{"id":4732,"date":"2024-09-25T15:48:02","date_gmt":"2024-09-25T07:48:02","guid":{"rendered":"https:\/\/nullthought.net\/?p=4732"},"modified":"2025-02-23T11:09:47","modified_gmt":"2025-02-23T03:09:47","slug":"octo%ef%bc%9a%e5%bc%80%e6%ba%90%e9%80%9a%e7%94%a8%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%ad%96%e7%95%a5%e6%a8%a1%e5%9e%8b","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=4732","title":{"rendered":"Octo\uff1a\u5f00\u6e90\u901a\u7528\u673a\u5668\u4eba\u7b56\u7565\u6a21\u578b"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u8bba\u6587<strong><a href=\"https:\/\/arxiv.org\/abs\/2405.12213\" target=\"_blank\" rel=\"noreferrer noopener\">Octo: An Open-Source Generalist Robot Policy<\/a><\/strong>\u63a2\u8ba8\u4e86\u5982\u4f55\u8bbe\u8ba1\u548c\u5f00\u53d1\u4e00\u4e2a\u5177\u5907\u5e7f\u6cdb\u9002\u5e94\u6027\u7684\u673a\u5668\u4eba\u7b56\u7565\u6a21\u578b\uff0c\u65e8\u5728\u89e3\u51b3\u4f20\u7edf\u673a\u5668\u4eba\u7b56\u7565\u96be\u4ee5\u6cdb\u5316\u7684\u95ee\u9898\u3002Octo\u6a21\u578b\u7531Transformer\u67b6\u6784\u9a71\u52a8\uff0c\u7ecf\u8fc7\u5728\u5927\u89c4\u6a21\u591a\u673a\u5668\u4eba\u64cd\u63a7\u6570\u636e\u96c6\u4e0a\u7684\u9884\u8bad\u7ec3\uff0c\u652f\u6301\u591a\u4efb\u52a1\u3001\u591a\u4f20\u611f\u5668\u8f93\u5165\u548c\u591a\u52a8\u4f5c\u7a7a\u95f4\uff0c\u80fd\u591f\u9ad8\u6548\u5fae\u8c03\u5e76\u9002\u5e94\u65b0\u9886\u57df\u7684\u673a\u5668\u4eba\u4efb\u52a1\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8bba\u6587\u4f5c\u8005\u4e3aDibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, Sergey Levine\uff0c\u5747\u4e3aOcto Model Team\u56e2\u961f\u6210\u5458\u3002\u6210\u5458\u6765\u81eaUC Berkeley, Stanford University, Carnegie Mellon University\u548cGoogle Deepmind\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"907\" height=\"555\" src=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/09\/image-14.png\" alt=\"\" class=\"wp-image-4733\" srcset=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/09\/image-14.png 907w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/09\/image-14-300x184.png 300w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/09\/image-14-768x470.png 768w\" sizes=\"auto, (max-width: 907px) 100vw, 907px\" \/><figcaption class=\"wp-element-caption\"><strong><a href=\"https:\/\/arxiv.org\/abs\/2405.12213\" target=\"_blank\" rel=\"noreferrer noopener\">Octo: An Open-Source Generalist Robot Policy<\/a><\/strong><\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u4e0b\u4e3a\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 class=\"wp-block-paragraph\">\u4f20\u7edf\u7684\u673a\u5668\u4eba\u5b66\u4e60\u65b9\u6cd5\u901a\u5e38\u9700\u8981\u4e3a\u6bcf\u4e2a\u7279\u5b9a\u4efb\u52a1\u548c\u673a\u5668\u4eba\u5e73\u53f0\u4ece\u5934\u5f00\u59cb\u8bad\u7ec3\uff0c\u8fd9\u9700\u8981\u5927\u91cf\u7684\u6570\u636e\u91c7\u96c6\u548c\u8ba1\u7b97\u8d44\u6e90\u3002\u800c\u4e14\uff0c\u8bad\u7ec3\u51fa\u7684\u7b56\u7565\u5f80\u5f80\u4ec5\u80fd\u9002\u5e94\u72ed\u7a84\u7684\u4efb\u52a1\u8303\u56f4\uff0c\u96be\u4ee5\u6cdb\u5316\u5230\u65b0\u7684\u4efb\u52a1\u6216\u73af\u5883\u4e2d\u3002\u4e0e\u81ea\u7136\u8bed\u8a00\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u4e2d\u9884\u8bad\u7ec3\u5927\u6a21\u578b\u7684\u6210\u529f\u4e0d\u540c\uff0c\u5728\u673a\u5668\u4eba\u9886\u57df\u6784\u5efa\u201c\u901a\u7528\u7b56\u7565\u6a21\u578b\u201d\u9762\u4e34\u591a\u91cd\u6311\u6218\uff0c\u5305\u62ec\u5904\u7406\u4e0d\u540c\u7684\u673a\u5668\u4eba\u7ed3\u6784\u3001\u4f20\u611f\u5668\u8bbe\u7f6e\u3001\u52a8\u4f5c\u7a7a\u95f4\u3001\u4efb\u52a1\u89c4\u683c\u548c\u73af\u5883\u6761\u4ef6\u7b49\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Octo\u63d0\u51fa\u7684\u76ee\u6807\u662f\u521b\u5efa\u4e00\u4e2a\u80fd\u591f\u5e7f\u6cdb\u9002\u7528\u4e8e\u591a\u79cd\u673a\u5668\u4eba\u64cd\u63a7\u4efb\u52a1\u7684\u901a\u7528\u7b56\u7565\u6a21\u578b\uff0c\u5177\u5907\u7075\u6d3b\u7684\u8f93\u5165\u8f93\u51fa\u5b9a\u4e49\uff0c\u5e76\u4e14\u80fd\u901a\u8fc7\u5c11\u91cf\u7684\u9886\u57df\u6570\u636e\u8fdb\u884c\u9ad8\u6548\u5fae\u8c03\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">2. Octo\u6a21\u578b\u67b6\u6784<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">Octo\u7684\u6838\u5fc3\u67b6\u6784\u662f\u57fa\u4e8eTransformer\u7684\u901a\u7528\u7b56\u7565\u6a21\u578b\uff0c\u6a21\u578b\u8bbe\u8ba1\u6ce8\u91cd<strong>\u7075\u6d3b\u6027<\/strong>\u548c<strong>\u53ef\u6269\u5c55\u6027<\/strong>\uff0c\u5305\u62ec\u4ee5\u4e0b\u4e09\u4e2a\u4e3b\u8981\u90e8\u5206\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8f93\u5165Token\u5316\u5668<\/strong>\uff1a\u5c06\u4efb\u52a1\u63cf\u8ff0\uff08\u8bed\u8a00\u6307\u4ee4\u6216\u76ee\u6807\u56fe\u50cf\uff09\u548c\u89c2\u5bdf\uff08\u76f8\u673a\u56fe\u50cf\u6216\u5176\u4ed6\u4f20\u611f\u5668\u6570\u636e\uff09\u8f6c\u5316\u4e3a\u7edf\u4e00\u7684token\u5e8f\u5217\u3002\n<ul class=\"wp-block-list\">\n<li>\u8bed\u8a00\u8f93\u5165\u901a\u8fc7\u9884\u8bad\u7ec3\u7684T5\u6a21\u578b\uff08111M\u53c2\u6570\uff09\u8fdb\u884c\u7f16\u7801\u3002<\/li>\n\n\n\n<li>\u56fe\u50cf\u8f93\u5165\u901a\u8fc7\u6d45\u5377\u79ef\u7f51\u7edc\u7f16\u7801\u4e3atoken\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>Transformer\u4e3b\u5e72\u7f51\u7edc<\/strong>\uff1a\u5904\u7406\u8fd9\u4e9btoken\u5e76\u751f\u6210\u5d4c\u5165\u5411\u91cf\u3002Octo\u7684Transformer\u7ed3\u6784\u91c7\u7528\u4e86\u5757\u72b6\u7684\u81ea\u6ce8\u610f\u529b\u673a\u5236\uff0c\u5141\u8bb8\u4e0d\u540c\u65f6\u95f4\u6b65\u7684token\u4e4b\u95f4\u6309\u987a\u5e8f\u8fdb\u884c\u4ea4\u4e92\u3002\u8fd9\u79cd\u6a21\u5757\u5316\u8bbe\u8ba1\u4f7f\u5f97\u53ef\u4ee5\u5728\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u589e\u52a0\u6216\u79fb\u9664\u89c2\u5bdf\u548c\u4efb\u52a1\u8f93\u5165\u3002<\/li>\n\n\n\n<li><strong>\u8f93\u51fa\u5934<\/strong>\uff1a\u6bcf\u4e2a\u4efb\u52a1\u6216\u89c2\u5bdf\u5e8f\u5217\u7684token\u4f1a\u4f20\u9012\u7ed9\u201c\u8bfb\u53d6token\u201d\uff0c\u8fd9\u4e9btoken\u53ea\u88ab\u52a8\u8bfb\u53d6\u5d4c\u5165\u4fe1\u606f\uff0c\u5e76\u901a\u8fc7\u8f93\u51fa\u5934\u751f\u6210\u52a8\u4f5c\u3002\u8fd9\u79cd\u8bbe\u8ba1\u5141\u8bb8\u6211\u4eec\u5728\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u7075\u6d3b\u6dfb\u52a0\u65b0\u7684\u4efb\u52a1\u6216\u89c2\u5bdf\u8f93\u5165\uff0c\u800c\u4e0d\u9700\u8981\u91cd\u65b0\u8bad\u7ec3\u6574\u4e2a\u6a21\u578b\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">Octo\u7684\u67b6\u6784\u8bbe\u8ba1\u662f\u4e3a\u4e86\u5728\u5904\u7406\u591a\u79cd\u4e0d\u540c\u673a\u5668\u4eba\u5e73\u53f0\u3001\u4f20\u611f\u5668\u8f93\u5165\u4ee5\u53ca\u4efb\u52a1\u5b9a\u4e49\u65f6\u5177\u6709\u7075\u6d3b\u6027\u3002\u8fd9\u79cd\u6a21\u5757\u5316\u7ed3\u6784\u5141\u8bb8\u7528\u6237\u901a\u8fc7\u589e\u52a0\u65b0\u9002\u914d\u5668\uff0c\u5728\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u5904\u7406\u65b0\u7684\u89c2\u5bdf\u548c\u52a8\u4f5c\u7a7a\u95f4\uff0c\u4ece\u800c\u63d0\u5347\u7b56\u7565\u6a21\u578b\u7684\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">3. \u9884\u8bad\u7ec3\u6570\u636e<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">Octo\u6a21\u578b\u9884\u8bad\u7ec3\u57fa\u4e8eOpen X-Embodiment\u6570\u636e\u96c6\uff0c\u8fd9\u662f\u4e00\u4e2a\u5305\u542b150\u4e07\u673a\u5668\u4eba\u64cd\u4f5c\u8f68\u8ff9\u7684\u5e9e\u5927\u6570\u636e\u96c6\u3002Octo\u4f7f\u7528\u4e86\u5176\u4e2d80\u4e07\u6761\u673a\u5668\u4eba\u793a\u8303\u6570\u636e\uff0c\u8986\u76d6\u4e86\u591a\u79cd\u673a\u5668\u4eba\u4efb\u52a1\u548c\u73af\u5883\u3002\u8be5\u6570\u636e\u96c6\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u591a\u79cd\u4e0d\u540c\u7684\u673a\u5668\u4eba\u7c7b\u578b\u548c\u4efb\u52a1\u573a\u666f\uff1b<\/li>\n\n\n\n<li>\u5404\u79cd\u4f20\u611f\u5668\u914d\u7f6e\uff08\u5982\u624b\u8155\u76f8\u673a\u548c\u7b2c\u4e09\u4eba\u79f0\u76f8\u673a\uff09\uff1b<\/li>\n\n\n\n<li>\u4e30\u5bcc\u7684\u4efb\u52a1\u6807\u7b7e\uff0c\u5305\u62ec\u8bed\u8a00\u6307\u4ee4\u548c\u76ee\u6807\u56fe\u50cf\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u6570\u636e\u91c7\u6837\u65b9\u9762\uff0c\u8bba\u6587\u91c7\u7528\u4e86\u52a0\u6743\u91c7\u6837\u65b9\u6cd5\uff0c\u4f18\u5148\u9009\u62e9\u6570\u636e\u591a\u6837\u6027\u8f83\u9ad8\u7684\u4efb\u52a1\u548c\u573a\u666f\uff0c\u540c\u65f6\u907f\u514d\u8fc7\u5ea6\u91cd\u590d\u7684\u4efb\u52a1\u5bf9\u8bad\u7ec3\u4ea7\u751f\u504f\u5dee\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u4f7f\u4e0d\u540c\u7684\u6570\u636e\u96c6\u4e4b\u95f4\u7684\u52a8\u4f5c\u7a7a\u95f4\u4fdd\u6301\u4e00\u81f4\uff0c\u7814\u7a76\u56e2\u961f\u5bf9\u6293\u624b\u52a8\u4f5c\u8fdb\u884c\u4e86\u6807\u51c6\u5316\u5904\u7406\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">4. \u8bad\u7ec3\u76ee\u6807\u4e0e\u4f18\u5316\u65b9\u6cd5<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">Octo\u91c7\u7528\u4e86\u6761\u4ef6\u6269\u6563\u89e3\u7801\u5934\u6765\u9884\u6d4b\u8fde\u7eed\u7684\u3001\u591a\u6a21\u6001\u7684\u52a8\u4f5c\u5206\u5e03\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6a21\u578b\u7684\u52a8\u4f5c\u9884\u6d4b\u901a\u8fc7\u6269\u6563\u8fc7\u7a0b\u5b8c\u6210\uff0c\u6bcf\u4e00\u6b65\u751f\u6210\u9ad8\u65af\u566a\u58f0\u5411\u91cf\uff0c\u7ecf\u8fc7\u591a\u6b21\u53bb\u566a\u540e\u5f97\u5230\u6700\u7ec8\u7684\u52a8\u4f5c\u9884\u6d4b\u3002\u6269\u6563\u8fc7\u7a0b\u7684\u4e3b\u8981\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521d\u59cb\u8f93\u5165\u566a\u58f0\u5411\u91cf\uff1b<\/li>\n\n\n\n<li>\u901a\u8fc7\u6761\u4ef6\u5316\u7f51\u7edc\u9010\u6b65\u53bb\u566a\uff0c\u751f\u6210\u51c6\u786e\u7684\u52a8\u4f5c\u5e8f\u5217\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0e\u5747\u65b9\u8bef\u5dee\uff08MSE\uff09\u6216\u79bb\u6563\u5316\u52a8\u4f5c\u5206\u5e03\u7684\u9884\u6d4b\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6269\u6563\u89e3\u7801\u80fd\u591f\u66f4\u597d\u5730\u6355\u6349\u591a\u6a21\u6001\u52a8\u4f5c\u5206\u5e03\uff0c\u63d0\u9ad8\u7b56\u7565\u7684\u7cbe\u5ea6\u548c\u7075\u6d3b\u6027\u3002\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4f7f\u7528\u4e86\u6807\u51c6\u7684DDPM\uff08\u53bb\u566a\u6269\u6563\u6982\u7387\u6a21\u578b\uff09\u76ee\u6807\u51fd\u6570\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5bf9\u5904\u7406\u590d\u6742\u3001\u591a\u6a21\u6001\u7684\u673a\u5668\u4eba\u4efb\u52a1\u975e\u5e38\u6709\u6548\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">5. \u5b9e\u9a8c\u8bbe\u8ba1\u4e0e\u8bc4\u4f30<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">Octo\u57289\u4e2a\u4e0d\u540c\u7684\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u6db5\u76d6\u4e86\u591a\u79cd\u4e0d\u540c\u7684\u4efb\u52a1\u548c\u573a\u666f\u3002\u5b9e\u9a8c\u5305\u62ec\u4e24\u7c7b\u8bc4\u4f30\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u96f6\u6837\u672c\u8bc4\u4f30<\/strong>\uff1a\u5728\u4e0d\u7ecf\u8fc7\u5fae\u8c03\u7684\u60c5\u51b5\u4e0b\uff0c\u76f4\u63a5\u5728\u65b0\u7684\u673a\u5668\u4eba\u4efb\u52a1\u4e0a\u6267\u884c\uff0c\u6d4b\u8bd5\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>\u5fae\u8c03\u8bc4\u4f30<\/strong>\uff1a\u901a\u8fc7\u5c11\u91cf\u7684\u9886\u57df\u5185\u6570\u636e\u5bf9\u6a21\u578b\u8fdb\u884c\u5fae\u8c03\uff0c\u6d4b\u8bd5\u5176\u5728\u65b0\u89c2\u5bdf\u7a7a\u95f4\u548c\u52a8\u4f5c\u7a7a\u95f4\u4e0a\u7684\u9002\u5e94\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u96f6\u6837\u672c\u8bc4\u4f30\u4e2d\uff0cOcto\u6a21\u578b\u5728\u591a\u4e2a\u673a\u5668\u4eba\u4efb\u52a1\u4e0a\u5c55\u73b0\u4e86\u6bd4RT-1-X\u548cRT-2-X\uff08\u4e24\u4e2a\u73b0\u6709\u7684\u673a\u5668\u4eba\u7b56\u7565\u6a21\u578b\uff09\u66f4\u9ad8\u7684\u6210\u529f\u7387\u3002\u7279\u522b\u662f\u5728\u8bed\u8a00\u6307\u4ee4\u548c\u76ee\u6807\u56fe\u50cf\u9a71\u52a8\u7684\u4efb\u52a1\u4e2d\uff0cOcto\u80fd\u591f\u8868\u73b0\u51fa\u66f4\u5f3a\u7684\u6cdb\u5316\u80fd\u529b\u3002\u6b64\u5916\uff0c\u5728\u591a\u4e2a\u53cc\u81c2\u64cd\u4f5c\u4efb\u52a1\u4e2d\uff0cOcto\u7684\u8868\u73b0\u4e5f\u4f18\u4e8e\u5176\u4ed6\u6a21\u578b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5fae\u8c03\u8bc4\u4f30\u4e2d\uff0cOcto\u80fd\u591f\u5728\u5c11\u91cf\u793a\u8303\u6570\u636e\uff08\u7ea6100\u6761\uff09\u7684\u60c5\u51b5\u4e0b\uff0c\u5feb\u901f\u9002\u5e94\u65b0\u7684\u4efb\u52a1\u73af\u5883\u548c\u673a\u5668\u4eba\u5e73\u53f0\u3002\u5b9e\u9a8c\u8868\u660e\uff0cOcto\u901a\u8fc7\u5fae\u8c03\u80fd\u591f\u663e\u8457\u63d0\u9ad8\u4efb\u52a1\u6210\u529f\u7387\uff0c\u5c24\u5176\u662f\u5728\u5f15\u5165\u65b0\u4f20\u611f\u5668\u8f93\u5165\uff08\u5982\u529b\u77e9\u4f20\u611f\u5668\uff09\u548c\u65b0\u7684\u52a8\u4f5c\u7a7a\u95f4\uff08\u5982\u5173\u8282\u4f4d\u7f6e\u63a7\u5236\uff09\u65f6\u8868\u73b0\u5c24\u4e3a\u7a81\u51fa\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">6. \u6d88\u878d\u7814\u7a76<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3a\u4e86\u9a8c\u8bc1Octo\u8bbe\u8ba1\u4e2d\u7684\u5173\u952e\u56e0\u7d20\uff0c\u8bba\u6587\u8fdb\u884c\u4e86\u591a\u9879\u6d88\u878d\u5b9e\u9a8c\uff0c\u7814\u7a76\u4e86\u6a21\u578b\u67b6\u6784\u3001\u8bad\u7ec3\u6570\u636e\u548c\u8bad\u7ec3\u76ee\u6807\u5bf9\u6700\u7ec8\u6027\u80fd\u7684\u5f71\u54cd\u3002\u4ee5\u4e0b\u662f\u6d88\u878d\u7814\u7a76\u7684\u4e3b\u8981\u53d1\u73b0\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6a21\u578b\u67b6\u6784<\/strong>\uff1a\u4e0e\u4f20\u7edf\u7684ResNet+Transformer\u67b6\u6784\u76f8\u6bd4\uff0cOcto\u91c7\u7528\u7684Transformer-first\u67b6\u6784\u5728\u5927\u89c4\u6a21\u6570\u636e\u96c6\u4e0a\u7684\u8868\u73b0\u66f4\u4f18\uff0c\u7279\u522b\u662f\u5728\u89c6\u89c9\u4efb\u52a1\u4e2d\u5c55\u793a\u4e86\u66f4\u597d\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>\u8bad\u7ec3\u6570\u636e<\/strong>\uff1aOcto\u572825\u4e2a\u6570\u636e\u96c6\u7684\u7ec4\u5408\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0c\u5b9e\u9a8c\u8868\u660e\uff0c\u6570\u636e\u7684\u591a\u6837\u6027\u5bf9\u4e8e\u6a21\u578b\u7684\u6027\u80fd\u63d0\u5347\u81f3\u5173\u91cd\u8981\u3002<\/li>\n\n\n\n<li><strong>\u8bad\u7ec3\u76ee\u6807<\/strong>\uff1a\u6269\u6563\u89e3\u7801\u76f8\u6bd4\u4e8eMSE\u548c\u79bb\u6563\u5316\u52a8\u4f5c\u9884\u6d4b\uff0c\u80fd\u591f\u66f4\u6709\u6548\u5730\u5904\u7406\u590d\u6742\u7684\u673a\u5668\u4eba\u4efb\u52a1\uff0c\u7279\u522b\u662f\u5728\u591a\u6a21\u6001\u52a8\u4f5c\u9884\u6d4b\u65b9\u9762\u5177\u6709\u663e\u8457\u4f18\u52bf\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">7. \u7ed3\u8bba\u4e0e\u672a\u6765\u5de5\u4f5c<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">Octo\u7684\u8bbe\u8ba1\u548c\u5b9e\u73b0\u4ee3\u8868\u4e86\u6784\u5efa\u901a\u7528\u673a\u5668\u4eba\u7b56\u7565\u6a21\u578b\u7684\u4e00\u5927\u8fdb\u5c55\uff0c\u80fd\u591f\u5728\u591a\u79cd\u673a\u5668\u4eba\u5e73\u53f0\u548c\u4efb\u52a1\u4e2d\u5e7f\u6cdb\u5e94\u7528\u3002\u8bba\u6587\u6307\u51fa\u672a\u6765\u7814\u7a76\u7684\u51e0\u4e2a\u65b9\u5411\uff0c\u5305\u62ec\u6539\u8fdb\u5bf9\u624b\u8155\u76f8\u673a\u4fe1\u606f\u7684\u5904\u7406\u3001\u589e\u5f3a\u8bed\u8a00\u6307\u4ee4\u7684\u7406\u89e3\u80fd\u529b\uff0c\u4ee5\u53ca\u5728\u66f4\u591a\u79cd\u7c7b\u7684\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\u6269\u5c55Octo\u7684\u5e94\u7528\u3002\u6b64\u5916\uff0c\u6269\u5c55\u7528\u4e8e\u8bad\u7ec3\u7684\u6570\u636e\u96c6\uff0c\u52a0\u5165\u6b21\u4f18\u6570\u636e\u6216\u5728\u7ebf\u4ea4\u4e92\u6570\u636e\uff0c\u4e5f\u5c06\u6709\u52a9\u4e8e\u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">Octo Page: <a href=\"https:\/\/octo-models.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/octo-models.github.io\/<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Octo on GitHub: <a href=\"https:\/\/github.com\/octo-models\/octo\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/octo-models\/octo<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587Octo: An Open-Source Generalist Robot Policy\u63a2\u8ba8\u4e86\u5982\u4f55\u8bbe\u8ba1\u548c\u5f00 [&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 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center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[8,36],"tags":[39,63,95,90,86,69,61,80],"class_list":["post-4732","post","type-post","status-publish","format-standard","hentry","category-tech","category-36","tag-ai","tag-transformer","tag-multimodal","tag-llm","tag-engineering","tag-61","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> <a href=\"https:\/\/nullthought.net\/?cat=36\" rel=\"category\">\u79d1\u5b66<\/a>","rttpg_excerpt":"\u8bba\u6587Octo: An Open-Source Generalist Robot Policy\u63a2\u8ba8\u4e86\u5982\u4f55\u8bbe\u8ba1\u548c\u5f00&hellip;","_links":{"self":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/4732","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=4732"}],"version-history":[{"count":1,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/4732\/revisions"}],"predecessor-version":[{"id":4734,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/4732\/revisions\/4734"}],"wp:attachment":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=4732"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=4732"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=4732"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}