{"id":6679,"date":"2025-12-30T10:13:00","date_gmt":"2025-12-30T02:13:00","guid":{"rendered":"https:\/\/nullthought.net\/?p=6679"},"modified":"2025-12-30T10:47:12","modified_gmt":"2025-12-30T02:47:12","slug":"viral%ef%bc%9a%e5%ae%9e%e7%8e%b0%e5%ae%8c%e5%85%a8%e5%9c%a8%e4%bb%bf%e7%9c%9f%e4%b8%ad%e5%ad%a6%e4%bc%9a%e7%b1%bb%e4%ba%ba%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%a7%bb%e5%8a%a8%e6%93%8d%e4%bd%9c%e6%8a%80","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=6679","title":{"rendered":"VIRAL\uff1a\u5b9e\u73b0\u5b8c\u5168\u5728\u4eff\u771f\u4e2d\u5b66\u4f1a\u7c7b\u4eba\u673a\u5668\u4eba\u79fb\u52a8\u64cd\u4f5c\u6280\u80fd\uff0c\u5e76\u4e14\u65e0\u9700\u771f\u5b9e\u4e16\u754c\u5fae\u8c03\u5c31\u80fd\u76f4\u63a5\u90e8\u7f72\u5230\u771f\u673a\uff08\u96f6\u6837\u672c sim-to-real\uff09"},"content":{"rendered":"\n<p>\u8bba\u6587 <strong><a href=\"https:\/\/arxiv.org\/abs\/2511.15200\" target=\"_blank\" rel=\"noreferrer noopener\">VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation<\/a><\/strong> \u5173\u6ce8\u4e00\u4e2a\u73b0\u5b9e\u74f6\u9888\uff1a<strong>\u7c7b\u4eba\u673a\u5668\u4eba\u5f88\u96be\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u957f\u671f\u3001\u7a33\u5b9a\u5730\u5b8c\u6210\u201c\u8fb9\u8d70\u8fb9\u5e72\u6d3b\u201d\u7684\u81ea\u4e3b\u4efb\u52a1<\/strong>\u3002\u8fd9\u91cc\u7684\u201c\u8fb9\u8d70\u8fb9\u5e72\u6d3b\u201d\u6307\u673a\u5668\u4eba\u9700\u8981\u5728\u79fb\u52a8\u8fc7\u7a0b\u4e2d\u5b8c\u6210\u6293\u53d6\u3001\u653e\u7f6e\u3001\u642c\u8fd0\u3001\u8f6c\u8eab\u7b49\u64cd\u4f5c\uff0c\u5e76\u4e14\u4f9d\u8d56\u673a\u8f7d\u89c6\u89c9\u4f20\u611f\u5668\u5728\u73af\u5883\u4e2d\u505a\u5224\u65ad\u3002\u73b0\u6709\u7cfb\u7edf\u5f80\u5f80\u8981\u4e48\u53ea\u64c5\u957f\u201c\u76f2\u8d70\u8def\u201d\u3001\u8981\u4e48\u53ea\u505a\u201c\u56fa\u5b9a\u684c\u9762\u64cd\u4f5c\u201d\uff0c\u8981\u4e48\u9ad8\u5ea6\u4f9d\u8d56\u4eba\u7c7b\u9065\u64cd\u4f5c\u4e0e\u5916\u90e8\u4f20\u611f\u5668\uff0c\u56e0\u6b64\u79bb\u771f\u6b63\u53ef\u7528\u7684\u81ea\u4e3b\u751f\u4ea7\u529b\u8fd8\u6709\u8ddd\u79bb\u3002 <\/p>\n\n\n\n<p>\u8bba\u6587\u4f5c\u8005\u4e3aTairan He, Zi Wang, Haoru Xue, Qingwei Ben, Zhengyi Luo, Wenli Xiao, Ye Yuan, Xingye Da, Fernando Casta\u00f1eda, Shankar Sastry, Changliu Liu, Guanya Shi, Linxi Fan, Yuke Zhu\uff0c\u6765\u81eaNVIDIA, CMU, UC Berkeley, CUHK\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"385\" src=\"https:\/\/nullthought.net\/wp-content\/uploads\/2025\/12\/image-1-1024x385.png\" alt=\"\" class=\"wp-image-6680\" srcset=\"https:\/\/nullthought.net\/wp-content\/uploads\/2025\/12\/image-1-1024x385.png 1024w, https:\/\/nullthought.net\/wp-content\/uploads\/2025\/12\/image-1-300x113.png 300w, https:\/\/nullthought.net\/wp-content\/uploads\/2025\/12\/image-1-768x289.png 768w, https:\/\/nullthought.net\/wp-content\/uploads\/2025\/12\/image-1.png 1075w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\"><strong><a href=\"https:\/\/arxiv.org\/abs\/2511.15200\" target=\"_blank\" rel=\"noreferrer noopener\">VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation<\/a><\/strong><\/figcaption><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e00\u3001VIRAL \u7684\u6574\u4f53\u601d\u8def<\/h4>\n\n\n\n<p>\u4f5c\u8005\u63d0\u51fa <strong>VIRAL<\/strong>\uff0c\u76ee\u6807\u662f\u5b9e\u73b0\uff1a<strong>\u5b8c\u5168\u5728\u4eff\u771f\u4e2d\u5b66\u4f1a\u7c7b\u4eba\u673a\u5668\u4eba\u79fb\u52a8\u64cd\u4f5c\u6280\u80fd\uff0c\u5e76\u4e14\u65e0\u9700\u771f\u5b9e\u4e16\u754c\u5fae\u8c03\u5c31\u80fd\u76f4\u63a5\u90e8\u7f72\u5230\u771f\u673a<\/strong>\uff08\u96f6\u6837\u672c sim-to-real\uff09\u3002\u5b83\u7684\u5173\u952e\u4e0d\u662f\u63d0\u51fa\u67d0\u4e2a\u5168\u65b0\u7b97\u6cd5\uff0c\u800c\u662f\u63d0\u4f9b\u4e00\u5957\u201c\u4ece\u4eff\u771f\u5230\u771f\u673a\u53ef\u5de5\u4f5c\u7684\u5de5\u7a0b\u914d\u65b9\u201d\uff0c\u5e76\u901a\u8fc7\u5927\u91cf\u6d88\u878d\u5b9e\u9a8c\u8bf4\u660e\u54ea\u4e9b\u73af\u8282\u662f\u521a\u9700\u3001\u54ea\u4e9b\u4f1a\u5bfc\u81f4\u5931\u8d25\u3002<\/p>\n\n\n\n<p>VIRAL \u7684\u4e3b\u7ebf\u662f\u4e00\u4e2a\u5178\u578b\u4f46\u88ab\u201c\u89c4\u6a21\u5316\u63a8\u8fdb\u201d\u7684<strong>\u6559\u5e08-\u5b66\u751f\u6846\u67b6<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6559\u5e08\u7b56\u7565<\/strong>\uff1a\u5728\u4eff\u771f\u91cc\u4f7f\u7528\u201c\u7279\u6743\u4fe1\u606f\u201d\uff08\u53ef\u83b7\u5f97\u5b8c\u6574\u72b6\u6001\u4e0e\u4efb\u52a1\u4fe1\u606f\uff09\uff0c\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u5b66\u4f1a\u957f\u65f6\u7a0b\u7684\u79fb\u52a8\u64cd\u4f5c\u3002<\/li>\n\n\n\n<li><strong>\u5b66\u751f\u7b56\u7565<\/strong>\uff1a\u53ea\u770b\u771f\u5b9e\u673a\u5668\u4eba\u53ef\u83b7\u5f97\u7684\u8f93\u5165\uff08RGB \u56fe\u50cf\u4e0e\u81ea\u8eab\u4f20\u611f\u5668\u4fe1\u606f\uff09\uff0c\u901a\u8fc7\u6a21\u4eff\u84b8\u998f\u5b66\u4f1a\u590d\u73b0\u6559\u5e08\u7684\u884c\u4e3a\uff0c\u7136\u540e\u76f4\u63a5\u4e0a\u771f\u673a\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e8c\u3001\u8bad\u7ec3\u201c\u6559\u5e08\u7b56\u7565\u201d\u7684\u5173\u952e\u8bbe\u8ba1\uff08\u4e3a\u4f55\u80fd\u5b66\u4f1a\u957f\u65f6\u7a0b\u4efb\u52a1\uff09<\/h4>\n\n\n\n<p>\u8bba\u6587\u5f3a\u8c03\uff1a\u5982\u679c\u6ca1\u6709\u4e00\u5957\u6b63\u786e\u7684\u5de5\u7a0b\u8bbe\u8ba1\uff0c\u7c7b\u4eba\u79fb\u52a8\u64cd\u4f5c\u7684\u5f3a\u5316\u5b66\u4e60\u5f88\u5bb9\u6613\u5b66\u4e0d\u51fa\u6765\u6216\u5b66\u5f97\u5f88\u8106\u3002\u4f5c\u8005\u603b\u7ed3\u4e86\u51e0\u9879\u5bf9\u6559\u5e08\u8bad\u7ec3\u975e\u5e38\u5173\u952e\u7684\u8981\u70b9\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u628a\u590d\u6742\u4efb\u52a1\u5206\u6210\u9636\u6bb5\u76ee\u6807<\/strong><br>\u628a\u4efb\u52a1\u62c6\u6210\u201c\u8d70\u8fd1\u76ee\u6807\u3001\u653e\u7f6e\u3001\u6293\u53d6\u3001\u8f6c\u8eab\u201d\u7b49\u9636\u6bb5\uff0c\u8ba9\u5956\u52b1\u66f4\u5bb9\u6613\u5f15\u5bfc\u7b56\u7565\u9010\u6b65\u5b66\u4f1a\u5b8c\u6574\u94fe\u8def\uff0c\u800c\u4e0d\u662f\u76f2\u76ee\u63a2\u7d22\u3002 <\/li>\n\n\n\n<li><strong>\u7528\u201c\u589e\u91cf\u5f0f\u63a7\u5236\u6307\u4ee4\u201d\u800c\u4e0d\u662f\u4e00\u6b21\u6027\u7ed9\u7edd\u5bf9\u76ee\u6807<\/strong><br>\u6559\u5e08\u8f93\u51fa\u7684\u662f\u76f8\u5bf9\u53d8\u5316\u7684\u63a7\u5236\u610f\u56fe\uff0c\u66f4\u5bb9\u6613\u7a33\u5b9a\u5b66\u4e60\u3001\u52a0\u5feb\u6536\u655b\u3002\u8bba\u6587\u7684\u6d88\u878d\u663e\u793a\uff1a\u4e0d\u7528\u8fd9\u79cd\u589e\u91cf\u5f0f\u8868\u793a\uff0c\u8bad\u7ec3\u5f80\u5f80\u5f88\u96be\u8fbe\u5230\u9ad8\u6210\u529f\u7387\u3002<\/li>\n\n\n\n<li><strong>\u628a\u5e95\u5c42\u8fd0\u52a8\u63a7\u5236\u4ea4\u7ed9\u6210\u719f\u7684\u5168\u8eab\u63a7\u5236\u5668\u5f53\u4f5c\u201c\u5b89\u5168 API\u201d<\/strong><br>\u6559\u5e08\u4e0d\u76f4\u63a5\u5b66\u5e95\u5c42\u7535\u673a\u6280\u80fd\uff0c\u800c\u662f\u8f93\u51fa\u9ad8\u5c42\u547d\u4ee4\uff0c\u4ea4\u7ed9\u4e00\u4e2a\u9884\u8bad\u7ec3\u7684\u5168\u8eab\u63a7\u5236\u5668\u6267\u884c\u3002\u8fd9\u76f8\u5f53\u4e8e\u628a\u7b56\u7565\u52a8\u4f5c\u7a7a\u95f4\u9650\u5236\u5728\u66f4\u5b89\u5168\u3001\u66f4\u53ef\u90e8\u7f72\u7684\u533a\u57df\uff0c\u663e\u8457\u964d\u4f4e\u201c\u5b66\u5230\u4eff\u771f\u6280\u5de7\u4f46\u771f\u673a\u4e0d\u53ef\u7528\u201d\u7684\u98ce\u9669\u3002<\/li>\n\n\n\n<li><strong>\u7528\u793a\u8303\u7247\u6bb5\u505a\u201c\u53c2\u8003\u72b6\u6001\u521d\u59cb\u5316\u201d\u6765\u89e3\u51b3\u957f\u65f6\u7a0b\u63a2\u7d22\u96be\u9898<\/strong><br>\u4f5c\u8005\u5728\u4eff\u771f\u4e2d\u6536\u96c6\u4e86\u9065\u64cd\u4f5c\u793a\u8303\uff0c\u7136\u540e\u5728\u6bcf\u6b21\u8bad\u7ec3\u91cd\u7f6e\u65f6\uff0c\u4ece\u793a\u8303\u8f68\u8ff9\u4e2d\u62bd\u53d6\u4e2d\u95f4\u72b6\u6001\u6765\u521d\u59cb\u5316\u573a\u666f\uff0c\u8ba9\u7b56\u7565\u4ece\u4e00\u5f00\u59cb\u5c31\u80fd\u63a5\u89e6\u5230\u201c\u4efb\u52a1\u4e2d\u540e\u6bb5\u7684\u5173\u952e\u72b6\u6001\u201d\uff08\u6bd4\u5982\u63a5\u8fd1\u7269\u4f53\u3001\u51c6\u5907\u6293\u53d6\u7684\u59ff\u6001\uff09\u3002\u6d88\u878d\u7ed3\u679c\u663e\u793a\uff1a\u6ca1\u6709\u8fd9\u4e00\u6b65\uff0c\u6559\u5e08\u6210\u529f\u7387\u4f1a\u957f\u671f\u505c\u7559\u5728\u5f88\u4f4e\u6c34\u5e73\uff1b\u52a0\u5165\u540e\u80fd\u663e\u8457\u63d0\u5347\u5230\u9ad8\u6210\u529f\u7387\u3002 <\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e09\u3001\u8bad\u7ec3\u201c\u5b66\u751f\u7b56\u7565\u201d\u7684\u5173\u952e\u8bbe\u8ba1\uff08\u8ba9 RGB \u7b56\u7565\u80fd\u5728\u771f\u673a\u4e0a\u8dd1\uff09<\/h4>\n\n\n\n<p>\u5b66\u751f\u7b56\u7565\u53ea\u4f7f\u7528<strong>RGB \u56fe\u50cf + \u771f\u5b9e\u53ef\u83b7\u5f97\u7684\u672c\u4f53\u4f20\u611f\u4fe1\u606f<\/strong>\uff0c\u901a\u8fc7\u6a21\u4eff\u6559\u5e08\u5b66\u4f1a\u4efb\u52a1\u3002\u8bba\u6587\u5f3a\u8c03\u5b66\u751f\u8bad\u7ec3\u7684\u96be\u70b9\u5728\u4e8e\uff1a\u89c6\u89c9\u5b66\u4e60\u6602\u8d35\u3001\u5206\u5e03\u504f\u79fb\u4e25\u91cd\u3001\u7b56\u7565\u5bb9\u6613\u5728\u771f\u5b9e\u6267\u884c\u4e2d\u201c\u8d8a\u9519\u8d8a\u79bb\u8c31\u201d\u3002\u4e3a\u6b64\u4f5c\u8005\u7ed9\u51fa\u4e00\u5957\u7ec4\u5408\u62f3\uff1a <\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5728\u7ebf\u7ea0\u9519\u5f0f\u6a21\u4eff + \u4f20\u7edf\u884c\u4e3a\u514b\u9686\u7684\u6df7\u5408<\/strong><br>\u53ea\u7528\u201c\u5e72\u51c0\u793a\u8303\u201d\u5b66\u5f97\u5feb\uff0c\u4f46\u5bb9\u6613\u8106\uff1b\u52a0\u5165\u201c\u5b66\u751f\u81ea\u5df1\u6eda\u52a8\u4ea7\u751f\u7684\u72b6\u6001\u5e76\u7ea0\u9519\u201d\uff0c\u80fd\u663e\u8457\u63d0\u5347\u90e8\u7f72\u6210\u529f\u7387\u3002\u4f5c\u8005\u901a\u8fc7\u5b9e\u9a8c\u9009\u62e9\u4e86\u4e00\u4e2a\u6298\u4e2d\u6bd4\u4f8b\uff0c\u4f7f\u8bad\u7ec3\u901f\u5ea6\u4e0e\u9c81\u68d2\u6027\u517c\u987e\u3002<\/li>\n\n\n\n<li><strong>\u5f3a\u89c6\u89c9\u9aa8\u5e72\u7f51\u7edc + \u89c6\u89c9\u4e0e\u672c\u4f53\u4fe1\u606f\u878d\u5408<\/strong><br>\u7528\u66f4\u5f3a\u7684\u56fe\u50cf\u7f16\u7801\u5668\u63d0\u53d6\u89c6\u89c9\u7279\u5f81\uff0c\u518d\u4e0e\u672c\u4f53\u4fe1\u606f\u878d\u5408\u505a\u51b3\u7b56\u3002\u5b9e\u9a8c\u663e\u793a\uff1a\u66f4\u5f3a\u7684\u89c6\u89c9\u8868\u5f81\u80fd\u5e26\u6765\u66f4\u9ad8\u7684\u6210\u529f\u7387\u4e0e\u66f4\u7a33\u5b9a\u7684\u8bad\u7ec3\u3002 <\/li>\n\n\n\n<li><strong>\u5f15\u5165\u201c\u5386\u53f2\u4fe1\u606f\u201d\u7684\u7b56\u7565\u7ed3\u6784\u66f4\u7a33<\/strong><br>\u53ea\u770b\u5355\u5e27\u4f1a\u4e0d\u7a33\u5b9a\uff1b\u52a0\u5165\u77ed\u65f6\u95f4\u5386\u53f2\uff08\u4f8b\u5982\u5e26\u8bb0\u5fc6\u7684\u7ed3\u6784\u6216\u663e\u5f0f\u5386\u53f2\u7a97\u53e3\uff09\u80fd\u66f4\u597d\u5904\u7406\u5ef6\u8fdf\u3001\u906e\u6321\u4e0e\u8bef\u5dee\u79ef\u7d2f\uff0c\u6210\u529f\u7387\u66f4\u9ad8\u3002<\/li>\n\n\n\n<li><strong>\u5927\u89c4\u6a21\u5206\u5e03\u5f0f\u4eff\u771f\u8bad\u7ec3\u7cfb\u7edf<\/strong><br>\u89c6\u89c9\u6e32\u67d3\u4f7f\u4eff\u771f\u541e\u5410\u5927\u5e45\u4e0b\u964d\uff0c\u4f5c\u8005\u5b9e\u73b0\u4e86\u53ef\u6269\u5c55\u7684\u5206\u5e03\u5f0f\u8bad\u7ec3\u65b9\u6848\uff0c\u5e76\u5f3a\u8c03\u201c\u89c4\u6a21\u201d\u4e0d\u662f\u9526\u4e0a\u6dfb\u82b1\uff0c\u800c\u662f\u8ba9\u8bad\u7ec3\u53ef\u9760\u7684\u5fc5\u8981\u6761\u4ef6\u4e4b\u4e00\u3002<\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\">\u56db\u3001Sim-to-Real \u7684\u5173\u952e\uff1a\u65e2\u8981\u201c\u4eff\u771f\u968f\u673a\u5316\u201d\uff0c\u4e5f\u8981\u201c\u771f\u673a\u5bf9\u9f50\u201d<\/h4>\n\n\n\n<p>\u8bba\u6587\u8ba4\u4e3a\u4ec5\u9760\u968f\u673a\u5316\u4e0d\u591f\uff0c\u8fd8\u8981\u5c3d\u91cf\u51cf\u5c11\u4e00\u4e9b\u7ed3\u6784\u6027\u5dee\u5f02\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5927\u89c4\u6a21\u89c6\u89c9\u57df\u968f\u673a\u5316<\/strong><br>\u8bad\u7ec3\u65f6\u5bf9\u5149\u7167\u3001\u6750\u8d28\u3001\u989c\u8272\u3001\u76f8\u673a\u53c2\u6570\u3001\u753b\u8d28\u6270\u52a8\u3001\u76f8\u673a\u4f4d\u59ff\u6270\u52a8\u3001\u4f20\u611f\u5ef6\u8fdf\u7b49\u8fdb\u884c\u5e7f\u6cdb\u53d8\u5316\uff0c\u907f\u514d\u7b56\u7565\u8fc7\u62df\u5408\u67d0\u4e2a\u201c\u4eff\u771f\u5916\u89c2\u201d\u3002\u6d88\u878d\u663e\u793a\uff1a\u53bb\u6389\u968f\u673a\u5316\u4f1a\u663e\u8457\u6389\u6027\u80fd\uff1b\u53bb\u6389\u4efb\u4f55\u4e00\u4e2a\u91cd\u8981\u5206\u91cf\u4e5f\u4f1a\u9000\u5316\uff0c\u8bf4\u660e\u5b83\u4eec\u662f\u4e92\u8865\u7684\u3002<\/li>\n\n\n\n<li><strong>\u5bf9\u7075\u5de7\u624b\u505a\u7cfb\u7edf\u8fa8\u8bc6\uff08\u7f29\u5c0f\u9ad8\u51cf\u901f\u6bd4\u624b\u6307\u7684\u771f\u5b9e\u5dee\u5f02\uff09<\/strong><br>Unitree G1 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class=\"wp-block-heading\">\u4e94\u3001\u771f\u5b9e\u673a\u5668\u4eba\u6548\u679c\uff1a\u80fd\u6301\u7eed\u5faa\u73af\u6267\u884c\uff0c\u5e76\u5177\u5907\u573a\u666f\u6cdb\u5316<\/h4>\n\n\n\n<p>\u4f5c\u8005\u5728 <strong>Unitree G1<\/strong> \u4e0a\u505a\u4e86\u771f\u5b9e\u90e8\u7f72\uff1a\u673a\u5668\u4eba\u5728\u4e24\u5f20\u684c\u5b50\u4e4b\u95f4\u6765\u56de\u884c\u8d70\uff0c\u5b8c\u6210\u653e\u7f6e\u3001\u6293\u53d6\u3001\u642c\u8fd0\u3001\u8f6c\u8eab\u7b49\u5faa\u73af\u4efb\u52a1\u3002\u7ed3\u679c\u663e\u793a\uff1a\u5728\u8fde\u7eed\u591a\u6b21\u771f\u5b9e\u8bd5\u9a8c\u4e2d\u5b8c\u6210\u4e86 <strong>54 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\u4ece\u5c11\u5230\u591a\uff0c\u5b66\u4e60\u901f\u5ea6\u548c\u6700\u7ec8\u6210\u529f\u7387\u90fd\u4f1a\u663e\u8457\u63d0\u5347\uff1b\u7b97\u529b\u4e0d\u8db3\u65f6\u4f1a\u957f\u671f\u5361\u5728\u4f4e\u6210\u529f\u7387\u3002<\/li>\n\n\n\n<li>\u5b66\u751f\u9636\u6bb5\uff1a\u66f4\u591a GPU \u8ba9\u8bad\u7ec3\u66f4\u5feb\u3001\u66f4\u5e73\u6ed1\u3001\u66f4\u7a33\u5b9a\uff0c\u6700\u7ec8\u6210\u529f\u7387\u4e5f\u66f4\u9ad8\u3002<br>\u4f5c\u8005\u628a\u8fd9\u70b9\u4f5c\u4e3a\u201c\u73b0\u4ee3\u89c6\u89c9 sim-to-real\u201d\u7684\u6838\u5fc3\u7ecf\u9a8c\uff1a\u4e0d\u662f\u53ea\u8981\u65b9\u6cd5\u5bf9\u5c31\u884c\uff0c\u8bad\u7ec3\u7684\u541e\u5410\u4e0e\u5e76\u884c\u89c4\u6a21\u672c\u8eab\u5c31\u662f\u7cfb\u7edf\u7684\u4e00\u90e8\u5206\u3002 <\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e03\u3001\u5c40\u9650\u4e0e\u8ba8\u8bba\uff1a\u4e3a\u4f55\u79bb\u201c\u901a\u7528\u5bb6\u52a1\u673a\u5668\u4eba\u201d\u4ecd\u6709\u8ddd\u79bb<\/h4>\n\n\n\n<p>\u4f5c\u8005\u5728\u8ba8\u8bba\u4e2d\u975e\u5e38\u76f4\u767d\u5730\u6307\u51fa\uff0c\u60f3\u628a sim-to-real \u6269\u5c55\u5230\u201c\u5230\u5904\u8d70\u3001\u4ec0\u4e48\u90fd\u80fd\u770b\u3001\u4ec0\u4e48\u90fd\u80fd\u64cd\u4f5c\u201d\u7684\u901a\u7528\u573a\u666f\uff0c\u4ecd\u5b58\u5728\u56db\u7c7b\u8986\u76d6\u7f3a\u53e3\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7269\u7406\u591a\u6837\u6027\u7f3a\u53e3<\/strong>\uff1a\u67d4\u6027\u7269\u4f53\u3001\u98df\u7269\u3001\u590d\u6742\u63a5\u89e6\u4e0e\u6750\u6599\u5c5e\u6027\u5f88\u96be\u5728\u5927\u89c4\u6a21\u4e0a\u7cbe\u786e\u5efa\u6a21\u3002<\/li>\n\n\n\n<li><strong>\u4efb\u52a1\u957f\u5c3e\u7f3a\u53e3<\/strong>\uff1a\u771f\u5b9e\u4e16\u754c\u4efb\u52a1\u79cd\u7c7b\u4e0e\u72b6\u6001\u53d8\u5316\u6781\u591a\uff0c\u4eff\u771f\u5185\u5bb9\u751f\u4ea7\u6210\u4e3a\u74f6\u9888\u3002<\/li>\n\n\n\n<li><strong>\u5956\u52b1\u5de5\u7a0b\u7f3a\u53e3<\/strong>\uff1a\u4e3a\u5927\u91cf\u4efb\u52a1\u624b\u5de5\u8bbe\u8ba1\u7a33\u5b9a\u6709\u6548\u7684\u5956\u52b1\u4e0d\u5177\u5907\u53ef\u6269\u5c55\u6027\u3002<\/li>\n\n\n\n<li><strong>\u786c\u4ef6\u5dee\u8ddd\u7f3a\u53e3<\/strong>\uff1a\u7075\u5de7\u624b\u7b49\u786c\u4ef6\u5728\u6469\u64e6\u3001\u56de\u5dee\u3001\u566a\u58f0\u3001\u70ed\u8870\u51cf\u7b49\u65b9\u9762\u4ecd\u96be\u4ee5\u88ab\u4eff\u771f\u5b8c\u6574\u8986\u76d6\u3002<br>\u56e0\u6b64\u4f5c\u8005\u503e\u5411\u8ba4\u4e3a\uff1a\u672a\u6765\u66f4\u73b0\u5b9e\u7684\u8def\u5f84\u662f\u628a\u4eff\u771f\u653e\u8fdb\u4e00\u4e2a\u66f4\u5927\u7684\u6570\u636e\u751f\u6001\u91cc\uff0c\u8ba9\u4eff\u771f\u4e0e\u771f\u5b9e\u6570\u636e\u3001\u6a21\u4eff\u5b66\u4e60\u3001\u57fa\u7840\u6a21\u578b\u76f8\u4e92\u8865\u5145\uff0c\u800c\u4e0d\u662f\u6307\u671b\u4eff\u771f\u5355\u72ec\u8986\u76d6\u5168\u90e8\u771f\u5b9e\u5206\u5e03\u3002<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>\u8bba\u6587\u9879\u76ee\uff1a<a href=\"https:\/\/viral-humanoid.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/viral-humanoid.github.io\/<\/a><\/p>\n\n\n\n<p>\u7c7b\u4f3c\u9879\u76ee\uff1a<br><a href=\"https:\/\/doorman-humanoid.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/doorman-humanoid.github.io\/<\/a><br><a href=\"https:\/\/arxiv.org\/abs\/2512.01061\" target=\"_blank\" rel=\"noreferrer noopener\">Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587 VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco [&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 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":[39,84,61],"class_list":["post-6679","post","type-post","status-publish","format-standard","hentry","category-tech","tag-ai","tag-nvidia","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\u6587 VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco&hellip;","_links":{"self":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/6679","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=6679"}],"version-history":[{"count":2,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/6679\/revisions"}],"predecessor-version":[{"id":6684,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/6679\/revisions\/6684"}],"wp:attachment":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6679"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=6679"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6679"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}