{"id":823667,"date":"2026-08-06T11:39:21","date_gmt":"2026-08-06T03:39:21","guid":{"rendered":"https:\/\/www.alphaseek.cn\/?p=823667"},"modified":"2026-08-06T11:39:21","modified_gmt":"2026-08-06T03:39:21","slug":"%e5%8f%8d%e5%87%bbvla%e4%b8%ad%e3%80%8cl%e3%80%8d%e6%97%a0%e7%94%a8%e8%ae%ba%ef%bc%9a%e7%94%a8%e5%af%b9%e4%bd%8d%e7%bd%ae%e6%8c%87%e4%bb%a4%e6%b3%9b%e5%8c%96%e8%83%bd%e5%8a%9b%e6%9a%b4%e6%b6%a820-40","status":"publish","type":"post","link":"https:\/\/www.alphaseek.cn\/?p=823667","title":{"rendered":"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%"},"content":{"rendered":"<p>\uff08\u6765\u6e90\uff1a\u673a\u5668\u4e4b\u5fc3\uff09<\/p>\n<p cms-style=\"font-L\">\u4f5c\u4e3a\u5177\u8eab\u667a\u80fd\u6700\u4e3b\u6d41\u7684\u8def\u7ebf\u4e4b\u4e00\uff0cVLA \u5feb\u901f\u53d1\u5c55\u7684\u540c\u65f6\u4e5f\u56e0\u4e3a\u5176\u5404\u79cd\u95ee\u9898\u88ab\u8bdf\u75c5\u3002\u5176\u4e2d\u6700\u4e3b\u8981\u7684\u75db\u70b9\u4e4b\u4e00\u4fbf\u662f\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n<p cms-style=\"font-L\">\u5927\u90e8\u5206\u8bba\u6587\u5c55\u793a\u7684\u80fd\u529b\u90fd\u5728\u8bad\u7ec3\u548c\u6d4b\u8bd5\u96c6\u6307\u4ee4\u5206\u5e03\u4e00\u81f4\u7684\u6570\u636e\u4e0a\u5237\u70b9\uff0c\u7ed3\u679c\u54ea\u6015\u662f\u50cf LIBERO \u8fd9\u79cd\u73b0\u5728\u770b\u8d77\u6765\u7b80\u5355\u7684\u6570\u636e\uff0c\u5728\u7b80\u5355\u6539\u5199\u6307\u4ee4\u540e\u6027\u80fd\u90fd\u4f1a\u66b4\u964d\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0cvla-adapter \u5728 LIBERO-para \u4e0a\u6027\u80fd\u66b4\u964d 51%\u3002\u5bf9\u4e8e\u5177\u8eab AGI \u6765\u8bf4\uff0c\u8fd9\u662f\u4e00\u4e2a\u4e0d\u80fd\u63a5\u53d7\u7684\u95ee\u9898\uff0c\u6211\u4eec\u671f\u5f85\u7684\u662f\u4e00\u4e2a\u5728\u5404\u79cd\u73af\u5883\u4e0b\u80fd\u542c\u61c2\u4eba\u7684\u5404\u79cd\u8868\u8ff0\u5f62\u5f0f\u7684\u4efb\u52a1\u6307\u4ee4\u7684<span><a href=\"https:\/\/finance.sina.com.cn\/realstock\/company\/sz300024\/nc.shtml\" target=\"_blank\" data-sudaclick=\"content_marketkeywords_p\" rel=\"noopener\">\u673a\u5668\u4eba<\/a><\/span><span><\/span>\u3002<\/p>\n<p cms-style=\"font-L\">\u56e0\u6b64\uff0cVLA \u771f\u6b63\u96be\u7684\uff0c\u5e76\u4e0d\u662f\u5728\u56fa\u5b9a\u6307\u4ee4\u6a21\u677f\u4e0a\u518d\u591a\u62ff\u51e0\u4e2a\u70b9\uff0c\u800c\u662f\u8ba9\u540c\u4e00\u4e2a\u4efb\u52a1\u5728\u4e0d\u540c\u8bf4\u6cd5\u4e0b\uff0c\u6700\u7ec8\u843d\u5230\u540c\u4e00\u5957\u673a\u5668\u4eba\u52a8\u4f5c\u4e0a\u3002\u4e5f\u5c31\u662f\u76ee\u6807\u7269\u4f53\u6ca1\u6709\u53d8\u5316\u3001\u89c6\u89c9\u573a\u666f\u6ca1\u6709\u53d8\u5316\u3001\u6210\u529f\u6761\u4ef6\u4e5f\u6ca1\u6709\u53d8\u5316\uff0c\u53ea\u662f\u6362\u4e86\u4e00\u79cd\u8bed\u8a00\u8868\u8fbe\uff0c\u673a\u5668\u4eba\u4ecd\u7136\u5e94\u8be5\u5b8c\u6210\u539f\u6765\u7684\u4efb\u52a1\u3002<\/p>\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u56f4\u7ed5 VLA \u8bed\u8a00\u6cdb\u5316\u7684\u95ee\u9898\uff0c\u6765\u81ea<\/font><font cms-style=\"font-L strong-Bold color210\">\u4e0a\u6d77\u4ea4\u5927\u548c\u65e0\u754c\u52a8\u529b\u5177\u8eab\u667a\u80fd\u5b9e\u9a8c\u5ba4\u7684\u8054\u5408\u56e2\u961f<\/font><font cms-style=\"font-L\">\u63d0\u51fa\u4e86\u4e00\u9879\u6781\u5176\u7b80\u5355\u4f46\u975e\u5e38\u6709\u6548\u7684\u89e3\u6cd5\u3002<\/font><font cms-style=\"font-L strong-Bold color210\">\u901a\u8fc7\u91cd\u65b0\u8bbe\u8ba1\u8bed\u8a00\u8bed\u4e49\u8fdb\u5165\u89c6\u89c9\u4e0e\u52a8\u4f5c\u8ba1\u7b97\u8def\u5f84\u7684\u65b9\u5f0f\uff0c\u8ba9\u6a21\u578b\u4e0d\u4f9d\u8d56\u5927\u91cf paraphrase \u8bad\u7ec3\uff0c\u4e5f\u80fd\u66f4\u7a33\u5b9a\u5730\u6267\u884c\u6539\u5199\u540e\u7684\u6307\u4ee4\u3002<\/font><\/p>\n<div><img src=\"https:\/\/finance.sina.com.cn\/\/n.sinaimg.cn\/spider20260806\/660\/w1080h380\/20260806\/2e56-950065d781ee52b951497536a581abff.png\" cms-width=\"661\" cms-height=\"232.562\" alt=\"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%\"\/><span><\/span><\/div>\n<ul cms-style=\"ul\">\n<li cms-style=\"li\">\n<p cms-style=\"font-L\"><font cms-style=\"font-L color0\">\u8bba\u6587\u6807\u9898\uff1a Grounded Semantic Re-Binding for Robust Instruction Generalization in Vision-Language-Action Models \u00a0<\/font><\/p>\n<\/li>\n<li cms-style=\"li\">\n<p cms-style=\"font-L\"><font cms-style=\"font-L color0\">\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2608.02497<\/font><\/p>\n<\/li>\n<li cms-style=\"li\">\n<p cms-style=\"font-L\"><font cms-style=\"font-L color0\">GitHub\u5730\u5740\uff1a https:\/\/github.com\/AutoLab-SAI-SJTU\/GSR-ParaVLA\u00a0<\/font><\/p>\n<\/li>\n<\/ul>\n<p cms-style=\"font-L align-Center\"><font cms-style=\"font-L strong-Bold align-Center\">\u6307\u4ee4\u53ea\u6539\u51e0\u4e2a\u8bcd\uff0cVLA \u7684\u52a8\u4f5c\u5c31\u53ef\u80fd\u5b8c\u5168\u4e0d\u540c<\/font><\/p>\n<p cms-style=\"font-L\">\u5f53\u524d\u4e0d\u5c11 VLA \u5de5\u4f5c\u90fd\u5728 LIBERO\u3001RoboTwin \u7b49 benchmark \u4e0a\u4e0d\u65ad\u5237\u65b0\u6210\u529f\u7387\u3002\u4f46\u6807\u51c6 benchmark \u4e2d\u7684\u8bed\u8a00\u901a\u5e38\u8f83\u4e3a\u56fa\u5b9a\uff0c\u6a21\u578b\u5728\u8bad\u7ec3\u548c\u6d4b\u8bd5\u9636\u6bb5\u770b\u5230\u7684\u6307\u4ee4\u8868\u8fbe\u9ad8\u5ea6\u76f8\u4f3c\u3002<\/p>\n<p cms-style=\"font-L\">\u8fd9\u4f1a\u63a9\u76d6\u4e00\u4e2a\u57fa\u7840\u95ee\u9898\uff1a\u6a21\u578b\u7a76\u7adf\u7406\u89e3\u4e86 Instruction \u6240\u8868\u8fbe\u7684\u4efb\u52a1\u542b\u4e49\uff0c\u8fd8\u662f\u53ea\u628a\u67d0\u79cd\u56fa\u5b9a\u8bf4\u6cd5\u5f53\u6210\u4e86 0\uff0c1\uff0c2 \u8fd9\u6837\u7684\u4efb\u52a1\u6807\u7b7e\uff1f<\/p>\n<p cms-style=\"font-L\">\u4f8b\u5982\uff1a\u6293\u53d6\u8f83\u5927\u7684\u7ea2\u8272\u7269\u4f53\uff1b\u6539\u5199\u4e3a\uff1a\u62ff\u8d77\u5c3a\u5bf8\u66f4\u5927\u7684\u7ea2\u8272\u65b9\u5757\u3002\u5bf9\u4eba\u7c7b\u800c\u8a00\uff0c\u4e24\u53e5\u8bdd\u5bf9\u5e94\u7684\u662f\u540c\u4e00\u4e2a\u4efb\u52a1\u3002\u4f46\u5bf9 VLA \u6765\u8bf4\uff0c\u8fd9\u79cd\u770b\u4f3c\u5fae\u5c0f\u7684\u53d8\u5316\uff0c\u53ef\u80fd\u8ba9\u539f\u672c\u80fd\u591f\u7a33\u5b9a\u5b8c\u6210\u7684\u4efb\u52a1\u76f4\u63a5\u5931\u8d25\u3002<\/p>\n<p cms-style=\"font-L\">\u672c\u6587\u9996\u5148\u5728 LIBERO-Para \u4e0a\u8bc4\u4f30\u4e86 VLA-Adapter\u3001SmolVLA \u548c \u03c00.5 \u4e09\u4e2a\u6a21\u578b\u3002LIBERO-Para \u662f\u5728 LIBERO-Goal \u4efb\u52a1\u57fa\u7840\u4e0a\u6784\u5efa\u7684\u8bed\u8a00\u6cdb\u5316 benchmark\u3002\u5b83\u4fdd\u6301\u673a\u5668\u4eba\u9762\u5bf9\u7684\u573a\u666f\u3001\u7269\u4f53\u3001\u521d\u59cb\u72b6\u6001\u548c\u6210\u529f\u6807\u51c6\u4e0d\u53d8\uff0c\u53ea\u6539\u5199\u4efb\u52a1\u6307\u4ee4\u4e2d\u7684\u52a8\u4f5c\u8868\u8fbe\u3001\u7269\u4f53\u63cf\u8ff0\uff0c\u6216\u540c\u65f6\u6539\u5199\u4e24\u8005\uff0c\u7528\u6765\u6d4b\u8bd5\u6a21\u578b\u5728\u4efb\u52a1\u6ca1\u53d8\u3001\u53ea\u662f\u6362\u4e86\u4e00\u79cd\u7b49\u4ef7\u8868\u8ff0\u7684\u60c5\u51b5\u4e0b\u80fd\u5426\u7ee7\u7eed\u6b63\u786e\u6267\u884c\u4efb\u52a1\u3002<\/p>\n<div><img src=\"https:\/\/finance.sina.com.cn\/\/n.sinaimg.cn\/spider20260806\/792\/w1006h586\/20260806\/91c1-1bd6746f95cece69bbd76dce40a51c7e.png\" cms-width=\"462\" cms-height=\"269.125\" alt=\"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%\"\/><span>\u6362\u4e2a\u8868\u8ff0\uff0cVLA\u6027\u80fd\u5c31\u4f1a\u6389\u8fd9\u4e48\u591a<\/span><\/div>\n<p cms-style=\"font-L\">\u7ed3\u679c\u663e\u793a\uff0cSmolVLA \u5728\u539f\u59cb\u6307\u4ee4\u4e0a\u7684\u6210\u529f\u7387\u4e3a 72.0%\uff0c\u9762\u5bf9\u6539\u5199\u6307\u4ee4\u65f6\u5374\u53ea\u5269 4.47%\uff1bVLA-Adapter \u4ece 98.2% \u964d\u81f3 46.82%\u3002\u5373\u4fbf\u662f\u7ecf\u8fc7\u5927\u89c4\u6a21\u5f02\u6784\u6570\u636e\u8bad\u7ec3\u7684 \u03c00.5\uff0c\u4e5f\u4ecd\u7136\u5b58\u5728\u8bed\u8a00\u6539\u5199\u5e26\u6765\u7684\u6027\u80fd\u635f\u5931\u3002<\/p>\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u6362\u53e5\u8bdd\u8bf4\uff0c<\/font><font cms-style=\"font-L strong-Bold color210\">\u5728\u6807\u51c6\u6307\u4ee4\u4e0a\u53d6\u5f97\u9ad8\u6210\u529f\u7387\uff0c\u5e76\u4e0d\u7b49\u4e8e\u6a21\u578b\u5177\u5907\u7a33\u5b9a\u7684 Instruction \u8ddf\u968f\u80fd\u529b\u3002<\/font><\/p>\n<p cms-style=\"font-L\">\u4f46\u6210\u529f\u7387\u4e0b\u964d\u53ea\u80fd\u8bf4\u660e\u95ee\u9898\u5b58\u5728\uff0c\u5e76\u4e0d\u80fd\u89e3\u91ca\u95ee\u9898\u51fa\u5728\u54ea\u91cc\u3002<\/p>\n<p cms-style=\"font-L\">\u5bf9\u4e8e\u540e\u8bad\u7ec3\u5fae\u8c03\u6765\u8bf4\uff0c\u5e38\u89c1\u7684\u89e3\u6cd5\u662f\u662f\u7ee7\u7eed\u6536\u96c6\u66f4\u591a\u7b49\u4ef7\u8868\u8ff0\uff0c\u5c06\u6539\u5199\u8bed\u53e5\u52a0\u5165\u8bad\u7ec3\u3002\u5bf9\u4e8e\u9884\u8bad\u7ec3\u6765\u8bf4\uff0c\u50cf pi \u4e00\u6837\u7ecf\u8fc7\u5927\u89c4\u6a21\u7684\u6570\u636e\u8bad\u7ec3\uff0c\u6a21\u578b\u89c1\u591a\u4e86\u8bed\u8a00\u4efb\u52a1\u5f62\u5f0f\uff0c\u4e5f\u80fd\u589e\u5f3a\u6307\u4ee4\u6cdb\u5316\u7684\u80fd\u529b\u3002\u4f46\u8fd9\u4e2a\u8bba\u6587\u53d1\u73b0\uff0c\u6216\u8bb8\u8fd8\u6709\u4e00\u79cd\u66f4\u7b80\u5355\u7684\u89e3\u6cd5\u3002\u672c\u6587\u4ece\u6a21\u578b\u7ed3\u6784\u4e2d\u300cL\u300d\u7684\u8bbe\u8ba1\u89d2\u5ea6\u8003\u8651\u91cd\u65b0\u601d\u8003\u8fd9\u4e2a\u95ee\u9898\u3002<\/p>\n<p cms-style=\"font-L align-Center\"><font cms-style=\"font-L strong-Bold align-Center\">\u5206\u6790 1\uff1a\u5931\u8d25\u52a8\u4f5c\u91cc\uff0c\u4ecd\u7136\u4fdd\u7559\u7740\u6b63\u786e\u4efb\u52a1\u7684\u7ed3\u6784<\/font><\/p>\n<p cms-style=\"font-L\">\u4e3a\u4e86\u5224\u65ad\u4efb\u52a1\u4fe1\u606f\u662f\u5426\u5df2\u7ecf\u6d88\u5931\uff0c\u8bba\u6587\u9996\u5148\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u52a8\u4f5c\u7ea7\u68c0\u7d22\u5b9e\u9a8c\u3002<\/p>\n<p cms-style=\"font-L\">\u5bf9\u4e8e\u540c\u4e00\u4e2a\u89c6\u89c9 Observation\uff0c\u6a21\u578b\u5148\u63a5\u6536\u5f53\u524d\u4efb\u52a1\u7684\u6539\u5199\u6307\u4ee4\uff0c\u751f\u6210\u4e00\u4e2a action chunk\u3002\u968f\u540e\uff0c\u5728\u5b8c\u5168\u76f8\u540c\u7684\u89c6\u89c9\u8f93\u5165\u4e0b\uff0c\u518d\u5206\u522b\u8f93\u5165\u5341\u4e2a LIBERO-Goal \u4efb\u52a1\u7684\u539f\u59cb\u6307\u4ee4\uff0c\u5f97\u5230\u5341\u7ec4\u5019\u9009\u52a8\u4f5c\u3002<\/p>\n<p cms-style=\"font-L\">\u63a5\u4e0b\u6765\u53ea\u9700\u8981\u5224\u65ad\uff1a\u6539\u5199\u6307\u4ee4\u751f\u6210\u7684\u52a8\u4f5c\uff0c\u6700\u63a5\u8fd1\u6b63\u786e\u4efb\u52a1\u7684\u539f\u59cb\u52a8\u4f5c\uff0c\u8fd8\u662f\u66f4\u63a5\u8fd1\u5176\u4ed6\u9519\u8bef\u4efb\u52a1\uff1f\u5047\u5982\u6a21\u578b\u5df2\u7ecf\u5b8c\u5168\u8bef\u89e3\u4e86\u6307\u4ee4\uff0c\u90a3\u4e48\u6539\u5199\u6307\u4ee4\u4ea7\u751f\u7684\u52a8\u4f5c\u4e0d\u5e94\u8be5\u7a33\u5b9a\u5730\u6307\u5411\u6b63\u786e\u4efb\u52a1\u3002\u76f8\u53cd\uff0c\u5982\u679c\u5176\u4e2d\u4ecd\u7136\u5305\u542b\u4efb\u52a1\u76f8\u5173\u4fe1\u606f\uff0c\u5b83\u5c31\u5e94\u8be5\u6bd4\u9519\u8bef\u4efb\u52a1\u66f4\u9760\u8fd1\u5bf9\u5e94\u7684\u539f\u59cb\u52a8\u4f5c\u3002<\/p>\n<div><img src=\"https:\/\/finance.sina.com.cn\/\/n.sinaimg.cn\/spider20260806\/472\/w868h404\/20260806\/6278-22f16957c3f581b76106f81a9ea0e137.png\" cms-width=\"467\" cms-height=\"217.359\" alt=\"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%\"\/><span><\/span><\/div>\n<p cms-style=\"font-L\">\u4e09\u4e2a\u6a21\u578b\u7684 Retrieval@1 \u5747\u663e\u8457\u9ad8\u4e8e\u968f\u673a\u6c34\u5e73 (0.1)\uff0cSemantic Retention \u4e5f\u5168\u90e8\u4e3a\u6b63\u3002\u03c00.5 \u7684\u6539\u5199\u52a8\u4f5c\u5c24\u5176\u660e\u663e\u5730\u9760\u8fd1\u6b63\u786e\u4efb\u52a1\uff1bVLA-Adapter \u548c SmolVLA \u867d\u7136\u6700\u7ec8\u6210\u529f\u7387\u4e0b\u964d\u8f83\u5927\uff0c\u4f46\u5176\u52a8\u4f5c\u4e2d\u4ecd\u7136\u4fdd\u7559\u4e86\u4e00\u5b9a\u7684\u4efb\u52a1\u533a\u5206\u7ed3\u6784\u3002<\/p>\n<p cms-style=\"font-L\">\u8fd9\u7ec4\u7ed3\u679c\u5e76\u4e0d\u610f\u5473\u7740\u6bcf\u4e00\u4e2a\u5931\u8d25 episode \u4e2d\uff0c\u6a21\u578b\u90fd\u5df2\u7ecf\u5b8c\u6574\u7406\u89e3\u4e86\u6307\u4ee4\u3002\u4f46\u5b83\u81f3\u5c11\u8bf4\u660e\uff0c\u8bed\u8a00\u6539\u5199\u5e76\u6ca1\u6709\u8ba9\u6b63\u786e\u4efb\u52a1\u4fe1\u606f\u5f7b\u5e95\u6d88\u5931\u3002<\/p>\n<p cms-style=\"font-L\">\u4efb\u52a1\u76f8\u5173\u4fe1\u606f\u4ecd\u7136\u5b58\u5728\uff0c\u95ee\u9898\u66f4\u53ef\u80fd\u53d1\u751f\u5728\u8fd9\u4e9b\u4fe1\u606f\u88ab\u8f6c\u6362\u4e3a\u8fde\u7eed\u52a8\u4f5c\u7684\u8fc7\u7a0b\u4e2d\u3002<\/p>\n<p cms-style=\"font-L align-Center\"><font cms-style=\"font-L strong-Bold align-Center\">\u5206\u6790 2\uff1a\u9010\u5c42\u66ff\u6362\uff1a\u8bed\u8a00\u504f\u79fb\u5982\u4f55\u53d8\u6210\u52a8\u4f5c\u504f\u79fb<\/font><\/p>\n<p cms-style=\"font-L\">\u4e0a\u9762\u7684\u5b9e\u9a8c\u53ea\u80fd\u8bf4\u660e\u4efb\u52a1\u7ed3\u6784\u4ecd\u7136\u5b58\u5728\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5224\u65ad\u5185\u90e8\u8bed\u8a00\u7279\u5f81\u662f\u5426\u771f\u6b63\u63a7\u5236\u52a8\u4f5c\uff0c\u8bba\u6587\u5bf9\u6a21\u578b\u8fdb\u884c\u4e86\u9010\u5c42\u7279\u5f81\u5e72\u9884\u3002<\/p>\n<p cms-style=\"font-L\">\u4ee5 VLA-Adapter \u4e3a\u4f8b\uff0c\u540c\u4e00\u4e2a episode \u5206\u522b\u4f7f\u7528\u539f\u59cb\u6307\u4ee4\u548c\u6539\u5199\u6307\u4ee4\u8fd0\u884c\uff0c\u4e24\u6b21\u8fd0\u884c\u4e2d\u7684\u89c6\u89c9\u8f93\u5165\u3001\u673a\u5668\u4eba\u72b6\u6001\u3001\u521d\u59cb\u73af\u5883\u4ee5\u53ca\u52a8\u4f5c\u751f\u6210\u6761\u4ef6\u5168\u90e8\u4fdd\u6301\u4e00\u81f4\u3002\u5728\u6539\u5199\u6307\u4ee4\u8fdb\u5165\u6700\u540e\u4e00\u4e2a Bridge-Attention block \u524d\uff0c\u5b9e\u9a8c\u4e0d\u6539\u53d8 image token\uff0c\u4e5f\u4e0d\u6539\u53d8 state token\uff0c\u53ea\u5c06\u8be5\u4f4d\u7f6e\u63a5\u6536\u5230\u7684\u8bed\u8a00\u7279\u5f81\u66ff\u6362\u4e3a\u539f\u59cb\u6307\u4ee4\u5bf9\u5e94\u7684\u8bed\u8a00\u7279\u5f81\u3002<\/p>\n<p cms-style=\"font-L\">\u7ed3\u679c\u663e\u793a\uff1a<\/p>\n<ul cms-style=\"ul\">\n<li cms-style=\"li\">\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u9884\u6d4b\u52a8\u4f5c\u4e4b\u95f4\u7684\u5dee\u5f02\u6062\u590d\u4e86<\/font><font cms-style=\"font-L strong-Bold color210\">\u00a096.8%\uff1b<\/font><\/p>\n<\/li>\n<li cms-style=\"li\">\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u914d\u5bf9\u95ed\u73af\u6210\u529f\u7387\u4ece\u00a0<\/font><font cms-style=\"font-L strong-Bold color210\">60% \u63d0\u5347\u81f3 96%\u3002<\/font><\/p>\n<\/li>\n<\/ul>\n<div><img src=\"https:\/\/finance.sina.com.cn\/\/n.sinaimg.cn\/spider20260806\/778\/w1080h498\/20260806\/7e9b-838c66f90e897997739cb7ce9b96cc4e.png\" cms-width=\"661\" cms-height=\"304.781\" alt=\"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%\"\/><span>\u66ff\u6362\u5177\u4f53\u5c42\u5e26\u6765\u7684\u6062\u590d\u6548\u679c\u70ed\u529b\u56fe<\/span><\/div>\n<p cms-style=\"font-L\">\u8fd9\u8bf4\u660e\uff0c\u6539\u5199\u6307\u4ee4\u5e76\u6ca1\u6709\u8ba9\u6a21\u578b\u8fdb\u5165\u4e00\u4e2a\u5b8c\u5168\u65e0\u5173\u7684\u72b6\u6001\u3002\u66f4\u63a5\u8fd1\u5b9e\u9645\u60c5\u51b5\u7684\u662f\uff1a\u539f\u59cb\u6307\u4ee4\u548c\u6539\u5199\u6307\u4ee4\u4e4b\u95f4\u4ea7\u751f\u4e86\u4e00\u5b9a\u7684\u8bed\u8a00\u8868\u793a\u504f\u79fb\uff0c\u800c\u4e0b\u6e38 Action Expert \u5bf9\u8fd9\u79cd\u504f\u79fb\u975e\u5e38\u654f\u611f\uff0c\u6700\u7ec8\u5c06\u8f83\u5c0f\u7684\u7279\u5f81\u5dee\u5f02\u653e\u5927\u6210\u4e86\u4e0d\u540c\u7684\u673a\u5668\u4eba\u52a8\u4f5c\u3002\u4e3a\u4e86\u786e\u8ba4\u8fd9\u4e00\u4f4d\u7f6e\u786e\u5b9e\u53c2\u4e0e\u4efb\u52a1\u63a7\u5236\uff0c\u8bba\u6587\u8fd8\u8fdb\u884c\u4e86 wrong-task intervention\uff1a\u5c06\u8bed\u8a00\u7279\u5f81\u66ff\u6362\u6210\u53e6\u4e00\u4e2a\u9519\u8bef\u4efb\u52a1\u7684\u7279\u5f81\u540e\uff0c\u6a21\u578b\u751f\u6210\u7684\u52a8\u4f5c\u4f1a\u5411\u88ab\u6ce8\u5165\u7684\u9519\u8bef\u4efb\u52a1\u504f\u79fb\u3002<\/p>\n<p cms-style=\"font-L\">\u4e0d\u8fc7\uff0c\u8fd9\u5e76\u4e0d\u662f\u6240\u6709 VLA \u7684\u5171\u540c\u7279\u5f81\u3002<\/p>\n<p cms-style=\"font-L\">\u5728 VLA-Adapter \u4e2d\uff0c\u6700\u540e\u4e00\u4e2a Bridge-Attention block \u7684\u5355\u5c42\u66ff\u6362\u5c31\u80fd\u6062\u590d 96.8% \u7684\u52a8\u4f5c\u5dee\u5f02\uff1b\u800c\u5728 SmolVLA \u548c \u03c00.5 \u4e2d\uff0c\u5bf9\u4efb\u610f\u5355\u5c42\u8fdb\u884c\u76f8\u540c\u66ff\u6362\uff0c\u6700\u9ad8\u53ea\u80fd\u5206\u522b\u6062\u590d\u7ea6 10.5% \u548c 31.3%\u3002<\/p>\n<p cms-style=\"font-L\"><font cms-style=\"font-L strong-Bold color210\">\u8fd9\u8bf4\u660e\u4e09\u7c7b\u67b6\u6784\u5904\u7406\u4efb\u52a1\u8bed\u4e49\u7684\u65b9\u5f0f\u5e76\u4e0d\u76f8\u540c\uff1a<\/font><font cms-style=\"font-L\">VLA-Adapter \u5c06\u8bed\u8a00\u4fe1\u606f\u9001\u5165\u76f8\u5bf9\u72ec\u7acb\u7684 Bridge-Attention policy\uff0c\u63a7\u5236\u4f4d\u7f6e\u8f83\u4e3a\u96c6\u4e2d\uff1bSmolVLA \u548c \u03c00.5 \u5219\u5728\u591a\u5c42\u591a\u6a21\u6001\u8ba1\u7b97\u4e2d\u6301\u7eed\u878d\u5408\u8bed\u8a00\u3001\u89c6\u89c9\u548c\u72b6\u6001\uff0c\u4efb\u52a1\u4fe1\u606f\u66f4\u52a0\u5206\u6563\u3002<\/font><\/p>\n<p cms-style=\"font-L\">\u56e0\u6b64\uff0c\u8bed\u8a00\u6cdb\u5316\u95ee\u9898\u4e0d\u80fd\u7b80\u5355\u6982\u62ec\u4e3a\u300c\u6240\u6709 VLA \u7684 Action Head \u90fd\u5728\u67d0\u4e00\u5c42\u5931\u6548\u300d\u3002\u4e0d\u540c\u67b6\u6784\u7684\u4fe1\u606f\u6d41\u4e0d\u540c\uff0c\u8bed\u4e49\u4fee\u590d\u7684\u4f4d\u7f6e\u4e5f\u9700\u8981\u968f\u4e4b\u53d8\u5316\u3002<\/p>\n<p cms-style=\"font-L align-Center\"><font cms-style=\"font-L strong-Bold align-Center\">\u5206\u6790 3\uff1a\u4e24\u9879\u63a7\u5236\u5b9e\u9a8c\uff1a\u52a8\u6001\u56fe\u50cf\u4e0e\u63aa\u8f9e\u90fd\u4f1a\u6270\u52a8\u8bed\u8a00\u8868\u793a<\/font><\/p>\n<p cms-style=\"font-L\">\u5728\u786e\u8ba4\u8bed\u8a00\u7279\u5f81\u5dee\u5f02\u4f1a\u5f71\u54cd\u52a8\u4f5c\u540e\uff0c\u8bba\u6587\u7ee7\u7eed\u8ffd\u8e2a\u8fd9\u4e9b\u5dee\u5f02\u662f\u5982\u4f55\u4ea7\u751f\u7684\u3002\u5206\u6790\u4e3b\u8981\u56f4\u7ed5 VLA-Adapter \u7684\u8f85\u52a9 Qwen \u5206\u652f\u5c55\u5f00\u3002\u8be5\u5206\u652f\u540c\u65f6\u63a5\u6536\u5f53\u524d\u56fe\u50cf\u548c\u4efb\u52a1\u6307\u4ee4\uff0c\u56e0\u6b64\u8bed\u8a00 token \u5e76\u4e0d\u662f\u7531\u6587\u672c\u5355\u72ec\u7f16\u7801\u5f97\u5230\uff0c\u800c\u662f\u5728\u89c6\u89c9 \u2014 \u8bed\u8a00\u8054\u5408\u5efa\u6a21\u8fc7\u7a0b\u4e2d\u4ea7\u751f\u3002<\/p>\n<p cms-style=\"font-L\">\u7b2c\u4e00\u9879\u5b9e\u9a8c\u7528\u4e8e\u9694\u79bb\u52a8\u6001\u89c6\u89c9\u8f93\u5165\u5bf9\u8bed\u8a00\u8868\u793a\u7684\u5f71\u54cd\u3002\u6a21\u578b\u8fdb\u884c\u4e24\u6b21\u524d\u5411\u3002\u7b2c\u4e00\u6b21\u524d\u5411\u4e2d\uff0cQwen \u63a5\u6536\u771f\u5b9e\u56fe\u50cf\u548c\u4efb\u52a1\u6307\u4ee4\uff1b\u7b2c\u4e8c\u6b21\u524d\u5411\u4e2d\uff0cQwen \u63a5\u6536\u76f8\u540c\u6307\u4ee4\uff0c\u4f46\u56fe\u50cf\u88ab\u66ff\u6362\u4e3a\u4e00\u5f20\u56fa\u5b9a\u56fe\u50cf\u3002\u968f\u540e\uff0c\u7b2c\u4e8c\u6b21\u524d\u5411\u4ea7\u751f\u7684\u8bed\u8a00 token \u88ab\u9001\u56de\u7b2c\u4e00\u6b21\u524d\u5411\u7684\u8ba1\u7b97\u8def\u5f84\uff0c\u800c\u673a\u5668\u4eba\u7684\u4e3b\u89c6\u89c9\u5206\u652f\u4ecd\u7136\u4f7f\u7528\u771f\u5b9e Observation\u3002<\/p>\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u4e5f\u5c31\u662f\u8bf4\uff0c<\/font><font cms-style=\"font-L strong-Bold color210\">\u673a\u5668\u4eba\u4f9d\u65e7\u80fd\u591f\u770b\u5230\u5f53\u524d\u573a\u666f\uff0c\u53ea\u662f\u4e0d\u518d\u8ba9\u4efb\u52a1\u8bed\u8a00\u8868\u793a\u968f\u7740\u8f85\u52a9 Qwen \u5206\u652f\u4e2d\u7684\u52a8\u6001\u56fe\u50cf\u5171\u540c\u53d8\u5316\u3002<\/font><\/p>\n<div><img src=\"https:\/\/finance.sina.com.cn\/\/n.sinaimg.cn\/spider20260806\/83\/w1080h603\/20260806\/5fb3-33f0028f15542a51bf1bd85dcca855a2.png\" cms-width=\"509\" cms-height=\"284.188\" alt=\"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%\"\/><span>\u5206\u67903\u6982\u8ff0\u56fe<\/span><\/div>\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u4ec5\u901a\u8fc7\u8fd9\u4e00\u5904\u7406\uff0cVLA-Adapter \u5728\u5b8c\u6574 LIBERO-Para \u4e0a\u7684\u6210\u529f\u7387\u5c31\u4ece<\/font><font cms-style=\"font-L strong-Bold color210\">\u00a046.82% \u63d0\u5347\u81f3 61.58%\u3002<\/font><font cms-style=\"font-L\">\u5c06 dummy image \u6362\u6210\u56fa\u5b9a\u7684\u81ea\u7136\u56fe\u50cf\u540e\uff0c\u4e5f\u80fd\u89c2\u5bdf\u5230\u76f8\u540c\u8d8b\u52bf\u3002<\/font><\/p>\n<p cms-style=\"font-L\">\u8fd9\u4e00\u7ed3\u679c\u8bf4\u660e\uff0c\u5728\u8be5\u7ed3\u6784\u4e2d\uff0c\u4efb\u52a1\u63cf\u8ff0\u4e0e\u52a8\u6001\u56fe\u50cf\u88ab\u5171\u540c\u7f16\u7801\u65f6\uff0c\u53ef\u80fd\u4f1a\u5f15\u5165\u989d\u5916\u7684\u7279\u5f81\u6ce2\u52a8\u3002\u5bf9\u4e8e\u673a\u5668\u4eba\u52a8\u4f5c\u800c\u8a00\uff0c\u8fd9\u4e9b\u6ce2\u52a8\u5e76\u4e0d\u4ee3\u8868\u4efb\u52a1\u672c\u8eab\u53d1\u751f\u4e86\u53d8\u5316\uff0c\u5374\u4ecd\u7136\u4f1a\u6539\u53d8\u540e\u7eed\u63a7\u5236\u7ed3\u679c\u3002<\/p>\n<p cms-style=\"font-L align-Center\">\n<p cms-style=\"font-L align-Center\"><font cms-style=\"font-L strong-Bold align-Center\">\u5206\u6790 4\uff1a\u79fb\u9664\u300c\u63aa\u8f9e\u300d\u65b9\u5411\uff0c\u95ed\u73af\u6210\u529f\u7387\u4ece 55% \u63d0\u5347\u5230 90%<\/font><\/p>\n<p cms-style=\"font-L\">\u7b2c\u4e8c\u9879\u5b9e\u9a8c\u7528\u4e8e\u5206\u6790\u539f\u59cb\u6307\u4ee4\u548c\u6539\u5199\u6307\u4ee4\u4e4b\u95f4\u7684\u63aa\u8f9e\u5dee\u5f02\u3002<\/p>\n<p cms-style=\"font-L\">\u8bba\u6587\u91c7\u7528\u4ea4\u53c9\u9a8c\u8bc1\uff0c\u5148\u4f7f\u7528\u516b\u4e2a\u4efb\u52a1\u4f30\u8ba1 32 \u4e2a\u80fd\u591f\u533a\u5206\u539f\u59cb\u6307\u4ee4\u548c\u6539\u5199\u6307\u4ee4\u7684\u7279\u5f81\u65b9\u5411\uff0c\u518d\u5c06\u8fd9\u4e9b\u65b9\u5411\u4ece\u5269\u4f59\u4e24\u4e2a\u672a\u89c1\u4efb\u52a1\u7684\u6539\u5199\u6307\u4ee4\u7279\u5f81\u4e2d\u79fb\u9664\u3002<\/p>\n<p cms-style=\"font-L\">\u79fb\u9664\u540e\uff1a<\/p>\n<ul cms-style=\"ul\">\n<li cms-style=\"li\">\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u539f\u59cb\u6307\u4ee4\u4e0e\u6539\u5199\u6307\u4ee4\u4e4b\u95f4\u7684\u52a8\u4f5c\u5dee\u5f02\u4ece<\/font><font cms-style=\"font-L strong-Bold color210\">\u00a00.4361 \u964d\u81f3 0.2282\uff1b\u00a0<\/font><\/p>\n<\/li>\n<li cms-style=\"li\">\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">20 \u4e2a\u95ed\u73af episode \u4e0a\u7684\u6210\u529f\u7387\u4ece<\/font><font cms-style=\"font-L strong-Bold color210\">\u00a055% \u63d0\u5347\u81f3 90%\uff1b<\/font><\/p>\n<\/li>\n<li cms-style=\"li\">\n<p cms-style=\"font-L\">\u79fb\u9664\u76f8\u540c\u6570\u91cf\u3001\u76f8\u540c\u8303\u6570\u7684\u968f\u673a\u65b9\u5411\uff0c\u52a8\u4f5c\u5dee\u5f02\u57fa\u672c\u4fdd\u6301\u4e0d\u53d8\u3002<\/p>\n<\/li>\n<\/ul>\n<p cms-style=\"font-L\">\u8fd9\u8bf4\u660e\uff0c\u7b49\u4ef7\u6307\u4ee4\u4e0d\u4e00\u5b9a\u4f1a\u8ba9\u6a21\u578b\u5f7b\u5e95\u5fd8\u8bb0\u4efb\u52a1\uff0c\u4f46\u53ef\u80fd\u5728\u7279\u5f81\u7a7a\u95f4\u4e2d\u5f15\u5165\u7cfb\u7edf\u6027\u7684\u63aa\u8f9e\u504f\u79fb\u3002\u4e0b\u6e38 Action Expert \u6ca1\u6709\u5b66\u4f1a\u5ffd\u7565\u8fd9\u4e9b\u4e0e\u4efb\u52a1\u65e0\u5173\u7684\u53d8\u5316\uff0c\u53cd\u800c\u5c06\u5b83\u4eec\u6620\u5c04\u6210\u4e86\u4e0d\u540c\u7684\u52a8\u4f5c\u3002<\/p>\n<p cms-style=\"font-L\">\u8fd9\u4e5f\u6784\u6210\u4e86 GSR \u7684\u76f4\u63a5\u52a8\u673a\uff1a\u4e0e\u5176\u901a\u8fc7\u5927\u91cf\u6539\u5199\u6570\u636e\u4e0d\u65ad\u8986\u76d6\u4e0d\u540c\u8bf4\u6cd5\uff0c\u4e0d\u5982\u5148\u63d0\u4f9b\u4e00\u4e2a\u66f4\u52a0\u7a33\u5b9a\u7684\u4efb\u52a1\u8bed\u4e49\u6e90\uff0c\u518d\u91cd\u65b0\u5b66\u4e60\u8fd9\u90e8\u5206\u8bed\u4e49\u5982\u4f55\u5f71\u54cd\u52a8\u4f5c\u3002<\/p>\n<div><img src=\"https:\/\/finance.sina.com.cn\/\/n.sinaimg.cn\/spider20260806\/260\/w1080h780\/20260806\/a8e8-2afaa8b9e6d11ec32a8e805a37c5d883.png\" cms-width=\"661\" cms-height=\"477.375\" alt=\"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%\"\/><span>\u5206\u67904\u6982\u8ff0\u56fe<\/span><\/div>\n<p cms-style=\"font-L align-Center\"><font cms-style=\"font-L strong-Bold align-Center\">\u89e3\u6cd5\uff1aGSR\u2014\u2014\u91cd\u5efa\u8bed\u8a00\u5230\u52a8\u4f5c\u7684\u4fe1\u606f\u6d41<\/font><\/p>\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u57fa\u4e8e\u524d\u9762\u7684\u5206\u6790\uff0c\u8bba\u6587\u63d0\u51fa\u00a0<\/font><font cms-style=\"font-L strong-Bold color210\">Grounded Semantic Re-Binding\uff0c\u7b80\u79f0 GSR\u3002<\/font><font cms-style=\"font-L\">GSR \u7684\u57fa\u672c\u8fc7\u7a0b\u53ef\u4ee5\u5206\u6210\u4e09\u6b65\u3002<\/font><\/p>\n<p cms-style=\"font-L\">\u9996\u5148\uff0c\u4f7f\u7528\u51bb\u7ed3\u7684 T5 \u7f16\u7801\u5668\u5355\u72ec\u5904\u7406\u8bed\u8a00\u6307\u4ee4\u3002T5 \u4e0d\u63a5\u6536\u56fe\u50cf\uff0c\u4e5f\u4e0d\u63a5\u6536\u673a\u5668\u4eba\u72b6\u6001\uff0c\u53ea\u8d1f\u8d23\u63d0\u53d6\u4efb\u52a1\u672c\u8eab\u7684\u6587\u672c\u8bed\u4e49\uff0c\u4ece\u6e90\u5934\u4e0a\u51cf\u5c11\u52a8\u6001\u56fe\u50cf\u4e0e\u63aa\u8f9e\u53d8\u5316\u5e26\u6765\u7684\u8868\u793a\u5e72\u6270\u3002<\/p>\n<p cms-style=\"font-L\">\u968f\u540e\uff0c\u6839\u636e\u4e0d\u540c VLA \u539f\u672c\u7684\u591a\u6a21\u6001\u8ba1\u7b97\u65b9\u5f0f\uff0c\u5c06\u6295\u5f71\u540e\u7684 T5 \u8bed\u4e49\u91cd\u65b0\u6ce8\u5165\u6a21\u578b\u7528\u4e8e\u878d\u5408\u4efb\u52a1\u3001\u89c6\u89c9\u548c\u72b6\u6001\u4fe1\u606f\u7684\u4f4d\u7f6e\u3002\u6ce8\u610f\uff0c\u50cf\u4e0a\u6587\u5206\u6790\u6240\u8ff0\uff0c\u4e0d\u540c\u6a21\u578b\u7684\u878d\u5408\u4f4d\u7f6e\u4e0d\u4e00\u6837\uff0c\u56e0\u6b64\u6ce8\u5165\u7684\u4f4d\u7f6e\u4e5f\u4e0d\u4e00\u6837\u3002<\/p>\n<p cms-style=\"font-L\">\u6700\u540e\uff0c\u91cd\u65b0\u521d\u59cb\u5316\u5e76\u8bad\u7ec3 Action Expert\uff0c\u4f7f\u5176\u4ece\u8bad\u7ec3\u5f00\u59cb\u5c31\u5b66\u4e60\u5982\u4f55\u4f7f\u7528\u65b0\u7684\u8bed\u8a00\u6761\u4ef6\uff0c\u800c\u4e0d\u662f\u7ee7\u7eed\u6cbf\u7528\u5df2\u7ecf\u9002\u914d\u65e7\u8bed\u8a00\u8def\u5f84\u7684\u52a8\u4f5c\u6620\u5c04\u3002<\/p>\n<div><img src=\"https:\/\/finance.sina.com.cn\/\/n.sinaimg.cn\/spider20260806\/797\/w1080h517\/20260806\/1e4d-fea6251845123c09b61d1b82875ea4ea.png\" cms-width=\"661\" cms-height=\"316.422\" alt=\"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%\"\/><span>GSR\u6574\u4f53\u67b6\u6784<\/span><\/div>\n<p cms-style=\"font-L\">T5 \u63d0\u4f9b\u300c\u9700\u8981\u5b8c\u6210\u4ec0\u4e48\u4efb\u52a1\u300d\uff0c\u76ee\u6807\u7269\u4f53\u7684\u4f4d\u7f6e\u3001\u5f53\u524d\u673a\u5668\u4eba\u72b6\u6001\u4ee5\u53ca\u5177\u4f53\u52a8\u4f5c\u8f68\u8ff9\uff0c\u4ecd\u7136\u7531\u6a21\u578b\u539f\u6709\u7684\u89c6\u89c9\u548c\u72b6\u6001\u8def\u5f84\u51b3\u5b9a\u3002<\/p>\n<p cms-style=\"font-L\">\u56e0\u6b64\uff0cGSR \u5904\u7406\u7684\u4e0d\u662f\u5355\u7eaf\u7684\u6587\u672c\u7f16\u7801\u95ee\u9898\uff0c\u800c\u662f\u8bed\u8a00\u8bed\u4e49\u5982\u4f55\u91cd\u65b0\u8fdb\u5165\u771f\u5b9e\u573a\u666f\u8ba1\u7b97\uff0c\u5e76\u6700\u7ec8\u63a7\u5236\u8fde\u7eed\u52a8\u4f5c\u7684\u95ee\u9898\u3002<\/p>\n<p cms-style=\"font-L align-Center\">\n<p cms-style=\"font-L align-Center\"><font cms-style=\"font-L strong-Bold align-Center\">\u7ed3\u679c\uff1a\u8f7b\u91cf\u6a21\u578b\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da8\uff0c<\/font><\/p>\n<p cms-style=\"font-L align-Center\"><font cms-style=\"font-L strong-Bold align-Center\">\u7ecf\u8fc7\u5927\u89c4\u6a21\u673a\u5668\u4eba\u6570\u636e\u9884\u8bad\u7ec3\u7684\u66f4\u5927\u6a21\u578b\u4e5f\u80fd\u7ee7\u7eed\u83b7\u5f97\u589e\u76ca<\/font><\/p>\n<p cms-style=\"font-L\">\u6240\u6709 GSR \u6a21\u578b\u5747\u53ea\u4f7f\u7528 LIBERO-Goal \u4e2d\u7684\u539f\u59cb\u6307\u4ee4\u8bad\u7ec3\uff0c\u6ca1\u6709\u989d\u5916\u4f7f\u7528\u6539\u5199\u6307\u4ee4\u3002<\/p>\n<p cms-style=\"font-L\">\u5b8c\u6574 LIBERO-Para \u5305\u542b 4,092 \u4e2a episode\uff0c\u5176\u4e2d\u5305\u62ec 870 \u4e2a\u52a8\u4f5c\u8868\u8fbe\u6539\u5199\u3001259 \u4e2a\u7269\u4f53\u63cf\u8ff0\u6539\u5199\uff0c\u4ee5\u53ca 2,963 \u4e2a\u7ec4\u5408\u6539\u5199\u3002<\/p>\n<div><img src=\"https:\/\/finance.sina.com.cn\/\/n.sinaimg.cn\/spider20260806\/96\/w1080h616\/20260806\/b7e9-1fb70bb139b93e2c74a845beeb6e9cb0.png\" cms-width=\"661\" cms-height=\"377\" alt=\"\u53cd\u51fbVLA\u4e2d\u300cL\u300d\u65e0\u7528\u8bba\uff1a\u7528\u5bf9\u4f4d\u7f6e\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u66b4\u6da820-40%\"\/><span><\/span><\/div>\n<p cms-style=\"font-L\">VLA-Adapter \u7684 Full Para \u6210\u529f\u7387\u4ece 46.82% \u63d0\u5347\u81f3 70.94%\uff0c\u589e\u52a0 24.12 \u4e2a\u767e\u5206\u70b9\uff1bSmolVLA \u4ece 4.47% \u63d0\u5347\u81f3 49.12%\uff0c\u589e\u52a0 44.65 \u4e2a\u767e\u5206\u70b9\u3002<\/p>\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u03c00.5 \u539f\u672c\u5df2\u7ecf\u901a\u8fc7\u5927\u89c4\u6a21\u5f02\u6784\u6570\u636e\u83b7\u5f97\u4e86\u8f83\u5f3a\u7684\u8bed\u8a00\u6cdb\u5316\u80fd\u529b\uff0c\u4f46 GSR \u4ecd\u5c06\u5176 Full Para \u6210\u529f\u7387\u4ece 73.60% \u63a8\u8fdb\u5230 75.59%\uff0c\u5e76\u53d6\u5f97\u8bba\u6587\u4e2d\u62a5\u544a\u7684\u6700\u9ad8 PRIDE \u5206\u6570 70.4\u3002\u6b64\u9879\u5206\u6570\u9ad8\u4e8e\u8fd1\u671f\u53d1\u5e03\u7684\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u6a21\u578b Xiaomi-Robotics\uff0c<\/font><font cms-style=\"font-L strong-Bold color210\">\u8bc1\u660e\u4e86\u5176\u8fdb\u4e00\u6b65\u63d0\u5347\u5f53\u524d VLA \u6a21\u578b\u6307\u4ee4\u6cdb\u5316\u80fd\u529b\u7684\u6f5c\u529b\u3002<\/font><\/p>\n<p cms-style=\"font-L\"><font cms-style=\"font-L\">\u66f4\u91cd\u8981\u7684\u662f\uff0c\u7b80\u5355\u5730\u5728\u539f\u751f\u8def\u5f84\u7684 Action Expert \u65c1\u8fb9\u589e\u52a0\u4e00\u4e2a T5 \u5e76\u4e0d\u80fd\u5f97\u5230\u540c\u6837\u7684\u7ed3\u679c\u3002VLA-Adapter \u7684 Native + T5 \u53ea\u4ece 46.82% \u63d0\u5347\u81f3 47.31%\uff1bSmolVLA \u7684\u5bf9\u5e94\u7248\u672c\u4e5f\u53ea\u6709 13.49%<\/font><font cms-style=\"font-L strong-Bold 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