{"id":6162,"date":"2023-10-07T09:43:59","date_gmt":"2023-10-07T01:43:59","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/10\/07\/6162\/"},"modified":"2023-10-07T10:31:35","modified_gmt":"2023-10-07T02:31:35","slug":"iccv-2023-capeam%ef%bc%9a%e5%9f%ba%e4%ba%8e%e4%b8%8a%e4%b8%8b%e6%96%87%e6%84%9f%e7%9f%a5%e8%a7%84%e5%88%92%e5%92%8c%e7%8e%af%e5%a2%83%e6%84%9f%e7%9f%a5%e8%ae%b0%e5%bf%86%e6%9c%ba%e5%88%b6%e6%9e%84","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/10\/07\/6162\/","title":{"rendered":"2023-10-06  ICCV 2023 | CAPEAM\uff1a\u57fa\u4e8e\u4e0a\u4e0b\u6587\u611f\u77e5\u89c4\u5212\u548c\u73af\u5883\u611f\u77e5\u8bb0\u5fc6\u673a\u5236\u6784\u5efa\u5177\u8eab\u667a\u80fd\u4f53"},"content":{"rendered":"<p>\u516c\u4f17\u53f7\uff1a\u5c06\u95e8\u521b\u6295(thejiangmen\uff09<\/p>\n<p>\u4f5c\u8005\uff1aseven_<img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-02bfb2bd4eb053fb6674ffc01ce627c2_b.jpg\" width=\"1688\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1688\" data-rawheight=\"426\" data-original=\"https:\/\/pic3.zhimg.com\/v2-02bfb2bd4eb053fb6674ffc01ce627c2_r.jpg\" \/>\u6587\u7ae0\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2308.07241\">https:\/\/arxiv.org\/abs\/2308.07241<\/a><\/p>\n<p>2023\u5e74\uff0c\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u4ee5\u53caAI Agents\u7684\u84ec\u52c3\u53d1\u5c55\u4e3a\u6574\u4e2a\u673a\u5668\u667a\u80fd\u9886\u57df\u5e26\u6765\u4e86\u5168\u65b0\u7684\u53d1\u5c55\u673a\u9047\u3002\u4e00\u76f4\u4ee5\u6765\uff0c\u7814\u7a76\u8005\u4eec\u5bf9\u5177\u8eab\u667a\u80fd\uff08Embodied Artificial Intelligence\uff09\u7684\u8981\u6c42\u5c31\u662f\u901a\u8fc7\u521b\u5efa\u8f6f\u786c\u4ef6\u7ed3\u5408\u7684\u667a\u80fd\u4f53\uff08\u4f8b\u5982\u4e0d\u540c\u5f62\u6001\u7684\u673a\u5668\u4eba\uff09\uff0c\u4f7f\u5176\u5728\u5404\u79cd\u771f\u5b9e\u7269\u7406\u73af\u5883\u4e2d\u6765\u6267\u884c\u5404\u79cd\u5404\u6837\u7684\u590d\u6742\u4efb\u52a1\uff0c\u5b8c\u6210\u4eba\u5de5\u667a\u80fd\u7684\u8fdb\u5316\u8fc7\u7a0b\u3002\u4f9d\u9760LLMs\u5f3a\u5927\u7684\u8bed\u8a00\u7406\u89e3\u548c\u63a8\u7406\u80fd\u529b\uff0c\u53ef\u4ee5\u6781\u5927\u7684\u63d0\u5347\u5177\u8eab\u667a\u80fd\u673a\u5668\u4eba\u7684\u5de5\u4f5c\u6548\u7387\u3002<\/p>\n<p>\u672c\u6587\u4ecb\u7ecd\u4e00\u7bc7\u88ab\u8ba1\u7b97\u673a\u89c6\u89c9\u9876\u4f1aICCV 2023\u5f55\u7528\u7684\u8bba\u6587\uff0c\u9488\u5bf9\u73b0\u6709\u673a\u5668\u4eba\u5728\u73af\u5883\u5bfc\u822a\u4ee5\u53ca\u4e0e\u73af\u5883\u76ee\u6807\u4ea4\u4e92\u65f6\u7ecf\u5e38\u72af\u9519\u7684\u95ee\u9898\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u4e0a\u4e0b\u6587\u611f\u77e5\u89c4\u5212\u548c\u73af\u5883\u611f\u77e5\u8bb0\u5fc6\uff08Context-Aware Planning and Environment-Aware Memory\uff09\u7684\u5177\u8eab\u667a\u80fd\u6846\u67b6CAPEAM\uff0cCAPEAM\u901a\u8fc7\u8bbe\u8ba1\u4e00\u7cfb\u5217\u7684\u4ee3\u7406\u6765\u5c06\u8bed\u4e49\u4e0a\u4e0b\u6587\uff08\u8bed\u8a00\u6307\u4ee4\u3001\u4ea4\u4e92\u7684\u5bf9\u8c61\u4fe1\u606f\u7b49\uff09\u7eb3\u5165\u673a\u5668\u4eba\u7684\u89c4\u5212\u5e8f\u5217\u4e2d\uff0c\u540c\u65f6\u8003\u8651\u4ea4\u4e92\u7269\u4f53\u7684\u7a7a\u95f4\u5e03\u5c40\u548c\u72b6\u6001\u53d8\u5316\uff08\u4f8b\u5982\uff0c\u7269\u4f53\u5df2\u79fb\u52a8\u5230\u7684\u4f4d\u7f6e\uff09\uff0c\u4ee5\u63a8\u65ad\u540e\u7eed\u884c\u52a8\u3002\u57fa\u4e8e\u8fd9\u6837\u7684\u8bbe\u8ba1\uff0cCAPEAM\u7684\u4ee3\u7406\u7a0b\u5e8f\u53ef\u4ee5\u5728\u6807\u51c6\u7684\u673a\u5668\u4eba\u4ea4\u4e92\u6307\u4ee4\u57fa\u51c6\u4e0a\u8fbe\u5230SOTA\u6027\u80fd\u3002<\/p>\n<p>01. \u4ecb\u7ecd<\/p>\n<p>\u5177\u8eab\u667a\u80fd\u673a\u5668\u4eba\u5728\u5de5\u4e1a\u5236\u9020\u3001\u5feb\u9012\u7269\u6d41\u3001\u667a\u80fd\u5bb6\u5c45\u3001\u9ad8\u5371\u73af\u5883\u6551\u63f4\u7b49\u591a\u79cd\u573a\u666f\u4e2d\u90fd\u5177\u6709\u826f\u597d\u7684\u5e94\u7528\u524d\u666f\uff0c\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u9ad8\u5de5\u4f5c\u6548\u7387\uff0c\u7814\u7a76\u8005\u4eec\u5f00\u59cb\u601d\u8003\u80fd\u5426\u5236\u9020\u4e00\u79cd\u53ef\u4ee5\u7cbe\u786e\u7406\u89e3\u4eba\u7c7b\u8bed\u8a00\u6307\u4ee4\uff0c\u540c\u65f6\u5177\u6709\u81ea\u6211\u8def\u5f84\u89c4\u5212\u548c\u52a8\u4f5c\u6267\u884c\u80fd\u529b\u7684\u5177\u8eab\u667a\u80fd\u673a\u5668\u4eba\u5462\u3002\u4e3a\u4e86\u5b8c\u6210\u7528\u6237\u6307\u5b9a\u7684\u5404\u79cd\u7279\u5b9a\u4efb\u52a1\uff0c\u673a\u5668\u4eba\u4ee3\u7406\u9996\u5148\u9700\u8981\u5bf9\u4efb\u52a1\u6307\u4ee4\u8fdb\u884c\u62c6\u5206\uff0c\u5e76\u89c4\u5212\u51fa\u5b8c\u6574\u7684\u884c\u52a8\u5e8f\u5217\uff0c\u5176\u4e2d\u6d89\u53ca\u5230\u4e0e\u4efb\u52a1\u7279\u5b9a\u7684\u76f8\u5173\u5bf9\u8c61\u8fdb\u884c\u4ea4\u4e92\u3002\u7136\u800c\u96be\u70b9\u5728\u4e8e\uff0c\u7b80\u5355\u7684\u4ee3\u7406\u7a0b\u5e8f\u53ef\u80fd\u4f1a\u89c4\u5212\u51fa\u4e00\u4e9b\u9519\u8bef\u884c\u52a8\uff0c\u4f8b\u5982\u4e0e\u4efb\u52a1\u65e0\u5173\u7684\u5bf9\u8c61\u8fdb\u884c\u4ea4\u4e92\u3002\u4f8b\u5982\uff0c\u5982\u679c\u7528\u6237\u6307\u5b9a\u4efb\u52a1\u201c\u628a\u82f9\u679c\u5207\u7247\u653e\u5728\u684c\u5b50\u4e0a\u201d\uff0c\u666e\u901a\u7684\u4ee3\u7406\u53ef\u80fd\u4f1a\u9a71\u52a8\u673a\u5668\u4eba\u62ff\u8d77\u9762\u5305\u7247\u653e\u5230\u684c\u5b50\u4e0a\uff0c\u672c\u6587\u4f5c\u8005\u8ba4\u4e3a\uff0c\u51fa\u73b0\u8fd9\u79cd\u73b0\u8c61\u7684\u4e3b\u8981\u539f\u56e0\u662f\u8fd9\u79cd\u4ee3\u7406\u7f3a\u4e4f\u5bf9\u4efb\u52a1\u6307\u4ee4\u4ee5\u53ca\u5f53\u524d\u73af\u5883\u7684\u4e0a\u4e0b\u6587\u8bb0\u5fc6\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-77a6f8b1ff18c05b7926780ce27c8370_b.jpg\" width=\"1035\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1035\" data-rawheight=\"996\" data-original=\"https:\/\/pic1.zhimg.com\/v2-77a6f8b1ff18c05b7926780ce27c8370_r.jpg\" \/>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u672c\u6587\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684CAPEAM\u65b9\u6cd5\uff0c\u5c06\u4efb\u52a1\u89c4\u5212\u8fc7\u7a0b\u5206\u4e3a\u4e24\u4e2a\u4e0d\u540c\u7684\u9636\u6bb5\uff0c\u9996\u5148\u5bf9\u4efb\u52a1\u6307\u4ee4\u8fdb\u884c\u62c6\u89e3\u5e76\u6784\u5efa\u4e0a\u4e0b\u6587\u4fe1\u606f\uff08\u6307\u4ee4\u4e2d\u6d89\u53ca\u5230\u9700\u8981\u4ea4\u4e92\u7684\u5bf9\u8c61\uff09\uff0c\u968f\u540e\u518d\u6839\u636e\u4e0a\u4e0b\u6587\u8bb0\u5fc6\u8fdb\u884c\u8be6\u7ec6\u884c\u52a8\u89c4\u5212\u3002\u5982\u4e0a\u56fe\u6240\u793a\uff0cCAPEAM\u9996\u5148\u63d0\u53d6\u4efb\u52a1\u6307\u4ee4\u4e2d\u7684\u4e0a\u4e0b\u6587\u5bf9\u8c61\uff0c\u968f\u540e\u4ee5\u8fd9\u4e9b\u5bf9\u8c61\u4e3a\u4e2d\u5fc3\u7ec4\u5408\u51fa\u5404\u79cd\u53ef\u80fd\u7684\u5b50\u884c\u52a8\u76ee\u6807\uff0c\u518d\u6839\u636e\u7ec6\u8282\u89c4\u5212\u5668\uff08Detailed Planners\uff09\u5f97\u5230\u6700\u7ec8\u7684\u884c\u52a8\u5e8f\u5217\u3002<\/p>\n<p>\u6b64\u5916\u4f5c\u8005\u8fd8\u8003\u8651\u5230\u4ea4\u4e92\u5bf9\u8c61\u7684\u72b6\u6001\u53d8\u5316\u5bf9\u4e8e\u4efb\u52a1\u7684\u6b63\u786e\u5b8c\u6210\u4e5f\u81f3\u5173\u91cd\u8981\uff0c\u5982\u679c\u4ee3\u7406\u7a0b\u5e8f\u4e0d\u80fd\u53ca\u65f6\u7684\u8ddf\u8e2a\u76ee\u6807\u7684\u72b6\u6001\uff08\u4f8b\u5982\uff0c\u5bf9\u8c61\u662f\u5426\u5df2\u88ab\u79fb\u52a8\uff09\uff0c\u5c31\u4f1a\u5bfc\u81f4\u540e\u7eed\u9519\u8bef\u7684\u4ea4\u4e92\u3002\u4f8b\u5982\u4e0a\u56fe\u6240\u793a\u7684\u201c\u5c06\u82f9\u679c\u548c\u76d8\u5b50\u653e\u5728\u67dc\u5b50\u91cc\u201d\u4efb\u52a1\u4e2d\uff0c\u5982\u679c\u4ee3\u7406\u9996\u5148\u79fb\u52a8\u4e86\u82f9\u679c\uff0c\u4f46\u662f\u6ca1\u6709\u8bb0\u5f55\u82f9\u679c\u7684\u65b0\u4f4d\u7f6e\u4fe1\u606f\uff0c\u5728\u79fb\u52a8\u76d8\u5b50\u65f6\u6709\u53ef\u80fd\u5c06\u76d8\u5b50\u76f4\u63a5\u653e\u5728\u82f9\u679c\u4e0a\u800c\u5bfc\u81f4\u4efb\u52a1\u5931\u8d25\u3002\u56e0\u6b64\u4f5c\u8005\u5f15\u5165\u4e86\u4e00\u4e2a\u73af\u5883\u611f\u77e5\u5b58\u50a8\u5668\u6765\u5b58\u50a8\u6709\u5173\u5bf9\u8c61\u72b6\u6001\u7684\u4fe1\u606f\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5141\u8bb8\u4ee3\u7406\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\u4e0e\u5904\u4e8e\u9002\u5f53\u72b6\u6001\u7684\u5bf9\u8c61\u8fdb\u884c\u4ea4\u4e92\u3002\u901a\u8fc7\u8ddf\u8e2a\u5bf9\u8c61\u72b6\u6001\u548c\u5916\u89c2\uff0c\u4ee3\u7406\u53ef\u4ee5\u786e\u4fdd\u4e0e\u6b63\u786e\u7684\u5bf9\u8c61\u8fdb\u884c\u4ea4\u4e92\u5e76\u6267\u884c\u9002\u5f53\u7684\u64cd\u4f5c\uff0c\u6700\u7ec8\u6210\u529f\u5730\u5b8c\u6210\u4efb\u52a1\u3002<\/p>\n<p>02. \u672c\u6587\u65b9\u6cd5<\/p>\n<p>\u672c\u6587\u63d0\u51fa\u7684CAPEAM\u6846\u67b6\u4e3b\u8981\u7531\u4e24\u4e2a\u5173\u952e\u6a21\u5757\u6784\u6210\uff0c\u5176\u6574\u4f53\u6846\u67b6\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u4f5c\u8005\u5206\u522b\u5f15\u5165\u4e86\u4e0a\u4e0b\u6587\u611f\u77e5\u89c4\u5212\u6a21\u5757\u548c\u73af\u5883\u611f\u77e5\u8bb0\u5fc6\u6a21\u5757\uff0c\u524d\u8005\u53ef\u4ee5\u6839\u636e\u7528\u6237\u6307\u4ee4\u5bf9\u4efb\u52a1\u6709\u5173\u7684\u5bf9\u8c61\u8fdb\u884c\u4e0a\u4e0b\u6587\u5efa\u6a21\uff0c\u540e\u8005\u901a\u8fc7\u5c06\u76ee\u6807\u5bf9\u8c61\u72b6\u6001\u548c\u73af\u5883\u4fe1\u606f\u5b58\u50a8\u5728\u5bf9\u8c61\u63a9\u7801\u548c\u7a7a\u95f4\u8bb0\u5fc6\u6c60\u4e2d\uff0c\u5b9e\u73b0\u66f4\u52a0\u9ad8\u6548\u7684\u573a\u666f\u5bfc\u822a\u548c\u7269\u4f53\u4ea4\u4e92\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-c75d7cadb1de021f55cdbfa2757d82a2_b.jpg\" width=\"1806\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1806\" data-rawheight=\"786\" data-original=\"https:\/\/pic3.zhimg.com\/v2-c75d7cadb1de021f55cdbfa2757d82a2_r.jpg\" \/><\/p>\n<p>2.1 \u4e0a\u4e0b\u6587\u611f\u77e5\u89c4\u5212\u6a21\u5757<\/p>\n<p>\u5728\u63a5\u6536\u5230\u7528\u6237\u6307\u5b9a\u7684\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u540e\uff0c\u4ee3\u7406\u7a0b\u5e8f\u9700\u8981\u5feb\u901f\u7684\u7406\u89e3\u548c\u63a8\u65ad\u51fa\u7ed9\u5b9a\u4efb\u52a1\u7684\u8981\u6c42\uff08\u4f8b\u5982\u6293\u53d6\u7528\u6237\u611f\u5174\u8da3\u7684\u76ee\u6807\u5bf9\u8c61\uff09\uff0c\u968f\u540e\u5236\u5b9a\u51fa\u4e00\u4e2a\u5b8c\u6574\u7684\u52a8\u4f5c\u5e8f\u5217\u3002\u4e3a\u6b64\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u89c4\u5212\u65b9\u6848\uff0c\u5373\u5148\u5c06\u6307\u4ee4\u62c6\u5206\u6210\u591a\u4e2a\u201c\u5b50\u76ee\u6807\u201d\u96c6\u5408\uff0c\u518d\u5728\u6bcf\u4e2a\u5b50\u76ee\u6807\u7684\u57fa\u7840\u4e0a\u6269\u5c55\u6210\u53ef\u4ee5\u6267\u884c\u7684\u201c\u8be6\u7ec6\u52a8\u4f5c\u5e8f\u5217\u201d\u3002\u4e3a\u4e86\u4fdd\u8bc1\u6700\u7ec8\u52a8\u4f5c\u5e8f\u5217\u7684\u5408\u7406\u6027\uff0c\u4f5c\u8005\u5728\u62c6\u5206\u5b50\u76ee\u6807\u65f6\u52a0\u5165\u4e86\u7ea0\u9519\u673a\u5236\u3002\u4f8b\u5982\u901a\u8fc7\u4e0a\u4e0b\u6587\u9884\u6d4b\u5668\uff08Context Prediction\uff09\u9884\u6d4b\u5f97\u5230\u5f53\u524d\u4efb\u52a1\u5171\u4eab\u7684\u4e00\u7ec4\u4efb\u52a1\u76f8\u5173\u5bf9\u8c61\uff0c\u968f\u540e\u4e0e\u6307\u4ee4\u62c6\u89e3\u5f97\u5230\u7684\u4e0a\u4e0b\u6587\u4fe1\u606f\u8054\u5408\u751f\u6210\u5b50\u76ee\u6807\u96c6\u5408\u3002\u968f\u540e\u518d\u901a\u8fc7\u7ec6\u8282\u89c4\u5212\u5668\u4e3a\u6bcf\u4e2a\u5b50\u76ee\u6807\u5236\u5b9a\u7ed3\u675f\u52a8\u4f5c\u548c\u4ea4\u4e92\u5bf9\u8c61\u3002<\/p>\n<p>2.1.1 \u5b50\u76ee\u6807\u89c4\u5212\u5668<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-2f32037da51bb961992ecd1f2de3b583_b.jpg\" width=\"983\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"983\" data-rawheight=\"887\" data-original=\"https:\/\/pic4.zhimg.com\/v2-2f32037da51bb961992ecd1f2de3b583_r.jpg\" \/><\/p>\n<p>2.1.2 \u7ec6\u8282\u89c4\u5212\u5668<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-07ac32a8138ed3060f268fb12bded811_b.jpg\" width=\"981\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"981\" data-rawheight=\"337\" data-original=\"https:\/\/pic2.zhimg.com\/v2-07ac32a8138ed3060f268fb12bded811_r.jpg\" \/><\/p>\n<p>2.2 \u73af\u5883\u611f\u77e5\u8bb0\u5fc6\u6a21\u5757<\/p>\n<p>\u4e0b\u56fe\u5c55\u793a\u4e86\u73af\u5883\u611f\u77e5\u8bb0\u5fc6\u6a21\u5757\u7684\u6784\u6210\u7ec6\u8282\uff0c\u4ee3\u7406\u7a0b\u5e8f\u9996\u5148\u6839\u636e\u8f93\u5165\u7684RGB\u56fe\u50cf\u9884\u6d4b\u5f97\u5230\u7684\u6df1\u5ea6\u56fe\u50cf\u548c\u8bed\u4e49\u5206\u5272\u56fe\u50cf\u6765\u6784\u5efa\u8bed\u4e49\u7a7a\u95f4\u56fe\uff08Semantic Spatial Map\uff09\uff0c\u4f7f\u7528\u6df1\u5ea6\u4fe1\u606f\u53ef\u4ee5\u66f4\u5168\u9762\u7684\u63a2\u7d22\u5468\u56f4\u73af\u5883\u72b6\u6001\uff0c\u4f8b\u5982\u969c\u788d\u7269\u533a\u57df\u3001\u7269\u4f53\u4f4d\u7f6e\u548c\u7c7b\u522b\u7b49\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-f44adc210c4df532eb464b36ee7ff117_b.jpg\" width=\"1109\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1109\" data-rawheight=\"866\" data-original=\"https:\/\/pic4.zhimg.com\/v2-f44adc210c4df532eb464b36ee7ff117_r.jpg\" \/><\/p>\n<p>\u5728\u4e00\u4e9b\u4efb\u52a1\u4e2d\uff0c\u673a\u5668\u4eba\u53ef\u80fd\u9700\u8981\u5728\u591a\u4e2a\u4e0d\u540c\u7684\u65f6\u95f4\u6b65\u4e2d\u4e0e\u540c\u4e00\u5bf9\u8c61\u8fdb\u884c\u4ea4\u4e92\uff0c\u5728\u8fd9\u671f\u95f4\uff0c\u5bf9\u8c61\u7684\u89c6\u89c9\u5916\u89c2\u53ef\u80fd\u7531\u4e8e\u5404\u79cd\u539f\u56e0\uff08\u4f8b\u5982\u906e\u6321\uff09\u800c\u6539\u53d8\uff0c\u56e0\u6b64\u4f5c\u8005\u8bbe\u8ba1\u4e86\u7269\u4f53\u56de\u987e\u8bc6\u522b\u64cd\u4f5c\uff08Retrospective Object Recognition\uff09\u6765\u5bf9\u6bcf\u4e00\u65f6\u523b\u7684\u7269\u4f53mask\u8fdb\u884c\u66f4\u65b0\uff0c\u4fdd\u8bc1\u591a\u6b21\u4ea4\u4e92\u987a\u5229\u8fdb\u884c\u3002\u4e0e\u8be5\u64cd\u4f5c\u534f\u540c\u5de5\u4f5c\u7684\u8fd8\u6709\u5bf9\u8c61\u91cd\u5b9a\u4f4d\u8ddf\u8e2a\uff08Object Relocation Tracking\uff09\u64cd\u4f5c\uff0c\u5176\u5bf9\u6bcf\u4e2a\u5df2\u88ab\u79fb\u52a8\u7684\u76ee\u6807\u5750\u6807\u8fdb\u884c\u52a8\u6001\u66f4\u65b0\uff0c\u8fd9\u4fdd\u8bc1\u4ee3\u7406\u7a0b\u5e8f\u4e0d\u4f1a\u5bf9\u540c\u4e00\u76ee\u6807\u505a\u51fa\u91cd\u590d\u7684\u5b50\u76ee\u6807\u89c4\u5212\u3002\u4e3a\u4e86\u51cf\u5c11\u4ee3\u7406\u7a0b\u5e8f\u5bf9\u5468\u56f4\u73af\u5883\u6267\u884c\u5168\u5c40\u626b\u63cf\u7684\u6b21\u6570\uff0c\u4f5c\u8005\u4f7f\u7528\u5bf9\u8c61\u4f4d\u7f6e\u7f13\u5b58\u64cd\u4f5c\uff08Object Location Caching\uff09\u5bf9\u6bcf\u4e2a\u53d1\u751f\u72b6\u6001\u53d8\u5316\u7684\u5bf9\u8c61\u90fd\u8fdb\u884c\u4e86\u7a7a\u95f4\u4fe1\u606f\u7f13\u5b58\uff0c\u8fd9\u4f7f\u5f97\u4ee3\u7406\u53ef\u4ee5\u8bb0\u5fc6\u6bcf\u4e2a\u76ee\u6807\u7684\u5b9e\u9645\u4f4d\u7f6e\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u52a0\u9ad8\u6548\u7684\u5bfc\u822a\u548c\u4ea4\u4e92\u3002<\/p>\n<p>03. \u5b9e\u9a8c\u6548\u679c<\/p>\n<p>\u672c\u6587\u7684\u5b9e\u9a8c\u5728\u4e00\u4e2a\u6781\u5177\u6311\u6218\u6027\u7684\u4ea4\u4e92\u5f0f\u6307\u4ee4\u57fa\u51c6ALFRED[2]\u4e0a\u8fdb\u884c\uff0cALFRED\u5206\u4e3a\u8bad\u7ec3\u96c6\u3001\u9a8c\u8bc1\u96c6\u548c\u6d4b\u8bd5\u96c6\u4e09\u90e8\u5206\uff0c\u4e3a\u4e86\u8bc4\u4f30\u672c\u6587\u65b9\u6cd5\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u4f5c\u8005\u5c06\u9a8c\u8bc1\u96c6\u548c\u6d4b\u8bd5\u96c6\u8fdb\u4e00\u6b65\u5212\u5206\u4e3a\u4e24\u4e2a\u90e8\u5206\uff1a\u53ef\u89c1\u73af\u5883\uff08seen\uff09\u548c\u4e0d\u53ef\u89c1\u73af\u5883\uff08unseen\uff09\u3002\u6a21\u578b\u7684\u8bc4\u4ef7\u6307\u6807\u9075\u5faaALFRED\u7684\u6807\u51c6\u8bc4\u4f30\u534f\u8bae\u3002\u4e3b\u8981\u6307\u6807\u662f\u6210\u529f\u7387\uff0c\u7528SR\u8868\u793a\uff0c\u4e3b\u8981\u8861\u91cf\u6a21\u578b\u5b8c\u6210\u4efb\u52a1\u7684\u767e\u5206\u6bd4\uff0c\u53e6\u4e00\u4e2a\u6307\u6807\u662f\u76ee\u6807\u6761\u4ef6\u6210\u529f\u7387\uff0c\u7528GC\u8868\u793a\uff0c\u7528\u4e8e\u8861\u91cf\u6ee1\u8db3\u76ee\u6807\u6761\u4ef6\u7684\u767e\u5206\u6bd4\u3002<\/p>\n<p>\u4f5c\u8005\u9996\u5148\u5c06\u672c\u6587\u63d0\u51fa\u7684CAPEAM\u65b9\u6cd5\u4e0e\u73b0\u6709\u7684SOTA\u65b9\u6cd5\u8fdb\u884c\u5bf9\u6bd4\uff0c\u5bf9\u6bd4\u7ed3\u679c\u5982\u4e0b\u8868\u6240\u793a\uff0c\u4e3a\u4e86\u5bf9\u6bd4\u516c\u5e73\uff0c\u4f5c\u8005\u9009\u53d6\u4e86\u4e00\u4e9b\u540c\u6837\u6784\u5efa\u8bed\u4e49\u7a7a\u95f4\u8868\u5f81\u548c\u8fdb\u884c\u6df1\u5ea6\u4f30\u8ba1\u7684\u65b9\u6cd5\uff0c\u5176\u4e2d\u4e00\u4e9b\u65b9\u6cd5\u4f7f\u7528\u4e86\u9ad8\u7ea7\u7684\u4efb\u52a1\u6307\u4ee4\uff08\u2717 Low Inst.\uff09\uff0c\u5e76\u4e14\u4f7f\u7528\u4e86\u73af\u5883\u7684\u5148\u9a8c\u4fe1\u606f\u548c\u52a8\u4f5c\u6a21\u677f\uff08\u2713 Tem. Act.\uff09\u6765\u751f\u6210\u52a8\u4f5c\u5e8f\u5217\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-9b21743fa9a7eaf26dab4f4a82da40fe_b.jpg\" width=\"1428\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1428\" data-rawheight=\"881\" data-original=\"https:\/\/pic3.zhimg.com\/v2-9b21743fa9a7eaf26dab4f4a82da40fe_r.jpg\" \/><\/p>\n<p>\u4ece\u4e0a\u8868\u53ef\u4ee5\u770b\u51fa\uff0cCAPEAM\u65b9\u6cd5\u5728unseen\u6d4b\u8bd5\u4e2d\u7684\u6210\u529f\u7387\u4f18\u4e8e\u5176\u4ed6\u6240\u6709\u5bf9\u6bd4\u65b9\u6cd5\uff0c\u8fd9\u8868\u660e\u672c\u6587\u65b9\u6cd5\u5177\u6709\u66f4\u5f3a\u7684\u65b0\u73af\u5883\u9002\u5e94\u80fd\u529b\u3002\u5728seen\u6d4b\u8bd5\u4e2d\uff0cCAPEAM\u7684\u8868\u73b0\u7565\u900a\u8272\u4e8ePrompter\u65b9\u6cd5[3]\uff0c\u4f5c\u8005\u8ba4\u4e3a\uff0c\u8fd9\u662f\u7531\u4e8ePrompter\u65b9\u6cd5\u4e2d\u52a0\u5165\u4e86\u66f4\u52a0\u7cbe\u786e\u7684\u7a7a\u95f4\u611f\u77e5\u6a21\u578b\u6765\u5bf9\u6bcf\u4e2a\u76ee\u6807\u7684\u59ff\u6001\u8fdb\u884c\u4e86\u7cbe\u786e\u4f30\u8ba1\uff0c\u8fd9\u4f7f\u5f97\u6a21\u578b\u5728\u8bad\u7ec3\u53ef\u89c1\u7684\u573a\u666f\u4e2d\u6709\u66f4\u597d\u7684\u8868\u73b0\u80fd\u529b\u3002\u4f46\u662f\u8fd9\u4e00\u73b0\u8c61\u4e5f\u4fa7\u9762\u5c55\u793a\u4e86\u672c\u6587\u65b9\u6cd5\u5728seen\u548cunseen\u6d4b\u8bd5\u73af\u5883\u4e4b\u95f4\u5177\u6709\u66f4\u5c0f\u7684\u6027\u80fd\u5dee\u8ddd\uff0c\u8868\u793a\u672c\u6587\u65b9\u6cd5\u53ef\u4ee5\u66f4\u597d\u5730\u6cdb\u5316\u5230\u672a\u89c1\u73af\u5883\u4e2d\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-53170319d9d1fdd4214c511765a4fd3a_b.jpg\" width=\"1083\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1083\" data-rawheight=\"812\" data-original=\"https:\/\/pic3.zhimg.com\/v2-53170319d9d1fdd4214c511765a4fd3a_r.jpg\" \/><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-cf6666e62ba18b464072ba32f5c34877_b.jpg\" width=\"977\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"977\" data-rawheight=\"169\" data-original=\"https:\/\/pic4.zhimg.com\/v2-cf6666e62ba18b464072ba32f5c34877_r.jpg\" \/><\/p>\n<p>04. \u603b\u7ed3<\/p>\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u578b\u7684\u5177\u8eab\u667a\u80fd\u4ee3\u7406\u6846\u67b6CAPEAM\uff0c\u5176\u4e2d\u8bbe\u7f6e\u4e86\u4e0a\u4e0b\u6587\u611f\u77e5\u89c4\u5212\u6a21\u5757\u548c\u73af\u5883\u611f\u77e5\u8bb0\u5fc6\u6a21\u5757\u6765\u5c06\u8bed\u8a00\u4efb\u52a1\u6307\u4ee4\u4e2d\u6d89\u53ca\u5230\u7684\u4e0a\u4e0b\u6587\u5bf9\u8c61\u7eb3\u5165\u52a8\u4f5c\u89c4\u5212\u64cd\u4f5c\u4e2d\uff0c\u5e76\u4e14\u5bf9\u5173\u952e\u7684\u76ee\u6807\u5bf9\u8c61\u8fdb\u884c\u5916\u89c2\u3001\u7a7a\u95f4\u4f4d\u7f6e\u7b49\u4fe1\u606f\u7684\u52a8\u6001\u66f4\u65b0\u3002\u901a\u8fc7\u8fd9\u4e9b\u64cd\u4f5c\uff0cCAPEAM\u6709\u6548\u7684\u907f\u514d\u4e86\u4e0d\u5fc5\u8981\u7684\u7a7a\u95f4\u641c\u7d22\uff0c\u5e76\u4e14\u8bbe\u8ba1\u4e86\u4e00\u79cd\u4ece\u7c97\u5230\u7ec6\u7684\u5b50\u76ee\u6807\u52a8\u4f5c\u5e8f\u5217\u751f\u6210\u673a\u5236\u6765\u6539\u8fdb\u673a\u5668\u4eba\u7684\u6574\u4f53\u5bfc\u822a\u548c\u4ea4\u4e92\u6548\u679c\u3002\u4f5c\u8005\u901a\u8fc7\u4e00\u7cfb\u5217\u7684\u5b9e\u9a8c\u8868\u660e\uff0cCAPEAM\u65b9\u6cd5\u53ef\u4ee5\u6709\u6548\u5730\u63d0\u5347\u5177\u8eab\u667a\u80fd\u4ee3\u7406\u5728\u4e0d\u540c\u73af\u5883\u4e2d\u7684\u5feb\u901f\u9002\u5e94\u80fd\u529b\uff0c\u8fd9\u5e94\u8be5\u662f\u5f53\u524d\u5177\u8eab\u667a\u80fd\u9886\u57df\u6240\u5173\u6ce8\u7684\u7814\u7a76\u70ed\u70b9\u3002<\/p>\n<p>\u53c2\u8003<\/p>\n<p>[1] Alexander Katrompas and Vangelis Metsis. Enhancing lstm models with self-attention and stateful training. In IntelliSys, 2022.<\/p>\n<p>[2] Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk, Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, and Dieter Fox. Alfred: A benchmark for interpreting grounded instructions for everyday tasks. In CVPR, 2020.<\/p>\n<p>[3] Yuki Inoue and Hiroki Ohashi. Prompter: Utilizing large language model prompting for a data efficient embodied instruction following. arXiv:2211.03267, 2022.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u516c\u4f17\u53f7\uff1a\u5c06\u95e8\u521b\u6295(thejiangmen\uff09 \u4f5c [&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-6162","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6162"}],"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=6162"}],"version-history":[{"count":3,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6162\/revisions"}],"predecessor-version":[{"id":6172,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6162\/revisions\/6172"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=6162"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=6162"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=6162"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}