{"id":5946,"date":"2025-05-21T15:29:02","date_gmt":"2025-05-21T07:29:02","guid":{"rendered":"https:\/\/nullthought.net\/?p=5946"},"modified":"2025-05-21T15:29:03","modified_gmt":"2025-05-21T07:29:03","slug":"dreamgen%ef%bc%9a%e5%88%a9%e7%94%a8%e7%a5%9e%e7%bb%8f%e8%bd%a8%e8%bf%b9%ef%bc%88neural-trajectories%ef%bc%89%e7%94%9f%e6%88%90%e5%90%88%e6%88%90%e6%95%b0%e6%8d%ae%ef%bc%8c%e5%8a%a9%e5%8a%9b%e6%9c%ba","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=5946","title":{"rendered":"DreamGen\uff1a\u5229\u7528\u795e\u7ecf\u8f68\u8ff9\uff08Neural Trajectories\uff09\u751f\u6210\u5408\u6210\u6570\u636e\uff0c\u52a9\u529b\u673a\u5668\u4eba\u5b66\u4e60\u7684\u6570\u636e\u83b7\u53d6\u4e0e\u6a21\u578b\u6cdb\u5316"},"content":{"rendered":"\n

\u8bba\u6587DreamGen: Unlocking Generalization in Robot Learning through Neural Trajectories<\/a><\/strong>\u63d0\u51fa\u4e86DREAMGEN\u8fd9\u4e00\u5229\u7528\u795e\u7ecf\u8f68\u8ff9\uff08Neural Trajectories\uff09\u751f\u6210\u5408\u6210\u6570\u636e<\/a>\u7684\u901a\u7528\u65b9\u6cd5\uff0c\u663e\u8457\u7f13\u89e3\u4e86\u673a\u5668\u4eba\u5b66\u4e60\u5728\u6570\u636e\u83b7\u53d6\u4e0e\u6cdb\u5316\u65b9\u9762\u7684\u6311\u6218\uff0c\u5c55\u793a\u4e86\u5728\u591a\u4e2a\u673a\u5668\u4eba\u5e73\u53f0\u3001\u591a\u4e2a\u4efb\u52a1\u4e0e\u73af\u5883\u4e2d\u5f3a\u5927\u7684\u901a\u7528\u6027\uff0c\u4e3a\u673a\u5668\u4eba\u901a\u7528\u667a\u80fd\u7cfb\u7edf\u7684\u6784\u5efa\u63d0\u4f9b\u4e86\u5168\u65b0\u8def\u5f84\u3002<\/p>\n\n\n\n

\u8bba\u6587\u4f5c\u8005\u4e3aJoel Jang, Seonghyeon Ye, Zongyu Lin, Jiannan Xiang, Johan Bjorck, Yu Fang, Fengyuan Hu, Spencer Huang, Kaushil Kundalia, Yen-Chen Lin, Loic Magne, Ajay Mandlekar, Avnish Narayan, You Liang Tan, Guanzhi Wang, Jing Wang, Qi Wang, Yinzhen Xu, Xiaohui Zeng, Kaiyuan Zheng, Ruijie Zheng, Ming-Yu Liu, Luke Zettlemoyer, Dieter Fox, Jan Kautz, Scott Reed, Yuke Zhu, Linxi Fan\uff0c\u6765\u81eaNVIDIA, University of Washington, KAIST, UCLA, UCSD, CalTech, NTU, University of Maryland\u548cUT Austin\u7b49\u591a\u5bb6\u673a\u6784\u3002<\/p>\n\n\n\n

\"\"
DreamGen: Unlocking Generalization in Robot Learning through Neural Trajectories<\/a><\/strong><\/figcaption><\/figure>\n\n\n\n

\u4e00\u3001\u7814\u7a76\u80cc\u666f\u4e0e\u52a8\u673a
\u5f53\u524d\u901a\u7528\u578b\u673a\u5668\u4eba\u5b66\u4e60\u4e3b\u8981\u4f9d\u8d56\u5927\u89c4\u6a21\u4eba\u5de5\u9065\u64cd\u4f5c\u6f14\u793a\u6570\u636e\uff0c\u867d\u7136\u5728\u771f\u5b9e\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u8fd9\u79cd\u6570\u636e\u6536\u96c6\u65b9\u5f0f\u6210\u672c\u9ad8\u6602\u4e14\u6548\u7387\u4f4e\u3002\u867d\u7136\u5408\u6210\u6570\u636e\u6a21\u62df\u662f\u4e00\u79cd\u66ff\u4ee3\u65b9\u6848\uff0c\u4f46\u5b58\u5728\u5de5\u7a0b\u5f00\u9500\u5927\u3001\u7269\u7406\u771f\u5b9e\u6027\u5dee\u3001\u4ee5\u53ca\u4eff\u771f\u5230\u73b0\u5b9e\uff08sim2real\uff09\u8fc1\u79fb\u56f0\u96be\u7b49\u95ee\u9898\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u74f6\u9888\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u521b\u65b0\u7684\u8bad\u7ec3\u6570\u636e\u751f\u6210\u7ba1\u9053\u2014\u2014DREAMGEN\u3002\u5b83\u57fa\u4e8e\u6700\u65b0\u7684\u89c6\u9891\u4e16\u754c\u6a21\u578b\uff0c\u5c06\u89c6\u9891\u751f\u6210\u4e0e\u4f2a\u52a8\u4f5c\u6807\u6ce8\u7ed3\u5408\u8d77\u6765\uff0c\u4ece\u800c\u5927\u89c4\u6a21\u5408\u6210\u5177\u5907\u7269\u7406\u5408\u7406\u6027\u4e0e\u8bed\u8a00\u6307\u5bfc\u80fd\u529b\u7684\u8bad\u7ec3\u6570\u636e\uff0c\u5927\u5e45\u964d\u4f4e\u5bf9\u4eba\u5de5\u9065\u64cd\u4f5c\u6570\u636e\u7684\u4f9d\u8d56\u3002<\/p>\n\n\n\n

\u4e8c\u3001DREAMGEN\u7cfb\u7edf\u6d41\u7a0b\u4e0e\u6838\u5fc3\u601d\u60f3
DREAMGEN\u5305\u62ec\u56db\u4e2a\u6838\u5fc3\u6b65\u9aa4\uff1a\uff081\uff09\u5bf9\u89c6\u9891\u4e16\u754c\u6a21\u578b\u8fdb\u884c\u5fae\u8c03\uff0c\u4f7f\u5176\u80fd\u591f\u7406\u89e3\u76ee\u6807\u673a\u5668\u4eba\u7684\u7269\u7406\u5c5e\u6027\u4e0e\u52a8\u4f5c\u7279\u6027\uff1b\uff082\uff09\u4f7f\u7528\u521d\u59cb\u56fe\u50cf\u5e27\u4e0e\u8bed\u8a00\u6307\u4ee4\u751f\u6210\u5408\u6210\u89c6\u9891\uff1b\uff083\uff09\u5bf9\u89c6\u9891\u5e8f\u5217\u63d0\u53d6\u4f2a\u52a8\u4f5c\uff0c\u5f62\u6210\u6240\u8c13\u201c\u795e\u7ecf\u8f68\u8ff9\u201d\uff1b\uff084\uff09\u7528\u8fd9\u4e9b\u795e\u7ecf\u8f68\u8ff9\u8bad\u7ec3\u89c6\u89c9-\u8fd0\u52a8\u7b56\u7565\u6a21\u578b\u3002\u89c6\u9891\u751f\u6210\u4f7f\u7528\u5982WAN2.1\u7b49\u5148\u8fdb\u7684\u6587\u672c\u5230\u89c6\u9891\u6a21\u578b\uff0c\u901a\u8fc7\u5fae\u8c03\u9002\u5e94\u673a\u5668\u4eba\u7684\u52a8\u4f5c\u7ed3\u6784\uff0c\u800c\u52a8\u4f5c\u63d0\u53d6\u5219\u901a\u8fc7\u4e24\u79cd\u65b9\u6cd5\u5b9e\u73b0\uff1a\u4e00\u662f\u4f7f\u7528\u9006\u52a8\u529b\u5b66\u6a21\u578b\uff08IDM\uff09\uff0c\u4e8c\u662f\u91c7\u7528\u9690\u7a7a\u95f4\u52a8\u4f5c\u6a21\u578b\uff08LAPA\uff09\u3002\u6700\u7ec8\u5f97\u5230\u7684\u795e\u7ecf\u8f68\u8ff9\u53ef\u7528\u4e8e\u5355\u72ec\u8bad\u7ec3\u6216\u4e0e\u771f\u5b9e\u6f14\u793a\u6570\u636e\u534f\u540c\u8bad\u7ec3\u7b56\u7565\u6a21\u578b\u3002<\/p>\n\n\n\n

\u4e09\u3001\u5408\u6210\u6570\u636e\u589e\u5f3a\u5b9e\u9a8c\u5206\u6790
\u5728RoboCasa\u6a21\u62df\u73af\u5883\u4e2d\uff0c\u4f5c\u8005\u5c06\u795e\u7ecf\u8f68\u8ff9\u6570\u91cf\u6269\u5927\u5230\u539f\u59cb\u4eba\u7c7b\u6f14\u793a\u6570\u636e\u7684333\u500d\uff0c\u5e76\u7cfb\u7edf\u6027\u5730\u6bd4\u8f83\u4e86\u4e0d\u540c\u6570\u636e\u91cf\u4e0b\u7684\u7b56\u7565\u6027\u80fd\u8868\u73b0\u3002\u5b9e\u9a8c\u663e\u793a\uff0c\u795e\u7ecf\u8f68\u8ff9\u6570\u91cf\u4e0e\u7b56\u7565\u6210\u529f\u7387\u5448\u5bf9\u6570\u7ebf\u6027\u589e\u957f\u5173\u7cfb\uff0c\u4e14\u5373\u4fbf\u5b8c\u5168\u4e0d\u4f7f\u7528\u771f\u5b9e\u6f14\u793a\uff0c\u4ec5\u7528IDM\u4f2a\u6807\u6ce8\u7684\u795e\u7ecf\u8f68\u8ff9\u8bad\u7ec3\u7b56\u7565\uff0c\u4e5f\u53ef\u8fbe\u5230\u975e\u96f6\u7684\u6210\u529f\u7387\uff08\u7ea620.6%\uff09\u3002\u5728\u771f\u5b9e\u73af\u5883\u4e2d\uff0c\u4f5c\u8005\u5728GR1\u4eba\u5f62\u673a\u5668\u4eba\u3001Franka\u673a\u68b0\u81c2\u4e0eSO-100\u4f4e\u6210\u672c\u673a\u68b0\u81c2\u4e0a\u6d4b\u8bd5\u4e86\u4e5d\u79cd\u4e0d\u540c\u4efb\u52a1\uff0c\u5982\u53e0\u6bdb\u5dfe\u3001\u7528\u9524\u5b50\u6572\u6253\u3001\u8200\u53d6M&M\u7cd6\u679c\u7b49\uff0c\u663e\u793a\u51fa\u795e\u7ecf\u8f68\u8ff9\u5bf9\u771f\u5b9e\u7b56\u7565\u8bad\u7ec3\u6709\u663e\u8457\u63d0\u5347\u4f5c\u7528\u3002\u4f8b\u5982GR1\u5728\u56db\u9879\u4efb\u52a1\u4e2d\u7684\u5e73\u5747\u6210\u529f\u7387\u753137%\u63d0\u9ad8\u81f346.4%\uff0cFranka\u753123%\u63d0\u5347\u81f337%\uff0cSO-100\u753121%\u63d0\u5347\u81f345.5%\u3002<\/p>\n\n\n\n

\u56db\u3001\u884c\u4e3a\u4e0e\u73af\u5883\u6cdb\u5316\u80fd\u529b\u9a8c\u8bc1
\u884c\u4e3a\u6cdb\u5316\u65b9\u9762\uff0c\u4ec5\u57fa\u4e8e\u201c\u53d6\u653e\uff08pick-and-place\uff09\u201d\u7684\u9065\u64cd\u4f5c\u6570\u636e\uff0cDREAMGEN\u4fbf\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u5b8c\u621022\u9879\u4ece\u672a\u6f14\u793a\u8fc7\u7684\u65b0\u884c\u4e3a\u4efb\u52a1\uff0c\u5982\u5012\u6c34\u3001\u70b9\u71c3\u8721\u70db\u3001\u4f7f\u7528\u5438\u5c18\u5668\u3001\u71a8\u8863\u670d\u7b49\u3002\u5728\u201c\u5df2\u77e5\u73af\u5883+\u65b0\u884c\u4e3a\u201d\u6d4b\u8bd5\u4e2d\uff0c\u4f7f\u7528DREAMGEN\u8bad\u7ec3\u7684\u7b56\u7565\u5e73\u5747\u6210\u529f\u7387\u8fbe43.2%\uff0c\u800c\u57fa\u7ebf\u6a21\u578b\u4e3a11.2%\u3002
\u73af\u5883\u6cdb\u5316\u65b9\u9762\uff0c\u4f5c\u8005\u4ec5\u7528\u4e00\u4e2a\u5b9e\u9a8c\u5ba4\u73af\u5883\u4e0b\u7684\u6f14\u793a\u6570\u636e\u5fae\u8c03\u89c6\u9891\u6a21\u578b\uff0c\u5728\u6ca1\u6709\u989d\u5916\u9065\u64cd\u4f5c\u6570\u636e\u7684\u60c5\u51b5\u4e0b\uff0c\u4ec5\u901a\u8fc7\u521d\u59cb\u56fe\u50cf\u5e27\u751f\u6210\u5e76\u8bad\u7ec3\u7b56\u7565\uff0c\u4fbf\u5b9e\u73b0\u4e86\u5bf9\u5341\u79cd\u5168\u65b0\u73af\u5883\u7684\u8fc1\u79fb\u3002\u5728\u201c\u65b0\u73af\u5883+\u65b0\u884c\u4e3a\u201d\u4efb\u52a1\u4e2d\uff0c\u5e73\u5747\u6210\u529f\u7387\u4e3a28.5%\uff0c\u800c\u57fa\u7ebf\u6a21\u578b\u5b8c\u5168\u4e3a0%\u3002\u8fd9\u4ee3\u8868\u4e86\u771f\u6b63\u610f\u4e49\u4e0a\u7684\u201czero-to-one\u201d\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n

\u4e94\u3001DreamGen Bench\u57fa\u51c6\u6784\u5efa\u4e0e\u8bc4\u4ef7\u4f53\u7cfb
\u4e3a\u7cfb\u7edf\u6027\u8bc4\u4f30\u89c6\u9891\u4e16\u754c\u6a21\u578b\u9002\u5e94\u673a\u5668\u4eba\u4efb\u52a1\u7684\u80fd\u529b\uff0c\u4f5c\u8005\u6784\u5efa\u4e86DreamGen Bench\u8bc4\u6d4b\u7cfb\u7edf\uff0c\u4e3b\u8981\u4ece\u4e24\u4e2a\u7ef4\u5ea6\u8bc4\u4f30\uff1a\u6307\u4ee4\u9075\u5faa\u5ea6\uff08Instruction Following, IF\uff09\u4e0e\u7269\u7406\u5408\u7406\u6027\uff08Physics Alignment, PA\uff09\u3002\u91c7\u7528\u5305\u62ecGPT-4o\u3001Qwen2.5-VL\u548c\u4eba\u5de5\u8bc4\u5ba1\u5728\u5185\u7684\u591a\u79cd\u65b9\u5f0f\u8fdb\u884c\u8bc4\u5206\u3002\u7ed3\u679c\u663e\u793a\uff0c\u5fae\u8c03\u540e\u7684Cosmos\u4e0eWAN2.1\u6a21\u578b\u5728\u5404\u9879\u8bc4\u4f30\u4e2d\u8868\u73b0\u6700\u4f73\u3002\u5c24\u5176\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0cDreamGen Bench\u5f97\u5206\u4e0e\u5b9e\u9645\u7b56\u7565\u5728RoboCasa\u4efb\u52a1\u4e2d\u7684\u6210\u529f\u7387\u9ad8\u5ea6\u6b63\u76f8\u5173\uff0c\u8fd9\u8bf4\u660e\u89c6\u9891\u6a21\u578b\u7684\u8868\u8fbe\u80fd\u529b\u76f4\u63a5\u5f71\u54cd\u4e0b\u6e38\u7b56\u7565\u6027\u80fd\u3002<\/p>\n\n\n\n

\u516d\u3001\u65b9\u6cd5\u4f18\u52bf\u4e0e\u5b9e\u7528\u6027
DREAMGEN\u6700\u5927\u4f18\u52bf\u5728\u4e8e\u5176\u53ef\u6269\u5c55\u6027\u548c\u4f4e\u4eba\u5de5\u4f9d\u8d56\u3002\u901a\u8fc7\u89c6\u9891\u6a21\u578b\u4e0e\u4f2a\u52a8\u4f5c\u6a21\u578b\u5206\u79bb\u8bbe\u8ba1\uff0c\u4e0d\u4f9d\u8d56\u5728\u7ebf\u5b9e\u65f6\u751f\u6210\uff0c\u517c\u5bb9\u591a\u79cd\u673a\u5668\u4eba\u5f62\u6001\u4e0e\u4efb\u52a1\u573a\u666f\u3002\u4e0e\u4f20\u7edf\u4f9d\u8d56\u771f\u5b9e\u9065\u64cd\u4f5c\u6570\u636e\u7684\u6a21\u4eff\u5b66\u4e60\u65b9\u5f0f\u76f8\u6bd4\uff0c\u5176\u5408\u6210\u6570\u636e\u751f\u6210\u7684\u6210\u672c\u4f4e\u3001\u6269\u5c55\u5feb\uff0c\u9002\u5408\u6784\u5efa\u89c4\u6a21\u5316\u673a\u5668\u4eba\u5b66\u4e60\u4f53\u7cfb\u3002<\/p>\n\n\n\n

\u4e03\u3001\u7814\u7a76\u9650\u5236\u4e0e\u672a\u6765\u65b9\u5411
\u5f53\u524d\u5de5\u4f5c\u4ecd\u6709\u51e0\u70b9\u9650\u5236\uff1a\uff081\uff09DREAMGEN\u4f9d\u8d56\u4e00\u5b9a\u7b97\u529b\u8d44\u6e90\uff0c\u4f8b\u5982\u751f\u621024\u4e07\u4e2a\u795e\u7ecf\u8f68\u8ff9\u8017\u65f6\u8fbe54\u5c0f\u65f6\uff0c\u4f7f\u75281500\u5f20NVIDIA L40 GPU\uff1b\uff082\uff09\u521d\u59cb\u5e27\u9700\u4eba\u5de5\u63d0\u4f9b\uff0c\u5c1a\u65e0\u6cd5\u5b8c\u5168\u81ea\u52a8\u5316\uff1b\uff083\uff09\u76ee\u524d\u4efb\u52a1\u76f8\u5bf9\u7b80\u5355\uff0c\u672a\u80fd\u8986\u76d6\u5168\u90e8\u673a\u5668\u4eba\u52a8\u4f5c\u80fd\u529b\uff1b\uff084\uff09\u81ea\u52a8\u8bc4\u4ef7\u6307\u6807\uff08\u5982\u89c6\u9891\u7269\u7406\u771f\u5b9e\u6027\uff09\u4ecd\u6709\u5e7b\u89c9\u95ee\u9898\u3002\u672a\u6765\u53ef\u4ece\u63d0\u5347\u89c6\u9891\u6a21\u578b\u7269\u7406\u5efa\u6a21\u80fd\u529b\u3001\u81ea\u52a8\u91c7\u96c6\u521d\u59cb\u5e27\u3001\u652f\u6301\u66f4\u590d\u6742\u4efb\u52a1\u3001\u4ee5\u53ca\u8054\u5408\u8bad\u7ec3IDM\u548c\u7b56\u7565\u7b49\u65b9\u5411\u7ee7\u7eed\u63a8\u8fdb\u3002<\/p>\n\n\n\n

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DREAMGEN\uff1ahttps:\/\/research.nvidia.com\/labs\/gear\/dreamgen<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

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