{"id":4984,"date":"2024-11-02T12:49:43","date_gmt":"2024-11-02T04:49:43","guid":{"rendered":"https:\/\/nullthought.net\/?p=4984"},"modified":"2024-11-02T12:49:45","modified_gmt":"2024-11-02T04:49:45","slug":"dexmimicgen%ef%bc%9a%e9%80%9a%e8%bf%87%e6%a8%a1%e4%bb%bf%e5%ad%a6%e4%b9%a0%e5%ae%9e%e7%8e%b0%e5%8f%8c%e6%89%8b%e7%81%b5%e5%b7%a7%e6%93%8d%e4%bd%9c%e7%9a%84%e6%95%b0%e6%8d%ae%e8%87%aa%e5%8a%a8%e7%94%9f","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=4984","title":{"rendered":"DexMimicGen\uff1a\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\u5b9e\u73b0\u53cc\u624b\u7075\u5de7\u64cd\u4f5c\u7684\u6570\u636e\u81ea\u52a8\u751f\u6210"},"content":{"rendered":"\n<p>\u8bba\u6587<strong><a href=\"https:\/\/arxiv.org\/abs\/2410.24185\" target=\"_blank\" rel=\"noreferrer noopener\">DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning<\/a><\/strong>\uff08\u300aDexMimicGen\uff1a\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\u5b9e\u73b0\u53cc\u624b\u7075\u5de7\u64cd\u4f5c\u7684\u6570\u636e\u81ea\u52a8\u751f\u6210\u300b\uff09\u4e3b\u8981\u7814\u7a76\u5982\u4f55\u901a\u8fc7\u81ea\u52a8\u5316\u6570\u636e\u751f\u6210\u548c\u6a21\u4eff\u5b66\u4e60\u6765\u5b9e\u73b0\u53cc\u624b\u673a\u5668\u4eba\u7075\u5de7\u64cd\u4f5c\u7684\u6570\u636e\u6269\u5c55\u3002DexMimicGen\u4ee3\u8868\u4e86\u5f53\u524d\u673a\u5668\u4eba\u6a21\u4eff\u5b66\u4e60\u4e2d\u81ea\u52a8\u5316\u6570\u636e\u751f\u6210\u7684\u4e00\u5927\u8fdb\u6b65\u3002\u901a\u8fc7\u521b\u65b0\u6027\u7684\u591a\u4efb\u52a1\u5212\u5206\u7b56\u7565\u548c\u9ad8\u6548\u7684\u8f68\u8ff9\u751f\u6210\u65b9\u6cd5\uff0cDexMimicGen\u4e0d\u4ec5\u663e\u8457\u964d\u4f4e\u4e86\u53cc\u81c2\u64cd\u4f5c\u6570\u636e\u91c7\u96c6\u7684\u6210\u672c\uff0c\u800c\u4e14\u5728\u590d\u6742\u7684\u591a\u81c2\u534f\u8c03\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u6548\u679c\u3002\u6b64\u5916\uff0c\u5b9e\u9a8c\u7ed3\u679c\u9a8c\u8bc1\u4e86\u5176\u5728\u591a\u79cd\u4efb\u52a1\u4e2d\u7684\u9ad8\u9002\u5e94\u6027\u548c\u73b0\u5b9e\u90e8\u7f72\u4e2d\u7684\u6709\u6548\u6027\uff0c\u4e3a\u673a\u5668\u4eba\u5728\u7075\u5de7\u64cd\u4f5c\u548c\u591a\u81c2\u534f\u8c03\u9886\u57df\u7684\u5e7f\u6cdb\u5e94\u7528\u63d0\u4f9b\u4e86\u575a\u5b9e\u7684\u6280\u672f\u652f\u6491\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u4f5c\u8005\u4e3aZhenyu Jiang, Yuqi Xie, Kevin Lin, Zhenjia Xu, Weikang Wan, Ajay Mandlekar, Linxi Fan, Yuke Zhu\uff0c\u6765\u81eaNVIDIA Research, UT Austin, 3UC San Diego\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"649\" height=\"502\" src=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/11\/image-1.png\" alt=\"\" class=\"wp-image-4985\" srcset=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/11\/image-1.png 649w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/11\/image-1-300x232.png 300w\" sizes=\"auto, (max-width: 649px) 100vw, 649px\" \/><figcaption class=\"wp-element-caption\"><strong><a href=\"https:\/\/arxiv.org\/abs\/2410.24185\" target=\"_blank\" rel=\"noreferrer noopener\">DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning<\/a><\/strong><\/figcaption><\/figure>\n\n\n\n<p>\u5982\u4e0b\u4e3a\u8bba\u6587\u6982\u8981\u5185\u5bb9\uff1a<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e00\u3001\u7814\u7a76\u80cc\u666f\u4e0e\u52a8\u673a<\/h4>\n\n\n\n<p>\u5728\u673a\u5668\u4eba\u6a21\u4eff\u5b66\u4e60\u4e2d\uff0c\u4ece\u4eba\u7c7b\u6f14\u793a\u4e2d\u5b66\u4e60\u662f\u4e00\u79cd\u6559\u4f1a\u673a\u5668\u4eba\u6267\u884c\u64cd\u4f5c\u4efb\u52a1\u7684\u6709\u6548\u9014\u5f84\u3002\u7136\u800c\uff0c\u8fd9\u4e00\u65b9\u6cd5\u5b58\u5728\u663e\u8457\u7684\u6311\u6218\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6570\u636e\u91c7\u96c6\u96be\u5ea6<\/strong>\uff1a\u53cc\u81c2\u7075\u5de7\u673a\u5668\u4eba\uff08\u5982\u7c7b\u4eba\u673a\u5668\u4eba\uff09\u8981\u6c42\u64cd\u63a7\u591a\u53ea\u624b\u81c2\u548c\u591a\u6307\u624b\uff0c\u5728\u64cd\u63a7\u548c\u534f\u8c03\u65b9\u9762\u7684\u590d\u6742\u6027\u663e\u8457\u589e\u52a0\u3002\u4eba\u7c7b\u64cd\u4f5c\u5458\u5728\u8fdc\u7a0b\u64cd\u4f5c\u65f6\u9700\u8981\u540c\u65f6\u534f\u8c03\u591a\u4e2a\u52a8\u4f5c\uff0c\u56e0\u6b64\u6570\u636e\u91c7\u96c6\u6210\u672c\u5f88\u9ad8\u3002<\/li>\n\n\n\n<li><strong>\u9ad8\u6602\u7684\u4eba\u529b\u6210\u672c<\/strong>\uff1a\u4e3a\u4e86\u83b7\u53d6\u8db3\u591f\u7684\u793a\u8303\u6570\u636e\uff0c\u901a\u5e38\u9700\u8981\u591a\u4e2a\u64cd\u4f5c\u5458\u82b1\u8d39\u6570\u6708\u65f6\u95f4\uff0c\u8fd9\u5728\u8d44\u6e90\u548c\u65f6\u95f4\u4e0a\u90fd\u662f\u4e00\u79cd\u8d1f\u62c5\u3002<\/li>\n\n\n\n<li><strong>\u7075\u5de7\u64cd\u4f5c\u7684\u9700\u6c42<\/strong>\uff1a\u5c24\u5176\u662f\u53cc\u81c2\u64cd\u4f5c\u673a\u5668\u4eba\uff0c\u5b83\u4eec\u7684\u4efb\u52a1\u6d89\u53ca\u590d\u6742\u7684\u64cd\u4f5c\u548c\u591a\u6837\u7684\u59ff\u6001\u8981\u6c42\uff0c\u4f7f\u5f97\u5355\u9760\u4f20\u7edf\u7684\u624b\u52a8\u91c7\u96c6\u6570\u636e\u96be\u4ee5\u6ee1\u8db3\u9700\u6c42\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u672c\u8bba\u6587\u63d0\u51fa\u4e86DexMimicGen\uff08DexMG\uff09\u7cfb\u7edf\uff0c\u8fd9\u662f\u4e00\u4e2a\u57fa\u4e8e\u6a21\u62df\u73af\u5883\u7684\u5927\u89c4\u6a21\u81ea\u52a8\u5316\u6570\u636e\u751f\u6210\u7cfb\u7edf\u3002\u8be5\u7cfb\u7edf\u5229\u7528\u5c11\u91cf\u4eba\u7c7b\u6f14\u793a\u6570\u636e\uff0c\u901a\u8fc7\u5728\u7269\u7406\u6a21\u62df\u4e2d\u5bf9\u8fd9\u4e9b\u6f14\u793a\u8fdb\u884c\u8f68\u8ff9\u53d8\u6362\u548c\u56de\u653e\uff0c\u751f\u6210\u5927\u91cf\u9002\u5408\u53cc\u81c2\u7075\u5de7\u64cd\u4f5c\u7684\u8bad\u7ec3\u6570\u636e\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e8c\u3001DexMimicGen\u7684\u7cfb\u7edf\u6846\u67b6<\/h4>\n\n\n\n<p>DexMimicGen\u7cfb\u7edf\u7684\u5de5\u4f5c\u6d41\u7a0b\u5305\u62ec\u4ee5\u4e0b\u5173\u952e\u6b65\u9aa4\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4eba\u7c7b\u6f14\u793a\u6570\u636e\u7684\u6536\u96c6<\/strong>\uff1a\u7cfb\u7edf\u9996\u5148\u901a\u8fc7\u8fdc\u7a0b\u64cd\u4f5c\u8bbe\u5907\u6536\u96c6\u5c11\u91cf\u4eba\u7c7b\u6f14\u793a\u6570\u636e\u3002\u6f14\u793a\u6570\u636e\u4ee5\u8f68\u8ff9\u7684\u5f62\u5f0f\u8bb0\u5f55\uff0c\u5305\u62ec\u673a\u5668\u4eba\u7684\u72b6\u6001\u3001\u89c2\u5bdf\u4ee5\u53ca\u5177\u4f53\u7684\u64cd\u4f5c\u52a8\u4f5c\u3002\u8fd9\u4e9b\u6f14\u793a\u6570\u636e\u901a\u5e38\u4ec5\u5305\u62ec\u6bcf\u4e2a\u4efb\u52a1\u7684\u4e94\u5230\u5341\u6b21\u793a\u8303\u3002<\/li>\n\n\n\n<li><strong>\u6570\u636e\u751f\u6210\u6d41\u7a0b<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>\u8f68\u8ff9\u53d8\u6362<\/strong>\uff1a\u57fa\u4e8e\u5c11\u91cf\u6f14\u793a\u6570\u636e\u751f\u6210\u5927\u91cf\u8f68\u8ff9\u3002\u901a\u8fc7\u5bf9\u5df2\u6709\u7684\u8f68\u8ff9\u5e94\u7528\u76f8\u4f3c\u6027\u53d8\u6362\uff0cDexMimicGen\u5728\u4e0d\u6539\u53d8\u52a8\u4f5c\u4e0e\u7269\u4f53\u4e4b\u95f4\u7684\u76f8\u5bf9\u4f4d\u7f6e\u5173\u7cfb\u7684\u524d\u63d0\u4e0b\uff0c\u5c06\u52a8\u4f5c\u8f68\u8ff9\u5e94\u7528\u5230\u65b0\u573a\u666f\u4e2d\u3002<\/li>\n\n\n\n<li><strong>\u6570\u636e\u6269\u5c55<\/strong>\uff1aDexMimicGen\u652f\u6301\u751f\u621021,000\u6761\u793a\u8303\u8f68\u8ff9\uff0c\u6db5\u76d6\u591a\u79cd\u4efb\u52a1\u548c\u4e0d\u540c\u7684\u64cd\u4f5c\u534f\u8c03\u9700\u6c42\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u7b56\u7565\u8bad\u7ec3\u4e0e\u90e8\u7f72<\/strong>\uff1a\u5229\u7528\u751f\u6210\u7684\u6570\u636e\uff0c\u7cfb\u7edf\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\u8bad\u7ec3\u7b56\u7565\uff0c\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u638c\u63e1\u53cc\u624b\u7075\u5de7\u64cd\u4f5c\u7684\u6280\u80fd\u3002\u4e4b\u540e\uff0c\u8fd9\u4e9b\u7b56\u7565\u53ef\u4ee5\u76f4\u63a5\u90e8\u7f72\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u8fdb\u884c\u4efb\u52a1\u6267\u884c\u3002<\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e09\u3001\u6280\u672f\u521b\u65b0\u4e0e\u65b9\u6cd5\u7ec6\u8282<\/h4>\n\n\n\n<p>DexMimicGen\u5728\u6570\u636e\u751f\u6210\u8fc7\u7a0b\u4e2d\u5f15\u5165\u4e86\u4e09\u7c7b\u4e0d\u540c\u7684\u5b50\u4efb\u52a1\u7c7b\u578b\u548c\u5904\u7406\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">1. \u5e76\u884c\u5b50\u4efb\u52a1<\/h5>\n\n\n\n<p>\u5bf9\u4e8e\u9700\u8981\u53cc\u81c2\u540c\u65f6\u5b8c\u6210\u72ec\u7acb\u5b50\u4efb\u52a1\u7684\u60c5\u51b5\uff0cDexMimicGen\u5141\u8bb8\u6bcf\u53ea\u624b\u81c2\u72ec\u7acb\u5b8c\u6210\u5b50\u4efb\u52a1\uff0c\u65e0\u9700\u5f3a\u5236\u5bf9\u9f50\u3002\u4f8b\u5982\uff0c\u5728\u62fc\u88c5\u4efb\u52a1\u4e2d\uff0c\u4e24\u53ea\u624b\u81c2\u9700\u8981\u5206\u522b\u6293\u53d6\u4e0d\u540c\u7684\u90e8\u4ef6\uff0c\u8fd9\u8981\u6c42\u7cfb\u7edf\u80fd\u591f\u7075\u6d3b\u5904\u7406\u6bcf\u53ea\u624b\u81c2\u7684\u5b8c\u6210\u987a\u5e8f\u3002<\/p>\n\n\n\n<ul 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class=\"wp-block-list\">\n<li><strong>\u540c\u6b65\u6267\u884c\u7b56\u7565<\/strong>\uff1a\u5728\u6267\u884c\u8fc7\u7a0b\u4e2d\uff0c\u7cfb\u7edf\u901a\u8fc7\u534f\u8c03\u673a\u5236\u786e\u4fdd\u4e24\u53ea\u624b\u81c2\u5728\u540c\u4e00\u65f6\u523b\u5b8c\u6210\u4efb\u52a1\uff0c\u5e76\u4fdd\u6301\u4e24\u624b\u95f4\u7684\u76f8\u5bf9\u59ff\u6001\u4e00\u81f4\u3002<\/li>\n\n\n\n<li><strong>\u53d8\u6362\u65b9\u6848<\/strong>\uff1aDexMimicGen\u63d0\u4f9b\u4e86\u4e24\u79cd\u4e0d\u540c\u7684\u8f68\u8ff9\u53d8\u6362\u65b9\u6848\uff08Replay\u548cTransform\uff09\uff0c\u7528\u4e8e\u4e0d\u540c\u7684\u4efb\u52a1\u9700\u6c42\u3002\u4f8b\u5982\uff0c\u5728\u8fd0\u8f93\u4efb\u52a1\u4e2d\uff0cReplay\u65b9\u6848\u76f4\u63a5\u4f7f\u7528\u6e90\u8f68\u8ff9\uff0c\u786e\u4fdd\u624b\u81c2\u8f68\u8ff9\u5728\u6267\u884c\u65f6\u5904\u4e8e\u53ef\u64cd\u4f5c\u8303\u56f4\u5185\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">3. \u987a\u5e8f\u5b50\u4efb\u52a1<\/h5>\n\n\n\n<p>\u5728\u67d0\u4e9b\u4efb\u52a1\u4e2d\uff0c\u53cc\u81c2\u9700\u8981\u6309\u7167\u7279\u5b9a\u987a\u5e8f\u5b8c\u6210\u5b50\u4efb\u52a1\uff0c\u4f8b\u5982\u5148\u5012\u6c34\u518d\u79fb\u52a8\u5bb9\u5668\u3002DexMimicGen\u4e3a\u6b64\u5f15\u5165\u4e86\u987a\u5e8f\u7ea6\u675f\u673a\u5236\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u987a\u5e8f\u7ea6\u675f\u673a\u5236<\/strong>\uff1a\u901a\u8fc7\u4efb\u52a1\u5212\u5206\uff0c\u7cfb\u7edf\u6307\u5b9a\u524d\u7f6e\u5b50\u4efb\u52a1\uff08\u4f8b\u5982\u5012\u6c34\uff09\u548c\u540e\u7eed\u5b50\u4efb\u52a1\uff08\u5982\u79fb\u52a8\u5bb9\u5668\uff09\uff0c\u5e76\u5728\u540e\u7eed\u5b50\u4efb\u52a1\u6267\u884c\u524d\u786e\u4fdd\u524d\u7f6e\u4efb\u52a1\u5df2\u5b8c\u6210\u3002<\/li>\n\n\n\n<li><strong>\u591a\u6e90\u6f14\u793a\u6570\u636e<\/strong>\uff1a\u5bf9\u4e8e\u53cc\u81c2\u4f7f\u7528\u4e0d\u540c\u6e90\u6f14\u793a\u7684\u60c5\u51b5\uff0c\u987a\u5e8f\u7ea6\u675f\u673a\u5236\u4e5f\u786e\u4fdd\u4e86\u6570\u636e\u591a\u6837\u6027\u548c\u4efb\u52a1\u6267\u884c\u7684\u6b63\u786e\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u901a\u8fc7\u8fd9\u4e09\u79cd\u7b56\u7565\u7684\u7ed3\u5408\uff0cDexMimicGen\u663e\u8457\u63d0\u5347\u4e86\u591a\u81c2\u534f\u8c03\u4efb\u52a1\u7684\u9002\u5e94\u6027\u548c\u6570\u636e\u751f\u6210\u6548\u7387\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u56db\u3001\u5b9e\u9a8c\u8bbe\u8ba1\u4e0e\u7ed3\u679c\u5206\u6790<\/h4>\n\n\n\n<p>\u672c\u8bba\u6587\u8fdb\u884c\u4e86\u5927\u91cf\u5b9e\u9a8c\u6765\u9a8c\u8bc1DexMimicGen\u7684\u6027\u80fd\u548c\u6570\u636e\u751f\u6210\u6548\u679c\uff0c\u4e3b\u8981\u5206\u4e3a\u4ee5\u4e0b\u51e0\u65b9\u9762\uff1a<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">1. \u57fa\u672c\u4efb\u52a1\u6210\u529f\u7387\u6d4b\u8bd5<\/h5>\n\n\n\n<p>\u5b9e\u9a8c\u5305\u62ec\u4e5d\u79cd\u4e0d\u540c\u7684\u6a21\u62df\u4efb\u52a1\uff0c\u5305\u62ec\u201c\u62fc\u88c5\u4efb\u52a1\u201d\u3001\u201c\u6e05\u7406\u62bd\u5c49\u201d\u3001\u201c\u5012\u6c34\u201d\u7b49\u3002\u5b9e\u9a8c\u7ed3\u679c\u663e\u793a\uff0c\u4f7f\u7528DexMimicGen\u751f\u6210\u7684\u6570\u636e\u76f8\u6bd4\u4ec5\u4f9d\u8d56\u4eba\u7c7b\u6f14\u793a\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u7b56\u7565\u7684\u4efb\u52a1\u6210\u529f\u7387\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u63d0\u5347\u6548\u679c<\/strong>\uff1a\u5728\u4e00\u4e9b\u4efb\u52a1\u4e2d\uff0c\u4f8b\u5982\u6e05\u7406\u62bd\u5c49\u4efb\u52a1\uff0c\u6210\u529f\u7387\u4ece\u4eba\u7c7b\u6f14\u793a\u76840.7%\u63d0\u5347\u5230\u4e8676%\uff0c\u800c\u5728\u62fc\u88c5\u4efb\u52a1\u4e2d\u6210\u529f\u7387\u4ece3.3%\u63d0\u5347\u81f380.7%\u3002<\/li>\n\n\n\n<li><strong>\u4efb\u52a1\u96be\u5ea6\u5206\u6790<\/strong>\uff1a\u5b9e\u9a8c\u8fd8\u8868\u660e\uff0c\u5bf9\u4e8e\u590d\u6742\u7684\u534f\u8c03\u548c\u987a\u5e8f\u4efb\u52a1\uff0cDexMimicGen\u751f\u6210\u7684\u6570\u636e\u5c24\u5176\u6709\u6548\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">2. \u6570\u636e\u89c4\u6a21\u5bf9\u6027\u80fd\u7684\u5f71\u54cd<\/h5>\n\n\n\n<p>DexMimicGen\u751f\u6210\u7684\u6570\u636e\u89c4\u6a21\u4ece100\u6761\u52305000\u6761\u4e0d\u7b49\uff0c\u5b9e\u9a8c\u6d4b\u8bd5\u4e86\u4e0d\u540c\u6570\u636e\u89c4\u6a21\u5bf9\u7b56\u7565\u6027\u80fd\u7684\u5f71\u54cd\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6027\u80fd\u63d0\u5347\u8d8b\u52bf<\/strong>\uff1a\u5f53\u6570\u636e\u91cf\u4ece100\u6761\u589e\u81f31000\u6761\u65f6\uff0c\u7b56\u7565\u6027\u80fd\u663e\u8457\u63d0\u5347\uff0c\u4f46\u5728\u8fdb\u4e00\u6b65\u589e\u81f35000\u6761\u540e\uff0c\u6027\u80fd\u63d0\u5347\u9010\u6e10\u8d8b\u4e8e\u5e73\u7f13\u3002\u8fd9\u8868\u660e\u5728\u4e00\u5b9a\u6570\u636e\u89c4\u6a21\u5185\uff0c\u589e\u52a0\u6570\u636e\u91cf\u53ef\u4ee5\u63d0\u5347\u7b56\u7565\u6027\u80fd\uff0c\u4f46\u5728\u66f4\u5927\u89c4\u6a21\u65f6\u6536\u76ca\u9012\u51cf\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">3. \u6570\u636e\u751f\u6210\u7b56\u7565\u7684\u5bf9\u6bd4\u5206\u6790<\/h5>\n\n\n\n<p>\u5b9e\u9a8c\u5bf9\u6bd4\u4e86DexMimicGen\u7684Replay\u548cTransform\u7b56\u7565\u5728\u4e0d\u540c\u4efb\u52a1\u4e2d\u7684\u6548\u679c\uff0c\u7ed3\u679c\u8868\u660e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Replay\u65b9\u6848\u7684\u4f18\u52bf<\/strong>\uff1a\u5728\u9700\u8981\u7cbe\u786e\u63a7\u5236\u7684\u4efb\u52a1\u4e2d\uff08\u4f8b\u5982\u624b\u81c2\u4ea4\u63a5\u4efb\u52a1\uff09\uff0cReplay\u65b9\u6848\u7684\u6548\u679c\u4f18\u4e8eTransform\u65b9\u6848\u3002\u5728\u8fd0\u8f93\u4efb\u52a1\u4e2d\uff0cReplay\u65b9\u6848\u7684\u6210\u529f\u7387\u4e3a63.3%\uff0c\u800cTransform\u65b9\u6848\u4ec5\u4e3a46.0%\u3002<\/li>\n\n\n\n<li><strong>\u987a\u5e8f\u7ea6\u675f\u7684\u91cd\u8981\u6027<\/strong>\uff1a\u5bf9\u4e8e\u9700\u8981\u7279\u5b9a\u987a\u5e8f\u5b8c\u6210\u7684\u4efb\u52a1\uff0c\u5982\u5012\u6c34\u4efb\u52a1\uff0c\u987a\u5e8f\u7ea6\u675f\u80fd\u663e\u8457\u63d0\u9ad8\u6210\u529f\u7387\u3002\u5728\u62bd\u5c49\u6e05\u7406\u4efb\u52a1\u4e2d\uff0c\u6709\u987a\u5e8f\u7ea6\u675f\u7684\u7b56\u7565\u6210\u529f\u7387\u4e3a50.7%\uff0c\u800c\u65e0\u7ea6\u675f\u7684\u4ec5\u4e3a48.0%\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">4. \u4e0d\u540c\u7b56\u7565\u67b6\u6784\u5bf9\u6210\u529f\u7387\u7684\u5f71\u54cd<\/h5>\n\n\n\n<p>\u7814\u7a76\u8fd8\u63a2\u8ba8\u4e86\u4e0d\u540c\u6a21\u4eff\u5b66\u4e60\u7b56\u7565\u67b6\u6784\u5bf9\u4efb\u52a1\u6210\u529f\u7387\u7684\u5f71\u54cd\uff0c\u6bd4\u8f83\u4e86Diffusion Policy\u3001BC-RNN-GMM\u548cBC-RNN\u4e09\u79cd\u67b6\u6784\u3002\u7ed3\u679c\u8868\u660e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Diffusion Policy\u7684\u4f18\u52bf<\/strong>\uff1a\u5728\u5927\u591a\u6570\u4efb\u52a1\u4e2d\uff0cDiffusion Policy\u53d6\u5f97\u4e86\u6700\u9ad8\u6210\u529f\u7387\uff0c\u8868\u660e\u8be5\u67b6\u6784\u5728\u5904\u7406DexMimicGen\u751f\u6210\u7684\u6570\u636e\u65f6\u6709\u66f4\u597d\u7684\u8868\u73b0\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e94\u3001\u73b0\u5b9e\u73af\u5883\u4e2d\u7684\u5e94\u7528\u4e0e\u9a8c\u8bc1<\/h4>\n\n\n\n<p>DexMimicGen\u4e0d\u4ec5\u5728\u6a21\u62df\u73af\u5883\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u8fd8\u901a\u8fc7\u6570\u5b57\u5b6a\u751f\u6280\u672f\u5c06\u5176\u8fc1\u79fb\u5230\u771f\u5b9e\u673a\u5668\u4eba\u64cd\u4f5c\u4e2d\u3002\u5728\u7f50\u5934\u5206\u7c7b\u4efb\u52a1\u4e2d\uff0cDexMimicGen\u7684\u6570\u636e\u751f\u6210\u6d41\u7a0b\u88ab\u7528\u4e8e\u771f\u5b9e\u673a\u5668\u4eba\u63a7\u5236\uff0c\u5176\u4e3b\u8981\u6d41\u7a0b\u5305\u62ec\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6570\u5b57\u5b6a\u751f\u7cfb\u7edf<\/strong>\uff1a\u5728\u6a21\u62df\u73af\u5883\u4e2d\u521b\u5efa\u771f\u5b9e\u4efb\u52a1\u7684\u6570\u5b57\u5b6a\u751f\u6a21\u578b\uff0c\u4f7f\u5f97\u6a21\u62df\u7ed3\u679c\u80fd\u591f\u5b89\u5168\u5730\u8fc1\u79fb\u5230\u73b0\u5b9e\u4e2d\u3002<\/li>\n\n\n\n<li><strong>\u6570\u636e\u751f\u6210\u4e0e\u56de\u653e<\/strong>\uff1a\u4f7f\u7528\u6a21\u62df\u4e2d\u7684\u6210\u529f\u6f14\u793a\u8f68\u8ff9\uff0c\u901a\u8fc7DexMimicGen\u751f\u6210\u7b26\u5408\u4efb\u52a1\u9700\u6c42\u7684\u8f68\u8ff9\uff0c\u5e76\u5c06\u5176\u56de\u653e\u81f3\u73b0\u5b9e\u73af\u5883\u4e2d\u3002<\/li>\n\n\n\n<li><strong>\u4efb\u52a1\u6210\u529f\u7387\u5bf9\u6bd4<\/strong>\uff1a\u5728\u771f\u5b9e\u73af\u5883\u4e2d\uff0c\u4f7f\u7528DexMimicGen\u751f\u6210\u7684\u6570\u636e\u8bad\u7ec3\u7684\u7b56\u7565\u6210\u529f\u7387\u8fbe\u5230\u4e8690%\uff0c\u800c\u4ec5\u4f9d\u9760\u4eba\u7c7b\u6f14\u793a\u65f6\u6210\u529f\u7387\u4ec5\u4e3a0%\u3002\u8fd9\u9a8c\u8bc1\u4e86DexMimicGen\u7cfb\u7edf\u5728\u73b0\u5b9e\u4efb\u52a1\u4e2d\u7684\u5e94\u7528\u6f5c\u529b\u3002<\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\">\u516d\u3001\u7814\u7a76\u603b\u7ed3\u4e0e\u8d21\u732e<\/h4>\n\n\n\n<p>DexMimicGen\u5728\u6a21\u4eff\u5b66\u4e60\u548c\u6570\u636e\u751f\u6210\u65b9\u9762\u4f5c\u51fa\u4ee5\u4e0b\u91cd\u8981\u8d21\u732e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u5927\u89c4\u6a21\u6570\u636e\u751f\u6210\u65b9\u6cd5<\/strong>\uff0c\u901a\u8fc7\u5c11\u91cf\u4eba\u7c7b\u6f14\u793a\u751f\u6210\u5927\u91cf\u6a21\u62df\u6570\u636e\uff0c\u663e\u8457\u51cf\u5c11\u4e86\u4eba\u529b\u6210\u672c\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u73b0\u4e86\u591a\u79cd\u4efb\u52a1\u534f\u8c03\u9700\u6c42<\/strong>\uff0c\u901a\u8fc7\u5e76\u884c\u3001\u534f\u8c03\u3001\u987a\u5e8f\u5b50\u4efb\u52a1\u5206\u7c7b\uff0c\u9002\u5e94\u591a\u81c2\u590d\u6742\u64cd\u4f5c\u3002<\/li>\n\n\n\n<li><strong>\u9a8c\u8bc1\u4e86\u771f\u5b9e\u5e94\u7528\u4e2d\u7684\u6709\u6548\u6027<\/strong>\uff0c\u901a\u8fc7\u6570\u5b57\u5b6a\u751f\u7cfb\u7edf\u5c06\u6a21\u62df\u6570\u636e\u8fc1\u79fb\u81f3\u73b0\u5b9e\u73af\u5883\uff0c\u5b9e\u73b0\u4e86\u9ad8\u6548\u7684\u4efb\u52a1\u6267\u884c\u3002<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e03\u3001\u672a\u6765\u7814\u7a76\u65b9\u5411\u4e0e\u6539\u8fdb\u5efa\u8bae<\/h4>\n\n\n\n<p>\u867d\u7136DexMimicGen\u5728\u81ea\u52a8\u5316\u6570\u636e\u751f\u6210\u65b9\u9762\u5c55\u793a\u4e86\u826f\u597d\u7684\u6027\u80fd\uff0c\u4f46\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u4ecd\u6709\u8fdb\u4e00\u6b65\u6539\u8fdb\u7684\u7a7a\u95f4\uff0c\u672a\u6765\u7814\u7a76\u53ef\u80fd\u5728\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\u5c55\u5f00\uff1a<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">1. \u591a\u6837\u6027\u4e0e\u4efb\u52a1\u9002\u5e94\u6027<\/h5>\n\n\n\n<p>DexMimicGen\u76ee\u524d\u4f9d\u8d56\u56fa\u5b9a\u7684\u521d\u59cb\u6f14\u793a\u6570\u636e\u751f\u6210\u8f68\u8ff9\uff0c\u8fd9\u4f7f\u5f97\u751f\u6210\u7684\u8f68\u8ff9\u5728\u591a\u6837\u6027\u4e0a\u5b58\u5728\u4e00\u5b9a\u7684\u9650\u5236\u3002\u672a\u6765\u53ef\u4ee5\u8003\u8651\u5f15\u5165\u57fa\u4e8e\u751f\u6210\u6a21\u578b\u7684\u968f\u673a\u6027\u6ce8\u5165\uff0c\u4f8b\u5982\u901a\u8fc7\u751f\u6210\u5bf9\u6297\u7f51\u7edc\uff08GAN\uff09\u6216\u6269\u6563\u6a21\u578b\u751f\u6210\u4e0d\u540c\u7684\u521d\u59cb\u72b6\u6001\u548c\u73af\u5883\u53d8\u5316\uff0c\u4ece\u800c\u63d0\u5347\u6570\u636e\u591a\u6837\u6027\uff0c\u4f7f\u5f97\u8bad\u7ec3\u7b56\u7565\u5728\u66f4\u5e7f\u6cdb\u7684\u573a\u666f\u4e2d\u5177\u6709\u66f4\u597d\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">2. \u4eba\u673a\u4ea4\u4e92\u548c\u53cd\u9988\u4f18\u5316<\/h5>\n\n\n\n<p>\u5c3d\u7ba1DexMimicGen\u80fd\u591f\u5728\u6a21\u62df\u73af\u5883\u4e2d\u751f\u6210\u5927\u91cf\u6570\u636e\uff0c\u4f46\u5176\u4f9d\u8d56\u7684\u8f68\u8ff9\u53d8\u6362\u65b9\u6cd5\u5728\u4e00\u4e9b\u590d\u6742\u4efb\u52a1\u4e0a\u53ef\u80fd\u5b58\u5728\u5fae\u8c03\u9700\u6c42\u3002\u56e0\u6b64\uff0c\u672a\u6765\u53ef\u4ee5\u8003\u8651\u5728\u6570\u636e\u751f\u6210\u73af\u8282\u4e2d\u52a0\u5165\u4eba\u7c7b\u53cd\u9988\u673a\u5236\uff0c\u501f\u52a9\u4eba\u7c7b\u63d0\u4f9b\u7684\u4fee\u6b63\u548c\u5efa\u8bae\uff0c\u4f18\u5316\u751f\u6210\u8f68\u8ff9\u7684\u7cbe\u786e\u5ea6\u548c\u6709\u6548\u6027\u3002\u4f8b\u5982\uff0c\u5229\u7528\u534a\u76d1\u7763\u5b66\u4e60\u65b9\u6cd5\u7ed3\u5408\u4eba\u7c7b\u6807\u7b7e\u7684\u6570\u636e\u63d0\u5347\u5173\u952e\u4efb\u52a1\u8282\u70b9\u7684\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">3. 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href=\"https:\/\/dexmimicgen.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/dexmimicgen.github.io<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587DexMimicGen: Automated Data Generation for Bimanual D 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