{"id":5291,"date":"2024-12-10T09:31:14","date_gmt":"2024-12-10T01:31:14","guid":{"rendered":"https:\/\/nullthought.net\/?p=5291"},"modified":"2024-12-25T14:29:42","modified_gmt":"2024-12-25T06:29:42","slug":"navila%ef%bc%9a%e7%94%a8%e4%ba%8e%e8%85%bf%e5%bc%8f%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%af%bc%e8%88%aa%e7%9a%84%e6%96%b0%e5%9e%8b%e8%a7%86%e8%a7%89%e8%af%ad%e8%a8%80%e8%a1%8c%e5%8a%a8%e6%a8%a1%e5%9e%8b","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=5291","title":{"rendered":"NaVILA\uff1a\u7528\u4e8e\u817f\u5f0f\u673a\u5668\u4eba\u5bfc\u822a\u7684\u65b0\u578b\u89c6\u89c9\u8bed\u8a00\u884c\u52a8\u6a21\u578b\u6846\u67b6"},"content":{"rendered":"\n<p>\u8bba\u6587<strong><a href=\"https:\/\/arxiv.org\/abs\/2412.04453\" target=\"_blank\" rel=\"noreferrer noopener\">NaVILA: LEGGED ROBOT VISION-LANGUAGE-ACTION MODEL FOR NAVIGATION<\/a><\/strong>\u63d0\u51fa\u4e86\u4e00\u4e2a\u7528\u4e8e\u817f\u5f0f\u673a\u5668\u4eba\u5bfc\u822a\u7684\u65b0\u578b\u89c6\u89c9\u8bed\u8a00\u884c\u52a8\u6a21\u578b\u6846\u67b6NaVILA\u3002NaVILA\u6846\u67b6\u901a\u8fc7\u521b\u65b0\u6027\u7684\u5206\u5c42\u8bbe\u8ba1\uff0c\u6210\u529f\u5b9e\u73b0\u4e86\u817f\u5f0f\u673a\u5668\u4eba\u5728\u590d\u6742\u573a\u666f\u4e2d\u7684\u89c6\u89c9-\u8bed\u8a00\u5bfc\u822a\uff0c\u5c55\u793a\u4e86\u5353\u8d8a\u7684\u9c81\u68d2\u6027\u548c\u901a\u7528\u6027\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u4f5c\u8005\u4e3aAn-Chieh Cheng, Yandong Ji, Zhaojing Yang, Xueyan Zou, Jan Kautz, Erdem B\u0131y\u0131k, Hongxu Yin, Sifei Liu, Xiaolong Wang\uff0c\u6765\u81eaUC San Diego, USC, NVIDIA\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"877\" height=\"401\" src=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/12\/image-9.png\" alt=\"\" class=\"wp-image-5292\" srcset=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/12\/image-9.png 877w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/12\/image-9-300x137.png 300w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/12\/image-9-768x351.png 768w\" sizes=\"auto, (max-width: 877px) 100vw, 877px\" \/><figcaption class=\"wp-element-caption\"><strong><a href=\"https:\/\/arxiv.org\/abs\/2412.04453\" target=\"_blank\" rel=\"noreferrer noopener\">NaVILA: LEGGED ROBOT VISION-LANGUAGE-ACTION MODEL FOR NAVIGATION<\/a><\/strong><\/figcaption><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>1. \u80cc\u666f\u4e0e\u7814\u7a76\u52a8\u673a<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u89c6\u89c9\u8bed\u8a00\u5bfc\u822a\u7684\u6838\u5fc3\u95ee\u9898<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u89c6\u89c9-\u8bed\u8a00\u5bfc\u822a\uff08Vision-Language Navigation, VLN\uff09\u8981\u6c42\u673a\u5668\u4eba\u5728\u6ca1\u6709\u5730\u56fe\u7684\u73af\u5883\u4e2d\uff0c\u6839\u636e\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u5b8c\u6210\u5bfc\u822a\u4efb\u52a1\u3002\u8fd9\u79cd\u4efb\u52a1\u6d89\u53ca\u89c6\u89c9\u611f\u77e5\u3001\u8bed\u8a00\u7406\u89e3\u3001\u9ad8\u5c42\u63a8\u7406\u548c\u4f4e\u5c42\u8fd0\u52a8\u63a7\u5236\uff0c\u662f\u673a\u5668\u4eba\u81ea\u4e3b\u80fd\u529b\u7684\u5173\u952e\u7ec4\u6210\u90e8\u5206\u3002<\/li>\n\n\n\n<li>\u73b0\u6709\u7684VLN\u7814\u7a76\u591a\u96c6\u4e2d\u4e8e\u79bb\u6563\u573a\u666f\u548c\u8f6e\u5f0f\u673a\u5668\u4eba\uff0c\u5ffd\u89c6\u4e86\u8fde\u7eed\u73af\u5883\u4e2d\u7684\u6311\u6218\uff0c\u5982\u590d\u6742\u5730\u5f62\u3001\u52a8\u6001\u969c\u788d\u7269\u3001\u73af\u5883\u5149\u7ebf\u53d8\u5316\u7b49\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u817f\u5f0f\u673a\u5668\u4eba\u7684\u9700\u6c42\u4e0e\u6311\u6218<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u817f\u5f0f\u673a\u5668\u4eba\u76f8\u6bd4\u8f6e\u5f0f\u673a\u5668\u4eba\u5728\u72ed\u7a84\u7a7a\u95f4\u3001\u4e0d\u89c4\u5219\u5730\u5f62\u4e2d\u5177\u6709\u66f4\u5927\u7684\u7075\u6d3b\u6027\u3002\u7136\u800c\uff0c\u817f\u5f0f\u673a\u5668\u4eba\u9700\u8981\u5904\u7406\u7cbe\u786e\u7684\u4f4e\u5c42\u8fd0\u52a8\u63a7\u5236\uff0c\u4f8b\u5982\u817f\u5173\u8282\u7684\u59ff\u6001\u8c03\u6574\uff0c\u8fd9\u4f7f\u5f97\u4ece\u8bed\u8a00\u5230\u52a8\u4f5c\u7684\u6620\u5c04\u66f4\u52a0\u590d\u6742\u3002<\/li>\n\n\n\n<li>\u4f20\u7edf\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u8bd5\u56fe\u76f4\u63a5\u751f\u6210\u4f4e\u7ea7\u63a7\u5236\u547d\u4ee4\uff0c\u4f46\u8fd9\u5bf9\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u63d0\u51fa\u4e86\u8fc7\u9ad8\u7684\u8981\u6c42\uff0c\u5f80\u5f80\u5bfc\u81f4\u6a21\u578b\u96be\u4ee5\u6cdb\u5316\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u7814\u7a76\u76ee\u6807<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e00\u79cd\u5206\u5c42\u65b9\u6cd5\uff0c\u5229\u7528\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u751f\u6210\u4e2d\u5c42\u52a8\u4f5c\u6307\u4ee4\uff0c\u518d\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u7b56\u7565\u6267\u884c\u8fd9\u4e9b\u6307\u4ee4\uff0c\u4ee5\u5b9e\u73b0\u66f4\u52a0\u9c81\u68d2\u548c\u7075\u6d3b\u7684\u5bfc\u822a\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>2. NaVILA \u6846\u67b6\u8bbe\u8ba1<\/strong><\/h4>\n\n\n\n<p>NaVILA \u662f\u4e00\u4e2a\u4e24\u7ea7\u6846\u67b6\uff0c\u5305\u542b\u9ad8\u5c42\u7684\u89c6\u89c9\u8bed\u8a00\u884c\u52a8\uff08Vision-Language-Action, VLA\uff09\u6a21\u578b\u548c\u4f4e\u5c42\u7684\u89c6\u89c9\u884c\u8d70\u7b56\u7565\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\"><strong>2.1 \u9ad8\u5c42VLA\u6a21\u578b<\/strong><\/h5>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6838\u5fc3\u529f\u80fd<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5c06\u8f93\u5165\u7684\u5355\u89c6\u56fe\u56fe\u50cf\u548c\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u8f6c\u6362\u4e3a\u4e2d\u5c42\u52a8\u4f5c\u63cf\u8ff0\uff0c\u5982\u201c\u5411\u524d\u79fb\u52a875\u5398\u7c73\u201d\u6216\u201c\u5411\u53f3\u8f6c30\u5ea6\u201d\u3002<\/li>\n\n\n\n<li>\u63d0\u4f9b\u5bfc\u822a\u8fc7\u7a0b\u4e2d\u6240\u9700\u7684\u9ad8\u5c42\u6b21\u89c4\u5212\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6a21\u578b\u67b6\u6784<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>\u89c6\u89c9\u7f16\u7801\u5668<\/strong>\uff1a\u5904\u7406\u8f93\u5165\u56fe\u50cf\uff0c\u5c06\u5176\u8f6c\u6362\u4e3a\u89c6\u89c9\u4ee4\u724c\u3002<\/li>\n\n\n\n<li><strong>\u591a\u5c42\u611f\u77e5\uff08MLP\uff09\u6620\u5c04\u5668<\/strong>\uff1a\u5c06\u89c6\u89c9\u4ee4\u724c\u6295\u5c04\u5230\u8bed\u8a00\u57df\uff0c\u4e0e\u6587\u672c\u4ee4\u724c\u7ed3\u5408\u3002<\/li>\n\n\n\n<li><strong>\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09<\/strong>\uff1a\u8d1f\u8d23\u4ece\u8f93\u5165\u4e2d\u751f\u6210\u5bfc\u822a\u52a8\u4f5c\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6539\u8fdb\u7b56\u7565<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u7ed3\u5408\u5f53\u524d\u89c6\u56fe\u548c\u5386\u53f2\u89c6\u56fe\uff08\u591a\u5e27\u56fe\u50cf\uff09\uff0c\u901a\u8fc7\u7edf\u4e00\u63d0\u793a\uff08prompt\uff09\u8bbe\u8ba1\u533a\u5206\u8fd9\u4e24\u8005\u7684\u89d2\u8272\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u81ea\u7136\u8bed\u8a00\u8f93\u51fa\u4e2d\u5c42\u6307\u4ee4\uff0c\u4f7f\u5f97\u6a21\u578b\u80fd\u591f\u4fdd\u7559\u8bed\u8a00\u63a8\u7406\u7684\u5f3a\u5927\u80fd\u529b\uff0c\u540c\u65f6\u907f\u514d\u76f4\u63a5\u751f\u6210\u4f4e\u7ea7\u52a8\u4f5c\u7684\u590d\u6742\u6027\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u5bfc\u822a\u63d0\u793a\u8bbe\u8ba1<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u6784\u5efa\u57fa\u4e8e\u6587\u672c\u548c\u56fe\u50cf\u7684\u4efb\u52a1\u63cf\u8ff0\uff0c\u4f8b\u5982\u201c\u5f53\u524d\u89c2\u5bdf\uff1a\u8d70\u5eca\uff0c\u5386\u53f2\u89c2\u5bdf\uff1a\u5b9e\u9a8c\u5ba4\u201d\uff0c\u751f\u6210\u6307\u4ee4\u201c\u5411\u53f3\u8f6c\u5e76\u8fdb\u5165\u4e0b\u4e00\u4e2a\u623f\u95f4\u201d\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h5 class=\"wp-block-heading\"><strong>2.2 \u4f4e\u5c42\u89c6\u89c9\u884c\u8d70\u7b56\u7565<\/strong><\/h5>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6838\u5fc3\u529f\u80fd<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u63a5\u6536\u6765\u81eaVLA\u6a21\u578b\u7684\u4e2d\u5c42\u52a8\u4f5c\u6307\u4ee4\uff0c\u5982\u79fb\u52a8\u8ddd\u79bb\u6216\u65cb\u8f6c\u89d2\u5ea6\u3002<\/li>\n\n\n\n<li>\u5229\u7528\u673a\u5668\u4eba\u4f20\u611f\u5668\uff08LIDAR\u548c\u5173\u8282\u72b6\u6001\uff09\u5b9e\u73b0\u5bf9\u73af\u5883\u7684\u5b9e\u65f6\u611f\u77e5\u548c\u7cbe\u51c6\u63a7\u5236\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u4e3b\u8981\u6280\u672f<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>LIDAR\u9ad8\u5ea6\u56fe<\/strong>\uff1a\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe\u751f\u62102.5D\u73af\u5883\u9ad8\u5ea6\u56fe\uff0c\u6709\u6548\u68c0\u6d4b\u900f\u660e\u6216\u590d\u6742\u8868\u9762\u3002<\/li>\n\n\n\n<li><strong>\u5f3a\u5316\u5b66\u4e60\u7b56\u7565<\/strong>\uff1a\u91c7\u7528\u5355\u9636\u6bb5\u5f3a\u5316\u5b66\u4e60\uff08PPO\u7b97\u6cd5\uff09\uff0c\u76f4\u63a5\u8bad\u7ec3\u673a\u5668\u4eba\u5728\u771f\u5b9e\u573a\u666f\u4e2d\u7684\u884c\u8d70\u7b56\u7565\u3002<\/li>\n\n\n\n<li><strong>\u52a8\u4f5c\u7a7a\u95f4\u548c\u89c2\u6d4b\u7a7a\u95f4<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u52a8\u4f5c\u7a7a\u95f4\uff1a12\u4e2a\u817f\u5173\u8282\u7684\u76ee\u6807\u4f4d\u7f6e\u3002<\/li>\n\n\n\n<li>\u89c2\u6d4b\u7a7a\u95f4\uff1a\u5173\u8282\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u4e0a\u4e00\u52a8\u4f5c\u3001LIDAR\u9ad8\u5ea6\u56fe\u7b49\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u8bad\u7ec3\u65b9\u6cd5<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5728\u6a21\u62df\u73af\u5883\uff08Isaac Sim\uff09\u4e2d\u4f7f\u7528\u9ad8\u5ea6\u56fe\u8fdb\u884c\u7aef\u5230\u7aef\u8bad\u7ec3\uff0c\u786e\u4fdd\u7b56\u7565\u80fd\u591f\u5728\u73b0\u5b9e\u73af\u5883\u4e2d\u90e8\u7f72\u3002<\/li>\n\n\n\n<li>\u5f15\u5165\u968f\u673a\u5316\u6280\u672f\uff0c\u5f25\u5408\u6a21\u62df\u548c\u73b0\u5b9e\u4e4b\u95f4\u7684\u5dee\u8ddd\uff08sim-to-real gap\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>3. \u6570\u636e\u96c6\u4e0e\u8bad\u7ec3<\/strong><\/h4>\n\n\n\n<h5 class=\"wp-block-heading\"><strong>3.1 \u6570\u636e\u8bbe\u8ba1<\/strong><\/h5>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6570\u636e\u6765\u6e90<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>\u771f\u5b9e\u5bfc\u822a\u89c6\u9891<\/strong>\uff1a\u4eceYouTube\u83b7\u53d62000\u6bb5\u5bfc\u822a\u89c6\u9891\uff0c\u4f7f\u7528\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u751f\u6210\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u3002<\/li>\n\n\n\n<li><strong>\u4eff\u771f\u6570\u636e<\/strong>\uff1a\u5728\u6a21\u62df\u73af\u5883\u4e2d\u751f\u6210\u8def\u5f84\u70b9\u548c\u52a8\u4f5c\u5e8f\u5217\uff0c\u7528\u4e8e\u8bad\u7ec3\u4e2d\u5c42\u6307\u4ee4\u3002<\/li>\n\n\n\n<li><strong>\u8f85\u52a9\u6570\u636e\u96c6<\/strong>\uff1a\u5229\u7528\u6269\u5c55\u6570\u636e\u96c6\uff08\u5982ScanQA\uff09\u589e\u5f3a\u6a21\u578b\u5bf9\u573a\u666f\u7406\u89e3\u548c\u95ee\u7b54\u4efb\u52a1\u7684\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>\u901a\u7528\u89c6\u89c9-\u95ee\u7b54\u6570\u636e\u96c6<\/strong>\uff1a\u786e\u4fdd\u6a21\u578b\u5728\u5e7f\u6cdb\u4efb\u52a1\u4e0a\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6570\u636e\u5904\u7406<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u5bfc\u822a\u89c6\u9891\u8fdb\u884c\u8f68\u8ff9\u91c7\u6837\uff0c\u901a\u8fc7\u71b5\u4f18\u5316\u786e\u4fdd\u6837\u672c\u591a\u6837\u6027\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528Mast3R\u6280\u672f\u4f30\u8ba1\u76f8\u673a\u59ff\u6001\uff0c\u5e76\u751f\u6210\u4e0e\u8f68\u8ff9\u5339\u914d\u7684\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h5 class=\"wp-block-heading\"><strong>3.2 \u8bad\u7ec3\u6d41\u7a0b<\/strong><\/h5>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u8bad\u7ec3<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528\u89c6\u89c9-\u6587\u672c\u6570\u636e\u9884\u8bad\u7ec3VILA\u6a21\u578b\uff0c\u7136\u540e\u8fdb\u884c\u5bfc\u822a\u4efb\u52a1\u5fae\u8c03\u3002<\/li>\n\n\n\n<li>\u5fae\u8c03\u65f6\u89e3\u51bb\u6240\u6709\u6a21\u5757\uff0c\u5305\u62ec\u89c6\u89c9\u7f16\u7801\u5668\u3001\u6620\u5c04\u5668\u548cLLM\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u884c\u8d70\u7b56\u7565\u8bad\u7ec3<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5728\u6a21\u62df\u73af\u5883\u4e2d\u76f4\u63a5\u8bad\u7ec3\u4f4e\u5c42\u7b56\u7565\uff0c\u673a\u5668\u4eba\u901a\u8fc7\u4e0e\u73af\u5883\u4ea4\u4e92\u5b66\u4e60\u590d\u6742\u573a\u666f\u4e2d\u7684\u6700\u4f73\u884c\u4e3a\u7b56\u7565\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>4. \u5b9e\u9a8c\u4e0e\u8bc4\u4f30<\/strong><\/h4>\n\n\n\n<h5 class=\"wp-block-heading\"><strong>4.1 \u5728\u7ecf\u5178VLN\u57fa\u51c6\u4e0a\u7684\u8868\u73b0<\/strong><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6570\u636e\u96c6\uff1aR2R \u548c RxR\u3002<\/li>\n\n\n\n<li>\u6027\u80fd\u6307\u6807\uff1a\n<ul class=\"wp-block-list\">\n<li>\u6210\u529f\u7387\uff08Success Rate, SR\uff09\uff1aNaVILA\u5728\u5355\u89c6\u56feRGB\u8f93\u5165\u6761\u4ef6\u4e0b\u63d0\u9ad8\u4e8617%\u3002<\/li>\n\n\n\n<li>\u5bfc\u822a\u8bef\u5dee\uff08NE\uff09\uff1a\u76f8\u6bd4\u73b0\u6709\u65b9\u6cd5\u663e\u8457\u964d\u4f4e\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\"><strong>4.2 \u5728\u6a21\u62df\u73af\u5883\u4e2d\u7684\u8868\u73b0<\/strong><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6570\u636e\u96c6\uff1aVLN-CE-Isaac\uff08\u65b0\u63d0\u51fa\u7684\u57fa\u51c6\uff09\u3002<\/li>\n\n\n\n<li>\u6210\u679c\uff1a\n<ul class=\"wp-block-list\">\n<li>\u89c6\u89c9\u7b56\u7565\u6210\u529f\u7387\u6bd4\u76f2\u7b56\u7565\u63d0\u9ad814%-21%\u3002<\/li>\n\n\n\n<li>\u5c55\u793a\u4e86\u5bf9\u590d\u6742\u5730\u5f62\u548c\u52a8\u6001\u969c\u788d\u7269\u7684\u4f18\u5f02\u9002\u5e94\u80fd\u529b\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\"><strong>4.3 \u5728\u771f\u5b9e\u573a\u666f\u4e2d\u7684\u8868\u73b0<\/strong><\/h5>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u573a\u666f<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5de5\u4f5c\u7a7a\u95f4\u3001\u5bb6\u5ead\u73af\u5883\u3001\u5ba4\u5916\u573a\u666f\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u4efb\u52a1<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u7b80\u5355\u6307\u4ee4\uff1a\u5982\u201c\u8d70\u5230\u6905\u5b50\u524d\u505c\u6b62\u201d\u3002<\/li>\n\n\n\n<li>\u590d\u6742\u6307\u4ee4\uff1a\u5982\u201c\u8d70\u51fa\u623f\u95f4\uff0c\u53f3\u8f6c\uff0c\u8fdb\u5165\u524d\u65b9\u623f\u95f4\uff0c\u5230\u8fbe\u684c\u5b50\u524d\u505c\u6b62\u201d\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u7ed3\u679c<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u7b80\u5355\u4efb\u52a1\u6210\u529f\u7387\u8fbe100%\u3002<\/li>\n\n\n\n<li>\u590d\u6742\u4efb\u52a1\u4e2d\uff0c\u4e0eGPT-4o\u76f8\u6bd4\u63d0\u5347\u663e\u8457\uff0c\u5c24\u5176\u662f\u5728\u591a\u623f\u95f4\u5bfc\u822a\u4efb\u52a1\u4e2d\u8868\u73b0\u4f18\u5f02\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>5. \u521b\u65b0\u4e0e\u4f18\u52bf<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5206\u5c42\u8bbe\u8ba1<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u901a\u8fc7\u4e2d\u5c42\u6307\u4ee4\u89e3\u8026\u9ad8\u5c42\u63a8\u7406\u4e0e\u4f4e\u5c42\u63a7\u5236\uff0c\u663e\u8457\u63d0\u9ad8\u6a21\u5757\u5316\u80fd\u529b\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6cdb\u5316\u80fd\u529b<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u901a\u8fc7\u591a\u6e90\u6570\u636e\u8bad\u7ec3\uff0c\u6a21\u578b\u5177\u5907\u8de8\u573a\u666f\u7684\u9c81\u68d2\u6027\u548c\u9002\u5e94\u6027\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u73b0\u5b9e\u90e8\u7f72<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u65e0\u9700\u989d\u5916\u8bad\u7ec3\u5373\u53ef\u9002\u5e94\u4e0d\u540c\u673a\u5668\u4eba\u5e73\u53f0\uff08\u5982Unitree Go2\u548cH1\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>6. \u6f5c\u5728\u5e94\u7528\u4e0e\u672a\u6765\u5de5\u4f5c<\/strong><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6f5c\u5728\u5e94\u7528<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u667a\u80fd\u5bb6\u5c45\u673a\u5668\u4eba\uff1a\u5728\u5ba4\u5185\u573a\u666f\u4e2d\u5b8c\u6210\u590d\u6742\u4efb\u52a1\u3002<\/li>\n\n\n\n<li>\u641c\u6551\u673a\u5668\u4eba\uff1a\u5728\u52a8\u6001\u73af\u5883\u4e2d\u5bfc\u822a\u5230\u6307\u5b9a\u5730\u70b9\u3002<\/li>\n\n\n\n<li>\u5de5\u4e1a\u5de1\u68c0\u673a\u5668\u4eba\uff1a\u9002\u5e94\u590d\u6742\u5de5\u4e1a\u73af\u5883\u7684\u81ea\u52a8\u5316\u4efb\u52a1\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u672a\u6765\u5de5\u4f5c\u65b9\u5411<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>\u6570\u636e\u589e\u5f3a<\/strong>\uff1a\u5f15\u5165\u66f4\u591a\u5177\u6709\u566a\u58f0\u548c\u52a8\u6001\u969c\u788d\u7269\u7684\u771f\u5b9e\u573a\u666f\u6570\u636e\u3002<\/li>\n\n\n\n<li><strong>\u8de8\u5e73\u53f0\u4f18\u5316<\/strong>\uff1a\u63d0\u5347\u6a21\u578b\u5728\u4e0d\u540c\u786c\u4ef6\u5e73\u53f0\u4e0a\u7684\u9002\u5e94\u6027\u3002<\/li>\n\n\n\n<li><strong>\u591a\u6a21\u6001\u6269\u5c55<\/strong>\uff1a\u7ed3\u5408\u8bed\u97f3\u3001\u89e6\u89c9\u7b49\u6a21\u6001\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u5bfc\u822a\u4efb\u52a1\u7684\u5b8c\u6210\u5ea6\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>NaVILA: <a href=\"https:\/\/navila-bot.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/navila-bot.github.io\/<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587NaVILA: LEGGED ROBOT VISION-LANGUAGE-ACTION MODEL FOR [&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],"tags":[39,84,90,86,69,61],"class_list":["post-5291","post","type-post","status-publish","format-standard","hentry","category-tech","tag-ai","tag-nvidia","tag-multimodal","tag-llm","tag-engineering","tag-61"],"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\u6587NaVILA: LEGGED ROBOT VISION-LANGUAGE-ACTION MODEL FOR&hellip;","_links":{"self":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/5291","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=5291"}],"version-history":[{"count":1,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/5291\/revisions"}],"predecessor-version":[{"id":5293,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/5291\/revisions\/5293"}],"wp:attachment":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5291"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=5291"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=5291"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}