{"id":7005,"date":"2026-06-24T12:08:17","date_gmt":"2026-06-24T04:08:17","guid":{"rendered":"https:\/\/nullthought.net\/?p=7005"},"modified":"2026-06-24T12:08:18","modified_gmt":"2026-06-24T04:08:18","slug":"skyjepa%e6%a8%a1%e5%9e%8b%ef%bc%8c%e5%ae%9e%e7%8e%b0%e5%9b%9b%e6%97%8b%e7%bf%bc%e6%97%a0%e4%ba%ba%e6%9c%ba%e6%8e%a7%e5%88%b6%e7%9a%84%e9%95%bf%e6%97%b6%e5%9f%9f%e9%a2%84%e6%b5%8b%e3%80%81%e5%8f%af","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=7005","title":{"rendered":"SkyJEPA\u6a21\u578b\uff0c\u5b9e\u73b0\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u63a7\u5236\u7684\u957f\u65f6\u57df\u9884\u6d4b\u3001\u53ef\u89e3\u91ca\u3001\u5b9e\u65f6\u6027\u548c\u96f6\u6837\u672c\u4efb\u52a1\u6cdb\u5316"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u8bba\u6587<strong><a href=\"https:\/\/arxiv.org\/pdf\/2606.23444\" target=\"_blank\" rel=\"noreferrer noopener\">SkyJEPA: Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors<\/a><\/strong>\u7814\u7a76\u7684\u662f\u4e00\u4e2a\u5f88\u5177\u4f53\u4f46\u5f88\u91cd\u8981\u7684\u95ee\u9898\uff1a\u600e\u6837\u8ba9\u56db\u65cb\u7ffc\u65e0\u4eba\u673a\u5728\u771f\u5b9e\u4e16\u754c\u4e2d\u98de\u5f97\u66f4\u7a33\u3001\u66f4\u51c6\uff0c\u540c\u65f6\u5c3d\u91cf\u5c11\u4f9d\u8d56\u5371\u9669\u3001\u6602\u8d35\u7684\u5b9e\u673a\u98de\u884c\u6570\u636e\u3002\u4f5c\u8005\u8ba4\u4e3a\uff0c\u4e00\u4e2a\u597d\u7684\u65e0\u4eba\u673a\u201c\u4e16\u754c\u6a21\u578b\u201d\u5e94\u5177\u5907\u56db\u4e2a\u80fd\u529b\uff1a\u80fd\u505a\u8f83\u957f\u65f6\u95f4\u7684\u672a\u6765\u9884\u6d4b\u3001\u9884\u6d4b\u7ed3\u679c\u80fd\u5bf9\u5e94\u4f4d\u7f6e\/\u901f\u5ea6\/\u59ff\u6001\u7b49\u7269\u7406\u91cf\u3001\u80fd\u5728\u673a\u8f7d\u7b97\u529b\u4e0a\u5b9e\u65f6\u8fd0\u884c\u3001\u8fd8\u80fd\u4ece\u4eff\u771f\u76f4\u63a5\u8fc1\u79fb\u5230\u771f\u5b9e\u65e0\u4eba\u673a\u4e0a\u3002\u8bba\u6587\u4e5f\u628a\u8fd9\u56db\u70b9\u6982\u62ec\u4e3a\u957f\u65f6\u57df\u9884\u6d4b\u3001\u53ef\u89e3\u91ca\u3001\u5b9e\u65f6\u6027\u548c\u96f6\u6837\u672c\u4efb\u52a1\u6cdb\u5316\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f20\u7edf\u795e\u7ecf\u7f51\u7edc\u52a8\u529b\u5b66\u6a21\u578b\u901a\u5e38\u662f\u201c\u9884\u6d4b\u4e0b\u4e00\u6b65\uff0c\u518d\u628a\u4e0b\u4e00\u6b65\u5f53\u8f93\u5165\u7ee7\u7eed\u9884\u6d4b\u201d\u3002\u901a\u4fd7\u8bb2\uff0c\u5c31\u50cf\u8d70\u8def\u65f6\u6bcf\u4e00\u6b65\u90fd\u6839\u636e\u4e0a\u4e00\u811a\u7684\u8bef\u5dee\u7ee7\u7eed\u8fc8\uff0c\u521a\u5f00\u59cb\u504f\u4e00\u70b9\uff0c\u8d70\u8fdc\u4e86\u5c31\u53ef\u80fd\u504f\u5f88\u591a\u3002\u5bf9\u65e0\u4eba\u673a\u63a7\u5236\u6765\u8bf4\uff0c\u8fd9\u79cd\u8bef\u5dee\u7d2f\u79ef\u5f88\u5371\u9669\uff0c\u56e0\u4e3a\u63a7\u5236\u5668\u9700\u8981\u63d0\u524d\u770b\u672a\u6765\u4e00\u5c0f\u6bb5\u65f6\u95f4\uff0c\u5982\u679c\u6a21\u578b\u9884\u6d4b\u8d8a\u6765\u8d8a\u98d8\uff0c\u5c31\u4f1a\u5bfc\u81f4\u8f68\u8ff9\u6f02\u79fb\u3001\u59ff\u6001\u4e0d\u5408\u7406\uff0c\u751a\u81f3\u98de\u63a7\u4e0d\u7a33\u5b9a\u3002\u8bba\u6587\u7684\u6838\u5fc3\u51fa\u53d1\u70b9\u5c31\u662f\uff1a\u4e0d\u8981\u76f4\u63a5\u4e00\u5e27\u4e00\u5e27\u9884\u6d4b\u5b8c\u6574\u72b6\u6001\uff0c\u800c\u662f\u5728\u4e00\u4e2a\u66f4\u62bd\u8c61\u3001\u66f4\u7d27\u51d1\u7684\u201c\u6f5c\u5728\u7a7a\u95f4\u201d\u91cc\u9884\u6d4b\u7cfb\u7edf\u672a\u6765\u53d8\u5316\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">SkyJEPA \u7684\u5173\u952e\u601d\u60f3\u6765\u81ea <a href=\"https:\/\/nullthought.net\/?p=5721\" target=\"_blank\" rel=\"noreferrer noopener\">JEPA\uff0c\u5373 Joint Embedding Predictive Architecture<\/a>\u3002\u7b80\u5355\u8bf4\uff0c\u5b83\u4e0d\u662f\u8981\u6c42\u6a21\u578b\u91cd\u5efa\u672a\u6765\u7684\u5b8c\u6574\u72b6\u6001\uff0c\u800c\u662f\u8ba9\u6a21\u578b\u5b66\u4e60\u201c\u5f53\u524d\u72b6\u6001\u548c\u52a8\u4f5c\u5386\u53f2\u4f1a\u600e\u6837\u6f14\u5316\u6210\u672a\u6765\u7684\u5185\u90e8\u8868\u793a\u201d\u3002\u8fd9\u6837\u53ef\u4ee5\u51cf\u5c11\u5bf9\u566a\u58f0\u3001\u4f20\u611f\u5668\u504f\u5dee\u3001\u65e0\u5173\u7ec6\u8282\u7684\u8fc7\u5ea6\u62df\u5408\u3002\u6a21\u578b\u8f93\u5165\u5305\u62ec\u4e00\u6bb5\u65f6\u95f4\u5185\u7684\u72b6\u6001\u5386\u53f2\u548c\u52a8\u4f5c\u5386\u53f2\uff0c\u56e0\u4e3a\u65e0\u4eba\u673a\u7684\u771f\u5b9e\u884c\u4e3a\u4e0d\u4ec5\u7531\u5f53\u524d\u77ac\u95f4\u51b3\u5b9a\uff0c\u8fd8\u53d7\u5230\u7535\u673a\u5ef6\u8fdf\u3001\u7a7a\u6c14\u963b\u529b\u3001\u673a\u4f53\u5dee\u5f02\u3001\u4f20\u611f\u5668\u566a\u58f0\u7b49\u56e0\u7d20\u5f71\u54cd\u3002\u8bba\u6587\u4f7f\u7528\u7f16\u7801\u5668\u628a\u8fd9\u4e9b\u5386\u53f2\u4fe1\u606f\u538b\u7f29\u6210\u6f5c\u5728\u8868\u793a\uff0c\u518d\u7528\u9884\u6d4b\u5668\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u5411\u524d\u6eda\u52a8\u9884\u6d4b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0d\u8fc7\uff0c\u4ec5\u6709\u62bd\u8c61\u6f5c\u5728\u8868\u793a\u8fd8\u4e0d\u80fd\u76f4\u63a5\u7528\u4e8e\u63a7\u5236\u3002\u63a7\u5236\u5668\u771f\u6b63\u5173\u5fc3\u7684\u662f\u65e0\u4eba\u673a\u672a\u6765\u4f1a\u5728\u54ea\u91cc\u3001\u901f\u5ea6\u591a\u5927\u3001\u59ff\u6001\u5982\u4f55\u3001\u89d2\u901f\u5ea6\u600e\u6837\u3002\u56e0\u6b64\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u201c\u7269\u7406\u542f\u53d1\u7684\u63a2\u9488\u201dPI Prober\u3002\u5b83\u7684\u4f5c\u7528\u53ef\u4ee5\u7406\u89e3\u4e3a\u7ffb\u8bd1\u5668\uff1a\u628a\u62bd\u8c61\u7684\u6f5c\u5728\u9884\u6d4b\u7ffb\u8bd1\u6210\u6709\u7269\u7406\u610f\u4e49\u7684\u72b6\u6001\u8f68\u8ff9\u3002\u8fd9\u4e2a\u63a2\u9488\u4e0d\u662f\u5b8c\u5168\u9ed1\u7bb1\u5730\u731c\u6d4b\u72b6\u6001\uff0c\u800c\u662f\u5728\u57fa\u672c\u8fd0\u52a8\u5b66\u79ef\u5206\u7ed3\u6784\u4e0a\u5b66\u4e60\u8865\u507f\u9879\uff0c\u4f8b\u5982\u8865\u507f\u672a\u5efa\u6a21\u7684\u5e73\u52a8\u52a0\u901f\u5ea6\u548c\u89d2\u52a0\u901f\u5ea6\u3002\u8fd9\u6837\u65e2\u4fdd\u7559\u4e86\u795e\u7ecf\u7f51\u7edc\u5b66\u4e60\u590d\u6742\u6548\u5e94\u7684\u80fd\u529b\uff0c\u53c8\u4e0d\u5b8c\u5168\u4e22\u6389\u7269\u7406\u89c4\u5f8b\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u4ec5\u628a\u666e\u901a\u63a2\u9488\u6362\u6210\u8fd9\u79cd\u7269\u7406\u542f\u53d1\u63a2\u9488\uff0c\u5c31\u80fd\u663e\u8457\u964d\u4f4e\u4f4d\u7f6e\u548c\u59ff\u6001\u9884\u6d4b\u8bef\u5dee\uff1b\u5728 JEPA \u6a21\u578b\u4e2d\uff0c\u4f4d\u7f6e RMSE \u4ece 5.56 m \u964d\u5230 1.43 m\uff0c\u59ff\u6001\u8bef\u5dee\u4ece 40.2\u00b0 \u964d\u5230 4.71\u00b0\u3002<\/p>\n\n\n\n<p 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