{"id":987,"date":"2025-08-20T09:43:00","date_gmt":"2025-08-20T01:43:00","guid":{"rendered":"http:\/\/www.applicationsofllm.com\/?p=987"},"modified":"2025-09-17T09:47:14","modified_gmt":"2025-09-17T01:47:14","slug":"%e5%85%b7%e8%ba%abvla%e5%90%8e%e8%ae%ad%e7%bb%83%ef%bc%9ateleai%e6%8f%90%e5%87%ba%e6%bd%9c%e7%a9%ba%e9%97%b4%e5%bc%95%e5%af%bc%e7%9a%84vla%e8%b7%a8%e6%9c%ac%e4%bd%93%e6%b3%9b%e5%8c%96%e6%96%b9","status":"publish","type":"post","link":"http:\/\/www.applicationsofllm.com\/index.php\/2025\/08\/20\/%e5%85%b7%e8%ba%abvla%e5%90%8e%e8%ae%ad%e7%bb%83%ef%bc%9ateleai%e6%8f%90%e5%87%ba%e6%bd%9c%e7%a9%ba%e9%97%b4%e5%bc%95%e5%af%bc%e7%9a%84vla%e8%b7%a8%e6%9c%ac%e4%bd%93%e6%b3%9b%e5%8c%96%e6%96%b9\/","title":{"rendered":"\u5177\u8eabVLA\u540e\u8bad\u7ec3\uff1aTeleAI\u63d0\u51fa\u6f5c\u7a7a\u95f4\u5f15\u5bfc\u7684VLA\u8de8\u672c\u4f53\u6cdb\u5316\u65b9\u6cd5"},"content":{"rendered":"\n<p>\u5728\u591a\u6a21\u6001\u5927\u6a21\u578b\u7684\u57fa\u5ea7\u4e0a\uff0c<strong>\u89c6\u89c9 &#8211; \u8bed\u8a00 &#8211; \u52a8\u4f5c\uff08Visual-Language-Action, VLA\uff09<\/strong>\u6a21\u578b\u4f7f\u7528\u5927\u91cf\u673a\u5668\u4eba\u64cd\u4f5c\u6570\u636e\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u6709\u671b\u5b9e\u73b0\u901a\u7528\u7684\u5177\u8eab\u64cd\u4f5c\u80fd\u529b\u3002\u7136\u800c\uff0c<strong>\u73b0\u6709 VLA \u57fa\u5ea7\u6a21\u578b\u7684\u80fd\u529b\u4ecd\u5b58\u5728\u5f88\u5927\u4e0d\u8db3\uff0c\u5728\u8fdb\u884c\u76ee\u6807\u573a\u666f\u5e94\u7528\u65f6\u9700\u8981\u91c7\u96c6\u6570\u5341\u4e43\u81f3\u6570\u767e\u5c0f\u65f6\u76ee\u6807\u672c\u4f53\u6570\u636e\u5b8c\u6210\u540e\u8bad\u7ec3<\/strong>\uff08Post-Training\uff09\uff0c\u7279\u522b\u662f\u5f53\u76ee\u6807\u573a\u666f\u672c\u4f53\u548c\u9884\u8bad\u7ec3\u672c\u4f53\u5b58\u5728\u5dee\u5f02\u65f6\uff0c\u9884\u8bad\u7ec3\u548c\u540e\u8bad\u7ec3\u9636\u6bb5\u7684\u52a8\u4f5c\u5206\u5e03\u51fa\u73b0\u4e25\u91cd\u5931\u914d\uff0c\u4ece\u800c\u5f15\u53d1\u4e86 VLA 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Guidance<\/li>\n\n\n\n<li>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2509.02055<\/li>\n\n\n\n<li>\u9879\u76ee\u5730\u5740\uff1ahttps:\/\/align-then-steer.github.io\/<\/li>\n\n\n\n<li>\u5f00\u6e90\u4ee3\u7801\uff1ahttps:\/\/github.com\/TeleHuman\/Align-Then-Steer<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7814\u7a76\u52a8\u673a\uff1a\u4ece\u5206\u5e03\u4e00\u81f4\u6027\u7a81\u7834 VLA \u7684\u8de8\u672c\u4f53\u6cdb\u5316\u8bad\u7ec3\u74f6\u9888<\/strong><\/p>\n\n\n\n<p>\u5728\u9762\u5411\u7279\u5b9a\u5177\u8eab\u573a\u666f\u7684\u64cd\u4f5c\u5927\u6a21\u578b\u5e94\u7528\u4e2d\uff0c\u51b3\u5b9a VLA 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VLA\u3002<\/p>\n\n\n\n<p><strong>\u7b2c\u4e00\u9636\u6bb5\uff1a\u52a8\u4f5c\u6f5c\u5206\u5e03\u5bf9\u9f50<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"513\" src=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-287-1024x513.jpg\" alt=\"\" class=\"wp-image-991\" srcset=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-287-1024x513.jpg 1024w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-287-300x150.jpg 300w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-287-768x385.jpg 768w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-287.jpg 1108w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u5bf9\u9f50\u9636\u6bb5\uff0cATE \u6846\u67b6\u5206\u522b\u6784\u9020\u4e86\u4e24\u4e2a\u5c0f\u578b\u53d8\u5206\u81ea\u7f16\u7801\u5668\u6a21\u578b\uff08VAE\uff09\u6765\u5bf9\u9f50\u4e24\u9636\u6bb5\u6570\u636e\u7684\u52a8\u4f5c\u7a7a\u95f4\u3002\u5177\u4f53\u800c\u8a00\uff0c\u9996\u5148\u6784\u5efa\u4e00\u4e2a\u7edf\u4e00\u52a8\u4f5c\u6f5c\u7a7a\u95f4\uff0c<strong>\u5c06\u9884\u8bad\u7ec3\u548c\u9002\u5e94\u9636\u6bb5\u7684\u52a8\u4f5c\u6570\u636e\u5d4c\u5165\u5230\u540c\u4e00\u6f5c\u7a7a\u95f4\u4e2d<\/strong>\u3002\u8be5\u65b9\u6cd5\u901a\u8fc7\u8bad\u7ec3\u4e00\u4e2a VAE \u5728\u9884\u8bad\u7ec3\u52a8\u4f5c\u6570\u636e\u4e0a\uff0c\u83b7\u5f97\u4e00\u4e2a\u56fa\u5b9a\u7684\u52a8\u4f5c\u6f5c\u5148\u9a8c\u5206\u5e03\u3002\u63a5\u7740\uff0c\u5bf9\u9002\u5e94\u9636\u6bb5\u7684\u52a8\u4f5c\u6570\u636e\uff0c\u8bad\u7ec3\u7b2c\u4e8c\u4e2a VAE\uff0c\u5e76\u901a\u8fc7\u53cd\u5411 KL 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alt=\"\u56fe\u7247\">&nbsp;\u67d0\u4e00\u6a21\u6001\uff0c\u4ece\u800c\u628a\u76ee\u6807\u57df\u7684\u52a8\u4f5c\u5206\u5e03\u5d4c\u5165\u5230\u9884\u8bad\u7ec3\u57df\u5df2\u7ecf\u5b66\u5230\u7684\u6f5c\u7a7a\u95f4\u4e2d\uff0c\u5f97\u5230\u7edf\u4e00\u7684\u52a8\u4f5c\u6f5c\u7a7a\u95f4 Z\uff0c\u4ece\u800c\u5b9e\u73b0\u9ad8\u6548\u7684\u8de8\u5b9e\u4f53\u548c\u8de8\u4efb\u52a1\u9002\u5e94\u3002\u6b64\u5916\uff0c\u8be5\u65b9\u6cd5\u4ec5\u9700\u5bf9 VAE \u8fdb\u884c\u8bad\u7ec3\uff0c\u65e0\u9700\u4fee\u6539\u539f\u59cb VLA \u67b6\u6784\uff0c\u5177\u6709\u4f4e\u8ba1\u7b97\u5f00\u9500\u548c\u9ad8\u9002\u914d\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"100\" src=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-286-1024x100.jpg\" alt=\"\" class=\"wp-image-990\" srcset=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-286-1024x100.jpg 1024w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-286-300x29.jpg 300w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-286-768x75.jpg 768w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-286.jpg 1107w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7b2c\u4e8c\u9636\u6bb5\uff1a\u52a8\u4f5c\u6f5c\u5206\u5e03\u5f15\u5bfc<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"321\" src=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-288-1024x321.jpg\" alt=\"\" class=\"wp-image-992\" srcset=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-288-1024x321.jpg 1024w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-288-300x94.jpg 300w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-288-768x241.jpg 768w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-288.jpg 1108w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u5f15\u5bfc\u9636\u6bb5\uff0c\u8bbe\u8ba1\u4e86<strong>\u9762\u5411\u4e3b\u6d41 VLA \u6846\u67b6\u7684\u5f15\u5bfc\u673a\u5236\uff0c\u901a\u8fc7\u80fd\u91cf\u51fd\u6570\u548c\u5206\u7c7b\u5668\uff0c\u8861\u91cf\u751f\u6210\u52a8\u4f5c\u4e0e\u76ee\u6807\u52a8\u4f5c\u5206\u5e03\u7684\u5dee\u5f02<\/strong>\uff0c\u5e76\u5c06\u5f15\u5bfc\u68af\u5ea6\u6574\u5408\u8fdb\u6a21\u578b\u7684\u8bad\u7ec3\u76ee\u6807\u51fd\u6570\u4e2d\u3002\u8fd9\u4e00\u8fc7\u7a0b\u65e0\u9700\u989d\u5916\u6570\u636e\uff0c\u4ec5\u4f9d\u8d56\u7ec6\u8c03\u6570\u636e\u7684\u566a\u58f0\u6837\u672c\u4f5c\u4e3a\u53c2\u8003\uff0c\u5373\u53ef\u5728\u4fdd\u6301\u9884\u8bad\u7ec3\u6a21\u578b\u901a\u7528\u6027\u7684\u57fa\u7840\u4e0a\uff0c\u9ad8\u6548\u5730\u5c06\u6a21\u578b\u8f93\u51fa\u5f15\u5bfc\u81f3\u4e0e\u65b0\u4efb\u52a1\u548c\u5b9e\u4f53\u76f8\u5339\u914d\u7684\u52a8\u4f5c\u5206\u5e03\u3002\u5177\u4f53\u7684\uff0cATE \u5728\u6f5c\u7a7a\u95f4\u5185\u6784\u9020 classifier guidance \u51fd\u6570\uff0c\u5ea6\u91cf\u5f53\u524d\u53bb\u566a\u65f6\u95f4\u6b65\u7684\u7b56\u7565\u8f93\u51fa\u52a8\u4f5c\u5757\uff08action truck\uff09\u4e0e\u76ee\u6807\u52a8\u4f5c\u5757\u5728\u6f5c\u7a7a\u95f4\u7684\u8ddd\u79bb\uff0c<strong>\u5176\u68af\u5ea6<\/strong><strong>\u88ab\u76f4\u63a5\u52a0\u5230\u6269\u6563\u8fc7\u7a0b\u7684\u5206\u6570\u51fd\u6570\u6216\u6d41\u5339\u914d\u7684\u901f\u5ea6\u573a\u66f4\u65b0\u5f0f\u4e2d\uff0c\u4ece\u800c\u5728\u6bcf\u4e2a\u53bb\u566a \/ \u6d41\u52a8\u65f6\u95f4\u6b65\u5bf9\u751f\u6210\u8f68\u8ff9\u7684\u5206\u5e03\u65bd\u52a0 \u201c\u62c9\u529b\u201d<\/strong>\uff0c\u628a\u6982\u7387\u8d28\u91cf\u5f80\u76ee\u6807\u5206\u5e03\u7275\u5f15\u3002\u901a\u8fc7\u5f15\u5165\u5206\u7c7b\u5668\u5f15\u5bfc\u51fd\u6570\u65e0\u9700\u901a\u8fc7\u6539\u53d8 VLA \u7684\u4e3b\u5e72\u7ed3\u6784\u548c\u52a8\u4f5c\u7a7a\u95f4\uff0c\u5374\u53ef\u4ee5\u6539\u53d8\u8bad\u7ec3\u65f6\u4f18\u5316\u7684\u5206\u5e03\u65b9\u5411\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"107\" src=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-285-1024x107.jpg\" alt=\"\" class=\"wp-image-989\" srcset=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-285-1024x107.jpg 1024w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-285-300x31.jpg 300w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-285-768x80.jpg 768w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-285.jpg 1107w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5f15\u5bfc\u673a\u5236\u5145\u5206\u5229\u7528\u4e86\u7edf\u4e00\u6f5c\u7a7a\u95f4\u7684\u4f18\u52bf\uff0c\u65e2\u89e3\u51b3\u4e86\u8de8\u5b9e\u4f53\u548c\u8de8\u4efb\u52a1\u7684\u9002\u5e94\u6027\u95ee\u9898\uff0c\u53c8\u4fdd\u7559\u4e86\u9884\u8bad\u7ec3\u9636\u6bb5\u4e60\u5f97\u7684\u901a\u7528\u89c6\u89c9 &#8211; \u8fd0\u52a8\u5148\u9a8c\u77e5\u8bc6\uff0c\u663e\u8457\u63d0\u5347\u4e86\u6a21\u578b\u5728\u65b0\u73af\u5883\u4e0b\u7684\u9002\u5e94\u6548\u7387\u548c\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>ATE \u7b97\u6cd5\u5728 ManiSkill \u4e0e RoboTwin 1.0 \u7b49\u591a\u4efb\u52a1\u4eff\u771f\u8bc4\u6d4b\u4e2d\uff0c\u76f8\u8f83\u4e8e\u76f4\u63a5\u540e\u8bad\u7ec3\uff0c\u5e73\u5747\u591a\u4efb\u52a1\u6210\u529f\u7387\u6700\u9ad8\u63d0\u5347 9.8%\u3002\u800c\u5728\u771f\u5b9e\u673a\u5668\u4eba\u8de8\u672c\u4f53\u73b0\u5b9e\u573a\u666f\u4e2d\uff0c<strong>ATE \u5e26\u6765\u6700\u9ad8 32% \u7684\u6210\u529f\u7387\u589e\u76ca\uff0c\u4e14\u8868\u73b0\u51fa\u66f4\u7a33\u5065\u7684\u6536\u655b\u884c\u4e3a\u4e0e\u5bf9\u5149\u7167\u3001\u5e72\u6270\u7684\u9c81\u68d2\u6027<\/strong>\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\uff1aATE \u6846\u67b6\u5728\u7edf\u4e00\u6f5c\u7a7a\u95f4\u4e2d\u5f15\u5bfc\u5b66\u4e60\uff0c\u4f7f\u5f97 VLA \u8de8\u672c\u4f53\u4e0e\u8de8\u4efb\u52a1\u6cdb\u5316\u5728\u6709\u9650\u6570\u636e\u4e0b\u5f97\u5230\u63d0\u5347\uff0c\u800c\u65e0\u9700\u989d\u5916\u7684\u6570\u636e\u4e0e\u5927\u89c4\u6a21\u91cd\u8bad\u7ec3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"686\" src=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-289-1024x686.jpg\" alt=\"\" class=\"wp-image-993\" srcset=\"http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-289-1024x686.jpg 1024w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-289-300x201.jpg 300w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-289-768x515.jpg 768w, http:\/\/www.applicationsofllm.com\/wp-content\/uploads\/2025\/09\/image-289.jpg 1107w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0a\u8868\u6c47\u603b\u4e86 17 \u4e2a\u673a\u5668\u4eba\u64cd\u4f5c\u4efb\u52a1\u4e0a\uff0cATE \u6846\u67b6\u4e0b RDT \u548c PI-0 \u5728 RoboTwin 1.0 \u4e0a\u7684\u6027\u80fd\u5bf9\u6bd4\u3002<strong>ATE \u6846\u67b6\u5bf9 RDT \u4e0e PI-0 \u7684\u5e73\u5747\u63d0\u5347\u5206\u522b\u7ea6\u4e3a + 9.8 \u4e0e + 8.7 \u4e2a\u767e\u5206\u70b9\uff0c\u663e\u793a\u51fa\u8de8\u4efb\u52a1\u7684\u4e00\u81f4\u589e\u76ca\u4e0e\u8f83\u597d\u7684\u53ef\u8fc1\u79fb\u6027<\/strong>\u3002\u5c24\u5176\u5728\u57fa\u7ebf\u56f0\u96be\u7684\u957f\u7a0b\u4efb\u52a1\u4e2d\uff0c\u5355\u9879\u589e\u76ca\u660e\u663e\uff1a\u4f8b\u5982\uff0cRDT \u5728 Empty Cup Place 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