{"id":109974,"date":"2026-09-25T10:25:12","date_gmt":"2026-09-25T02:25:12","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/109974.html"},"modified":"2026-09-25T10:25:12","modified_gmt":"2026-09-25T02:25:12","slug":"%e7%bb%99%e5%88%a4%e6%96%ad%e6%a8%a1%e5%9e%8b%e8%a3%85%e4%b8%8a%e8%ba%ab%e4%bd%93%ef%bc%9ajev-%e6%8e%a5%e5%85%a5%e7%a1%ac%e4%bb%b6%e7%9a%84%e4%b8%a4%e6%9d%a1%e8%b7%af%ef%bc%8c%e4%b8%8e-vla-%e7%94%bb","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/109974.html","title":{"rendered":"\u7ed9\u5224\u65ad\u6a21\u578b\u88c5\u4e0a\u8eab\u4f53\uff1aJev \u63a5\u5165\u786c\u4ef6\u7684\u4e24\u6761\u8def\uff0c\u4e0e VLA \u753b\u8fc7\u7684\u5730\u56fe"},"content":{"rendered":"<p>                    \u4e00\u4e2a\u7eaf\u6587\u672c\u3001\u65e0\u89c6\u89c9\u7684\u5546\u4e1a API&#xff0c;\u6b63\u5728\u88ab\u4eba\u63a5\u8fdb\u63a7\u5236\u56de\u8def\u3002\u5b83\u51ed\u4ec0\u4e48\u63a5\u4e0a\u3001\u63a5\u5728\u54ea\u4e00\u5c42\u3001\u9519\u4e86\u4f1a\u600e\u6837\u2014\u2014\u8fd9\u4e09\u4e2a\u95ee\u9898\u6070\u597d\u843d\u5728\u8ba1\u7b97\u3001\u4fe1\u606f\u3001\u8bef\u5dee\u4e09\u79cd\u7ed3\u6784\u4e0a\u3002\u800c\u673a\u5668\u4eba\u754c\u5df2\u7ecf\u63d0\u524d\u4e09\u5e74\u628a\u7b54\u6848\u7684\u8349\u7a3f\u5199\u597d\u4e86&#xff0c;\u5199\u5728 VLA&#xff08;Vision-Language-Action&#xff09;\u7684\u8bba\u6587\u3001\u84b8\u998f\u5b9e\u9a8c\u548c\u4e00\u6b21\u6b21\u771f\u673a\u4e8b\u6545\u91cc\u3002\u672c\u6587\u4ee5&#034;\u63a5\u5165\u786c\u4ef6\u7684\u4e09\u95ee&#034;\u4e3a\u8f74&#xff0c;Jev \u662f\u7ebf\u7d22&#xff0c;VLA \u662f\u7b2c\u4e8c\u4e3b\u89d2\u3002<\/p>\n<h3>\u5f00\u7bc7&#xff1a;\u4e00\u5468\u4e4b\u5185\u957f\u51fa\u8eab\u4f53<\/h3>\n<p>2026 \u5e74 9 \u6708 15 \u65e5&#xff0c;TypeSafe AI \u53d1\u5e03\u4e86 Jev&#xff1a;\u4e00\u4e2a\u4e0d\u63d0\u4f9b\u6743\u91cd\u4e0b\u8f7d\u3001\u53ea\u66b4\u9732\u6258\u7ba1 API \u7684&#034;System One \u6a21\u578b&#034;\u3002\u5b83\u4e0d\u6536\u56fe\u50cf\u3001\u4e0d\u6536\u97f3\u9891&#xff0c;\u8f93\u5165\u6587\u672c\u6216\u7ed3\u6784\u5316\u7a0b\u5e8f\u72b6\u6001&#xff0c;\u8f93\u51fa\u4e09\u79cd\u7c7b\u578b\u5316\u7684\u5224\u65ad\u2014\u2014Choice&#xff08;\u5728\u6700\u591a 255 \u4e2a\u5019\u9009\u4e2d\u9009\u4e00\u4e2a&#xff09;\u3001Score&#xff08;\u6253\u5206&#xff09;\u3001Noul&#xff08;\u662f\/\u5426\u6982\u7387&#xff09;\u3002\u5b83\u4e0d\u751f\u6210\u4efb\u4f55\u5b57\u7b26\u4e32\u3002\u5b98\u65b9\u5728\u53d1\u5e03\u6750\u6599\u4e2d\u8bf4\u660e&#xff1a;\u7c7b\u578b\u9519\u8bef\u7387\u4e3a 0% \u6e90\u4e8e\u7ed3\u6784\u4fdd\u8bc1\u800c\u975e\u5b9e\u6d4b\u2014\u2014\u7b54\u6848\u7a7a\u95f4\u7531\u8c03\u7528\u65b9\u58f0\u660e&#xff0c;\u975e\u6cd5\u53d6\u503c\u5728\u7ed3\u6784\u4e0a\u4e0d\u5b58\u5728\u3002&#xff08;\u5b98\u65b9\u53e6\u6709\u5b9e\u6d4b\u6570\u636e\u7684\u662f\u901f\u5ea6\u4e0e\u6210\u672c&#xff0c;\u53e3\u5f84\u4e0b\u6587\u53e6\u8ff0\u3002&#xff09;<\/p>\n<p>\u8fd9\u4e0d\u662f\u4e00\u4e2a\u4e3a\u673a\u5668\u4eba\u51c6\u5907\u7684\u4ea7\u54c1\u3002\u4f46\u53d1\u5e03\u540e\u7684\u5341\u5929\u4e4b\u5185&#xff08;\u6309\u5404\u9879\u76ee\u4ed3\u5e93\u521b\u5efa\u65f6\u95f4\u6838\u9a8c&#xff1a;9 \u6708 16\u201322 \u65e5&#xff09;&#xff0c;\u793e\u533a\u81ea\u5df1\u5e72\u4e86\u8fd9\u4ef6\u4e8b&#xff1a;<\/p>\n<p>\u4e00\u67b6 Skydio X2 \u56db\u65cb\u7ffc&#xff08;MuJoCo Menagerie \u91cc\u7684\u771f\u673a\u6a21\u578b&#xff09;\u5728\u4eff\u771f\u91cc\u4ec5\u9760\u673a\u8f7d\u76f8\u673a\u98de\u5b8c\u4e94\u7ad9\u969c\u788d\u8d5b\u9053&#xff0c;\u4e00\u4e2a&#034;\u5224\u65ad\u6a21\u578b&#034;\u4ee5\u7ea6 2.5Hz \u7684\u9891\u7387\u5750\u5728\u6218\u672f\u5c42\u4e0a&#xff0c;\u51b3\u5b9a\u5f53\u524d\u5c40\u9762\u7684\u542b\u4e49\u2014\u2014\u722c\u8fc7\u53bb\u3001\u7b49\u8f6c\u95e8\u3001\u7a7f\u7f1d\u9699\u2014\u2014\u800c\u6240\u6709\u65f6\u95f4\u654f\u611f\u7684\u63a7\u5236\u7559\u5728\u666e\u901a\u4ee3\u7801\u91cc\u3002\u4e00\u6761 Franka \u673a\u68b0\u81c2\u5728 ManiSkill \u4eff\u771f\u91cc\u542c\u61c2\u96f6\u6837\u672c\u82f1\u6587\u6307\u4ee4&#xff08;&#034;pick up the red cube&#034;&#xff09;&#xff0c;\u9760\u540c\u4e00\u4e2a API \u5728\u7ea6 30 \u4e2a\u786c\u7f16\u7801\u57fa\u5143\u4e4b\u95f4\u9009\u8def\u3002\u4e00\u4e2a\u667a\u80fd\u4f53\u5728\u300a\u6211\u7684\u4e16\u754c\u300b\u539f\u7248\u670d\u52a1\u5668\u4e0a\u6253\u5b8c\u4e86\u672b\u5f71\u9f99&#xff0c;\u5168\u7a0b 131 \u6b21 Jev \u51b3\u7b56\u300135 \u6b21\u5927\u6a21\u578b\u89c4\u5212\u8c03\u7528\u3002\u53e6\u4e00\u4e2a\u9879\u76ee\u5728 PyBoy \u6a21\u62df\u5668\u91cc\u7528\u771f\u5361\u5e26\u6253\u300a\u5b9d\u53ef\u68a6 \u7ea2\u300b&#xff0c;\u6bcf\u4e2a\u6218\u6597\u56de\u5408\u8ba9\u6a21\u578b\u5bf9&#034;\u672c\u56de\u5408\u662f\u5426\u4f1a\u6fd2\u6b7b&#034;\u7ed9\u51fa Noul \u6982\u7387&#xff0c;\u518d\u7528 Brier \u5206\u6570\u5bf9\u7740\u6a21\u62df\u5668 RAM \u91cc\u5b9e\u9645\u53d1\u751f\u7684\u4e8b\u6821\u9a8c\u2014\u2014\u4f5c\u8005\u7279\u610f\u6ca1\u6709\u53d1\u5e03\u6821\u51c6\u7ed3\u8bba&#xff0c;\u56e0\u4e3a\u6807\u6ce8\u6837\u672c\u53ea\u6709 5 \u4e2a&#xff0c;&#034;\u4e00\u4e2a\u57fa\u4e8e\u8fd9\u79cd\u6837\u672c\u7684 Brier \u5206\u6570\u53ea\u662f\u88c5\u9970&#034;\u3002<\/p>\n<p>\u8fd9\u4e9b\u9879\u76ee\u6ca1\u6709\u4e00\u4e2a\u7b49\u5f85\u5b98\u65b9\u505a\u5177\u8eab\u529f\u80fd\u3002\u4e00\u4e2a\u4e3a\u8f6f\u4ef6\u8def\u7531\u8bbe\u8ba1\u7684\u5224\u65ad\u6a21\u578b&#xff0c;\u88ab\u793e\u533a\u81ea\u884c\u63a5\u8fdb\u4e86\u7269\u7406\u56de\u8def\u3002\u8fd9\u4e2a\u62bd\u8c61\u6bd4\u5b83\u7684\u8bbe\u8ba1\u76ee\u6807\u66f4\u901a\u7528\u3002<\/p>\n<p>\u63d0\u793a&#xff1a;\u4e0b\u6587\u5f15\u7528\u7684\u6240\u6709\u793e\u533a\u9879\u76ee\u6570\u5b57\u5747\u4e3a\u4f5c\u8005\u81ea\u62a5&#xff0c;\u4e14\u5168\u90e8\u8fd0\u884c\u5728\u4eff\u771f\u6216\u6a21\u62df\u5668\u5185&#xff0c;\u6ca1\u6709\u771f\u5b9e\u786c\u4ef6\u95ed\u73af&#xff1b;\u5382\u5546&#xff08;TypeSafe&#xff09;\u6570\u5b57\u53ea\u5728\u5bf9\u7167\u7684\u8bed\u5883\u4e2d\u51fa\u73b0&#xff0c;\u5e76\u6807\u6ce8\u53e3\u5f84&#xff1b;\u51e1\u5c5e\u672c\u6587\u7684\u67b6\u6784\u63a8\u65ad&#xff0c;\u4e00\u5f8b\u660e\u786e\u6807\u6ce8&#034;\u63a8\u65ad&#034;\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"jev-drone\uff1aMuJoCo \u4e2d Skydio X2 \u7a7f\u8d8a\u6ed1\u52a8\u95f8\u95e8\uff0c\u53f3\u4fa7 HUD \u663e\u793a\u673a\u8f7d\u6df1\u5ea6\u76f8\u673a\u3001\u5206\u533a\u7a7a\u95f2\u7a7a\u95f4\u3001\u6218\u672f\u5224\u65ad\u6982\u7387\u5206\u5e03\u4e0e risk\/confidence \u8bfb\u6570\u3002HUD \u5e95\u90e8\u53ef\u89c1 control 500Hz \/ jev 3Hz \u7684\u56de\u8def\u5206\u5de5\u3002\uff08\u56fe\u6e90\uff1aRomanSlack\/jev-drone \u4ed3\u5e93\uff0cMIT \u5f52\u6863\u622a\u56fe\uff0c\u81ea\u62a5\u4eff\u771f\uff09\" height=\"587\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260925022509-6ab5db85c3f51.png\" width=\"1080\" \/><\/p>\n<h3>\u7b2c\u4e00\u5e55&#xff1a;\u8ba1\u7b97\u7ed3\u6784\u2014\u2014\u4e91\u7aef\u56de\u8def\u7684\u9891\u7387\u9884\u7b97<\/h3>\n<h4>\u4e00\u4e2a\u88ab\u8feb\u7a7f JSON \u5916\u58f3\u7684\u5206\u7c7b\u5668<\/h4>\n<p>\u5148\u770b\u4e00\u4e2a\u88ab\u5ffd\u89c6\u7684\u4e8b\u5b9e&#xff1a;\u5f53\u4f60\u8ba9\u4e00\u4e2a\u666e\u901a\u7684\u81ea\u56de\u5f52\u5927\u8bed\u8a00\u6a21\u578b\u505a\u5206\u7c7b\u2014\u2014\u6bd4\u5982&#034;\u8fd9\u4e2a\u5de5\u5355\u8be5\u8fdb\u54ea\u4e2a\u961f\u5217&#034;\u2014\u2014\u5b83\u88ab\u8feb\u751f\u6210\u4e00\u6bb5 JSON \u6216\u4e00\u4e2a\u5355\u8bcd\u6765\u4ea4\u51fa\u7b54\u6848\u3002\u5b83\u7684\u5ef6\u8fdf\u7ed3\u6784\u662f&#xff1a;<\/p>\n<p>T&#061;\u00a0prefill\u00a0&#043;\u00a0n_decode \u00d7 step<\/p>\n<p>prefill \u662f\u8f93\u5165\u7684\u4e00\u6b21\u524d\u5411&#xff1b;n_decode \u662f\u89e3\u7801\u6b65\u6570&#xff0c;\u6bcf\u6b65\u4ee5\u5e8f\u5217\u65b9\u5f0f\u4f9d\u8d56\u4e0a\u4e00\u6b65\u3002\u5bf9\u4e8e&#034;\u8f93\u51fa\u4e00\u4e2a\u679a\u4e3e\u503c&#034;\u8fd9\u79cd\u4efb\u52a1&#xff0c;n_decode \u901a\u5e38\u5728 10\u201330 \u6b65\u4e4b\u95f4&#xff0c;\u4e14\u6b65\u6570\u53d6\u51b3\u4e8e\u7b54\u6848\u5185\u5bb9\u2014\u2014\u6a21\u578b\u8981\u8f93\u51fa\u00a0{&#034;queue&#034;: &#034;refund&#034;}\u00a0\u8fd8\u662f\u66f4\u957f\u7684\u7ed3\u6784\u3001\u4e2d\u9014\u662f\u5426\u5570\u55e6\u3001\u662f\u5426\u8981\u590d\u6838&#xff0c;\u90fd\u4f1a\u6539\u53d8\u5ef6\u8fdf\u3002\u66f4\u7cdf\u7684\u662f JSON \u5916\u58f3\u672c\u8eab&#xff1a;\u89e3\u6790\u53ef\u80fd\u5931\u8d25&#xff0c;\u6821\u9a8c\u53ef\u80fd\u62d2\u7edd&#xff0c;\u91cd\u8bd5\u52a0\u500d\u65b9\u5dee\u3002<\/p>\n<p>\u8fd9\u91cc\u503c\u5f97\u7ed9&#034;\u5185\u5bb9\u65b9\u5dee&#034;\u4e00\u4e2a\u5177\u8c61\u7684\u91cf\u7ea7\u3002\u53d1\u5e03\u535a\u5ba2\u7684\u5bf9\u7167\u8868\u91cc&#xff0c;\u524d\u6cbf\u6a21\u578b\u7684\u7aef\u5230\u7aef\u54cd\u5e94\u88ab\u5199\u6210 3 \u5230 329 \u79d2&#xff08;\u5382\u5546\u6574\u7406\u7684\u53e3\u5f84&#xff0c;\u6db5\u76d6\u4e0d\u540c\u63a8\u7406\u6863\u4f4d&#xff09;\u2014\u2014\u540c\u4e00\u4e2a\u95ee\u9898&#xff0c;\u6a21\u578b&#034;\u60f3\u591a\u8bf4\u51e0\u53e5&#034;\u548c&#034;\u76f4\u63a5\u7ed9\u7b54\u6848&#034;\u4e4b\u95f4&#xff0c;\u9694\u7740\u4e24\u4e2a\u6570\u91cf\u7ea7\u3002\u5373\u4f7f\u7528\u7ed3\u6784\u5316\u8f93\u51fa\u7ea6\u675f\u3001\u51fd\u6570\u8c03\u7528\u6a21\u5f0f\u628a\u957f\u5c3e\u780d\u6389&#xff0c;\u89e3\u7801\u6b65\u6570\u4ecd\u7531\u7b54\u6848\u7684\u63aa\u8f9e\u800c\u975e\u7b54\u6848\u7684\u8bed\u4e49\u51b3\u5b9a\u3002\u5bf9\u8f6f\u4ef6\u96c6\u6210\u6765\u8bf4&#xff0c;\u4e00\u4e2a\u5ef6\u8fdf\u6709\u65b9\u5dee\u7684\u7ec4\u4ef6\u662f\u4e0d\u53ef\u7b7e\u7ea6\u7684\u2014\u2014\u4f60\u65e0\u6cd5\u56f4\u7ed5\u5b83\u8bbe\u8ba1\u65f6\u5e8f\u4fdd\u8bc1&#xff0c;\u5c31\u50cf\u4f60\u65e0\u6cd5\u56f4\u7ed5\u4e00\u4e2a&#034;\u6709\u65f6\u4e09\u79d2\u6709\u65f6\u4e09\u5206\u949f&#034;\u7684\u51fd\u6570\u8bbe\u8ba1\u5b9e\u65f6\u7cfb\u7edf\u3002<\/p>\n<p>\u8fd9\u5c31\u662f&#034;LLM \u6162&#034;\u8fd9\u53e5\u8bdd\u771f\u6b63\u5e94\u8be5\u6709\u7684\u7cbe\u786e\u5f62\u5f0f&#xff1a;\u95ee\u9898\u4e0d\u5728\u5747\u503c&#xff0c;\u800c\u5728\u5ef6\u8fdf\u662f\u7b54\u6848\u5185\u5bb9\u7684\u51fd\u6570\u3002<\/p>\n<p>Jev \u7684\u7b97\u6cd5\u672c\u8d28&#xff08;\u6b64\u5904\u6709\u5382\u5546\u53e3\u5f84\u4e0e\u63a8\u65ad\u7684\u6df7\u5408&#xff09;&#xff1a;\u5b98\u65b9\u535a\u5ba2\u63cf\u8ff0\u4e3a&#034;parallel sampler&#xff0c;\u6240\u6709\u8f93\u51fa\u5728\u5355\u6b21\u67e5\u8be2\u5185\u5e76\u884c\u7b97\u51fa&#034;&#xff1b;\u7b2c\u4e09\u65b9\u4e0e\u793e\u533a\u666e\u904d\u8ba4\u4e3a&#xff08;\u63a8\u65ad&#xff09;\u5176\u5b9e\u73b0\u662f\u4e00\u4e2a\u9aa8\u5e72\u7f51\u7edc\u52a0\u58f0\u660e\u7a7a\u95f4\u4e0a\u7684\u5c0f softmax\u2014\u2014\u7b54\u6848\u7a7a\u95f4\u7531\u8c03\u7528\u65b9\u5728\u8bf7\u6c42\u65f6\u58f0\u660e&#xff0c;\u6a21\u578b\u5bf9\u58f0\u660e\u96c6\u5408\u5185\u7684\u6bcf\u4e2a\u5019\u9009\u7b97\u4e00\u6b21\u524d\u5411\u5f97\u5206\u3002\u65e0\u8bba\u5185\u90e8\u7ec6\u8282\u5982\u4f55&#xff08;TypeSafe \u5c1a\u672a\u53d1\u5e03\u67b6\u6784\u8bba\u6587&#xff09;&#xff0c;\u5176\u5ef6\u8fdf\u7ed3\u6784\u6e05\u6670&#xff1a;\u4e00\u6b21\u524d\u5411&#xff0c;\u7b54\u6848\u957f\u77ed\u4e0d\u5f71\u54cd\u6b65\u6570&#xff0c;\u65b9\u5dee\u574d\u7f29\u3002<\/p>\n<p>\u8fd9\u4e0d\u662f&#034;\u628a LLM \u4f18\u5316\u5f97\u66f4\u5feb&#034;&#xff0c;\u800c\u662f\u628a\u4e32\u884c\u4f9d\u8d56\u4ece\u5ef6\u8fdf\u516c\u5f0f\u91cc\u5220\u6389\u2014\u2014\u5220\u6389\u7684\u662f\u7b54\u6848\u5185\u5bb9\u5bf9\u5ef6\u8fdf\u7684\u4f9d\u8d56&#xff0c;\u7f51\u7edc\u4f9d\u8d56\u539f\u5c01\u4e0d\u52a8&#xff0c;\u6296\u52a8\u4ecd\u5728\u8d26\u4e0a\u3002\u8fd9\u4e2a\u533a\u522b\u662f\u4e0b\u4e00\u8282\u9891\u7387\u9884\u7b97\u7684\u5b58\u5728\u7406\u7531&#xff1a;<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"629\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260925022510-6ab5db8627e84.png\" width=\"774\" \/><\/p>\n<p>\u56fe\u2460&#xff1a;\u4e24\u6761\u8def\u5f84\u7684\u5ef6\u8fdf\u7ed3\u6784\u5bf9\u6bd4\u3002<\/p>\n<h4>\u9891\u7387\u9884\u7b97&#xff1a;\u80fd\u95ed\u5408\u7684\u56de\u8def\u4e0a\u9650\u662f\u4e2a\u4f4d\u6570 Hz<\/h4>\n<p>\u73b0\u5728\u7b97\u786c\u4ef6\u56de\u8def\u8fd9\u7b14\u8d26\u3002Jev \u662f\u4e91\u7aef API\u3002\u628a\u4e00\u4e2a\u4e91\u7aef API \u653e\u8fdb\u63a7\u5236\u56de\u8def&#xff0c;\u5ef6\u8fdf\u9884\u7b97\u662f&#xff1a;<\/p>\n<p>T_loop\u00a0&#061;\u00a0T_api\u00a0&#043;T_network(\u5f80\u8fd4)&#043;\u00a0T_jitter<\/p>\n<p>\u5382\u5546\u5ba3\u79f0\u7684\u7aef\u5230\u7aef\u54cd\u5e94\u662f 70\u2013500ms&#xff08;\u5382\u5546\u53e3\u5f84&#xff1a;\u5b98\u65b9\u535a\u5ba2\u81ea\u8ff0\u5176\u8bc4\u6d4b&#034;\u4e00\u822c\u8dd1\u5728\u6211\u4eec\u897f\u6d77\u5cb8\u7684\u7b14\u8bb0\u672c\u4e0a&#034;&#xff0c;\u5373\u4e0d\u542b\u8de8\u6d32\u516c\u7f51&#xff09;&#xff1b;Laya \u53d1\u5e03\u65b9 Convai \u7684\u5bf9\u6bd4\u8868\u6d4b\u5f97 Jev \u5355\u9898 p50 \u4e3a 236\u2013276ms&#xff08;\u7ade\u4e89\u65b9\u53e3\u5f84&#xff09;&#xff1b;\u5b9d\u53ef\u68a6\u9879\u76ee\u7ecf Vercel AI Gateway \u81ea\u62a5\u4e2d\u4f4d 621ms&#xff08;n&#061;6&#xff09;\u3002\u52a0\u4e0a\u7f51\u7edc\u5f80\u8fd4\u4e0e\u5c3e\u5ef6\u8fdf&#xff0c;\u4e00\u4e2a\u4e91\u7aef\u5224\u65ad\u56de\u8def\u80fd\u7a33\u5b9a\u95ed\u5408\u7684\u9891\u7387\u4e0a\u9650&#xff0c;\u662f\u4e2a\u4f4d\u6570 Hz\u3002<\/p>\n<p>\u7531\u6b64\u63a8\u51fa\u4e00\u4e2a\u6bd4&#034;\u5feb\u4e0d\u5feb&#034;\u91cd\u8981\u5f97\u591a\u7684\u7ed3\u8bba&#xff1a;split-rate \u662f\u552f\u4e00\u5408\u6cd5\u67b6\u6784\u3002jev-drone \u7684\u5206\u5de5\u662f\u6559\u79d1\u4e66\u5f0f\u7684\u2014\u2014HUD \u4e0a\u5199\u7740\u00a0control 500Hz jev 3Hz&#xff08;README \u53e3\u5f84\u7ea6 2.5Hz&#xff09;&#xff1a;\u5224\u65ad\u6a21\u578b\u5750 2\u20135Hz \u7684\u6218\u672f\u5c42&#xff0c;\u8d1f\u8d23&#034;\u8fd9\u4e2a\u5c40\u9762\u610f\u5473\u7740\u4ec0\u4e48&#034;&#xff1b;\u59ff\u6001\u3001\u907f\u969c\u7684\u786c\u7ea6\u675f\u7559\u5728\u6570\u767e Hz \u7684\u786e\u5b9a\u6027\u4ee3\u7801\u91cc\u3002jev-drone \u7684 2.5Hz \u4e0d\u662f\u968f\u610f\u9009\u62e9\u7684\u98ce\u683c&#xff0c;\u800c\u662f\u4e0a\u9762\u90a3\u7b14\u9891\u7387\u9884\u7b97\u7684\u4ea7\u7269\u3002\u6362\u4e2a API\u3001\u6362\u4e2a\u7f51\u7edc&#xff0c;\u8fd9\u4e2a\u6570\u4f1a\u53d8&#xff1b;\u9884\u7b97\u516c\u5f0f\u4e0d\u4f1a\u3002<\/p>\n<p>\u8fd9\u7b14\u9884\u7b97\u5728 jev-drone \u7684\u6d88\u878d\u5b9e\u9a8c\u91cc\u80fd\u770b\u5230\u5168\u90e8\u542b\u4e49&#xff08;\u81ea\u62a5\u4eff\u771f&#xff09;\u3002\u540c\u4e00\u5957\u7cfb\u7edf\u5173\u6389 Jev\u3001\u9000\u5316\u4e3a&#034;\u671d\u5bbd\u655e\u4e00\u4fa7\u98de&#034;\u7684\u8d2a\u5fc3\u542f\u53d1\u5f0f&#xff1a;\u6c38\u8fdc\u4e0d\u649e&#xff0c;\u4e5f\u6c38\u8fdc\u8fc7\u4e0d\u4e86\u7b2c\u4e8c\u5173\u2014\u2014\u56e0\u4e3a&#034;\u4ece\u969c\u788d\u4e0a\u65b9\u722c\u8fc7\u53bb&#034;\u4e0d\u5728\u5b83\u80fd\u8868\u8fbe\u7684\u8bed\u4e49\u91cc&#xff0c;\u4e09\u6b21\u8fd0\u884c\u5168\u90e8\u505c\u5728 17.7 \u7c73\u5904\u3002\u63a5\u5165\u5224\u65ad\u4e4b\u540e&#xff1a;\u5168\u7a0b 77.5 \u7c73\u7ea6 47 \u79d2\u98de\u5b8c&#xff0c;\u6781\u901f 3.6 m\/s&#xff0c;\u76ee\u6807\u4fdd\u6301\u89c6\u91ce\u7387\u4ece\u7ea6 19% \u5347\u5230 82%&#xff0c;\u88ab\u53cd\u5c04\u903b\u8f91\u9489\u6b7b\u7684\u65f6\u957f\u4ece 65\u201371% \u964d\u5230 9%&#xff0c;\u78b0\u649e\u4e3a\u96f6\u3002\u6ce8\u610f\u8fd9\u7ec4\u6570\u5b57\u7684\u7ed3\u6784&#xff1a;\u5224\u65ad\u6a21\u578b\u8d21\u732e\u7684\u662f\u8bed\u4e49&#xff08;&#034;\u8fd9\u4e2a\u60c5\u51b5\u610f\u5473\u7740\u8be5\u722c\u8fc7\u53bb&#034;&#xff09;&#xff0c;\u4ee3\u7801\u8d21\u732e\u7684\u662f\u53ef\u9760&#xff08;\u722c\u7684\u6267\u884c\u3001\u4e0d\u7ffb\u673a\u7684\u59ff\u6001&#xff09;\u3002\u9891\u7387\u9884\u7b97\u51b3\u5b9a\u4e86\u4e24\u8005\u4e0d\u80fd\u5408\u5e76\u6210\u4e00\u5c42\u3002<\/p>\n<p>\u4eff\u771f\u8fd8\u903c\u4f5c\u8005\u5199\u4e0b\u4e86\u4e24\u6761\u63a7\u5236\u5668\u6559\u8bad&#xff0c;\u503c\u5f97\u5355\u72ec\u5f15\u7528\u3002\u56db\u65cb\u7ffc\u65e0\u6cd5\u5411\u4e0b\u63a8\u3001\u786c\u6307\u4ee4\u4e0b\u964d\u65f6\u63a7\u5236\u5668\u4f1a\u5fe0\u5b9e\u5730\u547d\u4ee4\u4e00\u4e2a\u5012\u7f6e\u59ff\u6001&#xff0c;\u4fee\u6cd5\u662f\u94b3\u5236\u671f\u671b\u52a0\u901f\u5ea6\u7684 z \u5206\u91cf&#xff1b;\u4fa7\u5411\u63a7\u5236\u9700\u8981\u4f4d\u7f6e\u56de\u8def\u800c\u975e\u901f\u5ea6\u4fdd\u6301&#xff0c;\u5426\u5219\u98de\u673a\u4f1a\u4e00\u672c\u6b63\u7ecf\u5730\u6a2a\u7a7f\u8d70\u5eca\u649e\u8fdb\u5bf9\u9762\u5899\u3002\u8fd9\u4e24\u6761\u6559\u8bad\u91cc\u6ca1\u6709\u4efb\u4f55 AI\u2014\u2014\u5b83\u4eec\u8bf4\u660e\u7269\u7406\u5c42\u9762\u7684\u6b63\u786e\u6027\u6c38\u8fdc\u5c5e\u4e8e\u4ee3\u7801&#xff0c;\u5224\u65ad\u6a21\u578b\u65e0\u8bba\u591a\u806a\u660e&#xff0c;\u90fd\u5750\u5728\u4e00\u4e2a&#034;\u5148\u628a a_des[2] \u94b3\u6b63&#034;\u7684\u4e16\u754c\u91cc\u3002<\/p>\n<p>\u8fd8\u8981\u8865\u4e00\u5200&#xff1a;\u65e0\u7ebf\u94fe\u8def\u4e0b\u6296\u52a8\u5931\u63a7&#xff0c;\u4e91\u7aef\u56de\u8def\u5728\u771f\u5b9e\u98de\u884c\u786c\u4ef6\u4e0a\u57fa\u672c\u51fa\u5c40\u2014\u2014jev-drone \u81ea\u5df1\u4e5f\u627f\u8ba4\u8fd9\u662f\u4eff\u771f\u3002\u4eff\u771f\u4e0e\u6709\u7ebf\u5de5\u4f5c\u7ad9&#xff0c;\u662f\u4e91\u7aef\u5224\u65ad\u56de\u8def\u7684\u5408\u6cd5\u7586\u57df&#xff1b;\u51fa\u4e86\u8fd9\u4e2a\u7586\u57df&#xff0c;\u7ed3\u6784\u5c31\u53d8\u4e86\u3002<\/p>\n<h4>\u4e0e VLA \u540c\u6784&#xff1a;\u7528\u7ed3\u6784\u6362\u4e32\u884c<\/h4>\n<p>\u673a\u5668\u4eba\u754c\u65e9\u5c31\u9762\u5bf9\u540c\u4e00\u4e2a\u95ee\u9898\u3002VLA \u7684\u4e24\u4ee3\u5173\u952e\u5de5\u4f5c&#xff0c;\u672c\u8d28\u90fd\u662f&#034;\u7528\u7ed3\u6784\u6362\u4e32\u884c&#034;&#xff1a;<\/p>\n<ul>\n<li>RT-2&#xff08;2023&#xff09;\u628a\u673a\u5668\u4eba\u52a8\u4f5c\u79bb\u6563\u5316\u6210 256 \u4e2a token&#xff0c;\u5ac1\u63a5\u5728 PaLI-X \/ PaLM-E \u7684\u89c6\u89c9\u8bed\u8a00\u9aa8\u5e72\u4e0a\u2014\u2014\u52a8\u4f5c\u7a7a\u95f4\u88ab\u538b\u8fdb\u8bcd\u8868&#xff0c;\u624d\u8c08\u5f97\u4e0a\u7528\u9884\u8bad\u7ec3\u6a21\u578b\u76f4\u63a5\u51fa\u52a8\u4f5c&#xff1b;<\/li>\n<li>OpenVLA&#xff08;2024&#xff0c;7B&#xff09;\u6cbf\u7528\u52a8\u4f5c token \u5316&#xff0c;\u5e76\u7528\u6295\u673a\u89e3\u7801\u628a wall-clock \u541e\u5410\u62c9\u9ad8\u6570\u500d\u2014\u2014\u7528\u4e00\u4e2a\u5c0f\u8349\u7a3f\u6a21\u578b\u9884\u6d4b\u52a8\u4f5c token\u3001\u5927\u6a21\u578b\u5e76\u884c\u9a8c\u8bc1&#xff0c;\u7528\u67b6\u6784\u6280\u5de7\u7ed5\u5f00\u89e3\u7801\u4e32\u884c\u6027&#xff1b;<\/li>\n<li>\u66f4\u65b0\u7684\u00a0FAST\u00a0\u52a8\u4f5c\u5206\u8bcd\u5668\u3001\u03c00\u00a0\u7684 flow-matching \u89e3\u7801\u5668&#xff0c;\u5219\u662f\u5728\u53e6\u4e00\u4fa7\u505a\u540c\u6837\u7684\u4e8b&#xff1a;\u628a\u8fde\u7eed\u52a8\u4f5c\u7684\u8868\u8fbe\u6539\u5199\u5230\u63a8\u7406\u66f4\u4fbf\u5b9c\u7684\u5750\u6807\u7cfb\u91cc\u3002<\/li>\n<\/ul>\n<p>Jev \u628a\u8fd9\u6761\u8def\u63a8\u5230\u6781\u7aef&#xff1a;\u4e0d\u53ea\u52a8\u4f5c token \u5316&#xff0c;\u800c\u662f\u7b54\u6848\u7a7a\u95f4\u6574\u4f53\u7531\u8c03\u7528\u65b9\u58f0\u660e\u3002VLA \u754c\u6362\u7684\u662f\u4e32\u884c\u7684\u6b65\u6570&#xff0c;Jev \u6362\u7684\u662f\u4e32\u884c\u7684\u5b58\u5728\u6027\u3002<\/p>\n<p>\u628a\u4e09\u4ef6\u4e8b\u5e76\u6392\u770b&#xff0c;\u7ed3\u6784\u5c31\u6e05\u695a\u4e86&#xff1a;<\/p>\n<table>\n<tbody>\n<tr>\n<p>\u6362\u6389\u7684\u4e32\u884c<\/p>\n<p>\u4ee3\u4ef7<\/p>\n<p>\u8c01\u638c\u63e1\u58f0\u660e\u6743<\/p>\n<\/tr>\n<tr>\n<td>\n<p>\u6295\u673a\u89e3\u7801<\/p>\n<\/td>\n<td>\n<p>\u5927\u6a21\u578b\u7684\u90e8\u5206\u89e3\u7801\u6b65<\/p>\n<\/td>\n<td>\n<p>\u4e00\u4e2a\u5c0f\u8349\u7a3f\u6a21\u578b &#043; \u989d\u5916\u663e\u5b58<\/p>\n<\/td>\n<td>\n<p>\u6a21\u578b\u65b9<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u52a8\u4f5c token \u5316<\/p>\n<\/td>\n<td>\n<p>\u8fde\u7eed\u52a8\u4f5c\u7684\u8868\u8fbe\u81ea\u7531\u5ea6<\/p>\n<\/td>\n<td>\n<p>\u52a8\u4f5c\u5206\u8fa8\u7387\u4e0e\u8bcd\u8868\u8bbe\u8ba1<\/p>\n<\/td>\n<td>\n<p>\u6a21\u578b\u65b9<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>Jev \u5f0f\u58f0\u660e\u7b54\u6848\u7a7a\u95f4<\/p>\n<\/td>\n<td>\n<p>\u89e3\u7801\u672c\u8eab<\/p>\n<\/td>\n<td>\n<p>\u653e\u5f03\u5b57\u7b26\u4e32\u751f\u6210<\/p>\n<\/td>\n<td>\n<p>\u8c03\u7528\u65b9<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6700\u540e\u4e00\u884c\u662f\u90a3\u4e2a\u771f\u6b63\u7684\u8303\u5f0f\u8f6c\u79fb&#xff1a;\u5386\u53f2\u4e0a\u662f\u6a21\u578b\u65b9\u51b3\u5b9a&#034;\u7b54\u6848\u80fd\u957f\u4ec0\u4e48\u6837&#034;&#xff0c;Jev \u628a\u8fd9\u4efd\u6743\u529b\u4e0a\u4ea4\u56de\u4ee3\u7801\u3002\u8fd9\u4e5f\u662f\u5b83\u4e0e VLA \u5929\u7136\u4e92\u8865\u800c\u975e\u7ade\u4e89\u7684\u6839\u56e0\u2014\u2014\u7b2c\u4e09\u5e55\u4f1a\u56de\u6765\u8bb2\u8fd9\u4e2a\u5206\u5de5\u3002<\/p>\n<h3>\u7b2c\u4e8c\u5e55&#xff1a;\u4fe1\u606f\u7ed3\u6784\u2014\u2014\u6ca1\u6709\u773c\u775b\u7684\u611f\u77e5<\/h3>\n<h4>\u786c\u4e8b\u5b9e&#xff1a;Jev \u65e0\u89c6\u89c9<\/h4>\n<p>Jev \u65e0\u89c6\u89c9\u3001\u65e0\u97f3\u9891&#xff0c;\u8f93\u5165\u53ea\u6536\u6587\u672c\u4e0e\u7ed3\u6784\u5316\u72b6\u6001\u3002\u5b98\u65b9\u53d1\u5e03\u535a\u5ba2\u5728 Doom \u6f14\u793a\u7684\u811a\u6ce8\u91cc\u7559\u4e86\u4e00\u53e5 &#034;not on images (yet\u2026)&#034;\u2014\u2014\u622a\u81f3\u53d1\u7a3f&#xff08;2026 \u5e74 9 \u6708 23 \u65e5&#xff09;&#xff0c;\u8fd9\u4e2a\u7701\u7565\u53f7\u6ca1\u6709\u4ea7\u54c1\u5316\u4e0b\u6587&#xff1a;\u65e0\u56fe\u50cf\u6a21\u578b\u3001\u65e0\u63a5\u53e3\u3001\u65e0\u65f6\u95f4\u8868\u3002CEO \u5728\u5e02\u653f\u5385\u4f1a\u8bae\u4e2d\u63d0\u5230\u8fc7\u56fe\u50cf\u6a21\u578b&#xff0c;\u4f46\u65e9\u671f\u8bbf\u95ee\u7684\u516c\u5f00 API \u4ecd\u7136\u662f\u6587\u672c\u8fdb\u3001\u7c7b\u578b\u5316\u5224\u65ad\u51fa\u3002<\/p>\n<p>\u8fd9\u4e0d\u662f\u5c0f\u9057\u61be&#xff0c;\u800c\u662f\u4fe1\u606f\u7ed3\u6784\u4e0a\u7684\u6839\u672c\u5b9a\u4f4d&#xff1a;Jev \u53ea\u8d1f\u8d23\u5224\u65ad&#xff0c;\u4e0d\u8d1f\u8d23\u611f\u77e5\u3002<\/p>\n<h4>\u793e\u533a\u7684\u6807\u51c6\u89e3&#xff1a;VLM \u505a\u524d\u7aef&#xff0c;Jev \u505a\u5224\u65ad&#xff0c;\u4ee3\u7801\u505a\u52a8\u4f5c<\/h4>\n<p>\u793e\u533a\u7ed9\u51fa\u7684\u6a21\u677f\u9ad8\u5ea6\u4e00\u81f4&#xff0c;\u800c\u4e14\u548c VLA \u754c\u7684\u5206\u5c42\u4e0d\u8c0b\u800c\u5408&#xff1a;<\/p>\n<p>\u50cf\u7d20 \u2192\u00a0VLM\/CV\u00a0\u538b\u6210\u7ed3\u6784\u5316\u72b6\u6001 \u2192 Jev \u5224\u65ad \u2192 \u4ee3\u7801\u6267\u884c\u52a8\u4f5c<\/p>\n<p>\u4e24\u4e2a\u4ee3\u8868\u6027\u9879\u76ee&#xff1a;<\/p>\n<ul>\n<li>\u7687\u5ba4\u6218\u4e89&#xff08;clashroyale-jev&#xff0c;\u81ea\u62a5\u4eff\u771f&#xff09;&#xff1a;Qwen \u770b\u6218\u573a\u753b\u9762\u7ed9\u51fa\u5c40\u52bf\u63cf\u8ff0&#xff0c;\u672c\u5730 OpenCV \u8bfb\u624b\u724c\u4e0e\u5723\u6c34\u6570\u503c&#xff0c;\u4e8c\u8005\u538b\u6210\u7ed3\u6784\u5316\u72b6\u6001\u540e\u4ea4\u7ed9 Jev \u9009\u724c\u4e0e\u843d\u70b9\u3002VLM \u4e0e Jev \u662f\u4e0a\u4e0b\u6e38&#xff0c;\u4e0d\u662f\u66ff\u4ee3\u5173\u7cfb\u3002<\/li>\n<li>OmniJev&#xff08;\u81ea\u62a5\u4eff\u771f&#xff09;&#xff1a;\u53cc\u76f8\u673a\u56fe\u50cf\u52a0\u6587\u672c\u76f4\u63a5\u5582\u7ed9\u4e00\u4e2a\u81ea\u6258\u7ba1\u7684\u591a\u6a21\u6001\u6a21\u578b&#xff0c;\u4ee5 Jev \u5f0f\u6709\u9650\u9009\u62e9\u63a5\u53e3\u8f93\u51fa\u4e0b\u4e00\u4e2a\u9884\u8bbe\u6280\u80fd&#xff0c;\u9a71\u52a8 MuJoCo \u673a\u68b0\u81c2\u5b8c\u6210\u642c\u8fd0\u3001\u5806\u53e0\u3001\u8d8a\u969c\u4efb\u52a1\u3002\u5b83\u6700\u6709\u8da3\u7684\u6570\u5b57\u4e0d\u662f\u6210\u529f\u7387&#xff0c;\u800c\u662f\u62d2\u7b54&#xff1a;\u5bf9\u4e0d\u53ef\u89c2\u6d4b\u7684\u8f93\u5165&#xff0c;\u7cfb\u7edf\u8fd4\u56de &#034;insufficient evidence&#034; \u800c\u4e0d\u662f\u731c\u2014\u2014\u53d1\u5e03\u65b9\u62a5\u544a 208\/208 \u4e2a\u975e\u97f3\u9891\u63a2\u6d4b\u8bf7\u6c42\u56de\u7b54\u6b63\u786e&#xff0c;\u5e76\u5728\u56db\u4e2a\u516c\u5f00\u57fa\u51c6\u8bd5\u70b9\u4e0a\u4fdd\u6301\u51c6\u786e\u7387\u4e0d\u964d\u3001\u51b3\u7b56\u5ef6\u8fdf\u964d 6.8\u201313.6 \u500d\u3001\u603b token \u964d 51\u201386%\u3002<\/li>\n<\/ul>\n<p>\u8fd9\u4e2a&#034;\u62d2\u7b54&#034;\u7684\u5206\u91cf\u503c\u5f97\u5355\u72ec\u6382\u91cf\u3002\u4e00\u4e2a\u4f1a\u8bf4\u81ea\u5df1&#034;\u8bc1\u636e\u4e0d\u8db3&#034;\u7684\u56de\u8def\u7ec4\u4ef6&#xff0c;\u6bd4\u4e00\u4e2a\u6c38\u8fdc\u7ed9\u51fa\u7b54\u6848\u7684\u7ec4\u4ef6&#xff0c;\u5728\u5b89\u5168\u7ed3\u6784\u4e0a\u7684\u4ef7\u503c\u9ad8\u5f97\u591a\u2014\u2014\u8fd9\u662f\u7b2c\u4e09\u5e55\u7684\u4f0f\u7b14&#xff0c;\u4e5f\u662f\u6821\u51c6\u95ee\u9898\u7684\u524d\u594f\u3002<\/p>\n<h4>\u66f4\u6fc0\u8fdb\u7684\u8def\u7ebf&#xff1a;\u539f\u751f\u591a\u6a21\u6001\u590d\u73b0<\/h4>\n<p>\u8fd8\u6709\u4e00\u6761\u66f4\u6fc0\u8fdb\u7684\u8def\u7ebf\u5df2\u7ecf\u5f00\u82b1&#xff1a;\u51b3\u7b56\u6a21\u578b\u7684&#034;\u89c6\u89c9\u7248&#034;\u7387\u5148\u51fa\u73b0\u5728\u5f00\u6e90\u4fa7&#xff0c;\u800c\u4e0d\u662f TypeSafe \u5b98\u65b9\u3002\u4e09\u4e2a\u9879\u76ee\u503c\u5f97\u8bb0\u4f4f&#xff1a;<\/p>\n<ul>\n<li>Visual-JEV&#xff1a;\u57fa\u4e8e Qwen3.5-4B \u7684\u539f\u751f\u591a\u6a21\u6001 Jev&#xff0c;\u56fe\u50cf\u76f4\u63a5\u8fdb&#xff0c;\u4e0d\u9700\u8981\u6a21\u6001\u8f6c\u6362&#xff1b;<\/li>\n<li>Dohnuts&#xff1a;Qwen3.5-0.8B&#xff0c;\u56fe\u6587\u5355\u524d\u5411&#xff0c;\u53d1\u5e03\u6743\u91cd\u3001\u8bad\u7ec3\u4ee3\u7801\u4e0e\u8bc4\u6d4b&#xff08;\u6743\u91cd\u9650\u975e\u5546\u4e1a\u7814\u7a76&#xff09;&#xff1b;<\/li>\n<li>Qwen3.5-OneForward\u00a0\u8fd9\u7c7b\u63a5\u53e3\u5b9e\u9a8c&#xff1a;\u4e0d\u505a\u8bad\u7ec3&#xff0c;\u76f4\u63a5\u4ece Qwen3.5-2B \u7684 logits \u8bfb\u51fa Jev \u5f0f\u7c7b\u578b\u5316\u9009\u62e9&#xff0c;\u4e00\u6b21\u524d\u5411\u3001\u96f6\u89e3\u7801\u3001\u96f6\u5fae\u8c03\u2014\u2014\u540c\u65f6\u5766\u627f\u5019\u9009\u6982\u7387&#034;\u672a\u7ecf\u6821\u51c6&#034;\u3002<\/li>\n<\/ul>\n<p>\u8fd9\u4e2a\u5206\u53c9\u672c\u8eab\u503c\u5f97\u4e00\u6bb5\u5206\u6790\u3002\u5b98\u65b9\u4ea7\u54c1\u9009\u62e9&#034;\u5148\u6821\u51c6\u540e\u591a\u6a21\u6001&#034;&#xff08;\u95ed\u6e90 API \u8981\u5356\u7684\u662f\u6982\u7387\u53ef\u4fe1\u5ea6&#xff09;&#xff0c;\u5f00\u6e90\u793e\u533a\u9009\u62e9&#034;\u5148\u591a\u6a21\u6001\u540e\u6821\u51c6&#034;&#xff08;\u590d\u73b0\u8005\u5148\u8bc1\u660e\u5f62\u6001\u53ef\u884c&#xff0c;\u6821\u51c6\u662f\u540e\u8865\u7684\u5de5\u7a0b&#xff09;\u3002\u8c01\u5bf9\u8c01\u9519\u6ca1\u6709\u7b54\u6848&#xff0c;\u4f46\u5b83\u8bf4\u660e&#xff1a;&#034;\u5224\u65ad&#034;\u4e0e&#034;\u611f\u77e5&#034;\u7684\u89e3\u8026\u662f\u5e02\u573a\u7684\u9009\u62e9&#xff0c;\u4e0d\u662f\u67d0\u5bb6\u516c\u53f8\u7684\u8bbe\u8ba1\u3002<\/p>\n<p>\u8fd9\u4e2a\u89e3\u8026\u8fd8\u6709\u4e00\u5c42\u66f4\u6df1\u7684\u542b\u4e49&#xff1a;\u611f\u77e5\u538b\u7f29\u8fd9\u4e00\u5c42&#xff0c;\u6070\u597d\u662f\u6574\u4e2a\u7cfb\u7edf\u91cc\u8bef\u5dee\u6700\u5bb9\u6613\u5931\u63a7\u7684\u5730\u65b9\u3002Qwen \u770b\u6218\u573a\u4f1a\u6f0f\u770b\u4e00\u6761\u70ae\u7ebf&#xff0c;OpenCV \u8bfb\u5723\u6c34\u4f1a\u8bfb\u9519\u4e00\u4f4d\u6570&#xff0c;\u800c Jev \u62ff\u5230\u7684\u662f\u5df2\u7ecf\u5b9a\u578b\u7684\u72b6\u6001\u2014\u2014\u5b83\u751a\u81f3\u4e0d\u77e5\u9053\u81ea\u5df1\u4e0d\u77e5\u9053\u3002\u5224\u65ad\u5c42\u7684\u6821\u51c6\u505a\u5f97\u518d\u597d&#xff0c;\u4e5f\u53ea\u662f&#034;\u7ed9\u5b9a\u8f93\u5165\u4e0b\u7684\u8bda\u5b9e&#034;&#xff1b;\u8f93\u5165\u672c\u8eab\u9519\u4e86&#xff0c;\u8bda\u5b9e\u7684\u6982\u7387\u7167\u6837\u901a\u5411\u9519\u8bef\u7684\u52a8\u4f5c\u3002\u8fd9\u6b63\u662f\u4e09\u524d\u63d0\u5b9a\u7406\u628a&#034;\u611f\u77e5\u5df2\u538b\u7f29&#034;\u5217\u4e3a\u7b2c\u4e00\u6761\u7684\u539f\u56e0&#xff0c;\u4e5f\u662f OmniJev \u628a&#034;\u8bc1\u636e\u4e0d\u8db3\u5c31\u62d2\u7b54&#034;\u770b\u5f97\u6bd4\u51c6\u786e\u7387\u6570\u5b57\u66f4\u91cd\u7684\u539f\u56e0\u2014\u2014\u62d2\u7b54\u662f\u4fe1\u606f\u7ed3\u6784\u91cc\u552f\u4e00\u80fd\u5bf9\u611f\u77e5\u5931\u6548\u505a\u51fa\u53cd\u5e94\u7684\u673a\u5236\u3002<\/p>\n<p>\u987a\u5e26\u6f84\u6e05\u4e00\u4e2a\u6d41\u884c\u7684\u8bef\u8bfb&#xff1a;Jev \u4e0d\u662f YOLO \u5f0f\u7684\u56fa\u5b9a\u6807\u7b7e\u5206\u7c7b\u5668\u2014\u2014\u7b54\u6848\u7a7a\u95f4\u4e0d\u662f\u8bad\u7ec3\u65f6\u5199\u6b7b\u7684\u7c7b\u522b\u8868&#xff0c;\u800c\u662f\u8c03\u7528\u65b9\u5728\u6bcf\u6b21\u8bf7\u6c42\u91cc\u52a8\u6001\u58f0\u660e\u7684\u5019\u9009\u96c6\u5408&#xff0c;&#034;\u52a8\u6001\u6807\u7b7e\u7a7a\u95f4&#034;\u624d\u662f\u51c6\u786e\u7684\u8bf4\u6cd5\u3002\u5b83\u4e0e&#034;\u62bd\u6389\u8bed\u8a00\u6a21\u6001\u7684 VLA \u6a21\u578b&#034;\u53cd\u800c\u5171\u4eab\u66f4\u6df1\u7684\u7ed3\u6784&#xff1a;RT-2 \u4e0e OpenVLA \u7684\u9aa8\u67b6\u672c\u6765\u5c31\u662f&#034;\u89c6\u89c9 \u2192 \u79bb\u6563\u52a8\u4f5c token&#034;&#xff0c;\u628a\u8bed\u8a00\u90e8\u5206\u62ff\u6389&#xff0c;\u5269\u4e0b\u7684\u6b63\u662f&#034;\u611f\u77e5\u538b\u7f29\u72b6\u6001 \u2192 \u58f0\u660e\u7a7a\u95f4\u5185\u7684\u7c7b\u578b\u5316\u5355\u9009&#034;\u3002Visual-JEV \u4e0e Dohnuts \u5b9e\u9645\u4e0a\u5c31\u957f\u5728\u8fd9\u6761\u7f1d\u91cc\u2014\u2014\u8fd9\u4e2a\u7c7b\u6bd4\u70b9\u5230\u4e3a\u6b62&#xff0c;\u5c55\u5f00\u662f\u53e6\u4e00\u7bc7\u6587\u7ae0\u7684\u4e8b\u3002<\/p>\n<h4>\u6982\u7387\u5408\u7ea6\u7684\u62f7\u95ee&#xff1a;softmax \u7684\u4e09\u79cd\u8bed\u4e49<\/h4>\n<p>\u73b0\u5728\u8fdb\u5165\u672c\u5e55\u6700\u786c\u7684\u90e8\u5206\u3002\u5f53 Jev \u5356\u51fa&#034;\u5e26\u6821\u51c6\u6982\u7387\u7684\u7c7b\u578b\u5316\u5224\u65ad&#034;&#xff0c;\u5b83\u5356\u7684\u5230\u5e95\u662f\u4ec0\u4e48&#xff1f;<\/p>\n<p>softmax \u8f93\u51fa\u7684\u6982\u7387\u6709\u4e09\u79cd\u5e38\u88ab\u6df7\u7528\u7684\u8bed\u4e49&#xff1a;<\/p>\n<li>\u7b56\u7565\u4f3c\u7136&#xff1a;\u5728\u6a21\u4eff\u5b66\u4e60\u5750\u6807\u7cfb\u4e0b&#xff0c;\u6982\u7387\u662f&#034;\u4e13\u5bb6\u8fd9\u4e48\u505a\u7684\u76f8\u5bf9\u53ef\u80fd\u6027&#034;&#xff1b;<\/li>\n<li>\u7f6e\u4fe1\u611f&#xff1a;\u6a21\u578b\u5185\u90e8\u51e0\u4f55\u7ed9\u51fa\u7684\u9510\u5ea6&#xff0c;\u662f\u9690\u7a7a\u95f4\u7684\u526f\u4ea7\u54c1&#xff0c;\u6ca1\u6709\u5916\u90e8\u542b\u4e49&#xff1b;<\/li>\n<li>\u6821\u51c6\u6982\u7387&#xff1a;\u9891\u7387\u4e3b\u4e49\u542b\u4e49\u2014\u2014\u6a21\u578b\u8bf4 70%&#xff0c;\u957f\u671f\u770b\u5728\u53ef\u6bd4\u60c5\u5f62\u4e0b\u5c31\u5e94\u547d\u4e2d\u7ea6 70%\u3002<\/li>\n<p>\u4e09\u8005\u7684\u5dee\u522b\u4e0d\u662f\u5b66\u672f\u6d01\u7656\u3002\u7b56\u7565\u4f3c\u7136\u9002\u5408\u884c\u4e3a\u514b\u9686&#xff0c;\u7f6e\u4fe1\u611f\u9002\u5408\u6392\u5e8f\u68c0\u7d22&#xff0c;\u53ea\u6709\u6821\u51c6\u6982\u7387\u80fd\u8fdb\u9608\u503c\u903b\u8f91&#xff1a;&#034;p &gt; 0.85 \u5c31\u81ea\u52a8\u6267\u884c&#034;\u8fd9\u4e2a if \u8bed\u53e5&#xff0c;\u53ea\u6709\u5f53 0.85 \u662f\u7b2c\u4e09\u79cd\u8bed\u4e49\u65f6\u624d\u6210\u7acb\u3002Jev \u5ba3\u79f0\u5356\u7684\u5c31\u662f\u7b2c\u4e09\u79cd&#xff0c;\u8bad\u7ec3\u65b9\u6cd5 RLCD&#xff08;Reinforcement Learning for Calibrated Decisions&#xff09;\u7684\u540d\u5b57\u5c31\u662f\u627f\u8bfa\u3002\u4f46\u53cd\u65b9\u8bc1\u636e\u540c\u6837\u516c\u5f00&#xff1a;<\/p>\n<ul>\n<li>Laya \u7684\u81ea\u6d4b\u8868\u7ed9\u51fa ECE&#xff08;\u671f\u671b\u6821\u51c6\u8bef\u5dee&#xff09;0.081 \u5bf9 0.246&#xff08;Laya \u662f Jev \u7684\u5f00\u6e90\u7ade\u4e89\u8005&#xff0c;\u6574\u8868\u662f\u7ade\u4e89\u65b9\u53e3\u5f84&#xff0c;\u4e0d\u53ef\u5f53\u4f5c\u4e2d\u7acb\u8bc4\u6d4b&#xff09;\u3002\u9010\u6570\u5b57\u62c6\u5f00\u770b\u6d4b\u91cf\u65b9\u4e0e\u5bf9\u8c61&#xff1a;0.246 \u662f Laya \u4e00\u65b9\u6d4b Jev \u7684\u539f\u59cb\u53e3\u5f84&#xff1b;0.081 \u662f Laya \u81ea\u6d4b\u3001\u7ecf\u6309\u95ee\u9898\u7c7b\u578b\u00d7\u9009\u9879\u6570\u6e29\u5ea6\u91cd\u62df\u5408\u4e4b\u540e\u7684\u6570\u5b57\u2014\u2014\u4e24\u8005\u5e76\u975e\u540c\u4e00\u6d4b\u91cf\u6761\u4ef6\u4e0b\u7684\u5bf9\u6bd4\u3002\u7b2c\u4e09\u65b9\u7efc\u8ff0\u7ed9\u51fa\u540c\u53e3\u5f84\u7684\u539f\u59cb\u6570\u5b57&#xff1a;Laya \u57fa\u7840\u68c0\u67e5\u70b9\u539f\u59cb ECE 0.213&#xff0c;Jev \u539f\u59cb ECE 0.144&#xff0c;\u7ed3\u8bba\u53cd\u8f6c\u3002\u540c\u4e00\u7ec4\u6570\u636e&#xff0c;\u4e24\u79cd\u53e3\u5f84&#xff0c;\u7ed3\u8bba\u53cd\u8f6c\u2014\u2014\u8fd9\u5c31\u662f&#034;\u6821\u51c6&#034;\u8fd9\u4e2a\u8bcd\u5728\u5546\u54c1\u9875\u4e0a\u7684\u5b9e\u9645\u5904\u5883\u3002<\/li>\n<li>\u4e00\u4e2a\u72ec\u7acb\u9879\u76ee\u5728\u5408\u6210\u9526\u6807\u8d5b\u4efb\u52a1\u4e0a\u5b9e\u6d4b\u00a0jev-1.13.0&#xff08;31 \u573a\u6bd4\u8d5b&#xff0c;\u81ea\u62a5&#xff09;&#xff1a;ECE 0.197&#xff0c;\u4e14\u660e\u786e\u6807\u6ce8&#034;\u8fc7\u5ea6\u81ea\u4fe1&#xff08;gap &#043;0.174&#xff09;&#034;&#xff0c;Brier \u8fd8\u8f93\u7ed9\u4e86 Elo \u57fa\u7ebf\u3002\u4f5c\u8005\u7684\u6001\u5ea6\u662f&#xff1a;\u6d4b\u51fa\u9519\u8bef\u6821\u51c6&#034;\u662f\u8fd9\u4e2a\u9879\u76ee\u7684\u610f\u4e49\u6240\u5728&#xff0c;\u4e0d\u662f bug&#034;\u3002<\/li>\n<\/ul>\n<p>\u7ade\u4e89\u683c\u5c40\u91cc\u8fd8\u6709\u4e24\u7ec4\u6570\u5b57&#xff0c;\u628a&#034;\u6821\u51c6\u6218\u4e89&#034;\u7684\u5168\u8c8c\u8865\u5b8c\u3002\u51c6\u786e\u7387\u6218\u573a\u4e0a&#xff0c;\u7ade\u4e89\u65b9\u53e3\u5f84\u4e0b Laya \u5728 typed-decisions&#xff08;0.766 \u5bf9 0.727&#xff09;\u3001AG News&#xff08;0.950 \u5bf9 0.910&#xff09;\u3001\u60c5\u7eea\u5206\u7c7b&#xff08;0.595 \u5bf9 0.480&#xff09;\u4e0a\u9886\u5148&#xff0c;\u800c Jev \u5728\u9ad8\u57fa\u6570\u4efb\u52a1 Banking77 \u4e0a\u4ee5 0.870 \u5bf9 0.425 \u78be\u538b\u2014\u2014\u9009\u9879\u4e00\u591a&#xff0c;encoder \u5f0f\u67b6\u6784\u7684\u6253\u5206\u5934\u5c31\u529b\u4e0d\u4ece\u5fc3\u3002\u80fd\u529b\u8fb9\u754c\u4e0a&#xff0c;Laya \u5b98\u65b9\u5766\u627f\u5176\u57fa\u7840\u68c0\u67e5\u70b9\u96f6\u6837\u672c&#034;\u63a5\u8fd1\u968f\u673a&#034;&#xff08;0.362&#xff0c;\u4f4e\u4e8e\u591a\u6570\u7c7b\u57fa\u7ebf 0.461&#xff09;&#xff0c;\u80fd\u529b\u6765\u81ea\u5fae\u8c03\u800c\u975e\u5e95\u5ea7\u3002\u8fd9\u4e9b\u4e92\u6709\u80dc\u8d1f\u7684\u6570\u5b57\u63d0\u9192\u8bfb\u8005&#xff1a;\u6240\u6709\u5bf9\u6bd4\u8868\u90fd\u662f\u67d0\u4e00\u65b9\u5728\u81ea\u5df1\u9009\u7684\u5730\u5f62\u4e0a\u6253\u7684\u4ed7\u3002<\/p>\n<p>\u6700\u7cbe\u5de7\u7684\u6280\u672f\u56de\u5e94\u6765\u81ea Verdict 2.0&#xff08;\u4f5c\u8005\u81ea\u62a5&#xff0c;\u672a\u83b7\u4efb\u4f55\u72ec\u7acb\u9a8c\u8bc1&#xff0c;\u6b64\u5904\u4ec5\u4f5c\u65b9\u5411\u6027\u53c2\u8003&#xff09;&#xff1a;\u5b83\u628a\u6982\u7387\u62c6\u6210\u4e24\u4e2a\u901a\u9053\u2014\u2014\u5206\u5e03\u5934\u53bb\u62df\u5408\u4eba\u7c7b\u4e13\u5bb6\u9762\u677f\u7684\u8f6f\u6807\u7b7e&#xff08;Brier 0.0636&#xff09;&#xff0c;\u53e6\u8bad\u4e00\u4e2a\u7f6e\u4fe1\u5934\u4e13\u95e8\u9884\u6d4b&#034;\u8fd9\u6b21\u5bf9\u4e0d\u5bf9&#034;&#xff08;ECE 0.0144&#xff0c;AUROC 0.7664&#xff09;\u3002\u8fd9\u5b9e\u9645\u4e0a\u627f\u8ba4\u4e86&#034;\u8f6f\u5206\u5e03\u5339\u914d&#034;\u548c&#034;\u4e8c\u503c\u6b63\u786e\u7387\u6821\u51c6&#034;\u5728\u6570\u5b66\u4e0a\u4e92\u76f8\u51b2\u7a81&#xff1a;\u4e00\u4e2a\u6a21\u578b\u6ca1\u6cd5\u540c\u65f6\u6700\u4f18\u5730\u670d\u52a1\u4e24\u79cd\u8bed\u4e49\u3002\u628a\u4e24\u79cd\u8bed\u4e49\u62c6\u5f00\u5356&#xff0c;\u5927\u6982\u7387\u662f\u8fd9\u7c7b\u4ea7\u54c1\u4e0b\u4e00\u6b65\u7684\u6807\u51c6\u505a\u6cd5\u2014\u2014Jev \u7684\u5355\u901a\u9053\u7f6e\u4fe1\u5ea6\u5c4a\u65f6\u4f1a\u663e\u5f97\u7b80\u964b\u3002<\/p>\n<p>\u66f4\u6df1\u4e00\u5c42\u7684\u95ee\u9898&#xff1a;\u6821\u51c6\u662f\u5206\u5e03\u5185\u6027\u8d28\u3002ECE \u5728&#034;\u548c\u6821\u51c6\u96c6\u540c\u5206\u5e03\u7684\u6570\u636e&#034;\u4e0a\u6d4b\u91cf\u624d\u6709\u610f\u4e49&#xff1b;\u4e1a\u52a1\u4e00\u6f02\u79fb&#xff0c;softmax \u7684\u51e0\u4f55\u88ab\u62c9\u4f38&#xff0c;\u6628\u5929\u7684 0.85 \u9608\u503c\u4eca\u5929\u53ef\u80fd\u610f\u5473\u7740 0.6 \u7684\u5b9e\u9645\u547d\u4e2d\u7387\u3002\u8fd9\u4e0d\u662f Jev \u7684\u7f3a\u9677&#xff0c;\u662f\u6240\u6709\u5224\u522b\u5f0f\u6a21\u578b\u7684\u6570\u5b66\u5bbf\u547d\u3002<\/p>\n<p>\u653e\u8fdb\u5b66\u672f\u5750\u6807\u7cfb&#xff0c;\u8fd9\u91cc\u6709\u4e24\u68f5\u8001\u6811\u3002<\/p>\n<p>Selective prediction&#xff08;El-Yaniv \u4e00\u8109&#xff0c;2010 \u5e74\u8d77&#xff09;\u7814\u7a76\u7684\u6838\u5fc3\u5bf9\u8c61\u5c31\u662f&#034;\u62d2\u5224\u7387\u2014\u98ce\u9669&#034;\u66f2\u7ebf&#xff1a;\u5206\u7c7b\u5668\u53ef\u4ee5\u62d2\u7b54&#xff0c;\u6362\u53d6\u88ab\u63a5\u53d7\u6837\u672c\u4e0a\u7684\u9519\u8bef\u7387\u4e0b\u964d&#xff0c;\u66f2\u7ebf\u4e4b\u4e0b\u7684\u9762\u79ef\u523b\u753b\u7684\u662f\u4e00\u4e2a\u6a21\u578b\u7684&#034;\u53ef\u81ea\u52a8\u5316\u7a0b\u5ea6&#034;\u3002\u8fd9\u6761\u7ebf\u7684\u73b0\u4ee3\u542b\u4e49\u662f&#xff1a;\u4e00\u4e2a\u6c38\u8fdc\u7ed9\u51fa\u7b54\u6848\u7684\u6a21\u578b&#xff0c;\u548c\u4e00\u4e2a\u77e5\u9053\u81ea\u5df1\u4f55\u65f6\u8be5\u95ed\u5634\u7684\u6a21\u578b&#xff0c;\u5728\u81ea\u52a8\u5316\u5750\u6807\u7cfb\u91cc\u662f\u4e24\u79cd\u4e1c\u897f\u2014\u2014Jev \u7684\u7f6e\u4fe1\u5ea6\u52a0\u4ee3\u7801\u9608\u503c&#xff0c;\u672c\u8d28\u5c31\u662f\u628a\u8fd9\u6761\u66f2\u7ebf\u505a\u6210\u4e86 API&#xff0c;\u5b98\u65b9\u535a\u5ba2\u91cc&#034;always communicates confidence and uncertainty with every output&#034;\u7ffb\u8bd1\u6210\u5b66\u672f\u8bed\u8a00&#xff0c;\u5c31\u662f&#034;\u66b4\u9732\u4e86\u9009\u62e9\u6027\u9884\u6d4b\u7684\u63a5\u53e3&#034;\u3002\u4f46\u5b83\u7ed9\u51fa\u7684\u662f\u66f2\u7ebf&#xff0c;\u4e0d\u662f\u8bc1\u660e&#xff1a;\u9608\u503c\u8c03\u5230\u591a\u5c11\u3001\u66f2\u7ebf\u5728\u4f60\u7684\u5206\u5e03\u4e0a\u957f\u4ec0\u4e48\u6837&#xff0c;\u662f\u8c03\u7528\u65b9\u7684\u8d23\u4efb&#xff0c;\u4e0d\u662f API \u7684\u627f\u8bfa\u3002<\/p>\n<p>Conformal prediction\u00a0\u662f\u53e6\u4e00\u6761\u8def&#xff1a;\u4e0d\u5047\u8bbe\u6a21\u578b\u6821\u51c6&#xff0c;\u53ea\u5728&#034;\u6570\u636e\u53ef\u4ea4\u6362&#034;\u7684\u5f31\u5047\u8bbe\u4e0b&#xff0c;\u7528\u6821\u51c6\u96c6\u7684\u5206\u4f4d\u6570\u6784\u9020\u9884\u6d4b\u96c6\u5408&#xff0c;\u7ed9\u51fa coverage \u7684\u6709\u9650\u6837\u672c\u4fdd\u8bc1\u3002\u673a\u5668\u4eba\u754c\u7684\u00a0KnowNo&#xff08;Ren et al., CoRL 2023&#xff09;\u662f\u8fd9\u6761\u8def\u5728 embodied \u573a\u666f\u7684\u8303\u672c&#xff1a;LLM planner \u5bf9\u5019\u9009\u52a8\u4f5c\u7ed9\u5206&#xff0c;conformal \u91cf\u5316\u51fa\u4e00\u4e2a\u9884\u6d4b\u96c6\u5408&#xff0c;\u96c6\u5408\u4e0d\u552f\u4e00\u5c31\u5411\u4eba\u6c42\u52a9&#xff0c;\u5728\u4fdd\u8bc1\u4efb\u52a1\u6210\u529f\u7387\u7684\u524d\u63d0\u4e0b\u628a\u4eba\u5de5\u6c42\u52a9\u91cf\u964d\u4f4e\u4e86 10\u201324%&#xff0c;\u5e76\u4e0a\u4e86\u771f UR5 \u673a\u68b0\u81c2\u3002\u5bf9\u7167\u4e4b\u4e0b&#xff0c;KnowNo \u4e0e Jev \u7684\u5bf9\u5e94\u5173\u7cfb\u6709\u591a\u6574\u9f50&#xff1a;\u591a\u9009\u5e27\u5bf9\u5e94\u58f0\u660e\u7684\u7b54\u6848\u7a7a\u95f4&#xff0c;\u9884\u6d4b\u96c6\u5bf9\u5e94&#034;\u8bc1\u636e\u4e0d\u8db3&#034;\u7684\u62d2\u7b54&#xff0c;\u4eba\u5de5\u6c42\u52a9\u5bf9\u5e94\u4ee3\u7801\u515c\u5e95\u2014\u2014\u53ea\u662f KnowNo \u591a\u4e86\u4e00\u6837\u4e1c\u897f&#xff1a;\u4e00\u4e2a\u5173\u4e8e\u6210\u529f\u7387\u7684\u5b9a\u7406\u3002<\/p>\n<p>\u8fd9\u5c31\u662f\u5224\u65ad\u6a21\u578b\u7c7b\u4ea7\u54c1\u4e0e\u5b66\u672f\u4f20\u7edf\u4e4b\u95f4\u771f\u5b9e\u7684\u8ddd\u79bb&#xff1a;\u523b\u5ea6\u76d8\u5df2\u7ecf\u6709\u4e86&#xff0c;\u4fdd\u8bc1\u4e66\u8fd8\u5dee\u4e00\u5c42\u5171\u5f62\u9884\u6d4b\u5305\u88c5\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"MakerMods Metal \u673a\u68b0\u81c2\u5728 MuJoCo \u4e2d\u6267\u884c &quot;Put the soup can in the yellow bin&quot;\uff1a\u5de6\u4fa7\u4e3a\u7ed3\u6784\u5316\u72b6\u6001\u4e0e\u610f\u56fe\u6982\u7387\uff0c\u53f3\u4fa7\u4e3a\u51b3\u7b56\u8ffd\u8e2a\u9762\u677f\uff08hover_over_object 92%\uff0cAPI \u5ef6\u8fdf 165ms\uff0c\u81ea\u62a5\uff09\u3002\uff08\u56fe\u6e90\uff1aIsaac Sin \u9879\u76ee\u5f52\u6863\u622a\u56fe\uff0c\u7ecf awesome-jev \u6536\u5f55\uff0c\u81ea\u62a5\u4eff\u771f\uff09\" height=\"360\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260925022510-6ab5db8664938.jpg\" width=\"640\" \/><\/p>\n<p>\u4e00\u53e5\u8bdd\u6536\u675f\u672c\u5e55&#xff1a;Jev \u628a&#034;\u4f55\u65f6\u8be5\u8bf4\u4e0d\u77e5\u9053&#034;\u8fd9\u4e2a\u5b66\u672f\u8001\u95ee\u9898\u5de5\u7a0b\u5316\u4e86&#xff0c;\u4f46\u5de5\u7a0b\u5316\u4e0d\u7b49\u4e8e\u89e3\u51b3\u2014\u2014\u5b83\u7ed9\u4e86\u4f60\u523b\u5ea6\u76d8&#xff0c;\u6ca1\u7ed9\u4f60\u4fdd\u8bc1\u4e66\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"743\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260925022510-6ab5db868c3d7.png\" width=\"411\" \/><\/p>\n<p>\u56fe\u2461&#xff1a;\u6821\u51c6\u7684\u5206\u5e03\u5185\u6027\u8d28\u4e0e\u6f02\u79fb\u5931\u6548\u3002<\/p>\n<h3>\u7b2c\u4e09\u5e55&#xff1a;\u8bef\u5dee\u7ed3\u6784\u2014\u2014\u9519\u4e86\u4f1a\u600e\u6837<\/h3>\n<h4>\u8bef\u5dee\u7684\u53ef\u6d88\u8d39\u6027&#xff0c;\u53d6\u51b3\u4e8e\u662f\u5426\u590d\u5408<\/h4>\n<p>\u73b0\u5728\u56de\u7b54\u6700\u5c16\u9510\u7684\u4e00\u95ee&#xff1a;\u5224\u65ad\u6a21\u578b\u9519\u4e86\u4f1a\u600e\u6837&#xff1f;\u7b54\u6848\u4e0d\u5728\u6a21\u578b\u91cc&#xff0c;\u5728\u56de\u8def\u7ed3\u6784\u91cc\u3002\u5148\u7b97\u4e00\u7b14\u590d\u5408\u8d26&#xff1a;<\/p>\n<p>\u4e00\u6761\u6bcf\u6b65\u6210\u529f\u7387 99% \u7684\u56de\u8def&#xff0c;\u4ee5 20Hz \u8dd1\u5341\u79d2&#xff0c;\u5373 200 \u6b65&#xff0c;\u7d2f\u8ba1\u6210\u529f\u7387\u662f 0.99 \u7684 200 \u6b21\u65b9\u2014\u2014\u7ea6 13%\u3002\u8981\u8ba9\u5341\u79d2\u540e\u8fd8\u5269 87%&#xff0c;\u5355\u6b65\u6210\u529f\u7387\u5f97\u8fbe\u5230 0.9993\u3002\u8fd9\u5c31\u662f\u590d\u5408\u8bef\u5dee\u7684\u94c1\u5f8b&#xff1a;\u5c40\u90e8\u7684\u9ad8\u53ef\u9760&#xff0c;\u5728\u4e32\u884c\u56de\u8def\u91cc\u6307\u6570\u84b8\u53d1\u3002<\/p>\n<p>\u800c Jev \u7684\u7528\u4f8b\u6070\u597d\u662f\u8bef\u5dee\u4e0d\u590d\u5408\u7684\u90a3\u7c7b&#xff1a;\u6bcf\u4e00\u6b21\u5224\u65ad\u90fd\u6709\u72b6\u6001\u53cd\u9988\u515c\u5e95\u2014\u2014\u9009\u9519\u6280\u80fd&#xff0c;\u4e0b\u4e00\u6b65\u7684\u72b6\u6001\u4f1a\u4e0d\u540c&#xff0c;\u5224\u65ad\u53ef\u4ee5\u91cd\u6765&#xff1b;\u9009\u9519\u5206\u652f&#xff0c;\u5b9d\u53ef\u68a6\u7684\u6218\u6597\u56de\u5408\u4f1a\u7ed9\u51fa\u65b0\u7684 RAM \u4e8b\u5b9e\u3002\u8bef\u5dee\u88ab\u5438\u6536\u5728\u56de\u8def\u7684\u53cd\u9988\u91cc&#xff0c;\u800c\u4e0d\u662f\u6cbf\u7740\u8f68\u8ff9\u7d2f\u79ef\u3002\u8fd9\u662f\u7528\u4f8b\u7b5b\u9009\u7684\u7ed3\u679c&#xff0c;\u4e0d\u662f\u666e\u9002\u80fd\u529b\u3002<\/p>\n<p>\u8fd9\u91cc\u8981\u5835\u4f4f\u4e00\u4e2a\u5bb9\u6613\u6df7\u6dc6\u7684\u8ffd\u95ee&#xff1a;jev-drone \u7684\u8d2a\u5fc3\u57fa\u7ebf\u4e5f\u8fd0\u884c\u5728\u540c\u6837\u7684\u72b6\u6001\u53cd\u9988\u91cc&#xff0c;\u4e3a\u4ec0\u4e48\u5b83\u7684\u5931\u8d25\u50cf\u590d\u5408\u8bef\u5dee&#xff0c;\u800c\u5224\u65ad\u5c42\u7684\u8bef\u5dee\u4e0d\u50cf&#xff1f;\u533a\u522b\u5728\u4e8e\u9519\u8bef\u7684\u6027\u8d28\u3002\u590d\u5408\u516c\u5f0f\u7ba1\u7684\u662f\u9ad8\u9891\u56de\u8def\u4e0a\u7684\u5355\u70b9\u5931\u8d25\u6cbf\u7740\u7269\u7406\u8f68\u8ff9\u7d2f\u79ef&#xff1b;\u5224\u65ad\u5c42\u7684\u9519\u8bef\u662f\u4f4e\u9891\u7684\u51b3\u7b56\u9519\u8bef&#xff0c;\u4e14\u6bcf\u5e27\u90fd\u80fd\u91cd\u9009&#xff0c;\u5355\u70b9\u9519\u8bef\u81f3\u591a\u635f\u5931\u4e00\u62cd\u3002\u57fa\u7ebf\u7684\u5931\u8d25\u4e0d\u662f\u968f\u673a\u8bef\u5dee\u7684\u7d2f\u79ef&#xff0c;\u800c\u662f\u7cfb\u7edf\u6027\u8bed\u4e49\u76f2\u533a\u2014\u2014\u5b83\u6ca1\u6709&#034;\u91cd\u65b0\u9009\u62e9&#034;\u8fd9\u4e2a\u673a\u5236&#xff0c;\u6bcf\u4e00\u5e27\u90fd\u5728\u5fe0\u5b9e\u5730\u91cd\u590d\u540c\u4e00\u4e2a\u9519\u8bef\u7b56\u7565&#xff0c;\u4e09\u6b21\u8fd0\u884c\u6574\u9f50\u5730\u505c\u5728\u540c\u4e00\u5750\u6807\u3002\u6362\u8a00\u4e4b&#xff1a;\u662f\u5426\u53ef\u6062\u590d&#xff0c;\u53d6\u51b3\u4e8e\u9519\u8bef\u8fdb\u5165\u7684\u662f\u4e00\u6761\u53ea\u80fd\u524d\u5411\u6267\u884c\u7684\u7269\u7406\u94fe&#xff0c;\u8fd8\u662f\u4e00\u4e2a\u6bcf\u5e27\u91cd\u65b0\u5f00\u76d8\u7684\u51b3\u7b56\u70b9\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"703\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260925022510-6ab5db86aa3e6.png\" width=\"1001\" \/><\/p>\n<p>\u56fe\u2462&#xff1a;\u67f1 &#061; \u5355\u6b65 99% \u4e14\u9010\u6b65\u590d\u5408\u7684\u56de\u8def&#xff08;200 \u6b65\u5373\u5341\u79d2\u65f6\u53ea\u5269\u7ea6 13%&#xff09;&#xff1b;\u7ebf &#061; \u5355\u53d1\u5224\u65ad\u3001\u8bef\u5dee\u4e0d\u590d\u5408&#xff08;\u6bcf\u6b21\u5224\u65ad\u72ec\u7acb\u63a5\u53d7\u72b6\u6001\u53cd\u9988\u6821\u9a8c&#xff09;\u3002\u6a2a\u8f74\u4e3a\u6b65\u6570\u3002<\/p>\n<h4>\u4e09\u524d\u63d0\u5b9a\u7406<\/h4>\n<p>\u4e3a\u4ec0\u4e48\u8fd9\u4e9b\u9879\u76ee\u7684\u8bef\u5dee\u4e0d\u590d\u5408&#xff1f;\u62c6\u5f00\u770b&#xff0c;\u5b83\u4eec\u5168\u90e8\u6ee1\u8db3\u4e09\u4e2a\u524d\u63d0&#xff1a;<\/p>\n<li>\u611f\u77e5\u5df2\u88ab\u538b\u7f29\u6210\u7ed3\u6784\u5316\u72b6\u6001\u2014\u2014Jev \u6536\u5230\u7684\u662f xyz \u5750\u6807\u3001\u5e03\u5c14\u91cf\u3001\u5019\u9009\u6e05\u5355&#xff0c;\u4e0d\u662f\u539f\u59cb\u50cf\u7d20&#xff1b;\u611f\u77e5\u8bef\u5dee\u5728\u8fdb\u5165\u5224\u65ad\u4e4b\u524d\u5df2\u88ab\u4ee3\u7801\u6216 VLM \u5b9a\u578b&#xff1b;<\/li>\n<li>\u6280\u80fd\u5e93\u5df2\u786c\u7f16\u7801\u2014\u2014\u5019\u9009\u96c6\u5408\u662f 10\u201330 \u4e2a\u4e92\u65a5\u3001\u53ef\u9a8c\u8bc1\u3001\u53ef\u7531\u786e\u5b9a\u6027\u4ee3\u7801\u6267\u884c\u7684\u539f\u8bed&#xff1b;\u6a21\u578b\u9009\u62e9\u7684\u540e\u679c\u6709\u754c&#xff1b;<\/li>\n<li>\u5b89\u5168\u56de\u8def\u5728\u786e\u5b9a\u6027\u4ee3\u7801\u91cc\u2014\u2014\u59ff\u6001\u7a33\u5b9a\u3001\u529b\u77e9\u9650\u5236\u3001\u6025\u505c&#xff0c;\u5168\u90e8\u4e0d\u7ecf\u7f51\u7edc\u3001\u4e0d\u7ecf\u6a21\u578b\u3002<\/li>\n<p>&#034;\u7f3a\u4e00\u4e0d\u8fdb\u56de\u8def&#034;\u662f\u4fee\u8f9e&#xff0c;\u51c6\u786e\u7684\u8bf4\u6cd5\u662f&#xff1a;\u7f3a\u4e00&#xff0c;\u56de\u8def\u7684\u98ce\u9669\u7ed3\u6784\u8d28\u53d8\u3002\u8fd9\u6761&#034;\u5b9a\u7406&#034;\u4e0d\u662f\u6570\u5b66\u5b9a\u7406&#xff0c;\u662f\u5de5\u7a0b\u6392\u4ed6\u5f8b&#xff1a;\u7f3a\u4e86\u7b2c\u4e00\u6761&#xff0c;\u5224\u65ad\u5728\u566a\u58f0\u4e0a\u62cd\u8111\u888b&#xff1b;\u7f3a\u4e86\u7b2c\u4e8c\u6761&#xff0c;\u9519\u8bef\u9009\u9879\u672c\u8eab\u4e0d\u53ef\u6267\u884c\u6216\u4e0d\u53ef\u63a7&#xff1b;\u7f3a\u4e86\u7b2c\u4e09\u6761&#xff0c;\u4efb\u4f55\u5355\u70b9\u9519\u8bef\u76f4\u63a5\u53d8\u6210\u7269\u7406\u4e8b\u4ef6\u3002\u4e09\u6761\u9f50\u5907\u65f6\u8bef\u5dee\u53ea\u662f\u53ef\u6062\u590d\u7684\u5224\u65ad\u9519\u8bef&#xff1b;\u7f3a\u4e00\u6761&#xff0c;\u5b83\u5c31\u53d8\u6210\u9700\u8981\u81ea\u5df1\u80cc\u4e66\u7684\u7cfb\u7edf\u98ce\u9669\u3002<\/p>\n<p>\u8fd9\u91cc\u5fc5\u987b\u660e\u786e\u6392\u9664\u4e00\u4e2a\u5e38\u88ab\u6df7\u6dc6\u7684\u5bf9\u8c61&#xff1a;PID\u3002PID \u6709\u7a33\u5b9a\u6027\u4fdd\u8bc1\u3001\u8dd1\u5728 kHz\u3001\u4e0d\u4f9d\u8d56\u7f51\u7edc\u2014\u2014\u5b83\u662f Jev \u4e0b\u65b9\u7684\u5c42&#xff0c;\u4e0d\u662f\u88ab Jev \u66ff\u4ee3\u7684\u5c42\u3002\u5224\u65ad\u6a21\u578b\u5750\u5728\u5b83\u4e0a\u9762&#xff0c;\u50cf\u98de\u884c\u5458\u5750\u5728\u98de\u63a7\u4e0a\u9762&#xff1a;\u81ea\u52a8\u9a7e\u9a76\u4eea\u4e0d\u53d6\u6d88\u98de\u63a7&#xff0c;\u5224\u65ad\u6a21\u578b\u4e5f\u4e0d\u53d6\u6d88 PID\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"744\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260925022510-6ab5db86e61aa.png\" width=\"628\" \/><\/p>\n<p>\u56fe\u2463&#xff1a;\u56db\u5c42\u4e0b\u653e\u6846\u67b6\u3002\u8d8a\u5f80\u4e0a&#xff0c;\u9891\u7387\u8d8a\u4f4e\u3001\u62bd\u8c61\u8d8a\u9ad8\u3001\u8bef\u5dee\u8d8a\u4e0d\u76f4\u63a5\u53d8\u6210\u7269\u7406\u540e\u679c\u3002<\/p>\n<h4>\u751f\u6001\u5b9e\u8bc1&#xff0c;\u4e0e\u4e00\u6bb5\u51b7\u6c34<\/h4>\n<p>\u751f\u6001\u9879\u76ee\u51e0\u4e4e\u6309\u56fe\u7d22\u9aa5&#xff1a;<\/p>\n<ul>\n<li>jev-askable-arm&#xff08;\u81ea\u62a5\u4eff\u771f&#xff09;&#xff1a;ManiSkill \u91cc\u7684 Franka Panda&#xff0c;\u7ea6 30 \u4e2a\u4e92\u65a5\u57fa\u5143&#xff0c;Jev \u6bcf\u6b65\u9009\u4e00\u4e2a\u3001PD \u6267\u884c\u5668\u9a71\u52a8\u00a0pd_ee_delta_pos\u00a0\u6267\u884c&#xff0c;\u7ea6 1 \u79d2\u4e00\u6b21\u9009\u62e9\u3002README \u91cc\u90a3\u53e5&#034;Jev never outputs torques or a trajectory&#034;\u662f\u4e09\u524d\u63d0\u5b9a\u7406\u7684\u767d\u8bdd\u7248\u3002<\/li>\n<li>quackd&#xff08;\u81ea\u62a5&#xff09;&#xff1a;\u4e00\u4e2a\u7ed9\u771f\u5b9e\u673a\u5668\u4eba\u7528\u7684 CLI&#xff0c;LLM \u5f53\u98de\u884c\u5458&#xff0c;Jev \u662f\u53ef\u9009\u8d2d\u6b65\u5668&#xff08;&#8211;jev off\u00a0\u4e3a\u9ed8\u8ba4&#xff0c;shadow \u6a21\u5f0f\u53ea\u8bb0\u5f55\u4e0d\u5e72\u9884&#xff09;\u2014\u2014\u5b83\u53ea\u56de\u7b54&#034;\u5728\u673a\u5668\u4eba\u5df2\u58f0\u660e\u6280\u80fd\u4e2d\u9009\u62e9&#034;\u8fd9\u4e00\u7c7b\u8f6e\u6b21&#xff0c;README \u91cc\u7684\u6bd4\u55bb&#xff08;\u610f\u8bd1&#xff09;&#xff1a;\u5b83\u5199\u51fa\u5173\u8282\u89d2\u7684\u53ef\u80fd\u6027&#xff0c;\u4e0d\u4f1a\u6bd4\u4e00\u652f\u6e29\u5ea6\u8ba1\u66f4\u9ad8\u3002\u5b83\u7684\u4ed3\u5e93\u521b\u5efa\u4e8e 8 \u6708 28 \u65e5&#xff0c;\u6bd4 Jev \u53d1\u5e03\u65e9\u4e5d\u5929\u2014\u2014\u8fd9\u4e2a\u673a\u5668\u4eba CLI \u672c\u6765\u5c31\u5b58\u5728&#xff0c;Jev \u4e0a\u7ebf\u540e\u4e00\u5468\u5185&#xff0c;\u4f5c\u8005\u4e3b\u52a8\u7ed9\u5b83\u88c5\u4e0a\u4e86\u53ef\u9009\u7684\u5224\u65ad\u6b65\u5668\u3002<\/li>\n<li>\u300a\u6211\u7684\u4e16\u754c\u300b\u667a\u80fd\u4f53&#xff08;\u81ea\u62a5\u4eff\u771f&#xff09;&#xff1a;\u524d\u6cbf\u6a21\u578b\u8d1f\u8d23\u89c4\u5212&#xff0c;Jev \u8d1f\u8d23\u9009\u62e9\u6bcf\u4e00\u4e2a\u73a9\u5bb6\u52a8\u4f5c&#xff0c;131 \u6b21 Jev \u51b3\u7b56\u5bf9 35 \u6b21\u89c4\u5212\u8c03\u7528\u2014\u2014\u7ea6 3.7:1 \u7684\u914d\u6bd4\u662f\u5c42\u7ea7\u67b6\u6784\u4f18\u4e8e\u5355\u4f53\u6a21\u578b\u7684\u76f4\u63a5\u8bc1\u636e&#xff1a;\u4fbf\u5b9c\u7684\u5224\u65ad\u505a\u9ad8\u9891\u9009\u62e9&#xff0c;\u8d35\u7684\u63a8\u7406\u505a\u4f4e\u9891\u89c4\u5212\u3002<\/li>\n<li>RoboJEV&#xff08;\u81ea\u62a5\u4eff\u771f&#xff09;&#xff1a;Franka Panda \u6293\u53d6\/\u63a8\/\u5806\u53e0&#xff0c;\u6bcf\u6b21\u51b3\u7b56\u91cd\u53d1\u6574\u4e2a\u573a\u666f JSON&#xff0c;\u5b8c\u6210\u4e00\u4e2a\u4efb\u52a1\u82b1\u4e86 244 \u6b21\u8bf7\u6c42\u2014\u2014\u8fd9\u4e2a\u6570\u5b57\u672c\u8eab\u5c31\u662f\u4e91\u7aef\u8def\u7ebf\u7684\u9690\u6027\u6210\u672c&#xff1a;\u72b6\u6001\u4e0d\u7f13\u5b58\u3001\u8f68\u8ff9\u4e0d\u590d\u7528&#xff0c;\u8c03\u7528\u91cf\u968f\u4efb\u52a1\u957f\u5ea6\u7ebf\u6027\u81a8\u80c0\u3002<\/li>\n<li>EmbodiedJev&#xff08;\u81ea\u62a5\u4eff\u771f&#xff0c;\u5b9e\u6d4b\u8bc4\u6d4b&#xff09;&#xff1a;MuJoCo \u5de5\u4f5c\u53f0\u628a\u6bcf\u4e2a\u673a\u5668\u4eba\u6b65\u9aa4\u505a\u6210\u53ef\u89c1\u7684 Jev \u51b3\u7b56&#xff0c;\u6709\u7b2c\u4e09\u65b9\u8bc4\u6d4b\u8bb0\u5f55\u5230\u4e00\u6b21 gate \u4e2d\u9014\u89e6\u53d1\u2014\u2014\u4e24\u4e2a\u9009\u9879\u505c\u5728 0.54 \u548c 0.44&#xff0c;\u673a\u68b0\u81c2\u505c\u4e0b\u7b49\u4eba&#xff0c;\u800c\u4e0d\u662f\u731c\u3002\u8bc4\u6d4b\u8005\u628a\u8fd9\u5217\u4e3a&#034;\u65e0\u4eba\u503c\u5b88\u9700\u8981\u523b\u610f\u8c03\u9608\u503c&#034;\u7684\u6ce8\u610f\u4e8b\u9879&#xff0c;\u4f46\u4ece\u8bef\u5dee\u7ed3\u6784\u770b&#xff0c;\u8fd9\u6b63\u662f\u8bbe\u8ba1\u76ee\u6807&#xff1a;\u56de\u8def\u7684\u6700\u540e\u4e00\u9053\u95f8\u5728\u4ee3\u7801\u91cc&#xff0c;\u7531\u6982\u7387\u9a71\u52a8\u3002<\/li>\n<li>jev-libero&#xff08;\u81ea\u62a5\u4eff\u771f&#xff09;&#xff1a;\u6bcf\u4e2a\u5019\u9009\u52a8\u4f5c\u5148\u5728\u7269\u7406\u5f15\u64ce\u7684\u53ef\u9006\u5206\u652f\u91cc\u9884\u6f14&#xff0c;\u518d\u95ee Jev \u9009\u2014\u2014&#034;\u5148\u9884\u89c8\u3001\u540e\u9009\u62e9&#034;\u628a\u6280\u80fd\u7684\u6267\u884c\u540e\u679c\u4e5f\u53d8\u6210\u4e86\u786e\u5b9a\u6027\u77e5\u8bc6&#xff0c;\u662f\u4e09\u524d\u63d0\u5b9a\u7406\u7684\u5f3a\u5316\u7248&#xff1a;\u4e0d\u53ea\u5019\u9009\u88ab\u786c\u7f16\u7801&#xff0c;\u8fde\u5019\u9009\u7684\u7269\u7406\u540e\u679c\u90fd\u88ab\u4ee3\u7801\u7a77\u4e3e\u8fc7\u3002<\/li>\n<\/ul>\n<p>\u6cfc\u51b7\u6c34\u6bb5\u843d&#xff0c;\u96c6\u4e2d\u4ea4\u4ee3\u4e00\u6b21&#xff1a;\u4ee5\u4e0a\u9879\u76ee\u5168\u90e8\u81ea\u62a5\u3001\u5168\u90e8\u4eff\u771f\u3001\u65e0\u771f\u5b9e\u786c\u4ef6\u95ed\u73af&#xff1b;\u90e8\u5206\u9879\u76ee\u7684&#034;\u6210\u529f\u7387&#034;\u662f\u5355\u6b21\u79cd\u5b50\u8fd0\u884c\u800c\u975e\u7edf\u8ba1\u7ed3\u8bba&#xff1b;quackd \u9762\u5bf9\u7684\u751a\u81f3\u662f\u771f\u5b9e\u673a\u5668\u4eba&#xff0c;\u4f46 Jev \u8def\u5f84\u5c1a\u672a\u89c1\u5176\u771f\u5b9e\u786c\u4ef6\u8bc4\u6d4b\u3002\u628a\u4eff\u771f\u6210\u7ee9\u5916\u63a8\u5230\u7269\u7406\u4e16\u754c&#xff0c;\u4e2d\u95f4\u9694\u7740\u672c\u5e55\u8bf4\u7684\u90a3\u5835\u5899\u3002<\/p>\n<h4>VLA \u7684\u65e7\u5730\u56fe<\/h4>\n<p>\u673a\u5668\u4eba\u754c\u8d9f\u8fc7\u540c\u4e00\u6761\u8def&#xff0c;\u800c\u4e14\u7559\u4e0b\u4e86\u66f4\u5b8c\u6574\u7684\u8bb0\u5f55\u3002\u5bf9\u7167\u7740\u770b&#xff0c;Jev \u793e\u533a\u73b0\u5728\u7ecf\u5386\u7684\u6bcf\u4e2a\u9636\u6bb5\u90fd\u6709\u8349\u7a3f&#xff1a;<\/p>\n<table>\n<tbody>\n<tr>\n<p>Jev \u793e\u533a\u6b63\u5728\u7ecf\u5386\u7684<\/p>\n<p>VLA \u754c\u5bf9\u5e94\u7684\u4e00\u9875<\/p>\n<\/tr>\n<tr>\n<td>\n<p>\u5224\u65ad\u6a21\u578b\u63a5\u5165\u63a7\u5236\u56de\u8def<\/p>\n<\/td>\n<td>\n<p>\u5927\u6a21\u578b\u89c4\u5212\u5668 &#043; \u4f4e\u5c42\u7b56\u7565\u7684\u5c42\u7ea7\u67b6\u6784&#xff08;SayCan, 2022&#xff09;<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u52a8\u4f5c\/\u6280\u80fd token \u5316\u3001\u5019\u9009\u96c6\u5408\u58f0\u660e<\/p>\n<\/td>\n<td>\n<p>RT-2 \/ OpenVLA \u7684\u52a8\u4f5c\u79bb\u6563\u5316\u4e0e\u8bcd\u8868\u5316<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u5feb\u6162\u56de\u8def\u5206\u5c42&#xff08;500Hz \u63a7\u5236 \/ 2.5Hz \u5224\u65ad&#xff09;<\/p>\n<\/td>\n<td>\n<p>\u7ecf\u5178\u673a\u5668\u4eba\u5b66\u7684 split-rate \u63a7\u5236\u4e0e\u884c\u4e3a\u6811<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u7f6e\u4fe1\u5ea6\u9608\u503c &#043; \u62d2\u7b54<\/p>\n<\/td>\n<td>\n<p>KnowNo \u7684 conformal \u6c42\u52a9\u4e0e selective prediction<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u4e91\u7aef API \u5148\u8fdb\u56de\u8def\u505a\u6982\u5ff5\u9a8c\u8bc1<\/p>\n<\/td>\n<td>\n<p>VLA \u5148\u5728\u5de5\u4f5c\u7ad9\u63a8\u7406&#xff0c;\u518d\u84b8\u998f\u5c0f\u6a21\u578b\u4e0a\u673a<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5dee\u5f02\u53ea\u6709\u4e00\u5904&#xff0c;\u4f46\u51b3\u5b9a\u4e00\u5207&#xff1a;\u8bef\u5dee\u4ee3\u4ef7\u3002VLA \u7684\u9519\u8bef\u7269\u7406\u590d\u5408\u2014\u2014\u6293\u9519\u4e00\u6b21&#xff0c;\u676f\u5b50\u788e\u4e86&#xff1b;\u6296\u52a8\u5931\u63a7&#xff0c;\u98de\u673a\u649e\u4e86\u2014\u2014\u800c\u4e14\u673a\u5668\u4eba\u6ca1\u6709&#034;\u8f6c\u4eba\u5de5&#034;\u7684\u9000\u8def&#xff0c;\u6c42\u52a9\u672c\u8eab\u5c31\u662f\u4efb\u52a1\u5931\u8d25\u7684\u4e00\u79cd\u3002Jev \u7684\u7528\u4f8b\u8bef\u5dee\u88ab\u53cd\u9988\u5438\u6536\u3001\u88ab\u62d2\u7b54\u62e6\u622a\u3001\u88ab\u4ee3\u7801\u515c\u5e95&#xff0c;\u6240\u4ee5\u5b83\u80fd\u5148\u5356\u6982\u7387\u3001\u540e\u8865\u8bc1\u660e&#xff1b;\u673a\u5668\u4eba\u754c\u5fc5\u987b\u5148\u6709\u8bc1\u660e&#xff0c;\u624d\u5141\u8bb8\u6982\u7387\u8fdb\u5165\u56de\u8def\u3002\u540c\u4e00\u5f20\u5730\u56fe&#xff0c;\u4e0d\u540c\u7684\u884c\u519b\u7eaa\u5f8b\u3002<\/p>\n<p>\u8fd9\u5f20\u5730\u56fe\u5bf9\u4ece\u4e1a\u8005\u8fd8\u6709\u4e00\u4e2a\u53cd\u76f4\u89c9\u7684\u542f\u793a&#xff1a;VLA \u754c\u82b1\u6700\u5927\u529b\u6c14\u653b\u7684\u95ee\u9898\u2014\u2014\u7aef\u5230\u7aef\u3001\u5355\u6a21\u578b\u3001\u5168\u9891\u5e26\u2014\u2014\u6070\u597d\u662f\u5224\u65ad\u6a21\u578b\u8def\u7ebf\u4e0d\u9700\u8981\u653b\u7684\u95ee\u9898\u3002\u5c42\u7ea7\u3001\u89e3\u8026\u3001\u6162\u601d\u8003\u9a91\u5728\u5feb\u63a7\u5236\u4e0a&#xff0c;\u8fd9\u4e9b\u88ab\u67d0\u4e9b\u4eba\u8ba5\u4e3a&#034;\u4e0d\u591f\u7aef\u5230\u7aef&#034;\u7684\u7ed3\u6784&#xff0c;\u6b63\u662f\u5224\u65ad\u6a21\u578b\u4e00\u5468\u5185\u88ab\u63a5\u8fdb\u7269\u7406\u56de\u8def\u7684\u539f\u56e0\u3002\u67b6\u6784\u4e4b\u4e89\u91cc\u6ca1\u6709\u6d01\u7656\u7684\u4f4d\u7f6e&#xff0c;\u53ea\u6709\u8bef\u5dee\u7ed3\u6784\u7684\u8d26\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"MuJoCo \u4e2d Franka \u53cc\u81c2 &quot;Jev, carry the block&quot;\uff1a\u5de6\u4fa7\u4e3a\u8f93\u5165\u72b6\u6001\u4e0e Jev \u610f\u56fe\u6982\u7387\uff08Carry 81%\uff09\uff0c\u53f3\u4fa7\u4e3a\u7535\u673a\u5206\u5e03\u8f93\u51fa\uff08Four motor distributions\uff09\u3002\uff08\u56fe\u6e90\uff1aDmytro Hrybov \u9879\u76ee\u5f52\u6863\u622a\u56fe\uff0c\u7ecf awesome-jev \u6536\u5f55\uff0c\u81ea\u62a5\u4eff\u771f\uff09\" height=\"360\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260925022511-6ab5db87151d6.jpg\" width=\"640\" \/><\/p>\n<h3>\u7b2c\u56db\u5e55&#xff1a;\u8def\u7ebf\u4e4b\u4e89\u2014\u2014\u4e91\u7aef\u63a5\u5165\u4e0e\u8fb9\u7f18\u590d\u73b0<\/h3>\n<p>\u72ec\u7acb\u6210\u5e55&#xff0c;\u56e0\u4e3a\u8fd9\u662f\u4e00\u6761\u5c94\u8def&#xff0c;\u800c\u4e14\u662f\u6240\u6709\u4ece\u4e1a\u8005\u771f\u6b63\u8981\u7ad9\u961f\u7684\u5c94\u8def\u3002<\/p>\n<h4>\u4e91\u7aef\u63a5\u5165\u786c\u4ef6&#xff1a;\u73b0\u72b6\u4e0e\u4e0a\u9650<\/h4>\n<p>\u4e91\u7aef\u8def\u7ebf\u7684\u53ef\u884c\u57df&#xff0c;\u7531\u7b2c\u4e00\u5e55\u7684\u9891\u7387\u9884\u7b97\u4e25\u683c\u5212\u5b9a&#xff1a;\u4eff\u771f &#043; \u6709\u7ebf\u4f4e\u5ef6\u8fdf\u94fe\u8def &#043; \u4e2a\u4f4d\u6570 Hz \u6218\u672f\u5c42\u3002\u5b83\u7684\u4f18\u70b9\u662f\u7ed3\u6784\u6027\u7684&#xff1a;\u6309\u6b21\u8ba1\u8d39\u3001\u96f6\u8fd0\u7ef4\u3001\u6a21\u578b\u9759\u9ed8\u5347\u7ea7&#xff08;jev-latest\u00a0\u522b\u540d\u4f1a\u81ea\u52a8\u6307\u5411\u65b0\u7248\u672c\u2014\u2014\u8fd9\u65e2\u662f\u4fbf\u5229\u4e5f\u662f\u6821\u51c6\u5669\u68a6&#xff1a;\u9608\u503c\u662f\u6309\u65e7\u7248\u672c\u8c03\u7684&#xff09;&#xff0c;\u662f\u6982\u5ff5\u9a8c\u8bc1\u7684\u6700\u77ed\u8def\u5f84\u3002\u4e00\u4e2a\u5468\u672b\u5c31\u80fd\u8ba9\u56db\u65cb\u7ffc\u98de\u8d77\u6765&#xff0c;\u8fd9\u662f\u4e91\u7aef\u8def\u7ebf\u771f\u6b63\u7684\u7ade\u4e89\u529b\u3002<\/p>\n<p>\u5b83\u7684\u4e0a\u9650\u540c\u6837\u7ed3\u6784\u6027\u3002\u7b2c\u4e00\u662f\u8fde\u63a5&#xff1a;\u65e0\u7ebf\u771f\u5b9e\u786c\u4ef6\u51fa\u5c40\u3002\u7b2c\u4e8c\u662f\u6821\u51c6\u7684\u4e0d\u53ef\u590d\u73b0\u6027&#xff1a;\u4f60\u6d4b\u7684\u662f\u670d\u52a1\u65b9\u7684\u6743\u91cd&#xff0c;\u4e0d\u662f\u4f60\u80fd\u56fa\u5b9a\u7684\u6743\u91cd\u2014\u2014\u800c\u00a0jev-latest\u00a0\u8fd9\u4e2a\u522b\u540d\u4f1a\u5728\u4ee3\u7801\u4e0d\u53d8\u7684\u60c5\u51b5\u4e0b\u6084\u6084\u6307\u5411\u65b0\u7248\u672c&#xff0c;\u4f60\u5728\u65e7\u7248\u672c\u4e0a\u8c03\u597d\u7684 0.85 \u9608\u503c&#xff0c;\u53ef\u80fd\u5728\u65b0\u7248\u672c\u4e0a\u610f\u5473\u7740\u5b8c\u5168\u4e0d\u540c\u7684\u5b9e\u9645\u547d\u4e2d\u7387&#xff1b;\u5b98\u65b9\u81ea\u5df1\u7684\u6587\u6863\u5efa\u8bae&#034;\u9608\u503c\u5df2\u6821\u51c6\u5c31\u9489\u6b7b\u7248\u672c\u53f7&#xff08;\u5982\u00a0jev-1.13.0&#xff09;&#034;&#xff0c;\u8fd9\u53e5\u8bdd\u7b49\u4e8e\u627f\u8ba4\u7248\u672c\u6f02\u79fb\u4e0e\u6821\u51c6\u627f\u8bfa\u4e4b\u95f4\u5b58\u5728\u5f20\u529b\u3002\u7b2c\u4e09\u662f\u6210\u672c\u968f\u8c03\u7528\u91cf\u7ebf\u6027\u589e\u957f&#xff1a;jev-drone \u7c7b\u9879\u76ee\u6bcf\u5c0f\u65f6\u6570\u767e\u6b21\u51b3\u7b56\u662f\u96f6\u82b1\u94b1&#xff0c;\u5b9d\u53ef\u68a6\u9879\u76ee\u81ea\u62a5\u7ea6\u6bcf\u5c0f\u65f6 0.14 \u7f8e\u5143&#xff08;\u7ea6 725 token\/\u6b21\u3001\u6bcf\u79d2 1.3 \u6b21\u51b3\u7b56\u7684\u53e3\u5f84&#xff09;&#xff0c;Doom \u6f14\u793a\u90a3\u79cd\u6bcf\u79d2 10 \u6b21\u67e5\u8be2\u5c31\u662f\u6bcf\u5c0f\u65f6\u7ea6 7 \u7f8e\u5143&#xff08;\u5382\u5546\u6f14\u793a\u53e3\u5f84&#xff09;\u2014\u2014\u518d\u5f80\u4e0a\u4e00\u4e2a\u6570\u91cf\u7ea7&#xff0c;\u8d26\u5355\u672c\u8eab\u5c31\u662f\u67b6\u6784\u7ea6\u675f&#xff0c;RoboJEV \u90a3\u4e00\u4e2a\u4efb\u52a1 244 \u6b21\u8bf7\u6c42\u7684\u5f62\u72b6\u5728\u8fd9\u79cd\u8d1f\u8f7d\u4e0b\u4f1a\u8fc5\u901f\u53d8\u5f97\u96be\u770b\u3002<\/p>\n<h4>\u8fb9\u7f18\u590d\u73b0&#xff1a;\u95e8\u69db\u4e0d\u662f\u5927\u5c0f&#xff0c;\u662f\u6821\u51c6\u4e0e\u53ef\u5ba1\u8ba1<\/h4>\n<p>Jev \u95ed\u6e90\u3001\u4e0d\u80fd\u4e0a\u673a&#xff08;\u6ca1\u6709\u673a\u8f7d\u7b97\u529b\u4f1a\u4e3a\u4e00\u4e2a\u6bcf\u6b21\u5f80\u8fd4\u6570\u767e\u6beb\u79d2\u7684\u4e91\u7aef\u4f9d\u8d56\u4e70\u5355&#xff09;\u3002\u4f46\u5b83\u7684\u5f62\u6001\u8db3\u591f\u5c0f&#xff0c;\u5c0f\u5230\u4e00\u4e2a\u5468\u672b\u5c31\u80fd\u590d\u73b0\u2014\u2014\u590d\u73b0\u8005\u4eec\u5df2\u7ecf\u8fbe\u6807&#xff1a;<\/p>\n<ul>\n<li>Laya&#xff08;421M&#xff0c;ModernBERT-large \u9aa8\u5e72&#xff0c;Apache-2.0&#xff09;&#xff1a;T4 \u5355\u9898 32.8ms&#xff0c;\u652f\u6301\u672c\u5730\u4e0e\u79bb\u7ebf\u73af\u5883&#xff1b;\u4f46\u51fa\u5382\u68c0\u67e5\u70b9\u8fc7\u81ea\u4fe1&#xff0c;\u987b\u6309\u95ee\u9898\u7c7b\u578b\u00d7\u9009\u9879\u6570\u505a\u6e29\u5ea6\u91cd\u62df\u5408\u540e\u624d\u8fbe\u5230\u5176\u5ba3\u79f0\u7684 ECE 0.081&#xff1b;\u4e14\u5b98\u65b9\u5766\u627f\u57fa\u7840\u68c0\u67e5\u70b9\u96f6\u6837\u672c\u80fd\u529b&#034;\u63a5\u8fd1\u968f\u673a&#034;&#xff08;0.362&#xff0c;\u4f4e\u4e8e\u591a\u6570\u7c7b\u57fa\u7ebf 0.461&#xff09;&#xff0c;\u80fd\u529b\u6765\u81ea\u5fae\u8c03&#xff1b;<\/li>\n<li>NanoJev&#xff08;0.6B&#xff09;&#xff1a;\u672c\u5730\u51b3\u7b56\u5934&#xff0c;\u53d1\u5e03\u8bad\u7ec3\u4ee3\u7801\u4e0e\u6e38\u620f demo&#xff0c;\u9762\u5411\u6559\u5b66\u4e0e\u9a8c\u8bc1&#xff1b;<\/li>\n<li>Verdict&#xff08;151M&#xff09;&#xff1a;encoder \u67b6\u6784&#xff0c;CPU 35ms\u3001\u6d4f\u89c8\u5668 WebGPU 89ms&#xff0c;\u5e26\u663e\u5f0f\u00a0__insufficient_evidence__\u00a0\u62d2\u7b54\u69fd&#xff1b;\u4f5c\u8005\u540c\u6837\u8bda\u5b9e\u5730\u516c\u5e03\u77ed\u677f\u2014\u2014337 \u4f8b TypeSafe \u516c\u5f00\u57fa\u51c6\u4e0a Verdict \u53ea\u6709 48.1%&#xff0c;\u8fdc\u4f4e\u4e8e Jev \u7684 90.8%&#xff0c;\u539f\u56e0\u662f 151M \u7684 encoder \u6ca1\u6709\u4e16\u754c\u77e5\u8bc6&#xff0c;&#034;\u5bf9\u6d41\u6c34\u7ebf\u91cc\u7ed9\u6602\u8d35\u6a21\u578b\u770b\u95e8\u7684\u5ec9\u4ef7\u6a21\u578b&#xff0c;\u8fd9\u4e2a\u8fb9\u754c\u4ecd\u7136\u53ef\u7528&#034;&#xff1b;<\/li>\n<li>Dohnuts&#xff08;0.8B&#xff09;&#xff1a;\u539f\u751f\u591a\u6a21\u6001&#xff0c;\u56fe\u6587\u5355\u524d\u5411&#xff0c;\u6743\u91cd\u9650\u975e\u5546\u4e1a\u7814\u7a76\u3002<\/li>\n<\/ul>\n<p>\u4e00\u4e2a\u53cd\u590d\u51fa\u73b0\u7684\u6a21\u5f0f&#xff1a;\u4e0a\u673a\u7684\u95e8\u69db\u4e0d\u662f\u6a21\u578b\u5927\u5c0f&#xff0c;\u662f\u6821\u51c6\u8d28\u91cf\u4e0e\u53ef\u5ba1\u8ba1\u6027\u3002Laya \u4e0e Jev \u4e92\u6307\u5bf9\u65b9 ECE \u96be\u770b&#xff08;0.246 \u5bf9 0.081 \u7684\u7ade\u4e89\u65b9\u53e3\u5f84&#xff0c;\u539f\u59cb\u53e3\u5f84\u53c8\u662f 0.144 \u5bf9 0.213 \u7684\u53cd\u8f6c&#xff09;\u2014\u2014\u8fd9\u4e2a\u4e92\u76f8\u77db\u76fe\u7684\u6253\u5206\u6570\u672c\u8eab\u5c31\u662f\u5206\u6c34\u5cad\u6240\u5728&#xff1a;\u6ca1\u6709\u54ea\u4e00\u65b9\u63e1\u6709\u53ef\u4fe1\u7684\u7b2c\u4e09\u65b9\u6821\u51c6\u5ba1\u8ba1&#xff0c;\u800c\u673a\u8f7d\u90e8\u7f72\u6070\u6070\u6700\u9700\u8981\u8fd9\u4e2a\u3002\u5ef6\u8fdf\u65e9\u5df2\u4e0d\u662f\u74f6\u9888&#xff0c;31 \u5b57\u8282\u7684\u7b54\u6848\u548c 30 \u5fae\u79d2\u7684\u63a8\u7406\u90fd\u4e0d\u662f\u95ee\u9898&#xff1b;\u95ee\u9898\u662f&#034;\u7cfb\u7edf\u8bf4\u5b83 92% \u786e\u5b9a\u65f6&#xff0c;\u6211\u8be5\u4e0d\u8be5\u4fe1&#xff0c;\u6211\u62ff\u4ec0\u4e48\u5ba1\u8ba1&#034;\u3002<\/p>\n<p>Verdict \u7684\u6d4f\u89c8\u5668 WebGPU \u6f14\u793a\u5728\u8fd9\u4e2a\u8bed\u5883\u4e0b\u610f\u5473\u6df1\u957f&#xff1a;\u63a8\u7406\u76f4\u63a5\u8dd1\u5728\u4f60\u81ea\u5df1\u7684\u6d4f\u89c8\u5668\u91cc&#xff0c;\u8f93\u5165\u3001\u5019\u9009\u3001\u539f\u59cb\u6982\u7387\u5168\u90e8\u53ef\u89c1&#xff0c;\u8fd8\u80fd\u5bfc\u51fa\u53ef\u9a8c\u8bc1\u7684 JSON \u63a8\u7406\u56de\u6267\u3002\u8fd9\u672a\u5fc5\u662f\u6027\u80fd\u4e0a\u7684\u6700\u4f18\u89e3&#xff0c;\u5374\u662f\u53ef\u5ba1\u8ba1\u6027\u7684\u4e00\u4e2a\u6781\u7aef\u5f62\u6001\u2014\u2014\u5ba1\u8ba1\u7684\u7b2c\u4e00\u6b65\u662f\u8ba9\u6bcf\u4e2a\u51b3\u7b56\u53ef\u56de\u653e\u3001\u53ef\u590d\u7b97\u3002\u5f00\u6e90\u590d\u73b0\u4eec\u5728\u8fd9\u4e00\u70b9\u4e0a\u5bf9\u95ed\u6e90 API \u6784\u6210\u7684\u4e0d\u5bf9\u79f0\u4f18\u52bf&#xff0c;\u6bd4\u4efb\u4f55\u5ef6\u8fdf\u5bf9\u6bd4\u8868\u90fd\u81f4\u547d\u3002<\/p>\n<p>\u4e5f\u522b\u628a\u8fb9\u7f18\u8def\u7ebf\u6d6a\u6f2b\u5316\u3002\u5b83\u7684\u9690\u5f62\u6210\u672c\u5728\u6821\u51c6\u4e4b\u5916&#xff1a;Laya \u8981\u6309\u95ee\u9898\u7c7b\u578b\u00d7\u9009\u9879\u6570\u505a\u6e29\u5ea6\u91cd\u62df\u5408\u624d\u6709\u53ef\u4fe1\u6982\u7387&#xff1b;\u57fa\u7840\u68c0\u67e5\u70b9\u96f6\u6837\u672c\u63a5\u8fd1\u968f\u673a&#xff0c;\u5782\u76f4\u573a\u666f\u5fc5\u987b\u81ea\u5df1\u5fae\u8c03&#xff08;\u5b98\u65b9 Kaggle notebook \u4e00\u8f6e\u7ea6 4\u20135 \u5c0f\u65f6&#xff0c;\u770b\u7740\u4e0d\u8d35&#xff0c;\u4f46\u6570\u636e\u6807\u6ce8\u4e0e\u8bc4\u6d4b\u96c6\u5efa\u8bbe\u624d\u662f\u5927\u5934&#xff09;&#xff1b;Dohnuts \u7684\u6743\u91cd\u9650\u975e\u5546\u7528&#xff1b;Visual-JEV \u4eec\u8fd8\u6ca1\u6709\u4efb\u4f55\u516c\u5f00\u6821\u51c6\u8bc1\u636e\u3002\u4e91\u7aef\u8def\u7ebf\u5356\u7684\u662f\u5373\u63d2\u5373\u7528\u7684\u53ef\u4fe1\u5ea6&#xff0c;\u8fb9\u7f18\u8def\u7ebf\u4e70\u7684\u662f\u81ea\u5df1\u8d1f\u8d23\u7684\u53ef\u4fe1\u5ea6\u2014\u2014\u9009\u54ea\u6761&#xff0c;\u53d6\u51b3\u4e8e\u4f60\u7684\u56e2\u961f\u91cc\u6709\u6ca1\u6709\u4eba\u5bf9\u6821\u51c6\u8d1f\u8d23\u3002<\/p>\n<p>\u7531\u6b64&#xff0c;\u7b2c\u56db\u5e55\u771f\u6b63\u7684\u5206\u754c\u7ebf\u53ef\u4ee5\u6bd4&#034;\u4e91\u7aef vs \u8fb9\u7f18&#034;\u518d\u5f80\u4e0b\u6316\u4e00\u5c42&#xff1a;\u6821\u51c6\u4f18\u5148&#xff0c;\u8fd8\u662f\u5f62\u6001\u4f18\u5148\u3002TypeSafe \u7684\u6392\u5e8f\u662f\u5148\u6709\u53ef\u5356\u94b1\u7684\u6982\u7387\u53ef\u4fe1\u5ea6\u3001\u518d\u8c08\u591a\u6a21\u6001&#xff08;\u95ed\u6e90 API \u7684\u4f30\u503c\u951a\u5728\u6821\u51c6\u4e0a&#xff09;&#xff1b;\u5f00\u6e90\u793e\u533a\u7684\u6392\u5e8f\u662f\u5148\u8bc1\u660e&#034;\u5355\u524d\u5411 &#043; \u56fe\u6587\u8f93\u5165&#034;\u7684\u5f62\u6001\u6210\u7acb\u3001\u518d\u628a\u6821\u51c6\u5f53\u540e\u8865\u5de5\u7a0b&#xff08;Dohnuts \u653e\u8bad\u7ec3\u4ee3\u7801\u3001Verdict \u505a\u62d2\u7b54\u69fd&#xff0c;\u90fd\u662f\u8865\u7968\u52a8\u4f5c&#xff09;\u3002\u8fd9\u4e0d\u662f\u5de5\u7a0b\u7ea6\u675f\u4e4b\u4e89&#xff0c;\u662f\u5b89\u5168\u7b56\u7565\u4e4b\u4e89&#xff1a;\u5148\u6821\u51c6\u610f\u5473\u7740&#034;\u4e0d\u8bc1\u660e\u4e0d\u8fdb\u56de\u8def&#034;&#xff0c;\u5148\u5f62\u6001\u610f\u5473\u7740&#034;\u5148\u8fdb\u56de\u8def\u518d\u8865\u8bc1\u660e&#034;\u3002\u4e24\u6761\u6392\u5e8f\u5404\u81ea\u6709\u5546\u4e1a\u903b\u8f91&#xff0c;\u4f46\u8bf7\u6ce8\u610f\u5b83\u4eec\u5728 VLA \u53f2\u4e0a\u7684\u5bf9\u7167\u7ec4\u662f\u8c01\u2014\u2014\u673a\u5668\u4eba\u754c\u5f53\u5e74\u6574\u4f53\u9009\u62e9\u4e86\u524d\u8005&#xff0c;\u4ee3\u4ef7\u662f\u4e09\u5e74&#xff1b;\u5224\u65ad\u6a21\u578b\u754c\u6b63\u5728\u540c\u65f6\u8dd1\u4e24\u6761\u8def\u7ebf&#xff0c;\u8c01\u5bf9\u8c01\u9519&#xff0c;\u4f1a\u662f\u8fd9\u4e2a\u54c1\u7c7b\u4e09\u5e74\u5185\u6700\u503c\u94b1\u7684\u7b54\u6848\u3002<\/p>\n<p>\u81f3\u6b64&#xff0c;\u5168\u6587\u7684\u4e09\u5c42\u4e8c\u5206\u53ef\u4ee5\u6446\u9f50\u4e86&#xff1a;\u8bef\u5dee\u662f\u5426\u590d\u5408&#xff08;\u7b2c\u4e09\u5e55&#xff09;\u53d6\u51b3\u4e8e\u7528\u4f8b&#xff0c;\u90e8\u7f72\u8def\u7ebf\u4e91\u7aef\u8fd8\u662f\u8fb9\u7f18&#xff08;\u672c\u5e55&#xff09;\u53d6\u51b3\u4e8e\u9891\u7387\u9884\u7b97\u4e0e\u6240\u6709\u6743\u8861&#xff0c;\u800c\u6821\u51c6\u4f18\u5148\u8fd8\u662f\u5f62\u6001\u4f18\u5148\u662f\u6bd4\u8fd9\u4e24\u8005\u90fd\u66f4\u5e95\u5c42\u7684\u4e00\u5c42\u4e8c\u5206\u2014\u2014\u5b83\u5de6\u53f3\u4f60\u9009\u54ea\u6761\u90e8\u7f72\u8def\u7ebf&#xff0c;\u66f4\u51b3\u5b9a\u4f60\u613f\u610f\u4e3a&#034;\u8bc1\u660e&#034;\u4ed8\u51fa\u591a\u5c11\u524d\u7f6e\u6210\u672c\u3002\u6807\u9898\u8bf4\u7684\u662f\u8def&#xff0c;\u8d26\u672c\u7684\u6839\u5b50\u5728\u6392\u5e8f\u4e0a\u3002<\/p>\n<h4>\u955c\u50cf VLA \u53f2<\/h4>\n<p>\u628a VLA \u53f2\u53e0\u4e0a\u6765&#xff0c;\u4e24\u6761\u7ebf\u7684\u91cd\u5408\u5ea6\u9ad8\u5f97\u60ca\u4eba&#xff1a;OpenVLA 7B \u8d70\u4e91\u7aef\/\u5de5\u4f5c\u7ad9&#xff0c;\u84b8\u998f\u5c0f\u6a21\u578b\u4e0a\u673a\u2014\u2014\u5c31\u662f Jev \u4e0e Laya\/NanoJev\/Dohnuts \u7684\u5173\u7cfb&#xff1b;RT-2 \u5f53\u5e74\u4e5f\u53ea\u80fd\u5728\u673a\u623f\u63a8\u7406&#xff0c;\u4e24\u5e74\u540e\u624d\u8f6e\u5230 \u03c00\u3001Octo \u8fd9\u4e00\u6279\u8ba8\u8bba\u673a\u8f7d\u4e0e\u8fb9\u7f18\u3002\u5386\u53f2\u7ed9\u51fa\u7684\u9884\u5224\u662f&#xff1a;\u6982\u5ff5\u9a8c\u8bc1\u8d70\u4e91\u7aef&#xff0c;\u751f\u4ea7\u95ed\u73af\u5f52\u8fb9\u7f18&#xff0c;\u4e2d\u95f4\u9694\u7740\u4e00\u9053&#034;\u5b89\u5168\u6848\u4f8b&#034;\u7684\u5899\u2014\u2014\u5bf9\u673a\u5668\u4eba&#xff0c;\u5b89\u5168\u6848\u4f8b\u662f\u529f\u80fd\u5b89\u5168\u8bba\u8bc1\u4e0e\u4e8b\u6545\u8d23\u4efb&#xff1b;\u5bf9\u5224\u65ad\u6a21\u578b&#xff0c;\u662f\u6821\u51c6\u5ba1\u8ba1\u4e0e\u7248\u672c\u51bb\u7ed3\u3002\u4e24\u754c\u8c01\u90fd\u6ca1\u7ffb\u8fc7\u53bb\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"709\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260925022511-6ab5db873baa0.png\" width=\"830\" \/><\/p>\n<p>\u56fe\u2464&#xff1a;\u4e91\u7aef\u2014\u8fb9\u7f18\u8c31\u7cfb\u56fe\u3002\u4e24\u6761\u5e73\u884c\u7ebf&#xff0c;\u540c\u4e00\u5835\u5899\u3002<\/p>\n<h4>\u5bf9\u6bd4\u8868<\/h4>\n<table>\n<tbody>\n<tr>\n<p>\u7ef4\u5ea6<\/p>\n<p>\u4e91\u7aef\u63a5\u5165&#xff08;Jev API&#xff09;<\/p>\n<p>\u8fb9\u7f18\u590d\u73b0&#xff08;Laya \/ NanoJev \/ Dohnuts \/ Verdict&#xff09;<\/p>\n<\/tr>\n<tr>\n<td>\n<p>\u56de\u8def\u5ef6\u8fdf<\/p>\n<\/td>\n<td>\n<p>\u6570\u767e\u6beb\u79d2\u7ea7 &#043; \u7f51\u7edc\u6296\u52a8&#xff0c;\u95ed\u5408\u4e0a\u9650\u4e2a\u4f4d\u6570 Hz<\/p>\n<\/td>\n<td>\n<p>\u6570\u5341\u6beb\u79d2\u672c\u5730\u524d\u5411&#xff0c;\u6296\u52a8\u53ef\u63a7<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u6210\u672c<\/p>\n<\/td>\n<td>\n<p>\u6309\u6b21\u8ba1\u8d39&#xff08;\u8f93\u5165 $0.042\/\u767e\u4e07 token&#xff0c;\u8f93\u51fa\u514d\u8d39&#xff09;&#xff0c;\u96f6\u8fd0\u7ef4<\/p>\n<\/td>\n<td>\n<p>\u81ea\u6258\u7ba1\u8fd1\u4e4e\u4e3a\u96f6&#xff0c;\u4f46\u8bad\u7ec3\/\u5fae\u8c03\/\u6821\u51c6\u662f\u9690\u5f62\u6210\u672c<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u6821\u51c6<\/p>\n<\/td>\n<td>\n<p>\u51fa\u5382\u5ba3\u79f0\u5df2\u6821\u51c6&#xff08;RLCD&#xff09;&#xff0c;\u4f46\u4f60\u65e0\u6cd5\u5728\u81ea\u5df1\u5206\u5e03\u4e0a\u590d\u6838<\/p>\n<\/td>\n<td>\n<p>\u81ea\u5df1\u62df\u5408\u3001\u81ea\u5df1\u6d4b&#xff0c;\u53ef\u5ba1\u8ba1\u4f46\u51fa\u5382\u5e38\u8fc7\u81ea\u4fe1<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u53ef\u63a7\u6027<\/p>\n<\/td>\n<td>\n<p>\u6743\u91cd\u4e0d\u53ef\u89c1\u3001\u7248\u672c\u4f1a\u6f02\u79fb&#xff08;jev-latest\u00a0\u522b\u540d&#xff09;<\/p>\n<\/td>\n<td>\n<p>\u6743\u91cd\u5728\u624b\u3001\u7248\u672c\u53ef\u51bb\u7ed3\u3001\u53ef\u79bb\u7ebf<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>\u4ee3\u8868\u9879\u76ee<\/p>\n<\/td>\n<td>\n<p>jev-drone\u3001askable-arm\u3001\u5b9d\u53ef\u68a6\u7ea2\u3001Minecraft \u667a\u80fd\u4f53<\/p>\n<\/td>\n<td>\n<p>Laya\u3001NanoJev\u3001Dohnuts\u3001Verdict\u3001OmniJev<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u4e94\u884c\u6536\u675f\u672c\u5e55&#xff1a;\u4e91\u9a8c\u8bc1\u6982\u5ff5&#xff0c;\u8fb9\u7f18\u62ff\u751f\u4ea7&#xff0c;\u5206\u6c34\u5cad\u662f\u6821\u51c6\u4e0d\u662f\u5ef6\u8fdf\u3002<\/p>\n<h3 style=\"background-color:transparent\">\u6d6e\u51fa<\/h3>\n<p>\u56de\u5230\u6700\u521d\u7684\u4e09\u95ee&#xff0c;\u73b0\u5728\u53ef\u4ee5\u7ed9\u7b54\u6848\u4e86\u3002<\/p>\n<p>\u51ed\u4ec0\u4e48\u63a5\u4e0a&#xff1f;\u00a0\u56e0\u4e3a\u5224\u65ad\u6a21\u578b\u7684\u5ef6\u8fdf\u7ed3\u6784\u91cc\u5220\u6389\u4e86\u4e32\u884c\u4f9d\u8d56\u2014\u2014\u5feb\u4e0d\u662f\u672c\u4f53&#xff0c;\u662f\u526f\u4ea7\u54c1\u3002\u771f\u6b63\u88ab\u5356\u6389\u7684\u662f\u53ef\u7b7e\u7ea6\u6027&#xff1a;\u5ef6\u8fdf\u65b9\u5dee\u574d\u7f29\u3001\u8f93\u51fa\u7ed3\u6784\u4fdd\u8bc1&#xff0c;\u4ee3\u7801\u7b2c\u4e00\u6b21\u80fd\u56f4\u7ed5\u4e00\u4e2a AI \u7ec4\u4ef6\u8bbe\u8ba1\u65f6\u5e8f\u3002\u800c\u8fd9\u6761\u8def\u7684\u5c3d\u5934\u7ad9\u7740\u9891\u7387\u9884\u7b97&#xff1a;\u4e91\u7aef API \u53ea\u80fd\u95ed\u5408\u4e2a\u4f4d\u6570 Hz \u7684\u56de\u8def&#xff0c;\u6240\u4ee5\u5b83\u53ea\u914d\u5750\u6218\u672f\u5c42&#xff0c;\u59ff\u6001\u4e0e\u5b89\u5168\u6c38\u8fdc\u7559\u5728\u4ee3\u7801\u91cc\u3002<\/p>\n<p>\u63a5\u5728\u54ea\u4e00\u5c42&#xff1f;\u00a0\u63a5\u5728\u611f\u77e5\u4e0e\u52a8\u4f5c\u4e4b\u95f4\u3001\u88ab\u4e09\u524d\u63d0\u5939\u4f4f\u7684\u90a3\u4e00\u5c42&#xff1a;\u72b6\u6001\u5df2\u88ab\u538b\u6210\u7ed3\u6784\u5316\u6587\u672c&#xff0c;\u6280\u80fd\u5df2\u88ab\u786c\u7f16\u7801\u6210\u5019\u9009\u96c6\u5408&#xff0c;\u4e0b\u9762\u6709 kHz \u7ea7\u7684\u786e\u5b9a\u6027\u56de\u8def\u515c\u5e95\u3002\u8fd9\u4e0d\u662f Jev \u7684\u8bbe\u8ba1&#xff0c;\u662f\u6240\u6709&#034;\u5224\u65ad\u5373\u670d\u52a1&#034;\u8fdb\u5165\u7269\u7406\u56de\u8def\u65f6\u7684\u5171\u540c\u5750\u6807\u2014\u2014VLA \u754c\u7528\u4e09\u5e74\u628a\u5b83\u753b\u6210\u4e86\u5730\u56fe\u3002<\/p>\n<p>\u9519\u4e86\u4f1a\u600e\u6837&#xff1f;\u00a0\u5728\u5b83\u7684\u5408\u6cd5\u7528\u4f8b\u91cc&#xff0c;\u8bef\u5dee\u4e0d\u590d\u5408&#xff1a;\u53cd\u9988\u5438\u6536\u5b83\u3001\u62d2\u7b54\u62e6\u622a\u5b83\u3001\u4ee3\u7801\u515c\u5e95\u5b83\u3002\u6240\u4ee5\u5355\u53d1 99% \u7684\u6734\u7d20\u53ef\u9760\u5ea6\u8db3\u591f\u6d88\u8d39\u3002\u51fa\u4e86\u8fd9\u4e2a\u57df\u2014\u2014\u8fdb\u4e86\u8bef\u5dee\u7269\u7406\u590d\u5408\u3001\u6ca1\u6709\u8f6c\u4eba\u5de5\u9000\u8def\u7684\u573a\u666f\u2014\u2014\u540c\u4e00\u7ec4\u6570\u5b57\u7acb\u523b\u53d8\u5f97\u4e0d\u53ef\u6d88\u8d39\u3002Jev \u6562\u5356\u6982\u7387&#xff0c;\u662f\u56e0\u4e3a\u5b83\u7684\u7528\u4f8b\u7b5b\u8fc7\u4e86&#xff1b;\u8fd9\u662f\u7b5b\u9009\u7684\u7ed3\u679c&#xff0c;\u4e0d\u662f\u666e\u9002\u80fd\u529b\u3002<\/p>\n<p>\u7b2c\u56db\u5e55\u8865\u7b2c\u56db\u53e5&#xff1a;\u63a5\u5165\u786c\u4ef6\u7684\u8def\u6709\u4e24\u6761\u3002\u4e91\u7aef\u9a8c\u8bc1\u6982\u5ff5&#xff0c;\u8fb9\u7f18\u62ff\u751f\u4ea7&#xff0c;\u4e2d\u95f4\u9694\u7740\u6821\u51c6\u5ba1\u8ba1\u4e0e\u7248\u672c\u51bb\u7ed3\u8fd9\u5835\u8c01\u90fd\u6ca1\u7ffb\u8fc7\u53bb\u7684\u5899\u3002<\/p>\n<p>\u7ed9\u4ece\u4e1a\u8005\u7684\u4e24\u4e2a\u610f\u89c1&#xff1a;<\/p>\n<li>\u4e91\u7aef\u8bd5\u56de\u8def\u7684\u9891\u7387\u9884\u7b97\u516c\u5f0f\u2014\u2014T_loop &#061; T_api &#043; T_network &#043; T_jitter&#xff0c;\u80fd\u95ed\u5408\u7684\u9891\u7387\u4e0a\u9650\u53d6\u9884\u7b97\u7684\u5012\u6570\u518d\u6253\u6298&#xff1b;\u5148\u7b97\u8fd9\u7b14\u8d26&#xff0c;\u518d\u51b3\u5b9a\u5224\u65ad\u6a21\u578b\u5750\u54ea\u4e00\u5c42\u3002<\/li>\n<li>\u8fb9\u7f18\u9009\u578b\u7684\u6821\u51c6\u9a8c\u6536\u6e05\u5355\u2014\u2014\u5728\u81ea\u5df1\u7684\u4e1a\u52a1\u5206\u5e03\u4e0a\u6d4b ECE \u4e0e\u62d2\u5224\u7387\u2014\u98ce\u9669\u66f2\u7ebf&#xff0c;\u800c\u4e0d\u662f\u5f15\u7528\u4efb\u4f55\u4eba\u7684\u5bf9\u6bd4\u8868&#xff08;\u5305\u62ec\u672c\u6587&#xff09;&#xff1b;\u6309&#xff08;\u95ee\u9898\u7c7b\u578b \u00d7 \u9009\u9879\u6570&#xff09;\u5206\u5c42\u62df\u5408\u6e29\u5ea6&#xff1b;\u51bb\u7ed3\u7248\u672c\u53f7&#xff0c;\u62d2\u7edd\u6f02\u79fb\u522b\u540d&#xff1b;\u628a&#034;\u8bc1\u636e\u4e0d\u8db3&#034;\u7684\u62d2\u7b54\u8def\u5f84\u5f53\u6210\u529f\u80fd\u800c\u4e0d\u662f\u7455\u75b5\u6765\u6d4b\u3002<\/li>\n<p>\u7ed9\u7814\u7a76\u8005\u7684\u4e09\u4e2a\u5f00\u653e\u95ee\u9898&#xff1a;<\/p>\n<li>\u5206\u5e03\u504f\u79fb\u4e0b\u6821\u51c6\u7684\u534a\u8870\u671f\u662f\u591a\u5c11\u2014\u2014\u4e1a\u52a1\u6f02\u79fb\u591a\u5feb\u4f1a\u8ba9\u51fa\u5382\u6821\u51c6\u5931\u6548&#xff1f;\u8fd9\u51b3\u5b9a\u4e86&#034;\u6821\u51c6\u5373\u670d\u52a1&#034;\u7684\u7eed\u8d39\u5468\u671f&#xff1b;<\/li>\n<li>\u51b3\u7b56 API \u7684 conformal \u5316\u2014\u2014\u80fd\u5426\u5728\u5224\u65ad\u6a21\u578b\u8f93\u51fa\u4e4b\u4e0a\u5305\u4e00\u5c42\u8f7b\u91cf conformal&#xff0c;\u7ed9\u51fa\u6709\u6761\u4ef6\u7684 coverage \u4fdd\u8bc1&#xff0c;\u800c\u4e0d\u727a\u7272\u5355\u524d\u5411\u7684\u5ef6\u8fdf\u7ed3\u6784&#xff1f;<\/li>\n<li>\u673a\u8f7d\u51b3\u7b56\u6a21\u578b\u7684\u5b89\u5168\u6848\u4f8b\u5f52\u8c01\u505a\u2014\u2014\u6a21\u578b\u65b9\u3001\u96c6\u6210\u65b9&#xff0c;\u8fd8\u662f\u7b2c\u4e09\u65b9\u5ba1\u8ba1&#xff1f;VLA \u754c\u4e09\u5e74\u6ca1\u7b54\u5b8c&#xff0c;\u5224\u65ad\u6a21\u578b\u754c\u8fd8\u6ca1\u6709\u4eba\u5f00\u59cb\u7b54\u3002<\/li>\n<p>\u6700\u540e\u4e00\u4e2a\u955c\u5934\u30029 \u6708 15 \u65e5\u53d1\u5e03\u7684\u662f\u4e00\u4e2a&#034;frontier-intelligence function call&#034;&#xff1a;\u65e0\u8eab\u4f53\u7684\u5224\u65ad\u3002\u5341\u5929\u4e4b\u5185&#xff0c;\u793e\u533a\u66ff\u5b83\u63a5\u4e0a\u4e86\u56db\u65cb\u7ffc\u3001\u673a\u68b0\u81c2\u3001\u5361\u5e26\u4e0e\u9f99\u3002Jev \u672a\u5fc5\u662f\u8d62\u5bb6\u2014\u2014\u6821\u51c6\u4e89\u8bae\u3001\u95ed\u6e90\u5f62\u6001\u3001\u7ade\u4e89\u65b9\u53e3\u5f84\u4e92\u6495&#xff0c;\u90fd\u8fd8\u662f\u8fdb\u884c\u65f6\u2014\u2014\u4f46&#034;\u5224\u65ad\u5373\u670d\u52a1&#034;\u8fd9\u4e2a\u54c1\u7c7b\u5df2\u7ecf\u7ad9\u8fdb\u4e86\u7269\u7406\u56de\u8def\u3002\u503c\u5f97\u8bb0\u4f4f\u7684\u4e0d\u662f\u5b83\u8d70\u5f97\u591a\u5feb&#xff0c;\u800c\u662f\u5b83\u8d70\u7684\u6bcf\u4e00\u6b65&#xff0c;\u90fd\u843d\u5728\u673a\u5668\u4eba\u754c\u4e8c\u5341\u5e74\u753b\u597d\u7684\u90a3\u5f20\u5730\u56fe\u4e0a\u3002\u5730\u56fe\u4e0a\u6700\u540e\u4e00\u5835\u5899\u8fd8\u7acb\u5728\u90a3\u91cc&#xff0c;\u800c\u5899\u4e24\u9762\u7684\u4eba&#xff0c;\u73b0\u5728\u662f\u540c\u884c\u3002<\/p>\n<h4 style=\"background-color:transparent\">\u9644&#xff1a;\u672c\u6587\u5f15\u7528\u4e0e\u53e3\u5f84\u8bf4\u660e<\/h4>\n<ul>\n<li>\u5382\u5546\u4e8b\u5b9e\u5747\u51fa\u81ea TypeSafe \u5b98\u65b9\u53d1\u5e03\u535a\u5ba2&#xff08;2026-09-15&#xff09;\u53ca\u516c\u5f00 SDK \u6587\u6863&#xff1b;\u5382\u5546\u6027\u80fd\u6570\u5b57&#xff08;70\u2013500ms\u300120\u2013200\u00d7 \u7b49&#xff09;\u4e3a\u5b98\u65b9\u81ea\u8ff0\u53e3\u5f84&#xff0c;\u5b98\u65b9\u81ea\u8ba4\u8bc4\u6d4b\u8dd1\u5728\u5176\u897f\u6d77\u5cb8\u7b14\u8bb0\u672c\u4e0a&#xff0c;\u8de8\u6d32\u7f51\u7edc\u4e0d\u8ba1\u5165\u3002<\/li>\n<li>\u751f\u6001\u9879\u76ee&#xff08;jev-drone\u3001jev-askable-arm\u3001quackd\u3001jev-plays-pokemon-red\u3001clashroyale-jev\u3001OmniJev\u3001rmalde\/minecraft-agent \u7b49&#xff09;\u6570\u5b57\u5747\u4e3a\u4f5c\u8005\u81ea\u62a5&#xff0c;\u5168\u90e8\u4f4d\u4e8e\u4eff\u771f\/\u6a21\u62df\u5668\u73af\u5883&#xff0c;\u5f15\u7528\u65f6\u5df2\u968f\u6587\u6807\u6ce8\u3002<\/li>\n<li>\u9879\u76ee\u65f6\u95f4\u7ebf\u7ecf GitHub API \u6838\u9a8c\u4ed3\u5e93\u521b\u5efa\u65f6\u95f4&#xff1a;jev-drone 9 \u6708 16 \u65e5\u3001jev-askable-arm 9 \u6708 17 \u65e5\u3001jev-plays-pokemon-red 9 \u6708 18 \u65e5\u3001clashroyale-jev \u4e0e minecraft-agent 9 \u6708 20 \u65e5&#xff0c;\u5747\u5728 Jev \u53d1\u5e03&#xff08;9 \u6708 15 \u65e5&#xff09;\u4e4b\u540e\u5341\u5929\u5185&#xff1b;quackd \u4ed3\u5e93\u521b\u5efa\u4e8e 8 \u6708 28 \u65e5&#xff0c;\u65e9\u4e8e Jev \u53d1\u5e03&#xff0c;\u5c5e\u65e2\u6709\u9879\u76ee\u63a5\u5165&#xff0c;\u6b63\u6587\u5df2\u5982\u5b9e\u533a\u5206\u3002<\/li>\n<li>Laya \u5bf9\u6bd4\u6570\u5b57\u51fa\u81ea Convai Innovations \u53d1\u5e03\u7684\u5bf9\u6bd4\u8868&#xff08;\u7ade\u4e89\u65b9\u53e3\u5f84&#xff09;&#xff0c;Jev \u4fa7\u6570\u5b57\u5f15\u7528\u81ea\u7b2c\u4e09\u65b9\u57fa\u51c6&#xff1b;\u539f\u59cb\u53e3\u5f84\u4e0e\u62df\u5408\u53e3\u5f84\u7684\u5dee\u5f02\u5df2\u968f\u6587\u8bf4\u660e\u3002<\/li>\n<li>\u5b66\u672f\u5f15\u7528&#xff1a;KnowNo&#xff08;Ren et al., CoRL 2023, arXiv:2307.01928&#xff09;&#xff1b;RT-2&#xff08;Brohan et al., 2023&#xff09;&#xff1b;OpenVLA&#xff08;Kim et al., 2024&#xff09;&#xff1b;Octo \/ \u03c00 \/ FAST \u7b49\u89c1\u6b63\u6587\u3002selective 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