{"id":117888,"date":"2026-10-25T20:24:28","date_gmt":"2026-10-25T12:24:28","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/117888.html"},"modified":"2026-10-25T20:24:28","modified_gmt":"2026-10-25T12:24:28","slug":"%e3%80%90%e8%bf%90%e5%8a%a8%e6%8e%a7%e5%88%b6%e3%80%91unitracker%e4%ba%ba%e5%bd%a2%e5%85%a8%e8%ba%ab%e8%bf%90%e5%8a%a8%e8%b7%9f%e8%b8%aa","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/117888.html","title":{"rendered":"\u3010\u8fd0\u52a8\u63a7\u5236\u3011UniTracker\u4eba\u5f62\u5168\u8eab\u8fd0\u52a8\u8ddf\u8e2a"},"content":{"rendered":"<p>\u672c\u9875\u6982\u5ff5\u5361<br \/>\n\u4eba\u5f62\u8fd0\u52a8\u8ddf\u8e2a \u00b7 \u7279\u6743\u6559\u5e08\u7b56\u7565 \u00b7 CVAE \u00b7 \u90e8\u5206\u53ef\u89c2\u6d4b\u6761\u4ef6\u5148\u9a8c \u00b7 \u6b8b\u5dee\u52a8\u4f5c\u89e3\u7801\u5668 \u00b7 \u4eba\u5f62\u8fd0\u52a8\u91cd\u5b9a\u5411 \u00b7 SMPL \u4eba\u4f53\u52a8\u4f5c \u00b7 PHC \u7b5b\u9009\u534f\u8bae \u00b7 PPO 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ms\\&#8221;,verdana,arial,sans-serif;}<span class=\"edgeLabel\"><\/span><span class=\"edgeLabel\"><\/span><span class=\"edgeLabel\"><\/span><span class=\"edgeLabel\"><\/span><span class=\"edgeLabel\"><\/span><span class=\"edgeLabel\"><\/span><span class=\"edgeLabel\"><\/span><span class=\"nodeLabel\"><\/p>\n<p>AMASS \u4eba\u7c7b\u52a8\u4f5c<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>\u91cd\u5b9a\u5411\u5230 G1<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>PHC \u7269\u7406\u53ef\u884c\u6027\u7b5b\u9009<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>\u9636\u6bb5 1&#xff1a;\u7279\u6743 RL \u6559\u5e08<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>\u9636\u6bb5 2&#xff1a;CVAE \u5728\u7ebf\u84b8\u998f<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>\u901a\u7528\u53ef\u90e8\u7f72\u7b56\u7565<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>\u9636\u6bb5 3&#xff1a;\u51bb\u7ed3\u57fa\u5ea7 &#043; \u6b8b\u5dee\u9002\u914d<\/p>\n<p><\/span><span class=\"nodeLabel\"><\/p>\n<p>\u9ad8\u96be \/ OOD \u52a8\u4f5c<\/p>\n<p><\/span><\/p>\n<h4>0. \u6570\u636e&#xff1a;\u4ece\u4eba\u7c7b\u52a8\u4f5c\u53d8\u6210\u53ef\u5b66\u7684 G1 \u53c2\u8003<\/h4>\n<p>\u6570\u636e\u4e3b\u8981\u6765\u81ea AMASS\u3002\u8bba\u6587\u5220\u53bb\u4eba-\u7269\u4ea4\u4e92\u7247\u6bb5\u4e0e\u77ed\u4e8e 10 \u5e27\u7684\u5e8f\u5217&#xff0c;\u518d\u91c7\u7528 PHC \u7684\u7b5b\u9009\u534f\u8bae&#xff0c;\u5f97\u5230 8,179 \u6761 SMPL \u4eba\u4f53\u52a8\u4f5c\u3002\u91cd\u5b9a\u5411\u5206\u4e24\u6b65&#xff1a;\u5148\u57fa\u4e8e 16 \u4e2a\u5bf9\u5e94\u8eab\u4f53\u94fe\u63a5\u5339\u914d\u9759\u6b62\u59ff\u6001\u6bd4\u4f8b&#xff1b;\u518d\u5bf9\u6574\u6bb5\u52a8\u4f5c\u4f18\u5316\u673a\u5668\u4eba\u6839\u5e73\u79fb\u3001\u6839\u59ff\u6001\u548c\u5173\u8282\u4f4d\u7f6e&#xff0c;\u5e76\u52a0\u5e73\u6ed1\/\u4e0d\u8fc7\u6fc0\u6b63\u5219\u3002<\/p>\n<h4>1. 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\u589e\u76ca\u566a\u58f0\u6216\u5916\u529b\u7b49\u73af\u5883\u52a8\u529b\u5b66\u968f\u673a\u5316\u3002\u6559\u5e08\u8f93\u51fa <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">atoraclea_t^{oracle}<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0961em;vertical-align: -0.247em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">a<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em\"><span class=\"\" style=\"top: -2.453em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">or<\/span><span class=\"mord mathnormal mtight\">a<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><span class=\"mord mathnormal mtight\">e<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff0c;\u662f\u4e0b\u4e00\u9636\u6bb5\u7684\u52a8\u4f5c\u76d1\u7763\u3002<\/p>\n<h4>2. CVAE \u5b66\u751f&#xff1a;\u628a\u201c\u770b\u4e0d\u5230\u7684\u5168\u5c40\u4fe1\u606f\u201d\u53d8\u6210\u6f5c\u53d8\u91cf<\/h4>\n<p>\u90e8\u7f72\u4fa7\u72b6\u6001\u53d6\u8fc7\u53bb 25 \u6b65\u5173\u8282\u4f4d\u7f6e\/\u901f\u5ea6\u3001\u6839\u89d2\u901f\u5ea6\u3001\u91cd\u529b\u5411\u91cf\u548c\u5386\u53f2\u52a8\u4f5c&#xff1b;\u53c2\u8003\u7aef\u53d6\u672a\u6765 5 \u5e27\u7684\u9ad8\u5ea6\u3001\u6839\u59ff\u6001\u4e0e\u901f\u5ea6\u7b49\u76ee\u6807\u3002\u5173\u952e\u662f\u4e09\u4ef6\u4e8b&#xff1a;<\/p>\n<ul>\n<li>\u5168\u72b6\u6001\u7f16\u7801\u5668 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">q(zt\u2223storacle)q(z_t\\\\mid s_t^{oracle})<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.044em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u2223<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0991em;vertical-align: -0.25em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em\"><span class=\"\" style=\"top: -2.453em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">or<\/span><span class=\"mord mathnormal mtight\">a<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><span class=\"mord mathnormal mtight\">e<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>&#xff1a;\u8bad\u7ec3\u65f6\u770b\u7279\u6743\u5168\u5c40\u72b6\u6001&#xff0c;\u62bd\u53d6\u6f5c\u53d8\u91cf&#xff1b;<\/li>\n<li>\u90e8\u5206\u89c2\u6d4b\u5148\u9a8c <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">p(zt\u2223stdeploy)p(z_t\\\\mid s_t^{deploy})<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\">p<\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.044em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u2223<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.217em;vertical-align: -0.25em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.967em\"><span class=\"\" style=\"top: -2.4542em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">e<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">pl<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em\">oy<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2458em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>&#xff1a;\u53ea\u770b\u771f\u673a\u53ef\u5f97\u72b6\u6001&#xff0c;\u9884\u6d4b\u90e8\u7f72\u65f6\u53ef\u7528\u7684\u6f5c\u53d8\u91cf\u5206\u5e03&#xff1b;<\/li>\n<li>\u89e3\u7801\u5668 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">D(at\u2223stdeploy,zt)D(a_t\\\\mid s_t^{deploy},z_t)<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">D<\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">a<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u2223<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.217em;vertical-align: -0.25em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.967em\"><span class=\"\" style=\"top: -2.4542em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">e<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">pl<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em\">oy<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2458em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.044em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>&#xff1a;\u4e0d\u76f4\u63a5\u5582\u663e\u5f0f\u53c2\u8003&#xff0c;\u4ee5\u514d\u5f3a\u53c2\u8003\u8f93\u5165\u8ba9\u6a21\u578b\u5ffd\u7565 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">zz<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.4306em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><\/span><\/span><\/span><\/span>&#xff0c;\u9000\u5316\u6210\u666e\u901a DAgger\u3002<\/li>\n<\/ul>\n<p>\u635f\u5931\u4e3a\u52a8\u4f5c\u76d1\u7763\u52a0 KL \u5bf9\u9f50&#xff1a;<\/p>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\">L&#061;\u2225atdeploy\u2212atoracle\u222522&#043;\u03b2\u2009DKL(q(zt\u2223storacle)\u2225p(zt\u2223stdeploy)).<br \/>\n\\\\mathcal L&#061;\\\\lVert a_t^{deploy}-a_t^{oracle}\\\\rVert_2^2&#043;\\\\beta\\\\,D_{KL}\\\\bigl(q(z_t\\\\mid s_t^{oracle})\\\\parallel p(z_t\\\\mid s_t^{deploy})\\\\bigr).<br \/>\n<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathcal\">L<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.217em;vertical-align: -0.25em\"><\/span><span class=\"mopen\">\u2225<\/span><span class=\"mord\"><span class=\"mord mathnormal\">a<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.967em\"><span class=\"\" style=\"top: -2.4542em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">e<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">pl<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em\">oy<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2458em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.1491em;vertical-align: -0.25em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">a<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8991em\"><span class=\"\" style=\"top: -2.453em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.113em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">or<\/span><span class=\"mord mathnormal mtight\">a<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><span class=\"mord mathnormal mtight\">e<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\"><span class=\"mclose\">\u2225<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8641em\"><span class=\"\" style=\"top: -2.453em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><span class=\"\" style=\"top: -3.113em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.2em;vertical-align: -0.35em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0528em\">\u03b2<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"mord mathnormal mtight\">L<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\"><span class=\"delimsizing size1\">(<\/span><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">q<\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.044em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u2223<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.1491em;vertical-align: -0.25em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8991em\"><span class=\"\" style=\"top: -2.453em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.113em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">or<\/span><span class=\"mord mathnormal mtight\">a<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><span class=\"mord mathnormal mtight\">e<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u2225<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\">p<\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.044em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u2223<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.317em;vertical-align: -0.35em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">s<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.967em\"><span class=\"\" style=\"top: -2.4542em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">e<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">pl<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em\">oy<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2458em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><span class=\"mclose\"><span class=\"delimsizing size1\">)<\/span><\/span><span class=\"mord\">.<\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u7f16\u7801\u5668\u6309\u201c\u5148\u9a8c\u5747\u503c &#043; \u7f16\u7801\u5668\u6b8b\u5dee\u201d\u6784\u9020\u3002\u8bba\u6587\u7684\u6700\u4f73\u8bbe\u7f6e\u662f\u6f5c\u53d8\u91cf\u7ef4\u5ea6 64\u3001\u672a\u6765\u7a97\u53e3 5 \u5e27\u3001KL \u7cfb\u6570 0.1\u3002<\/p>\n<h4>3. \u5feb\u901f\u9002\u914d&#xff1a;\u53ea\u8865\u9ad8\u96be\u52a8\u4f5c\u7684\u5dee\u91cf<\/h4>\n<p>\u5bf9\u901a\u7528\u7b56\u7565\u65e0\u6cd5\u7a33\u5b9a\u8ffd\u8e2a\u7684\u9ad8\u52a8\u6001\/OOD \u5e8f\u5217&#xff0c;\u51bb\u7ed3\u539f\u7b56\u7565&#xff0c;\u53ea\u8bad\u7ec3 \u6b8b\u5dee\u52a8\u4f5c\u89e3\u7801\u5668\u3002\u5b83\u8bfb\u4e0e\u5148\u9a8c\u76f8\u540c\u7684\u53ef\u90e8\u7f72\u72b6\u6001\u548c\u663e\u5f0f\u53c2\u8003&#xff0c;\u8f93\u51fa <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">a~t\\\\tilde a_t<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8179em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6679em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\">a<\/span><\/span><span class=\"\" style=\"top: -3.35em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.25em\"><span class=\"mord\">~<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff1a;<\/p>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\">atfinal&#061;at&#043;a~t.a_t^{final}&#061;a_t&#043;\\\\tilde a_t.<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.2128em;vertical-align: -0.2458em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">a<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.967em\"><span class=\"\" style=\"top: -2.4542em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"mord mathnormal mtight\">ina<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2458em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.7333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">a<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8179em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6679em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\">a<\/span><\/span><span class=\"\" style=\"top: -3.35em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.25em\"><span class=\"mord\">~<\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\">.<\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u6b64\u5904\u5141\u8bb8\u76f4\u63a5\u4f7f\u7528\u663e\u5f0f\u53c2\u8003&#xff0c;\u56e0\u4e3a\u76ee\u6807\u662f\u8fc5\u901f\u62df\u5408\u7279\u5b9a\u5e8f\u5217&#xff0c;\u800c\u4e0d\u662f\u4fdd\u6301\u901a\u7528\u6cdb\u5316\u3002\u8bba\u6587\u540c\u65f6\u652f\u6301\u5355\u6761\u548c\u6279\u91cf\u52a8\u4f5c\u9002\u914d\u3002<\/p>\n<h4>\u5bf9\u6bd4\u7ed3\u679c&#xff08;All AMASS Train Dataset&#xff09;<\/h4>\n<table>\n<tr>\u65b9\u6cd5SR \u2191MPKPE \u2193Vel-Dist \u2193Acc-Dist \u2193<\/tr>\n<tbody>\n<tr>\n<td>OmniH2O<\/td>\n<td align=\"right\">84.58<\/td>\n<td align=\"right\">188.91<\/td>\n<td align=\"right\">7.09<\/td>\n<td align=\"right\">3.98<\/td>\n<\/tr>\n<tr>\n<td>Exbody2<\/td>\n<td align=\"right\">86.39<\/td>\n<td align=\"right\">186.77<\/td>\n<td align=\"right\">6.10<\/td>\n<td align=\"right\">3.63<\/td>\n<\/tr>\n<tr>\n<td>\u65e0 CVAE \u7684 DAgger<\/td>\n<td align=\"right\">88.03<\/td>\n<td align=\"right\">185.01<\/td>\n<td align=\"right\">5.63<\/td>\n<td align=\"right\">2.95<\/td>\n<\/tr>\n<tr>\n<td>\u4ece\u5934\u8bad\u7ec3<\/td>\n<td align=\"right\">72.22<\/td>\n<td align=\"right\">104.49<\/td>\n<td align=\"right\">8.79<\/td>\n<td align=\"right\">6.33<\/td>\n<\/tr>\n<tr>\n<td>UniTracker<\/td>\n<td align=\"right\">91.82<\/td>\n<td align=\"right\">82.57<\/td>\n<td align=\"right\">4.22<\/td>\n<td align=\"right\">1.79<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8bba\u6587\u5728 Isaac Gym \u7684 8,192 \u4e2a\u5e76\u884c\u73af\u5883\u8bad\u7ec3&#xff0c;\u968f\u540e\u8f6c\u5230 MuJoCo&#xff0c;\u5e76\u5728 G1 \u771f\u673a\u9a8c\u8bc1\u3002\u76f8\u8f83\u65e0 CVAE \u7684 DAgger&#xff0c;UniTracker \u4e0d\u53ea\u63d0\u5347 SR&#xff0c;\u8fd8\u628a\u4e16\u754c\u5750\u6807\u4e0b\u7684 MPKPE \u5927\u5e45\u964d\u4f4e\u3002<\/p>\n<h4>\u6d88\u878d\u7ed9\u51fa\u7684\u5173\u952e\u4fe1\u606f<\/h4>\n<ul>\n<li>\u663e\u5f0f\u53c2\u8003\u4e0d\u80fd\u76f4\u63a5\u5582\u7ed9 actor&#xff1a;\u4f1a\u76d6\u8fc7\u6f5c\u53d8\u91cf&#xff0c;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">zz<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.4306em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><\/span><\/span><\/span><\/span> \u5931\u6548&#xff0c;\u8868\u73b0\u63a5\u8fd1\u666e\u901a DAgger\u3002<\/li>\n<li>KL \u6b8b\u5dee\u7ed3\u6784\u91cd\u8981&#xff1a;\u53bb\u6389\u6b8b\u5dee\u540e SR \u4ece 91.82 \u964d\u81f3 85.39&#xff0c;MPKPE \u4ece 82.57 \u5347\u81f3 91.35\u3002<\/li>\n<li>CVAE \u63d0\u5347\u6297\u566a\u4e0e\u5168\u5c40\u4e00\u81f4\u6027&#xff1a;\u89c2\u6d4b\u566a\u58f0\u589e\u5927\u65f6\u4e0b\u964d\u66f4\u6162&#xff1b;\u5728\u672a\u89c1\u7684 crescent kick \u548c\u76f4\u7ebf\u884c\u8d70\u6d4b\u8bd5\u4e2d\u4f18\u4e8e\u65e0 CVAE \u7248\u672c\u3002<\/li>\n<li>\u5feb\u901f\u9002\u914d\u4f18\u4e8e\u4ece\u5934\u8bad&#xff1a;\u5728 roundhouse kick \u4e0e AMASS \u6d4b\u8bd5\u96c6\u4e0a&#xff0c;\u5956\u52b1\u548c episode length \u6536\u655b\u90fd\u66f4\u5feb\u3002<\/li>\n<\/ul>\n<h4>\u5c40\u9650\u4e0e\u9605\u8bfb\u8fb9\u754c<\/h4>\n<ul>\n<li>\u8bba\u6587\u672a\u5728\u6b63\u6587\u5b8c\u6574\u516c\u5f00\u7f51\u7edc\u5c42\u6570\u3001\u8bad\u7ec3\u65f6\u957f\u3001\u5404\u89c2\u6d4b\u5f52\u4e00\u5316\u548c Vel-Dist\/Acc-Dist \u7684\u7cbe\u786e\u5b9e\u73b0&#xff1b;\u590d\u73b0\u9700\u7ee7\u7eed\u67e5\u4ee3\u7801\u6216\u8865\u5145\u6750\u6599\u3002<\/li>\n<li>\u9002\u914d\u9636\u6bb5\u523b\u610f\u8fc7\u62df\u5408\u7279\u5b9a\u52a8\u4f5c&#xff0c;\u4e0d\u80fd\u628a\u5176\u6548\u679c\u5f53\u4f5c\u901a\u7528\u6cdb\u5316\u6307\u6807\u3002<\/li>\n<li>AMASS \u7b5b\u9009\u4e0e\u91cd\u5b9a\u5411\u8d28\u91cf\u4f1a\u76f4\u63a5\u5f71\u54cd\u4e0a\u9650&#xff1b;\u201c8,100 \u6761\u53ef\u8ddf\u8e2a\u201d\u4e0d\u7b49\u540c\u4e8e\u4efb\u610f\u4eba\u4f53\u89c6\u9891\u90fd\u80fd\u53ef\u9760\u6267\u884c\u3002<\/li>\n<\/ul>\n<h3>\u8981\u70b9\u603b\u7ed3<\/h3>\n<ul>\n<li>\u6838\u5fc3\u6d1e\u89c1&#xff1a;\u90e8\u5206\u89c2\u6d4b\u4e0b\u7684\u52a8\u4f5c\u6b67\u4e49\u4e0d\u8981\u7528\u5355\u70b9\u56de\u5f52\u786c\u538b\u5e73&#xff1b;\u8ba9\u7279\u6743\u7f16\u7801\u5668\u628a\u5168\u5c40\u610f\u56fe\u538b\u5230\u3001\u5e76\u7531\u90e8\u7f72\u5148\u9a8c\u590d\u73b0\u7684\u6f5c\u53d8\u91cf\u4e2d\u3002<\/li>\n<li>\u5de5\u7a0b\u53d6\u820d&#xff1a;\u901a\u7528\u7b56\u7565\u627f\u62c5\u8986\u76d6\u9762&#xff1b;\u9ad8\u96be\u6837\u672c\u7528\u5c0f\u578b\u6b8b\u5dee\u5934\u505a\u53d7\u63a7\u7279\u5316&#xff0c;\u907f\u514d\u91cd\u8bad\u5927\u6a21\u578b\u3002<\/li>\n<li>\u8bc4\u6d4b\u4e60\u60ef&#xff1a;\u540c\u65f6\u770b SR\u3001MPKPE\u3001Vel-Dist \u4e0e Acc-Dist&#xff0c;\u5206\u522b\u5bf9\u5e94\u53ef\u5b8c\u6210\u6027\u3001\u51e0\u4f55\u7cbe\u5ea6\u548c\u4e00\/\u4e8c\u9636\u52a8\u6001\u3002<\/li>\n<\/ul>\n<h3>\u5f00\u653e\u95ee\u9898<\/h3>\n<ul>\n<li>\u8bba\u6587\u7684\u7279\u6743\u72b6\u6001\u662f\u5426\u80fd\u7531\u771f\u673a\u89c6\u89c9\/\u72b6\u6001\u4f30\u8ba1\u5668\u8fd1\u4f3c&#xff0c;\u4ece\u800c\u8fdb\u4e00\u6b65\u7f29\u5c0f sim-to-real \u4fe1\u606f\u5dee&#xff1f;<\/li>\n<li>\u9762\u5bf9\u771f\u5b9e\u63a5\u89e6\u4efb\u52a1&#xff0c;\u6b8b\u5dee\u52a8\u4f5c\u662f\u5426\u9700\u8981\u663e\u5f0f\u7684\u5b89\u5168\u6295\u5f71\u6216\u529b\u77e9\/\u78b0\u649e\u7ea6\u675f&#xff1f;<\/li>\n<li>\u5f00\u6e90\u5b9e\u73b0\u4e2d&#xff0c;CVAE \u7684\u91c7\u6837\u65b9\u5f0f\u3001KL \u9000\u706b\u4e0e\u52a8\u4f5c\u5206\u5e03\u53c2\u6570\u5982\u4f55\u8bbe\u5b9a&#xff1f;<\/li>\n<\/ul>\n<h3>\u76f8\u5173<\/h3>\n<ul>\n<li>\u672c\u5730\u8bba\u6587&#xff1a;2507.07356 &#8211; UniTracker.pdf<\/li>\n<li>\u4eba\u5f62\u8fd0\u52a8\u8ddf\u8e2a \u00b7 CVAE-\u6761\u4ef6\u53d8\u5206\u81ea\u7f16\u7801\u5668 \u00b7 \u6b8b\u5dee\u52a8\u4f5c\u89e3\u7801\u5668<\/li>\n<li>DAgger \u00b7 WBC<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u9875\u6982\u5ff5\u5361<br \/>\n\u4eba\u5f62\u8fd0\u52a8\u8ddf\u8e2a \u00b7 \u7279\u6743\u6559\u5e08\u7b56\u7565 \u00b7 CVAE \u00b7 \u90e8\u5206\u53ef\u89c2\u6d4b\u6761\u4ef6\u5148\u9a8c \u00b7 \u6b8b\u5dee\u52a8\u4f5c\u89e3\u7801\u5668 \u00b7 \u4eba\u5f62\u8fd0\u52a8\u91cd\u5b9a\u5411 \u00b7 SMPL \u4eba\u4f53\u52a8\u4f5c \u00b7 PHC \u7b5b\u9009\u534f\u8bae \u00b7 PPO \u4f18\u5316\u8ddf\u8e2a\u5956\u52b1 \u00b7 SR \u00b7 MPKPE \u00b7 Vel-Dist \u00b7 Acc-Dist\u4e00\u53e5\u8bdd\u5b9a\u4f4d<br \/>\nUniTracker \u7528\u201c\u7279\u6743 RL \u6559\u5e08 \u2192 CVAE \u5728\u7ebf\u84b8\u998f\u5b66\u751f \u2192 \u6b8b\u5dee\u5feb\u901f\u9002\u914d\u201d\u4e09\u9636\u6bb5\u6d41\u7a0b&#xff0c;\u8ba9\u540c\u4e00\u4e2a 23-DoF \u63a7\u5236\u7b56\u7565\u5728 Unitree G1 \u4e0a\u8ddf\u8e2a 8,100 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