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\"\"\/<\/figure>\n\n\n\n

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\"\"\/<\/figure>\n\n\n\n
\"\"\/<\/figure>\n\n\n\n

RT-2\u7684\u7ed3\u6784\u975e\u5e38\u7b80\u5355\uff0c\u56fe\u50cf\u4fe1\u606f\u7ecf\u8fc7VIT\u7f16\u7801\u540e\u548c\u8bed\u8a00\u4fe1\u606f\u7684token\u4e00\u8d77\u8f93\u5165\u5230LLM\u4e2d\uff0c\u8c37\u6b4c\u5728\u8fd9\u91cc\u4f7f\u7528\u4e86\u81ea\u5bb6\u7684Gemini\uff0c\u6a21\u578b\u8f93\u51fa\u4e00\u7cfb\u5217\u7684Action token\uff0c\u89e3\u7801\u540e\u8f6c\u5316\u4e3a\u673a\u68b0\u81c2\u7684\u63a7\u5236\u4fe1\u53f7\u3002<\/p>\n\n\n\n

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\"\"\/<\/figure>\n\n\n\n

EMMA\u6709\u4e09\u4e2a\u8f93\u5165\uff0c\u5206\u522b\u662f<\/p>\n\n\n\n

    \n
  • \u6444\u50cf\u5934\u7684\u539f\u59cb\u56fe\u50cf\uff1b<\/li>\n\n\n\n
  • \u5bfc\u822a\u7684\u8def\u5f84\u4fe1\u606f\uff1b<\/li>\n\n\n\n
  • \u5386\u53f2\u4fe1\u606f\u548c\u81ea\u8f66\u72b6\u6001\u3002<\/li>\n<\/ul>\n\n\n\n

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      \n
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    • \u5bf9\u573a\u666f\u7684\u7406\u89e3\u3002<\/li>\n<\/ul>\n\n\n\n

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      \"\"\/<\/figure>\n\n\n\n

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      \u53ef\u89e3\u91ca\u6027\u5dee<\/strong><\/p>\n\n\n\n

      \u8fd9\u51e0\u4e4e\u662f\u6240\u6709\u5927\u8bed\u8a00\u6a21\u578b\u7684\u901a\u75c5\u3002\u867d\u7136\u5927\u6a21\u578b\u80fd\u591f\u6d8c\u73b0\u51fa\u5f3a\u5927\u7684\u80fd\u529b\uff0c\u4f46\u662f\u5b83\u4f3c\u4e4e\u662f\u4e00\u4e2a\u5927\u7684\u9ed1\u76d2\u5b50\uff0c\u5230\u73b0\u5728\u4e5f\u6ca1\u6709\u4eba\u80fd\u5f88\u597d\u5730\u89e3\u91ca\u4e3a\u4ec0\u4e48\u5927\u6a21\u578b\u4f1a\u6709Scaling Law\uff0c\u4ee5\u53ca\u5b83\u662f\u5982\u4f55\u601d\u8003\u7684\u3002\u4e5f\u8bb8\u5bf9\u4e8e\u8bed\u8a00\u7c7b\u7684\u5927\u6a21\u578b\u800c\u8a00\uff0c\u903b\u8f91\u4e0a\u7684\u9519\u8bef\u5e76\u4e0d\u81f4\u547d\uff0c\u4f46\u662f\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6765\u8bf4\uff0c\u4e00\u4e2a\u5c0f\u5c0f\u7684\u9519\u8bef\u6709\u53ef\u80fd\u5c31\u4f1a\u4ea7\u751f\u4e25\u91cd\u7684\u540e\u679c\u3002<\/p>\n\n\n\n

      \u56e0\u6b64\u53ef\u89e3\u91ca\u6027\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u800c\u8a00\u662f\u975e\u5e38\u91cd\u8981\u7684\u7279\u6027\uff0c\u7279\u522b\u662f\u5728\u91cf\u4ea7\u8f66\u4e0a\uff0c\u9047\u5230\u6709\u95ee\u9898\u7684\u573a\u666f\uff0c\u9700\u8981\u627e\u5230\u6839\u6e90\u95ee\u9898root cause\u624d\u80fd\u5feb\u901f\u5730\u4f18\u5316\u3002<\/p>\n\n\n\n

      \u867d\u7136\u5728VLA\u4e2d\u589e\u52a0\u4e86\u5bf9\u4e8e\u51b3\u7b56\u8fc7\u7a0b\u7684\u89e3\u91ca\uff0c\u4f46\u662f\u65e0\u6cd5\u50cf\u4f20\u7edf\u7b97\u6cd5\u90a3\u6837\u5b9a\u4f4d\u5230\u95ee\u9898\u4ee3\u7801\uff0c\u5982\u4f55\u5feb\u901f\u89e3bug\uff0c\u8fd9\u4f1a\u662fVLA\u4e0a\u8f66\u4e4b\u540e\u7684\u4e00\u5927\u6311\u6218\u3002<\/p>\n\n\n\n

      \u529e\u6cd5\u603b\u6bd4\u56f0\u96be\u591a\uff0c\u867d\u7136VLA\u4e0a\u8f66\u6709\u79cd\u79cd\u6311\u6218\uff0c\u4f46\u662f\u603b\u7528\u4e0d\u6015\u56f0\u96be\u7684\u5382\u5546\u7387\u5148\u5c1d\u8bd5\uff0c\u8fd9\u4e00\u6b21\u8fd8\u662f\u7406\u60f3\u8d70\u5728\u4e86\u524d\u9762\u3002<\/p>\n\n\n\n

      \u56db\u3001\u6253\u54cdVLA\u4e0a\u8f66\u7684\u7b2c\u4e00\u67aa<\/strong><\/h1>\n\n\n\n

      \u4f5c\u4e3a\u9996\u53d1VLM\u4e0a\u8f66\u7684\u8f66\u4f01\uff0c\u7406\u60f3\u65e0\u7591\u662f\u53bb\u5e74\u667a\u9a7e\u884c\u4e1a\u6700\u8000\u773c\u7684\u660e\u661f\u3002<\/p>\n\n\n\n

      \u4e0d\u5230\u4e00\u5e74\u7684\u65f6\u95f4\uff0c\u7406\u60f3\u518d\u6b21\u9886\u5148\u4e00\u6b65\uff0c3\u670818\u65e5\u7406\u60f3\u6b63\u5f0f\u53d1\u5e03\u4e86\u4e0b\u4e00\u4ee3\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784MindVLA<\/strong>\uff0c\u8fd9\u662f\u4e00\u4e2a\u878d\u5408\u4e86\u89c6\u89c9\u3001\u8bed\u8a00\u548c\u884c\u4e3a\u667a\u80fd\u7684\u5927\u6a21\u578b\uff0c\u8d4b\u4e88\u4e86\u81ea\u52a8\u9a7e\u9a76\u5f3a\u5927\u76843D\u7a7a\u95f4\u7406\u89e3\u80fd\u529b\u3001\u903b\u8f91\u63a8\u7406\u80fd\u529b\u548c\u884c\u4e3a\u751f\u6210\u80fd\u529b\uff0c\u8ba9\u81ea\u52a8\u9a7e\u9a76\u80fd\u591f\u611f\u77e5\u3001\u601d\u8003\u548c\u9002\u5e94\u73af\u5883\uff0c\u66f4\u91cd\u8981\u7684\u662f\u901a\u8fc73D\u9ad8\u65af\u3001MoE\u6df7\u5408\u4e13\u5bb6\u67b6\u6784\u7684LLM\u57fa\u5ea7\u6a21\u578b\u548cdiffusion\u6a21\u578b\u7b49\u6280\u672f\uff0c\u8ba9VLA\u7b2c\u4e00\u6b21\u5e94\u7528\u5728\u91cf\u4ea7\u8f66\u3002<\/p>\n\n\n\n

      \"\"\/<\/figure>\n\n\n\n

      \u7406\u60f3\u4e5f\u516c\u5f00\u4e86\u975e\u5e38\u591a\u7684\u7ec6\u8282\uff0c\u4ece\u67b6\u6784\u4e0a\u770bMindVLA\u548c\u5b66\u672f\u9886\u57df\u7684VLA\u67b6\u6784\u6709\u5f88\u591a\u7684\u4e0d\u540c\u70b9\u3002<\/p>\n\n\n\n

      \u4e4b\u524d\u7684VLA\u67b6\u6784\u975e\u5e38\u7b80\u5355\uff0c\u8f93\u5165\u662f\u4f20\u611f\u5668\u6570\u636e\u548c\u8bed\u8a00\u4fe1\u606f\uff0c\u8f93\u51fa\u8f68\u8ff9\uff0c\u4e2d\u95f4\u662f\u4e00\u4e2a\u5927\u7684\u57fa\u5ea7\u6a21\u578b\uff0c\u800cMindVLA\u9664\u4e86\u6709\u57fa\u5ea7\u5927\u6a21\u578b\u4e4b\u5916\uff0c\u8fd8\u589e\u52a0\u4e86\u5176\u5b83\u7684\u6a21\u5757\uff0c\u8fd9\u5176\u4e2d\u6709\u51e0\u4e2a\u5173\u952e\u7684\u6280\u672f\uff0c\u4ee3\u8868\u4e86\u7406\u60f3\u4ece\u5de5\u7a0b\u7aef\u5bf9VLA\u7684\u7406\u89e3\u3002<\/p>\n\n\n\n

      V – Spatial Intelligence\u7a7a\u95f4\u667a\u80fd<\/strong><\/p>\n\n\n\n

      \u5728MindVLA\u7684\u67b6\u6784\u4e2d\u4f20\u611f\u5668\u6570\u636e\u6ca1\u6709\u76f4\u63a5\u8f93\u5165\u5230\u57fa\u5ea7\u5927\u6a21\u578b\u4e2d\uff0c\u800c\u662f\u5148\u7ecf\u8fc7\u4e86\u4e00\u4e2aV-Spatial Intelligence\u7684\u6a21\u5757\uff0c\u8fd9\u4e2a\u6a21\u5757\u80fd\u6839\u636e\u4f20\u611f\u5668\u7684\u539f\u59cb\u8f93\u5165\u5f62\u6210\u5bf93D\u7269\u7406\u4e16\u754c\u7684\u7406\u89e3\uff0c\u548c\u5927\u8bed\u8a00\u6a21\u578b\u76f8\u6bd4\uff0c\u6709\u66f4\u5f3a\u7684\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff0c\u8fd9\u5176\u4e2d\u5173\u952e\u7684\u6280\u672f\u662f\u4f7f\u7528\u4e863D\u9ad8\u65af\u8868\u5f81\u3002<\/p>\n\n\n\n

      \"\"\/<\/figure>\n\n\n\n

      3D\u9ad8\u65af\u6700\u65e9\u8d77\u6e90\u4e8e\u56fe\u50cf\u6e32\u67d3\u548c\u4e09\u7ef4\u573a\u666f\u91cd\u5efa\u9886\u57df\uff0c\u53ef\u4ee5\u901a\u8fc7\u4e8c\u7ef4\u7684\u56fe\u50cf\u8fd8\u539f3D\u7684\u573a\u666f\uff0c\u6b64\u524d\u8be5\u9886\u57df\u5e7f\u6cdb\u5e94\u7528\u7684\u662f\u795e\u7ecf\u8f90\u5c04\u573a\u7b97\u6cd5-NeRF\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u8f90\u5c04\u573a\u548c\u5149\u7ea4\u53ef\u9006\u539f\u7406\u8fd8\u539f3D\u7269\u4f53\u7684\u795e\u7ecf\u7f51\u7edc\u7b97\u6cd5\uff0c\u56fe\u50cf\u8d28\u91cf\u9ad8\u4f46\u662f\u8bad\u7ec3\u65f6\u95f4\u957f\u3001\u6e32\u67d3\u901f\u5ea6\u6162\uff0c\u4e0d\u9002\u5408\u5b9e\u65f6\u573a\u666f\uff0c\u5e7f\u6cdb\u7528\u4e8e\u7535\u5f71\u7279\u6548\u548c\u6e38\u620f\u5f00\u53d1\u9886\u57df\u3002<\/p>\n\n\n\n

      \u800c3D\u9ad8\u65af\u5219\u662f\u5229\u75283D\u9ad8\u65af\u5206\u5e03\u7684\u70b9\u5bf9\u56fe\u50cf\u8fdb\u884c\u5efa\u6a21\uff0c\u6bcf\u4e2a\u9ad8\u65af\u70b9\u5305\u542b\u4f4d\u7f6e\u3001\u65b9\u5411\u3001\u989c\u8272\u548c\u900f\u660e\u5ea6\u7b49\u4fe1\u606f\uff0c\u6e32\u67d3\u65f6\u8fd9\u4e9b\u9ad8\u65af\u5206\u5e03\u70b9\u4f1a\u88ab\u6295\u5f71\u51fa\u6765\uff0c\u901a\u8fc7\u5149\u6805\u5316\u6280\u672f\u5408\u6210\uff0c\u7c7b\u4f3c\u4e8e\u5728\u56fe\u5c42\u4e0a\u6cfc\u6d12\u9ad8\u65af\u70b9\uff0c\u6bcf\u4e2a\u70b9\u8d21\u732e\u4e00\u4e2a\u50cf\u7d20\u6216\u7247\u6bb5\u7684\u989c\u8272\u548c\u900f\u660e\u56fe\uff0c\u6700\u7ec8\u8fd8\u539f\u6574\u4e2a\u7269\u4f53\u3002<\/p>\n\n\n\n

      3D\u9ad8\u65af\u6700\u5927\u7684\u7279\u70b9\u662f\u5efa\u6a21\u901f\u5ea6\u975e\u5e38\u5feb\u5e76\u4e14\u53ef\u4ee5\u901a\u8fc7\u539f\u56fe\u7684RGB\u4fe1\u606f\u8fdb\u884c\u81ea\u76d1\u7763\u5b66\u4e60<\/strong>\u3002<\/p>\n\n\n\n

      \u5982\u679c\u7528\u753b\u753b\u6765\u6bd4\u55bb\uff0cNeRF\u5c31\u50cf\u4e00\u4e2a\u753b\u529f\u5f88\u597d\u7684\u753b\u5bb6\uff0c\u6839\u636e\u539f\u56fe\u4e2d\u7684\u5149\u5f71\u548c\u7ec6\u8282\u4e00\u7b14\u4e00\u753b\u7684\u8fd8\u539f\u51fa\u6765\uff0c\u800c3D\u9ad8\u65af\u5219\u662f\u524d\u536b\u7684\u300c\u6cfc\u58a8\u300d\u827a\u672f\u5bb6\uff0c\u540c\u65f6\u5c06\u4e0d\u540c\u989c\u8272\u548c\u900f\u660e\u5ea6\u7684\u6591\u70b9\u6253\u5728\u753b\u5e03\u4e0a\uff0c\u5c42\u5c42\u53e0\u52a0\u5f62\u6210\u56fe\u50cf\u3002<\/p>\n\n\n\n

      \u7406\u60f3\u7684\u56e2\u961f\u5c063D\u9ad8\u65af\u9996\u6b21\u5e94\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u5e76\u4e14\u5728\u8def\u5f84\u89c4\u5212\u3001\u5360\u7528\u683c\u6805\u7f51\u7edc\u548c\u969c\u788d\u7269\u68c0\u6d4b\u7b49\u4efb\u52a1\u4e0a\u90fd\u6709\u5f88\u597d\u7684\u8868\u73b0\uff0cMindVLA\u4e2d\u4f7f\u75283D\u9ad8\u65af\u4f5c\u4e3a\u611f\u77e5\u6a21\u5757\uff0c\u548c\u81ea\u8f66\u4f4d\u7f6e\u548c\u5bfc\u822a\u4fe1\u606f\u7b49\u4e00\u540c\u7f16\u7801\u8f93\u5165\u5230\u57fa\u5ea7\u5927\u6a21\u578b\u4e2d\u3002<\/p>\n\n\n\n

      MindGPT\u5927\u6a21\u578b<\/strong><\/p>\n\n\n\n

      \u8fd9\u6b21\u7684MindVLA\u4e2d\uff0c\u7406\u60f3\u6ca1\u6709\u518d\u4f7f\u7528\u5f00\u6e90\u7684\u5343\u95ee\u6a21\u578b\uff0c\u800c\u662f\u4ece0\u5f00\u59cb\u642d\u5efa\u4e86\u4e00\u4e2aLLM\u57fa\u5ea7\u6a21\u578bMindGPT\u3002<\/p>\n\n\n\n

      \u4ece\u540d\u5b57\u6765\u770b\u8fd9\u4f3c\u4e4e\u662f\u548c\u7406\u60f3\u5ea7\u8231\u5171\u7528\u7684\u5927\u6a21\u578b\uff0c\u800c\u4e14\u674e\u60f3\u4eca\u5e74\u4e5f\u516c\u5f00\u8868\u793a\u6210\u4e3a\u4e00\u5bb6AI\u516c\u53f8\u7684\u957f\u671f\u613f\u666f\uff0c\u6240\u4ee5\u6839\u636e\u81ea\u8eab\u7684\u9700\u6c42\u642d\u5efa\u4e00\u4e2a\u5927\u6a21\u578b\u662f\u975e\u5e38\u5fc5\u8981\u7684\u6218\u7565\u65b9\u5411\u3002<\/p>\n\n\n\n

      \"\"\/<\/figure>\n\n\n\n

      \u4e3a\u4e86\u964d\u4f4e\u5927\u6a21\u578b\u5728\u8f66\u7aef\u7684\u8ba1\u7b97\u9700\u6c42\uff0cMindVLA\u91c7\u7528\u4e86MoE\u6df7\u5408\u4e13\u5bb6\u67b6\u6784\u548cSparse Attention\uff08\u7a00\u758f\u6ce8\u610f\u529b\uff09\u3002<\/p>\n\n\n\n

      MoE\u6a21\u578b\u662f\u4e00\u79cd\u5206\u800c\u6cbb\u4e4b\u7b56\u7565\u7684\u795e\u7ecf\u7f51\u7edc\u67b6\u6784\uff0c\u5b83\u5c06\u590d\u6742\u7684\u95ee\u9898\u5206\u89e3\u4e3a\u591a\u4e2a\u5b50\u95ee\u9898\uff0c\u6bcf\u4e2a\u5b50\u95ee\u9898\u7531\u4e00\u4e2a\u72ec\u7acb\u7684\u6a21\u578b\uff08\u79f0\u4e3a\u4e13\u5bb6\uff09\u8fdb\u884c\u5904\u7406\uff0c\u4e0e\u7a20\u5bc6\u6a21\u578b\u76f8\u6bd4\uff0c\u53c2\u6570\u66f4\u5c11\uff0c\u9884\u8bad\u7ec3\u901f\u5ea6\u66f4\u5feb\uff0c\u540c\u65f6\u7531\u4e8e\u5c11\u6570\u4e13\u5bb6\u6a21\u578b\u88ab\u540c\u65f6\u6fc0\u6d3b\uff0c\u4e0e\u76f8\u540c\u53c2\u6570\u6570\u91cf\u7684\u6a21\u578b\u76f8\u6bd4\uff0cMoE\u67b6\u6784\u53ef\u4ee5\u5927\u5e45\u51cf\u5c11\u8ba1\u7b97\u5f00\u9500\u3002<\/p>\n\n\n\n

      \u7a00\u758f\u6ce8\u610f\u529b\u673a\u5236\u662f\u4e00\u79cd\u6539\u8fdb\u7684\u6ce8\u610f\u529b\u673a\u5236\uff0c\u65e8\u5728\u89e3\u51b3\u4f20\u7edf\u7684Transformer\u6ce8\u610f\u529b\u673a\u5236\u5728\u9ad8\u7ef4\u8f93\u5165\u6216\u957f\u5e8f\u5217\u6570\u636e\u4e0a\u7684\u8ba1\u7b97\u590d\u6742\u5ea6\u8fc7\u9ad8\u7684\u95ee\u9898\u3002\u901a\u8fc7\u51cf\u5c11\u6ce8\u610f\u529b\u8ba1\u7b97\u4e2d\u9700\u8981\u5904\u7406\u7684\u5143\u7d20\u6570\u91cf\uff0c\u7a00\u758f\u6ce8\u610f\u529b\u673a\u5236\u80fd\u591f\u663e\u8457\u964d\u4f4e\u8ba1\u7b97\u548c\u5185\u5b58\u5f00\u9500\uff0c\u540c\u65f6\u4fdd\u6301\u8f83\u9ad8\u7684\u6a21\u578b\u6027\u80fd\u3002<\/p>\n\n\n\n

      \u7406\u60f3\u4e5f\u628a\u5f53\u524d\u7aef\u5230\u7aef+VLM\u7684\u5feb\u6162\u601d\u8003\u6a21\u5f0f\u5f15\u5165\u5230MindVLA\u4e2d\uff0c\u8bad\u7ec3MindGPT\u5b66\u4e60\u8fd9\u4e2a\u601d\u8003\u6a21\u5f0f\uff0c\u53ef\u4ee5\u81ea\u4e3b\u5207\u6362\u5feb\u601d\u8003\u548c\u6162\u601d\u8003\uff0c\u540c\u65f6MindVLA\u91c7\u53d6\u5c0f\u8bcd\u8868\u7ed3\u5408\u6295\u673a\u63a8\u7406\uff0c\u4ee5\u53ca\u5e76\u884c\u89e3\u7801\u6280\u672f\uff0c\u5b9e\u73b0\u4e86\u6a21\u578b\u53c2\u6570\u89c4\u6a21\u4e0e\u5b9e\u65f6\u63a8\u7406\u6027\u80fd\u4e4b\u95f4\u7684\u5e73\u8861\u3002<\/p>\n\n\n\n

      \u6269\u6563\u6a21\u578b\uff08Diffusion Model\uff09<\/strong><\/p>\n\n\n\n

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