{"id":106451,"date":"2026-09-17T12:35:23","date_gmt":"2026-09-17T04:35:23","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/106451.html"},"modified":"2026-09-17T12:35:23","modified_gmt":"2026-09-17T04:35:23","slug":"show-harness%ef%bc%9a%e5%8f%aa%e9%9c%80%e4%b8%80%e4%b8%aa-vlm-%e6%99%ba%e8%83%bd%e4%bd%93%e5%8d%b3%e5%8f%af%e6%93%8d%e7%ba%b5%e6%9c%ba%e5%99%a8%e4%ba%ba","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/106451.html","title":{"rendered":"Show-Harness\uff1a\u53ea\u9700\u4e00\u4e2a VLM \u667a\u80fd\u4f53\u5373\u53ef\u64cd\u7eb5\u673a\u5668\u4eba"},"content":{"rendered":"

26\u5e749\u6708\u6765\u81ea\u65b0\u52a0\u5761\u56fd\u7acbSHOW\u5b9e\u9a8c\u5ba4\u7684\u8bba\u6587\u201cShow-Harness: Just a VLM Agent Can Play Robots\u201d\u3002<\/p>\n

\u4e00\u3001\u57fa\u672c\u65b9\u6cd5<\/h3>\n

\u8be5\u5de5\u4f5c\u63d0\u51faShow\u2011Harness，\u4e00\u5957\u4e0e\u6a21\u578b\u65e0\u5173\u7684\u5177\u8eab\u5316\u9a7e\u9a6d（harness），\u6838\u5fc3\u601d\u8def：\u4e0d\u6539\u9020 VLM \u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u4e3b\u5e72，\u8bbe\u8ba1\u79bb\u6563\u8bed\u4e49\u52a8\u4f5c\u63a5\u53e3，\u628a\u673a\u5668\u4eba\u63a7\u5236\u8f6c\u5316\u4e3a VLM \u53ef\u7406\u89e3\u7684\u8bed\u4e49\u7b26\u53f7\u8f93\u51fa，\u518d\u7531\u673a\u5668\u4eba\u4e13\u7528\u89e3\u91ca\u5668\u628a\u8bed\u4e49\u52a8\u4f5c\u786e\u5b9a\u6027\u6620\u5c04\u4e3a\u5e95\u5c42\u673a\u5668\u4eba\u8fd0\u52a8，\u6784\u5efa\u5b8c\u6574\u7684\u611f\u77e5\u2011\u63a8\u7406\u2011\u52a8\u4f5c\u95ed\u73af\u3002\u6574\u4f53\u5206\u4e3a\u4e24\u5927\u63a7\u5236\u6a21\u5f0f，\u540c\u65f6\u914d\u5957 GUMI \u6570\u636e\u91c7\u96c6\u5de5\u5177\u3002<\/p>\n

\u5982\u56fe 1\u6240\u793a：Show-Harness \u89e3\u9501\u5728\u5404\u79cd\u4efb\u52a1\u3001\u573a\u666f\u548c\u673a\u5668\u4eba\u5b9e\u73b0\u4e2d\u4e0e\u57fa\u7840 VLM \u76f8\u5173\u7684\u901a\u7528\u5177\u8eab\u64cd\u4f5c，\u4ece\u800c\u80fd\u591f\u4f7f\u7528\u524d\u6cbf\u6a21\u578b\u8fdb\u884c\u76f4\u63a5\u96f6\u6837\u672c\u90e8\u7f72，\u5e76\u901a\u8fc7\u5bf9\u7d27\u51d1\u578b\u5f00\u6e90\u6a21\u578b\u7684\u8f7b\u91cf\u7ea7\u9002\u914d\u5b9e\u73b0\u9ad8\u6548\u63a7\u5236\u3002
\n\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

1. \u6838\u5fc3：\u8bed\u4e49\u52a8\u4f5c\u7a7a\u95f4\u4e0e\u89e3\u91ca\u5668<\/h4>\n
  • \u8bed\u4e49\u52a8\u4f5c\u5355\u5143：\u5b9a\u4e49\u4e00\u5957\u548c\u673a\u5668\u4eba\u786c\u4ef6\u65e0\u5173\u7684\u79bb\u6563\u7b26\u53f7\u52a8\u4f5c：\u5e73\u79fb（MV_FWD \/ MV_BACK \/ MV_LEFT \/ MV_RIGHT \/ MV_UP \/ MV_DOWN）\u3001\u65cb\u8f6c（ROTATE_CW \/ ROTATE_CCW）\u3001\u5939\u722a（GRASP\u3001RELEASE）\u3001\u4efb\u52a1\u7ed3\u675f DONE\u3002
    \n\u7279\u70b9：\u589e\u91cf\u5f0f，\u6bcf\u6b21\u53ea\u4ea7\u751f\u5c0f\u5e45\u7269\u7406\u8fd0\u52a8，\u652f\u6301\u8fed\u4ee3\u4fee\u6b63；\u786c\u4ef6\u65e0\u5173，\u6a21\u578b\u53ea\u8f93\u51fa\u8bed\u4e49\u7b26\u53f7；\u89c6\u89c9\u951a\u5b9a，\u79fb\u52a8\u65b9\u5411\u76f8\u5bf9\u4e8e\u76f8\u673a\u89c2\u6d4b\u89c6\u56fe\u5b9a\u4e49\u3002<\/li>\n
  • \u786c\u4ef6\u4e13\u5c5e\u89e3\u91ca\u5668(g_E)：\u63a5\u6536 VLM \u8f93\u51fa\u7684\u8bed\u4e49\u52a8\u4f5c，\u7ed3\u5408\u673a\u5668\u4eba\u81ea\u8eab\u8fd0\u52a8\u5b66\u3001\u5de5\u4f5c\u7a7a\u95f4\u7ea6\u675f，\u5c06\u7b26\u53f7\u8f6c\u6362\u4e3a 6 \u81ea\u7531\u5ea6\u7b1b\u5361\u5c14\u4f4d\u59ff\u66f4\u65b0\u3001\u5939\u722a\u5e95\u5c42\u6307\u4ee4，\u5b8c\u6210\u771f\u5b9e\u8fd0\u52a8；\u4e0d\u540c\u673a\u5668\u4eba\u53ea\u9700\u8981\u66f4\u6362\u89e3\u91ca\u5668，VLM \u90e8\u5206\u5b8c\u5168\u590d\u7528，\u540c\u65f6\u5185\u7f6e\u5b89\u5168\u8fb9\u754c\u7ea6\u675f，\u963b\u6b62\u5371\u9669\u52a8\u4f5c\u3002<\/li>\n

    \u5982\u56fe 2 \u6240\u793aShow-Harness \u901a\u8fc7\u4e00\u4e2a\u8bed\u4e49\u52a8\u4f5c\u63a5\u53e3\u5c06\u57fa\u7840 VLM \u8fde\u63a5\u5230\u5404\u79cd\u673a\u5668\u4eba\u5b9e\u73b0，\u4ece\u800c\u80fd\u591f\u4f7f\u7528\u524d\u6cbf\u6a21\u578b\u8fdb\u884c\u96f6\u6837\u672c\u63a7\u5236，\u5e76\u5b9e\u73b0\u5bf9\u5c0f\u578b\u5f00\u653e\u6a21\u578b\u7684\u8f7b\u91cf\u7ea7\u9002\u914d\u3002
    \n\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    2. Show\u2011Harness \u4e09\u5c42\u6a21\u5757\u5316\u67b6\u6784（\u611f\u77e5\u2011\u63a8\u7406\u2011\u52a8\u4f5c）<\/h4>\n
  • \n

    Perception \u611f\u77e5\u5c42\u63d2\u4ef6
    \nMulti\u2011View Guidance：\u5f15\u5bfc\u6a21\u578b\u5229\u7528\u5168\u5c40\u89c6\u89d2 + \u8155\u90e8\u76f8\u673a\u591a\u89c6\u56fe\u4fe1\u606f；
    \nProprioception：\u5c06\u673a\u5668\u4eba\u672c\u4f53\u72b6\u6001（\u5939\u722a\u9ad8\u5ea6\u3001\u63a5\u89e6\u72b6\u6001\u3001\u4f4d\u79fb）\u8f6c\u4e3a\u6587\u672c\u53cd\u9988\u7ed9 VLM\u3002<\/p>\n<\/li>\n

  • \n

    Reasoning \u63a8\u7406\u5c42\u63d2\u4ef6，\u4e3a VLM \u63d0\u4f9b\u7ed3\u6784\u5316\u4efb\u52a1\u51b3\u7b56\u80fd\u529b
    \nSubtask Planning：\u628a\u957f\u4efb\u52a1\u62c6\u89e3\u4e3a\u5e26\u89c6\u89c9\u53ef\u68c0\u9a8c\u5b8c\u6210\u6761\u4ef6\u7684\u5b50\u4efb\u52a1；
    \nSituated Planning：\u5ef6\u8fdf\u4e0d\u786e\u5b9a\u51b3\u7b56，\u89c2\u6d4b\u5230\u5173\u952e\u4fe1\u606f\u540e\u518d\u91cd\u89c4\u5212；
    \nAction Chunking：\u8fdc\u8ddd\u79bb\u65f6\u6279\u91cf\u8f93\u51fa\u52a8\u4f5c\u51cf\u5c11\u6a21\u578b\u8c03\u7528，\u8fd1\u8ddd\u79bb\u9010\u6b65\u6267\u884c\u4fdd\u8bc1\u7cbe\u5ea6；
    \nAdaptive Step：\u81ea\u9002\u5e94\u8c03\u6574\u6b65\u957f，\u8fdc\u76ee\u6807\u5927\u6b65\u957f\u3001\u9760\u8fd1\u76ee\u6807\u5c0f\u6b65\u957f；
    \nVisual Prompt：\u9ad8\u4eae\u4efb\u52a1\u4ea4\u4e92\u76ee\u6807，\u89e3\u51b3\u8bed\u8a00\u63cf\u8ff0\u6a21\u7cca\u95ee\u9898\u3002<\/p>\n<\/li>\n

  • \n

    Action \u52a8\u4f5c\u5c42\u63d2\u4ef6，\u8d1f\u8d23\u6267\u884c\u95ed\u73af\u4e0e\u9c81\u68d2\u6027
    \nAction History：\u7ef4\u62a4\u5386\u53f2\u52a8\u4f5c，\u907f\u514d\u6765\u56de\u632f\u8361；
    \nFailure Recovery：\u68c0\u6d4b\u6293\u53d6\u5931\u8d25，\u81ea\u52a8\u91cd\u7f6e\u5939\u722a\u3001\u91cd\u8bd5\u6293\u53d6\u5b50\u4efb\u52a1\u3002<\/p>\n<\/li>\n

    \u5982\u56fe 3 \u6240\u793aShow-Harness\u67b6\u6784\u3002\u6a21\u5757\u5316\u7684\u611f\u77e5-\u63a8\u7406-\u6267\u884c\u56de\u8def\u901a\u8fc7\u5171\u4eab\u7684\u8bed\u4e49\u52a8\u4f5c\u63a5\u53e3\u5c06\u57fa\u7840VLM\u4e0e\u673a\u5668\u4eba\u63a7\u5236\u7cfb\u7edf\u8fde\u63a5\u8d77\u6765\u3002
    \n\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    3. \u4e24\u79cd\u8fd0\u884c\u6a21\u5f0f<\/h4>\n

    1 \u96f6\u6837\u672c ZS \u6a21\u5f0f：\u76f4\u63a5\u4f7f\u7528\u95ed\u6e90\u524d\u6cbf VLM（Gemini\u20113.1 Pro \u7b49），\u4e0d\u9700\u8981\u5fae\u8c03，\u901a\u8fc7 prompt \u5f15\u5bfc\u8f93\u51fa\u8bed\u4e49\u52a8\u4f5c，\u5b9e\u73b0\u673a\u5668\u4eba\u96f6\u6837\u672c\u64cd\u63a7\u3002
    \n2 \u5fae\u8c03 FT \u6a21\u5f0f：\u5bf9\u5f00\u6e90\u5c0f\u89c4\u6a21 VLM（\u5982 Qwen3.5\u20112B）\u505a\u8f7b\u91cf LoRA \u5fae\u8c03，\u76f4\u63a5\u9884\u6d4b\u8bed\u4e49\u52a8\u4f5c token；\u4ec5\u9700\u6570 GPU \u5c0f\u65f6，\u51bb\u7ed3\u89c6\u89c9\u7f16\u7801\u5668，\u53ea\u5fae\u8c03\u5c11\u91cf\u53c2\u6570，\u9002\u5408\u4f4e\u6210\u672c\u90e8\u7f72\u3002\u635f\u5931\u51fd\u6570\u4e3a token \u7ea7\u4ea4\u53c9\u71b5，\u65e0\u9700\u8bbe\u8ba1\u989d\u5916\u4e13\u7528 action head\u3002<\/p>\n

    \u5982\u8868 1 \u6240\u793a\u5229\u7528\u6309\u7167\u611f\u77e5-\u63a8\u7406-\u884c\u52a8\u73af\u7ec4\u7ec7\u7684\u9a7e\u9a6d\u63d2\u4ef6\u3002<\/p>\n

    \"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    4. GUMI（GUI Manipulation Interface）\u5de5\u5177<\/h4>\n

    \u57fa\u4e8e\u8fd9\u5957\u7edf\u4e00\u8bed\u4e49\u52a8\u4f5c\u7a7a\u95f4\u5b9e\u73b0\u7684\u56fe\u5f62\u754c\u9762，\u4e0d\u9700\u8981\u4e13\u7528\u9065\u64cd\u4f5c\u786c\u4ef6：
    \n\u4eba\u7c7b\u901a\u8fc7\u952e\u76d8 \/ \u56fe\u5f62\u754c\u9762\u8f93\u51fa\u8bed\u4e49\u52a8\u4f5c\u63a7\u5236\u673a\u5668\u4eba，\u4e5f\u652f\u6301 VLM \u667a\u80fd\u4f53\u64cd\u4f5c\u8be5 GUI；
    \n\u81ea\u52a8\u91c7\u96c6\u89c2\u6d4b\u2011\u8bed\u4e49\u52a8\u4f5c\u914d\u5bf9\u7684\u6f14\u793a\u6570\u636e；\u540c\u4e00\u4efd\u6f14\u793a\u6570\u636e\u53ef\u8de8\u4e0d\u540c\u673a\u5668\u4eba\u786c\u4ef6\u590d\u7528；\u652f\u6301\u4eba\u2011\u667a\u80fd\u4f53\u534f\u540c\u6570\u636e\u91c7\u96c6，\u540c\u65f6\u4ea7\u51fa\u53ef\u7528\u4e8e\u8bad\u7ec3\u8bed\u4e49\u7b56\u7565\u548c\u8fde\u7eed VLA \u7b56\u7565\u7684\u8f68\u8ff9\u3002<\/p>\n

    \u5982\u56fe 4 \u6240\u793aGUMI\u754c\u9762\u3002GUMI\u662f\u4e00\u4e2a\u57fa\u4e8e\u56fe\u5f62\u7528\u6237\u754c\u9762（GUI）\u7684\u64cd\u4f5c\u754c\u9762，\u5b83\u4f7f\u4eba\u7c7b\u548c\u524d\u6cbf\u667a\u80fd\u4f53\u80fd\u591f\u901a\u8fc7\u76f8\u540c\u7684\u8bed\u4e49\u63a7\u5236\u81ea\u4e3b\u5730\u6536\u96c6\u6f14\u793a\u6570\u636e\u3002
    \n\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    5. \u5b9e\u9a8c\u8bbe\u7f6e<\/h4>\n

    \u771f\u5b9e\u786c\u4ef6：Franka 7 \u81ea\u7531\u5ea6\u5355\u81c2\u3001AgileX \u53cc\u81c2\u673a\u5668\u4eba；
    \n\u5bf9\u6bd4\u57fa\u7ebf：VLA \u6a21\u578b（(\\\\pi_{0.5})\u3001GR00T）\u3001VLA \u4e3a\u6267\u884c\u5668\u7684\u667a\u80fd\u4f53\u6846\u67b6（H\u2011VLA\u3001G\u2011VLA）\u3001\u4ee3\u7801\u7b56\u7565\u7c7b\u673a\u5668\u4eba\u667a\u80fd\u4f53（CaP\u2011X\u3001RATS）；
    \n\u8bc4\u6d4b\u7ef4\u5ea6：\u8de8\u4efb\u52a1\u6cdb\u5316\u3001\u8de8\u73af\u5883（\u5149\u7167\u3001\u80cc\u666f\u3001\u5e72\u6270\u7269\u4f53\u3001sim\u2011to\u2011real）\u3001\u8de8\u673a\u5668\u4eba\u672c\u4f53\u6cdb\u5316；\u540c\u65f6\u505a\u7269\u7406\u9002\u5e94\u6027\u3001\u8bed\u4e49\u9002\u5e94\u6027\u3001\u63d2\u4ef6\u6d88\u878d\u3001\u52a8\u4f5c\u7a7a\u95f4\u8868\u5f81\u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n

    \u5982\u56fe 5 \u6240\u793a\u673a\u5668\u4eba\u914d\u7f6e：
    \n\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

    \u4e8c\u3001\u4e3b\u8981\u8d21\u732e<\/h3>\n

    1 \u63d0\u51fa Show\u2011Harness \u5177\u8eab\u6846\u67b6：\u8bbe\u8ba1\u4e00\u5957\u6a21\u578b\u65e0\u5173\u3001\u9762\u5411 VLM \u7684\u7d27\u51d1\u8bed\u4e49\u52a8\u4f5c\u63a5\u53e3\u3002VLM \u8d1f\u8d23\u7ec6\u7c92\u5ea6\u7269\u7406\u5c42\u9762\u51b3\u7b56，\u7531\u786c\u4ef6\u89e3\u91ca\u5668\u5b8c\u6210\u5e95\u5c42\u6267\u884c；\u4e0d\u9700\u8981\u5bf9 VLM \u505a\u5177\u8eab\u9884\u8bad\u7ec3\u3002<\/p>\n

    2 \u9a8c\u8bc1\u4e24\u5957\u53ef\u884c\u90e8\u7f72\u8303\u5f0f
    \n\u95ed\u6e90\u5927 VLM：\u76f4\u63a5\u96f6\u6837\u672c\u63a7\u5236\u673a\u5668\u4eba，\u5f00\u7bb1\u5373\u7528；
    \n\u5c0f\u89c4\u6a21\u5f00\u6e90 VLM：\u4ec5\u5c11\u91cf GPU \u5c0f\u65f6\u8f7b\u91cf LoRA \u5fae\u8c03，\u5373\u53ef\u83b7\u5f97\u4f18\u4e8e\u4e3b\u6d41 VLA \u65b9\u6848\u7684\u6cdb\u5316\u3001sim\u2011to\u2011real \u8fc1\u79fb\u6027\u80fd\u3002<\/p>\n

  • \n

    GUMI \u56fe\u5f62\u91c7\u96c6\u63a5\u53e3：\u65e0\u9700\u4e13\u4e1a\u9065\u64cd\u4f5c\u786c\u4ef6，\u4eba\u7c7b\u3001VLM \u667a\u80fd\u4f53\u53ef\u4ee5\u5728\u7edf\u4e00\u8bed\u4e49\u52a8\u4f5c\u7a7a\u95f4\u91c7\u96c6\u673a\u5668\u4eba\u6f14\u793a，\u652f\u6301\u8de8\u672c\u4f53\u590d\u7528\u6f14\u793a\u6570\u636e\u3001\u4eba\u673a\u534f\u540c\u91c7\u96c6\u3002<\/p>\n<\/li>\n

  • \n

    \u5145\u5206\u5b9e\u9a8c\u9a8c\u8bc1：\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u8bc1\u660e\u6846\u67b6\u5728\u8de8\u4efb\u52a1\u3001\u8de8\u73af\u5883\u3001\u8de8\u673a\u5668\u4eba\u672c\u4f53\u5177\u5907\u5f3a\u6cdb\u5316；\u5f00\u5c55\u5927\u91cf\u6d88\u878d，\u63ed\u793a VLM\u2011\u673a\u5668\u4eba\u63a5\u53e3\u5173\u952e\u8bbe\u8ba1\u8981\u7d20：\u591a\u89c6\u56fe\u3001\u672c\u4f53\u611f\u77e5\u3001\u5b50\u4efb\u52a1\u89c4\u5212\u3001\u5931\u8d25\u6062\u590d\u3001\u52a8\u4f5c\u7a7a\u95f4\u663e\u5f0f\u7ea6\u5b9a\u7b49；\u540c\u65f6\u9a8c\u8bc1\u7269\u7406\u9002\u5e94\u6027（\u53d8\u6b65\u957f\u3001\u65cb\u8f6c\u5916\u63a8\u3001\u53cc\u81c2\u534f\u540c）\u3001\u8bed\u4e49\u9002\u5e94\u6027（\u590d\u6742\u63a8\u7406\u4efb\u52a1\u3001\u89c6\u9891 in\u2011context learning）\u3002<\/p>\n<\/li>\n

    \u6838\u5fc3\u6d1e\u5bdf：\u4e0d\u9700\u8981\u628a VLM \u62df\u5408\u5230\u673a\u5668\u4eba\u5e95\u5c42\u8fde\u7eed\u52a8\u4f5c\u7a7a\u95f4；\u5408\u9002\u7684\u9ad8\u5c42\u4f46\u7ec6\u7c92\u5ea6\u7684\u8bed\u4e49\u63a5\u53e3，\u5c31\u53ef\u4ee5\u91ca\u653e\u57fa\u7840 VLM \u5df2\u7ecf\u5177\u5907\u7684\u5177\u8eab\u667a\u80fd\u80fd\u529b\u3002<\/p>\n

    \u4e09\u3001\u5b58\u5728\u7684\u95ee\u9898\u4e0e\u5c40\u9650\u6027<\/h3>\n

    1. \u8bba\u6587\u660e\u786e\u6307\u51fa\u7684\u5c40\u9650<\/h4>\n

    a）\u786c\u4ef6\u573a\u666f\u6709\u9650：\u5b9e\u9a8c\u53ea\u9488\u5bf9\u5e73\u884c\u5939\u722a\u7684\u5355 \/ \u53cc\u81c2\u684c\u9762\u64cd\u7eb5；\u5c1a\u672a\u9a8c\u8bc1\u4eba\u5f62\u673a\u5668\u4eba\u3001\u7075\u5de7\u624b\u7b49\u66f4\u590d\u6742\u672c\u4f53\u3002
    \nb）\u611f\u77e5\u6a21\u6001\u5355\u4e00：\u5f53\u524d\u4e3b\u8981\u4f9d\u9760\u89c6\u89c9，\u7f3a\u5c11\u89e6\u89c9\u3001\u529b\u53cd\u9988，\u5bf9\u4e8e\u9ad8\u63a5\u89e6\u3001\u7cbe\u7ec6\u4ea4\u4e92\u4efb\u52a1\u80fd\u529b\u53d7\u9650\u3002<\/p>\n

    2. \u4ece\u65b9\u6cd5\u4e0e\u5b9e\u9a8c\u5f15\u7533\u51fa\u6f5c\u5728\u95ee\u9898<\/h4>\n

    i）\u63a8\u7406\u5f00\u9500\u95ee\u9898：\u96f6\u6837\u672c\u6a21\u5f0f\u4f9d\u8d56\u8c03\u7528\u5927 VLM API，\u6bcf\u4e00\u6b65\u90fd\u9700\u8981\u6a21\u578b\u63a8\u7406；\u5373\u4fbf Action Chunking \u505a\u6279\u91cf\u52a8\u4f5c，\u957f\u4efb\u52a1\u4e0b\u8c03\u7528\u6b21\u6570\u591a，\u63a8\u7406\u5ef6\u8fdf\u9ad8，\u5b9e\u65f6\u6027\u76f8\u6bd4\u7aef\u5230\u7aef VLA \u7b56\u7565\u6709\u5dee\u8ddd\u3002\u867d\u7136\u5c0f\u6a21\u578b FT \u6a21\u5f0f\u901f\u5ea6\u66f4\u5feb，\u4f46\u6027\u80fd\u4f1a\u4f4e\u4e8e\u95ed\u6e90\u5927\u6a21\u578b\u96f6\u6837\u672c\u3002
    \nii）\u4efb\u52a1\u8fb9\u754c\u9650\u5236：\u5f53\u524d\u5b9e\u9a8c\u4ee5\u684c\u9762\u62fe\u53d6\u653e\u7f6e\u4e3a\u4e3b；\u5bf9\u4e8e\u9700\u8981\u957f\u5e8f\u5217\u3001\u52a8\u6001\u7269\u4f53\u3001\u9ad8\u81ea\u7531\u5ea6\u590d\u6742\u88c5\u914d\u4efb\u52a1，\u5b50\u4efb\u52a1\u89c4\u5212\u3001 situated planning \u63d2\u4ef6\u4f1a\u6210\u4e3a\u6027\u80fd\u74f6\u9888\u3002
    \niii）\u8bed\u4e49\u52a8\u4f5c\u7c92\u5ea6\u6743\u8861：\u52a8\u4f5c\u662f\u56fa\u5b9a\u79bb\u6563\u6b65；\u867d\u7136\u652f\u6301 Adaptive Step \u8c03\u6574\u6b65\u957f，\u4f46\u6781\u7aef\u7cbe\u7ec6\u64cd\u4f5c\u9700\u8981\u624b\u52a8\u8c03\u89e3\u91ca\u5668\u6b65\u957f，\u4e0d\u80fd\u5b8c\u5168\u81ea\u4e3b\u52a8\u6001\u751f\u6210\u4efb\u610f\u8fde\u7eed\u8f68\u8ff9\u3002
    \niv）\u5bf9 Prompt \u4e0e\u63d2\u4ef6\u4f9d\u8d56\u8f83\u91cd：\u96f6\u6837\u672c\u6a21\u5f0f\u9ad8\u5ea6\u4f9d\u8d56\u7cbe\u5fc3\u8bbe\u8ba1\u7684 prompt \u548c\u6574\u5957\u63d2\u4ef6；\u79fb\u9664\u90e8\u5206\u63d2\u4ef6\u540e\u6027\u80fd\u660e\u663e\u4e0b\u964d，\u7cfb\u7edf\u590d\u6742\u5ea6\u4e0a\u5347，\u63d2\u4ef6\u8c03\u53c2\u6210\u672c\u9ad8\u3002
    \nv）Sim\u2011to\u2011Real \u4ecd\u7136\u5b58\u5728\u7f3a\u53e3：FT \u6a21\u5f0f sim\u2011to\u2011real \u4f18\u4e8e VLA \u57fa\u7ebf，\u4f46\u96f6\u6837\u672c\u6a21\u5f0f\u4f9d\u7136\u4f9d\u8d56\u771f\u5b9e\u4e16\u754c\u89c6\u89c9\u8f93\u5165，\u4eff\u771f\u6f14\u793a\u8bad\u7ec3\u7684\u5c0f\u6a21\u578b\u5728\u771f\u5b9e\u4e16\u754c\u4ecd\u7136\u5b58\u5728\u4e00\u5b9a\u6027\u80fd\u8870\u51cf\u3002
    \nvi）\u53cc\u81c2\u534f\u540c\u6210\u672c：\u53cc\u81c2\u4efb\u52a1\u9700\u8981\u540c\u65f6\u9884\u6d4b\u4e24\u5957\u52a8\u4f5c，\u8f93\u51fa\u7a7a\u95f4\u6269\u5927；\u76ee\u524d\u4ec5\u9a8c\u8bc1\u7b80\u5355\u534f\u540c\u4efb\u52a1，\u590d\u6742\u53cc\u624b\u64cd\u4f5c\u8fd8\u6709\u5f85\u9a8c\u8bc1\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

    26\u5e749\u6708\u6765\u81ea\u65b0\u52a0\u5761\u56fd\u7acbSHOW\u5b9e\u9a8c\u5ba4\u7684\u8bba\u6587\u201cShow-Harness: Just a VLM Agent Can Play Robots\u201d\u3002
    \n\u4e00\u3001\u57fa\u672c\u65b9\u6cd5
    \n\u8be5\u5de5\u4f5c\u63d0\u51faShow\u2011Harness，\u4e00\u5957\u4e0e\u6a21\u578b\u65e0\u5173\u7684\u5177\u8eab\u5316\u9a7e\u9a6d（harness），\u6838\u5fc3\u601d\u8def：\u4e0d\u6539\u9020 VLM \u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u4e3b\u5e72，\u8bbe\u8ba1\u79bb\u6563\u8bed\u4e49\u52a8\u4f5c\u63a5\u53e3，\u628a\u673a\u5668\u4eba\u63a7\u5236\u8f6c\u5316\u4e3a VLM \u53ef\u7406\u89e3\u7684\u8bed\u4e49\u7b26\u53f7\u8f93\u51fa，\u518d\u7531\u673a\u5668\u4eba<\/p>\n","protected":false},"author":2,"featured_media":106445,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[50,384,207,86],"topic":[],"class_list":["post-106451","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-50","tag-384","tag-207","tag-86"],"yoast_head":"\nShow-Harness\uff1a\u53ea\u9700\u4e00\u4e2a VLM \u667a\u80fd\u4f53\u5373\u53ef\u64cd\u7eb5\u673a\u5668\u4eba - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/106451.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Show-Harness\uff1a\u53ea\u9700\u4e00\u4e2a VLM \u667a\u80fd\u4f53\u5373\u53ef\u64cd\u7eb5\u673a\u5668\u4eba - 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