{"id":6033,"date":"2025-07-02T18:37:21","date_gmt":"2025-07-02T10:37:21","guid":{"rendered":"https:\/\/nullthought.net\/?p=6033"},"modified":"2025-07-02T18:41:32","modified_gmt":"2025-07-02T10:41:32","slug":"%e5%8a%9f%e5%a4%ab%e6%9c%ba%e5%99%a8%e4%ba%bakungfubot","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=6033","title":{"rendered":"\u529f\u592b\u673a\u5668\u4ebaKungfuBot"},"content":{"rendered":"\n

\u8bba\u6587KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills<\/a><\/strong>\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u7269\u7406\u7684\u4eba\u5f62\u673a\u5668\u4eba\u63a7\u5236\u6846\u67b6\uff0c\u65e8\u5728\u901a\u8fc7\u591a\u6b65\u9aa4\u52a8\u4f5c\u5904\u7406\u548c\u81ea\u9002\u5e94\u52a8\u4f5c\u8ffd\u8e2a\uff0c\u638c\u63e1\u5982\u529f\u592b\u548c\u821e\u8e48\u7b49\u9ad8\u52a8\u6001\u7684\u4eba\u7c7b\u884c\u4e3a\u3002\u5728\u52a8\u4f5c\u5904\u7406\u65b9\u9762\uff0c\u8bba\u6587\u8bbe\u8ba1\u4e86\u4e00\u6761\u6d41\u7a0b\uff0c\u7528\u4e8e\u63d0\u53d6\u3001\u7b5b\u9009\u3001\u6821\u6b63\u5e76\u91cd\u5b9a\u5411\u52a8\u4f5c\uff0c\u540c\u65f6\u5c3d\u53ef\u80fd\u6ee1\u8db3\u7269\u7406\u7ea6\u675f\u3002\u5728\u52a8\u4f5c\u6a21\u4eff\u65b9\u9762\uff0c\u8bba\u6587\u7814\u7a76\u6784\u5efa\u4e86\u4e00\u4e2a\u53cc\u5c42\u4f18\u5316\u95ee\u9898\uff0c\u6839\u636e\u5f53\u524d\u8ffd\u8e2a\u8bef\u5dee\u52a8\u6001\u8c03\u6574\u8ffd\u8e2a\u7cbe\u5ea6\u5bb9\u5dee\uff0c\u4ece\u800c\u5f62\u6210\u81ea\u9002\u5e94\u7684\u8bad\u7ec3\u673a\u5236\u3002\u6b64\u5916\uff0c\u8bba\u6587\u8fd8\u6784\u5efa\u4e86\u4e00\u4e2a\u975e\u5bf9\u79f0\u7684actor-critic\u7ed3\u6784\u7528\u4e8e\u7b56\u7565\u8bad\u7ec3\u3002\u5b9e\u9a8c\u4e2d\uff0c\u8bad\u7ec3\u4e86\u7528\u4e8e\u6a21\u4eff\u4e00\u7ec4\u9ad8\u52a8\u6001\u52a8\u4f5c\u7684\u5168\u8eab\u63a7\u5236\u7b56\u7565\u3002\u7ed3\u679c\u663e\u793a\uff0c\u8bba\u6587\u63d0\u51fa\u7684\u65b9\u6cd5\u663e\u8457\u964d\u4f4e\u4e86\u8ffd\u8e2a\u8bef\u5dee\uff0c\u5e76\u6210\u529f\u90e8\u7f72\u5728Unitree G1\u673a\u5668\u4eba\uff08\u5b87\u6811G1\u673a\u5668\u4eba\uff09\u4e0a\uff0c\u5c55\u73b0\u51fa\u7a33\u5b9a\u4e14\u5bcc\u6709\u8868\u73b0\u529b\u7684\u52a8\u4f5c\u80fd\u529b\u3002<\/p>\n\n\n\n

\u8bba\u6587\u4f5c\u8005\u4e3aWeiji Xie, Jinrui Han, Jiakun Zheng, Huanyu Li, Xinzhe Liu, Jiyuan Shi, Weinan Zhang, Chenjia Bai, Xuelong Li\uff0c\u6765\u81eaInstitute of Artificial Intelligence (TeleAI, China Telecom, \u4e2d\u56fd\u7535\u4fe1\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\uff09\uff0cShanghai Jiao Tong University\uff08\u4e0a\u6d77\u4ea4\u5927\uff09\uff0cEast China University of Science and Technology\uff08\u534e\u4e1c\u7406\u5de5\uff09\uff0cHarbin Institute of Technology\uff08\u54c8\u5de5\u5927\uff09\uff0cShanghaiTech University\uff08\u4e0a\u6d77\u79d1\u6280\u5927\u5b66\uff09\u3002<\/p>\n\n\n\n

\u4e00\u3001\u7814\u7a76\u80cc\u666f\u4e0e\u6311\u6218<\/p>\n\n\n\n

\u4eba\u5f62\u673a\u5668\u4eba\u56e0\u5176\u7ed3\u6784\u4e0e\u4eba\u7c7b\u76f8\u4f3c\uff0c\u6709\u6f5c\u529b\u6a21\u4eff\u4eba\u7c7b\u7684\u591a\u79cd\u884c\u4e3a\uff0c\u9002\u7528\u4e8e\u591a\u6837\u5316\u7684\u4efb\u52a1\u3002\u5c3d\u7ba1\u52a8\u4f5c\u6355\u6349\uff08MoCap\uff09\u4e0e\u52a8\u4f5c\u751f\u6210\u65b9\u6cd5\u7684\u5feb\u901f\u53d1\u5c55\u50ac\u751f\u4e86\u5927\u91cf\u52a8\u4f5c\u6570\u636e\u96c6\uff0c\u4f46\u5c06\u4eba\u7c7b\u9ad8\u52a8\u6001\u52a8\u4f5c\u8fc1\u79fb\u81f3\u673a\u5668\u4eba\u4ecd\u9762\u4e34\u6311\u6218\uff0c\u4e3b\u8981\u5728\u4e8e\uff1a<\/p>\n\n\n\n

    \n
  1. \u4eba\u7c7b\u52a8\u4f5c\u5e8f\u5217\u5f80\u5f80\u4e0d\u6ee1\u8db3\u673a\u5668\u4eba\u7269\u7406\u7ea6\u675f\uff0c\u5982\u5173\u8282\u8303\u56f4\u3001\u52a8\u529b\u5b66\u3001\u8fd0\u52a8\u5b66\u7b49\u3002<\/li>\n\n\n\n
  2. \u4f7f\u7528\u5f3a\u5316\u5b66\u4e60\u76f4\u63a5\u6700\u5927\u5316\u8d1f\u8ffd\u8e2a\u8bef\u5dee\uff0c\u53ef\u80fd\u65e0\u6cd5\u5728\u89e3\u7a7a\u95f4\u4e2d\u6536\u655b\u3002<\/li>\n\n\n\n
  3. \u73b0\u6709\u65b9\u6cd5\u5927\u591a\u53ea\u80fd\u8ffd\u8e2a\u5e73\u6ed1\u3001\u4f4e\u901f\u7684\u52a8\u4f5c\uff0c\u96be\u4ee5\u5e94\u5bf9\u5982\u529f\u592b\u3001\u821e\u8e48\u7b49\u9ad8\u52a8\u6001\u4efb\u52a1\u3002<\/li>\n\n\n\n
  4. \u7c7b\u4f3cASAP<\/strong><\/a>\u7684\u65b9\u6cd5\u867d\u5f15\u5165\u6b8b\u5dee\u7b56\u7565\u6765\u5f25\u5408\u6a21\u62df\u4e0e\u73b0\u5b9e\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u4f46\u9700\u591a\u4e2a\u8bad\u7ec3\u9636\u6bb5\u548c\u771f\u5b9e\u673a\u5668\u4eba\u72b6\u6001\u8bb0\u5f55\uff0c\u4ee3\u4ef7\u9ad8\u6602\u3002<\/li>\n<\/ol>\n\n\n\n

    \u4e3a\u6b64\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u57fa\u4e8e\u7269\u7406\u7684\u4eba\u5f62\u673a\u5668\u4eba\u5168\u8eab\u63a7\u5236\u6846\u67b6 PBHC\uff08Physics-Based Humanoid motion Control\uff09\uff0c\u4ee5\u9ad8\u7cbe\u5ea6\u5730\u6a21\u4eff\u9ad8\u52a8\u6001\u4eba\u7c7b\u884c\u4e3a\uff0c\u7a81\u7834\u4e0a\u8ff0\u5c40\u9650\u3002<\/p>\n\n\n\n

    \u4e8c\u3001\u65b9\u6cd5\u6982\u8ff0\u4e0e\u7cfb\u7edf\u67b6\u6784<\/p>\n\n\n\n

    PBHC\u5206\u4e3a\u4e24\u4e2a\u4e3b\u8981\u9636\u6bb5\uff1a<\/p>\n\n\n\n

      \n
    1. \u52a8\u4f5c\u5904\u7406\u9636\u6bb5<\/strong>\uff1a\u4ece\u89c6\u9891\u4e2d\u63d0\u53d6SMPL\u683c\u5f0f\u7684\u52a8\u4f5c\uff0c\u901a\u8fc7\u7269\u7406\u6307\u6807\u7b5b\u9009\u4e0d\u53ef\u884c\u52a8\u4f5c\uff0c\u8ba1\u7b97\u63a5\u89e6\u63a9\u7801\u5e76\u8fdb\u884c\u52a8\u4f5c\u6821\u6b63\uff0c\u6700\u540e\u5229\u7528\u5dee\u5206\u9006\u8fd0\u52a8\u5b66\u5c06\u5904\u7406\u540e\u7684\u52a8\u4f5c\u91cd\u5b9a\u5411\u81f3\u673a\u5668\u4eba\u3002<\/li>\n\n\n\n
    2. \u52a8\u4f5c\u6a21\u4eff\u9636\u6bb5<\/strong>\uff1a\u901a\u8fc7\u81ea\u9002\u5e94\u8ffd\u8e2a\u673a\u5236\u52a8\u6001\u8c03\u6574\u8ffd\u8e2a\u7cbe\u5ea6\u5bb9\u5dee\uff08Tracking Factor \u03c3\uff09\uff0c\u8bbe\u8ba1\u53cc\u5c42\u4f18\u5316\u95ee\u9898\uff08Bi-level Optimization\uff09\uff0c\u5f15\u5bfc\u7b56\u7565\u5f3a\u5316\u5b66\u4e60\u8fc7\u7a0b\u4e2d\u7684\u8bef\u5dee\u6536\u655b\u3002<\/li>\n<\/ol>\n\n\n\n

      \u6574\u4e2a\u63a7\u5236\u6846\u67b6\u57fa\u4e8e\u5f02\u6784actor-critic\u7ed3\u6784\uff1aactor\u4ec5\u4f9d\u8d56\u672c\u5730\u611f\u77e5\u4fe1\u606f\uff0ccritic\u5229\u7528\u5e26\u6709\u5956\u52b1\u5411\u91cf\u5316\u548c\u7279\u6743\u4fe1\u606f\u7684\u589e\u5f3a\u72b6\u6001\u4ee5\u63d0\u9ad8\u4ef7\u503c\u4f30\u8ba1\u7cbe\u5ea6\uff0c\u5e76\u501f\u52a9PPO\u7b97\u6cd5\u5b8c\u6210\u7b56\u7565\u4f18\u5316\u3002<\/p>\n\n\n\n

      \u4e09\u3001\u591a\u6b65\u9aa4\u52a8\u4f5c\u5904\u7406\u6d41\u7a0b<\/p>\n\n\n\n

      \u672c\u6587\u8bbe\u8ba1\u7684\u52a8\u4f5c\u5904\u7406\u6d41\u7a0b\u5305\u62ec\u56db\u4e2a\u5173\u952e\u6b65\u9aa4\uff1a<\/p>\n\n\n\n

        \n
      1. \u52a8\u4f5c\u4f30\u8ba1<\/strong>\uff1a\u4f7f\u7528GVHMR\u6a21\u578b\u4ece\u5355\u76ee\u89c6\u9891\u6062\u590dSMPL\u53c2\u6570\uff0c\u5f15\u5165\u91cd\u529b\u89c6\u89d2\u5750\u6807\u7cfb\u7edf\u4ee5\u89e3\u51b3\u8eab\u4f53\u503e\u659c\u95ee\u9898\uff0c\u5e76\u7f13\u89e3\u811a\u6ed1\u73b0\u8c61\u3002<\/li>\n\n\n\n
      2. \u7269\u7406\u7ea6\u675f\u8fc7\u6ee4<\/strong>\uff1a\u57fa\u4e8e\u7a33\u5b9a\u6027\u6307\u6807\u201c\u8d28\u5fc3-\u538b\u529b\u4e2d\u5fc3\u6295\u5f71\u8ddd\u79bb\u201d\u7b5b\u9009\u52a8\u4f5c\uff0c\u8bbe\u5b9a\u7a33\u5b9a\u9608\u503c\u4e0e\u6700\u5927\u4e0d\u7a33\u5b9a\u5e27\u6570\u9650\u5236\uff0c\u8fc7\u6ee4\u6389\u65e0\u6cd5\u5b9e\u73b0\u7a33\u5b9a\u652f\u6491\u7684\u52a8\u4f5c\u3002<\/li>\n\n\n\n
      3. \u63a5\u89e6\u63a9\u7801\u6821\u6b63<\/strong>\uff1a\u901a\u8fc7\u811a\u8e1d\u5728\u8fde\u7eed\u5e27\u7684\u96f6\u901f\u5ea6\u5047\u8bbe\u4f30\u8ba1\u63a5\u89e6\u533a\u57df\uff0c\u5728\u63a5\u89e6\u5e27\u5e94\u7528\u5782\u76f4\u504f\u79fb\u4ee5\u6d88\u9664\u60ac\u6d6e\u4f2a\u5f71\uff0c\u5e76\u4f7f\u7528EMA\u5e73\u6ed1\u5904\u7406\u540e\u5e26\u6765\u7684\u6296\u52a8\u3002<\/li>\n\n\n\n
      4. \u52a8\u4f5c\u91cd\u5b9a\u5411<\/strong>\uff1a\u57fa\u4e8e\u5dee\u5206\u9006\u8fd0\u52a8\u5b66\u65b9\u6cd5\u5c06SMPL\u52a8\u4f5c\u91cd\u5b9a\u5411\u81f3G1\u673a\u5668\u4eba\uff0c\u540c\u65f6\u4eceAMASS\u4e0eLAFAN\u4e2d\u5f15\u5165\u66f4\u591a\u5f00\u6e90\u6570\u636e\u4e30\u5bcc\u8bad\u7ec3\u6837\u672c\u3002<\/li>\n<\/ol>\n\n\n\n

        \u56db\u3001\u81ea\u9002\u5e94\u52a8\u4f5c\u8ffd\u8e2a\u673a\u5236<\/p>\n\n\n\n

        PBHC\u4e2d\u5f15\u5165\u4e86\u6307\u6570\u5f62\u5f0f\u5956\u52b1\u51fd\u6570\uff1a
        r(x)=exp\u2061(\u2212x\/\u03c3)
        \u5176\u4e2d x \u4e3a\u8ffd\u8e2a\u8bef\u5dee\uff0c\u03c3\u4e3a\u63a7\u5236\u5176\u5bb9\u5fcd\u5ea6\u7684Tracking Factor\u3002\u76f8\u6bd4\u8d1f\u8bef\u5dee\u5f62\u5f0f\uff0c\u8be5\u65b9\u5f0f\u6709\u754c\u3001\u8bad\u7ec3\u66f4\u7a33\u5b9a\u4e14\u5bf9\u4e0d\u540c\u8bef\u5dee\u533a\u95f4\u66f4\u5177\u54cd\u5e94\u6027\u3002<\/p>\n\n\n\n

        \u901a\u8fc7\u7406\u8bba\u63a8\u5bfc\uff0c\u8bba\u6587\u63d0\u51fa\u6700\u4f18\u8ffd\u8e2a\u56e0\u5b50\u5e94\u4e3a\u6700\u4f18\u8ffd\u8e2a\u8bef\u5dee\u5e8f\u5217\u7684\u5e73\u5747\u503c\u3002\u4e3a\u89e3\u51b3\u03c3\u4e0ex\u95f4\u7684\u5faa\u73af\u4f9d\u8d56\uff0c\u8bbe\u8ba1\u4e86\u5982\u4e0b\u5728\u7ebf\u81ea\u9002\u5e94\u673a\u5236\uff1a<\/p>\n\n\n\n

          \n
        1. \u7528EMA\u4f30\u8ba1\u5f53\u524d\u7b56\u7565\u4e0b\u7684\u5e73\u5747\u8ffd\u8e2a\u8bef\u5dee\u3002<\/li>\n\n\n\n
        2. \u03c3 \u2190 min(\u03c3, x\u0302)\uff0c\u5373\u4f7f\u03c3\u5355\u8c03\u6536\u655b\u3002<\/li>\n\n\n\n
        3. \u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u03c3\u4e0d\u65ad\u6536\u7d27\uff0c\u63d0\u5347\u7cbe\u5ea6\uff0c\u6700\u7ec8\u5b9e\u73b0\u8bef\u5dee\u6536\u655b\u3002<\/li>\n<\/ol>\n\n\n\n

          \u5b9e\u9a8c\u8bc1\u660e\u8be5\u95ed\u73af\u673a\u5236\u4f7f\u7b56\u7565\u9010\u6b65\u63d0\u9ad8\u7cbe\u5ea6\uff0c\u9002\u5e94\u4e0d\u540c\u96be\u5ea6\u7684\u52a8\u4f5c\u3002<\/p>\n\n\n\n

          \u4e94\u3001\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u6846\u67b6\u8bbe\u8ba1<\/p>\n\n\n\n

            \n
          1. \u5f02\u6784Actor-Critic\u7ed3\u6784<\/strong>\uff1aActor\u4f7f\u7528\u81ea\u8eab\u72b6\u6001\u4e0e\u65f6\u95f4\u8fdb\u5ea6\u53d8\u91cf\uff08\u03d5t\uff09\uff0cCritic\u589e\u52a0\u53c2\u8003\u72b6\u6001\u3001\u968f\u673a\u7269\u7406\u53c2\u6570\u7b49\u4e30\u5bcc\u4fe1\u606f\u3002<\/li>\n\n\n\n
          2. \u5956\u52b1\u5411\u91cf\u5316<\/strong>\uff1a\u5c06\u591a\u4e2a\u5956\u52b1\u9879\u5411\u91cf\u5316\uff0c\u6bcf\u4e2a\u5206\u91cf\u72ec\u7acb\u5bf9\u5e94\u4e00\u4e2a\u4ef7\u503c\u51fd\u6570\uff0c\u6700\u7ec8\u6c47\u603b\u7528\u4e8e\u8ba1\u7b97\u4f18\u52bf\u503c\uff0c\u6709\u52a9\u4e8e\u7a33\u5b9a\u5b66\u4e60\u4e0e\u7cbe\u786e\u4f30\u503c\u3002<\/li>\n\n\n\n
          3. \u53c2\u8003\u72b6\u6001\u521d\u59cb\u5316\uff08RSI\uff09<\/strong>\uff1a\u4ece\u53c2\u8003\u52a8\u4f5c\u4e0d\u540c\u65f6\u95f4\u6bb5\u521d\u59cb\u5316\u673a\u5668\u4eba\u72b6\u6001\uff0c\u63d0\u5347\u8bad\u7ec3\u6548\u7387\u3002<\/li>\n\n\n\n
          4. Sim-to-Real\u8fc1\u79fb<\/strong>\uff1a\u91c7\u7528\u9886\u57df\u968f\u673a\u5316\u7b56\u7565\uff0c\u5305\u62ec\u968f\u673a\u6469\u64e6\u3001\u8d28\u91cf\u3001\u521a\u5ea6\u3001\u63a7\u5236\u5ef6\u8fdf\u7b49\uff0c\u8bad\u7ec3\u540e\u76f4\u63a5\u90e8\u7f72\u5230\u771f\u5b9e\u673a\u5668\u4eba\uff0c\u5b9e\u73b0\u96f6\u5fae\u8c03\u90e8\u7f72\u3002<\/li>\n<\/ol>\n\n\n\n

            \u516d\u3001\u5b9e\u9a8c\u7ed3\u679c\u4e0e\u9a8c\u8bc1<\/p>\n\n\n\n

              \n
            1. Q1 \u2013 \u7269\u7406\u8fc7\u6ee4\u6709\u6548\u6027<\/strong>\uff1a10\u4e2a\u52a8\u4f5c\u4e2d\uff0c4\u4e2a\u88ab\u8fc7\u6ee4\uff0c\u5176\u4f596\u4e2a\u901a\u8fc7\u3002\u8ba1\u7b97ELR\uff08Episode Length Ratio\uff09\u663e\u793a\u88ab\u8fc7\u6ee4\u52a8\u4f5c\u96be\u4ee5\u5b8c\u6210\uff0c\u9a8c\u8bc1\u4e86\u7269\u7406\u8fc7\u6ee4\u7684\u5fc5\u8981\u6027\u3002<\/li>\n\n\n\n
            2. Q2 \u2013 \u6a21\u62df\u8ffd\u8e2a\u7cbe\u5ea6<\/strong>\uff1aPBHC\u5728\u591a\u4e2a\u6307\u6807\u4e0a\u5168\u9762\u4f18\u4e8eOmniH2O\u3001ExBody2\u7b49baseline\uff0c\u751a\u81f3\u63a5\u8fd1Oracle\u7ea7\u522b\u7684MaskedMimic\u3002<\/li>\n\n\n\n
            3. Q3 \u2013 \u81ea\u9002\u5e94\u673a\u5236\u4f18\u52bf<\/strong>\uff1a\u4e0e\u56fa\u5b9a\u03c3\u5bf9\u6bd4\uff0c\u81ea\u9002\u5e94\u673a\u5236\u5728\u6240\u6709\u52a8\u4f5c\u7c7b\u578b\u4e0a\u5747\u8868\u73b0\u7a33\u5b9a\u4e14\u4f18\u8d8a\uff0c\u9a8c\u8bc1\u4e86\u8be5\u673a\u5236\u5728\u9ad8\u52a8\u6001\u4efb\u52a1\u4e2d\u7684\u901a\u7528\u6027\u3002<\/li>\n\n\n\n
            4. Q4 \u2013 \u5b9e\u673a\u90e8\u7f72\u8868\u73b0<\/strong>\uff1a\u673a\u5668\u4eba\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u5b8c\u6210\u5305\u62ec\u9a6c\u6b65\u51b2\u62f3\u3001\u8df3\u8e22\u3001360\u5ea6\u65cb\u8f6c\u3001\u592a\u6781\u7b49\u590d\u6742\u6280\u80fd\u3002\u5bf9\u6bd4\u4eff\u771f\u4e0e\u73b0\u5b9e\u4e0b\u7684\u8bef\u5dee\u6307\u6807\u663e\u793a\uff0c\u6a21\u62df\u4e0e\u73b0\u5b9e\u6027\u80fd\u9ad8\u5ea6\u4e00\u81f4\uff0c\u9a8c\u8bc1\u4e86\u5176\u4f18\u79c0\u7684Sim-to-Real\u80fd\u529b\u3002<\/li>\n<\/ol>\n\n\n\n

              \u4e03\u3001\u4e3b\u8981\u8d21\u732e\u4e0e\u5c40\u9650\u6027<\/p>\n\n\n\n

              \u8d21\u732e<\/strong>\uff1a<\/p>\n\n\n\n

                \n
              1. \u63d0\u51faPBHC\u6846\u67b6\uff0c\u5b9e\u73b0\u9ad8\u52a8\u6001\u4eba\u5f62\u52a8\u4f5c\u5b66\u4e60\u3002<\/li>\n\n\n\n
              2. \u8bbe\u8ba1\u9ad8\u6548\u52a8\u4f5c\u5904\u7406\u6d41\u7a0b\uff0c\u7269\u7406\u8fc7\u6ee4\u4e0e\u6821\u6b63\u4fdd\u8bc1\u53ef\u6267\u884c\u6027\u3002<\/li>\n\n\n\n
              3. \u521b\u65b0\u6027\u63d0\u51fa\u81ea\u9002\u5e94\u8ffd\u8e2a\u5956\u52b1\u673a\u5236\uff0c\u6709\u6548\u964d\u4f4e\u8ffd\u8e2a\u8bef\u5dee\u3002<\/li>\n\n\n\n
              4. \u6210\u529f\u5b9e\u73b0\u7b56\u7565\u7684\u96f6\u5fae\u8c03\u90e8\u7f72\uff0c\u771f\u5b9e\u73af\u5883\u8868\u73b0\u4f18\u5f02\u3002<\/li>\n<\/ol>\n\n\n\n

                \u5c40\u9650\u6027<\/strong>\uff1a<\/p>\n\n\n\n

                  \n
                1. \u5f53\u524d\u7cfb\u7edf\u7f3a\u4e4f\u73af\u5883\u611f\u77e5\uff0c\u4e0d\u80fd\u9002\u5e94\u590d\u6742\u5730\u5f62\u6216\u907f\u969c\u4efb\u52a1\u3002<\/li>\n\n\n\n
                2. \u6bcf\u4e2a\u7b56\u7565\u53ea\u80fd\u6a21\u4eff\u5355\u4e00\u52a8\u4f5c\uff0c\u96be\u4ee5\u9ad8\u6548\u6cdb\u5316\u591a\u6837\u52a8\u4f5c\u5e93\u3002<\/li>\n<\/ol>\n\n\n\n
                  \n\n\n\n

                  KungfuBot on GitHub: https:\/\/kungfu-bot.github.io\/<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

                  \u8bba\u6587KungfuBot: Physics-Based Humanoid Whole-Body Control […]<\/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 center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[8],"tags":[39,61,71],"class_list":["post-6033","post","type-post","status-publish","format-standard","hentry","category-tech","tag-ai","tag-61","tag-physics"],"rttpg_featured_image_url":null,"rttpg_author":{"display_name":"NullThought","author_link":"https:\/\/nullthought.net\/?author=1"},"rttpg_comment":0,"rttpg_category":"Tech<\/a>","rttpg_excerpt":"\u8bba\u6587KungfuBot: Physics-Based Humanoid Whole-Body Control …","_links":{"self":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/6033","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=6033"}],"version-history":[{"count":3,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/6033\/revisions"}],"predecessor-version":[{"id":6037,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/6033\/revisions\/6037"}],"wp:attachment":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6033"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=6033"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6033"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}