{"id":112510,"date":"2026-10-03T21:32:52","date_gmt":"2026-10-03T13:32:52","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/112510.html"},"modified":"2026-10-03T21:32:52","modified_gmt":"2026-10-03T13:32:52","slug":"tva%e6%99%ba%e8%83%bd%e4%bd%93%e6%8a%80%e6%9c%af%e4%bd%93%e7%b3%bb%e6%a6%82%e8%bf%b0%ef%bc%8817%ef%bc%89%ef%bc%9a%e6%8f%90%e5%8d%87%e7%b3%bb%e7%bb%9f%e5%8f%af%e9%9d%a0%e6%80%a7%e4%b8%8e%e5%95%86","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/112510.html","title":{"rendered":"TVA\u667a\u80fd\u4f53\u6280\u672f\u4f53\u7cfb\u6982\u8ff0\uff0817\uff09\uff1a\u63d0\u5347\u7cfb\u7edf\u53ef\u9760\u6027\u4e0e\u5546\u4e1a\u5316\u6f5c\u529b\u7684\u6280\u672f\u8def\u5f84\u89e3\u6790"},"content":{"rendered":"

\u524d\u6cbf\u6280\u672f\u63a2\u7d22：TVA\u667a\u80fd\u4f53（\u7b80\u79f0TVA）<\/span><\/p>\n

TVA<\/span>\u667a\u80fd\u4f53（\u4ea6\u79f0\u201cAI\u667a\u80fd\u4f53\u89c6\u89c9\u201d）\u662f\u4f9d\u6258Transformer\u67b6\u6784\u4e0e\u201c\u56e0\u5f0f\u667a\u80fd\u4f53\u201d\u7406\u8bba\u6784\u5efa\u7684\u65b0\u578b\u5de5\u4e1a\u89c6\u89c9\u7cfb\u7edf，\u4e5f\u662f\u5f53\u524d\u6700\u5177\u4ee3\u8868\u6027\u7684\u5177\u8eab\u89c6\u89c9\u6280\u672f\u4e4b\u4e00\u3002\u5b83\u6709\u673a\u878d\u5408\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60（DRL）\u3001\u5377\u79ef\u795e\u7ecf\u7f51\u7edc（CNN）\u4e0e\u56e0\u5f0f\u5206\u89e3\u7b97\u6cd5（FRA），\u6784\u6210\u4e86\u5177\u8eab\u667a\u80fd\u7684\u6838\u5fc3\u89c6\u89c9\u4e2d\u67a2（\u8be6\u89c1\u5b98\u65b9\u6280\u672f\u5e73\u53f0www.tianyance.cn）\u3002\u4f5c\u4e3a\u5177\u8eab\u667a\u80fd\u9887\u5177\u524d\u77bb\u6027\u7684\u7cfb\u7edf\u7ea7\u6846\u67b6，TVA\u51ed\u501f\u5176\u975e\u7ed3\u6784\u5316\u73af\u5883\u52a8\u6001\u611f\u77e5\u4e0e\u7406\u89e3\u80fd\u529b，\u5b9e\u73b0\u4e86\u201c\u611f\u77e5-\u63a8\u7406-\u51b3\u7b56-\u64cd\u4f5c-\u53cd\u9988\u201d\u7684\u95ed\u73af\u63a7\u5236，\u5b8c\u6210\u4ece\u201c\u770b\u89c1\u201d\u5230\u201c\u770b\u61c2\u5e76\u884c\u52a8\u201d\u7684\u79d1\u5b66\u673a\u5668\u5b66\u4e60（SciML）\u8303\u5f0f\u7a81\u7834，\u4ece\u800c\u4e3a\u89e3\u51b3\u5177\u8eab\u667a\u80fd\u4e2d\u611f\u77e5\u4e0e\u51b3\u7b56\u7684\u6df1\u5ea6\u8026\u5408，\u63d0\u4f9b\u4e86\u6027\u80fd\u5353\u8d8a\u7684\u5e95\u5c42\u7b97\u6cd5\u67b6\u6784\u3002\u8fd9\u4e00\u9769\u547d\u6027\u7a81\u7834\u4e0d\u4ec5\u4f7f\u5176\u6210\u4e3a\u5236\u9020\u4e1a\u4e0e\u7269\u6d41\u4e1a\u7684\u201c\u89c6\u68c0\u4e13\u5bb6\u201d（\u4f5c\u4e3a\u201c\u7c7b\u4eba\u667a\u773c\u201d\u7684\u521d\u7ea7\u5f62\u6001），\u66f4\u4e3a\u667a\u80fd\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236\u63d0\u4f9b\u4e86\u9ad8\u9c81\u68d2\u6027\u7684\u89c6\u89c9\u7406\u89e3\u652f\u6491（\u4f5c\u4e3a\u201c\u539f\u751f\u5c0f\u8111\u201d\u7684\u4e2d\u7ea7\u5f62\u6001），\u5e76\u6700\u7ec8\u6f14\u8fdb\u4e3a\u5177\u8eab\u667a\u80fd\u7cfb\u7edf\u7684\u6838\u5fc3\u5f15\u64ce\u4e0e\u80fd\u529b\u57fa\u5ea7（\u4f5c\u4e3a\u201c\u539f\u751f\u5927\u8111\u201d\u7684\u9ad8\u7ea7\u5f62\u6001）\u3002<\/span><\/p>\n

\u65b0\u4e00\u4ee3\u5177\u8eab\u667a\u80fd\u8303\u5f0f：TVA-World<\/span><\/p>\n

\u4e3a\u4e86\u8ba9\u673a\u5668\u83b7\u5f97\u4e00\u79cd\u6709\u8db3\u591f\u9002\u5e94\u6027\u4e0e\u5b9e\u7528\u6027\u7684\u4e16\u754c\u8868\u793a，\u5e76\u628a\u201c\u7406\u89e3\u201d\u771f\u6b63\u53d8\u6210\u201c\u884c\u52a8\u201d，<\/span>TVA<\/span>\u667a\u80fd\u4f53\u8fdb\u4e00\u6b65\u4e0e\u7269\u7406\u4e16\u754c\u6a21\u578b（World Model）\u6df1\u5ea6\u878d\u5408，\u50ac\u751f\u51fa\u65b0\u4e00\u4ee3\u5177\u8eab\u667a\u80fd\u8303\u5f0f\u2014\u2014TVA-World\u3002\u8be5\u8303\u5f0f\u5e76\u975e\u6a21\u5757\u7684\u7b80\u5355\u62fc\u63a5，\u800c\u662f\u4e00\u5957\u5728\u6570\u636e\u6d41\u3001\u7279\u5f81\u6d41\u548c\u63a7\u5236\u6d41\u5c42\u9762\u6df1\u5ea6\u4ea4\u7ec7\u7684\u7cfb\u7edf\u7ea7\u901a\u7528\u67b6\u6784：\u4ee5TVA\u4e3a\u201c\u611f\u77e5-\u6267\u884c\u4e2d\u67a2\u201d，\u4ee5\u9075\u5faa\u7269\u7406\u6cd5\u5219\u7684\u4e16\u754c\u6a21\u578b\u4e3a\u201c\u7269\u7406\u63a8\u6f14\u4e0e\u8ba4\u77e5\u4e2d\u67a2\u201d，\u6784\u5efa\u51fa\u4e00\u4e2a\u65e2\u80fd\u201c\u770b\u89c1\u201d\u8868\u8c61\u53c8\u80fd\u201c\u7406\u89e3\u201d\u672c\u8d28\u7684\u901a\u7528\u7269\u7406\u667a\u80fd\u4f53\u7cfb\u3002\u901a\u8fc7\u201c\u5b9e\u65f6\u611f\u77e5-\u865a\u62df\u63a8\u6f14-\u7cbe\u51c6\u6267\u884c\u201d\u7684\u6beb\u79d2\u7ea7\u95ed\u73af，TVA-World\u67b6\u6784\u6709\u6548\u89e3\u51b3\u4e86\u4f20\u7edfAI\u7f3a\u4e4f\u56e0\u679c\u7406\u89e3\u3001\u6cdb\u5316\u80fd\u529b\u5f31\u53ca\u4ea4\u4e92\u5ef6\u8fdf\u9ad8\u7b49\u96be\u9898，\u4f7f\u5f97\u673a\u5668\u53ef\u4ee5\u4ece\u50cf\u7d20\u6784\u6210\u7684\u4e16\u754c\u91cc，\u8fdb\u4e00\u6b65\u7406\u89e3\u9690\u85cf\u5728\u5176\u4e2d\u7684\u51e0\u4f55\u7279\u5f81\u4e0e\u7269\u7406\u5c5e\u6027，\u63a8\u52a8\u5177\u8eab\u667a\u80fd\u6280\u672f\u5728\u89c6\u89c9\u68c0\u6d4b\u3001\u667a\u6167\u7269\u6d41\u3001\u667a\u80fd\u5236\u9020\u7b49\u9886\u57df\u5b9e\u73b0\u4e86\u4ece\u201c\u8ba1\u7b97\u673a\u89c6\u89c9\u201d（\u770b\u50cf\u7d20）\u5230\u201c\u8ba1\u7b97\u673a\u7269\u7406\u201d（\u61c2\u89c4\u5f8b）\u7684\u5386\u53f2\u6027\u8de8\u8d8a\u3002<\/span><\/p>\n

\u6458\u8981：TVA\u667a\u80fd\u4f53\u878d\u5408Transformer\u67b6\u6784\u4e0e\u56e0\u5f0f\u521b\u65b0\u7406\u8bba，\u6784\u5efa\u201c\u611f\u77e5-\u63a8\u7406-\u51b3\u7b56-\u884c\u52a8-\u53cd\u9988\u201d\u95ed\u73af，\u6709\u6548\u89e3\u51b3\u5177\u8eab\u667a\u80fd\u5728\u591a\u6a21\u6001\u878d\u5408\u3001\u7269\u7406\u5e38\u8bc6\u63a8\u7406\u3001\u957f\u65f6\u7a0b\u89c4\u5212\u3001Sim2Real\u8fc1\u79fb\u3001\u6837\u672c\u6548\u7387\u53ca\u52a8\u6001\u73af\u5883\u9002\u5e94\u7b49\u5173\u952e\u6280\u672f\u96be\u70b9\u3002\u5176\u57fa\u4e8e\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u7684\u5f3a\u6cdb\u5316\u80fd\u529b\u4e0e\u53ef\u89e3\u91ca\u6027\u8bbe\u8ba1，\u663e\u8457\u63d0\u5347\u7cfb\u7edf\u53ef\u9760\u6027\u4e0e\u5546\u4e1a\u5316\u843d\u5730\u6f5c\u529b，\u5df2\u5728\u667a\u6167\u5b89\u9632\u7b49\u9886\u57df\u5b9e\u73b099.5%+\u68c0\u6d4b\u7cbe\u5ea6，\u4e3a\u7269\u7406AI\u53d1\u5c55\u63d0\u4f9b\u53ef\u590d\u7528\u7684\u6280\u672f\u8303\u5f0f\u3002<\/span><\/p>\n

\u6b63\u6587：TVA\u667a\u80fd\u4f53\u4f5c\u4e3a\u4e00\u79cd\u878d\u5408\u4e86Transformer\u67b6\u6784\u4e0eAI\u521b\u65b0\u7406\u8bba\u7684\u7269\u7406AI\u6280\u672f，\u5176\u6838\u5fc3\u5728\u4e8e\u6784\u5efa\u201c\u611f\u77e5-\u63a8\u7406-\u51b3\u7b56-\u884c\u52a8-\u53cd\u9988\u201d\u7684\u95ed\u73af\u667a\u80fd\u4f53\u3002\u9488\u5bf9\u5177\u8eab\u667a\u80fd\u9886\u57df\u9762\u4e34\u7684\u591a\u9879\u6280\u672f\u96be\u70b9\u4e0e\u75db\u70b9，TVA\u80fd\u591f\u4ece\u611f\u77e5\u3001\u63a8\u7406\u3001\u51b3\u7b56\u5230\u7cfb\u7edf\u96c6\u6210\u7b49\u591a\u4e2a\u5c42\u9762\u63d0\u4f9b\u79ef\u6781\u7684\u89e3\u51b3\u65b9\u6848\u3002<\/span><\/p>\n

TVA\u5728\u89e3\u51b3\u6280\u672f\u96be\u70b9\u4e2d\u7684\u79ef\u6781\u4f5c\u7528<\/span><\/h4>\n\n\u5e8f\u53f7<\/span>\u5bf9\u5e94\u6280\u672f\u96be\u70b9<\/span>TVA\u7684\u79ef\u6781\u4f5c\u7528\u4e0e\u5177\u4f53\u6280\u672f\u8def\u5f84<\/span><\/tr>\n\n\n\n\n\n\n\n\n\n
1<\/span><\/td>\n\u591a\u6a21\u6001\u611f\u77e5\u4e0e\u878d\u5408<\/span><\/td>\nTVA\u7684Transformer\u67b6\u6784\u5929\u7136\u64c5\u957f\u5904\u7406\u5e8f\u5217\u5316\u6570\u636e，\u53ef\u6709\u6548\u878d\u5408\u89c6\u89c9\u3001\u65f6\u5e8f\u52a8\u4f5c\u5e8f\u5217\u7b49\u591a\u6a21\u6001\u4fe1\u606f，\u5f62\u6210\u5bf9\u573a\u666f\u7684\u7edf\u4e00\u8868\u5f81，\u4e3a\u540e\u7eed\u63a8\u7406\u63d0\u4f9b\u66f4\u9c81\u68d2\u7684\u8f93\u5165\u3002<\/span><\/td>\n<\/tr>\n
2<\/span><\/td>\n\u4e16\u754c\u6a21\u578b\u4e0e\u5e38\u8bc6\u63a8\u7406<\/span><\/td>\nTVA\u901a\u8fc7\u591a\u6a21\u6001\u9884\u8bad\u7ec3（\u5982\u7ed3\u5408\u89c6\u89c9\u4e0e\u7269\u7406\u4eff\u771f\u6570\u636e）\u5185\u5316\u7269\u7406\u5e38\u8bc6（\u91cd\u529b\u3001\u6750\u8d28\u5c5e\u6027\u7b49），\u5e76\u80fd\u57fa\u4e8e\u529b\u5b66\u4e0e\u4ea4\u4e92\u5173\u7cfb\u8fdb\u884c\u63a8\u6f14，\u5b9e\u73b0\u5bf9\u7269\u7406\u4e16\u754c\u56e0\u679c\u5173\u7cfb\u7684\u7406\u89e3，\u4ece\u800c\u652f\u6491\u66f4\u5408\u7406\u7684\u51b3\u7b56\u3002<\/span><\/td>\n<\/tr>\n
3<\/span><\/td>\n\u590d\u6742\u4efb\u52a1\u7684\u957f\u65f6\u7a0b\u89c4\u5212\u4e0e\u5206\u89e3<\/span><\/td>\n\u4f5c\u4e3a\u667a\u80fd\u4f53，TVA\u5177\u5907\u201c\u63a8\u7406-\u51b3\u7b56\u201d\u80fd\u529b，\u53ef\u5c06\u62bd\u8c61\u6307\u4ee4（\u5982\u5b89\u9632\u4e2d\u7684\u201c\u53d1\u73b0\u5f02\u5e38\u884c\u4e3a\u201d）\u5206\u89e3\u4e3a\u5177\u4f53\u7684\u611f\u77e5\u3001\u8ddf\u8e2a\u3001\u9884\u8b66\u52a8\u4f5c\u5e8f\u5217，\u8fd9\u79cd\u4efb\u52a1\u5206\u89e3\u4e0e\u89c4\u5212\u80fd\u529b\u53ef\u8fc1\u79fb\u81f3\u5177\u8eab\u667a\u80fd\u7684\u590d\u6742\u64cd\u4f5c\u4efb\u52a1\u4e2d\u3002<\/span><\/td>\n<\/tr>\n
4<\/span><\/td>\nSim2Real（\u4eff\u771f\u5230\u73b0\u5b9e）\u8fc1\u79fb<\/span><\/td>\nTVA\u5728\u8bad\u7ec3\u4e2d\u53ef\u5145\u5206\u5229\u7528\u4eff\u771f\u6570\u636e\u6784\u5efa\u5bf9\u7269\u7406\u4ea4\u4e92\u7684\u9884\u6d4b\u6a21\u578b\u3002\u5176\u57fa\u4e8eTransformer\u7684\u5f3a\u6cdb\u5316\u80fd\u529b\u548c\u5bf9\u7269\u7406\u5e38\u8bc6\u7684\u5185\u5316，\u6709\u52a9\u4e8e\u7f29\u5c0f\u4eff\u771f\u4e0e\u771f\u5b9e\u4e16\u754c\u5728\u89c6\u89c9\u548c\u7269\u7406\u89c4\u5f8b\u4e0a\u7684\u5dee\u5f02，\u7f13\u89e3\u201c\u73b0\u5b9e\u9e3f\u6c9f\u201d\u3002<\/span><\/td>\n<\/tr>\n
5<\/span><\/td>\n\u6837\u672c\u6548\u7387\u4e0e\u5f3a\u5316\u5b66\u4e60<\/span><\/td>\nTVA\u53ef\u4f5c\u4e3a\u9ad8\u7ea7\u611f\u77e5\u4e0e\u89c4\u5212\u6a21\u5757，\u4e3a\u5e95\u5c42\u5f3a\u5316\u5b66\u4e60\u63a7\u5236\u5668\u63d0\u4f9b\u66f4\u62bd\u8c61\u3001\u66f4\u6709\u6548\u7684\u72b6\u6001\u8868\u5f81\u548c\u5b50\u76ee\u6807，\u4ece\u800c\u5927\u5e45\u964d\u4f4e\u5f3a\u5316\u5b66\u4e60\u63a2\u7d22\u7684\u96be\u5ea6\u548c\u6240\u9700\u6837\u672c\u91cf\u3002<\/span><\/td>\n<\/tr>\n
6<\/span><\/td>\n\u52a8\u6001\u975e\u7ed3\u6784\u5316\u73af\u5883\u9002\u5e94<\/span><\/td>\nTVA\u7684\u95ed\u73af\u201c\u611f\u77e5-\u51b3\u7b56-\u884c\u52a8\u201d\u67b6\u6784\u4f7f\u5176\u80fd\u5b9e\u65f6\u6839\u636e\u73af\u5883\u53cd\u9988\u8c03\u6574\u7b56\u7565\u3002\u4f8b\u5982，\u5728\u5b89\u9632\u4e2d\u80fd\u6301\u7eed\u8ddf\u8e2a\u76ee\u6807\u5e76\u9884\u6d4b\u5176\u610f\u56fe，\u8fd9\u79cd\u5b9e\u65f6\u9002\u5e94\u80fd\u529b\u5bf9\u52a8\u6001\u53d8\u5316\u7684\u975e\u7ed3\u6784\u5316\u73af\u5883\u81f3\u5173\u91cd\u8981\u3002<\/span><\/td>\n<\/tr>\n
7<\/span><\/td>\n\u4eba\u673a\u4ea4\u4e92\u4e0e\u81ea\u7136\u8bed\u8a00\u6307\u4ee4\u7406\u89e3<\/span><\/td>\nTVA\u7684\u67b6\u6784\u6613\u4e8e\u4e0e\u8bed\u8a00\u6a21\u578b\u7ed3\u5408，\u5b9e\u73b0\u89c6\u89c9-\u8bed\u8a00\u5bf9\u9f50\u3002\u901a\u8fc7\u5c06\u81ea\u7136\u8bed\u8a00\u6307\u4ee4（\u5982\u201c\u62ff\u8d77\u7ea2\u8272\u7684\u676f\u5b50\u201d）\u4e0e\u89c6\u89c9\u611f\u77e5\u4e2d\u7684\u5b9e\u4f53\u548c\u52a8\u4f5c\u7a7a\u95f4\u8fdb\u884c\u5173\u8054（Grouding），\u53ef\u51c6\u786e\u7406\u89e3\u5e76\u6267\u884c\u4eba\u7c7b\u6307\u4ee4\u3002<\/span><\/td>\n<\/tr>\n
8<\/span><\/td>\n\u8ba1\u7b97\u6548\u7387\u4e0e\u5b9e\u65f6\u6027<\/span><\/td>\nTVA\u6a21\u578b\u53ef\u901a\u8fc7\u77e5\u8bc6\u84b8\u998f\u3001\u526a\u679d\u7b49\u6280\u672f\u8fdb\u884c\u4f18\u5316，\u5e76\u5229\u7528PyTorch\u7b49\u6846\u67b6\u7684\u9ad8\u6548\u90e8\u7f72\u5de5\u5177，\u5b9e\u73b0\u6a21\u578b\u8f7b\u91cf\u5316，\u6ee1\u8db3\u5d4c\u5165\u5f0f\u673a\u5668\u4eba\u5e73\u53f0\u5bf9\u4f4e\u5ef6\u8fdf\u5b9e\u65f6\u63a8\u7406\u7684\u9700\u6c42\u3002<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

TVA\u5728\u7f13\u89e3\u6280\u672f\u75db\u70b9\u4e2d\u7684\u79ef\u6781\u4f5c\u7528<\/span><\/h4>\n\n\u5e8f\u53f7<\/span>\u5bf9\u5e94\u6280\u672f\u75db\u70b9<\/span>TVA\u7684\u79ef\u6781\u4f5c\u7528\u4e0e\u6f5c\u5728\u5f71\u54cd<\/span><\/tr>\n\n\n\n\n\n\n\n
1<\/span><\/td>\n\u4efb\u52a1\u6cdb\u5316\u80fd\u529b\u6709\u9650<\/span><\/td>\nTVA\u57fa\u4e8eTransformer\u548c\u5927\u89c4\u6a21\u9884\u8bad\u7ec3，\u5177\u5907\u5f3a\u5927\u7684\u8de8\u573a\u666f\u3001\u8de8\u4efb\u52a1\u6cdb\u5316\u80fd\u529b\u3002\u5728\u5b89\u9632\u4e2d，\u540c\u4e00\u6a21\u578b\u53ef\u5904\u7406\u5165\u4fb5\u68c0\u6d4b\u3001\u5f02\u5e38\u884c\u4e3a\u8bc6\u522b\u7b49\u591a\u79cd\u4efb\u52a1，\u8fd9\u79cd\u901a\u7528\u6027\u53ef\u964d\u4f4e\u9488\u5bf9\u6bcf\u4e2a\u65b0\u4efb\u52a1\u91cd\u65b0\u5f00\u53d1\u6a21\u578b\u7684\u6210\u672c\u3002<\/span><\/td>\n<\/tr>\n
2<\/span><\/td>\n\u201c\u957f\u5c3e\u95ee\u9898\u201d\u5e94\u5bf9\u4e4f\u529b<\/span><\/td>\nTVA\u901a\u8fc7\u7269\u7406\u5e38\u8bc6\u63a8\u7406\u80fd\u529b，\u80fd\u591f\u8bc6\u522b\u57fa\u4e8e\u89c6\u89c9\u4f2a\u88c5\u7684\u653b\u51fb\u6216\u5f02\u5e38（\u5982\u8bc6\u522b\u4e0d\u7b26\u5408\u529b\u5b66\u539f\u7406\u7684\u4f2a\u88c5\u7269\u54c1），\u4ece\u800c\u6709\u6548\u5e94\u5bf9\u4f20\u7edf\u65b9\u6cd5\u96be\u4ee5\u5904\u7406\u7684\u7f55\u89c1\u8fb9\u7f18\u6848\u4f8b\u3002<\/span><\/td>\n<\/tr>\n
3<\/span><\/td>\n\u53ef\u89e3\u91ca\u6027\u4e0e\u8c03\u8bd5\u56f0\u96be<\/span><\/td>\nTVA\u7684\u51b3\u7b56\u8fc7\u7a0b\u53ef\u7ed3\u5408\u6ce8\u610f\u529b\u673a\u5236（Attention）\u8fdb\u884c\u5206\u6790，\u5f00\u53d1\u8005\u80fd\u53ef\u89c6\u5316\u667a\u80fd\u4f53\u5728\u51b3\u7b56\u65f6\u5173\u6ce8\u4e86\u54ea\u4e9b\u89c6\u89c9\u533a\u57df\u6216\u65f6\u5e8f\u7247\u6bb5，\u8fd9\u4e3a\u5b9a\u4f4d\u548c\u8c03\u8bd5\u6a21\u578b\u884c\u4e3a\u63d0\u4f9b\u4e86\u53ef\u80fd，\u589e\u5f3a\u4e86\u7cfb\u7edf\u53ef\u89e3\u91ca\u6027\u3002<\/span><\/td>\n<\/tr>\n
4<\/span><\/td>\n\u7f3a\u4e4f\u7edf\u4e00\u7684\u6807\u51c6\u4e0e\u4e2d\u95f4\u4ef6<\/span><\/td>\nTVA\u4f5c\u4e3a\u4e00\u79cd\u4ee5Transformer\u4e3a\u6838\u5fc3\u7684\u9ad8\u7ea7\u667a\u80fd\u4f53\u6846\u67b6，\u5176\u8bbe\u8ba1\u7406\u5ff5\u548c\u63a5\u53e3\u6807\u51c6\u5316\u6709\u52a9\u4e8e\u63a8\u52a8\u4e0a\u5c42\u5e94\u7528\u5f00\u53d1\u7684\u7edf\u4e00\u3002\u4f8b\u5982，\u5176\u201c\u611f\u77e5-\u63a8\u7406-\u51b3\u7b56\u201d\u6a21\u5757\u5316\u8bbe\u8ba1\u53ef\u4e0eROS\u7b49\u673a\u5668\u4eba\u4e2d\u95f4\u4ef6\u66f4\u597d\u5730\u5bf9\u63a5\u3002<\/span><\/td>\n<\/tr>\n
5<\/span><\/td>\n\u7cfb\u7edf\u53ef\u9760\u6027\u4e0e\u5b89\u5168\u6027\u4e0d\u8db3<\/span><\/td>\n\u5728\u5b89\u9632\u9886\u57df，TVA\u901a\u8fc7\u4e3b\u52a8\u7684\u56e0\u679c\u63a8\u7406\u548c\u9884\u6d4b，\u80fd\u63d0\u524d\u9884\u8b66\u6f5c\u5728\u98ce\u9669，\u5b9e\u73b0\u4ece\u201c\u88ab\u52a8\u76d1\u63a7\u201d\u5230\u201c\u4e3b\u52a8\u9632\u5fa1\u201d\u7684\u8303\u5f0f\u8f6c\u53d8，\u8fd9\u672c\u8d28\u4e0a\u662f\u63d0\u5347\u4e86\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u548c\u5b89\u5168\u6027\u3002\u8fd9\u79cd\u4e3b\u52a8\u5b89\u5168\u7406\u5ff5\u53ef\u76f4\u63a5\u5e94\u7528\u4e8e\u5177\u8eab\u667a\u80fd，\u907f\u514d\u673a\u5668\u4eba\u7684\u5371\u9669\u64cd\u4f5c\u3002<\/span><\/td>\n<\/tr>\n
6<\/span><\/td>\n\u5546\u4e1a\u5316\u843d\u5730\u573a\u666f\u6a21\u7cca<\/span><\/td>\nTVA\u5728\u667a\u6167\u5b89\u9632\u3001\u5de5\u4e1a\u89c6\u89c9\u68c0\u6d4b\u7b49\u573a\u666f\u7684\u6210\u529f\u9a8c\u8bc1（\u5982\u8fbe\u523099.5%+\u7684\u68c0\u6d4b\u7cbe\u5ea6），\u4e3a\u7269\u7406AI（\u5305\u62ec\u5177\u8eab\u667a\u80fd）\u7684\u5546\u4e1a\u5316\u63d0\u4f9b\u4e86\u6e05\u6670\u7684\u6280\u672f\u8303\u5f0f\u548c\u5e94\u7528\u6837\u677f，\u8bc1\u660e\u4e86\u201c\u611f\u77e5-\u51b3\u7b56-\u884c\u52a8\u201d\u95ed\u73af\u5728\u5782\u76f4\u9886\u57df\u7684\u4ef7\u503c\u3002<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u6838\u5fc3\u4ee3\u7801\u8303\u5f0f\u793a\u4f8b<\/span><\/h4>\n

\u4ee5\u4e0b\u662f\u4e00\u4e2a\u9ad8\u5ea6\u7b80\u5316\u7684\u4f2a\u4ee3\u7801\u6846\u67b6，\u5c55\u793a\u4e86TVA\u5982\u4f55\u5c06\u611f\u77e5\u3001\u63a8\u7406\u4e0e\u51b3\u7b56\u6a21\u5757\u96c6\u6210，\u4ee5\u5e94\u5bf9\u52a8\u6001\u73af\u5883：<\/span><\/p>\n

import torch
\nimport torch.nn as nn<\/p>\n

class TVA_Agent(nn.Module):
\n """
\n\u4e00\u4e2a\u7b80\u5316\u7684TVA\u667a\u80fd\u4f53\u6838\u5fc3\u6846\u67b6，\u5c55\u793a\u611f\u77e5-\u63a8\u7406-\u51b3\u7b56\u95ed\u73af\u3002
\n """
\n def __init__(self, vision_backbone, transformer_core, policy_head):
\n super().__init__()
\n self.visual_encoder = vision_backbone # \u89c6\u89c9\u7279\u5f81\u63d0\u53d6（\u5982CNN\u6216ViT）
\n self.transformer = transformer_core # \u591a\u6a21\u6001\u878d\u5408\u4e0e\u5e8f\u5217\u63a8\u7406
\n self.policy_net = policy_head # \u51b3\u7b56\u8f93\u51fa（\u5982\u52a8\u4f5c\u5206\u5e03）<\/p>\n

def forward(self, visual_obs, history_actions, task_instruction_embedding):
\n """
\n Args:
\n visual_obs: \u5f53\u524d\u89c6\u89c9\u89c2\u6d4b [B, C, H, W]
\n history_actions: \u5386\u53f2\u52a8\u4f5c\u5e8f\u5217 [B, T, action_dim]
\n task_instruction_embedding: \u4efb\u52a1\u6307\u4ee4\u5d4c\u5165 [B, embed_dim]
\n Returns:
\n action: \u5f53\u524d\u51b3\u7b56\u52a8\u4f5c attention_weights: \u53ef\u89e3\u91ca\u6027\u6ce8\u610f\u529b\u6743\u91cd（\u53ef\u9009）
\n """
\n # 1. \u611f\u77e5：\u63d0\u53d6\u89c6\u89c9\u7279\u5f81 visual_features = self.visual_encoder(visual_obs) # [B, feat_dim]<\/p>\n

# 2. \u591a\u6a21\u6001\u878d\u5408\u4e0e\u63a8\u7406：\u5c06\u89c6\u89c9\u7279\u5f81\u3001\u5386\u53f2\u52a8\u4f5c\u3001\u4efb\u52a1\u6307\u4ee4\u62fc\u63a5\u5e76\u8f93\u5165Transformer # \u6784\u5efa\u5e8f\u5217\u8f93\u5165，\u4f8b\u5982 [\u4efb\u52a1\u6307\u4ee4, \u89c6\u89c9\u7279\u5f81, \u52a8\u4f5c1, \u52a8\u4f5c2, …]
\n sequence_input = self._construct_sequence(visual_features, history_actions, task_instruction_embedding)
\n contextual_features, attention_weights = self.transformer(sequence_input) # \u8fdb\u884c\u56e0\u679c\u6216\u65f6\u5e8f\u63a8\u7406 # 3. \u51b3\u7b56：\u57fa\u4e8e\u63a8\u7406\u540e\u7684\u4e0a\u4e0b\u6587\u7279\u5f81，\u8f93\u51fa\u5f53\u524d\u52a8\u4f5c
\n # \u901a\u5e38\u53d6\u5e8f\u5217\u4e2d\u5bf9\u5e94\u201c\u5f53\u524d\u65f6\u523b\u201d\u7684\u7279\u5f81\u8fdb\u884c\u51b3\u7b56
\n current_state_representation = contextual_features[:, -1, :]
\n action_distribution = self.policy_net(current_state_representation)<\/p>\n

# 4. （\u5728\u8bad\u7ec3\u6216\u4eff\u771f\u4e2d）\u6267\u884c\u52a8\u4f5c，\u83b7\u5f97\u65b0\u89c2\u6d4b，\u5f62\u6210\u95ed\u73af\u53cd\u9988 return action_distribution, attention_weights def _construct_sequence(self, visual_feat, history_act, instruction):
\n # \u5c06\u591a\u6a21\u6001\u8f93\u5165\u6784\u5efa\u4e3aTransformer\u6240\u9700\u7684\u5e8f\u5217
\n # \u6b64\u5904\u4e3a\u793a\u4f8b，\u5b9e\u9645\u6784\u9020\u65b9\u5f0f\u66f4\u590d\u6742 return torch.cat([instruction.unsqueeze(1), visual_feat.unsqueeze(1), history_act], dim=1)<\/p>\n

# \u8bad\u7ec3\u5faa\u73af\u793a\u610f（\u7b80\u5316）
\nagent = TVA_Agent(…)
\noptimizer = torch.optim.AdamW(agent.parameters(), lr=1e-4) # \u4f7f\u7528AdamW\u4f18\u5316\u5668<\/p>\n

for episode in range(total_episodes):
\n obs = env.reset()
\n done = False while not done:
\n # \u667a\u80fd\u4f53\u6839\u636e\u89c2\u6d4b\u548c\u5386\u53f2\u505a\u51fa\u51b3\u7b56
\n action_dist, attn = agent(obs, history_actions, task_embed)
\n action = action_dist.sample() # \u91c7\u6837\u52a8\u4f5c # \u5728\u73af\u5883\u4e2d\u6267\u884c\u52a8\u4f5c，\u83b7\u5f97\u53cd\u9988 next_obs, reward, done, info = env.step(action)<\/p>\n

# \u5b58\u50a8\u7ecf\u9a8c，\u7528\u4e8e\u540e\u7eed\u8bad\u7ec3（\u5982\u5f3a\u5316\u5b66\u4e60）
\n # … \u66f4\u65b0\u5386\u53f2\u52a8\u4f5c\u5e8f\u5217 …<\/p>\n

# \u6a21\u578b\u4f18\u5316\u6b65\u9aa4（\u6b64\u5904\u7701\u7565\u5177\u4f53\u7684\u635f\u5931\u8ba1\u7b97，\u5982RL\u635f\u5931\u3001\u6a21\u4eff\u5b66\u4e60\u635f\u5931\u7b49）
\n # loss = compute_loss(…)
\n # optimizer.zero_grad()
\n # loss.backward()
\n # torch.nn.utils.clip_grad_norm_(agent.parameters(), max_norm=0.5) # \u68af\u5ea6\u88c1\u526a
\n # optimizer.step()<\/p>\n

obs = next_obs<\/p>\n

\u7814\u7a76\u7ed3\u8bba\u4e0e\u5c55\u671b<\/span><\/h4>\n

TVA\u901a\u8fc7\u5176\u95ed\u73af\u667a\u80fd\u4f53\u67b6\u6784\u3001\u7269\u7406\u5e38\u8bc6\u63a8\u7406\u80fd\u529b\u548c\u57fa\u4e8eTransformer\u7684\u5f3a\u6cdb\u5316\u7279\u6027，\u80fd\u591f\u76f4\u63a5\u5e94\u5bf9\u5177\u8eab\u667a\u80fd\u5728\u611f\u77e5\u878d\u5408\u3001\u5e38\u8bc6\u7406\u89e3\u3001\u4efb\u52a1\u89c4\u5212\u3001Sim2Real\u8fc1\u79fb\u7b49\u6838\u5fc3\u96be\u70b9，\u5e76\u5728\u63d0\u5347\u7cfb\u7edf\u6cdb\u5316\u6027\u3001\u53ef\u9760\u6027\u3001\u53ef\u89e3\u91ca\u6027\u4ee5\u53ca\u63a8\u52a8\u5546\u4e1a\u5316\u843d\u5730\u7b49\u75db\u70b9\u65b9\u9762\u53d1\u6325\u5173\u952e\u4f5c\u7528\u3002<\/span><\/p>\n

（\u9644）\u5177\u8eab\u667a\u80fd\u7b97\u6cd5\u7a81\u7834（TVA-VLA）<\/span><\/p>\n

\u4e3a\u4e86\u5c06\u590d\u6742\u52a8\u4f5c\u62c6\u6210\u53ef\u4ee5\u9a8c\u8bc1\u3001\u7ec4\u5408\u548c\u91cd\u65b0\u6392\u5217\u7684\u539f\u5b50\u6280\u80fd（atomic skills），TVA\u667a\u80fd\u4f53\u4e0eVLA（Vision-Language-Action）\u6a21\u578b\u8fdb\u884c\u6df1\u5ea6\u8026\u5408，\u5e76\u901a\u8fc7\u201c\u611f\u77e5-\u51b3\u7b56\u89e3\u8026\u8fed\u4ee3\u201d\u7684\u53cc\u5f15\u64ce\u673a\u5236\u5b9e\u73b0\u9ad8\u6548\u534f\u540c\u4e0e\u7a81\u7834\u3002\u5176\u4e2d，TVA\u4f5c\u4e3a\u611f\u77e5\u524d\u7f6e\u5f15\u64ce，\u4e3b\u8981\u8d1f\u8d23\u9ad8\u7cbe\u5ea6\u89c6\u89c9\u7279\u5f81\u63d0\u53d6\u3001\u6570\u636e\u964d\u566a\u4e0e\u7279\u5f81\u538b\u7f29，\u4e3a\u51b3\u7b56\u5c42\u63d0\u4f9b\u9ad8\u8d28\u91cf\u8f93\u5165\u5e76\u964d\u4f4e\u7b97\u529b\u8d1f\u8377；VLA\u5219\u4f5c\u4e3a\u51b3\u7b56\u6267\u884c\u5f15\u64ce，\u4e13\u6ce8\u4e8e\u8bed\u4e49\u7406\u89e3\u3001\u4efb\u52a1\u89c4\u5212\u4e0e\u52a8\u4f5c\u751f\u6210\u3002\u4e24\u8005\u901a\u8fc7\u53cc\u5411\u53cd\u9988\u95ed\u73af，\u5b9e\u73b0\u4e86\u611f\u77e5\u7cbe\u5ea6\u4e0e\u51b3\u7b56\u6548\u7387\u7684\u534f\u540c\u4f18\u5316\u4e0e\u81ea\u4e3b\u8fed\u4ee3，\u7a81\u7834\u4e86\u4f20\u7edf\u5177\u8eab\u667a\u80fd\u7cfb\u7edf\u201c\u611f\u77e5\u7c97\u7cd9\u3001\u51b3\u7b56\u50f5\u5316\u3001\u8fed\u4ee3\u4f4e\u6548\u201d\u7684\u4ea7\u4e1a\u5316\u74f6\u9888\u3002TVA-VLA\u67b6\u6784\u4e0d\u4ec5\u6210\u529f\u5e94\u7528\u4e8e\u5f3a\u5149\u73af\u5883\u964d\u566a\u3001\u8fb9\u7f18\u7aef\u8f7b\u91cf\u5316\u63a8\u7406\u3001\u7cbe\u5bc6\u88c5\u914d\u5fae\u72b6\u6001\u611f\u77e5\u53ca\u6545\u969c\u81ea\u6108\u7b49\u590d\u6742\u573a\u666f，\u8fd8\u652f\u6301\u6a21\u5757\u5316\u5347\u7ea7\u4e0e\u8de8\u573a\u666f\u9002\u914d（\u5982\u5de5\u4e1a\u5206\u62e3\u3001\u5bb6\u5ead\u670d\u52a1）；\u7ed3\u5408\u786c\u4ef6\u62bd\u8c61\u5c42\u5b9e\u73b0\u7684\u201c\u4e00\u6b21\u5f00\u53d1\u591a\u673a\u90e8\u7f72\u201d\u4ee5\u53ca\u6570\u636e\u98de\u8f6e\u673a\u5236，\u663e\u8457\u63d0\u5347\u4e86\u5177\u8eab\u667a\u80fd\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u4e0e\u4ea7\u4e1a\u5316\u843d\u5730\u53ef\u884c\u6027\u3002<\/span><\/p>\n

\u91cd\u78c5\u9884\u544a：<\/span>\u672c\u4e13\u680f\u5c06\u72ec\u5bb6\u8fde\u8f7d\u7cfb\u5217\u4e1b\u4e66\u300aAI\u667a\u80fd\u4f53\u89c6\u89c9\u6280\u672f\u4e0e\u5e94\u7528\u300b\u90e8\u5206\u7cbe\u534e\u5185\u5bb9，\u8be5\u4e66\u662f\u4e16\u754c\u9996\u5957\u7cfb\u7edf\u9610\u8ff0\u201c\u56e0\u5f0f\u667a\u80fd\u4f53\u201d\u89c6\u89c9\u7406\u8bba\u4e0e\u5b9e\u8df5\u7684\u4e13\u8457，\u7279\u9080\u7f8e\u56fd TypeOne \u516c\u53f8\u9996\u5e2d\u79d1\u5b66\u5bb6\u3001\u65af\u5766\u798f\u5927\u5b66\u535a\u58eb Bohan \u62c5\u4efb\u6280\u672f\u987e\u95ee\u3002Bohan\u5148\u751f\u5e08\u4ece\u4e16\u754c\u6a21\u578b\u5f00\u521b\u8005\u3001\u201cAI\u6559\u6bcd\u201d\u674e\u98de\u98de\u6559\u6388，\u5b66\u672f\u5f15\u7528\u91cf\u5728\u8fd1\u56db\u5e74\u5185\u7a81\u7834\u4e07\u6b21，\u662f\u5168\u7403AI\u4e0e\u673a\u5668\u4eba\u89c6\u89c9\u9886\u57df\u7684\u6807\u6746\u6027\u4eba\u7269（www.type-one.com）\u3002\u5168\u4e66\u4e25\u683c\u9075\u5faa\u201c\u57fa\u7840\u2014\u539f\u7406\u2014\u5b9e\u64cd\u2014\u8fdb\u9636\u2014\u8d4b\u80fd\u2014\u672a\u6765\u201d\u7684\u516d\u6b65\u8fdb\u9636\u903b\u8f91，\u81f4\u529b\u4e8e\u5f15\u5165\u201c\u7c7b\u4eba\u667a\u773c\u201d\u65b0\u8303\u5f0f，\u7cfb\u7edf\u7834\u89e3\u4ece\u6570\u5b57\u4e16\u754c\u5230\u7269\u7406\u4e16\u754c\u201c\u6700\u540e\u4e00\u516c\u91cc\u201d\u7684\u4e16\u754c\u7ea7\u96be\u9898\u3002\u8be5\u4e66\u7cbe\u5f69\u5185\u5bb9\u5c06\u4f18\u5148\u5728\u672c\u4e13\u680f\u9646\u7eed\u53d1\u5e03，\u5176\u7eb8\u8d28\u4e13\u8457\u4ea6\u5c06\u6b63\u5f0f\u51fa\u7248\u3002\u656c\u8bf7\u5173\u6ce8！<\/span><\/p>\n

\u7248\u6743\u58f0\u660e：\u672c\u6587\u7cfb\u4f5c\u8005\u539f\u521b\u9996\u53d1\u4e8e CSDN \u7684\u6280\u672f\u7c7b\u6587\u7ae0，\u53d7\u300a\u4e2d\u534e\u4eba\u6c11\u5171\u548c\u56fd\u8457\u4f5c\u6743\u6cd5\u300b\u4fdd\u62a4，\u8f6c\u8f7d\u6216\u5546\u7528\u656c\u8bf7\u6ce8\u660e\u51fa\u5904\u3002<\/span><\/p>\n

\n

\u53c2\u8003\u6765\u6e90<\/h4>\n
    \n
  • TVA \u5728\u667a\u6167\u5b89\u9632\u8fed\u4ee3\u4e2d\u7684\u4f5c\u7528（\u7cfb\u5217）<\/li>\n
  • TVA \u5728\u667a\u6167\u5b89\u9632\u8fed\u4ee3\u5347\u7ea7\u4e2d\u7684\u4f5c\u7528（14）<\/li>\n
  • PyTorch\u5728TVA\u7cfb\u7edf\u4e2d\u7684\u5173\u952e\u4f5c\u7528（\u7cfb\u5217）<\/li>\n
  • TVA \u5728\u667a\u6167\u5b89\u9632\u8fed\u4ee3\u5347\u7ea7\u4e2d\u7684\u4f5c\u7528（20）<\/li>\n
  • PyTorch\u5728TVA\u7cfb\u7edf\u4e2d\u7684\u5173\u952e\u4f5c\u7528（7）<\/li>\n<\/ul>\n

    \u00a0<\/p>\n","protected":false},"excerpt":{"rendered":"

    \u524d\u6cbf\u6280\u672f\u63a2\u7d22：TVA\u667a\u80fd\u4f53（\u7b80\u79f0TVA）
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