\u4efb\u52a1\u5b8c\u6210\u80fd\u529b\u3002\u7136\u800c\uff0c\u4f20\u7edf\u65b9\u6cd5\u8981\u6c42\u673a\u5668\u4eba\u5728\u6bcf\u4e2a\u65b0\u73af\u5883\u4e2d\u8fdb\u884c\u5fae\u8c03\uff0c\u8fd9\u6781\u5927\u9650\u5236\u4e86\u5176\u7075\u6d3b\u6027\u548c\u6269\u5c55\u6027\u3002\u800c\u89c6\u89c9\u548c\u8bed\u8a00\u6a21\u578b\u5df2\u7ecf\u80fd\u591f\u5b9e\u73b0\u96f6\u6837\u672c\u95ee\u9898\u89e3\u51b3\uff0c\u5373\u65e0\u9700\u4e13\u95e8\u4e3a\u65b0\u73af\u5883\u8fdb\u884c\u8c03\u6574\u3002\u4e3a\u4e86\u8ba9\u673a\u5668\u4eba\u4e5f\u5177\u5907\u7c7b\u4f3c\u7684\u80fd\u529b\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u6846\u67b6\u2014\u2014<strong>\u673a\u5668\u4eba\u6548\u7528\u6a21\u578b\uff08RUM\uff09<\/strong>\uff0c\u65e8\u5728\u8bad\u7ec3\u5e76\u90e8\u7f72\u80fd\u591f\u76f4\u63a5\u5728\u65b0\u73af\u5883\u4e2d\u6cdb\u5316\u7684\u673a\u5668\u4eba\u7b56\u7565\uff0c\u5b8c\u5168\u4e0d\u9700\u8981\u989d\u5916\u7684\u6570\u636e\u6536\u96c6\u548c\u5fae\u8c03\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">2. \u6838\u5fc3\u6846\u67b6\uff1a\u673a\u5668\u4eba\u6548\u7528\u6a21\u578b\uff08RUM\uff09<\/h5>\n\n\n\n<p>\u8bba\u6587\u63d0\u51fa\u7684RUM\u6846\u67b6\u662f\u4e00\u4e2a<strong>\u7cfb\u7edf\u5316\u7684\u5b66\u4e60\u6846\u67b6<\/strong>\uff0c\u80fd\u591f\u8bad\u7ec3\u51fa\u5177\u5907\u6cdb\u5316\u80fd\u529b\u7684\u673a\u5668\u4eba\u653f\u7b56\u3002\u8fd9\u79cd\u653f\u7b56\u4e0d\u4ec5\u80fd\u591f\u5728\u8bad\u7ec3\u4e2d\u4f7f\u7528\u7684\u73af\u5883\u4e2d\u8868\u73b0\u4f18\u5f02\uff0c\u8fd8\u80fd\u5728\u5b8c\u5168\u672a\u89c1\u8fc7\u7684\u65b0\u73af\u5883\u4e2d\u6267\u884c\u4efb\u52a1\u3002\u5176\u6838\u5fc3\u6d41\u7a0b\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6570\u636e\u6536\u96c6<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5229\u7528\u540d\u4e3a<strong>Stick-v2<\/strong>\u7684\u4fbf\u643a\u5f0f\u6570\u636e\u6536\u96c6\u5de5\u5177\uff0c\u5feb\u901f\u5728\u4e0d\u540c\u73af\u5883\u4e2d\u6536\u96c6\u5927\u91cf\u3001\u591a\u6837\u7684\u4efb\u52a1\u793a\u8303\u6570\u636e\u3002Stick-v2\u7531\u4e00\u53f0iPhone Pro\u7ec4\u6210\uff0c\u80fd\u591f\u7cbe\u786e\u91c7\u96c6RGB\u89c6\u9891\u3001\u6df1\u5ea6\u6570\u636e\u4ee5\u53ca\u4f4d\u7f6e\u4fe1\u606f\uff0c\u4e14\u4e0d\u9700\u8981\u989d\u5916\u7684\u76f8\u673a\u6821\u51c6\u3002<\/li>\n\n\n\n<li>\u8bba\u6587\u4e2d\u7684\u4efb\u52a1\u5305\u62ec\uff1a\u5f00\u95e8\u3001\u5f00\u62bd\u5c49\u3001\u62fe\u53d6\u7eb8\u5dfe\u3001\u62fe\u53d6\u7eb8\u888b\u3001\u91cd\u65b0\u5b9a\u5411\u6389\u843d\u7684\u7269\u4f53\u7b49\u4e94\u9879\u6838\u5fc3\u4efb\u52a1\u3002\u4e3a\u6bcf\u4e2a\u4efb\u52a1\u6536\u96c6\u4e86\u5927\u7ea61000\u6b21\u7684\u793a\u8303\u64cd\u4f5c\uff0c\u786e\u4fdd\u6db5\u76d6\u591a\u79cd\u4e0d\u540c\u7684\u73af\u5883\u548c\u5bf9\u8c61\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u591a\u6a21\u6001\u6a21\u4eff\u5b66\u4e60\uff08Multi-modal Imitation Learning\uff09<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u6570\u636e\u6536\u96c6\u5b8c\u6210\u540e\uff0c\u901a\u8fc7\u591a\u6a21\u6001\u6a21\u4eff\u5b66\u4e60\u7b97\u6cd5\u6765\u8bad\u7ec3\u673a\u5668\u4eba\u7b56\u7565\u3002\u6700\u6709\u6548\u7684\u7b97\u6cd5\u5305\u62ec<strong>VQ-BeT<\/strong>\u548c<strong>Diffusion Policy<\/strong>\uff0c\u8fd9\u4e9b\u7b97\u6cd5\u80fd\u591f\u6709\u6548\u5b66\u4e60\u4efb\u52a1\u7684\u591a\u6a21\u6001\u884c\u4e3a\uff0c\u5373\u4ece\u89c6\u89c9\u4fe1\u606f\u4e2d\u63a8\u65ad\u51fa\u673a\u5668\u4eba\u7684\u52a8\u4f5c\u3002<\/li>\n\n\n\n<li>\u6bcf\u4e2a\u6a21\u578b\u90fd\u57fa\u4e8e\u4e00\u4e2aResNet34\u7684\u89c6\u89c9\u7f16\u7801\u5668\uff0c\u5e76\u4f7f\u7528transformer\u7ed3\u6784\u4f5c\u4e3a\u7b56\u7565\u9884\u6d4b\u5668\uff0c\u4ee5\u786e\u4fdd\u6a21\u578b\u80fd\u591f\u5904\u7406\u590d\u6742\u7684\u4efb\u52a1\u6267\u884c\u6d41\u7a0b\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u96f6\u6837\u672c\u90e8\u7f72\u4e0e\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08mLLM\uff09\u53cd\u9988<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5728\u8bad\u7ec3\u5b8c\u6210\u540e\uff0cRUM\u53ef\u4ee5\u76f4\u63a5\u90e8\u7f72\u5230\u5b9e\u9645\u673a\u5668\u4eba\u4e0a\uff0c\u5982Hello Robot\u7684<strong>Stretch\u673a\u5668\u4eba<\/strong>\uff0c\u65e0\u9700\u5728\u65b0\u73af\u5883\u4e2d\u8fdb\u884c\u4efb\u4f55\u5fae\u8c03\u3002\u90e8\u7f72\u8fc7\u7a0b\u4e2d\uff0c\u5916\u90e8\u7684\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08mLLM\uff09\u4f5c\u4e3a\u8f85\u52a9\u53cd\u9988\u673a\u5236\uff0c\u80fd\u591f\u68c0\u6d4b\u5230\u4efb\u52a1\u6267\u884c\u4e2d\u7684\u9519\u8bef\uff0c\u5e76\u6307\u793a\u673a\u5668\u4eba\u8fdb\u884c\u91cd\u8bd5\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">3. \u6570\u636e\u6536\u96c6\u5de5\u5177\uff1aStick-v2<\/h5>\n\n\n\n<p>\u8bba\u6587\u8bbe\u8ba1\u4e86\u4e00\u79cd\u4f4e\u6210\u672c\u3001\u9ad8\u4fbf\u643a\u7684\u5de5\u5177\u2014\u2014<strong>Stick-v2<\/strong>\uff0c\u7528\u4e8e\u5728\u4e0d\u540c\u73af\u5883\u4e2d\u5feb\u901f\u6536\u96c6\u9ad8\u8d28\u91cf\u7684\u6570\u636e\u3002\u5176\u8bbe\u8ba1\u7279\u70b9\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4fbf\u643a\u6027<\/strong>\uff1a\u6574\u4e2a\u5de5\u5177\u4f7f\u7528iPhone Pro\u548c\u5c11\u91cf\u5ec9\u4ef7\u6750\u6599\u6784\u6210\uff0c\u603b\u6210\u672c\u4ec5\u4e3a25\u7f8e\u5143\uff0c\u65b9\u4fbf\u643a\u5e26\u548c\u90e8\u7f72\u3002<\/li>\n\n\n\n<li><strong>\u9ad8\u7cbe\u5ea6\u6570\u636e\u91c7\u96c6<\/strong>\uff1a\u501f\u52a9iPhone\u7684ARKit API\uff0cStick-v2\u53ef\u4ee5\u4ee5\u9ad8\u9891\u7387\u91c7\u96c6RGB\u89c6\u9891\u3001\u6df1\u5ea6\u6570\u636e\u548c\u4f4d\u7f6e\u4fe1\u606f\uff0c\u540c\u65f6\u81ea\u52a8\u540c\u6b65\u548c\u65f6\u95f4\u6233\u5316\u8fd9\u4e9b\u6570\u636e\uff0c\u4fdd\u8bc1\u5728\u4e0d\u540c\u73af\u5883\u4e2d\u7684\u6570\u636e\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n<li><strong>\u6613\u4e8e\u90e8\u7f72<\/strong>\uff1a\u7531\u4e8e\u4e0d\u9700\u8981\u989d\u5916\u7684\u76f8\u673a\u6821\u51c6\uff0cStick-v2\u53ef\u4ee5\u76f4\u63a5\u5728\u4efb\u4f55\u73af\u5883\u4e2d\u4f7f\u7528\uff0c\u51cf\u5c11\u4e86\u6bcf\u6b21\u73af\u5883\u8bbe\u7f6e\u7684\u65f6\u95f4\u6210\u672c\u3002\u4f5c\u8005\u5728\u591a\u79cd\u73af\u5883\uff08\u4f8b\u5982\u5546\u5e97\u3001\u5bb6\u5ead\uff09\u4e2d\u5feb\u901f\u6536\u96c6\u6570\u636e\uff0c\u4ece\u800c\u4e30\u5bcc\u4e86\u6570\u636e\u96c6\u7684\u591a\u6837\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">4. \u6570\u636e\u96c6\u4e0e\u4efb\u52a1\u5b9a\u4e49<\/h5>\n\n\n\n<p>\u8bba\u6587\u5b9a\u4e49\u4e86\u4e94\u4e2a\u4efb\u52a1\uff0c\u6bcf\u4e2a\u4efb\u52a1\u7684\u793a\u8303\u6570\u636e\u6765\u81ea\u5927\u7ea640\u4e2a\u4e0d\u540c\u7684\u73af\u5883\uff0c\u6bcf\u4e2a\u73af\u5883\u670925\u6b21\u5de6\u53f3\u7684\u64cd\u4f5c\u793a\u8303\u3002\u8fd9\u4e94\u4e2a\u4efb\u52a1\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5f00\u95e8\u4efb\u52a1<\/strong>\uff1a\u673a\u5668\u4eba\u9700\u8981\u5f00\u95e8\uff0c\u4efb\u52a1\u4e2d\u4ec5\u5305\u542b\u6709\u628a\u624b\u7684\u95e8\uff08\u6392\u9664\u4e86\u5e26\u6709\u5706\u5f62\u95e8\u628a\u624b\u7684\u95e8\uff09\u3002<\/li>\n\n\n\n<li><strong>\u5f00\u62bd\u5c49\u4efb\u52a1<\/strong>\uff1a\u673a\u5668\u4eba\u9700\u8981\u6253\u5f00\u5e26\u628a\u624b\u7684\u62bd\u5c49\uff08\u4e0d\u5305\u542b\u5e26\u5706\u5f62\u628a\u624b\u7684\u62bd\u5c49\uff09\u3002<\/li>\n\n\n\n<li><strong>\u91cd\u65b0\u5b9a\u5411\u7269\u4f53\u4efb\u52a1<\/strong>\uff1a\u673a\u5668\u4eba\u9700\u8981\u5c06\u8eba\u5728\u5e73\u9762\u4e0a\u7684\u7269\u4f53\uff08\u5982\u74f6\u5b50\uff09\u91cd\u65b0\u6446\u6b63\u3002<\/li>\n\n\n\n<li><strong>\u62fe\u53d6\u7eb8\u5dfe\u4efb\u52a1<\/strong>\uff1a\u673a\u5668\u4eba\u9700\u8981\u4ece\u7eb8\u5dfe\u76d2\u4e2d\u62ff\u53d6\u7eb8\u5dfe\u3002<\/li>\n\n\n\n<li><strong>\u62fe\u53d6\u7eb8\u888b\u4efb\u52a1<\/strong>\uff1a\u673a\u5668\u4eba\u9700\u8981\u4ece\u5e73\u9762\u4e0a\u62fe\u53d6\u4e00\u4e2a\u7eb8\u888b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6bcf\u4e2a\u4efb\u52a1\u90fd\u572840\u4e2a\u73af\u5883\u4e2d\u91c7\u96c6\u4e86\u5927\u7ea61000\u6b21\u7684\u793a\u8303\u6570\u636e\uff0c\u8fd9\u4e9b\u73af\u5883\u5305\u62ec\u666e\u901a\u5bb6\u5ead\u573a\u666f\u4ee5\u53ca\u5546\u5e97\u7b49\u516c\u5171\u73af\u5883\uff0c\u4ee5\u786e\u4fdd\u6570\u636e\u7684\u591a\u6837\u6027\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">5. \u6a21\u578b\u8bad\u7ec3\u4e0e\u90e8\u7f72<\/h5>\n\n\n\n<p>\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u8bba\u6587\u4f7f\u7528\u4e86\u591a\u79cd\u6a21\u578b\u67b6\u6784\uff0c\u5305\u62ec<strong>VQ-BeT<\/strong>\u548c<strong>Diffusion Policy<\/strong>\u7b49\u3002\u8fd9\u4e9b\u6a21\u578b\u80fd\u591f\u5904\u7406\u591a\u6a21\u6001\u8f93\u5165\uff0c\u9884\u6d4b\u673a\u5668\u4eba\u57286D\u7a7a\u95f4\u4e2d\u7684\u76f8\u5bf9\u52a8\u4f5c\u3002\u8bad\u7ec3\u7684\u5173\u952e\u5728\u4e8e\u627e\u5230\u5408\u9002\u7684\u6570\u636e\u5b50\u91c7\u6837\u9891\u7387\uff0c\u5e76\u4f7f\u7528\u8fc7\u53bb\u51e0\u5e27\u7684\u5386\u53f2\u6570\u636e\u6765\u63d0\u9ad8\u9884\u6d4b\u7684\u51c6\u786e\u6027\u3002\u6574\u4e2a\u8bad\u7ec3\u8fc7\u7a0b\u8017\u65f624\u523048\u5c0f\u65f6\uff0c\u4f7f\u7528\u4e24\u5757Nvidia A100 GPU\u5b8c\u6210\u3002<\/p>\n\n\n\n<p><strong>\u90e8\u7f72<\/strong>\u65b9\u9762\uff0cRUM\u6846\u67b6\u80fd\u591f\u9002\u5e94\u591a\u79cd\u673a\u5668\u4eba\u5e73\u53f0\uff0c\u4e0d\u4ec5\u652f\u6301Hello Robot\u7684Stretch\u673a\u5668\u4eba\uff0c\u8fd8\u652f\u6301\u5176\u4ed6\u5177\u67096\u81ea\u7531\u5ea6\u63a7\u5236\u7684\u673a\u5668\u4eba\u624b\u81c2\uff0c\u5982xArm\u3002\u6b64\u5916\uff0c\u8bba\u6587\u8fd8\u6d4b\u8bd5\u4e86\u4e0d\u540c\u7684\u76f8\u673a\u8bbe\u7f6e\uff0c\u5c55\u793a\u4e86RUM\u5728\u786c\u4ef6\u53d8\u5316\u4e0b\u7684\u9ad8\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">6. \u7ed3\u679c\u4e0e\u5206\u6790<\/h5>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1RUM\u7684\u6709\u6548\u6027\uff0c\u8bba\u6587\u5728\u591a\u4e2a\u771f\u5b9e\u73af\u5883\u4e2d\u8fdb\u884c\u4e862950\u6b21\u673a\u5668\u4eba\u4efb\u52a1\u6267\u884c\u5b9e\u9a8c\uff0c\u7ed3\u679c\u8868\u660e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9ad8\u6210\u529f\u7387<\/strong>\uff1aRUM\u572825\u4e2a\u65b0\u73af\u5883\u4e2d\u5b9e\u73b0\u4e86\u5e73\u574790%\u7684\u6210\u529f\u7387\uff0c\u5c24\u5176\u5728\u5f00\u95e8\u3001\u5f00\u62bd\u5c49\u548c\u62fe\u53d6\u4efb\u52a1\u4e2d\u8868\u73b0\u5c24\u4e3a\u7a81\u51fa\uff0c\u6210\u529f\u7387\u8fbe\u523084%-94%\u3002<\/li>\n\n\n\n<li><strong>\u591a\u6a21\u6001\u653f\u7b56\u7684\u4f18\u52bf<\/strong>\uff1a\u76f8\u6bd4\u4e8e\u4f20\u7edf\u7684\u5355\u6a21\u6001\u653f\u7b56\uff0cRUM\u4f7f\u7528\u7684\u591a\u6a21\u6001\u653f\u7b56\u5728\u672a\u89c1\u73af\u5883\u4e2d\u7684\u6210\u529f\u7387\u4e3a74.4%\uff0c\u800c\u901a\u8fc7mLLM\u7684\u53cd\u9988\u548c\u91cd\u8bd5\u673a\u5236\uff0c\u6210\u529f\u7387\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e8615.6%\uff0c\u8fbe\u5230\u4e8690%\u5de6\u53f3\u3002<\/li>\n\n\n\n<li><strong>\u6570\u636e\u591a\u6837\u6027\u7684\u91cd\u8981\u6027<\/strong>\uff1a\u5b9e\u9a8c\u8868\u660e\uff0c<strong>\u6570\u636e\u7684\u591a\u6837\u6027\u6bd4\u6570\u636e\u91cf\u7684\u589e\u52a0\u66f4\u4e3a\u91cd\u8981<\/strong>\uff0c\u6a21\u578b\u5728\u4e0d\u540c\u73af\u5883\u4e2d\u7684\u6cdb\u5316\u80fd\u529b\u6781\u5927\u4f9d\u8d56\u4e8e\u8bad\u7ec3\u65f6\u6240\u4f7f\u7528\u7684\u591a\u6837\u5316\u6570\u636e\u96c6\u3002<\/li>\n\n\n\n<li><strong>\u81ea\u6211\u68c0\u9a8c\u4e0e\u91cd\u8bd5\u673a\u5236<\/strong>\uff1a\u8bba\u6587\u5f15\u5165\u4e86\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08mLLM\uff09\u4f5c\u4e3a\u4e00\u79cd\u9519\u8bef\u68c0\u6d4b\u673a\u5236\uff0c\u5f53\u6a21\u578b\u5728\u6267\u884c\u4efb\u52a1\u65f6\u51fa\u73b0\u9519\u8bef\u65f6\uff0cmLLM\u4f1a\u81ea\u52a8\u68c0\u6d4b\u5230\u5e76\u6307\u793a\u673a\u5668\u4eba\u91cd\u8bd5\u4efb\u52a1\uff0c\u6781\u5927\u63d0\u9ad8\u4e86\u4efb\u52a1\u5b8c\u6210\u7684\u6210\u529f\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">7. \u542f\u793a\u4e0e\u672a\u6765\u5de5\u4f5c<\/h5>\n\n\n\n<p>\u8fd9\u7bc7\u8bba\u6587\u5c55\u793a\u4e86\u901a\u7528\u673a\u5668\u4eba\u6548\u7528\u6a21\u578b\u5728\u591a\u4e2a\u4efb\u52a1\u548c\u4e0d\u540c\u73af\u5883\u4e2d\u7684\u5f3a\u5927\u6cdb\u5316\u80fd\u529b\uff0c\u5e76\u4e3a\u673a\u5668\u4eba\u5728\u65b0\u73af\u5883\u4e2d\u7684\u96f6\u6837\u672c\u90e8\u7f72\u63d0\u4f9b\u4e86\u4e00\u79cd\u5207\u5b9e\u53ef\u884c\u7684\u65b9\u6cd5\u3002\u5c3d\u7ba1RUM\u76ee\u524d\u5728\u67d0\u4e9b\u4efb\u52a1\uff08\u4f8b\u5982\u5f00\u5e26\u6709\u5706\u5f62\u628a\u624b\u7684\u95e8\uff09\u4e0a\u5b58\u5728\u786c\u4ef6\u9650\u5236\uff0c\u672a\u6765\u7684\u5de5\u4f5c\u53ef\u4ee5\u901a\u8fc7\u6539\u8fdb\u786c\u4ef6\u8bbe\u8ba1\u6216\u8fdb\u4e00\u6b65\u589e\u52a0\u4efb\u52a1\u591a\u6837\u6027\u6765\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>RUM: <a href=\"https:\/\/robotutilitymodels.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/robotutilitymodels.com\/<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587\u300aRobot Utility Models: General Policies for Zero-Shot [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[8],"tags":[39,63,77,84,95,90,86,69,61,80],"class_list":{"0":"post-4660","1":"post","2":"type-post","3":"status-publish","4":"format-standard","5":"hentry","6":"category-tech","7":"tag-ai","9":"tag-meta","10":"tag-nvidia","11":"tag-transformer","12":"tag-multimodal","13":"tag-llm","14":"tag-engineering","15":"tag-61","16":"tag-cv"},"rttpg_featured_image_url":null,"rttpg_author":{"display_name":"NullThought","author_link":"https:\/\/nullthought.net\/?author=1"},"rttpg_comment":0,"rttpg_category":"<a href=\"https:\/\/nullthought.net\/?cat=8\" rel=\"category\">Tech<\/a>","rttpg_excerpt":"\u8bba\u6587\u300aRobot Utility Models: General Policies for Zero-Shot&hellip;","_links":{"self":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/4660","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=4660"}],"version-history":[{"count":1,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/4660\/revisions"}],"predecessor-version":[{"id":4662,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/4660\/revisions\/4662"}],"wp:attachment":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=4660"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=4660"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=4660"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}