{"id":26447,"date":"2025-03-18T17:05:00","date_gmt":"2025-03-18T09:05:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=26447"},"modified":"2025-03-19T08:17:40","modified_gmt":"2025-03-19T00:17:40","slug":"2025-03-18-%e5%a4%9a%e7%9b%ae%e6%a0%87%e8%b7%9f%e8%b8%aasota%ef%bc%81ovtr%ef%bc%9a%e5%8d%8e%e7%a7%91%e6%9c%80%e6%96%b0%e5%bc%80%e9%9b%86%e7%ab%af%e5%88%b0%e7%ab%af%e8%b7%9f%e8%b8%aa%e6%a1%86%e6%9e%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/18\/26447\/","title":{"rendered":"2025-03-18 \u591a\u76ee\u6807\u8ddf\u8e2aSOTA\uff01OVTR\uff1a\u534e\u79d1\u6700\u65b0\u5f00\u96c6\u7aef\u5230\u7aef\u8ddf\u8e2a\u6846\u67b6"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/30921076477\">https:\/\/zhuanlan.zhihu.com\/p\/30921076477<\/a><\/p>\n\n\n\n<p>\u4eca\u65e5\u8bba\u6587\u76d8\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7aef\u5230\u7aef\u5f00\u96c6\u591a\u76ee\u6807\u8ddf\u8e2a\u7b97\u6cd5OVTR\uff1b<\/li>\n\n\n\n<li>\u65e0\u9700\u663e\u5f0f\u4e16\u754c\u6a21\u578b\u5f15\u5bfc\u7684Planner\u7b97\u6cd5\uff1b<\/li>\n\n\n\n<li>\u673a\u5668\u4eba\u6293\u53d6\u65b0\u7b97\u6cd5DexGrasp Anything\uff1b<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30921076477_0\">OVTR<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aOVTR: End-to-End Open-Vocabulary Multiple Object Tracking with <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255206881&amp;content_type=Article&amp;match_order=1&amp;q=Transformer&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Transformer<\/a><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.10616\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.10616<\/a><\/li>\n\n\n\n<li>\u8bba\u6587\u4ee3\u7801\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/jinyanglii\/OVTR\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/jinyanglii\/OVTR<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-72803485cbe3d6697b21ba74fdf36b02_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255206881&amp;content_type=Article&amp;match_order=1&amp;q=%E7%AB%AF%E5%88%B0%E7%AB%AF%E5%BC%80%E6%94%BE%E8%AF%8D%E6%B1%87%E5%A4%9A%E7%9B%AE%E6%A0%87%E8%B7%9F%E8%B8%AA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7aef\u5230\u7aef\u5f00\u653e\u8bcd\u6c47\u591a\u76ee\u6807\u8ddf\u8e2a<\/a><\/strong><\/p>\n\n\n\n<p><strong>\u6846\u67b6\uff08OVTR\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u9996\u4e2a\u57fa\u4e8eTransformer\u7684\u7aef\u5230\u7aef\u5f00\u653e\u8bcd\u6c47\u591a\u76ee\u6807\u8ddf\u8e2a\u6a21\u578b\uff0c\u8054\u5408\u5efa\u6a21\u8fd0\u52a8\u3001\u5916\u89c2\u548c\u7c7b\u522b\u4fe1\u606f\uff0c\u6d88\u9664\u4f20\u7edf\u65b9\u6cd5\u4e2d\u5bf9\u590d\u6742\u540e\u5904\u7406\uff08\u5982\u663e\u5f0f\u5173\u8054\u5339\u914d\u3001\u951a\u6846\u751f\u6210\uff09\u7684\u4f9d\u8d56\uff0c\u663e\u8457\u63d0\u5347\u63a8\u7406\u901f\u5ea6\uff083.4 FPS vs. 3.1 FPS\uff09\u5e76\u7b80\u5316\u6d41\u7a0b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255206881&amp;content_type=Article&amp;match_order=1&amp;q=%E7%B1%BB%E5%88%AB%E4%BF%A1%E6%81%AF%E4%BC%A0%E6%92%AD%E7%AD%96%E7%95%A5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7c7b\u522b\u4fe1\u606f\u4f20\u64ad\u7b56\u7565<\/a><\/strong><\/p>\n\n\n\n<p><strong>\uff08Category Information Propagation, CIP\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u8de8\u5e27\u8fed\u4ee3\u7684\u7c7b\u522b\u4fe1\u606f\u6d41\uff0c\u5c06\u5f53\u524d\u5e27\u9884\u6d4b\u7684\u7c7b\u522b\u5d4c\u5165\uff08\u901a\u8fc7OFA\u5206\u652f\u8f93\u51fa\uff09\u4f5c\u4e3a\u5148\u9a8c\u4f20\u9012\u81f3\u540e\u7eed\u5e27\uff0c\u89e3\u51b3\u5f00\u653e\u573a\u666f\u4e2d\u7c7b\u522b\u611f\u77e5\u4e0d\u7a33\u5b9a\u7684\u95ee\u9898\u3002\u5b9e\u9a8c\u8868\u660e\uff0cCIP\u7b56\u7565\u5728TAO\u9a8c\u8bc1\u96c6\u4e0a\u5c06\u5173\u8054\u7cbe\u5ea6\uff08AssocA\uff09\u63d0\u53473.8%\uff0c\u57fa\u7c7b\u5206\u7c7b\u7cbe\u5ea6\uff08ClsA\u2086\uff09\u63d0\u534713.1%\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255206881&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8F%8C%E5%88%86%E6%94%AF%E8%A7%A3%E7%A0%81%E5%99%A8%E7%BB%93%E6%9E%84&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u53cc\u5206\u652f\u89e3\u7801\u5668\u7ed3\u6784<\/a><\/strong><\/p>\n\n\n\n<p><strong>\uff08Dual-Branch Decoder\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5bf9\u8c61\u7279\u5f81\u5bf9\u9f50\u5206\u652f\uff08OFA\uff09<\/strong>\uff1a\u901a\u8fc7CLIP\u56fe\u50cf\u7f16\u7801\u5668\u5bf9\u9f50\u67e5\u8be2\u7279\u5f81\uff08Aligned Queries\uff09\uff0c\u63d0\u53d6\u4e0e\u89c6\u89c9\u8bed\u4e49\u4e00\u81f4\u7684\u5b9e\u4f8b\u7ea7\u8868\u5f81\u3002<\/li>\n\n\n\n<li><strong>\u7c7b\u522b\u6587\u672c\u4ea4\u4e92\u5206\u652f\uff08CTI\uff09<\/strong>\uff1a\u7ed3\u5408CLIP\u6587\u672c\u5d4c\u5165\u8fdb\u884c\u8de8\u6a21\u6001\u6ce8\u610f\u529b\u4ea4\u4e92\uff0c\u589e\u5f3a\u5f00\u653e\u8bcd\u6c47\u5206\u7c7b\u80fd\u529b\u3002\u53cc\u5206\u652f\u8bbe\u8ba1\u5728TAO\u6570\u636e\u96c6\u4e0a\u5c06\u6574\u4f53\u6027\u80fd\uff08TETA\uff09\u63d0\u53476.4%\uff0c\u57fa\u7c7b\u5206\u7c7b\u7cbe\u5ea6\uff08ClsA\u2086\uff09\u63d0\u534720.6%\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u89e3\u7801\u5668\u6ce8\u610f\u529b\u9694\u79bb\u7b56\u7565<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7c7b\u522b\u9694\u79bb\uff08Category Isolation\uff09<\/strong>\uff1a\u57fa\u4e8eKL\u6563\u5ea6\u6784\u5efa\u7c7b\u522b\u5dee\u5f02\u77e9\u9635\uff0c\u6291\u5236\u4e0d\u540c\u7c7b\u522b\u67e5\u8be2\u95f4\u7684\u6ce8\u610f\u529b\u4ea4\u4e92\uff0c\u51cf\u5c11\u5206\u7c7b\u5e72\u6270\u3002<\/li>\n\n\n\n<li><strong>\u5185\u5bb9\u9694\u79bb\uff08Content Isolation\uff09<\/strong>\uff1a\u9694\u79bb\u68c0\u6d4b\u67e5\u8be2\uff08Detect Queries\uff09\u4e0e\u8ddf\u8e2a\u67e5\u8be2\uff08Track Queries\uff09\u7684\u8de8\u5185\u5bb9\u4ea4\u4e92\uff0c\u7f13\u89e3\u521d\u59cb\u68c0\u6d4b\u4e0e\u6301\u7eed\u8ddf\u8e2a\u7684\u8bed\u4e49\u9e3f\u6c9f\u3002\u8054\u5408\u5e94\u7528\u4e24\u7c7b\u7b56\u7565\u540e\uff0c\u5173\u8054\u7cbe\u5ea6\uff08AssocA\uff09\u63d0\u53475.3%\uff0cTETA\u63d0\u53473.4%\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>5. <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255206881&amp;content_type=Article&amp;match_order=1&amp;q=%E9%9B%B6%E6%A0%B7%E6%9C%AC%E8%B7%A8%E5%9F%9F%E6%B3%9B%E5%8C%96%E8%83%BD%E5%8A%9B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u96f6\u6837\u672c\u8de8\u57df\u6cdb\u5316\u80fd\u529b<\/a><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u672a\u4f7f\u7528\u76ee\u6807\u57df\u6570\u636e\u5fae\u8c03\u7684\u60c5\u51b5\u4e0b\uff0cOVTR\u5728KITTI\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u96f6\u6837\u672c\u8fc1\u79fb\uff0cMOTA\u6307\u6807\uff0871.8 vs. 69.8\uff09\u548cIDF1\uff0878.3 vs. 75.6\uff09\u663e\u8457\u4f18\u4e8eOVTrack\uff0c\u9a8c\u8bc1\u5176\u5bf9\u5f00\u653e\u573a\u666f\u7684\u5f3a\u9002\u5e94\u6027\u3002<\/li>\n\n\n\n<li><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30921076477_1\">World Modeling Makes a Better Planner<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aWorld Modeling Makes a Better Planner: Dual Preference Optimization for Embodied Task Planning<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.10480\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.10480<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-8e85c9d3a4615fa05bb2ab64fc874669_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u53cc\u504f\u597d\u4f18\u5316\u6846\u67b6\uff08Dual Preference Optimization, D\u00b2PO\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u8054\u5408\u4f18\u5316\u673a\u5236\uff0c\u901a\u8fc7\u504f\u597d\u5b66\u4e60\u540c\u65f6\u589e\u5f3a<strong>\u72b6\u6001\u9884\u6d4b\uff08state prediction\uff09<\/strong>\u4e0e<strong>\u52a8\u4f5c\u9009\u62e9\uff08action selection\uff09<\/strong>\u3002\u8be5\u65b9\u6cd5\u5c06<strong>\u76f4\u63a5\u504f\u597d\u4f18\u5316\uff08DPO\uff09<\/strong>\u6269\u5c55\u81f3<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255206881&amp;content_type=Article&amp;match_order=1&amp;q=%E5%85%B7%E8%BA%AB%E4%BB%BB%E5%8A%A1%E8%A7%84%E5%88%92&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5177\u8eab\u4efb\u52a1\u89c4\u5212<\/a>\u9886\u57df\uff0c\u4f7f\u89c6\u89c9\u8bed\u8a00\u5927\u6a21\u578b\uff08LVLM\uff09\u5728\u8bad\u7ec3\u9636\u6bb5\u5185\u5316\u73af\u5883\u52a8\u6001\uff0c\u4ece\u800c\u63d0\u5347\u89c4\u5212\u80fd\u529b\u3002\u901a\u8fc7\u81ea\u7136\u8bed\u8a00\u8868\u5f81\u72b6\u6001\u53d8\u5316\uff0c\u6a21\u578b\u65e0\u9700\u663e\u5f0f\u4e16\u754c\u6a21\u578b\u5f15\u5bfc\u5373\u53ef\u5728\u63a8\u7406\u9636\u6bb5\u751f\u6210\u9ad8\u6548\u52a8\u4f5c\u5e8f\u5217\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u57fa\u4e8e\u6811\u641c\u7d22\u7684\u81ea\u52a8\u6570\u636e\u751f\u6210<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u4e86\u4e00\u79cd<strong>\u5e7f\u5ea6\u4f18\u5148\u6811\u641c\u7d22\uff08breadth-first tree search\uff09\u673a\u5236\uff0c\u7ed3\u5408\u73af\u5883\u53cd\u9988\u4e0e\u6a21\u578b\u8bc4\u5206\uff0c\u81ea\u52a8\u63a2\u7d22\u53ef\u884c\u8f68\u8ff9\u5e76\u6784\u5efa\u591a\u6a21\u6001\u9010\u6b65\u504f\u597d\u6570\u636e\uff08multimodal stepwise preference pairs\uff09<\/strong>\u3002\u8be5\u65b9\u6cd5\u901a\u8fc7\u6df7\u5408\u8bc4\u5206\uff08\u73af\u5883\u53ef\u884c\u6027 + GPT-4o\u8bed\u4e49\u8bc4\u5206\uff09\u7b5b\u9009\u52a8\u4f5c\uff0c\u652f\u6301\u65e0\u4eba\u5de5\u6807\u6ce8\u7684\u89c4\u6a21\u5316\u6570\u636e\u6536\u96c6\uff0c\u89e3\u51b3\u4e86\u4f20\u7edf\u65b9\u6cd5\u5bf9\u4e13\u5bb6\u6f14\u793a\u548c\u4eba\u5de5\u6807\u6ce8\u7684\u4f9d\u8d56\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u4e16\u754c\u5efa\u6a21\u4e0e\u89c4\u5212\u80fd\u529b\u7684\u534f\u540c\u589e\u5f3a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9996\u6b21\u5c06<strong>\u4e16\u754c\u6a21\u578b\uff08world model\uff09\u76ee\u6807\u878d\u5165LVLM\u8bad\u7ec3\uff0c\u901a\u8fc7\u9884\u6d4b\u52a8\u4f5c\u5f15\u53d1\u7684\u72b6\u6001\u8f6c\u79fb\uff08<\/strong>st=T (st1,at)\uff09\uff0c\u4f7f\u6a21\u578b\u663e\u5f0f\u5b66\u4e60\u7269\u7406\u4ea4\u4e92\u7684\u56e0\u679c\u94fe\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u663e\u8457\u51cf\u5c11\u4e86\u4f9d\u8d56\u9519\u8bef\uff08dependency error\uff09\u3001\u529f\u80fd\u8bef\u7528\uff08affordance error\uff09\u548c\u5197\u4f59\u52a8\u4f5c\uff08inefficient error\uff09\uff0c\u57287B\u53c2\u6570\u89c4\u6a21\u4e0b\u4efb\u52a1\u6210\u529f\u7387\uff08SR\uff09\u76f8\u5bf9\u57fa\u7ebf\u63d0\u534731.4%\uff0c\u8def\u5f84\u6548\u7387\uff08PL\uff09\u63d0\u534733.0%\uff0c\u5e76\u5c55\u73b0\u51fa\u5bf9\u672a\u89c1\u573a\u666f\u7684\u5f3a\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u4eff\u771f\u5230\u73b0\u5b9e\u7684\u901a\u7528\u6027\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51faVoTa-Bench\u8bc4\u6d4b\u57fa\u51c6\uff0c\u6269\u5c55\u6587\u672c\u578bLoTa-Bench\u4e3a\u591a\u6a21\u6001\u4efb\u52a1\uff0c\u901a\u8fc7\u7b2c\u4e00\u89c6\u89d2\u89c6\u89c9\u8f93\u5165\u548c\u5f00\u653e\u57df\u52a8\u4f5c\u751f\u6210\uff0c\u66f4\u8d34\u5408\u771f\u5b9e\u673a\u5668\u4eba\u90e8\u7f72\u9700\u6c42\u3002\u8be5\u65b9\u6cd5\u5728AI2-THOR\u4eff\u771f\u73af\u5883\u4e2d\u9a8c\u8bc1\u4e86\u6846\u67b6\u7684\u9c81\u68d2\u6027\uff0c\u4e3a\u540e\u7eed\u73b0\u5b9e\u573a\u666f\u8fc1\u79fb\u5960\u5b9a\u4e86\u57fa\u7840\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30921076477_2\">DexGrasp Anything<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u9898\u76ee\uff1aDexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.08257\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.08257<\/a><\/li>\n\n\n\n<li>\u9879\u76ee\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/dexgraspanything.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/dexgraspanything.github.io\/<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-fc35a44afb92757aea99b55ea3316886_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255206881&amp;content_type=Article&amp;match_order=1&amp;q=%E7%89%A9%E7%90%86%E6%84%9F%E7%9F%A5%E7%9A%84%E6%89%A9%E6%95%A3%E7%94%9F%E6%88%90%E6%A1%86%E6%9E%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7269\u7406\u611f\u77e5\u7684\u6269\u6563\u751f\u6210\u6846\u67b6<\/a><\/strong><\/p>\n\n\n\n<p>\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u7075\u5de7\u6293\u53d6\u751f\u6210\u65b9\u6cd5\uff08<strong>DexGrasp Anything<\/strong>\uff09\uff0c\u901a\u8fc7\u5728\u8bad\u7ec3\u9636\u6bb5\uff08<strong>Physics-Aware Training<\/strong>\uff09\u548c\u91c7\u6837\u9636\u6bb5\uff08<strong>Physics-Guided Sampler<\/strong>\uff09\u6df1\u5ea6\u6574\u5408\u4e09\u7c7b\u7269\u7406\u7ea6\u675f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8868\u9762\u62c9\u529b\uff08Surface Pulling Force, SPF\uff09<\/strong>\uff1a\u786e\u4fdd\u624b\u90e8\u5185\u8868\u9762\u4e0e\u7269\u4f53\u8868\u9762\u63a5\u8fd1\uff0c\u4f18\u5316\u63a5\u89e6\u8d28\u91cf\uff1b<\/li>\n\n\n\n<li><strong>\u5916\u90e8\u7a7f\u900f\u6392\u65a5\u529b\uff08External-penetration Repulsion Force, ERF\uff09<\/strong>\uff1a\u9632\u6b62\u624b\u4e0e\u7269\u4f53\u7684\u51e0\u4f55\u7a7f\u900f\uff1b<\/li>\n\n\n\n<li><strong>\u81ea\u7a7f\u900f\u6392\u65a5\u529b\uff08Self-Penetration Repulsion Force, SRF\uff09<\/strong>\uff1a\u7ea6\u675f\u624b\u90e8\u5173\u8282\u95f4\u8ddd\uff0c\u907f\u514d\u624b\u6307\u81ea\u78b0\u649e\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8be5\u6846\u67b6\u901a\u8fc7<strong>\u540e\u9a8c\u91c7\u6837<\/strong>\u8fed\u4ee3\u4f18\u5316\u751f\u6210\u8fc7\u7a0b\uff0c\u663e\u8457\u63d0\u5347\u6293\u53d6\u59ff\u52bf\u7684\u7269\u7406\u5408\u7406\u6027\u4e0e\u6210\u529f\u7387\uff08Suc.1\/Suc.6\u6307\u6807\u63d0\u5347\u7ea610-20%\uff09\u3002<\/p>\n\n\n\n<p><strong>2. \u6700\u5927\u89c4\u6a21\u7075\u5de7\u6293\u53d6\u6570\u636e\u96c6\uff08DGA Dataset\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6784\u5efa\u4e86\u5305\u542b<strong>340\u4e07\u6293\u53d6\u59ff\u52bf\u7684DexGrasp Anything Dataset (DGA)\uff0c\u8986\u76d615,698\u4e2a\u7269\u4f53\uff0c\u6574\u5408\u591a\u6e90\u6570\u636e\uff08\u4eff\u771f\u3001\u771f\u5b9e\u91c7\u96c6\u3001\u4eba\u7c7b\u624b\u90e8\u6293\u53d6\uff09\u5e76\u91c7\u7528\u201c\u6a21\u578b\u5728\u73af\u201d\u751f\u6210\u7b56\u7565<\/strong>\uff08Model-in-the-Loop\uff09\u3002\u901a\u8fc7\u4e25\u683c\u7269\u7406\u9a8c\u8bc1\uff08\u5982\u4f4d\u79fb\u7a33\u5b9a\u6027\u3001\u7a7f\u900f\u8ddd\u79bb\u9650\u5236\uff09\uff0c\u5176\u6570\u636e\u89c4\u6a21\u4e0e\u591a\u6837\u6027\u8fdc\u8d85\u73b0\u6709\u6570\u636e\u96c6\uff08\u5982DexGraspNet\u3001GRAB\uff09\uff0c\u652f\u6301\u6a21\u578b\u5728\u96f6\u6837\u672c\u573a\u666f\u4e0b\u7684\u5f3a\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. LLM\u589e\u5f3a\u7684\u8bed\u4e49\u8868\u5f81\u63d0\u53d6<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u7ed3\u5408\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u7684\u7269\u4f53\u8868\u5f81\u63d0\u53d6\u6a21\u5757\uff0c\u901a\u8fc7\u8bed\u4e49\u63d0\u793a\uff08\u5982\u7269\u4f53\u7c7b\u522b\u4e0e\u5f62\u72b6\u63cf\u8ff0\uff09\u751f\u6210\u8bed\u4e49-\u51e0\u4f55\u878d\u5408\u7279\u5f81\uff0c\u5e76\u5229\u7528\u8de8\u6ce8\u610f\u529b\u673a\u5236\u6ce8\u5165\u6269\u6563\u6a21\u578b\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u8be5\u8bbe\u8ba1\uff08Ours w\/ LLM\uff09\u8fdb\u4e00\u6b65\u4f18\u5316\u4e86\u590d\u6742\u7269\u4f53\u7684\u6293\u53d6\u751f\u6210\u8d28\u91cf\uff08\u5982\u6210\u529f\u7387\u63d0\u53473-5%\uff09\uff0c\u5c24\u5176\u5728\u8bed\u4e49\u76f8\u5173\u7684\u6293\u53d6\u7b56\u7565\u9009\u62e9\u4e2d\u8868\u73b0\u7a81\u51fa\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_30921076477_3\">EmbodiedVSR<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aEmbodiedVSR: Dynamic Scene Graph-Guided Chain-of-Thought Reasoning for Visual Spatial Tasks<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.11089\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.11089<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-ee0a6a4b71b0b8038db4afc16fabdd6b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255206881&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8A%A8%E6%80%81%E5%9C%BA%E6%99%AF%E5%9B%BE%E5%BC%95%E5%AF%BC%E7%9A%84%E9%9B%B6%E6%A0%B7%E6%9C%AC%E7%A9%BA%E9%97%B4%E6%8E%A8%E7%90%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u52a8\u6001\u573a\u666f\u56fe\u5f15\u5bfc\u7684\u96f6\u6837\u672c\u7a7a\u95f4\u63a8\u7406<\/a><\/strong><\/p>\n\n\n\n<p><strong>\u6846\u67b6\uff08EmbodiedVSR\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u52a8\u6001\u573a\u666f\u56fe\u5efa\u6a21<\/strong>\uff1a\u901a\u8fc7\u5b9e\u65f6\u68c0\u6d4b\u4e0e\u6df1\u5ea6\u4f30\u8ba1\uff0c\u6784\u5efa\u5e76\u6301\u7eed\u66f4\u65b0\u7ed3\u6784\u5316\u573a\u666f\u56fe\uff08<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff09\uff0c\u663e\u5f0f\u5efa\u6a21\u5bf9\u8c61\u72b6\u6001\u52a8\u6001\uff08\u4f4d\u7f6e\u3001\u529f\u80fd\u5c5e\u6027\uff09\u3001\u51e0\u4f55\u7ea6\u675f\u5173\u7cfb\u53ca\u52a8\u4f5c\u5f15\u53d1\u7684\u73af\u5883\u72b6\u6001\u8f6c\u79fb\uff0c\u89e3\u51b3\u4f20\u7edf\u9759\u6001\u573a\u666f\u56fe\u65e0\u6cd5\u9002\u5e94\u52a8\u6001\u4ea4\u4e92\u7684\u7f3a\u9677\u3002<\/li>\n\n\n\n<li><strong>\u7269\u7406\u7ea6\u675f\u94fe\u5f0f\u601d\u7ef4\u63a8\u7406\uff08Physics-Constrained CoT\uff09<\/strong>\uff1a\u5c06\u63a8\u7406\u8fc7\u7a0b\u5206\u89e3\u4e3a\u539f\u5b50\u6b65\u9aa4\uff0c\u6bcf\u4e00\u6b65\u901a\u8fc7\u573a\u666f\u56fe\u7684\u7269\u7406\u4e00\u81f4\u6027\u89c4\u5219\uff08\u5982\u51e0\u4f55\u53ef\u884c\u6027\u3001\u529b\u5b66\u652f\u6301\u5173\u7cfb\uff09\u9a8c\u8bc1\uff0c\u786e\u4fdd\u591a\u6b65\u64cd\u4f5c\u4e2d\u7a7a\u95f4\u7ea6\u675f\u7684\u6301\u7eed\u6027\u8ddf\u8e2a\uff0c\u907f\u514d\u4f20\u7edfCoT\u7684\u51e0\u4f55\u8131\u8282\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b<\/strong>\uff1a\u901a\u8fc7\u795e\u7ecf-\u7b26\u53f7\u7ec4\u4ef6\u7684\u53c2\u6570\u65e0\u5173\u4ea4\u4e92\uff0c\u7ed3\u5408\u9884\u8bad\u7ec3\u6a21\u578b\u7684\u62bd\u8c61\u63a8\u7406\u80fd\u529b\u4e0e\u52a8\u6001\u573a\u666f\u56fe\u7684\u7269\u7406\u951a\u5b9a\uff0c\u65e0\u9700\u4efb\u52a1\u7279\u5b9a\u5fae\u8c03\u5373\u53ef\u5b9e\u73b0\u590d\u6742\u957f\u89c6\u754c\u4efb\u52a1\u7684\u53ef\u9760\u63a8\u7406\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u9762\u5411\u5177\u8eab\u667a\u80fd\u7684\u8bc4\u6d4b\u57fa\u51c6\uff08eSpatial-Benchmark\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u52a8\u6001\u4ea4\u4e92\u573a\u666f\u8986\u76d6<\/strong>\uff1a\u57fa\u4e8eRoboMIND\u91cd\u6784\u7684eSpatial-RoboMIND\u548cLEGO\u88c5\u914d\u4efb\u52a1\u9a71\u52a8\u7684eSpatial-Lego\uff0c\u5f15\u5165\u52a8\u4f5c\u6761\u4ef6\u5316\u5bf9\u8c61\u72b6\u6001\u3001\u7269\u7406\u7a33\u5b9a\u6027\u7ea6\u675f\u53ca\u591a\u7ef4\u7a7a\u95f4\u5173\u7cfb\u6807\u6ce8\uff08\u76f8\u5bf9\u4f4d\u7f6e\u3001\u989c\u8272\u7ec6\u7c92\u5ea6\u533a\u5206\u3001\u5806\u53e0\u51e0\u4f55\u8fb9\u754c\u7b49\uff09\uff0c\u586b\u8865\u4f20\u7edf\u9759\u6001\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u4e0e\u53ef\u6267\u884c\u7a7a\u95f4\u8ba4\u77e5\u95f4\u7684\u8bc4\u4f30\u9e3f\u6c9f\u3002<\/li>\n\n\n\n<li><strong>\u4efb\u52a1\u9a71\u52a8\u8bc4\u4f30\u534f\u8bae<\/strong>\uff1a\u901a\u8fc7\u53ef\u914d\u7f6e\u7684LEGO\u7ed3\u6784\u7ec4\u88c5\u4efb\u52a1\uff0c\u4e25\u683c\u8bc4\u6d4b\u6a21\u578b\u5bf9\u7269\u7406\u5c5e\u6027\u7406\u89e3\u3001\u7a7a\u95f4\u4f9d\u8d56\u89e3\u6790\u3001\u7ed3\u6784\u7a33\u5b9a\u6027\u63a8\u7406\u53ca\u5c42\u7ea7\u5316\u64cd\u4f5c\u5e8f\u5217\u751f\u6210\u7684\u80fd\u529b\uff0c\u8026\u5408\u63a8\u7406\u6709\u6548\u6027\u4e8e\u53ef\u6267\u884c\u52a8\u4f5c\u751f\u6210\u4e2d\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u7cfb\u7edf\u96c6\u6210\u4e0e\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u673a\u5668\u4eba\u64cd\u4f5c\u95ed\u73af\u9a8c\u8bc1<\/strong>\uff1a\u5728Tien Kung\u4eba\u5f62\u673a\u5668\u4eba\u5e73\u53f0\u90e8\u7f72EmbodiedVSR\uff0c\u5b9e\u73b0\u57fa\u4e8e\u52a8\u6001\u573a\u666f\u56fe\u7684LEGO\u7ed3\u6784\u91cd\u5efa\u4efb\u52a1\uff0c\u9a8c\u8bc180%\u7684\u64cd\u4f5c\u6210\u529f\u7387\u4e0e100%\u7684\u88c5\u914d\u63cf\u8ff0\u51c6\u786e\u7387\uff0c\u8bc1\u660e\u6846\u67b6\u5728\u771f\u5b9e\u7269\u7406\u4ea4\u4e92\u573a\u666f\u7684\u5b9e\u7528\u6027\u3002<\/li>\n\n\n\n<li><strong>\u6a21\u5757\u5316\u534f\u540c\u8bbe\u8ba1<\/strong>\uff1a\u901a\u8fc7\u68c0\u6d4b\u6a21\u578b\uff08OVD\uff09\u4e0e\u6df1\u5ea6\u4f30\u8ba1\u63d0\u4f9b\u7cbe\u786e\u611f\u77e5\u8f93\u5165\uff0c\u7ed3\u5408\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u7684\u5173\u7cfb\u63a8\u7406\u80fd\u529b\uff0c\u89e3\u51b3\u5355\u4e00\u6a21\u5757\u7684\u6cdb\u5316\u5c40\u9650\uff08\u5982\u68c0\u6d4b\u6a21\u578b\u6df7\u6dc6\u3001\u7eafLLM\u63d0\u793a\u7684\u51e0\u4f55\u5e7b\u89c9\uff09\uff0c\u5b9e\u73b0\u611f\u77e5-\u63a8\u7406-\u6267\u884c\u7684\u7aef\u5230\u7aef\u534f\u540c\u4f18\u5316\u3002<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-26447","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":2,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26447"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=26447"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26447\/revisions"}],"predecessor-version":[{"id":26448,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26447\/revisions\/26448"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=26447"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=26447"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=26447"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}