{"id":5611,"date":"2025-02-05T16:12:39","date_gmt":"2025-02-05T08:12:39","guid":{"rendered":"https:\/\/nullthought.net\/?p=5611"},"modified":"2025-02-05T16:14:41","modified_gmt":"2025-02-05T08:14:41","slug":"asap%e6%a1%86%e6%9e%b6%ef%bc%9a%e6%9c%89%e6%95%88%e8%a7%a3%e5%86%b3%e4%bb%bf%e7%9c%9f%e4%b8%8e%e7%8e%b0%e5%ae%9e%e4%b8%96%e7%95%8c%e4%b9%8b%e9%97%b4%e7%9a%84%e5%8a%a8%e5%8a%9b%e5%ad%a6%e4%b8%8d","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=5611","title":{"rendered":"ASAP\u6846\u67b6\uff1a\u6709\u6548\u89e3\u51b3\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e16\u754c\u4e4b\u95f4\u7684\u52a8\u529b\u5b66\u4e0d\u5339\u914d\u95ee\u9898\uff0c\u5b9e\u73b0\u4eba\u5f62\u673a\u5668\u4eba\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u9ad8\u6548\u5168\u8eab\u8fd0\u52a8\u63a7\u5236"},"content":{"rendered":"\n<p>\u8bba\u6587<strong><a href=\"https:\/\/arxiv.org\/abs\/2502.01143\" target=\"_blank\" rel=\"noreferrer noopener\">ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills<\/a><\/strong>\u63d0\u51faASAP\u6846\u67b6\uff0c\u8be5\u67b6\u6784\u901a\u8fc7\u4e24\u9636\u6bb5\u8bad\u7ec3\u548cdelta\u52a8\u4f5c\u6a21\u578b\u7684\u7ed3\u5408\uff0c\u6709\u6548\u89e3\u51b3\u4e86\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e16\u754c\u4e4b\u95f4\u7684\u52a8\u529b\u5b66\u4e0d\u5339\u914d\u95ee\u9898\uff0c\u6210\u529f\u5b9e\u73b0\u4e86\u4eba\u5f62\u673a\u5668\u4eba\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u9ad8\u6548\u5168\u8eab\u8fd0\u52a8\u63a7\u5236\u3002\u5b9e\u9a8c\u8868\u660e\uff0cASAP\u80fd\u591f\u663e\u8457\u63d0\u9ad8\u673a\u5668\u4eba\u5728\u5404\u79cd\u590d\u6742\u8fd0\u52a8\u4e2d\u7684\u8868\u73b0\uff0c\u5e76\u4e14\u5177\u5907\u826f\u597d\u7684<strong><a href=\"https:\/\/nullthought.net\/?tag=ai%e6%a8%a1%e5%9e%8b%e6%b3%9b%e5%8c%96\" target=\"_blank\" rel=\"noreferrer noopener\">\u6cdb\u5316\u80fd\u529b<\/a><\/strong>\uff0c\u4e3a\u672a\u6765\u4eba\u5f62\u673a\u5668\u4eba\u6280\u672f\u7684\u53d1\u5c55\u63d0\u4f9b\u6709\u4ef7\u503c\u7684\u53c2\u8003\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u4f5c\u8005\u4e3aTairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica Hodgins, Linxi &#8220;Jim&#8221; Fan, Yuke Zhu, Changliu Liu, Guanya Shi\uff0c\u6765\u81eaCarnegie Mellon University\u548cNVIDIA\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"986\" height=\"552\" src=\"https:\/\/nullthought.net\/wp-content\/uploads\/2025\/02\/image-3.png\" alt=\"\" class=\"wp-image-5612\" srcset=\"https:\/\/nullthought.net\/wp-content\/uploads\/2025\/02\/image-3.png 986w, https:\/\/nullthought.net\/wp-content\/uploads\/2025\/02\/image-3-300x168.png 300w, https:\/\/nullthought.net\/wp-content\/uploads\/2025\/02\/image-3-768x430.png 768w\" sizes=\"auto, (max-width: 986px) 100vw, 986px\" \/><figcaption class=\"wp-element-caption\"><strong><a href=\"https:\/\/arxiv.org\/abs\/2502.01143\" target=\"_blank\" rel=\"noreferrer noopener\">ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills<\/a><\/strong><\/figcaption><\/figure>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e00\u3001\u5f15\u8a00<\/h5>\n\n\n\n<p>\u968f\u7740\u79d1\u6280\u7684\u4e0d\u65ad\u53d1\u5c55\uff0c\u4eba\u5f62\u673a\u5668\u4eba\u5728\u6267\u884c\u590d\u6742\u3001\u534f\u8c03\u7684\u5168\u8eab\u8fd0\u52a8\u65b9\u9762\u5c55\u73b0\u4e86\u5de8\u5927\u7684\u6f5c\u529b\uff0c\u5c24\u5176\u662f\u5728\u6a21\u4eff\u4eba\u7c7b\u7684\u8fd0\u52a8\u65b9\u9762\u3002\u7136\u800c\uff0c\u5c3d\u7ba1\u5df2\u6709\u4e0d\u5c11\u7814\u7a76\u53d6\u5f97\u4e86\u4e00\u5b9a\u6210\u679c\uff0c\u5b9e\u73b0\u50cf\u4eba\u7c7b\u4e00\u6837\u7075\u6d3b\u7684\u5168\u8eab\u8fd0\u52a8\u4ecd\u7136\u662f\u4e00\u4e2a\u6781\u5177\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002\u8fd9\u4e9b\u6311\u6218\u4e0d\u4ec5\u6765\u81ea\u4e8e\u673a\u5668\u4eba\u786c\u4ef6\u7684\u5c40\u9650\u6027\uff0c\u8fd8\u6765\u81ea\u4e8e<strong>\u4eff\u771f\u73af\u5883\u4e0e\u73b0\u5b9e\u4e16\u754c\u4e4b\u95f4\u7684\u52a8\u529b\u5b66\u4e0d\u5339\u914d<\/strong>\u3002\u8fd9\u4e00\u95ee\u9898\u4f7f\u5f97\u5f88\u591a\u57fa\u4e8e\u4eff\u771f\u8bad\u7ec3\u7684\u63a7\u5236\u7b56\u7565\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u65e0\u6cd5\u9ad8\u6548\u6267\u884c\uff0c\u5c24\u5176\u662f\u5728\u9700\u8981\u7cbe\u786e\u534f\u8c03\u5168\u8eab\u52a8\u4f5c\u65f6\u3002<\/p>\n\n\n\n<p>\u76ee\u524d\u7684\u7814\u7a76\u4e3b\u8981\u96c6\u4e2d\u5728\u4e09\u79cd\u65b9\u6cd5\u4e0a\u6765\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff1a<strong>\u7cfb\u7edf\u8bc6\u522b\uff08SysID\uff09<\/strong>\u3001<strong>\u9886\u57df\u968f\u673a\u5316\uff08DR\uff09\u548c\u5b66\u4e60\u52a8\u529b\u5b66\u6a21\u578b\uff08Learned Dynamics\uff09<\/strong>\u3002\u867d\u7136\u8fd9\u4e9b\u65b9\u6cd5\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u7f13\u89e3\u4e86\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e4b\u95f4\u7684\u5dee\u8ddd\uff0c\u4f46\u4f9d\u7136\u5b58\u5728\u5c40\u9650\u3002SysID\u65b9\u6cd5\u901a\u5e38\u4f9d\u8d56\u4e8e\u4eba\u5de5\u8bbe\u7f6e\u7684\u7269\u7406\u53c2\u6570\uff0c\u8fd9\u4e9b\u53c2\u6570\u5f80\u5f80\u65e0\u6cd5\u5145\u5206\u6355\u6349\u5230\u73b0\u5b9e\u4e16\u754c\u4e2d\u5b58\u5728\u7684\u590d\u6742\u52a8\u6001\u3002DR\u65b9\u6cd5\u901a\u8fc7\u5728\u4eff\u771f\u4e2d\u968f\u673a\u5316\u53c2\u6570\u6765\u589e\u52a0\u7b56\u7565\u7684\u9c81\u68d2\u6027\uff0c\u4f46\u8fd9\u79cd\u65b9\u6cd5\u5bb9\u6613\u5bfc\u81f4\u8fc7\u4e8e\u4fdd\u5b88\u7684\u7b56\u7565\uff0c\u727a\u7272\u4e86\u673a\u5668\u4eba\u8fd0\u52a8\u7684\u7075\u6d3b\u6027\u3002\u53e6\u4e00\u4e2a\u95ee\u9898\u662f\u8fd9\u4e9b\u65b9\u6cd5\u5927\u591a\u4f9d\u8d56\u624b\u52a8\u8c03\u8282\uff0c\u589e\u52a0\u4e86\u4eba\u5de5\u6210\u672c\uff0c\u4e14\u5728\u9762\u5bf9\u590d\u6742\u7684\u52a8\u6001\u4efb\u52a1\u65f6\u6548\u679c\u6709\u9650\u3002<\/p>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3a<strong>ASAP\uff08Aligning Simulation and Real Physics\uff09<\/strong>\u7684\u65b0\u6846\u67b6\u3002\u8be5\u6846\u67b6\u901a\u8fc7\u4e24\u9636\u6bb5\u7684\u8bad\u7ec3\u7b56\u7565\uff0c\u65e8\u5728\u89e3\u51b3\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e16\u754c\u52a8\u529b\u5b66\u4e4b\u95f4\u7684\u5339\u914d\u95ee\u9898\uff0c\u6700\u7ec8\u5b9e\u73b0\u7075\u6d3b\u4e14\u534f\u8c03\u7684\u5168\u8eab\u8fd0\u52a8\u6280\u80fd\u3002\u5177\u4f53\u800c\u8a00\uff0cASAP\u9996\u5148\u5728\u4eff\u771f\u73af\u5883\u4e2d\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u901a\u8fc7\u6a21\u4eff\u4eba\u7c7b\u7684\u8fd0\u52a8\u6570\u636e\u6765\u8bad\u7ec3\u673a\u5668\u4eba\uff0c\u7136\u540e\u5728\u7b2c\u4e8c\u9636\u6bb5\u5c06\u8bad\u7ec3\u597d\u7684\u7b56\u7565\u90e8\u7f72\u5230\u73b0\u5b9e\u4e16\u754c\uff0c\u5e76\u901a\u8fc7\u6536\u96c6\u73b0\u5b9e\u4e16\u754c\u7684\u6570\u636e\u6765\u5fae\u8c03\u7b56\u7565\uff0c\u4ee5\u7f29\u5c0f\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e4b\u95f4\u7684\u52a8\u6001\u5dee\u8ddd\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e8c\u3001ASAP \u65b9\u6cd5\u6846\u67b6<\/h5>\n\n\n\n<h6 class=\"wp-block-heading\">1. \u9884\u8bad\u7ec3\u9636\u6bb5\uff1a\u5b66\u4e60\u7075\u6d3b\u7684\u4eba\u5f62\u8fd0\u52a8\u6280\u80fd<\/h6>\n\n\n\n<p>ASAP 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Policy Optimization\uff08PPO\uff09<\/strong>\u7b97\u6cd5\uff0c\u901a\u8fc7\u6700\u5927\u5316\u7d2f\u79ef\u56de\u62a5\u6765\u4f18\u5316\u63a7\u5236\u7b56\u7565\u3002<\/p>\n\n\n\n<p><strong>\uff083\uff09\u5f3a\u5316\u5b66\u4e60\u7b56\u7565\u7684\u8bbe\u8ba1\u4f18\u5316<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u4fdd\u8bc1\u8bad\u7ec3\u7684\u7a33\u5b9a\u6027\u548c\u7b56\u7565\u7684\u9c81\u68d2\u6027\uff0cASAP\u5728\u5f3a\u5316\u5b66\u4e60\u8fc7\u7a0b\u4e2d\u91c7\u7528\u4e86\u4e00\u4e9b\u5173\u952e\u7684\u4f18\u5316\u8bbe\u8ba1\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u975e\u5bf9\u79f0 Actor-Critic \u8bad\u7ec3<\/strong>\uff1a\u5728\u5b9e\u9645\u7684\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e16\u754c\u4e2d\uff0c\u4e00\u4e9b\u4efb\u52a1\u76f8\u5173\u7684\u4fe1\u606f\uff08\u5982\u5168\u5c40\u4f4d\u7f6e\u3001\u901f\u5ea6\u7b49\uff09\u5728\u73b0\u5b9e\u4e2d\u662f\u4e0d\u53ef\u89c2\u6d4b\u7684\u3002\u56e0\u6b64\uff0cASAP\u91c7\u7528\u4e86\u975e\u5bf9\u79f0\u7684Actor-Critic\u6846\u67b6\uff0c\u5176\u4e2d<strong>Critic\u7f51\u7edc<\/strong>\u53ef\u4ee5\u8bbf\u95ee\u8fd9\u4e9b\u989d\u5916\u7684\u5168\u5c40\u4fe1\u606f\uff0c\u800c<strong>Actor\u7f51\u7edc<\/strong>\u5219\u4f9d\u8d56\u4e8e\u673a\u5668\u4eba\u81ea\u8eab\u7684\u611f\u77e5\u8f93\u5165\u548c\u65f6\u95f4\u76f8\u4f4d\u53d8\u91cf\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u5f97\u8bad\u7ec3\u8fc7\u7a0b\u80fd\u591f\u66f4\u597d\u5730\u9002\u5e94\u5b9e\u9645\u4efb\u52a1\u3002<\/li>\n\n\n\n<li><strong>\u4efb\u52a1\u5bb9\u5fcd\u5ea6\u7684\u9010\u6b65\u8c03\u6574<\/strong>\uff1a\u5728\u4eff\u771f\u4e2d\u8bad\u7ec3\u7075\u6d3b\u7684\u8fd0\u52a8\u63a7\u5236\u7b56\u7565\u65f6\uff0c\u9762\u5bf9\u4e00\u4e9b\u590d\u6742\u8fd0\u52a8\uff08\u5982\u8df3\u8dc3\uff09\u65f6\uff0c\u7b56\u7565\u4f1a\u503e\u5411\u4e8e\u9009\u62e9\u4fdd\u5b88\u7684\u52a8\u4f5c\u4ee5\u907f\u514d\u5931\u8d25\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0cASAP\u5f15\u5165\u4e86<strong>\u7ec8\u6b62\u5bb9\u5fcd\u5ea6\u7684\u8c03\u6574\u673a\u5236<\/strong>\uff0c\u9010\u6b65\u6536\u7d27\u5bb9\u5fcd\u5ea6\uff0c\u4ece\u800c\u9f13\u52b1\u673a\u5668\u4eba\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u514b\u670d\u8fd9\u4e9b\u56f0\u96be\uff0c\u63d0\u9ad8\u7b56\u7565\u7684\u5b66\u4e60\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u8003\u72b6\u6001\u521d\u59cb\u5316\uff08RSI\uff09<\/strong>\uff1a\u4e3a\u4e86\u9632\u6b62\u7b56\u7565\u4ece\u521d\u59cb\u72b6\u6001\u5f00\u59cb\u9010\u6b65\u5b66\u4e60\uff0cASAP\u91c7\u7528\u4e86\u968f\u673a\u9009\u62e9\u65f6\u95f4\u76f8\u4f4d\u53d8\u91cf\u7684\u7b56\u7565\uff0c\u4f7f\u5f97\u7b56\u7565\u53ef\u4ee5\u5e76\u884c\u5b66\u4e60\u4e0d\u540c\u7684\u8fd0\u52a8\u9636\u6bb5\uff0c\u4ece\u800c\u5927\u5927\u63d0\u9ad8\u8bad\u7ec3\u6548\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<h6 class=\"wp-block-heading\">2. \u540e\u8bad\u7ec3\u9636\u6bb5\uff1a\u5b66\u4e60 Delta \u52a8\u4f5c\u6a21\u578b\u5e76\u4f18\u5316\u7b56\u7565<\/h6>\n\n\n\n<p>\u9884\u8bad\u7ec3\u9636\u6bb5\u8bad\u7ec3\u51fa\u7684\u7b56\u7565\u80fd\u591f\u5728\u4eff\u771f\u73af\u5883\u4e2d\u8ddf\u8e2a\u4eba\u7c7b\u7684\u8fd0\u52a8\u8f68\u8ff9\uff0c\u4f46\u7531\u4e8e\u4eff\u771f\u73af\u5883\u4e0e\u73b0\u5b9e\u4e16\u754c\u7684\u52a8\u529b\u5b66\u5dee\u5f02\uff0c\u76f4\u63a5\u5728\u73b0\u5b9e\u73af\u5883\u4e2d\u6267\u884c\u65f6\u4f1a\u51fa\u73b0\u8f83\u5927\u7684\u6027\u80fd\u4e0b\u964d\u3002\u4e3a\u4e86\u5f25\u8865\u8fd9\u79cd\u5dee\u5f02\uff0cASAP\u63d0\u51fa\u4e86\u540e\u8bad\u7ec3\u9636\u6bb5\uff0c\u5177\u4f53\u8fc7\u7a0b\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p><strong>\uff081\uff09\u73b0\u5b9e\u4e16\u754c\u6570\u636e\u6536\u96c6<\/strong><\/p>\n\n\n\n<p>ASAP\u5c06\u9884\u8bad\u7ec3\u7684\u7b56\u7565\u90e8\u7f72\u5230\u73b0\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\uff08\u5982Unitree G1\u673a\u5668\u4eba\uff09\u4e0a\uff0c\u8fdb\u884c\u5b9e\u9645\u8fd0\u52a8\u6570\u636e\u6536\u96c6\u3002\u901a\u8fc7<strong>\u8fd0\u52a8\u6355\u6349\u7cfb\u7edf<\/strong>\u548c<strong>\u673a\u5668\u4eba\u81ea\u8eab\u7684\u4f20\u611f\u5668<\/strong>\uff0c\u8bb0\u5f55\u4e0b\u673a\u5668\u4eba\u7684\u72b6\u6001\u4fe1\u606f\uff0c\u5305\u62ec\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u3001\u5173\u8282\u89d2\u5ea6\u7b49\u6570\u636e\u3002<\/p>\n\n\n\n<p><strong>\uff082\uff09Delta \u52a8\u4f5c\u6a21\u578b\u8bad\u7ec3<\/strong><\/p>\n\n\n\n<p>\u7531\u4e8e\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e16\u754c\u4e4b\u95f4\u5b58\u5728\u8f83\u5927\u7684\u5dee\u8ddd\uff0c\u76f4\u63a5\u5728\u4eff\u771f\u4e2d\u56de\u653e\u73b0\u5b9e\u4e16\u754c\u7684\u8f68\u8ff9\u4f1a\u5bfc\u81f4\u663e\u8457\u7684\u8bef\u5dee\u3002\u4e3a\u6b64\uff0cASAP\u901a\u8fc7<strong>\u5f3a\u5316\u5b66\u4e60<\/strong>\u8bad\u7ec3\u4e00\u4e2a<strong>delta \u52a8\u4f5c\u6a21\u578b<\/strong>\uff0c\u5b66\u4e60\u5982\u4f55\u8865\u507f\u8fd9\u79cd\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u5177\u4f53\u800c\u8a00\uff0cdelta \u52a8\u4f5c\u6a21\u578b\u901a\u8fc7\u8ba1\u7b97\u4eff\u771f\u72b6\u6001\u4e0e\u73b0\u5b9e\u72b6\u6001\u4e4b\u95f4\u7684\u6b8b\u5dee\uff0c\u9884\u6d4b\u51fa\u4fee\u6b63\u52a8\u4f5c\uff0c\u5e76\u5c06\u5176\u6dfb\u52a0\u5230\u4eff\u771f\u63a7\u5236\u7b56\u7565\u4e2d\u3002<\/p>\n\n\n\n<p><strong>\uff083\uff09\u5fae\u8c03\u7b56\u7565<\/strong><\/p>\n\n\n\n<p>\u901a\u8fc7delta\u52a8\u4f5c\u6a21\u578b\uff0c\u4eff\u771f\u73af\u5883\u4e2d\u7684\u52a8\u529b\u5b66\u88ab\u6709\u6548\u4fee\u6b63\u3002\u63a5\u7740\uff0cASAP\u5bf9\u9884\u8bad\u7ec3\u7684\u7b56\u7565\u8fdb\u884c\u5fae\u8c03\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u7b56\u7565\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u8868\u73b0\u3002\u5fae\u8c03\u8fc7\u7a0b\u4e2d\uff0cASAP\u4ecd\u7136\u4f7f\u7528\u4e4b\u524d\u5b9a\u4e49\u7684\u5956\u52b1\u51fd\u6570\u8fdb\u884c\u8bad\u7ec3\uff0c\u786e\u4fdd\u7b56\u7565\u80fd\u591f\u9002\u5e94\u73b0\u5b9e\u73af\u5883\u4e2d\u7684\u5404\u79cd\u52a8\u6001\u3002<\/p>\n\n\n\n<h6 class=\"wp-block-heading\">3. \u7b56\u7565\u90e8\u7f72<\/h6>\n\n\n\n<p>\u5fae\u8c03\u5b8c\u6210\u540e\uff0cASAP\u5c06\u6700\u7ec8\u7684\u7b56\u7565\u90e8\u7f72\u5230\u73b0\u5b9e\u673a\u5668\u4eba\u4e2d\uff0c<strong>\u65e0\u9700\u518d\u6b21\u4f7f\u7528delta\u52a8\u4f5c\u6a21\u578b<\/strong>\uff0c\u76f4\u63a5\u8fdb\u884c\u5b9e\u65f6\u63a7\u5236\u3002\u7ecf\u8fc7\u5fae\u8c03\u7684\u7b56\u7565\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u8868\u73b0\u51fa\u66f4\u9ad8\u7684\u8fd0\u52a8\u8ddf\u8e2a\u7cbe\u5ea6\u548c\u66f4\u4f4e\u7684\u8bef\u5dee\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e09\u3001\u5b9e\u9a8c\u9a8c\u8bc1<\/h5>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1ASAP\u6846\u67b6\u7684\u6709\u6548\u6027\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u591a\u79cd\u5b9e\u9a8c\uff0c\u4e3b\u8981\u6db5\u76d6\u4e86\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n<h6 class=\"wp-block-heading\">1. \u4eff\u771f\u5230\u4eff\u771f\uff08Sim-to-Sim\uff09\u8bc4\u4f30<\/h6>\n\n\n\n<p>\u5728\u4eff\u771f\u73af\u5883\u4e2d\uff0cASAP\u8fdb\u884c\u4e86<strong>\u4eff\u771f\u5230\u4eff\u771f<\/strong>\u7684\u8fc1\u79fb\u5b9e\u9a8c\uff0c\u76ee\u7684\u662f\u8bc4\u4f30\u4e0d\u540c\u65b9\u6cd5\u5728\u89e3\u51b3<strong>\u4eff\u771f\u4e0e\u4eff\u771f\u73af\u5883\u4e4b\u95f4\u7684\u52a8\u529b\u5b66\u4e0d\u5339\u914d<\/strong>\u65b9\u9762\u7684\u80fd\u529b\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cASAP\u80fd\u591f\u663e\u8457\u51cf\u5c11<strong>\u8fd0\u52a8\u8ddf\u8e2a\u8bef\u5dee<\/strong>\uff0c\u5e76\u4e14\u5728\u591a\u4e2a\u4eff\u771f\u5e73\u53f0\u4e4b\u95f4\u5177\u6709\u8f83\u597d\u7684<strong>\u6cdb\u5316\u80fd\u529b<\/strong>\u3002<\/p>\n\n\n\n<h6 class=\"wp-block-heading\">2. \u4eff\u771f\u5230\u73b0\u5b9e\uff08Sim-to-Real\uff09\u8bc4\u4f30<\/h6>\n\n\n\n<p>\u5728\u73b0\u5b9e\u73af\u5883\u4e2d\uff0cASAP\u7684\u7b56\u7565\u6210\u529f\u5730\u5728Unitree G1\u673a\u5668\u4eba\u4e0a\u6267\u884c\u4e86\u591a\u4e2a\u590d\u6742\u7684\u8fd0\u52a8\u4efb\u52a1\uff0c\u5982\u8df3\u8dc3\u3001\u4fa7\u8df3\u7b49\u3002\u4e0e\u5176\u4ed6\u65b9\u6cd5\uff08\u5982SysID\u548cDelta Dynamics\uff09\u76f8\u6bd4\uff0cASAP\u8868\u73b0\u51fa\u4e86\u663e\u8457\u7684\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8fd0\u52a8\u7cbe\u5ea6<\/strong>\uff1a\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\uff0cASAP\u7684\u7b56\u7565\u80fd\u591f\u6709\u6548\u51cf\u5c11\u8fd0\u52a8\u8bef\u5dee\uff0c\u786e\u4fdd\u673a\u5668\u4eba\u80fd\u591f\u7cbe\u786e\u6267\u884c\u590d\u6742\u52a8\u4f5c\u3002<\/li>\n\n\n\n<li><strong>\u9c81\u68d2\u6027<\/strong>\uff1a\u901a\u8fc7delta\u52a8\u4f5c\u6a21\u578b\u7684\u8865\u507f\uff0cASAP\u80fd\u591f\u6709\u6548\u5e94\u5bf9\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u52a8\u529b\u5b66\u5dee\u5f02\uff0c\u63d0\u5347\u7b56\u7565\u7684\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h6 class=\"wp-block-heading\">3. \u6027\u80fd\u8bc4\u4f30\u4e0e\u5bf9\u6bd4<\/h6>\n\n\n\n<p>\u4e3a\u4e86\u5168\u9762\u8bc4\u4f30ASAP\u7684\u6027\u80fd\uff0c\u672c\u6587\u5c06\u5176\u4e0e\u5176\u4ed6\u51e0\u79cd\u57fa\u7ebf\u65b9\u6cd5\u8fdb\u884c\u4e86\u5bf9\u6bd4\uff0c\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Oracle\uff08\u7406\u60f3\u60c5\u51b5\uff09<\/strong>\uff1a\u5047\u8bbe\u8bad\u7ec3\u548c\u6d4b\u8bd5\u73af\u5883\u5b8c\u5168\u4e00\u81f4\uff0c\u4f5c\u4e3a\u6027\u80fd\u7684\u4e0a\u9650\u3002<\/li>\n\n\n\n<li><strong>Vanilla\uff08\u57fa\u7840\u65b9\u6cd5\uff09<\/strong>\uff1a\u76f4\u63a5\u5728IsaacGym\u8fdb\u884c\u8bad\u7ec3\uff0c\u5e76\u8bc4\u4f30\u5176\u5728\u4e0d\u540c\u4eff\u771f\u73af\u5883\u548c\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u8868\u73b0\u3002<\/li>\n\n\n\n<li><strong>SysID\uff08\u7cfb\u7edf\u8bc6\u522b\uff09<\/strong>\uff1a\u901a\u8fc7\u5728\u4eff\u771f\u73af\u5883\u4e2d\u8bc6\u522b\u548c\u8c03\u6574\u7269\u7406\u53c2\u6570\u6765\u5f25\u8865\u52a8\u529b\u5b66\u5dee\u5f02\u3002<\/li>\n\n\n\n<li><strong>DeltaDynamics\uff08\u52a8\u6001\u6b8b\u5dee\u6a21\u578b\uff09<\/strong>\uff1a\u4f7f\u7528\u6b8b\u5dee\u52a8\u6001\u6a21\u578b\u8865\u507f\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e4b\u95f4\u7684\u5dee\u5f02\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u663e\u793a\uff0cASAP\u5728\u5404\u9879\u6307\u6807\uff08\u5982<strong>\u8fd0\u52a8\u8bef\u5dee<\/strong>\u3001<strong>\u6210\u529f\u7387<\/strong>\u3001<strong>\u8ddf\u8e2a\u7cbe\u5ea6<\/strong>\u7b49\uff09\u4e0a\u90fd\u663e\u8457\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u5c24\u5176\u662f\u5728<strong>\u4eff\u771f\u5230\u73b0\u5b9e\u7684\u8fc1\u79fb\u80fd\u529b<\/strong>\u4e0a\uff0c\u5c55\u73b0\u4e86\u8f83\u9ad8\u7684\u7075\u6d3b\u6027\u548c\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>Human2Humanoid Page: <a href=\"https:\/\/agile.human2humanoid.com\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/agile.human2humanoid.com\/<\/a><\/p>\n\n\n\n<p>ASAP on GitHub: <a href=\"https:\/\/github.com\/LeCAR-Lab\/ASAP\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/LeCAR-Lab\/ASAP<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587ASAP: Aligning Simulation and Real-World Physics 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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