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MANIPTRANS \u65b9\u6cd5\u5728\u89e3\u51b3\u8fc1\u79fb\u8fc7\u7a0b\u4e2d\u95ee\u9898\u7684\u6709\u6548\u6027\uff0c\u662f\u9879\u76ee\u7684\u4e00\u4e2a\u91cd\u8981\u91cc\u7a0b\u7891\u3002\u201d\u674e\u607a\u6797\u56de\u5fc6\u9053\u3002MANIPTRANS \u8fd9\u79cd\u5c06\u201c\u8fd0\u52a8\u6a21\u4eff\u201d\u4e0e\u201c\u4ea4\u4e92\u7cbe\u8c03\u201d\u89e3\u8026\u7684\u4e24\u9636\u6bb5\u8bbe\u8ba1\uff0c\u6b63\u662f\u5176\u6210\u529f\u7684\u5173\u952e\u3002\u5b83\u5de7\u5999\u5730\u5c06\u539f\u672c\u9ad8\u5ea6\u590d\u6742\u7684\u5b66\u4e60\u95ee\u9898\u5206\u89e3\u4e3a\u4e24\u4e2a\u96be\u5ea6\u76f8\u5bf9\u8f83\u4f4e\u7684\u5b50\u95ee\u9898\u3002\u901a\u8fc7\u9996\u5148\u5efa\u7acb\u826f\u597d\u7684\u8fd0\u52a8\u57fa\u7840\uff0c\u518d\u4e13\u6ce8\u4e8e\u7269\u7406\u4ea4\u4e92\u7684\u7cbe\u8c03\uff0c\u6781\u5927\u5730\u964d\u4f4e\u4e86\u5b66\u4e60\u6240\u9700\u63a2\u7d22\u7684\u52a8\u4f5c\u7a7a\u95f4\u7ef4\u5ea6\uff0c\u663e\u8457\u63d0\u5347\u4e86\u8bad\u7ec3\u6548\u7387\u548c\u6700\u7ec8\u7684\u6027\u80fd\u3002\u8fd9\u4f7f\u5f97 MANIPTRANS \u80fd\u591f\u9ad8\u6548\u5730\u5c06\u590d\u6742\u7684\u4eba\u7c7b\u6280\u80fd\uff0c\u7279\u522b\u662f\u4ee5\u524d\u96be\u4ee5\u5904\u7406\u7684\u53cc\u81c2\u64cd\u4f5c\u6280\u80fd\uff0c\u6210\u529f\u8fc1\u79fb\u5230\u7075\u5de7\u673a\u68b0\u624b\u4e0a\u3002\u57fa\u4e8e MANIPTRANS\uff0c\u7814\u7a76\u56e2\u961f\u6784\u5efa\u4e86 DexManipNet \u6570\u636e\u96c6\uff0c\u5c06\u591a\u4e2a\u4ee3\u8868\u6027\u624b-\u7269\u4ea4\u4e92\u6570\u636e\u96c6\uff08\u5305\u62ec FAVOR \u548c OakInk-V2\uff09\u8fc1\u79fb\u5230\u7075\u5de7\u624b\u4e0a\u3002\u76ee\u524d\u8be5\u6570\u636e\u96c6\u5305\u542b 3.3K \u4e2a\u673a\u5668\u4eba\u624b\u64cd\u4f5c\u7247\u6bb5\uff0c\u6db5\u76d6 1.2K \u4e2a\u7269\u4f53\uff0c\u603b\u8ba1 134 \u4e07\u5e27\uff0c\u5176\u4e2d\u7ea6 600 \u4e2a\u5e8f\u5217\u6d89\u53ca\u590d\u6742\u53cc\u624b\u4efb\u52a1\uff0c\u8986\u76d6\u4e86 61 \u79cd\u4e0d\u540c\u4efb\u52a1\u7c7b\u578b\uff0c\u5982\u7b14\u5e3d\u63d2\u5165\u3001\u74f6\u76d6\u62e7\u5f00\u548c\u5316\u5b66\u5b9e\u9a8c\u64cd\u4f5c\u7b49\u3002\u201cDexManipNet \u4f5c\u4e3a\u5f53\u524d\u7075\u5de7\u624b\u64cd\u4f5c\u9886\u57df\u652f\u6301\u590d\u6742\u53cc\u624b\u4efb\u52a1\u6700\u591a\u3001\u6570\u636e\u91cf\u6700\u5927\u7684\u6570\u636e\u96c6\u4e4b\u4e00\uff0c\u6211\u4eec\u6709\u7406\u7531\u76f8\u4fe1\uff0c\u57fa\u4e8e\u8be5\u6570\u636e\u96c6\u53ef\u4ee5\u8bad\u7ec3\u51fa\u591a\u79cd\u673a\u5668\u4eba\u64cd\u4f5c\u6280\u80fd\u6a21\u578b\uff0c\u5728\u4eff\u771f\u6216\u771f\u5b9e\u73af\u5883\u4e2d\u5b9e\u73b0\u66f4\u901a\u7528\u3001\u66f4\u7075\u5de7\u3001\u53cc\u624b\u534f\u4f5c\u7a0b\u5ea6\u66f4\u9ad8\u7684\u7075\u5de7\u624b\u64cd\u4f5c\u3002\u201d\u674e\u607a\u6797\u8868\u793a\u3002\u6210\u529f\u7387\u3001\u7cbe\u5ea6\u4e0e\u6548\u7387\u5168\u9762\u9886\u5148\u73b0\u6709\u65b9\u6cd5\u4e3a\u4e86\u9a8c\u8bc1 MANIPTRANS \u7684\u6709\u6548\u6027\uff0c\u7814\u7a76\u56e2\u961f\u5728 OakInk-V2 \u7684\u9a8c\u8bc1\u96c6\u4e0a\u8fdb\u884c\u4e86\u4e25\u683c\u7684\u5b9a\u91cf\u8bc4\u4f30\uff0c\u5e76\u4e0e\u51e0\u79cd\u57fa\u7ebf\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5305\u62ec\u4ec5\u4f7f\u7528\u5f3a\u5316\u5b66\u4e60\u4ece\u5934\u8bad\u7ec3\uff08RL-Only\uff09\uff0c\u4ee5\u53ca\u5148\u8fdb\u884c\u59ff\u6001\u91cd\u5b9a\u5411\u518d\u5e94\u7528\u6b8b\u5dee\u5b66\u4e60\uff08Retarget+Residual\uff09\u3002\u5b9e\u9a8c\u7ed3\u679c\u663e\u793a\uff0c\u5728\u4efb\u52a1\u6210\u529f\u7387\u65b9\u9762\uff0cMANIPTRANS \u8868\u73b0\u6700\u4f73\uff0c\u5bf9\u4e8e\u5355\u624b\u4efb\u52a1\u548c\u66f4\u5177\u6311\u6218\u6027\u7684\u53cc\u624b\u4efb\u52a1\uff0c\u5176\u6210\u529f\u7387\u5206\u522b\u8fbe\u5230\u4e86 58.1% \u548c 39.5%\uff0c\u663e\u8457\u9ad8\u4e8e RL-Only \u65b9\u6cd5\uff0834.3%\/12.1%\uff09\u548c Retarget+Residual \u65b9\u6cd5\uff0847.8%\/13.9%\uff09\uff0c\u8bc1\u660e\u4e86\u5176\u5728\u53ef\u9760\u5b8c\u6210\u590d\u6742\u6a21\u4eff\u4efb\u52a1\u65b9\u9762\u7684\u80fd\u529b\u3002\u56fe\u4e28\u5f3a\u5316\u5b66\u4e60\u7ec4\u5408\u57fa\u7ebf\u7684\u5b9a\u91cf\u6bd4\u8f83\uff08\u6765\u6e90\uff1aarXiv\uff09\u5728\u6a21\u4eff\u7cbe\u5ea6\u65b9\u9762\uff0cMANIPTRANS \u540c\u6837\u5168\u9762\u9886\u5148\u3002\u5bf9\u4e8e\u6210\u529f\u5b8c\u6210\u7684\u4efb\u52a1\uff0c\u5176\u5e73\u5747\u7269\u4f53\u65cb\u8f6c\u8bef\u5dee\uff08\uff09\u4f4e\u81f3 8.60 \u5ea6\uff0c\u4f4d\u79fb\u8bef\u5dee\uff08\uff09\u4ec5\u4e3a 0.49 \u5398\u7c73\u3002\u624b\u90e8\u52a8\u4f5c\u7684\u6a21\u4eff\u7cbe\u5ea6\u4e5f\u66f4\u9ad8\uff0c\u5e73\u5747\u5173\u8282\u4f4d\u7f6e\u8bef\u5dee\uff08\uff09\u4e3a 2.15 \u5398\u7c73\uff0c\u5173\u952e\u7684\u6307\u5c16\u4f4d\u7f6e\u8bef\u5dee\uff08\uff09\u5219\u4e3a 1.36 \u5398\u7c73\u3002\u8fd9\u4e9b\u6570\u636e\u5747\u4f18\u4e8e\u6240\u6709\u5bf9\u6bd4\u7684\u57fa\u7ebf\u65b9\u6cd5\uff0c\u4f8b\u5982\uff0c\u5176\u6307\u5c16\u4f4d\u7f6e\u8bef\u5dee\u76f8\u8f83\u4e8e Retarget+Residual \u65b9\u6cd5\u964d\u4f4e\u4e86\u7ea6 22%\u3002\u9664\u4e86\u7cbe\u5ea6\u548c\u6210\u529f\u7387\uff0cMANIPTRANS \u5728\u8bad\u7ec3\u6548\u7387\u4e0a\u4e5f\u8868\u73b0\u7a81\u51fa\u3002\u5728\u4e0e\u53e6\u4e00\u5148\u8fdb\u65b9\u6cd5 QuasiSim \u7684\u5bf9\u6bd4\u4e2d\uff08\u9488\u5bf9\u7279\u5b9a\u4efb\u52a1\uff09\uff0cMANIPTRANS \u4ec5\u9700\u7ea6 15 \u5206\u949f\u7684\u5fae\u8c03\u5373\u53ef\u8fbe\u5230\u7a33\u5065\u7ed3\u679c\uff0c\u8fdc\u5feb\u4e8e QuasiSim \u6240\u9700\u7684\u6570\u5341\u5c0f\u65f6\u4f18\u5316\u65f6\u95f4\u3002\u6b64\u5916\uff0c\u7814\u7a76\u56e2\u961f\u8fd8\u6d4b\u8bd5\u4e86 MANIPTRANS \u5728\u4e0d\u540c\u5f62\u6001\u673a\u68b0\u624b\uff08\u5982 Shadow Hand, Allegro Hand \u7b49\uff09\u4e0a\u7684\u901a\u7528\u6027\uff0c\u7ed3\u679c\u663e\u793a\u65e0\u9700\u7279\u6b8a\u8c03\u6574\u5373\u53ef\u83b7\u5f97\u4e00\u81f4\u3001\u6d41\u7545\u4e14\u7cbe\u786e\u7684\u6027\u80fd\u3002\u4e3a\u4e86\u6d4b\u8bd5\u5176\u80fd\u529b\uff0c\u7814\u7a76\u56e2\u961f\u8fd8\u5c06 DexManipNet \u4e2d\u7684\u53cc\u624b\u8f68\u8ff9\u5728\u771f\u5b9e\u786c\u4ef6\u4e0a\u6210\u529f\u91cd\u653e\uff0c\u5c55\u793a\u4e86\u7075\u6d3b\u81ea\u7136\u7684\u7075\u5de7\u64cd\u4f5c\u80fd\u529b\uff0c\u5305\u62ec\u62e7\u5f00\u7259\u818f\u76d6\u3001\u5411\u8bd5\u7ba1\u503e\u5012\u8bd5\u5242\u7b49\u9ad8\u7cbe\u5ea6\u4efb\u52a1\u3002\u901a\u5f80\u901a\u7528\u7075\u5de7\u64cd\u4f5c\u4e4b\u8def\u5c3d\u7ba1\u80fd\u529b\u9886\u5148\uff0c\u4f46\u7814\u7a76\u56e2\u961f\u4e5f\u8868\u793a\u5f53\u524d\u7684 MANIPTRANS \u8fd8\u5b58\u5728\u4e00\u4e9b\u5c40\u9650\u6027\u3002MANIPTRANS \u867d\u7136\u5bf9\u4e2d\u7b49\u566a\u58f0\u5177\u6709\u4e00\u5b9a\u7684\u9c81\u68d2\u6027\uff0c\u4f46\u5982\u679c\u8f93\u5165\u7684 MoCap \u6570\u636e\u566a\u58f0\u8fc7\u5927\uff0c\u6216\u8005\u4eff\u771f\u4e2d\u4f7f\u7528\u7684\u7269\u4f53\u6a21\u578b\u4e0d\u591f\u7cbe\u786e\uff08\u5c24\u5176\u662f\u5bf9\u4e8e\u94f0\u63a5\u7269\u4f53\uff09\uff0c\u5176\u6027\u80fd\u53ef\u80fd\u4f1a\u53d7\u5230\u5f71\u54cd\u3002\u66f4\u91cd\u8981\u7684\u662f\uff0c\u867d\u7136 MANIPTRANS \u5728\u6280\u80fd\u8fc1\u79fb\u65b9\u9762\u53d6\u5f97\u4e86\u91cd\u5927\u8fdb\u5c55\uff0c\u4f46\u8981\u5b9e\u73b0\u771f\u6b63\u7684\u4eba\u7c7b\u6c34\u5e73\u7075\u5de7\u6027\uff0c\u4ecd\u9700\u8fdb\u4e00\u6b65\u7a81\u7834\u3002\u7814\u7a76\u56e2\u961f\u8868\u793a\uff0c\u5f53\u524d\u7cfb\u7edf\u4e0e\u4eba\u7c7b\u624b\u90e8\u64cd\u4f5c\u76f8\u6bd4\u4ecd\u6709\u8f83\u5927\u5dee\u8ddd\uff0c\u4e3b\u8981\u4f53\u73b0\u5728\u7f3a\u4e4f\u4e3b\u52a8\u89c4\u5212\u548c\u8c03\u6574\u529b\u5ea6\u4ee5\u9002\u5e94\u4e0d\u540c\u7269\u4f53\u7684\u80fd\u529b\uff08\u6cdb\u5316\u6027\u4e0d\u8db3\uff09\uff0c\u4ee5\u53ca\u7f3a\u4e4f\u57fa\u4e8e\u7269\u7406\u5e38\u8bc6\u5bf9\u590d\u6742\u4efb\u52a1\u8fdb\u884c\u81ea\u4e3b\u5206\u6790\u3001\u63a8\u7406\u548c\u89c4\u5212\u7684\u80fd\u529b\u3002\u8981\u8fbe\u5230\u4eba\u7c7b\u6c34\u5e73\uff0c\u672a\u6765\u7684\u7814\u7a76\u9700\u8981\u5728\u66f4\u5927\u89c4\u6a21\u7684\u6570\u636e\u5b66\u4e60\uff08\u878d\u5408\u89c6\u89c9\u4e0e\u89e6\u89c9\uff09\u548c\u5bf9\u7269\u7406\u4e16\u754c\u7684\u66f4\u6df1\u5c42\u7406\u89e3\uff08\u5b9e\u73b0\u81ea\u4e3b\u89c4\u5212\u4e0e\u8c03\u6574\uff09\u4e24\u65b9\u9762\u53d6\u5f97\u7a81\u7834\u3002\u56e2\u961f\u6b63\u5728\u79ef\u6781\u89c4\u5212\u672a\u6765\u7684\u7814\u7a76\u65b9\u5411\u3002\u4ed6\u4eec\u671f\u5f85\u5f00\u53d1\u51fa\u66f4\u5177\u6cdb\u5316\u6027\u7684\u7b97\u6cd5\uff0c\u4f8b\u5982\u4ece\u4e92\u8054\u7f51\u6d77\u91cf\u7684\u64cd\u4f5c\u89c6\u9891\u4e2d\u5b66\u4e60\u65b0\u6280\u80fd\uff0c\u4ee5\u63d0\u5347\u7075\u5de7\u624b\u5728\u66f4\u590d\u6742\u4efb\u52a1\u4e0a\u7684\u8868\u73b0\u3002\u96c6\u6210\u66f4\u5148\u8fdb\u7684\u89e6\u89c9\u611f\u77e5\u4e5f\u662f\u4e00\u4e2a\u91cd\u8981\u7684\u65b9\u5411\uff0c\u5c3d\u7ba1\u76ee\u524d\u89e6\u89c9\u4f20\u611f\u5668\u7684\u786c\u4ef6\u8bbe\u8ba1\u548c\u7b97\u6cd5\u878d\u5408\u4ecd\u662f\u6311\u6218\uff0c\u4f46\u5176\u5bf9\u4e8e\u5b9e\u73b0\u66f4\u7cbe\u7ec6\u3001\u66f4\u9c81\u68d2\u7684\u64cd\u4f5c\u81f3\u5173\u91cd\u8981\u3002\u6b64\u5916\uff0c\u5c06 MANIPTRANS \u5e94\u7528\u4e8e\u6539\u8fdb\u5b9e\u65f6\u9065\u64cd\u4f5c\uff0c\u5b9e\u73b0\u201cAI \u8f85\u52a9\u9065\u64cd\u4f5c\u201d\uff0c\u4e5f\u662f\u4e00\u4e2a\u5145\u6ee1\u6f5c\u529b\u7684\u63a2\u7d22\u65b9\u5411\u3002\u7814\u7a76\u56e2\u961f\u5df2\u5c06 MANIPTRANS \u7684\u4ee3\u7801\u3001\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u4ee5\u53ca DEXMANIPNET \u6570\u636e\u96c6\u5168\u90e8\u5f00\u6e90\uff0c\u5e0c\u671b\u80fd\u4ee5\u6b64\u63a8\u52a8\u6574\u4e2a\u9886\u57df\u7684\u8fdb\u6b65\uff08\u9879\u76ee\u5730\u5740\uff1ahttps:\/\/maniptrans.github.io\/\uff09\u3002\u4ed6\u4eec\u771f\u8bda\u5730\u5e0c\u671b\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u7684\u540c\u884c\u80fd\u591f\u53c2\u4e0e\u8fdb\u6765\uff0c\u5229\u7528 MANIPTRANS \u8fc1\u79fb\u66f4\u591a\u6570\u636e\uff0c\u5e76\u5c06\u66f4\u5148\u8fdb\u7684\u7075\u5de7\u624b\u8bbe\u8ba1\u9002\u914d\u5230\u8be5\u6846\u67b6\u4e2d\uff0c\u901a\u8fc7\u96c6\u601d\u5e7f\u76ca\u3001\u534f\u540c\u5408\u4f5c\uff0c\u5171\u540c\u4fc3\u8fdb\u7075\u5de7\u673a\u5668\u4eba\u64cd\u4f5c\u6280\u672f\u7684\u53d1\u5c55\u3002\u56fe\u4e28\u76f8\u5173\u8bba\u6587\uff08\u6765\u6e90\uff1aarXiv\uff09\u76f8\u5173\u8bba\u6587\u5df2\u88ab 2025 \u5e74\u8ba1\u7b97\u673a\u89c6\u89c9\u548c\u6a21\u5f0f\u8bc6\u522b\u4f1a\u8bae\uff08CVPR\uff0cConference on Computer Vision and Pattern Recognition\uff09\u63a5\u6536\uff0c\u5e76\u4ee5\u300aMANIPTRANS\uff1a\u901a\u8fc7\u6b8b\u5dee\u5b66\u4e60\u5b9e\u73b0\u9ad8\u6548\u7075\u5de7\u7684\u53cc\u624b\u64cd\u4f5c\u8fc1\u79fb\u300b\uff08MANIPTRANS: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning\uff09\u4e3a\u9898\u53d1\u8868\u5728\u9884\u5370\u672c\u5e73\u53f0&nbsp;arXiv&nbsp;\u4e0a\u3002\u5317\u4eac\u901a\u7528\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u7814\u7a76\u79d1\u5b66\u5bb6\u674e\u607a\u6797\u662f\u7b2c\u4e00\u4f5c\u8005\uff0c\u5317\u4eac\u901a\u7528\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u7814\u7a76\u79d1\u5b66\u5bb6\u3001\u901a\u7528\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u8d1f\u8d23\u4eba\u9ec4\u601d\u8fdc\u62c5\u4efb\u901a\u8baf\u4f5c\u8005\u3002\u53c2\u8003\u8d44\u6599\uff1a1.https:\/\/arxiv.org\/abs\/2503.21860\u8fd0\u8425\/\u6392\u7248\uff1a\u4f55\u6668\u9f99","content":"<p style=\"caret-color: rgb(0, 0, 0); color: rgb(0, 0, 0);\"><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u4eba\u7c7b\u7684\u53cc\u624b\u662f\u81ea\u7136\u754c\u6f14\u5316\u7684\u5947\u8ff9\uff0c\u5176\u65e0\u4e0e\u4f26\u6bd4\u7684\u7075\u5de7\u6027\u3001\u7cbe\u786e\u5ea6\u548c\u9002\u5e94\u6027\u4f7f\u6211\u4eec\u80fd\u591f\u4e0e\u7269\u7406\u4e16\u754c\u8fdb\u884c\u590d\u6742\u800c\u7ec6\u81f4\u7684\u4ea4\u4e92\u3002\u5728\u673a\u5668\u4eba\u5b66\u9886\u57df\uff0c\u590d\u73b0\u8fd9\u79cd\u80fd\u529b\uff0c\u7279\u522b\u662f\u9700\u8981\u53cc\u624b\u534f\u540c\u914d\u5408\u7684\u590d\u6742\u64cd\u4f5c\uff0c\u4e00\u76f4\u662f\u79d1\u5b66\u5bb6\u548c\u5de5\u7a0b\u5e08\u4eec\u8ffd\u6c42\u7684\u201c\u5723\u676f\u201d\u4e4b\u4e00\u3002\u5c3d\u7ba1\u5728\u5355\u81c2\u64cd\u4f5c\u548c\u57fa\u7840\u6293\u53d6\u65b9\u9762\u5df2\u53d6\u5f97\u957f\u8db3\u8fdb\u6b65\uff0c\u4f46\u8981\u8ba9\u673a\u5668\u4eba\u62e5\u6709\u5ab2\u7f8e\u4eba\u7c7b\u7684\u53cc\u624b\u64cd\u4f5c\u80fd\u529b\uff0c\u4ecd\u9762\u4e34\u5de8\u5927\u6311\u6218\u3002\u8fd1\u671f\uff0c\u7531\u5317\u4eac\u901a\u7528\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\uff08BIGAI\uff0cBeijing Institute for General Artificial Intelligence\uff09\u3001\u6e05\u534e\u5927\u5b66\u548c\u5317\u4eac\u5927\u5b66\u7684\u8054\u5408\u56e2\u961f\u5171\u540c\u5f00\u53d1\u4e86\u4e00\u79cd\u540d\u4e3a MANIPTRANS \u7684\u65b9\u6cd5\uff0c\u6210\u529f\u5b9e\u73b0\u4e86\u4eba\u7c7b\u53cc\u624b\u64cd\u4f5c\u6280\u80fd\u5411\u4eff\u771f\u73af\u5883\u4e2d\u673a\u5668\u4eba\u7075\u5de7\u624b\u7684\u9ad8\u6548\u8fc1\u79fb\uff0c\u4e3a\u89e3\u51b3\u8fd9\u4e00\u96be\u9898\u63d0\u4f9b\u4e86\u5168\u65b0\u601d\u8def\u3002<\/span><\/span><\/p><p style=\"caret-color: rgb(0, 0, 0); color: rgb(0, 0, 0);\"><\/p><div style=\"caret-color: rgb(0, 0, 0); color: rgb(0, 0, 0);\"><img src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/552ddf61f8b7428f9cc5bebbd3623c57~tplv-obj.image?lk3s=ef143cfe&amp;traceid=202504242303065362D7FD88158D8EFA7B&amp;x-expires=2147483647&amp;x-signature=S50col%2F6FKNKZV0w85X9XpMwukg%3D\"\/><a><\/a><p style=\"text-align: center;\"><span style=\"letter-spacing: 1px;\"><strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">\u201c\u5148\u6a21\u4eff\uff0c\u540e\u7cbe\u8c03\u201d\uff1a MANIPTRANS \u7684\u4e24\u9636\u6bb5\u6280\u80fd\u8fc1\u79fb\u6846\u67b6<\/span><\/strong><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u201c\u4eba\u624b\u5728\u4e0e\u73af\u5883\u4ea4\u4e92\u4e2d\u626e\u6f14\u6838\u5fc3\u89d2\u8272\uff0c\u8fd9\u81ea\u7136\u6fc0\u53d1\u4e86\u5bf9\u7075\u5de7\u673a\u5668\u4eba\u64cd\u4f5c\u7684\u5e7f\u6cdb\u7814\u7a76\u3002\u201d\u8be5\u7814\u7a76\u7684\u7b2c\u4e00\u4f5c\u8005\u3001BIGAI \u7814\u7a76\u5458\u674e\u607a\u6797\u89e3\u91ca\u9053\uff0c\u201c\u7136\u800c\uff0c\u5982\u4f55\u5feb\u901f\u83b7\u53d6\u5927\u89c4\u6a21\u3001\u7cbe\u786e\u4e14\u63a5\u8fd1\u4eba\u7c7b\u6c34\u5e73\u7684\u7075\u5de7\u64cd\u4f5c\u6570\u636e\uff0c\u7528\u4e8e\u8bad\u7ec3 AI \u667a\u80fd\u4f53\uff0c\u4ecd\u7136\u662f\u4e00\u4e2a\u4e9f\u5f85\u89e3\u51b3\u7684\u5173\u952e\u95ee\u9898\u3002\u201d<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u9879\u76ee\u81ea 2024 \u5e74 8 \u6708\u542f\u52a8\uff0c\u6700\u521d\u7684\u76ee\u6807\u662f\u8bad\u7ec3\u901a\u7528\u7684\u7075\u5de7\u624b\u6280\u80fd\u6a21\u578b\uff0c\u4f46\u5f88\u5feb\u4fbf\u9047\u5230\u4e86\u6570\u636e\u7a00\u7f3a\u7684\u74f6\u9888\u3002\u4f20\u7edf\u5f3a\u5316\u5b66\u4e60\uff08RL\uff0cReinforcement Learning\uff09\u65b9\u6cd5\u901a\u5e38\u9700\u8981\u590d\u6742\u7684\u5956\u52b1\u8bbe\u8ba1\u4e14\u6548\u7387\u4f4e\u4e0b\uff0c\u800c\u9065\u64cd\u4f5c\uff08Teleoperation\uff09\u6210\u672c\u9ad8\u6602\u4e14\u6570\u636e\u901a\u7528\u6027\u5dee\u3002<\/span><\/span><\/p><div><img src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/76b7b49ed47e49f487b9e9d59ad92625~tplv-obj.image?lk3s=ef143cfe&amp;traceid=202504242303065362D7FD88158D8EFA7B&amp;x-expires=2147483647&amp;x-signature=a1BK3IBPjTi5GcQGddlb4zrF6Ug%3D\"\/>\u56fe\u4e28\u7814\u7a76\u56e2\u961f\uff0c\u4ece\u5de6\u5230\u53f3\u4f9d\u6b21\u662f\uff1a\u9ec4\u601d\u8fdc\u3001\u674e\u6d66\u8c6a\u3001\u674e\u607a\u6797\u3001\u674e\u5b87\u98cf\u3001\u5218\u817e\u5b87\uff08\u6765\u6e90\uff1a\u7814\u7a76\u56e2\u961f\uff09<\/div><div><br\/><a><\/a><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u9762\u5bf9\u56f0\u5883\uff0c\u56e2\u961f\u5c06\u76ee\u5149\u8f6c\u5411\u4e86\u76f8\u5bf9\u4e30\u5bcc\u7684\u4eba\u7c7b\u624b-\u7269\u4ea4\u4e92 MoCap \u6570\u636e\u96c6\uff0c\u840c\u751f\u4e86\u8bbe\u8ba1\u7b97\u6cd5\u5de5\u5177\u5c06\u5176\u8f6c\u5316\u4e3a\u53ef\u5728\u4eff\u771f\u73af\u5883\u4e2d\u6267\u884c\u7684\u7075\u5de7\u624b\u52a8\u4f5c\u7684\u60f3\u6cd5\u3002\u57fa\u4e8e Isaac Gym \u4eff\u771f\u5e73\u53f0\uff0c\u4ed6\u4eec\u5f00\u59cb\u4e86\u63a2\u7d22\u3002\u521d\u671f\uff0c\u7b80\u5355\u7684\u6293\u53d6\u4efb\u52a1\u8fdb\u5c55\u987a\u5229\uff0c\u4f46\u968f\u7740\u4efb\u52a1\u96be\u5ea6\u63d0\u5347\uff0c\u5c24\u5176\u662f\u5728\u9700\u8981\u53cc\u624b\u534f\u4f5c\u548c\u9ad8\u6280\u5de7\u7684\u52a8\u4f5c\u4e0a\uff0c\u7b80\u5355\u7684\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\u66b4\u9732\u51fa\u8bad\u7ec3\u65f6\u95f4\u957f\u3001\u96be\u4ee5\u83b7\u5f97\u7406\u60f3\u59ff\u6001\u7684\u95ee\u9898\u3002<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u6b63\u662f\u5728\u653b\u514b\u8fd9\u4e9b\u96be\u9898\u7684\u8fc7\u7a0b\u4e2d\uff0c\u56e2\u961f\u610f\u8bc6\u5230\u5fc5\u987b\u5c06\u590d\u6742\u7684\u8fc1\u79fb\u95ee\u9898\u8fdb\u884c\u5206\u89e3\uff0c\u51b3\u5b9a\u4e0d\u518d\u8bd5\u56fe\u4e00\u6b65\u5230\u4f4d\u5730\u540c\u65f6\u5b66\u4e60\u6a21\u4eff\u8fd0\u52a8\u548c\u5904\u7406\u590d\u6742\u7684\u7269\u7406\u4ea4\u4e92\uff0c\u800c\u662f\u5c06\u5176\u62c6\u89e3\u4e3a\u4e24\u4e2a\u5faa\u5e8f\u6e10\u8fdb\u7684\u9636\u6bb5\u3002<\/span><\/span><\/p><div><img src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/f25a1d676e9d49dfb0a0f05e73c46f4f~tplv-obj.image?lk3s=ef143cfe&amp;traceid=202504242303065362D7FD88158D8EFA7B&amp;x-expires=2147483647&amp;x-signature=t%2FL4lTwuN1Du8LM1LeJj8G4O3I0%3D\"\/>\u56fe\u4e28 MANIPTRANS \u6d41\u7a0b\uff08\u6765\u6e90\uff1aarXiv\uff09<\/div><div><br\/><a><\/a><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u9996\u5148\uff0c\u9488\u5bf9\u76f4\u63a5\u8fc1\u79fb\u4e2d\u5f62\u6001\u5dee\u5f02\u548c\u8fd0\u52a8\u8bef\u5dee\u7d2f\u79ef\u7684\u95ee\u9898\uff0c\u7814\u7a76\u56e2\u961f\u8bbe\u8ba1\u4e86\u7b2c\u4e00\u9636\u6bb5\u7684\u6838\u5fc3\u2014\u2014\u7b2c\u4e00\u9636\u6bb5\u7684\u6838\u5fc3\u2014\u2014\u901a\u7528\u7684\u201c\u8f68\u8ff9\u6a21\u4eff\u5668\u201d\uff08<\/span><\/span><em><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">I<\/span><\/span><\/em><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\uff09\u3002\u6b64\u9636\u6bb5\u7684\u76ee\u6807\u88ab\u9650\u5b9a\u4e3a\uff1a\u53ea\u5b66\u4e60\u6a21\u4eff\u4eba\u7c7b\u624b\u90e8\u7684\u8fd0\u52a8\u8f68\u8ff9\uff0c\u6682\u65f6\u5ffd\u7565\u4e0e\u7269\u4f53\u7684\u4ea4\u4e92\u3002\u901a\u8fc7\u5229\u7528\u5927\u89c4\u6a21\u7684 MoCap \u624b\u90e8\u8fd0\u52a8\u6570\u636e\u8fdb\u884c\u9884\u8bad\u7ec3\uff08\u91c7\u7528\u5f3a\u5316\u5b66\u4e60 PPO 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#A3A3A3;\">\u7b2c\u4e00\u9636\u6bb5\u89e3\u51b3\u4e86\u201c\u5f62\u4f3c\u201d\u7684\u95ee\u9898\uff0c\u4f46\u751f\u6210\u7684\u52a8\u4f5c\u53ef\u80fd\u8fd8\u4e0d\u6ee1\u8db3\u7269\u7406\u89c4\u5f8b\u6216\u65e0\u6cd5\u6709\u6548\u64cd\u4f5c\u7269\u4f53\u3002\u56e0\u6b64\uff0c\u7b2c\u4e8c\u9636\u6bb5\u7684\u5173\u952e\u4efb\u52a1\u662f\u5f15\u5165\u7269\u7406\u4e16\u754c\u7684\u7ea6\u675f\uff0c\u5b9e\u73b0\u7cbe\u786e\u3001\u7a33\u5b9a\u7684\u4ea4\u4e92\u3002\u4e3a\u4e86\u5e94\u5bf9\u7269\u7406\u4ea4\u4e92\u7684\u590d\u6742\u6027\u548c\u9ad8\u7ef4\u52a8\u4f5c\u7a7a\u95f4\u7684\u6311\u6218\uff0cMANIPTRANS \u91c7\u7528\u4e86\u6b8b\u5dee\u5b66\u4e60\uff08Residual Learning\uff09\u7684\u7b56\u7565\u3002<\/span><strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">\u5b83\u4e0d\u518d\u5b66\u4e60\u5b8c\u6574\u7684\u52a8\u4f5c\uff0c\u800c\u662f\u8bad\u7ec3\u4e00\u4e2a\u201c\u6b8b\u5dee\u6a21\u5757\u201d<\/span><\/strong>\uff08<\/span><em><span style=\"letter-spacing: 1px;\">R<\/span><\/em><span style=\"letter-spacing: 1px;\">\uff09<strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">\u6765\u5b66\u4e60\u4e00\u4e2a\u5fae\u5c0f\u7684\u4fee\u6b63\u91cf\uff08\uff09\u3002\u8fd9\u4e2a\u6a21\u5757\u4f1a\u63a5\u6536\u66f4\u4e30\u5bcc\u7684\u72b6\u6001\u4fe1\u606f\uff0c\u5305\u62ec\u7269\u4f53\u7684\u5b9e\u65f6\u72b6\u6001\uff08\u59ff\u6001\u3001\u901f\u5ea6\u3001\u5f62\u72b6\u7b49\uff09\u4ee5\u53ca\u81f3\u5173\u91cd\u8981\u7684\u6a21\u62df\u6307\u5c16\u63a5\u89e6\u529b\u3002\u57fa\u4e8e\u8fd9\u4e9b\u4ea4\u4e92\u4fe1\u606f\uff0c\u6b8b\u5dee\u6a21\u5757\u8ba1\u7b97\u51fa\u5bf9\u7b2c\u4e00\u9636\u6bb5\u6a21\u4eff\u52a8\u4f5c\u7684\u5fc5\u8981\u5fae\u8c03\u3002\u6700\u7ec8\u8f93\u51fa\u7684\u52a8\u4f5c\uff08\uff09\u65e2\u4fdd\u7559\u4e86\u7b2c\u4e00\u9636\u6bb5\u6a21\u4eff\u52a8\u4f5c\u7684\u81ea\u7136\u6d41\u7545\u6027\uff0c\u53c8\u786e\u4fdd\u4e86\u52a8\u4f5c\u6ee1\u8db3\u7269\u7406\u7ea6\u675f\uff0c\u80fd\u591f\u7a33\u5b9a\u5730\u6293\u63e1\u7269\u4f53\u3001\u65bd\u52a0\u5408\u9002\u7684\u529b\u5e76\u5b9e\u73b0\u53cc\u624b\u534f\u540c\u3002<\/span><\/strong>\u8fd9\u79cd\u589e\u91cf\u5f0f\u7684\u5b66\u4e60\u65b9\u5f0f\u6781\u5927\u5730\u7b80\u5316\u4e86\u5b66\u4e60\u590d\u6742\u7269\u7406\u52a8\u6001\u548c\u9ad8\u7ef4\u534f\u8c03\u7684\u96be\u5ea6\u3002<\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u201c\u5f53\u6211\u4eec\u6301\u7eed\u6539\u8fdb\u6b8b\u5dee\u7b56\u7565\u65f6\uff0c\u7ec8\u4e8e\u6210\u529f\u5730\u8ba9\u5de6\u53f3\u7075\u5de7\u624b\u5b9e\u73b0\u4e86\u534f\u540c\u64cd\u4f5c\uff1a\u5de6\u624b\u6293\u53d6\u7b14\u5e3d\uff0c\u53f3\u624b\u63e1\u4f4f\u7b14\u8eab\uff0c\u5e76\u5c06\u7b14\u8eab\u81ea\u7136\u3001\u6d41\u7545\u5730\u63d2\u5165\u7b14\u5e3d\u4e2d\u3002\u8fd9\u4e2a\u52a8\u4f5c\u4e0d\u4ec5\u9700\u8981\u7cbe\u51c6\u7684\u6293\u63e1\u80fd\u529b\uff0c\u66f4\u8981\u6c42\u53cc\u624b\u4e4b\u95f4\u9ad8\u5ea6\u7684\u534f\u540c\u914d\u5408\u3002\u5f53\u65f6\uff0c\u56e2\u961f\u7684\u6bcf\u4e00\u4e2a\u4eba\u90fd\u611f\u5230\u975e\u5e38\u6709\u6210\u5c31\u611f\u3002\u8fd9\u6b21\u6210\u529f\u8bc1\u660e\u4e86\u6211\u4eec\u7684 MANIPTRANS \u65b9\u6cd5\u5728\u89e3\u51b3\u8fc1\u79fb\u8fc7\u7a0b\u4e2d\u95ee\u9898\u7684\u6709\u6548\u6027\uff0c\u662f\u9879\u76ee\u7684\u4e00\u4e2a\u91cd\u8981\u91cc\u7a0b\u7891\u3002\u201d\u674e\u607a\u6797\u56de\u5fc6\u9053\u3002<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">MANIPTRANS \u8fd9\u79cd\u5c06\u201c\u8fd0\u52a8\u6a21\u4eff\u201d\u4e0e\u201c\u4ea4\u4e92\u7cbe\u8c03\u201d\u89e3\u8026\u7684\u4e24\u9636\u6bb5\u8bbe\u8ba1\uff0c\u6b63\u662f\u5176\u6210\u529f\u7684\u5173\u952e\u3002\u5b83\u5de7\u5999\u5730\u5c06\u539f\u672c\u9ad8\u5ea6\u590d\u6742\u7684\u5b66\u4e60\u95ee\u9898\u5206\u89e3\u4e3a\u4e24\u4e2a\u96be\u5ea6\u76f8\u5bf9\u8f83\u4f4e\u7684\u5b50\u95ee\u9898\u3002\u901a\u8fc7\u9996\u5148\u5efa\u7acb\u826f\u597d\u7684\u8fd0\u52a8\u57fa\u7840\uff0c\u518d\u4e13\u6ce8\u4e8e\u7269\u7406\u4ea4\u4e92\u7684\u7cbe\u8c03\uff0c\u6781\u5927\u5730\u964d\u4f4e\u4e86\u5b66\u4e60\u6240\u9700\u63a2\u7d22\u7684\u52a8\u4f5c\u7a7a\u95f4\u7ef4\u5ea6\uff0c\u663e\u8457\u63d0\u5347\u4e86\u8bad\u7ec3\u6548\u7387\u548c\u6700\u7ec8\u7684\u6027\u80fd\u3002\u8fd9\u4f7f\u5f97 MANIPTRANS \u80fd\u591f\u9ad8\u6548\u5730\u5c06\u590d\u6742\u7684\u4eba\u7c7b\u6280\u80fd\uff0c\u7279\u522b\u662f\u4ee5\u524d\u96be\u4ee5\u5904\u7406\u7684\u53cc\u81c2\u64cd\u4f5c\u6280\u80fd\uff0c\u6210\u529f\u8fc1\u79fb\u5230\u7075\u5de7\u673a\u68b0\u624b\u4e0a\u3002<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u57fa\u4e8e MANIPTRANS\uff0c\u7814\u7a76\u56e2\u961f\u6784\u5efa\u4e86 DexManipNet \u6570\u636e\u96c6\uff0c\u5c06\u591a\u4e2a\u4ee3\u8868\u6027\u624b-\u7269\u4ea4\u4e92\u6570\u636e\u96c6\uff08\u5305\u62ec FAVOR \u548c OakInk-V2\uff09\u8fc1\u79fb\u5230\u7075\u5de7\u624b\u4e0a\u3002<\/span><strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">\u76ee\u524d\u8be5\u6570\u636e\u96c6\u5305\u542b 3.3K \u4e2a\u673a\u5668\u4eba\u624b\u64cd\u4f5c\u7247\u6bb5\uff0c\u6db5\u76d6 1.2K \u4e2a\u7269\u4f53\uff0c\u603b\u8ba1 134 \u4e07\u5e27\uff0c\u5176\u4e2d\u7ea6 600 \u4e2a\u5e8f\u5217\u6d89\u53ca\u590d\u6742\u53cc\u624b\u4efb\u52a1\uff0c\u8986\u76d6\u4e86 61 \u79cd\u4e0d\u540c\u4efb\u52a1\u7c7b\u578b\uff0c\u5982\u7b14\u5e3d\u63d2\u5165\u3001\u74f6\u76d6\u62e7\u5f00\u548c\u5316\u5b66\u5b9e\u9a8c\u64cd\u4f5c\u7b49\u3002<\/span><\/strong><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u201cDexManipNet \u4f5c\u4e3a\u5f53\u524d\u7075\u5de7\u624b\u64cd\u4f5c\u9886\u57df\u652f\u6301\u590d\u6742\u53cc\u624b\u4efb\u52a1\u6700\u591a\u3001\u6570\u636e\u91cf\u6700\u5927\u7684\u6570\u636e\u96c6\u4e4b\u4e00\uff0c\u6211\u4eec\u6709\u7406\u7531\u76f8\u4fe1\uff0c\u57fa\u4e8e\u8be5\u6570\u636e\u96c6\u53ef\u4ee5\u8bad\u7ec3\u51fa\u591a\u79cd\u673a\u5668\u4eba\u64cd\u4f5c\u6280\u80fd\u6a21\u578b\uff0c\u5728\u4eff\u771f\u6216\u771f\u5b9e\u73af\u5883\u4e2d\u5b9e\u73b0\u66f4\u901a\u7528\u3001\u66f4\u7075\u5de7\u3001\u53cc\u624b\u534f\u4f5c\u7a0b\u5ea6\u66f4\u9ad8\u7684\u7075\u5de7\u624b\u64cd\u4f5c\u3002\u201d\u674e\u607a\u6797\u8868\u793a\u3002<\/span><\/span><\/p><div><img src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/0876d8ef26c744e69200aaf26cee0cbf~tplv-obj.image?lk3s=ef143cfe&amp;traceid=202504242303065362D7FD88158D8EFA7B&amp;x-expires=2147483647&amp;x-signature=W8R4d%2FHYmXTH2LFLijaxwxM1p9c%3D\"\/><a><\/a><p style=\"text-align: center;\"><span style=\"letter-spacing: 1px;\"><strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">\u6210\u529f\u7387\u3001\u7cbe\u5ea6\u4e0e\u6548\u7387\u5168\u9762\u9886\u5148\u73b0\u6709\u65b9\u6cd5<\/span><\/strong><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u4e3a\u4e86\u9a8c\u8bc1 MANIPTRANS \u7684\u6709\u6548\u6027\uff0c\u7814\u7a76\u56e2\u961f\u5728 OakInk-V2 \u7684\u9a8c\u8bc1\u96c6\u4e0a\u8fdb\u884c\u4e86\u4e25\u683c\u7684\u5b9a\u91cf\u8bc4\u4f30\uff0c\u5e76\u4e0e\u51e0\u79cd\u57fa\u7ebf\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5305\u62ec\u4ec5\u4f7f\u7528\u5f3a\u5316\u5b66\u4e60\u4ece\u5934\u8bad\u7ec3\uff08RL-Only\uff09\uff0c\u4ee5\u53ca\u5148\u8fdb\u884c\u59ff\u6001\u91cd\u5b9a\u5411\u518d\u5e94\u7528\u6b8b\u5dee\u5b66\u4e60\uff08Retarget+Residual\uff09\u3002<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u5b9e\u9a8c\u7ed3\u679c\u663e\u793a\uff0c\u5728\u4efb\u52a1\u6210\u529f\u7387\u65b9\u9762\uff0cMANIPTRANS \u8868\u73b0\u6700\u4f73\uff0c<\/span><strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">\u5bf9\u4e8e\u5355\u624b\u4efb\u52a1\u548c\u66f4\u5177\u6311\u6218\u6027\u7684\u53cc\u624b\u4efb\u52a1\uff0c\u5176\u6210\u529f\u7387\u5206\u522b\u8fbe\u5230\u4e86 58.1% \u548c 39.5%\uff0c\u663e\u8457\u9ad8\u4e8e RL-Only \u65b9\u6cd5\uff0834.3%\/12.1%\uff09\u548c Retarget+Residual \u65b9\u6cd5\uff0847.8%\/13.9%\uff09\uff0c<\/span><\/strong>\u8bc1\u660e\u4e86\u5176\u5728\u53ef\u9760\u5b8c\u6210\u590d\u6742\u6a21\u4eff\u4efb\u52a1\u65b9\u9762\u7684\u80fd\u529b\u3002<\/span><\/p><div><img src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/5912cd2356f34daeb1488043971050a7~tplv-obj.image?lk3s=ef143cfe&amp;traceid=202504242303065362D7FD88158D8EFA7B&amp;x-expires=2147483647&amp;x-signature=jd%2BBS91zdAIDhiWRjUnlCmNKZnA%3D\"\/>\u56fe\u4e28\u5f3a\u5316\u5b66\u4e60\u7ec4\u5408\u57fa\u7ebf\u7684\u5b9a\u91cf\u6bd4\u8f83\uff08\u6765\u6e90\uff1aarXiv\uff09<\/div><div><br\/><a><\/a><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u5728\u6a21\u4eff\u7cbe\u5ea6\u65b9\u9762\uff0cMANIPTRANS \u540c\u6837\u5168\u9762\u9886\u5148\u3002\u5bf9\u4e8e\u6210\u529f\u5b8c\u6210\u7684\u4efb\u52a1\uff0c<\/span><strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">\u5176\u5e73\u5747\u7269\u4f53\u65cb\u8f6c\u8bef\u5dee\uff08\uff09\u4f4e\u81f3 8.60 \u5ea6\uff0c\u4f4d\u79fb\u8bef\u5dee\uff08\uff09\u4ec5\u4e3a 0.49 \u5398\u7c73\u3002\u624b\u90e8\u52a8\u4f5c\u7684\u6a21\u4eff\u7cbe\u5ea6\u4e5f\u66f4\u9ad8\uff0c\u5e73\u5747\u5173\u8282\u4f4d\u7f6e\u8bef\u5dee\uff08\uff09\u4e3a 2.15 \u5398\u7c73\uff0c\u5173\u952e\u7684\u6307\u5c16\u4f4d\u7f6e\u8bef\u5dee\uff08\uff09\u5219\u4e3a 1.36 \u5398\u7c73\u3002<\/span><\/strong>\u8fd9\u4e9b\u6570\u636e\u5747\u4f18\u4e8e\u6240\u6709\u5bf9\u6bd4\u7684\u57fa\u7ebf\u65b9\u6cd5\uff0c\u4f8b\u5982\uff0c\u5176\u6307\u5c16\u4f4d\u7f6e\u8bef\u5dee\u76f8\u8f83\u4e8e Retarget+Residual \u65b9\u6cd5\u964d\u4f4e\u4e86\u7ea6 22%\u3002<\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u9664\u4e86\u7cbe\u5ea6\u548c\u6210\u529f\u7387\uff0cMANIPTRANS \u5728\u8bad\u7ec3\u6548\u7387\u4e0a\u4e5f\u8868\u73b0\u7a81\u51fa\u3002\u5728\u4e0e\u53e6\u4e00\u5148\u8fdb\u65b9\u6cd5 QuasiSim \u7684\u5bf9\u6bd4\u4e2d\uff08\u9488\u5bf9\u7279\u5b9a\u4efb\u52a1\uff09\uff0c<\/span><strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">MANIPTRANS \u4ec5\u9700\u7ea6 15 \u5206\u949f\u7684\u5fae\u8c03\u5373\u53ef\u8fbe\u5230\u7a33\u5065\u7ed3\u679c\uff0c\u8fdc\u5feb\u4e8e QuasiSim \u6240\u9700\u7684\u6570\u5341\u5c0f\u65f6\u4f18\u5316\u65f6\u95f4\u3002<\/span><\/strong><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u6b64\u5916\uff0c\u7814\u7a76\u56e2\u961f\u8fd8\u6d4b\u8bd5\u4e86 MANIPTRANS \u5728\u4e0d\u540c\u5f62\u6001\u673a\u68b0\u624b\uff08\u5982 Shadow Hand, Allegro Hand \u7b49\uff09\u4e0a\u7684\u901a\u7528\u6027\uff0c\u7ed3\u679c\u663e\u793a\u65e0\u9700\u7279\u6b8a\u8c03\u6574\u5373\u53ef\u83b7\u5f97\u4e00\u81f4\u3001\u6d41\u7545\u4e14\u7cbe\u786e\u7684\u6027\u80fd\u3002<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u4e3a\u4e86\u6d4b\u8bd5\u5176\u80fd\u529b\uff0c\u7814\u7a76\u56e2\u961f\u8fd8\u5c06 DexManipNet \u4e2d\u7684\u53cc\u624b\u8f68\u8ff9\u5728\u771f\u5b9e\u786c\u4ef6\u4e0a\u6210\u529f\u91cd\u653e\uff0c\u5c55\u793a\u4e86\u7075\u6d3b\u81ea\u7136\u7684\u7075\u5de7\u64cd\u4f5c\u80fd\u529b\uff0c\u5305\u62ec\u62e7\u5f00\u7259\u818f\u76d6\u3001\u5411\u8bd5\u7ba1\u503e\u5012\u8bd5\u5242\u7b49\u9ad8\u7cbe\u5ea6\u4efb\u52a1\u3002<\/span><\/span><\/p><div><img src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/5ce97a838b8143308f2e54856b462e36~tplv-obj.image?lk3s=ef143cfe&amp;traceid=202504242303065362D7FD88158D8EFA7B&amp;x-expires=2147483647&amp;x-signature=hg%2FY9BfQANQtys4A03gQX8nU5PQ%3D\"\/><a><\/a><p style=\"text-align: center;\"><span style=\"letter-spacing: 1px;\"><strong><span style=\"color: rgb(14, 23, 58); --tt-darkmode-color: #92A1D9;\">\u901a\u5f80\u901a\u7528\u7075\u5de7\u64cd\u4f5c\u4e4b\u8def<\/span><\/strong><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u5c3d\u7ba1\u80fd\u529b\u9886\u5148\uff0c\u4f46\u7814\u7a76\u56e2\u961f\u4e5f\u8868\u793a\u5f53\u524d\u7684 MANIPTRANS \u8fd8\u5b58\u5728\u4e00\u4e9b\u5c40\u9650\u6027\u3002MANIPTRANS \u867d\u7136\u5bf9\u4e2d\u7b49\u566a\u58f0\u5177\u6709\u4e00\u5b9a\u7684\u9c81\u68d2\u6027\uff0c\u4f46\u5982\u679c\u8f93\u5165\u7684 MoCap \u6570\u636e\u566a\u58f0\u8fc7\u5927\uff0c\u6216\u8005\u4eff\u771f\u4e2d\u4f7f\u7528\u7684\u7269\u4f53\u6a21\u578b\u4e0d\u591f\u7cbe\u786e\uff08\u5c24\u5176\u662f\u5bf9\u4e8e\u94f0\u63a5\u7269\u4f53\uff09\uff0c\u5176\u6027\u80fd\u53ef\u80fd\u4f1a\u53d7\u5230\u5f71\u54cd\u3002<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u66f4\u91cd\u8981\u7684\u662f\uff0c\u867d\u7136 MANIPTRANS \u5728\u6280\u80fd\u8fc1\u79fb\u65b9\u9762\u53d6\u5f97\u4e86\u91cd\u5927\u8fdb\u5c55\uff0c\u4f46\u8981\u5b9e\u73b0\u771f\u6b63\u7684\u4eba\u7c7b\u6c34\u5e73\u7075\u5de7\u6027\uff0c\u4ecd\u9700\u8fdb\u4e00\u6b65\u7a81\u7834\u3002\u7814\u7a76\u56e2\u961f\u8868\u793a\uff0c\u5f53\u524d\u7cfb\u7edf\u4e0e\u4eba\u7c7b\u624b\u90e8\u64cd\u4f5c\u76f8\u6bd4\u4ecd\u6709\u8f83\u5927\u5dee\u8ddd\uff0c\u4e3b\u8981\u4f53\u73b0\u5728\u7f3a\u4e4f\u4e3b\u52a8\u89c4\u5212\u548c\u8c03\u6574\u529b\u5ea6\u4ee5\u9002\u5e94\u4e0d\u540c\u7269\u4f53\u7684\u80fd\u529b\uff08\u6cdb\u5316\u6027\u4e0d\u8db3\uff09\uff0c\u4ee5\u53ca\u7f3a\u4e4f\u57fa\u4e8e\u7269\u7406\u5e38\u8bc6\u5bf9\u590d\u6742\u4efb\u52a1\u8fdb\u884c\u81ea\u4e3b\u5206\u6790\u3001\u63a8\u7406\u548c\u89c4\u5212\u7684\u80fd\u529b\u3002\u8981\u8fbe\u5230\u4eba\u7c7b\u6c34\u5e73\uff0c\u672a\u6765\u7684\u7814\u7a76\u9700\u8981\u5728\u66f4\u5927\u89c4\u6a21\u7684\u6570\u636e\u5b66\u4e60\uff08\u878d\u5408\u89c6\u89c9\u4e0e\u89e6\u89c9\uff09\u548c\u5bf9\u7269\u7406\u4e16\u754c\u7684\u66f4\u6df1\u5c42\u7406\u89e3\uff08\u5b9e\u73b0\u81ea\u4e3b\u89c4\u5212\u4e0e\u8c03\u6574\uff09\u4e24\u65b9\u9762\u53d6\u5f97\u7a81\u7834\u3002<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u56e2\u961f\u6b63\u5728\u79ef\u6781\u89c4\u5212\u672a\u6765\u7684\u7814\u7a76\u65b9\u5411\u3002\u4ed6\u4eec\u671f\u5f85\u5f00\u53d1\u51fa\u66f4\u5177\u6cdb\u5316\u6027\u7684\u7b97\u6cd5\uff0c\u4f8b\u5982\u4ece\u4e92\u8054\u7f51\u6d77\u91cf\u7684\u64cd\u4f5c\u89c6\u9891\u4e2d\u5b66\u4e60\u65b0\u6280\u80fd\uff0c\u4ee5\u63d0\u5347\u7075\u5de7\u624b\u5728\u66f4\u590d\u6742\u4efb\u52a1\u4e0a\u7684\u8868\u73b0\u3002\u96c6\u6210\u66f4\u5148\u8fdb\u7684\u89e6\u89c9\u611f\u77e5\u4e5f\u662f\u4e00\u4e2a\u91cd\u8981\u7684\u65b9\u5411\uff0c\u5c3d\u7ba1\u76ee\u524d\u89e6\u89c9\u4f20\u611f\u5668\u7684\u786c\u4ef6\u8bbe\u8ba1\u548c\u7b97\u6cd5\u878d\u5408\u4ecd\u662f\u6311\u6218\uff0c\u4f46\u5176\u5bf9\u4e8e\u5b9e\u73b0\u66f4\u7cbe\u7ec6\u3001\u66f4\u9c81\u68d2\u7684\u64cd\u4f5c\u81f3\u5173\u91cd\u8981\u3002\u6b64\u5916\uff0c\u5c06 MANIPTRANS \u5e94\u7528\u4e8e\u6539\u8fdb\u5b9e\u65f6\u9065\u64cd\u4f5c\uff0c\u5b9e\u73b0\u201cAI \u8f85\u52a9\u9065\u64cd\u4f5c\u201d\uff0c\u4e5f\u662f\u4e00\u4e2a\u5145\u6ee1\u6f5c\u529b\u7684\u63a2\u7d22\u65b9\u5411\u3002<\/span><\/span><\/p><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u7814\u7a76\u56e2\u961f\u5df2\u5c06 MANIPTRANS \u7684\u4ee3\u7801\u3001\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u4ee5\u53ca DEXMANIPNET \u6570\u636e\u96c6\u5168\u90e8\u5f00\u6e90\uff0c\u5e0c\u671b\u80fd\u4ee5\u6b64\u63a8\u52a8\u6574\u4e2a\u9886\u57df\u7684\u8fdb\u6b65\uff08\u9879\u76ee\u5730\u5740\uff1ahttps:\/\/maniptrans.github.io\/\uff09\u3002\u4ed6\u4eec\u771f\u8bda\u5730\u5e0c\u671b\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u7684\u540c\u884c\u80fd\u591f\u53c2\u4e0e\u8fdb\u6765\uff0c\u5229\u7528 MANIPTRANS \u8fc1\u79fb\u66f4\u591a\u6570\u636e\uff0c\u5e76\u5c06\u66f4\u5148\u8fdb\u7684\u7075\u5de7\u624b\u8bbe\u8ba1\u9002\u914d\u5230\u8be5\u6846\u67b6\u4e2d\uff0c\u901a\u8fc7\u96c6\u601d\u5e7f\u76ca\u3001\u534f\u540c\u5408\u4f5c\uff0c\u5171\u540c\u4fc3\u8fdb\u7075\u5de7\u673a\u5668\u4eba\u64cd\u4f5c\u6280\u672f\u7684\u53d1\u5c55\u3002<\/span><\/span><\/p><div><img src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/103345d4bf9246c692338999a499f4d6~tplv-obj.image?lk3s=ef143cfe&amp;traceid=202504242303065362D7FD88158D8EFA7B&amp;x-expires=2147483647&amp;x-signature=lXXXG1S4E2Ly95YAKkeeBPt3Oo0%3D\"\/>\u56fe\u4e28\u76f8\u5173\u8bba\u6587\uff08\u6765\u6e90\uff1aarXiv\uff09<\/div><div><br\/><a><\/a><p><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">\u76f8\u5173\u8bba\u6587\u5df2\u88ab 2025 \u5e74\u8ba1\u7b97\u673a\u89c6\u89c9\u548c\u6a21\u5f0f\u8bc6\u522b\u4f1a\u8bae\uff08CVPR\uff0cConference on Computer Vision and Pattern Recognition\uff09\u63a5\u6536\uff0c\u5e76\u4ee5\u300aMANIPTRANS\uff1a\u901a\u8fc7\u6b8b\u5dee\u5b66\u4e60\u5b9e\u73b0\u9ad8\u6548\u7075\u5de7\u7684\u53cc\u624b\u64cd\u4f5c\u8fc1\u79fb\u300b\uff08MANIPTRANS: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning\uff09\u4e3a\u9898\u53d1\u8868\u5728\u9884\u5370\u672c\u5e73\u53f0&nbsp;<\/span><\/span><em><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">arXiv<\/span><\/span><\/em><span style=\"letter-spacing: 1px;\"><span style=\"--tt-darkmode-color: #A3A3A3;\">&nbsp;\u4e0a\u3002\u5317\u4eac\u901a\u7528\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u7814\u7a76\u79d1\u5b66\u5bb6\u674e\u607a\u6797\u662f\u7b2c\u4e00\u4f5c\u8005\uff0c\u5317\u4eac\u901a\u7528\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u7814\u7a76\u79d1\u5b66\u5bb6\u3001\u901a\u7528\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u8d1f\u8d23\u4eba\u9ec4\u601d\u8fdc\u62c5\u4efb\u901a\u8baf\u4f5c\u8005\u3002<\/span><\/span><\/p><p style=\"line-height: 1;\"><span style=\"letter-spacing: 1px;\"><span style=\"color: rgb(178, 178, 178); --tt-darkmode-color: #A3A3A3;\">\u53c2\u8003\u8d44\u6599\uff1a<\/span><\/span><\/p><p style=\"line-height: 1;\"><span style=\"letter-spacing: 1px;\"><span style=\"color: rgb(178, 178, 178); --tt-darkmode-color: #A3A3A3;\">1.https:\/\/arxiv.org\/abs\/2503.21860<\/span><\/span><\/p><p style=\"line-height: 1;\"><\/p><p style=\"line-height: 1;\"><span style=\"letter-spacing: 1px;\"><span style=\"color: rgb(178, 178, 178); --tt-darkmode-color: #A3A3A3;\">\u8fd0\u8425\/\u6392\u7248\uff1a\u4f55\u6668\u9f99<\/span><\/span><\/p><\/div><\/div><\/div><\/div><\/div><\/div><\/div>","content_en":null,"content_all":null,"article_url":"http:\/\/www.sciphi.cn\/article\/view\/14712","typeName":"\u673a\u5668\u4eba"},"code":10000,"message":"\u6210\u529f"}