{"id":119420,"date":"2026-10-29T16:09:00","date_gmt":"2026-10-29T08:09:00","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/119420.html"},"modified":"2026-10-29T16:09:00","modified_gmt":"2026-10-29T08:09:00","slug":"%e5%88%ab%e6%80%a5%e7%9d%80%e6%af%94-vla-%e5%92%8c-wam%ef%bc%9ajam-%e6%8a%8a%e4%b8%89%e4%b8%aa%e8%a2%ab%e6%8d%86%e4%bd%8f%e7%9a%84%e9%80%89%e6%8b%a9%e6%8b%86%e5%bc%80%e4%ba%86","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/119420.html","title":{"rendered":"\u522b\u6025\u7740\u6bd4 VLA \u548c WAM\uff1aJAM \u628a\u4e09\u4e2a\u88ab\u6346\u4f4f\u7684\u9009\u62e9\u62c6\u5f00\u4e86"},"content":{"rendered":"<\/p>\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>\n<ul>\n<li>\u4e09\u5341\u79d2\u901f\u89c8&#xff1a;\u4e09\u4e2a\u9009\u62e9\u3001\u516d\u4e2a\u6570\u5b57<\/li>\n<li>\n<ul>\n<li>\u4e09\u4e2a\u9009\u62e9<\/li>\n<li>\u516d\u4e2a\u6570\u5b57<\/li>\n<li>\u4e00\u53e5\u8bdd\u7ed3\u8bba<\/li>\n<\/ul>\n<\/li>\n<li>\u4e89\u8bba\u4e3a\u4ec0\u4e48\u7b97\u4e0d\u6e05&#xff1a;\u4e09\u4e2a\u9009\u62e9\u88ab\u6346\u5728\u4e00\u8d77<\/li>\n<li>\n<ul>\n<li>VLA \u4e0e WAM \u7684\u5dee\u522b\u4e0d\u6b62\u4e00\u5904<\/li>\n<li>\u7b2c\u4e09\u4e2a\u9009\u62e9\u5e38\u88ab\u5ffd\u7565&#xff1a;\u8bad\u7ec3\u671f\u4e0e\u63a8\u7406\u671f\u662f\u4e24\u7ea7\u5f00\u5173<\/li>\n<li>\u6240\u4ee5\u6210\u529f\u7387\u5dee\u4e0d\u80fd\u5f52\u56e0<\/li>\n<li>\u62c6\u5f00\u4e4b\u540e\u80fd\u95ee\u51fa\u4ec0\u4e48<\/li>\n<\/ul>\n<\/li>\n<li>JAM \u7684\u505a\u6cd5&#xff1a;\u628a\u672a\u6765\u538b\u6210\u76ee\u6807&#xff0c;\u4e0d\u8fdb\u52a8\u4f5c\u901a\u8def<\/li>\n<li>\n<ul>\n<li>\u6570\u636e\u4e0e\u90e8\u7f72\u63a5\u53e3<\/li>\n<li>\u524d\u77bb\u635f\u5931\u957f\u4ec0\u4e48\u6837<\/li>\n<li>\u9884\u6d4b\u5934\u4e0e\u76ee\u6807\u7a7a\u95f4<\/li>\n<li>\u6362 backbone \u5230\u5e95\u8981\u6539\u4ec0\u4e48<\/li>\n<\/ul>\n<\/li>\n<li>\u524d\u77bb\u635f\u5931\u63d0\u4f9b\u4e86\u4ec0\u4e48&#xff1a;\u5b83\u4e3a\u4ec0\u4e48\u4e0d\u7b49\u4e8e\u89c6\u9891\u751f\u6210<\/li>\n<li>\n<ul>\n<li>\u76ee\u6807\u4e0d\u662f\u91cd\u5efa\u50cf\u7d20&#xff0c;\u800c\u662f\u8ba9\u672a\u6765\u53ef\u8bfb\u51fa<\/li>\n<li>\u504f\u79fb\u91cf\u6bd4\u76ee\u6807\u51fd\u6570\u66f4\u503c\u94b1<\/li>\n<li>\u63a2\u9488\u8bc1\u636e&#xff1a;\u672a\u6765\u53d8\u5316\u80fd\u4e0d\u80fd\u4ece\u5f53\u524d\u7279\u5f81\u8bfb\u51fa\u6765<\/li>\n<\/ul>\n<\/li>\n<li>\u5b9e\u9a8c\u7b2c\u4e00\u5c42&#xff1a;\u56fa\u5b9a\u67b6\u6784&#xff0c;\u53ea\u6362\u76ee\u6807\u51fd\u6570<\/li>\n<li>\n<ul>\n<li>\u8fd9\u5f20\u8868\u600e\u4e48\u8bfb<\/li>\n<li>Wan \u4e0a&#xff1a;\u6362\u635f\u5931\u53ea\u662f\u6253\u5e73&#xff0c;\u6362\u76ee\u6807\u7a7a\u95f4\u624d\u6323\u94b1<\/li>\n<li>Ovis-U1 \u4e0a&#xff1a;\u6362\u635f\u5931\u672c\u8eab\u5c31\u662f\u5927\u5934<\/li>\n<li>\u6d88\u878d&#xff1a;\u51bb\u7ed3\u951a\u70b9\u300160% \u6df1\u5ea6\u30010.6 \u6743\u91cd\u3001transformer \u5934<\/li>\n<li>\u914d\u5bf9 rollout<\/li>\n<\/ul>\n<\/li>\n<li>\u5b9e\u9a8c\u7b2c\u4e8c\u5c42&#xff1a;\u628a\u914d\u65b9\u642c\u5230\u522b\u7684 backbone \u5bb6\u65cf<\/li>\n<li>\n<ul>\n<li>\u521d\u59cb\u5316\u5230\u5e95\u54ea\u4e2a\u91cd\u8981<\/li>\n<li>\u56db\u4e2a backbone \u7684\u6a2a\u5411\u6bd4\u8f83<\/li>\n<li>\u5171\u4eab\u6743\u91cd\u4e5f\u884c<\/li>\n<li>\u6ce8\u610f\u529b\u53bb\u54ea\u91cc\u4e86<\/li>\n<\/ul>\n<\/li>\n<li>\u5b9e\u9a8c\u7b2c\u4e09\u5c42&#xff1a;\u4e0e\u914d\u5bf9\u7684 FastWAM \/ ImageWAM \u5bf9\u7167<\/li>\n<li>\n<ul>\n<li>LIBERO<\/li>\n<li>LIBERO-Plus<\/li>\n<li>RoboTwin 2.0<\/li>\n<li>\u7edf\u8ba1\u4e0e\u91cd\u590d<\/li>\n<li>\u5b9a\u6027\u8bc1\u636e<\/li>\n<\/ul>\n<\/li>\n<li>\u4ee3\u4ef7&#xff1a;\u7b97\u529b\u3001\u663e\u5b58\u3001\u5b9e\u73b0\u590d\u6742\u5ea6<\/li>\n<li>\n<ul>\n<li>FLOPs \u4e0e GPU \u65f6\u95f4<\/li>\n<li>\u663e\u5b58\u4e0e\u8bad\u7ec3\u671f\u53c2\u6570<\/li>\n<li>\u5b9e\u73b0\u590d\u6742\u5ea6\u7684\u771f\u5b9e\u6765\u6e90<\/li>\n<\/ul>\n<\/li>\n<li>\u5c40\u9650\u4e0e\u5931\u6548\u573a\u666f<\/li>\n<li>\n<ul>\n<li>\u8bba\u6587\u81ea\u5df1\u627f\u8ba4\u7684\u4e09\u6761<\/li>\n<li>\u6211\u8bfb\u51fa\u6765\u7684\u4e94\u6761\u98ce\u9669<\/li>\n<li>\u4ec0\u4e48\u60c5\u51b5\u4e0b\u522b\u7528<\/li>\n<\/ul>\n<\/li>\n<li>\u843d\u5730\u5224\u65ad&#xff1a;\u4ec0\u4e48\u56e2\u961f\u503c\u5f97\u8bd5&#xff0c;\u4ec0\u4e48\u56e2\u961f\u522b\u78b0<\/li>\n<li>\n<ul>\n<li>\u503c\u5f97\u8bd5\u7684\u4e09\u7c7b\u56e2\u961f<\/li>\n<li>\u522b\u78b0\u7684\u56db\u7c7b\u60c5\u5f62<\/li>\n<li>\u6700\u5c0f\u53ef\u884c\u9a8c\u8bc1\u8def\u5f84<\/li>\n<li>\u672f\u8bed\u901f\u67e5\u8868<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p> \u8fc7\u53bb\u4e00\u5e74&#xff0c;\u673a\u5668\u4eba\u7b56\u7565\u7684\u8bba\u6587\u91cc\u51fa\u73b0\u4e86\u4e24\u6761\u4e92\u76f8\u770b\u4e0d\u4e0a\u7684\u8def\u7ebf\u3002\u4e00\u6761\u662f VLA&#xff1a;\u62ff\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5f53\u5e95\u5ea7&#xff0c;\u5f80\u4e0a\u9762\u63a5\u4e00\u4e2a\u52a8\u4f5c\u4e13\u5bb6&#xff0c;\u5b66\u7684\u662f\u201c\u770b\u5230\u8fd9\u4e2a\u753b\u9762\u3001\u542c\u5230\u8fd9\u53e5\u8bdd&#xff0c;\u8be5\u8f93\u51fa\u54ea\u4e00\u6bb5\u52a8\u4f5c\u201d\u3002\u53e6\u4e00\u6761\u662f WAM&#xff1a;\u4ece\u56fe\u50cf\u6216\u89c6\u9891\u751f\u6210\u5668\u51fa\u53d1&#xff0c;\u9664\u4e86\u52a8\u4f5c&#xff0c;\u8fd8\u8ba9\u6a21\u578b\u5b66\u4f1a\u751f\u6210\u52a8\u4f5c\u4e4b\u540e\u5e94\u8be5\u51fa\u73b0\u7684\u90a3\u4e9b\u753b\u9762\u3002\u8bba\u6587\u70b9\u540d\u4e86\u5404\u81ea\u7684\u4ee3\u8868&#xff1a;VLA \u4fa7\u662f OpenVLA \u4e0e \u03c00\u3001\u03c00.5&#xff0c;WAM \u4fa7\u662f Motus\u3001LingBot-VA\u3001FastWAM \u4e0e ImageWAM\u3002\u4e24\u8fb9\u90fd\u5728\u540c\u4e00\u6279\u4eff\u771f\u57fa\u51c6\u4e0a\u5237\u6210\u529f\u7387&#xff0c;\u8bfb\u8005\u5f88\u5bb9\u6613\u987a\u7740\u6392\u884c\u699c\u5f97\u51fa\u201c\u54ea\u6761\u8def\u7ebf\u66f4\u597d\u201d\u7684\u7ed3\u8bba\u3002<\/p>\n<p>\u300aVision-Language-Action or World-Action? Just Action Models\u300b\u8fd9\u7bc7\u8bba\u6587\u5bf9\u8fd9\u4e2a\u95ee\u9898\u7684\u56de\u7b54\u4e0d\u592a\u4e00\u6837&#xff1a;\u8fd9\u4e2a\u4e89\u8bba\u4e4b\u6240\u4ee5\u7b97\u4e0d\u6e05&#xff0c;\u662f\u56e0\u4e3a\u5b83\u628a\u4e09\u4ef6\u53ef\u4ee5\u5404\u81ea\u72ec\u7acb\u6253\u52fe\u7684\u4e8b\u60c5\u6346\u6210\u4e86\u4e00\u4ef6\u3002\u8fd9\u4e09\u4ef6\u4e8b\u5206\u522b\u662f&#xff1a;backbone \u7528\u4ec0\u4e48\u9884\u8bad\u7ec3\u6743\u91cd\u521d\u59cb\u5316&#xff1b;\u5bf9\u8f68\u8ff9\u91cc\u8bb0\u5f55\u4e0b\u6765\u7684\u672a\u6765\u89c2\u6d4b\u65bd\u52a0\u4ec0\u4e48\u76ee\u6807\u51fd\u6570&#xff1b;\u4ee5\u53ca\u63a8\u7406\u65f6\u662f\u5426\u4fdd\u7559\u90a3\u5957\u4ea7\u751f\u672a\u6765\u635f\u5931\u7684\u673a\u5236\u3002\u53ea\u8981\u4e09\u8005\u4e0d\u62c6\u5f00&#xff0c;\u4e00\u4e2a VLA \u6bd4\u4e00\u4e2a WAM \u9ad8\u51fa\u7684\u90a3\u51e0\u4e2a\u767e\u5206\u70b9&#xff0c;\u5c31\u6ca1\u529e\u6cd5\u5f52\u56e0\u5230\u5176\u4e2d\u4efb\u4f55\u4e00\u9879\u4e0a\u3002<\/p>\n<p>\u4f5c\u8005\u63d0\u51fa\u7684\u505a\u6cd5\u53eb JAM&#xff08;Just Action Model&#xff09;\u3002\u5b83\u6ca1\u6709\u5f15\u5165\u65b0\u7684\u751f\u6210\u6a21\u578b&#xff0c;\u4e5f\u6ca1\u6709\u6539\u52a8\u4f5c\u5934&#xff1a;\u4e00\u4e2a\u9884\u8bad\u7ec3\u89c6\u89c9 backbone \u52a0\u4e00\u4e2a\u52a8\u4f5c\u4e13\u5bb6&#xff0c;\u8bad\u7ec3\u65f6\u7528\u52a8\u4f5c\u635f\u5931\u52a0\u4e00\u9879\u524d\u77bb\u635f\u5931\u3002\u524d\u77bb\u635f\u5931\u8ba9\u5f53\u524d\u89c2\u6d4b\u7684\u7279\u5f81\u53bb\u9884\u6d4b\u4e00\u4e2a\u51bb\u7ed3\u7f16\u7801\u5668\u5bf9\u8bb0\u5f55\u672a\u6765\u7684\u7f16\u7801&#xff0c;\u9884\u6d4b\u5934\u8bad\u5b8c\u5c31\u4e22&#xff0c;\u8bad\u7ec3\u548c\u63a8\u7406\u90fd\u4e0d\u751f\u6210\u4efb\u4f55\u753b\u9762\u3002\u6362\u53e5\u8bdd\u8bf4&#xff0c;\u5b83\u4fdd\u7559\u201c\u4ece\u672a\u6765\u5b66\u201d\u8fd9\u4ef6\u4e8b&#xff0c;\u5220\u6389\u201c\u628a\u672a\u6765\u753b\u51fa\u6765\u201d\u8fd9\u4ef6\u4e8b\u3002<\/p>\n<p>\u7ed3\u8bba\u5148\u6446\u51fa\u6765&#xff1a;\u5728\u67b6\u6784\u3001\u6570\u636e\u3001\u4f18\u5316\u5668\u3001\u8bad\u7ec3\u9884\u7b97\u4e0e\u90e8\u7f72\u8def\u5f84\u5168\u90e8\u56fa\u5b9a\u7684\u914d\u5bf9\u6761\u4ef6\u4e0b&#xff0c;JAM \u5728 LIBERO \u4e0a\u53d6\u5f97 98.15% \u5bf9 FastWAM \u7684 97.00%\u300196.75% \u5bf9 ImageWAM \u7684 92.90%&#xff1b;\u5728 LIBERO-Plus \u4e0a\u4ece 55.31% \u63d0\u5230 64.54%\u3001\u4ece 65.27% \u63d0\u5230 79.95%&#xff1b;\u5728 RoboTwin 2.0 \u4e0a\u4e0e\u914d\u5bf9\u57fa\u7ebf\u6301\u5e73\u6216\u7565\u9ad8\u3002\u7f13\u5b58\u524d\u77bb\u76ee\u6807\u65f6&#xff0c;\u4f30\u8ba1\u7684\u5728\u7ebf\u8bad\u7ec3 FLOPs \u4e0b\u964d 73.0%&#xff08;Wan&#xff09;\u4e0e 36.8%&#xff08;Ovis-U1&#xff09;\u3002\u4e0b\u9762\u628a\u4e09\u4e2a\u9009\u62e9\u3001\u8fd9\u9879\u635f\u5931\u3001\u4e09\u5c42\u5b9e\u9a8c\u548c\u4ee3\u4ef7\u9010\u5c42\u62c6\u5f00\u3002<\/p>\n<h3>\u4e09\u5341\u79d2\u901f\u89c8&#xff1a;\u4e09\u4e2a\u9009\u62e9\u3001\u516d\u4e2a\u6570\u5b57<\/h3>\n<h4>\u4e09\u4e2a\u9009\u62e9<\/h4>\n<ul>\n<li>\u9009\u62e9\u4e00&#xff0c;backbone \u521d\u59cb\u5316\u3002\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7ed9\u4f60\u7684\u662f\u8bed\u8a00\u4e0e\u7269\u4f53\u7684\u5bf9\u5e94\u5173\u7cfb&#xff0c;\u89c6\u89c9\u751f\u6210\u5668\u7ed9\u4f60\u7684\u662f\u201c\u4e16\u754c\u63a5\u4e0b\u6765\u4f1a\u957f\u4ec0\u4e48\u6837\u201d\u7684\u5148\u9a8c&#xff0c;\u8fd9\u662f\u4e24\u6761\u5b8c\u5168\u4e0d\u540c\u7684\u9884\u8bad\u7ec3\u6765\u6e90\u3002<\/li>\n<li>\u9009\u62e9\u4e8c&#xff0c;\u4f5c\u7528\u5728\u672a\u6765\u89c2\u6d4b\u4e0a\u7684\u76ee\u6807\u3002WAM \u7528\u7684\u662f\u89c6\u89c9\u751f\u6210\u635f\u5931&#xff0c;\u8981\u6c42\u6a21\u578b\u80fd\u53bb\u566a\u6216\u6e32\u67d3\u51fa\u672a\u6765\u753b\u9762&#xff1b;JAM \u7528\u7684\u662f\u8868\u793a\u5c42\u9762\u7684\u524d\u77bb\u635f\u5931&#xff0c;\u53ea\u8981\u6c42\u5f53\u524d\u7279\u5f81\u80fd\u8bfb\u51fa\u672a\u6765\u7f16\u7801\u3002\u524d\u8005\u8981\u4e00\u4e2a\u89e3\u7801\u5668&#xff0c;\u540e\u8005\u4e0d\u8981\u3002<\/li>\n<li>\u9009\u62e9\u4e09&#xff0c;\u63a8\u7406\u65f6\u4fdd\u7559\u4ec0\u4e48\u3002FastWAM \u4e0e ImageWAM \u5df2\u7ecf\u53bb\u6389\u4e86\u6d4b\u8bd5\u671f\u7684\u672a\u6765\u751f\u6210&#xff0c;\u53ea\u7559\u52a8\u4f5c\u901a\u8def&#xff1b;JAM \u628a\u8bad\u7ec3\u671f\u7684\u751f\u6210\u4e5f\u53bb\u6389&#xff0c;\u4e8e\u662f\u90e8\u7f72\u51fa\u6765\u7684\u6a21\u578b\u5c31\u662f\u4e00\u4e2a backbone \u52a0\u4e00\u4e2a\u52a8\u4f5c\u4e13\u5bb6\u3002<\/li>\n<\/ul>\n<h4>\u516d\u4e2a\u6570\u5b57<\/h4>\n<ul>\n<li>95.25% \u5230 97.00%&#xff1a;FastWAM \u4ece\u5b8c\u5168\u6ca1\u6709\u672a\u6765\u76d1\u7763\u5230\u52a0\u4e0a\u89c6\u89c9\u751f\u6210\u635f\u5931&#xff0c;\u5728 LIBERO \u4e0a\u7684\u53d8\u5316&#xff1b;\u540c\u4e00\u5bf9\u6bd4\u5728 LIBERO-Plus \u4e0a\u662f 45.55% \u5230 55.31%\u3002\u672a\u6765\u76d1\u7763\u672c\u8eab\u6709\u7528&#xff0c;\u8fd9\u662f\u672c\u6587\u7684\u8d77\u70b9\u3002<\/li>\n<li>55.31% \u5230 55.58%&#xff1a;Wan \u4e0a\u628a\u89c6\u9891\u53bb\u566a\u635f\u5931\u6362\u6210\u201c\u9884\u8bad\u7ec3 Wan \u7f16\u7801\u5668\u7279\u5f81\u201d\u8fd9\u4e00\u524d\u77bb\u76ee\u6807\u4e4b\u540e\u7684 LIBERO-Plus \u6210\u529f\u7387&#xff0c;\u51e0\u4e4e\u6253\u5e73\u3002<\/li>\n<li>55.31% \u5230 64.54%&#xff1a;\u540c\u4e00\u5957\u67b6\u6784\u6539\u7528\u51bb\u7ed3 VAE \u7684\u539f\u59cb\u6f5c\u53d8\u91cf\u5757\u5f53\u76ee\u6807\u4e4b\u540e\u7684 LIBERO-Plus \u6210\u529f\u7387\u3002\u8fd9\u4e00\u6b65\u624d\u662f\u90a3 9.2 \u70b9\u7684\u4e3b\u8981\u6765\u6e90\u3002<\/li>\n<li>65.27% \u5230 79.95%&#xff1a;Ovis-U1 \u4e0a\u628a\u751f\u6210\u635f\u5931\u6362\u6210\u524d\u77bb\u635f\u5931&#xff08;\u76ee\u6807\u4e3a\u9884\u8bad\u7ec3 Yak \u7f16\u7801\u5668\u7b2c 16 \u6b65\u7684\u7279\u5f81&#xff09;\u4e4b\u540e\u7684\u53d8\u5316\u3002\u8fd9\u91cc\u6362\u76ee\u6807\u51fd\u6570\u672c\u8eab\u5c31\u662f\u5927\u5934\u3002<\/li>\n<li>81.14%&#xff1a;JAM&#xff08;Qwen3.5-2B&#xff09;\u5728 LIBERO-Plus \u4e0a\u7684\u6210\u529f\u7387&#xff0c;\u662f\u5168\u6587\u6700\u9ad8\u7684\u4e00\u4e2a&#xff1b;\u5b83\u5728 LIBERO \u4e0a\u8fbe\u5230 96.55%&#xff0c;\u6bd4 \u03c00.5 \u7684 96.9% \u4f4e 0.35 \u70b9\u3002<\/li>\n<li>73.0% \u4e0e 36.8%&#xff1a;\u5e26\u7f13\u5b58\u76ee\u6807\u65f6&#xff0c;\u76f8\u5bf9 FastWAM \u4e0e ImageWAM&#xff08;Ovis-U1&#xff09;\u7684\u5728\u7ebf\u8bad\u7ec3 FLOPs \u964d\u5e45&#xff1b;\u5b9e\u6d4b GPU \u65f6\u95f4\u662f 67.3% \u4e0e 37.8%\u3002<\/li>\n<\/ul>\n<h4>\u4e00\u53e5\u8bdd\u7ed3\u8bba<\/h4>\n<p>\u8bba\u6587\u771f\u6b63\u88ab\u6570\u636e\u652f\u6301\u7684\u662f\u4e24\u53e5\u8bdd&#xff1a;\u524d\u77bb\u635f\u5931\u53ef\u4ee5\u5728\u4e0d\u751f\u6210\u753b\u9762\u7684\u524d\u63d0\u4e0b\u66ff\u4ee3\u89c6\u89c9\u751f\u6210\u635f\u5931&#xff1b;\u540c\u4e00\u5957\u914d\u65b9\u80fd\u8de8\u751f\u6210\u5f0f\u3001\u81ea\u76d1\u7763\u3001\u89c6\u89c9\u8bed\u8a00\u4e09\u7c7b backbone \u4f7f\u7528\u3002\u5b83\u6ca1\u6709\u652f\u6301\u201c\u89c6\u89c9\u8bed\u8a00 backbone \u6bd4\u751f\u6210\u5f0f backbone \u66f4\u597d\u201d\u8fd9\u4e2a\u66f4\u5f3a\u7684\u8bf4\u6cd5&#xff0c;\u8bba\u6587\u81ea\u5df1\u5728\u8de8 backbone \u90a3\u5f20\u8868\u7684\u6807\u9898\u91cc\u5199\u660e&#xff0c;\u67b6\u6784\u4e0e\u52a8\u4f5c\u63a5\u53e3\u4e0a\u7684\u5dee\u5f02\u59a8\u788d\u4e86\u9694\u79bb\u9884\u8bad\u7ec3\u672c\u8eab\u7684\u5f71\u54cd\u3002\u8fd9\u4e2a\u81ea\u6211\u9650\u5b9a\u5f88\u91cd\u8981\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261029080856-6ae2ff18afa0b.png\" alt=\"\u56fe 1\" \/> \u56fe 1&#xff5c;\u4e09\u4e2a\u9009\u62e9\u7684\u5e76\u6392\u5bf9\u7167&#xff1a;VLA \u53ea\u6709\u52a8\u4f5c\u635f\u5931&#xff0c;WAM \u591a\u4e00\u9879\u89c6\u89c9\u751f\u6210\u635f\u5931&#xff0c;JAM \u6362\u6210\u524d\u77bb\u635f\u5931\u5e76\u628a\u76d1\u7763\u5206\u652f\u7559\u5728\u8bad\u7ec3\u671f&#xff08;\u539f\u6587 Figure 1&#xff09; \u56fe\u6e90&#xff1a;Vision-Language-Action or World-Action? Just Action Models&#xff08;arXiv:2610.37219v1&#xff09;&#xff0c;arXiv \u975e\u72ec\u5360\u8bb8\u53ef<\/p>\n<h3>\u4e89\u8bba\u4e3a\u4ec0\u4e48\u7b97\u4e0d\u6e05&#xff1a;\u4e09\u4e2a\u9009\u62e9\u88ab\u6346\u5728\u4e00\u8d77<\/h3>\n<h4>VLA \u4e0e WAM \u7684\u5dee\u522b\u4e0d\u6b62\u4e00\u5904<\/h4>\n<p>\u8bba\u6587\u5148\u628a\u4e09\u7c7b\u505a\u6cd5\u6446\u5230\u540c\u4e00\u5f20\u7eb8\u4e0a\u3002\u5b83\u4eec\u7528\u7684\u662f\u540c\u4e00\u4efd\u6570\u636e\u3001\u540c\u4e00\u4e2a\u90e8\u7f72\u63a5\u53e3&#xff1a;\u4e00\u4e2a\u8bad\u7ec3\u6837\u672c\u5305\u542b\u5f53\u524d\u89c2\u6d4b f0\u3001\u673a\u5668\u4eba\u72b6\u6001 s0\u3001\u6307\u4ee4 c\u3001\u52a8\u4f5c\u5757 a1:H&#xff0c;\u4ee5\u53ca\u8bb0\u5f55\u4e0b\u6765\u7684\u672a\u6765\u89c2\u6d4b f1:T&#xff1b;\u90e8\u7f72\u65f6\u7b56\u7565\u53ea\u4ece f0\u3001s0\u3001c \u9884\u6d4b a1:H\u3002\u771f\u6b63\u7684\u5dee\u522b\u53ea\u6709\u4e24\u5904&#xff1a;\u7528\u54ea\u4e2a\u9884\u8bad\u7ec3\u6a21\u578b\u521d\u59cb\u5316 backbone&#xff0c;\u4ee5\u53ca\u5bf9\u8bb0\u5f55\u7684\u672a\u6765 f1:T \u653e\u4ec0\u4e48\u635f\u5931\u3002<\/p>\n<p>VLA \u53c2\u8003\u5f0f\u53ea\u4fdd\u7559\u52a8\u4f5c\u635f\u5931&#xff0c;\u8bb0\u5f55\u7684\u672a\u6765\u5b8c\u5168\u4e0d\u88ab\u4f7f\u7528&#xff0c;\u9884\u8bad\u7ec3\u6743\u91cd\u53ea\u901a\u8fc7\u7b56\u7565\u521d\u59cb\u5316\u8d77\u4f5c\u7528\u3002WAM \u53c2\u8003\u5f0f\u5728\u52a8\u4f5c\u635f\u5931\u4e4b\u5916\u52a0\u4e00\u9879\u89c6\u89c9\u751f\u6210\u635f\u5931 LG&#xff0c;\u4e8e\u662f\u8fd9\u5957\u914d\u65b9\u5c31\u548c\u751f\u6210\u5668\u7ed1\u5728\u4e00\u8d77&#xff1a;\u8bad\u7ec3\u671f\u9700\u8981\u4e00\u4e2a\u89e3\u7801\u5668\u6216\u53bb\u566a\u901a\u8def&#xff0c;\u90e8\u5206 WAM \u5728\u63a8\u7406\u671f\u4e5f\u4fdd\u7559\u3002JAM \u628a\u7b2c\u4e8c\u9879\u6362\u6210\u4e86\u524d\u77bb\u635f\u5931 LF\u3002<\/p>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          L<\/p>\n<p>           W<\/p>\n<p>           A<\/p>\n<p>           M<\/p>\n<p>         &#061;<\/p>\n<p>          L<\/p>\n<p>           a<\/p>\n<p>           c<\/p>\n<p>           t<\/p>\n<p>         &#043;<\/p>\n<p>          \u03bb<\/p>\n<p>          G<\/p>\n<p>        \u2009<\/p>\n<p>          L<\/p>\n<p>          G<\/p>\n<p>         \\\\mathcal{L}_{\\\\mathrm{WAM}} &#061; \\\\mathcal{L}_{\\\\mathrm{act}} &#043; \\\\lambda_{G}\\\\,\\\\mathcal{L}_{G} <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathcal\">L<\/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: 0em;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 mtight\"><span class=\"mord mathrm mtight\">WAM<\/span><\/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=\"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: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathcal\">L<\/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 mtight\"><span class=\"mord mtight\"><span class=\"mord mathrm mtight\">act<\/span><\/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=\"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: 0.8444em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u03bb<\/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: 0em;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\">G<\/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=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathcal\">L<\/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: 0em;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\">G<\/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><\/span><\/span><\/span><\/span><\/p>\n<p>\u4e0a\u9762\u8fd9\u884c\u91cc Lact \u662f\u76d1\u7763\u52a8\u4f5c\u5757\u7684\u6d41\u5339\u914d\u635f\u5931&#xff0c;LG \u662f\u89c6\u89c9\u751f\u6210\u635f\u5931&#xff0c;\u03bbG \u662f\u5b83\u7684\u6743\u91cd\u3002\u8bfb\u8fd9\u4e2a\u5f0f\u5b50\u65f6\u8981\u6ce8\u610f\u4e00\u70b9&#xff1a;\u635f\u5931\u5de6\u8fb9\u5199\u7740 WAM&#xff0c;\u4f46\u5b83\u5e76\u4e0d\u5f3a\u5236\u4f60\u4fdd\u7559\u4e00\u4e2a\u751f\u6210\u5668\u3002\u771f\u6b63\u628a\u914d\u65b9\u548c\u751f\u6210\u5668\u7ed1\u4f4f\u7684&#xff0c;\u662f LG \u8fd9\u4e00\u9879\u8981\u6c42\u6a21\u578b\u80fd\u753b\u51fa\u753b\u9762\u8fd9\u4ef6\u4e8b\u3002<\/p>\n<h4>\u7b2c\u4e09\u4e2a\u9009\u62e9\u5e38\u88ab\u5ffd\u7565&#xff1a;\u8bad\u7ec3\u671f\u4e0e\u63a8\u7406\u671f\u662f\u4e24\u7ea7\u5f00\u5173<\/h4>\n<p>\u4e89\u8bba\u91cc\u6700\u5bb9\u6613\u88ab\u6df7\u6dc6\u7684&#xff0c;\u662f\u201c\u8981\u4e0d\u8981\u751f\u6210\u672a\u6765\u201d\u5176\u5b9e\u6709\u4e24\u7ea7\u3002\u4e00\u7ea7\u5728\u63a8\u7406\u671f&#xff1a;\u6a21\u578b\u90e8\u7f72\u540e\u662f\u5426\u5148\u60f3\u8c61\u672a\u6765\u753b\u9762\u3001\u518d\u636e\u6b64\u9009\u52a8\u4f5c\u3002\u90e8\u5206 WAM \u4f1a\u8fd9\u6837\u505a&#xff0c;\u56fe 1 (b) \u91cc\u90a3\u6761\u865a\u7ebf\u56de\u8def\u753b\u7684\u5c31\u662f\u751f\u6210\u7684\u672a\u6765\u89c2\u6d4b\u91cd\u65b0\u8fdb\u5165\u52a8\u4f5c\u4e13\u5bb6\u3002\u53e6\u4e00\u7ea7\u5728\u8bad\u7ec3\u671f&#xff1a;\u635f\u5931\u51fd\u6570\u91cc\u662f\u5426\u8981\u6c42\u6a21\u578b\u91cd\u5efa\u6216\u53bb\u566a\u672a\u6765\u89c2\u6d4b\u3002<\/p>\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f&#xff0c;FastWAM \u4e0e ImageWAM \u5df2\u7ecf\u628a\u7b2c\u4e00\u7ea7\u5173\u6389\u4e86&#xff0c;\u5b83\u4eec\u7684\u63a8\u7406\u8def\u5f84\u91cc\u6ca1\u6709\u672a\u6765\u751f\u6210\u3002JAM \u5173\u6389\u7684\u662f\u7b2c\u4e8c\u7ea7&#xff0c;\u4e5f\u5c31\u662f\u8bad\u7ec3\u671f\u90a3\u4e00\u6b21\u751f\u6210\u3002\u8bba\u6587\u539f\u8bdd\u662f\u8fd9\u4e48\u8bf4\u7684&#xff1a;\u8fd9\u672c\u6765\u5c31\u662f\u914d\u5bf9\u57fa\u7ebf\u5df2\u7ecf\u91c7\u7528\u7684\u63a8\u7406\u6d41\u7a0b&#xff0c;\u533a\u522b\u53ea\u5728\u4e8e JAM \u628a\u89c6\u89c9\u751f\u6210\u5728\u8bad\u7ec3\u671f\u4e5f\u4e00\u5e76\u907f\u514d\u6389\u4e86\u3002\u6240\u4ee5\u201c\u4e16\u754c\u6a21\u578b\u8981\u4e0d\u8981\u5728\u63a8\u7406\u65f6\u60f3\u8c61\u201d\u8fd9\u4e2a\u95ee\u9898&#xff0c;\u672c\u6587\u5e76\u4e0d\u662f\u5728\u91cd\u65b0\u56de\u7b54\u5b83\u3002<\/p>\n<h4>\u6240\u4ee5\u6210\u529f\u7387\u5dee\u4e0d\u80fd\u5f52\u56e0<\/h4>\n<p>\u628a\u4e09\u4e2a\u9009\u62e9\u644a\u6210\u4e00\u5f20\u8868\u5c31\u80fd\u770b\u51fa&#xff0c;\u201cVLA \u548c WAM \u8c01\u66f4\u5f3a\u201d\u8fd9\u4e2a\u95ee\u6cd5\u6f0f\u6389\u4e86\u591a\u5c11\u4e1c\u897f&#xff1a;\u540c\u4e00\u4e2a\u90e8\u7f72\u5f62\u6001\u4e0b\u81f3\u5c11\u6709\u56db\u79cd\u7ec4\u5408&#xff0c;\u5dee\u5f02\u53ef\u4ee5\u6765\u81ea\u4efb\u4f55\u4e00\u683c\u3002<\/p>\n<table>\n<tr>\u9009\u62e9VLA \u53c2\u8003WAM \u53c2\u8003JAM<\/tr>\n<tbody>\n<tr>\n<td>backbone \u521d\u59cb\u5316<\/td>\n<td>\u89c6\u89c9\u8bed\u8a00\u6a21\u578b<\/td>\n<td>\u89c6\u9891\u6216\u56fe\u50cf\u751f\u6210\u5668<\/td>\n<td>\u4efb\u610f\u9884\u8bad\u7ec3\u89c6\u89c9\u6a21\u578b<\/td>\n<\/tr>\n<tr>\n<td>\u8bad\u7ec3\u671f\u5bf9\u672a\u6765\u89c2\u6d4b\u7684\u76ee\u6807<\/td>\n<td>\u65e0<\/td>\n<td>\u89c6\u89c9\u751f\u6210\u635f\u5931 LG<\/td>\n<td>\u524d\u77bb\u635f\u5931 LF<\/td>\n<\/tr>\n<tr>\n<td>\u8bad\u7ec3\u671f\u9700\u8981\u89e3\u7801\u5668\u6216\u53bb\u566a<\/td>\n<td>\u5426<\/td>\n<td>\u662f<\/td>\n<td>\u5426<\/td>\n<\/tr>\n<tr>\n<td>\u63a8\u7406\u671f\u662f\u5426\u8dd1\u672a\u6765\u751f\u6210<\/td>\n<td>\u5426<\/td>\n<td>\u591a\u6570\u662f&#xff0c;\u4f46 FastWAM \u4e0e ImageWAM \u5df2\u7ecf\u6539\u6210\u5426<\/td>\n<td>\u5426<\/td>\n<\/tr>\n<tr>\n<td>\u90e8\u7f72\u5f62\u6001<\/td>\n<td>backbone \u52a0\u52a8\u4f5c\u4e13\u5bb6<\/td>\n<td>\u751f\u6210\u5668\u52a0\u52a8\u4f5c\u4e13\u5bb6<\/td>\n<td>backbone \u52a0\u52a8\u4f5c\u4e13\u5bb6<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u62c6\u5f00\u4e4b\u540e\u80fd\u95ee\u51fa\u4ec0\u4e48<\/h4>\n<p>\u62c6\u5f00\u7684\u597d\u5904\u662f\u95ee\u9898\u53d8\u5f97\u53ef\u4ee5\u56de\u7b54\u3002\u56fa\u5b9a\u67b6\u6784\u53ea\u6362\u76ee\u6807\u51fd\u6570&#xff0c;\u6da8\u4e0d\u6da8&#xff1f;\u56fa\u5b9a\u76ee\u6807\u51fd\u6570\u53ea\u6362\u76ee\u6807\u7a7a\u95f4&#xff08;\u62ff\u8c01\u7684\u7279\u5f81\u5f53\u76ee\u6807&#xff09;&#xff0c;\u6da8\u4e0d\u6da8&#xff1f;\u56fa\u5b9a\u914d\u65b9\u53ea\u6362 backbone \u5bb6\u65cf&#xff0c;\u6da8\u4e0d\u6da8&#xff1f;\u8fd9\u7bc7\u8bba\u6587\u7684\u5b9e\u9a8c\u6b63\u597d\u6309\u8fd9\u4e2a\u987a\u5e8f\u6392\u4e86\u4e09\u5c42&#xff1a;\u5148\u5728 FastWAM \u4e0e ImageWAM \u4e24\u5957\u56fa\u5b9a\u67b6\u6784\u91cc\u628a\u751f\u6210\u6362\u6210\u524d\u77bb&#xff0c;\u518d\u628a\u540c\u4e00\u914d\u65b9\u642c\u5230\u751f\u6210\u5f0f\u3001\u81ea\u76d1\u7763\u3001\u89c6\u89c9\u8bed\u8a00\u4e09\u7c7b backbone \u4e0a&#xff0c;\u6700\u540e\u4e0e\u914d\u5bf9\u7684 FastWAM\u3001ImageWAM \u9010\u57fa\u51c6\u5bf9\u7167\u3002\u8fd9\u4e09\u5c42\u5206\u522b\u5bf9\u5e94\u201c\u76ee\u6807\u51fd\u6570\u201d\u201c\u76ee\u6807\u7a7a\u95f4\u201d\u201c\u521d\u59cb\u5316\u201d\u4e09\u4e2a\u9009\u62e9\u7684\u5355\u72ec\u8003\u5bdf\u3002<\/p>\n<p>\u8fd9\u4e5f\u662f\u201c\u51e0\u4e4e\u6253\u5e73\u201d\u8fd9\u4e2a\u7ed3\u679c\u6709\u89e3\u91ca\u529b\u7684\u539f\u56e0&#xff1a;\u53ea\u6539\u4e00\u9879&#xff0c;\u589e\u76ca\u4e0e\u635f\u5931\u624d\u5206\u5f97\u6e05\u3002<\/p>\n<h3>JAM \u7684\u505a\u6cd5&#xff1a;\u628a\u672a\u6765\u538b\u6210\u76ee\u6807&#xff0c;\u4e0d\u8fdb\u52a8\u4f5c\u901a\u8def<\/h3>\n<h4>\u6570\u636e\u4e0e\u90e8\u7f72\u63a5\u53e3<\/h4>\n<p>JAM \u7684\u8f93\u5165\u8f93\u51fa\u548c\u57fa\u7ebf\u5b8c\u5168\u4e00\u81f4&#xff0c;\u8fd9\u4e00\u70b9\u503c\u5f97\u5148\u786e\u8ba4&#xff0c;\u56e0\u4e3a\u540e\u9762\u6240\u6709\u5bf9\u6bd4\u90fd\u5efa\u7acb\u5728\u8fd9\u4e0a\u9762\u3002\u8bad\u7ec3\u6837\u672c\u91cc\u7684\u672a\u6765\u89c2\u6d4b\u53ea\u6709\u4e00\u4e2a\u7528\u9014&#xff1a;\u63d0\u4f9b\u524d\u77bb\u635f\u5931\u7684\u76ee\u6807\u3002\u8bba\u6587\u7684\u754c\u5b9a\u5f88\u786c&#xff1a;\u672a\u6765\u7684\u89c2\u6d4b\u53ea\u4e3a\u524d\u77bb\u635f\u5931\u63d0\u4f9b\u76ee\u6807&#xff0c;\u4ece\u4e0d\u4f5c\u4e3a\u52a8\u4f5c\u8def\u5f84\u7684\u8f93\u5165\u3002\u52a8\u4f5c\u4e13\u5bb6\u770b\u5230\u7684\u59cb\u7ec8\u53ea\u6709\u5f53\u524d\u89c2\u6d4b\u7684\u89c6\u89c9\u4e0a\u4e0b\u6587\u3001\u6307\u4ee4\u3001\u673a\u5668\u4eba\u72b6\u6001\u548c\u52a0\u566a\u540e\u7684\u52a8\u4f5c\u5757\u3002<\/p>\n<p>\u90e8\u7f72\u4fa7\u5f62\u6001\u6ca1\u6709\u53d8&#xff1a;backbone \u7f16\u7801\u4e00\u6b21\u5f53\u524d\u4e0a\u4e0b\u6587&#xff0c;\u52a8\u4f5c\u4e13\u5bb6\u5728\u8fd9\u4efd\u4e0a\u4e0b\u6587\u4e0a\u8dd1\u5b8c\u6d41\u5339\u914d\u7684\u82e5\u5e72\u6b65&#xff1b;\u524d\u77bb\u5206\u652f\u4e0e\u951a\u70b9\u5206\u652f\u5728\u8bad\u7ec3\u7ed3\u675f\u540e\u4e22\u5f03&#xff0c;\u63a8\u7406\u65f6\u4e0d\u63d0\u53d6\u76ee\u6807&#xff0c;\u4e5f\u4e0d\u9884\u6d4b\u672a\u6765\u3002<\/p>\n<h4>\u524d\u77bb\u635f\u5931\u957f\u4ec0\u4e48\u6837<\/h4>\n<p>\u8bbe\u89c6\u89c9 backbone \u5728\u7b2c \u2113 \u4e2a block \u5904\u7684\u5f53\u524d\u89c2\u6d4b token \u4e3a h(\u2113)&#xff0c;\u5f62\u72b6\u662f N \u4e2a\u7a7a\u95f4 token \u4e58 D \u7ef4\u3002\u51bb\u7ed3\u7684\u672a\u6765\u951a\u70b9 E\u03c6 \u5904\u7406\u8bb0\u5f55\u7684\u672a\u6765 f1:T&#xff0c;\u8f93\u51fa\u5728\u8bfb\u51fa\u504f\u79fb k \u5904\u7684\u7279\u5f81 gk\u3002\u8fd9\u91cc\u7684 k \u662f\u951a\u70b9\u65f6\u95f4\u5e8f\u5217\u4e0a\u7684\u4f4d\u7f6e\u7f16\u53f7&#xff1a;k&#061;0 \u662f\u5f53\u524d\u89c2\u6d4b&#xff0c;k\u22651 \u662f\u8bb0\u5f55\u7684\u672a\u6765\u3002\u53ef\u8bad\u7ec3\u7684\u9884\u6d4b\u5934 p \u628a h(\u2113) \u6620\u5c04\u5230\u76ee\u6807\u7a7a\u95f4&#xff0c;\u5bf9\u6bcf\u4e2a\u504f\u79fb\u7ed9\u51fa\u4e00\u4e2a\u9884\u6d4b \u011dk\u3002\u524d\u77bb\u635f\u5931\u662f\u4f59\u5f26\u8ddd\u79bb&#xff0c;\u5728 token \u4e0e\u504f\u79fb\u4e0a\u53d6\u5e73\u5747\u3002<\/p>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          L<\/p>\n<p>          F<\/p>\n<p>         &#061;<\/p>\n<p>          1<\/p>\n<p>           \u2223<\/p>\n<p>           K<\/p>\n<p>           \u2223<\/p>\n<p>          \u2211<\/p>\n<p>           k<\/p>\n<p>           \u2208<\/p>\n<p>           K<\/p>\n<p>          E<\/p>\n<p>          n<\/p>\n<p>          [<\/p>\n<p>          1<\/p>\n<p>          \u2212<\/p>\n<p>          cos<\/p>\n<p>          \u2061<\/p>\n<p>           (<\/p>\n<p>             g<\/p>\n<p>             ^<\/p>\n<p>             k<\/p>\n<p>             ,<\/p>\n<p>             n<\/p>\n<p>           ,<\/p>\n<p>           \u00a0<\/p>\n<p>            s<\/p>\n<p>            g<\/p>\n<p>           [<\/p>\n<p>            g<\/p>\n<p>             k<\/p>\n<p>             ,<\/p>\n<p>             n<\/p>\n<p>           ]<\/p>\n<p>           )<\/p>\n<p>          ]<\/p>\n<p>         \\\\mathcal{L}_{F} &#061; \\\\frac{1}{|K|}\\\\sum_{k\\\\in K}\\\\mathbb{E}_{n}\\\\left[1-\\\\cos\\\\left(\\\\hat{g}_{k,n},\\\\ \\\\mathrm{sg}[g_{k,n}]\\\\right)\\\\right] <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathcal\">L<\/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: 0em;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: 0.1389em\">F<\/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=\"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: 2.6509em;vertical-align: -1.3295em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.3214em\"><span class=\"\" style=\"top: -2.314em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">\u2223<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"mord\">\u2223<\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.677em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.936em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mop op-limits\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.05em\"><span class=\"\" style=\"top: -1.8479em;margin-left: 0em\"><span class=\"pstrut\" style=\"height: 3.05em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"mrel mtight\">\u2208<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0715em\">K<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.05em\"><span class=\"pstrut\" style=\"height: 3.05em\"><\/span><span class=\"\"><span class=\"mop op-symbol large-op\">\u2211<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.3295em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathbb\">E<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><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 mtight\"><span class=\"mord mathnormal mtight\">n<\/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=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top: 0em\">[<\/span><span class=\"mord\">1<\/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 class=\"mop\">cos<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top: 0em\">(<\/span><span class=\"mord\"><span class=\"mord accent\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6944em\"><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">g<\/span><\/span><span class=\"\" style=\"top: -3em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"accent-body\" style=\"left: -0.2222em\"><span class=\"mord\">^<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1944em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;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: 0.0315em\">k<\/span><span class=\"mpunct mtight\">,<\/span><span class=\"mord mathnormal mtight\">n<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\">\u00a0<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathrm\" style=\"margin-right: 0.0139em\">sg<\/span><\/span><span class=\"mopen\">[<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">g<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;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: 0.0315em\">k<\/span><span class=\"mpunct mtight\">,<\/span><span class=\"mord mathnormal mtight\">n<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">]<\/span><span class=\"mclose delimcenter\" style=\"top: 0em\">)<\/span><\/span><span class=\"mclose delimcenter\" style=\"top: 0em\">]<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n<p>\u5f0f\u5b50\u91cc K \u662f\u88ab\u76d1\u7763\u7684\u8bfb\u51fa\u504f\u79fb\u96c6\u5408&#xff0c;n \u662f\u7a7a\u95f4 token \u7684\u4e0b\u6807&#xff0c;sg \u8868\u793a\u505c\u6b62\u68af\u5ea6\u3002\u505c\u6b62\u68af\u5ea6\u8fd9\u4e00\u6b65\u662f\u6574\u5957\u8bbe\u8ba1\u7684\u5173\u952e&#xff1a;\u76ee\u6807\u4e00\u4fa7\u7684\u951a\u70b9\u4e0d\u63a5\u6536\u68af\u5ea6&#xff0c;\u53ea\u6709\u9884\u6d4b\u5934\u4e0e\u7b56\u7565 backbone \u63a5\u6536\u68af\u5ea6\u3002\u4e8e\u662f\u8bb0\u5f55\u7684\u672a\u6765\u53ea\u5728\u7279\u5f81\u5c42\u9762\u76d1\u7763\u5f53\u524d\u89c2\u6d4b&#xff0c;\u800c\u4e0d\u4f1a\u901a\u8fc7\u68af\u5ea6\u628a\u201c\u672a\u6765\u753b\u9762\u8be5\u957f\u4ec0\u4e48\u6837\u201d\u7684\u8981\u6c42\u538b\u5230\u52a8\u4f5c\u901a\u8def\u4e0a\u3002\u68af\u5ea6\u80fd\u5230 backbone&#xff0c;\u610f\u5473\u7740\u52a8\u4f5c\u4e13\u5bb6\u8bfb\u5230\u7684\u90a3\u4e9b\u7279\u5f81\u786e\u5b9e\u88ab\u672a\u6765\u76d1\u7763\u6539\u8fc7&#xff0c;\u8fd9\u6b63\u662f\u672c\u6587\u60f3\u8bf4\u6e05\u7684\u90a3\u4ef6\u4e8b\u3002<\/p>\n<p><span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          L<\/p>\n<p>           J<\/p>\n<p>           A<\/p>\n<p>           M<\/p>\n<p>         &#061;<\/p>\n<p>          L<\/p>\n<p>           a<\/p>\n<p>           c<\/p>\n<p>           t<\/p>\n<p>         &#043;<\/p>\n<p>          \u03bb<\/p>\n<p>          F<\/p>\n<p>        \u2009<\/p>\n<p>          L<\/p>\n<p>          F<\/p>\n<p>         \\\\mathcal{L}_{\\\\mathrm{JAM}} &#061; \\\\mathcal{L}_{\\\\mathrm{act}} &#043; \\\\lambda_{F}\\\\,\\\\mathcal{L}_{F} <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathcal\">L<\/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: 0em;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 mtight\"><span class=\"mord mathrm mtight\">JAM<\/span><\/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=\"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: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathcal\">L<\/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 mtight\"><span class=\"mord mtight\"><span class=\"mord mathrm mtight\">act<\/span><\/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=\"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: 0.8444em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">\u03bb<\/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: 0em;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: 0.1389em\">F<\/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=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathcal\">L<\/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: 0em;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: 0.1389em\">F<\/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><\/span><\/span><\/span><\/span><\/p>\n<p>\u6574\u4efd\u635f\u5931\u5c31\u662f\u628a\u751f\u6210\u9879\u6362\u6210\u524d\u77bb\u9879&#xff0c;\u03bbF \u662f\u524d\u77bb\u635f\u5931\u7684\u603b\u6743\u91cd&#xff0c;\u5728 FastWAM \u914d\u65b9\u91cc\u53d6 0.6&#xff0c;\u5176\u4ed6\u7b56\u7565\u53d6 0.3&#xff0c;\u6743\u91cd\u5728\u5404\u8bfb\u51fa\u504f\u79fb\u4e4b\u95f4\u5747\u5206&#xff0c;\u6240\u4ee5\u589e\u52a0\u504f\u79fb\u4e2a\u6570\u4e0d\u4f1a\u8ba9\u603b\u6743\u91cd\u53d8\u5927\u3002\u8fd9\u4e2a\u7ec6\u8282\u540e\u9762\u4f1a\u770b\u5230&#xff0c;\u5b83\u8ba9\u504f\u79fb\u6570\u91cf\u7684\u6d88\u878d\u53d8\u5f97\u5e72\u51c0\u3002<\/p>\n<h4>\u9884\u6d4b\u5934\u4e0e\u76ee\u6807\u7a7a\u95f4<\/h4>\n<p>\u9884\u6d4b\u5934\u672c\u8eab\u5f88\u5c0f&#xff0c;\u7ed3\u6784\u662f&#xff1a;\u4e00\u4e2a\u5b66\u51fa\u6765\u7684 D \u5230 d \u7684\u8f93\u5165\u6295\u5f71&#xff0c;\u4e24\u4e2a\u5171\u4eab\u7684 pre-LayerNorm transformer block&#xff0c;\u4ee5\u53ca\u6bcf\u4e2a\u76ee\u6807\u504f\u79fb\u4e00\u4e2a d \u5230 Dg \u7684\u7ebf\u6027\u8bfb\u51fa\u3002token \u6570\u91cf\u4e0e\u7a7a\u95f4\u987a\u5e8f\u90fd\u4fdd\u6301\u4e0d\u53d8&#xff0c;\u6240\u4ee5\u9884\u6d4b\u4e0e\u76ee\u6807\u53ef\u4ee5\u9010 token \u5bf9\u9f50\u3002\u5404 backbone \u7684\u7ef4\u5ea6\u5728\u8bba\u6587\u9644\u5f55\u91cc\u7ed9\u4e86\u8868&#xff1a;\u4ee5 JAM (Wan) \u4e3a\u4f8b&#xff0c;\u8f93\u5165\u4e0e\u76ee\u6807\u662f 3072 \u7ef4&#xff0c;trunk \u5bbd 1536&#xff0c;24 \u4e2a\u5934&#xff0c;FFN 6144&#xff0c;\u4e24\u4e2a\u8bfb\u51fa&#xff0c;\u53c2\u6570\u91cf 71M&#xff1b;JAM (Ovis-U1) \u662f 1536 \u7ef4\u8f93\u5165\u3001768 \u7684 trunk\u300112 \u4e2a\u5934\u3001\u4e00\u4e2a\u8bfb\u51fa&#xff0c;16.5M\u3002<\/p>\n<p>\u76ee\u6807\u7a7a\u95f4\u662f\u53ef\u4ee5\u6362\u7684&#xff0c;\u8fd9\u4e00\u70b9\u5bf9\u7406\u89e3\u540e\u9762\u7684\u6536\u76ca\u6765\u6e90\u5f88\u5173\u952e\u3002\u4e00\u79cd\u505a\u6cd5\u662f\u7528\u9884\u8bad\u7ec3 backbone \u5f53\u951a\u70b9&#xff0c;\u53d6\u5b83\u5728\u672a\u6765\u65f6\u95f4\u4f4d\u7f6e\u4e0a\u7684\u7279\u5f81&#xff1b;\u53e6\u4e00\u79cd\u66f4\u7701\u7684\u505a\u6cd5\u662f\u76f4\u63a5\u590d\u7528\u7b56\u7565\u81ea\u5df1\u7684\u51bb\u7ed3 VAE tokenizer&#xff0c;\u628a VAE \u6f5c\u53d8\u91cf\u5757\u5347\u7ef4\u540e\u5f53\u76ee\u6807\u3002\u4ee5 Wan \u4e3a\u4f8b&#xff0c;VAE \u76f4\u8fde\u7684\u505a\u6cd5\u628a\u6bcf\u4e2a 2\u00d72\u00d748 \u7684 patch \u4ece 192 \u7ef4\u6309\u56fa\u5b9a\u5750\u6807\u91cd\u590d\u4e0e\u7f29\u653e\u5347\u5230 3072 \u7ef4&#xff0c;\u8fd9\u4e2a\u6620\u5c04\u4fdd\u8303\u6570\u3001\u56e0\u6b64\u4e5f\u4fdd\u4f59\u5f26\u76f8\u4f3c\u5ea6&#xff0c;\u65e2\u4e0d\u9700\u8981\u76ee\u6807\u4fa7 transformer&#xff0c;\u4e5f\u4e0d\u9700\u8981\u6587\u672c\u6761\u4ef6\u3002\u5b83\u628a\u951a\u70b9\u53c2\u6570\u91cf\u964d\u5230 0&#xff0c;\u53ea\u590d\u7528\u7b56\u7565\u672c\u6765\u5c31\u8981\u52a0\u8f7d\u7684\u90a3\u4e2a\u51bb\u7ed3 VAE\u3002<\/p>\n<p>\u8fd8\u6709\u4e00\u70b9\u5b9e\u73b0\u4e0a\u7684\u7ea6\u5b9a&#xff1a;\u53ea\u8981\u76ee\u6807\u7684\u9884\u5904\u7406\u4e0e\u6761\u4ef6\u56fa\u5b9a&#xff0c;\u76ee\u6807\u5c31\u53ef\u4ee5\u79bb\u7ebf\u7b97\u4e00\u6b21\u7136\u540e\u7f13\u5b58\u3002\u8fd9\u662f\u540e\u9762\u7b97\u529b\u5bf9\u6bd4\u91cc\u90a3\u4e2a 73% \u7684\u524d\u63d0&#xff0c;\u4f46\u7f13\u5b58\u672c\u8eab\u4e5f\u5e26\u6765\u7ea6\u675f&#xff0c;\u951a\u70b9\u3001\u9884\u5904\u7406\u3001\u65f6\u95f4\u7d22\u5f15\u4e0e\u6761\u4ef6\u4efb\u4f55\u4e00\u4e2a\u6539\u52a8\u90fd\u4f1a\u8ba9\u7f13\u5b58\u5931\u6548\u3002<\/p>\n<h4>\u6362 backbone \u5230\u5e95\u8981\u6539\u4ec0\u4e48<\/h4>\n<p>\u8bba\u6587\u7ed9\u4e86\u516d\u4e2a backbone \u7684\u5b9e\u4f8b\u5316&#xff0c;\u628a\u201c\u540c\u4e00\u5957\u914d\u65b9\u201d\u5177\u4f53\u5230\u6bcf\u4e00\u5c42\u76d1\u7763\u5728\u54ea\u3001\u504f\u79fb\u53d6\u54ea\u51e0\u4e2a\u3002\u8fd9\u5f20\u8868\u4e5f\u80fd\u53cd\u8fc7\u6765\u544a\u8bc9\u4f60&#xff0c;\u60f3\u628a JAM \u642c\u5230\u81ea\u5df1\u9009\u7684\u4e3b\u5e72\u4e0a\u9700\u8981\u8c03\u4ec0\u4e48\u3002<\/p>\n<table>\n<tr>backbone\u5bb6\u65cf\u76d1\u7763\u5c42\u4e0e\u504f\u79fb\u76ee\u6807\u4fa7\u8bfb\u4ec0\u4e48<\/tr>\n<tbody>\n<tr>\n<td>Wan2.2-5B&#xff08;30 blocks&#xff09;<\/td>\n<td>\u89c6\u9891\u751f\u6210<\/td>\n<td>block 18\/30&#xff0c;[1,2]<\/td>\n<td>0 \u5230 32 \u6b65\u3001\u6bcf 4 \u6b65\u4e00\u5e27\u7684\u7a97\u53e3<\/td>\n<\/tr>\n<tr>\n<td>Yak18&#xff08;Ovis-U1&#xff09;<\/td>\n<td>\u56fe\u50cf\u7f16\u8f91<\/td>\n<td>layer 11\/18&#xff0c;[1]<\/td>\n<td>\u5f53\u524d\u5e27\u52a0 16 \u6b65\u540e\u7684\u4e00\u5e27<\/td>\n<\/tr>\n<tr>\n<td>FLUX.2 Klein 4B<\/td>\n<td>\u56fe\u50cf\u751f\u6210<\/td>\n<td>layer 15\/25&#xff0c;[1]<\/td>\n<td>\u5f53\u524d\u5e27\u52a0 16 \u6b65\u540e\u7684\u4e00\u5e27<\/td>\n<\/tr>\n<tr>\n<td>Qwen3.5-2B<\/td>\n<td>\u89c6\u89c9\u8bed\u8a00<\/td>\n<td>layer 13\/24&#xff0c;[1]<\/td>\n<td>\u56e0\u679c\u56fe\u6587\u524d\u7f00\u52a0 16 \u6b65\u540e\u7684\u89c6\u56fe<\/td>\n<\/tr>\n<tr>\n<td>DINOv2-B<\/td>\n<td>\u81ea\u76d1\u7763<\/td>\n<td>\u6700\u540e\u4e00\u5c42 12\/12&#xff0c;[1]<\/td>\n<td>16 \u6b65\u540e\u7684\u4e00\u5e27<\/td>\n<\/tr>\n<tr>\n<td>DINOv2-L<\/td>\n<td>\u81ea\u76d1\u7763<\/td>\n<td>\u6700\u540e\u4e00\u5c42 24\/24&#xff0c;[1]<\/td>\n<td>16 \u6b65\u540e\u7684\u4e00\u5e27<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u80fd\u770b\u51fa\u4e00\u6761\u4e0d\u7b97\u4e25\u683c\u7684\u89c4\u5f8b&#xff1a;\u7528 backbone \u5f53\u951a\u70b9\u65f6&#xff0c;\u76d1\u7763\u5c42\u5927\u81f4\u53d6\u5728 60% \u6df1\u5ea6&#xff08;Wan \u7684 18\/30\u3001Yak \u7684 11\/18\u3001Qwen3.5 \u7684 13\/24&#xff09;&#xff0c;DINOv2 \u662f\u4f8b\u5916&#xff0c;\u53d6\u6700\u540e\u4e00\u5c42\u3002\u76d1\u7763\u5728\u54ea\u4e00\u5c42\u3001\u504f\u79fb\u53d6\u51e0\u4e2a&#xff0c;\u90fd\u662f\u8981\u91cd\u65b0\u8c03\u7684&#xff0c;\u6ca1\u6709\u4e00\u5957\u8de8\u4e3b\u5e72\u901a\u7528\u7684\u5e38\u6570\u3002\u8fd9\u662f\u201c\u914d\u65b9\u901a\u7528\u201d\u8fd9\u53e5\u8bdd\u7684\u5b9e\u9645\u6210\u672c\u3002<\/p>\n<p>\u4ec5\u793a\u610f&#xff08;\u6309\u8bba\u6587 3.2 \u8282\u6574\u7406&#xff0c;\u975e\u539f\u6587\u4f2a\u4ee3\u7801&#xff09;<br \/>\n\u8f93\u5165&#xff1a;f0\u3001s0\u3001c\u3001a[1:H]\u3001\u672a\u6765 f[1:T]<br \/>\n\u51bb\u7ed3&#xff1a;\u951a\u70b9 E_phi\u3001\u8f93\u5165\u7f16\u7801\u5668\u3001\u6587\u672c\u7f16\u7801\u5668<br \/>\n1  h &#061; Backbone(f0, c)     # \u53d6 block L<br \/>\n2  g[k] &#061; E_phi(f[1:T])[k] # \u53ef\u7f13\u5b58<br \/>\n3  g_hat[k] &#061; Head(h)      # \u6bcf\u504f\u79fb\u4e00\u8bfb\u51fa<br \/>\n4  L_F &#061; mean_k mean_n<br \/>\n       (1 &#8211; cos(g_hat, sg(g)))<br \/>\n5  L_act &#061; flow_match(ActionExpert(h))<br \/>\n6  loss &#061; L_act &#043; lambda_F * L_F<br \/>\n\u90e8\u7f72&#xff1a;\u53ea\u7559 Backbone \u4e0e\u52a8\u4f5c\u4e13\u5bb6<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261029080857-6ae2ff1949796.png\" alt=\"\u56fe 2\" \/> \u56fe 2&#xff5c;\u8bad\u7ec3\u4e0e\u90e8\u7f72\u4e24\u5f20\u56fe&#xff1a;\u8bb0\u5f55\u7684\u672a\u6765\u53ea\u8fdb\u5165\u865a\u7ebf\u6846\u91cc\u7684\u951a\u70b9\u5206\u652f&#xff0c;\u90e8\u7f72\u65f6\u865a\u7ebf\u6846\u4e0e\u9884\u6d4b\u5934\u4e00\u8d77\u4e22\u6389&#xff08;\u539f\u6587 Figure 2&#xff09; \u56fe\u6e90&#xff1a;Vision-Language-Action or World-Action? Just Action Models&#xff08;arXiv:2610.37219v1&#xff09;&#xff0c;arXiv \u975e\u72ec\u5360\u8bb8\u53ef<\/p>\n<h3>\u524d\u77bb\u635f\u5931\u63d0\u4f9b\u4e86\u4ec0\u4e48&#xff1a;\u5b83\u4e3a\u4ec0\u4e48\u4e0d\u7b49\u4e8e\u89c6\u9891\u751f\u6210<\/h3>\n<h4>\u76ee\u6807\u4e0d\u662f\u91cd\u5efa\u50cf\u7d20&#xff0c;\u800c\u662f\u8ba9\u672a\u6765\u53ef\u8bfb\u51fa<\/h4>\n<p>\u4e24\u4e2a\u635f\u5931\u90fd\u80fd\u8ba9\u6a21\u578b\u201c\u7528\u4e0a\u672a\u6765\u201d&#xff0c;\u4f46\u8981\u6c42\u7684\u80fd\u529b\u4e0d\u4e00\u6837\u3002\u89c6\u89c9\u751f\u6210\u635f\u5931\u8981\u6c42 backbone \u5177\u5907\u6e32\u67d3\u672a\u6765\u753b\u9762\u7684\u80fd\u529b&#xff0c;\u8bad\u7ec3\u65f6\u5f97\u6302\u7740\u90a3\u5957\u89e3\u7801\u6216\u53bb\u566a\u673a\u5236&#xff0c;\u5f00\u9500\u91cc\u4e5f\u5305\u542b\u7f16\u7801\u672a\u6765\u7a97\u53e3\u7684\u6210\u672c\u3002\u524d\u77bb\u635f\u5931\u53ea\u8981\u6c42\u5f53\u524d\u7279\u5f81\u91cc\u542b\u6709\u8db3\u591f\u7684\u4fe1\u606f&#xff0c;\u80fd\u628a\u672a\u6765\u4f4d\u7f6e\u7684\u7f16\u7801\u7ebf\u6027\u5730\u9884\u6d4b\u51fa\u6765&#xff0c;\u5224\u636e\u662f\u7279\u5f81\u7a7a\u95f4\u91cc\u7684\u4f59\u5f26\u8ddd\u79bb\u3002\u5b83\u4e0d\u95ee\u201c\u753b\u5f97\u50cf\u4e0d\u50cf\u201d&#xff0c;\u53ea\u95ee\u201c\u8bfb\u5f97\u51fa\u6765\u5417\u201d\u3002<\/p>\n<p>\u8fd9\u4e2a\u5dee\u522b\u5e26\u6765\u4e24\u4e2a\u76f4\u63a5\u540e\u679c\u3002\u7b2c\u4e00\u4e2a\u662f\u7701&#xff1a;\u76ee\u6807\u53ef\u4ee5\u79bb\u7ebf\u7b97\u3001\u53ef\u4ee5\u7f13\u5b58&#xff0c;\u5728\u7ebf\u90a3\u4e00\u8def\u53ea\u5904\u7406\u5f53\u524d\u5e27\u3002\u7b2c\u4e8c\u4e2a\u662f\u4e3b\u5e72\u53ef\u4ee5\u968f\u4fbf\u6362&#xff1a;\u56e0\u4e3a\u635f\u5931\u4e0d\u63a5\u89e6\u50cf\u7d20&#xff0c;\u951a\u70b9\u662f\u751f\u6210\u5f0f DiT\u3001\u81ea\u76d1\u7763\u7f16\u7801\u5668\u8fd8\u662f\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u90fd\u4e0d\u5f71\u54cd\u65b9\u6cd5\u6210\u7acb\u3002\u8bba\u6587\u5728\u76f8\u5173\u5de5\u4f5c\u91cc\u4e5f\u628a\u5b83\u548c JEPA \u4e00\u7c7b\u8054\u5408\u5d4c\u5165\u65b9\u6cd5\u533a\u5206\u5f00\u4e86&#xff1a;\u672c\u6587\u7684\u951a\u70b9\u662f\u51bb\u7ed3\u7684\u9884\u8bad\u7ec3\u6a21\u578b&#xff0c;\u4e0d\u662f\u8bad\u7ec3\u65f6\u7528 EMA \u66f4\u65b0\u7684\u540c\u6784\u7f16\u7801\u5668\u3002\u9644\u5f55\u91cc\u7684 EMA \u5b9e\u9a8c\u6b63\u597d\u4ece\u53cd\u9762\u5370\u8bc1\u8fd9\u4e00\u70b9&#xff0c;\u7528 EMA \u951a\u70b9\u5728 LIBERO \u4e0a\u53ea\u5230 96.40%&#xff0c;\u4f4e\u4e8e\u51bb\u7ed3\u9884\u8bad\u7ec3\u951a\u70b9\u7684 97.45%\u3002<\/p>\n<p>\u8fd8\u6709\u4e00\u5c42\u5bb9\u6613\u6f0f\u6389\u7684\u89e3\u8bfb&#xff1a;\u524d\u77bb\u635f\u5931\u53ea\u4fdd\u8bc1\u7279\u5f81\u91cc\u542b\u6709\u672a\u6765\u4fe1\u606f&#xff0c;\u4e0d\u4fdd\u8bc1\u52a8\u4f5c\u4e13\u5bb6\u771f\u7684\u7528\u4e0a\u4e86\u3002\u672c\u6587\u7684\u6ce8\u610f\u529b\u53ef\u89c6\u5316\u4e0e\u63a2\u9488\u5206\u6790&#xff0c;\u90fd\u662f\u5728\u8865\u8fd9\u540e\u4e00\u6b65\u7684\u8bc1\u636e\u3002<\/p>\n<h4>\u504f\u79fb\u91cf\u6bd4\u76ee\u6807\u51fd\u6570\u66f4\u503c\u94b1<\/h4>\n<p>\u5728 Wan \u4e0a&#xff0c;\u628a\u76d1\u7763\u4f4d\u7f6e\u4ece\u5f53\u524d\u4f4d [0] \u6362\u5230\u672a\u6765\u4f4d [1,2]&#xff0c;LIBERO-Plus \u4ece 44.62% \u5347\u5230 55.58%&#xff0c;\u518d\u628a\u5f53\u524d\u4f4d\u52a0\u56de\u53bb\u53d8\u6210 [0,1,2]&#xff0c;\u53cd\u800c\u964d\u5230 54.18%\u3002Ovis-U1 \u4e0a\u540c\u6837\u7684\u8d8b\u52bf&#xff1a;[0] \u662f 69.65%&#xff0c;[1] \u662f 79.95%&#xff0c;[0,1] \u662f 72.58%\u3002\u4e24\u4e2a\u5bb6\u65cf\u4e0a&#xff0c;\u53ea\u76d1\u7763\u672a\u6765\u4f4d\u90fd\u6bd4\u628a\u5f53\u524d\u4f4d\u7f6e\u4e00\u8d77\u76d1\u7763\u66f4\u597d\u3002<\/p>\n<p>\u8bba\u6587\u7ed9\u4e86\u4e00\u4e2a\u89e3\u91ca&#xff1a;Wan \u7684\u5f53\u524d\u4f4d\u7279\u5f81 [0] \u53ef\u80fd\u901a\u8fc7\u53cc\u5411\u6ce8\u610f\u529b\u5df2\u7ecf\u9690\u542b\u4e86\u672a\u6765\u4e0a\u4e0b\u6587&#xff0c;\u6240\u4ee5\u518d\u76d1\u7763\u5b83\u5e76\u4e0d\u80fd\u63d0\u4f9b\u989d\u5916\u4fe1\u606f&#xff0c;\u53cd\u800c\u4f1a\u7a00\u91ca\u672a\u6765\u4f4d\u4e0a\u7684\u4fe1\u53f7\u3002\u8fd9\u4e2a\u89e3\u91ca\u4e0e Wan \u7684\u67b6\u6784\u76f8\u7b26&#xff0c;\u4f46\u5b83\u4ecd\u662f\u4e00\u4e2a\u89e3\u91ca\u800c\u975e\u8bc1\u660e&#xff1b;Ovis-U1 \u4e0a [0] \u4e0e [1] \u5dee 10.3 \u70b9&#xff0c;\u4f5c\u8005\u6ca1\u6709\u7ed9\u51fa\u540c\u7b49\u7684\u673a\u5236\u8bf4\u660e\u3002<\/p>\n<p>\u5bf9\u8bfb\u8005\u66f4\u5b9e\u7528\u7684\u7ed3\u8bba\u662f&#xff1a;\u5982\u679c\u4f60\u7684\u76ee\u6807\u662f\u77ed\u671f\u5185\u63d0\u5347\u5e45\u5ea6\u6700\u5927&#xff0c;\u5148\u8c03\u504f\u79fb\u4e0e\u76ee\u6807\u7a7a\u95f4&#xff0c;\u522b\u6025\u7740\u8c03\u635f\u5931\u6743\u91cd\u3002\u672c\u6587\u6700\u5927\u7684\u4e24\u7b14\u6536\u76ca&#xff0c;\u4e00\u7b14\u6765\u81ea\u628a\u76ee\u6807\u4ece\u751f\u6210\u5668\u4e2d\u95f4\u5c42\u6362\u6210 VAE \u6f5c\u53d8\u91cf&#xff0c;\u4e00\u7b14\u6765\u81ea\u628a\u76d1\u7763\u4f4d\u7f6e\u632a\u5230\u672a\u6765\u4f4d&#xff0c;\u90fd\u4e0d\u662f\u201c\u6362\u635f\u5931\u51fd\u6570\u201d\u8fd9\u4ef6\u4e8b\u672c\u8eab\u3002<\/p>\n<h4>\u63a2\u9488\u8bc1\u636e&#xff1a;\u672a\u6765\u53d8\u5316\u80fd\u4e0d\u80fd\u4ece\u5f53\u524d\u7279\u5f81\u8bfb\u51fa\u6765<\/h4>\n<p>\u4e3a\u4e86\u770b\u7279\u5f81\u91cc\u5230\u5e95\u6709\u6ca1\u6709\u672a\u6765\u4fe1\u606f&#xff0c;\u4f5c\u8005\u5728\u6bcf\u4e2a\u51bb\u7ed3\u7684 Ovis-U1 \u7b56\u7565\u4e0a\u88c5\u4e86\u4e24\u4e2a\u9010 token \u7684\u4e24\u5c42 MLP \u63a2\u9488&#xff0c;\u5206\u522b\u91cd\u5efa\u5f53\u524d\u5e27\u4e0e 16 \u6b65\u540e\u7684\u4e00\u5e27&#xff0c;\u8bad\u7ec3\u4e0e\u8bc4\u4f30\u7684\u56de\u5408\u4e0d\u91cd\u53e0&#xff1b;\u4e24\u4e2a\u91cd\u5efa\u7684\u5e26\u7b26\u53f7\u4eae\u5ea6\u5dee&#xff0c;\u5c31\u662f\u56fe 3 \u91cc\u90a3\u51e0\u5f20\u53d8\u5316\u56fe\u3002\u7ed3\u679c\u663e\u793a&#xff0c;\u7528\u504f\u79fb [1] \u8bad\u7ec3\u51fa\u6765\u7684 JAM \u7279\u5f81\u80fd\u66f4\u6e05\u695a\u5730\u89e3\u7801\u51fa\u672a\u6765\u53d8\u5316&#xff0c;\u800c ImageWAM \u4e0e\u7528\u504f\u79fb [0] \u8bad\u7ec3\u7684 JAM \u90fd\u66f4\u6a21\u7cca\u3002<\/p>\n<p>\u6570\u5b57\u4e0a\u66f4\u514b\u5236\u4e00\u4e9b\u3002\u56fe 4 \u7684\u5e73\u5747\u672a\u6765\u5e27 PSNR \u662f&#xff1a;\u5f53\u524d\u5e27\u76f4\u63a5\u5f53\u9884\u6d4b\u7684\u57fa\u7ebf 16.13 dB&#xff0c;ImageWAM 19.43 dB&#xff0c;JAM [0] 19.29 dB&#xff0c;JAM [1] 19.57 dB\u3002JAM [1] \u6bd4 ImageWAM \u9ad8 0.14 dB&#xff0c;\u6bd4\u540c\u95e8\u7684 [0] \u9ad8 0.28 dB\u3002\u8bba\u6587\u7684\u63aa\u8f9e\u662f\u201c\u7565\u9ad8\u4e8e\u201d&#xff0c;\u6211\u8bfb\u4e0b\u6765\u4e5f\u8ba4\u4e3a\u8fd9\u662f\u65b9\u5411\u6027\u8bc1\u636e&#xff1a;\u5b83\u652f\u6301\u201c\u672a\u6765\u76d1\u7763\u8ba9\u672a\u6765\u4fe1\u606f\u66f4\u5bb9\u6613\u4ece\u5f53\u524d\u7279\u5f81\u91cc\u8bfb\u51fa\u201d\u8fd9\u4e2a\u8bf4\u6cd5&#xff0c;\u4f46 0.14 dB \u7684\u5dee\u8ddd\u4e0d\u8db3\u4ee5\u652f\u6491\u66f4\u5f3a\u7684\u673a\u5236\u65ad\u8a00\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261029080857-6ae2ff1987cee.png\" alt=\"\u56fe 3\" \/> \u56fe 3&#xff5c;\u540c\u4e00\u89c2\u6d4b\u4e0a\u89e3\u51fa\u7684\u672a\u6765\u53d8\u5316&#xff1a;\u6700\u53f3\u4e24\u5217\u662f JAM \u7528\u504f\u79fb [1] \u8bad\u7ec3\u7684\u7279\u5f81&#xff0c;\u4e0e\u8bb0\u5f55\u7684\u53d8\u5316\u6700\u63a5\u8fd1&#xff08;\u539f\u6587 Figure 4&#xff09; \u56fe\u6e90&#xff1a;Vision-Language-Action or World-Action? Just Action Models&#xff08;arXiv:2610.37219v1&#xff09;&#xff0c;arXiv \u975e\u72ec\u5360\u8bb8\u53ef<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261029080857-6ae2ff19cdd8f.png\" alt=\"\u56fe 4\" \/> \u56fe 4&#xff5c;\u56db\u4e2a\u7b56\u7565\u7684\u5e73\u5747\u672a\u6765\u5e27 PSNR&#xff1a;JAM \u504f\u79fb [1] \u662f 19.57 dB&#xff0c;ImageWAM 19.43 dB&#xff0c;\u76f4\u63a5\u62ff\u5f53\u524d\u5e27\u5f53\u9884\u6d4b\u53ea\u6709 16.13 dB&#xff08;\u539f\u6587 Figure 9&#xff09; \u56fe\u6e90&#xff1a;Vision-Language-Action or World-Action? Just Action Models&#xff08;arXiv:2610.37219v1&#xff09;&#xff0c;arXiv \u975e\u72ec\u5360\u8bb8\u53ef<\/p>\n<h3>\u5b9e\u9a8c\u7b2c\u4e00\u5c42&#xff1a;\u56fa\u5b9a\u67b6\u6784&#xff0c;\u53ea\u6362\u76ee\u6807\u51fd\u6570<\/h3>\n<h4>\u8fd9\u5f20\u8868\u600e\u4e48\u8bfb<\/h4>\n<p>\u7b2c\u4e00\u5c42\u5b9e\u9a8c\u7684\u505a\u6cd5\u662f&#xff1a;\u5728 FastWAM \u4e0e ImageWAM \u4e24\u5957\u7b56\u7565\u91cc&#xff0c;\u628a\u89c6\u89c9\u751f\u6210\u635f\u5931\u6362\u6210\u524d\u77bb\u635f\u5931&#xff0c;\u540c\u65f6\u4fdd\u6301\u67b6\u6784\u3001\u6570\u636e\u3001\u4f18\u5316\u5668\u3001\u8bad\u7ec3\u9884\u7b97\u4e0e\u90e8\u7f72\u8def\u5f84\u4e0d\u53d8\u3002\u88ab\u6539\u52a8\u7684\u53ea\u6709\u76ee\u6807\u51fd\u6570\u3001\u76ee\u6807\u6765\u6e90\u4e0e\u8bfb\u51fa\u504f\u79fb\u4e09\u6837\u3002\u6570\u636e\u4fa7&#xff0c;LIBERO \u7528 40 \u4e2a\u4efb\u52a1\u6bcf\u4efb\u52a1 50 \u6b21 rollout&#xff0c;\u62a5\u56db\u4e2a\u5957\u4ef6\u4e0e\u5e73\u5747\u503c&#xff1b;LIBERO-Plus \u6309 ImageWAM \u7684 15% \u5b50\u96c6\u534f\u8bae&#xff0c;\u6bcf\u4e2a\u5957\u4ef6\u6309\u56fa\u5b9a\u79cd\u5b50\u62bd\u4e00\u4efd\u6e05\u5355&#xff0c;\u4e00\u5171 1,506 \u4e2a\u6270\u52a8\u4efb\u52a1&#xff0c;\u6bcf\u4e2a\u4efb\u52a1\u53ea\u8dd1\u4e00\u6b21&#xff0c;\u6240\u6709\u672c\u5730\u7b56\u7565\u5171\u7528\u8fd9\u4efd\u6e05\u5355\u3002<\/p>\n<h4>Wan \u4e0a&#xff1a;\u6362\u635f\u5931\u53ea\u662f\u6253\u5e73&#xff0c;\u6362\u76ee\u6807\u7a7a\u95f4\u624d\u6323\u94b1<\/h4>\n<p>FastWAM \u90a3\u51e0\u884c\u7684\u7ed3\u679c\u503c\u5f97\u9010\u884c\u8bfb\u3002\u5b8c\u5168\u4e0d\u76d1\u7763\u672a\u6765\u65f6\u662f 95.25% \u4e0e 45.55%&#xff1b;\u52a0\u4e0a\u89c6\u89c9\u751f\u6210\u635f\u5931\u4e4b\u540e\u662f 97.00% \u4e0e 55.31%&#xff0c;\u8fd9\u8bf4\u660e\u672a\u6765\u76d1\u7763\u672c\u8eab\u503c\u5927\u7ea6 1.75 \u4e0e 9.76 \u4e2a\u767e\u5206\u70b9\u3002\u628a\u751f\u6210\u635f\u5931\u6362\u6210\u524d\u77bb\u3001\u76ee\u6807\u7528\u9884\u8bad\u7ec3 Wan \u7684\u7279\u5f81\u3001\u504f\u79fb\u53d6 [1,2]&#xff0c;\u5f97\u5230 97.45% \u4e0e 55.58%&#xff0c;\u76f8\u5bf9\u751f\u6210\u635f\u5931\u53ea\u591a\u4e86 0.45 \u4e0e 0.27 \u70b9\u3002\u6362\u53e5\u8bdd\u8bf4&#xff0c;\u5728 Wan \u8fd9\u5957\u67b6\u6784\u4e0a&#xff0c;\u201c\u4e0d\u751f\u6210\u753b\u9762\u201d\u8fd9\u4e00\u6b65\u57fa\u672c\u662f\u6253\u5e73&#xff0c;\u6ca1\u8d5a\u3002<\/p>\n<p>\u771f\u6b63\u7684\u8df3\u53d8\u51fa\u73b0\u5728\u6362\u76ee\u6807\u7a7a\u95f4\u90a3\u4e00\u884c&#xff1a;\u7528\u51bb\u7ed3 VAE \u7684\u539f\u59cb\u6f5c\u53d8\u91cf\u5757\u5f53\u76ee\u6807&#xff0c;LIBERO \u5230 98.15%\u3001LIBERO-Plus \u5230 64.54%&#xff0c;\u76f8\u5bf9 FastWAM \u662f &#043;1.15 \u4e0e &#043;9.23 \u70b9&#xff0c;\u4e5f\u662f\u5168\u90e8\u672c\u5730\u7b56\u7565\u91cc LIBERO \u6700\u9ad8\u7684\u4e00\u4e2a\u3002\u5bf9\u7167\u884c\u91cc&#xff0c;\u7528\u968f\u673a\u521d\u59cb\u5316 Wan \u5f53\u951a\u70b9\u8fd8\u80fd\u5230 97.65% \u4e0e 58.63%&#xff0c;\u6bd4\u9884\u8bad\u7ec3\u951a\u70b9\u66f4\u9ad8&#xff0c;\u8bf4\u660e\u951a\u70b9\u7684\u9884\u8bad\u7ec3\u6743\u91cd\u5e76\u4e0d\u662f\u5fc5\u8981\u6761\u4ef6\u3002<\/p>\n<p>\u8fd9\u7ec4\u6570\u5b57\u7684\u7ec4\u5408\u6709\u4e00\u4e2a\u5bb9\u6613\u88ab\u6458\u8981\u5e26\u504f\u7684\u8bfb\u6cd5\u3002\u6458\u8981\u8bf4 JAM \u8d85\u8fc7\u914d\u5bf9\u7684 FastWAM \u4e0e ImageWAM&#xff0c;\u8fd9\u53e5\u8bdd\u6ca1\u9519&#xff0c;\u4f46\u5982\u679c\u628a 9.2 \u70b9\u7684\u589e\u76ca\u6574\u4f53\u5f52\u7ed9\u201c\u7528\u524d\u77bb\u66ff\u4ee3\u751f\u6210\u201d&#xff0c;\u5c31\u4e0e\u8868\u91cc\u7b2c\u4e8c\u884c\u7684 0.27 \u70b9\u51b2\u7a81\u4e86\u3002\u51c6\u786e\u7684\u8bf4\u6cd5\u662f&#xff1a;\u5728 Wan \u4e0a&#xff0c;\u66ff\u4ee3\u672c\u8eab\u51e0\u4e4e\u65e0\u635f&#xff0c;\u800c\u6362\u6210\u66f4\u201c\u539f\u6750\u6599\u201d\u7684\u76ee\u6807\u7a7a\u95f4\u624d\u5e26\u6765\u4e3b\u8981\u589e\u76ca\u3002\u8fd9\u4e2a\u533a\u5206\u5bf9\u8981\u590d\u73b0\u7684\u4eba\u662f\u51b3\u5b9a\u6027\u7684&#xff0c;\u56e0\u4e3a\u5b83\u610f\u5473\u7740\u4f60\u4e0d\u4e00\u5b9a\u9700\u8981\u90a3\u4e2a 5B \u7684\u89c6\u9891\u6a21\u578b\u5f53\u951a\u70b9&#xff0c;\u4f46\u4f60\u9700\u8981\u4e00\u4e2a\u80fd\u63d0\u4f9b\u7ec6\u7c92\u5ea6\u6f5c\u53d8\u91cf\u7684\u76ee\u6807\u7a7a\u95f4\u3002<\/p>\n<h4>Ovis-U1 \u4e0a&#xff1a;\u6362\u635f\u5931\u672c\u8eab\u5c31\u662f\u5927\u5934<\/h4>\n<p>ImageWAM \u90a3\u51e0\u884c\u7684\u5f62\u72b6\u4e0d\u4e00\u6837\u3002\u4e0d\u76d1\u7763\u672a\u6765\u65f6\u662f 90.20% \u4e0e 61.35%&#xff1b;\u52a0\u4e0a\u751f\u6210\u635f\u5931\u662f 92.90% \u4e0e 65.27%&#xff1b;\u6362\u6210\u524d\u77bb\u3001\u76ee\u6807\u7528\u9884\u8bad\u7ec3 Yak\u3001\u504f\u79fb [1]&#xff0c;\u76f4\u63a5\u5230 96.75% \u4e0e 79.95%\u3002\u76f8\u5bf9\u751f\u6210\u635f\u5931\u662f &#043;3.85 \u4e0e &#043;14.7 \u70b9&#xff0c;\u540e\u8005\u662f\u5168\u6587\u6700\u5927\u7684\u5355\u7b14\u914d\u5bf9\u589e\u76ca\u3002\u8fd9\u91cc\u201c\u6362\u76ee\u6807\u51fd\u6570\u201d\u672c\u8eab\u5c31\u662f\u5927\u5934&#xff0c;\u4e0e Wan \u4e0a\u6253\u5e73\u7684\u60c5\u5f62\u5f62\u6210\u5bf9\u7167\u3002<\/p>\n<p>\u76ee\u6807\u7a7a\u95f4\u7684\u504f\u597d\u5728\u4e24\u4e2a\u67b6\u6784\u4e0a\u6b63\u597d\u76f8\u53cd\u3002Ovis-U1 \u4e0a\u9884\u8bad\u7ec3 Yak \u951a\u70b9&#xff08;79.95%&#xff09;\u4f18\u4e8e VAE \u76f4\u8fde&#xff08;76.43%&#xff09;&#xff0c;VAE \u76f4\u8fde\u53c8\u4f18\u4e8e\u968f\u673a Yak&#xff08;72.51%&#xff09;&#xff1b;\u800c Wan \u4e0a\u662f VAE \u76f4\u8fde&#xff08;64.54%&#xff09;\u4f18\u4e8e\u9884\u8bad\u7ec3 Wan&#xff08;55.58%&#xff09;\u3002\u4f5c\u8005\u7ed9\u7684\u89e3\u91ca\u662f\u4e24\u8005\u76ee\u6807\u8868\u793a\u91cc\u5df2\u6709\u7684\u65f6\u95f4\u4fe1\u606f\u4e0d\u540c&#xff1a;Wan \u7f16\u7801\u7684\u662f\u8986\u76d6 32 \u6b65\u52a8\u4f5c\u5757\u7684\u8de8\u6b65\u7a97\u53e3&#xff0c;\u5b83\u7684 VAE \u6f5c\u53d8\u91cf\u672c\u8eab\u5c31\u5e26\u7740\u573a\u666f\u600e\u4e48\u53d8&#xff1b;Yak \u53ea\u7f16\u7801 16 \u6b65\u7684\u7aef\u70b9&#xff0c;\u9884\u8bad\u7ec3\u5c42\u8d1f\u8d23\u628a\u8fd9\u4e2a\u7aef\u70b9\u4e0e\u5f53\u524d\u89c2\u6d4b\u3001\u6307\u4ee4\u5173\u8054\u8d77\u6765\u3002\u6240\u4ee5\u201c\u6700\u597d\u7684\u76ee\u6807\u201d\u662f\u67b6\u6784\u76f8\u5173\u7684&#xff0c;\u6ca1\u6709\u5168\u5c40\u6700\u4f18\u3002<\/p>\n<h4>\u6d88\u878d&#xff1a;\u51bb\u7ed3\u951a\u70b9\u300160% \u6df1\u5ea6\u30010.6 \u6743\u91cd\u3001transformer \u5934<\/h4>\n<p>\u8fd9\u4e00\u7ec4\u6d88\u878d\u90fd\u5728 Wan \u4e0a\u505a&#xff0c;\u7ed3\u8bba\u76f8\u5f53\u4e00\u81f4\u5730\u6307\u5411\u201c\u4e2d\u95f4\u503c\u6700\u597d\u201d\u3002\u672a\u6765\u951a\u70b9\u7528\u51bb\u7ed3\u9884\u8bad\u7ec3\u6743\u91cd\u65f6 LIBERO \u662f 97.45%&#xff0c;\u6362\u6210\u8bad\u7ec3\u4e2d EMA \u66f4\u65b0\u7684\u7b56\u7565\u526f\u672c\u53ea\u6709 96.40%&#xff0c;\u8bf4\u660e\u76ee\u6807\u4e00\u4fa7\u4fdd\u6301\u9759\u6b62\u6bd4\u8ddf\u7740\u7b56\u7565\u6f02\u79fb\u66f4\u597d\u3002\u76d1\u7763\u6df1\u5ea6\u53d6 14\u300116\u300118\u300120 \u5c42\u5206\u522b\u662f 97.10%\u300197.30%\u300197.45%\u300195.45%&#xff0c;\u7b2c 18 \u5c42\u6700\u597d&#xff0c;\u518d\u6df1\u53cd\u800c\u6389\u3002<\/p>\n<p>\u635f\u5931\u6743\u91cd\u626b\u8fc7 0.4\u30010.5\u30010.6\u30010.7&#xff0c;\u5e73\u5747\u6210\u529f\u7387\u662f 95.70%\u300196.90%\u300197.45%\u300196.75%&#xff0c;\u53ea\u6709 0.6 \u8fd9\u4e00\u4e2a\u8bbe\u7f6e\u8d85\u8fc7\u4e86 FastWAM \u7684 97.00%\u3002\u5bf9\u6743\u91cd\u6700\u654f\u611f\u7684\u662f Long \u5957\u4ef6&#xff0c;\u5728 90.0% \u5230 97.0% \u4e4b\u95f4\u8df3\u4e86 7 \u4e2a\u70b9\u3002\u9884\u6d4b\u5934\u7684\u5bb9\u91cf\u4e5f\u5b58\u5728\u540c\u6837\u7684\u201c\u4e0d\u5927\u4e0d\u5c0f\u201d\u89c4\u5f8b&#xff1a;\u5bbd\u5ea6 1536\u300171M \u53c2\u6570\u7684 transformer \u5934\u5230 97.45%&#xff0c;\u52a0\u5bbd\u5230 3072\u3001145M \u53cd\u800c\u53ea\u6709 96.30%&#xff1b;\u540c\u6837\u5bbd\u5ea6\u6362\u6210 MLP&#xff0c;1536 \u4e0e 3072 \u5206\u522b\u662f 95.05% \u4e0e 95.35%&#xff0c;\u6bd4 transformer \u5934\u4f4e 2.40 \u4e0e 0.95 \u70b9\u3002<\/p>\n<p>\u8bad\u7ec3\u9884\u7b97\u7684\u6d88\u878d\u5bf9\u5de5\u7a0b\u5224\u65ad\u5f88\u5173\u952e\u3002Wan \u914d\u65b9\u8dd1 10k \u6b65\u65f6&#xff0c;JAM \u5728 LIBERO \u4e0a\u5df2\u7ecf\u5230 97.45%&#xff0c;\u4f46 LIBERO-Plus \u53ea\u6709 48.47%&#xff0c;\u4f4e\u4e8e FastWAM \u540c\u9884\u7b97\u7684 55.25%&#xff1b;\u8dd1\u5230 20k \u6b65&#xff0c;LIBERO \u4fdd\u6301 97.45%&#xff0c;LIBERO-Plus \u624d\u5347\u5230 55.58%\u3002\u4e5f\u5c31\u662f\u8bf4&#xff0c;\u5728\u6270\u52a8\u57fa\u51c6\u4e0a\u5151\u73b0\u6536\u76ca\u9700\u8981\u8db3\u591f\u7684\u8bad\u7ec3\u6b65\u6570&#xff0c;\u9884\u7b97\u780d\u534a\u65f6\u8fd9\u4e2a\u914d\u65b9\u662f\u4e0d\u5212\u7b97\u7684\u3002<\/p>\n<h4>\u914d\u5bf9 rollout<\/h4>\n<p>\u56fe 5 \u7ed9\u4e86\u4e24\u4e2a LIBERO-Long \u7684\u914d\u5bf9\u56de\u5408&#xff0c;\u4e24\u4e2a\u7b56\u7565\u90fd\u5728 Ovis-U1 \u4e0a\u3002\u7b2c\u4e00\u4e2a\u4efb\u52a1\u662f\u201c\u628a\u9ed1\u7897\u653e\u8fdb\u6700\u4e0b\u9762\u7684\u62bd\u5c49\u5e76\u5173\u4e0a\u201d&#xff0c;ImageWAM \u5230\u6700\u540e\u6ca1\u628a\u62bd\u5c49\u5173\u4e0a&#xff0c;JAM \u5173\u4e0a\u4e86&#xff1b;\u7b2c\u4e8c\u4e2a\u4efb\u52a1\u662f\u201c\u628a\u4e24\u4e2a\u6469\u5361\u58f6\u90fd\u653e\u5230\u7089\u5b50\u4e0a\u201d&#xff0c;ImageWAM \u5728\u653e\u7b2c\u4e8c\u4e2a\u58f6\u65f6\u628a\u5b83\u649e\u5012\u4e86&#xff0c;JAM \u4e24\u4e2a\u90fd\u653e\u597d\u4e86\u3002\u8fd9\u7c7b\u5b9a\u6027\u8bc1\u636e\u4e0d\u80fd\u4ee3\u66ff\u7edf\u8ba1&#xff0c;\u4f46\u5b83\u80fd\u8bf4\u660e\u589e\u76ca\u4e0d\u662f\u7eaf\u7cb9\u7684\u6570\u5b57\u6296\u52a8&#xff1a;\u5931\u8d25\u7684\u5f62\u6001\u6b63\u597d\u843d\u5728\u957f\u7a0b\u4efb\u52a1\u6700\u5bb9\u6613\u4e22\u7684\u90a3\u4e00\u6b65\u4e0a\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261029080857-6ae2ff19e6c36.png\" alt=\"\u56fe 5\" \/> \u56fe 5&#xff5c;LIBERO-Long \u7684\u914d\u5bf9\u56de\u5408&#xff1a;ImageWAM \u6ca1\u5173\u4e0a\u62bd\u5c49\u3001\u649e\u5012\u4e86\u7b2c\u4e8c\u4e2a\u6469\u5361\u58f6&#xff0c;JAM \u4e24\u4e2a\u4efb\u52a1\u90fd\u5b8c\u6210&#xff08;\u539f\u6587 Figure 3&#xff09; \u56fe\u6e90&#xff1a;Vision-Language-Action or World-Action? Just Action Models&#xff08;arXiv:2610.37219v1&#xff09;&#xff0c;arXiv \u975e\u72ec\u5360\u8bb8\u53ef<\/p>\n<h3>\u5b9e\u9a8c\u7b2c\u4e8c\u5c42&#xff1a;\u628a\u914d\u65b9\u642c\u5230\u522b\u7684 backbone \u5bb6\u65cf<\/h3>\n<h4>\u521d\u59cb\u5316\u5230\u5e95\u54ea\u4e2a\u91cd\u8981<\/h4>\n<p>\u7b2c\u4e8c\u5c42\u5148\u56de\u7b54\u4e00\u4e2a\u95ee\u9898&#xff1a;\u524d\u77bb\u635f\u5931\u4e4b\u6240\u4ee5\u6709\u6548&#xff0c;\u5230\u5e95\u662f\u56e0\u4e3a backbone \u9884\u8bad\u7ec3\u5f97\u597d&#xff0c;\u8fd8\u662f\u56e0\u4e3a\u76ee\u6807\u7ed9\u5f97\u597d\u3002\u4f5c\u8005\u628a Wan \u7684 backbone \u4e0e\u672a\u6765\u951a\u70b9\u5206\u522b\u8bbe\u6210\u9884\u8bad\u7ec3\u6216\u968f\u673a&#xff0c;\u505a\u4e86\u56db\u79cd\u7ec4\u5408\u3002\u53cc\u9884\u8bad\u7ec3\u662f 97.45%&#xff0c;\u9884\u8bad\u7ec3 backbone \u914d\u968f\u673a\u951a\u70b9\u662f 97.65%&#xff0c;\u53cc\u968f\u673a\u53ea\u6709 84.40%&#xff0c;\u968f\u673a backbone \u914d\u9884\u8bad\u7ec3\u951a\u70b9\u662f 71.15%\u3002<\/p>\n<p>\u4e24\u4e2a\u7ed3\u8bba\u4ece\u8fd9\u5f20\u5c0f\u8868\u91cc\u51fa\u6765\u3002\u7b2c\u4e00&#xff0c;\u7b56\u7565 backbone \u7684\u9884\u8bad\u7ec3\u6743\u91cd\u5f88\u91cd\u8981&#xff1a;\u4e24\u4e2a\u201c\u968f\u673a backbone\u201d\u7684\u884c\u5206\u522b\u662f 84.40% \u4e0e 71.15%&#xff0c;\u6bd4\u9884\u8bad\u7ec3 backbone \u7684\u884c\u4f4e 13 \u5230 26 \u70b9\u3002\u7b2c\u4e8c&#xff0c;\u76ee\u6807\u951a\u70b9\u53ef\u4ee5\u968f\u673a&#xff1a;\u968f\u673a\u951a\u70b9\u5e76\u4e0d\u6bd4\u9884\u8bad\u7ec3\u951a\u70b9\u5dee&#xff0c;\u751a\u81f3\u7565\u9ad8 0.2 \u70b9&#xff0c;\u800c\u8fd9\u4e2a\u5dee\u503c\u5728\u91cd\u590d\u5b9e\u9a8c\u7684\u6807\u51c6\u5dee&#xff08;LIBERO \u5e73\u5747 0.13 \u5230 0.15 \u70b9&#xff09;\u4ee5\u5185&#xff0c;\u4e0d\u8be5\u88ab\u5f53\u6210\u4f18\u52bf\u3002\u8bba\u6587\u7684\u89e3\u91ca\u662f&#xff0c;\u51bb\u7ed3\u7684\u968f\u673a\u7f16\u7801\u5668\u63d0\u4f9b\u7684\u662f\u7a33\u5b9a\u3001\u4f9d\u8d56\u8f93\u5165\u7684\u7279\u5f81&#xff0c;\u4e0d\u662f\u72ec\u7acb\u91c7\u6837\u7684\u566a\u58f0&#xff0c;\u6240\u4ee5\u5b83\u4ecd\u80fd\u5145\u5f53\u4e00\u4e2a\u6709\u6548\u4f46\u65e0\u4fe1\u606f\u7684\u6559\u5e08\u3002\u8fd9\u4e0e\u9644\u5f55\u91cc\u63d0\u5230\u7684\u201c\u968f\u673a\u6559\u5e08\u4e5f\u80fd\u6559\u201d\u8fd9\u6761\u7ebf\u7d22\u4e00\u81f4\u3002<\/p>\n<h4>\u56db\u4e2a backbone \u7684\u6a2a\u5411\u6bd4\u8f83<\/h4>\n<p>\u628a\u540c\u4e00\u5957\u52a8\u4f5c\u52a0\u524d\u77bb\u7684\u76ee\u6807\u5957\u5230\u4e0d\u540c\u5bb6\u65cf\u4e0a&#xff0c;\u5f97\u5230\u7684\u7ed3\u679c\u662f\u8fd9\u7bc7\u8bba\u6587\u6700\u60f3\u8ba9\u4eba\u770b\u5230\u7684\u4e00\u5f20\u8868\u3002\u751f\u6210\u5f0f\u7684 Ovis-U1&#xff08;1.13B&#xff09;\u662f 96.75% \u4e0e 79.95%&#xff1b;\u81ea\u76d1\u7763\u7684 DINOv2-B&#xff08;86.6M&#xff09;\u662f 95.50% \u4e0e 68.19%&#xff0c;DINOv2-L&#xff08;304M&#xff09;\u662f 96.30% \u4e0e 70.39%&#xff1b;\u89c6\u89c9\u8bed\u8a00\u7684 Qwen3.5-2B \u662f 96.55% \u4e0e 81.14%&#xff1b;\u800c\u540c\u6837\u5728 Ovis-U1 \u4e0a\u3001\u7528\u751f\u6210\u635f\u5931\u8bad\u7ec3\u7684 ImageWAM \u662f 92.90% \u4e0e 65.27%\u3002\u56db\u4e2a JAM \u5b9e\u4f8b\u5728\u4e24\u4e2a\u57fa\u51c6\u4e0a\u90fd\u8d85\u8fc7\u4e86\u90a3\u4e2a\u751f\u6210\u5f0f\u57fa\u7ebf\u3002<\/p>\n<p>\u8868\u91cc\u8fd8\u6709\u4e24\u4e2a\u8bfb\u6570\u503c\u5f97\u5355\u62ce\u51fa\u6765\u3002\u4e00\u4e2a\u662f\u53c2\u6570\u91cf\u4e0e\u6210\u529f\u7387\u4e0d\u6210\u6b63\u6bd4&#xff1a;DINOv2-B \u53ea\u6709 86.6M&#xff0c;LIBERO \u5c31\u5230 95.50%&#xff1b;\u4f46\u5728 LIBERO-Plus \u4e0a DINOv2 \u4e24\u4e2a\u89c4\u683c\u53ea\u6709 68 \u5230 70 \u70b9&#xff0c;\u6bd4\u89c6\u89c9\u8bed\u8a00\u7684 81.14% \u4f4e 11 \u70b9\u4ee5\u4e0a\u3002\u6211\u7684\u89e3\u8bfb\u662f&#xff0c;\u6297\u6270\u52a8\u8fd9\u4e00\u7ef4\u66f4\u5403\u8bed\u8a00\u4e0e\u8bed\u4e49\u5bf9\u9f50&#xff0c;\u800c\u4e0d\u592a\u5403\u89c6\u89c9\u4e3b\u5e72\u7684\u53c2\u6570\u89c4\u6a21&#xff0c;\u4f46\u8fd9\u53ea\u662f\u4ece\u4e24\u884c\u6570\u5b57\u63a8\u51fa\u6765\u7684\u731c\u6d4b&#xff0c;\u8bba\u6587\u6ca1\u6709\u505a\u8fd9\u4e2a\u5f52\u56e0\u3002\u53e6\u4e00\u4e2a\u662f\u751f\u6210\u5f0f\u4e0e\u89c6\u89c9\u8bed\u8a00\u4e24\u4e2a\u6700\u5f3a\u5b9e\u4f8b\u7684\u5dee\u8ddd\u5f88\u5c0f&#xff1a;96.75% \u4e0e 96.55% \u5dee 0.20 \u70b9&#xff0c;79.95% \u4e0e 81.14% \u5dee 1.19 \u70b9\u3002<\/p>\n<p>\u524d\u77bb\u635f\u5931\u5230\u5e95\u5e26\u6765\u4e86\u591a\u5c11&#xff0c;\u8981\u770b\u201c\u53ea\u7528\u52a8\u4f5c\u635f\u5931\u201d\u7684\u5bf9\u7167\u7ec4\u3002Qwen3.5-2B \u4ece 77.03% \u5347\u5230 81.14%&#xff0c;\u6da8 4.11 \u70b9&#xff1b;DINOv2-L \u4ece 68.26% \u5347\u5230 70.39%&#xff0c;\u6da8 2.13 \u70b9\u3002\u6da8\u5e45\u5728 backbone \u4e4b\u95f4\u5dee\u4e86\u4e00\u500d&#xff0c;\u800c\u4e14\u4e0d\u662f\u5168\u9762\u6539\u5584&#xff1a;Qwen3.5 \u5728\u673a\u5668\u4eba\u521d\u59cb\u72b6\u6001&#xff08;68.02% \u964d\u5230 61.42%&#xff09;\u4e0e\u8bed\u8a00&#xff08;72.54% \u964d\u5230 71.72%&#xff09;\u4e24\u4e2a\u7c7b\u522b\u4e0a\u53d8\u5dee&#xff1b;DINOv2-L \u5728\u8bed\u8a00&#xff08;86.48% \u964d\u5230 80.74%&#xff09;\u3001\u5149\u7167&#xff08;86.96% \u964d\u5230 85.71%&#xff09;\u4e0e\u80cc\u666f&#xff08;85.48% \u964d\u5230 77.42%&#xff09;\u4e0a\u53d8\u5dee&#xff0c;\u5b83\u7684\u6536\u76ca\u4e3b\u8981\u6765\u81ea\u76f8\u673a&#xff08;37.92% \u5347\u5230 55.42%&#xff09;\u4e0e\u673a\u5668\u4eba\u72b6\u6001\u3002\u8fd9\u4e00\u70b9\u5728\u540e\u6587\u201c\u5c40\u9650\u4e0e\u5931\u6548\u573a\u666f\u201d\u91cc\u4f1a\u5c55\u5f00\u3002<\/p>\n<h4>\u5171\u4eab\u6743\u91cd\u4e5f\u884c<\/h4>\n<p>\u8fd8\u6709\u4e00\u4e2a\u987a\u5e26\u7684\u5de5\u7a0b\u7ed3\u8bba&#xff1a;\u524d\u77bb\u8bad\u7ec3\u5e76\u4e0d\u8981\u6c42\u4e00\u4e2a\u72ec\u7acb\u7684\u52a8\u4f5c\u4e13\u5bb6\u3002\u4f5c\u8005\u628a Qwen3.5 \u7684 backbone \u6743\u91cd\u76f4\u63a5\u5171\u4eab\u7ed9\u52a8\u4f5c\u9884\u6d4b&#xff0c;\u5f62\u6210\u4e00\u4e2a 2.22B \u7684\u7b56\u7565&#xff0c;LIBERO-Plus \u5230 79.61%&#xff1b;\u5171\u4eab 4B backbone \u7684\u7248\u672c\u662f 4.55B\u300180.68%&#xff1b;\u800c\u72ec\u7acb\u52a8\u4f5c\u4e13\u5bb6\u7684 3.60B \u7248\u672c\u662f 81.14%\u3002\u72ec\u7acb\u4e13\u5bb6\u7528\u66f4\u5c11\u7684\u53c2\u6570\u62ff\u5230\u4e86\u4e0e\u5171\u4eab 4B \u76f8\u5f53\u7684\u7ed3\u679c&#xff1b;\u4f46\u8fd9\u662f\u5355\u6b21\u8fd0\u884c&#xff0c;\u53ea\u80fd\u5f53\u4f5c\u201c\u4e0d\u5fc5\u5f3a\u6c42\u72ec\u7acb\u4e13\u5bb6\u201d\u7684\u5b58\u5728\u6027\u8bc1\u636e\u3002<\/p>\n<h4>\u6ce8\u610f\u529b\u53bb\u54ea\u91cc\u4e86<\/h4>\n<p>\u56fe 6 \u662f\u5bf9\u52a8\u4f5c\u4e13\u5bb6\u89c6\u89c9\u6ce8\u610f\u529b\u7684\u4e00\u5f20\u5207\u7247\u3002\u505a\u6cd5\u662f\u628a\u6ce8\u610f\u529b\u5728\u5934\u3001\u52a8\u4f5c query\u3001\u91c7\u6837\u6b65\u4e0e\u5c42\u4e0a\u53d6\u5e73\u5747&#xff0c;\u518d\u5728 100 \u4e2a\u53c2\u8003\u5e27\u4e0a\u51cf\u5747\u503c&#xff0c;\u53ea\u4fdd\u7559\u9ad8\u4e8e\u5747\u503c\u90a3\u90e8\u5206&#xff0c;\u8fd9\u6837\u770b\u5230\u7684\u624d\u662f\u201c\u968f\u5185\u5bb9\u53d8\u5316\u201d\u7684\u6ce8\u610f\u529b\u800c\u4e0d\u662f\u6052\u5b9a\u7684\u504f\u7f6e\u3002\u5728\u4e00\u4e2a LIBERO-Long \u89c2\u6d4b\u4e0a&#xff0c;ImageWAM \u66f4\u591a\u76ef\u7740\u5939\u722a\u91cc\u90a3\u4e2a\u676f\u5b50&#xff0c;\u800c\u540c\u4e00 backbone \u4e0a\u7684 JAM \u66f4\u591a\u770b\u6307\u4ee4\u91cc\u70b9\u540d\u7684\u7b2c\u4e8c\u4e2a\u676f\u5b50\u3002\u53f3\u4fa7\u7684\u67f1\u72b6\u56fe\u7edf\u8ba1\u4e86 100 \u5e27\u4e0a\u7684\u6ce8\u610f\u529b\u4efd\u989d&#xff1a;DINOv2-L \u6700\u5927\u7684\u4e00\u4efd\u7ed9\u4e86\u56fe\u50cf key&#xff0c;JAM (Ovis-U1) \u6700\u5927\u7684\u4e00\u4efd\u7ed9\u4e86\u6587\u672c key&#xff0c;Qwen3.5-2B \u6700\u5927\u7684\u4e00\u4efd\u7ed9\u4e86\u52a8\u4f5c key\u3002<\/p>\n<p>\u8fd9\u5f20\u56fe\u80fd\u8bf4\u660e\u7684\u53ea\u662f\u6ce8\u610f\u529b\u5206\u914d\u7684\u4f4d\u7f6e\u53d8\u4e86&#xff0c;\u4e0d\u80fd\u8bf4\u660e\u56e0\u679c\u3002\u4e09\u79cd backbone \u7684\u52a8\u4f5c\u63a5\u53e3\u672c\u6765\u5c31\u4e0d\u4e00\u6837&#xff08;\u6709\u6ca1\u6709\u72ec\u7acb\u6587\u672c\u7f16\u7801\u5668\u3001\u524d\u7f00\u662f\u4e0d\u662f\u56e0\u679c\u7684&#xff09;&#xff0c;\u4efd\u989d\u5dee\u5f02\u91cc\u6709\u76f8\u5f53\u4e00\u90e8\u5206\u6765\u81ea\u63a5\u53e3\u8bbe\u8ba1\u800c\u4e0d\u662f\u8bad\u7ec3\u76ee\u6807\u3002\u628a\u5b83\u5f53\u4f5c\u201c\u672a\u6765\u76d1\u7763\u8ba9\u6a21\u578b\u66f4\u5173\u6ce8\u6307\u4ee4\u91cc\u63d0\u5230\u7684\u76ee\u6807\u201d\u7684\u4e00\u4e2a\u5f31\u8bc1\u636e\u53ef\u4ee5&#xff0c;\u5f53\u4f5c\u7ed3\u8bba\u4e0d\u884c\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261029080858-6ae2ff1a49335.png\" alt=\"\u56fe 6\" \/> \u56fe 6&#xff5c;\u52a8\u4f5c\u4e13\u5bb6\u5bf9\u89c6\u89c9 token \u7684\u6ce8\u610f\u529b&#xff1a;ImageWAM \u76ef\u7740\u5939\u722a\u91cc\u7684\u676f\u5b50&#xff0c;JAM \u66f4\u770b\u6307\u4ee4\u70b9\u540d\u7684\u7b2c\u4e8c\u4e2a\u676f\u5b50&#xff0c;\u5750\u6807\u662f 100 \u5e27\u4e0a\u7684\u6ce8\u610f\u529b\u4efd\u989d&#xff08;\u539f\u6587 Figure 5&#xff09; \u56fe\u6e90&#xff1a;Vision-Language-Action or World-Action? Just Action Models&#xff08;arXiv:2610.37219v1&#xff09;&#xff0c;arXiv \u975e\u72ec\u5360\u8bb8\u53ef<\/p>\n<h3>\u5b9e\u9a8c\u7b2c\u4e09\u5c42&#xff1a;\u4e0e\u914d\u5bf9\u7684 FastWAM \/ ImageWAM \u5bf9\u7167<\/h3>\n<h4>LIBERO<\/h4>\n<p>\u628a\u914d\u5bf9\u7ed3\u679c\u653e\u5230\u516c\u5f00\u6570\u5b57\u91cc\u770b&#xff0c;\u4f4d\u7f6e\u662f\u8fd9\u6837\u7684&#xff1a;\u03c00 \u662f 94.1%\u3001\u03c00.5 \u662f 96.9%\u3001GR00T N1 \u662f 93.9%\u3001OpenVLA \u662f 76.5%&#xff1b;\u751f\u6210\u5f0f\u4e00\u4fa7 Motus 97.7%\u3001LingBot-VA 98.5%\u3001FastWAM 97.0%\u3001JAM (Wan) 98.2%&#xff1b;\u56fe\u50cf\u751f\u6210\u5668\u4e00\u4fa7 ImageWAM 92.9%\u3001JAM (Ovis-U1) 96.8%&#xff1b;\u89c6\u89c9\u8bed\u8a00\u4e00\u4fa7 JAM (Qwen3.5-2B) 96.6%\u3002<\/p>\n<p>\u8868\u91cc\u6709\u4e2a P.T. \u5217\u9700\u8981\u76ef\u7740\u770b&#xff0c;\u5b83\u8868\u793a\u662f\u5426\u7528\u4e86\u673a\u5668\u4eba\u6570\u636e\u505a\u5b9e\u4f53\u9884\u8bad\u7ec3\u3002JAM \u7684\u5168\u90e8\u5b9e\u4f8b\u90fd\u662f \u00d7&#xff0c;\u800c \u03c00\u3001\u03c00.5\u3001GR00T N1\u3001Motus\u3001LingBot-VA \u90fd\u662f \u2713\u3002\u6240\u4ee5 JAM (Wan) \u7684 98.2% \u662f\u201c\u6ca1\u6709\u5b9e\u4f53\u9884\u8bad\u7ec3\u201d\u6761\u4ef6\u4e0b\u7684\u6700\u9ad8\u503c&#xff0c;\u800c\u6392\u5728\u524d\u9762\u7684 LingBot-VA 98.5% \u5e26\u7740\u5b9e\u4f53\u9884\u8bad\u7ec3&#xff0c;\u5f15\u7528\u65f6\u8981\u4e00\u8d77\u8bf4\u3002<\/p>\n<h4>LIBERO-Plus<\/h4>\n<p>LIBERO-Plus \u662f\u66f4\u80fd\u5206\u5f00\u5dee\u8ddd\u7684\u57fa\u51c6&#xff0c;\u56e0\u4e3a\u5b83\u6309\u76f8\u673a\u3001\u673a\u5668\u4eba\u521d\u59cb\u72b6\u6001\u3001\u8bed\u8a00\u3001\u5149\u7167\u3001\u80cc\u666f\u3001\u4f20\u611f\u5668\u566a\u58f0\u3001\u5e03\u5c40\u4e03\u7c7b\u505a\u4e86\u6270\u52a8\u3002\u5206\u9879\u4e0a&#xff0c;JAM (Qwen3.5-2B) \u5e73\u5747 81.1%&#xff0c;JAM (Ovis-U1) 79.9%&#xff0c;ImageWAM 65.3%&#xff0c;JAM (Wan) 64.5%&#xff0c;FastWAM 55.3%&#xff0c;OpenVLA-OFT 69.6%&#xff0c;\u03c00 53.6%\u3002\u4e09\u7ec4\u5185\u90e8 JAM \u90fd\u662f\u7b2c\u4e00\u3002<\/p>\n<p>\u914d\u5bf9\u5dee\u503c\u5206\u522b\u662f &#043;9.2 \u70b9&#xff08;\u5bf9 FastWAM&#xff09;\u4e0e &#043;14.7 \u70b9&#xff08;\u5bf9 ImageWAM&#xff09;\u3002\u8bba\u6587\u4e5f\u5982\u5b9e\u5199\u4e86\u4e24\u4e2a\u4f8b\u5916&#xff1a;JAM (Wan) \u5728\u80cc\u666f\u7c7b\u522b\u4e0a 46.2% \u4f4e\u4e8e FastWAM \u7684 49.5%&#xff0c;JAM (Ovis-U1) \u5728\u673a\u5668\u4eba\u521d\u59cb\u72b6\u6001\u4e0a 49.2% \u4f4e\u4e8e ImageWAM \u7684 54.8%\u3002\u4e5f\u5c31\u662f\u8bf4\u201c\u5168\u9762\u66f4\u597d\u201d\u8fd9\u53e5\u8bdd\u4e0d\u6210\u7acb&#xff0c;\u662f\u516d\u7c7b\u66f4\u597d\u3001\u4e00\u7c7b\u66f4\u5dee\u3002<\/p>\n<p>\u56fe 7 \u628a\u8fd9\u4ef6\u4e8b\u753b\u6210\u4e86\u914d\u5bf9\u56fe&#xff1a;\u6a2a\u8f74\u5de6\u4fa7\u662f\u53ea\u6709\u57fa\u7ebf\u505a\u5bf9\u7684\u4efb\u52a1\u6570&#xff0c;\u53f3\u4fa7\u662f\u53ea\u6709 JAM \u505a\u5bf9\u7684\u4efb\u52a1\u6570&#xff0c;\u6bcf\u4e00\u5bf9\u90fd\u57fa\u4e8e\u540c\u6837\u7684 1,506 \u4e2a\u4efb\u52a1\u3002Ovis-U1 \u4e0a\u6536\u76ca\u6700\u96c6\u4e2d\u7684\u662f\u76f8\u673a&#xff08;71 \u5bf9 9&#xff09;\u4e0e\u4f20\u611f\u5668\u566a\u58f0&#xff1b;Wan \u4e0a\u6536\u76ca\u6700\u96c6\u4e2d\u7684\u662f\u673a\u5668\u4eba\u521d\u59cb\u72b6\u6001&#xff08;45 \u5bf9 10&#xff09;&#xff0c;\u800c\u76f8\u673a\u51e0\u4e4e\u662f\u5e73\u7684&#xff08;31 \u5bf9 28&#xff09;\u3002\u8fd9\u79cd\u201c\u589e\u76ca\u843d\u5728\u54ea\u4e00\u7c7b\u6270\u52a8\u4e0a\u201d\u7684\u5206\u5e03&#xff0c;\u6bd4\u4e00\u4e2a\u5e73\u5747\u503c\u66f4\u80fd\u8bf4\u660e\u4f60\u7684\u573a\u666f\u80fd\u4e0d\u80fd\u53d7\u76ca\u3002<\/p>\n<h4>RoboTwin 2.0<\/h4>\n<p>RoboTwin 2.0 \u662f\u53cc\u81c2\u64cd\u4f5c\u57fa\u51c6&#xff0c;50 \u4e2a\u4efb\u52a1&#xff0c;\u6bcf\u4e2a\u4efb\u52a1\u6bcf\u79cd\u8bbe\u7f6e\u8dd1 100 \u6b21&#xff0c;\u5206 Clean \u4e0e Randomized \u4e24\u79cd\u8bbe\u7f6e&#xff0c;\u540e\u8005\u4f1a\u6539\u53d8\u684c\u9762\u4e0a\u7684\u6742\u7269\u3001\u80cc\u666f\u7eb9\u7406\u3001\u5149\u7167\u3001\u684c\u9ad8\u4e0e\u6307\u4ee4\u63aa\u8f9e\u3002\u5e73\u5747\u4e0b\u6765&#xff1a;\u03c00 62.2%\u3001\u03c00.5 79.8%\u3001Motus 87.8%\u3001JAM (Qwen3.5-2B) 89.8%\u3001ImageWAM (Ovis-U1) 89.0%\u3001JAM (Ovis-U1) 89.9%\u3001FastWAM 91.2%\u3001JAM (Wan) 91.4%\u3001LingBot-VA 92.2%\u3001ImageWAM (FLUX.2) 92.9%\u3001JAM (FLUX.2) 93.1%\u3002<\/p>\n<p>\u4e09\u7ec4\u914d\u5bf9\u90fd\u662f\u201c\u6301\u5e73\u6216\u7565\u9ad8\u201d&#xff1a;91.44 \u5bf9 91.21\u300189.90 \u5bf9 88.96\u300193.08 \u5bf9 92.94\u3002\u589e\u5e45\u5728 0.1 \u5230 0.9 \u70b9\u8fd9\u4e2a\u91cf\u7ea7&#xff0c;\u8fdc\u5c0f\u4e8e LIBERO-Plus \u4e0a\u7684\u4e24\u4f4d\u6570\u3002\u8bba\u6587\u5bf9\u6b64\u7684\u8868\u8ff0\u662f\u201csimilar or slightly higher\u201d&#xff0c;\u7528\u8bcd\u662f\u51c6\u786e\u7684\u3002\u89c6\u9891\u751f\u6210\u4e00\u4fa7\u7b2c\u4e00\u540d\u4ecd\u7136\u662f\u5e26\u5b9e\u4f53\u9884\u8bad\u7ec3\u7684 LingBot-VA&#xff0c;\u6bd4 JAM (Wan) \u9ad8 0.8 \u70b9\u3002<\/p>\n<p>\u8fd9\u91cc\u8fd8\u6709\u4e00\u4e2a\u95f4\u63a5\u4f46\u91cd\u8981\u7684\u6210\u672c\u8bba\u636e\u3002\u8bba\u6587\u5f15\u7528 Yuan \u7b49\u4eba\u7684\u6d4b\u91cf&#xff1a;\u5148\u4e0d\u751f\u6210\u89c6\u9891\u5c31\u76f4\u63a5\u9884\u6d4b\u52a8\u4f5c\u7684\u63a8\u7406\u8def\u5f84&#xff0c;\u6bd4\u540c\u67b6\u6784\u4f46\u5148\u751f\u6210\u89c6\u9891\u7684\u53d8\u4f53\u5feb\u56db\u500d\u4ee5\u4e0a\u3002JAM \u7ee7\u627f\u7684\u6b63\u662f\u8fd9\u6761\u8def\u5f84&#xff0c;\u6240\u4ee5\u5b83\u5728 RoboTwin \u4e0a\u4e0e\u751f\u6210\u5f0f\u57fa\u7ebf\u6253\u5e73&#xff0c;\u5e76\u4e0d\u610f\u5473\u7740\u63a8\u7406\u6210\u672c\u4e5f\u6253\u5e73\u3002<\/p>\n<h4>\u7edf\u8ba1\u4e0e\u91cd\u590d<\/h4>\n<p>\u4f5c\u8005\u5bf9\u56db\u4e2a\u914d\u5bf9\u6bd4\u8f83\u505a\u4e86\u56fa\u5b9a\u68c0\u67e5\u70b9\u4e0a\u7684 95% \u7f6e\u4fe1\u533a\u95f4&#xff0c;\u7528 10 \u4e07\u6b21\u4efb\u52a1\u7ea7 bootstrap \u91cd\u91c7\u6837&#xff1a;FastWAM \u5728 LIBERO \u4e0a &#043;1.15 \u70b9&#xff0c;\u533a\u95f4 [&#043;0.20, &#043;2.10]&#xff1b;ImageWAM \u5728 LIBERO \u4e0a &#043;3.85&#xff0c;\u533a\u95f4 [&#043;1.00, &#043;7.40]&#xff1b;FastWAM \u5728 LIBERO-Plus \u4e0a &#043;9.23&#xff0c;\u533a\u95f4 [&#043;6.84, &#043;11.69]&#xff1b;ImageWAM \u5728 LIBERO-Plus \u4e0a &#043;14.67&#xff0c;\u533a\u95f4 [&#043;12.15, &#043;17.13]\u3002\u56db\u4e2a\u533a\u95f4\u90fd\u4e0d\u542b\u96f6&#xff0c;\u914d\u5bf9\u7684 McNemar \u68c0\u9a8c\u5168\u90e8 p \u5c0f\u4e8e 0.05&#xff0c;\u5177\u4f53\u662f 0.015\u30011.01\u00d710\u207b\u2079\u30011.91\u00d710\u207b\u00b9\u00b3 \u4e0e 9.69\u00d710\u207b\u00b3\u2070\u3002<\/p>\n<p>\u91cd\u590d\u6027\u65b9\u9762&#xff0c;\u4e24\u4e2a\u6700\u7ec8\u914d\u7f6e\u5404\u8bad\u4e86\u4e09\u6b21&#xff1a;Wan \u914d VAE \u76f4\u8fde\u76ee\u6807&#xff0c;LIBERO-Plus \u662f 64.61 \u00b1 0.37%&#xff1b;Ovis-U1 \u914d\u9884\u8bad\u7ec3 Yak \u76ee\u6807&#xff0c;\u662f 79.92 \u00b1 0.43%\u3002LIBERO \u4e0a\u7684\u5747\u503c \u00b1 \u6807\u51c6\u5dee\u5206\u522b\u662f 98.13 \u00b1 0.13 \u4e0e 96.75 \u00b1 0.15\u3002\u8fd9\u4e9b\u91cd\u590d\u5b9e\u9a8c\u628a\u566a\u58f0\u5e95\u566a\u8bf4\u6e05\u695a\u4e86&#xff1a;LIBERO-Plus \u4e0a 0.4 \u70b9\u4ee5\u5185\u7684\u5dee\u522b\u4e0d\u503c\u5f97\u89e3\u8bfb&#xff0c;LIBERO \u4e0a\u5219\u662f 0.2 \u70b9\u4ee5\u5185\u3002<\/p>\n<h4>\u5b9a\u6027\u8bc1\u636e<\/h4>\n<p>\u56fe 8 \u628a\u914d\u5bf9\u56de\u5408\u6269\u5230\u4e86\u56db\u4e2a\u4efb\u52a1&#xff1a;\u524d\u4e24\u4e2a\u5728 LIBERO-Plus \u4e0a&#xff0c;\u7528 Ovis-U1&#xff0c;\u5206\u522b\u662f\u201c\u6253\u5f00\u7089\u5b50\u5e76\u628a\u6469\u5361\u58f6\u653e\u4e0a\u53bb\u201d\u548c\u201c\u6253\u5f00\u67dc\u5b50\u4e2d\u95f4\u90a3\u5c42\u62bd\u5c49\u201d&#xff1b;\u540e\u4e24\u4e2a\u5728 RoboTwin 2.0 \u4e0a&#xff0c;\u7528 Wan&#xff0c;\u5206\u522b\u662f\u201c\u628a\u7f50\u5b50\u653e\u8fdb\u7bee\u5b50\u201d\u548c\u201c\u628a\u7ea2\u7eff\u84dd\u79ef\u6728\u53e0\u8d77\u6765\u201d\u3002ImageWAM \u6ca1\u80fd\u628a\u6469\u5361\u58f6\u63d0\u8d77\u6765&#xff0c;\u8fd8\u62c9\u6210\u4e86\u6700\u4e0a\u5c42\u62bd\u5c49&#xff1b;FastWAM \u649e\u5012\u4e86\u7f50\u5b50\u3001\u4e5f\u628a\u79ef\u6728\u5806\u5f04\u584c\u4e86\u3002JAM \u5728\u8fd9\u56db\u4e2a\u9009\u5b9a\u4efb\u52a1\u4e0a\u90fd\u5b8c\u6210\u4e86\u3002\u540c\u6837\u8981\u63d0\u9192\u7684\u662f&#xff0c;\u8fd9\u4e9b\u662f\u4f5c\u8005\u6311\u51fa\u6765\u7684\u56de\u5408&#xff0c;\u8bf4\u660e\u7684\u662f\u5931\u8d25\u6a21\u5f0f&#xff0c;\u4e0d\u662f\u6210\u529f\u7387\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261029080858-6ae2ff1aa40be.png\" alt=\"\u56fe 7\" \/> \u56fe 7&#xff5c;1,506 \u4e2a\u5171\u4eab\u4efb\u52a1\u4e0a\u7684\u914d\u5bf9\u7ed3\u679c&#xff1a;\u5de6\u534a\u8fb9\u53ea\u6709\u57fa\u7ebf\u505a\u5bf9&#xff0c;\u53f3\u534a\u8fb9\u53ea\u6709 JAM \u505a\u5bf9&#xff08;\u539f\u6587 Figure 6&#xff09; \u56fe\u6e90&#xff1a;Vision-Language-Action or World-Action? Just Action Models&#xff08;arXiv:2610.37219v1&#xff09;&#xff0c;arXiv \u975e\u72ec\u5360\u8bb8\u53ef<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261029080858-6ae2ff1ade5c0.png\" alt=\"\u56fe 8\" \/> \u56fe 8&#xff5c;\u66f4\u591a\u914d\u5bf9\u56de\u5408&#xff1a;LIBERO-Plus \u4e0a ImageWAM \u63d0\u4e0d\u8d77\u6469\u5361\u58f6\u3001\u62c9\u9519\u62bd\u5c49&#xff0c;RoboTwin 2.0 \u4e0a FastWAM \u649e\u5012\u7f50\u5b50\u4e0e\u79ef\u6728&#xff08;\u539f\u6587 Figure 7&#xff09; \u56fe\u6e90&#xff1a;Vision-Language-Action or World-Action? Just Action Models&#xff08;arXiv:2610.37219v1&#xff09;&#xff0c;arXiv \u975e\u72ec\u5360\u8bb8\u53ef<\/p>\n<h3>\u4ee3\u4ef7&#xff1a;\u7b97\u529b\u3001\u663e\u5b58\u3001\u5b9e\u73b0\u590d\u6742\u5ea6<\/h3>\n<h4>FLOPs \u4e0e GPU \u65f6\u95f4<\/h4>\n<p>\u8bba\u6587\u7684\u7b97\u529b\u6838\u7b97\u505a\u5f97\u6bd4\u8f83\u7ec6&#xff0c;\u628a\u8bad\u7ec3\u671f\u53c2\u6570\u3001\u4f30\u8ba1\u7684\u5728\u7ebf FLOPs \u4e0e\u5b9e\u6d4b GPU \u65f6\u95f4\u653e\u5728\u540c\u4e00\u5f20\u8868\u91cc\u3002FastWAM \u6bcf\u6837\u672c\u6bcf\u6b65\u4f30\u8ba1 15.52 TFLOPs&#xff0c;\u5b9e\u6d4b 0.789 \u79d2&#xff1b;JAM (Wan) \u5728\u76ee\u6807\u5728\u7ebf\u8ba1\u7b97\u65f6\u662f 9.80 TFLOPs&#xff0c;\u964d 36.9%&#xff0c;\u7f13\u5b58\u76ee\u6807\u540e\u662f 4.19 TFLOPs&#xff0c;\u964d 73.0%&#xff0c;\u5b9e\u6d4b 0.258 \u79d2&#xff0c;\u964d 67.3%\u3002ImageWAM \u662f 5.81 TFLOPs \u4e0e 0.473 \u79d2&#xff1b;JAM (Ovis-U1) \u5728\u7ebf 4.88 TFLOPs&#xff0c;\u964d 15.9%&#xff0c;\u7f13\u5b58\u540e 3.67 TFLOPs&#xff0c;\u964d 36.8%&#xff0c;\u5b9e\u6d4b 0.294 \u79d2&#xff0c;\u964d 37.8%\u3002<\/p>\n<table>\n<tr>\u7b56\u7565\u4e0e\u76ee\u6807\u4f30\u8ba1 TFLOPs \u6bcf\u6837\u672c\u6bcf\u6b65\u5b9e\u6d4b GPU \u65f6\u95f4&#xff08;\u79d2\/\u6b65&#xff09;<\/tr>\n<tbody>\n<tr>\n<td>FastWAM<\/td>\n<td>15.52<\/td>\n<td>0.789<\/td>\n<\/tr>\n<tr>\n<td>JAM (Wan)&#xff0c;\u76ee\u6807\u5728\u7ebf<\/td>\n<td>9.80&#xff08;\u221236.9%&#xff09;<\/td>\n<td>0.532&#xff08;\u221232.6%&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>JAM (Wan)&#xff0c;\u76ee\u6807\u7f13\u5b58<\/td>\n<td>4.19&#xff08;\u221273.0%&#xff09;<\/td>\n<td>0.258&#xff08;\u221267.3%&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>ImageWAM (Ovis-U1)<\/td>\n<td>5.81<\/td>\n<td>0.473<\/td>\n<\/tr>\n<tr>\n<td>JAM (Ovis-U1)&#xff0c;\u76ee\u6807\u5728\u7ebf<\/td>\n<td>4.88&#xff08;\u221215.9%&#xff09;<\/td>\n<td>0.403&#xff08;\u221214.8%&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>JAM (Ovis-U1)&#xff0c;\u76ee\u6807\u7f13\u5b58<\/td>\n<td>3.67&#xff08;\u221236.8%&#xff09;<\/td>\n<td>0.294&#xff08;\u221237.8%&#xff09;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8bfb\u8fd9\u5f20\u8868\u6709\u4e09\u4e2a\u524d\u63d0\u3002\u7b2c\u4e00&#xff0c;\u6240\u8c13\u7f13\u5b58\u662f\u5728\u7ebf\u7684\u76ee\u6807\u62bd\u53d6\u88ab\u63d0\u524d\u7b97\u597d&#xff0c;\u6210\u672c\u4e0d\u542b\u90a3\u4e00\u6b21\u6027\u7684\u62bd\u53d6&#xff0c;\u800c\u4e14\u8981\u6c42\u951a\u70b9\u3001\u9884\u5904\u7406\u3001\u65f6\u95f4\u7d22\u5f15\u4e0e\u6761\u4ef6\u90fd\u56fa\u5b9a&#xff1b;\u53ea\u8981\u4f60\u60f3\u8ba9\u951a\u70b9\u8ddf\u7740\u8bad\u7ec3\u8d70&#xff0c;\u7f13\u5b58\u5c31\u5931\u6548&#xff0c;\u800c EMA \u5b9e\u9a8c\u5df2\u7ecf\u8bf4\u660e\u8ddf\u7740\u8d70\u53cd\u800c\u66f4\u5dee\u3002\u7b2c\u4e8c&#xff0c;Wan \u7684\u5b9e\u6d4b\u964d\u5e45&#xff08;67.3%&#xff09;\u4f4e\u4e8e FLOPs \u4f30\u8ba1&#xff08;73.0%&#xff09;&#xff0c;\u8bba\u6587\u7684\u89e3\u91ca\u662f\u5f52\u4e00\u5316\u3001\u6fc0\u6d3b\u4e0e\u65cb\u8f6c\u4f4d\u7f6e\u7f16\u7801\u8fd9\u4e9b\u7b97\u5b50\u7684\u5f00\u9500\u4e0d\u968f token \u6570\u7b49\u6bd4\u7f29\u5c0f&#xff0c;\u8fd9\u4e2a\u89e3\u91ca\u5bf9\u4efb\u4f55\u505a\u8fc7\u5206\u9879 profiling \u7684\u4eba\u90fd\u6210\u7acb\u3002\u7b2c\u4e09&#xff0c;\u8fd9\u4e9b\u6570\u5b57\u53ea\u8986\u76d6\u88ab\u4f30\u8ba1\u7684\u90a3\u4e9b\u7b97\u5b50&#xff0c;\u4e0d\u662f\u7aef\u5230\u7aef\u5899\u949f\u65f6\u95f4\u3002<\/p>\n<h4>\u663e\u5b58\u4e0e\u8bad\u7ec3\u671f\u53c2\u6570<\/h4>\n<p>\u8bad\u7ec3\u671f\u65b0\u589e\u7684\u53c2\u6570\u5206\u4e24\u5757\u3002\u4e00\u5757\u662f\u9884\u6d4b\u5934&#xff1a;Wan \u662f 71M&#xff0c;Ovis-U1 \u662f 16.5M&#xff0c;\u76f8\u5bf9 4.9B \u6216 1.13B \u7684\u9aa8\u5e72\u90fd\u662f\u96f6\u5934\u3002\u53e6\u4e00\u5757\u662f\u672a\u6765\u951a\u70b9&#xff1a;Wan \u7528 VAE \u76f4\u8fde\u76ee\u6807\u65f6\u662f 0&#xff0c;\u76f4\u63a5\u590d\u7528\u7b56\u7565\u81ea\u5df1\u7684\u51bb\u7ed3 VAE&#xff1b;Ovis-U1 \u5728\u7ebf\u7b97\u76ee\u6807\u65f6\u8981\u989d\u5916\u52a0\u8f7d\u4e00\u4e2a\u51bb\u7ed3\u7684 1.13B Yak18\u3002\u90e8\u7f72\u53c2\u6570\u4e0e\u5404\u751f\u6210\u5f0f\u57fa\u7ebf\u5b8c\u5168\u4e00\u81f4&#xff0c;\u8fd9\u662f\u672c\u6587\u53cd\u590d\u5f3a\u8c03\u7684\u4e00\u70b9\u3002\u7f13\u5b58\u76ee\u6807\u7684\u5b58\u50a8\u5f00\u9500\u3001\u4ee5\u53ca\u7f13\u5b58 1,506 \u4e2a\u4efb\u52a1\u7ea7\u89c4\u6a21\u7684\u6570\u636e\u8981\u591a\u5c11\u78c1\u76d8&#xff0c;\u8bba\u6587\u6ca1\u6709\u62a5\u544a\u3002<\/p>\n<h4>\u5b9e\u73b0\u590d\u6742\u5ea6\u7684\u771f\u5b9e\u6765\u6e90<\/h4>\n<ul>\n<li>\u6bcf\u4e2a backbone \u90fd\u8981\u91cd\u65b0\u9009\u76d1\u7763\u5c42\u4e0e\u8bfb\u51fa\u504f\u79fb&#xff0c;\u7ecf\u9a8c\u503c\u5927\u7ea6\u5728 60% \u6df1\u5ea6\u4f46 DINOv2 \u4f8b\u5916&#xff0c;\u8fd9\u9700\u8981\u9010\u4e3b\u5e72\u505a\u4e00\u8f6e\u5c0f\u89c4\u6a21\u641c\u7d22\u3002<\/li>\n<li>\u76ee\u6807\u7279\u5f81\u8981\u5bf9\u9f50\u5230\u7b56\u7565\u4fa7\u7684 token \u5e03\u5c40&#xff0c;Wan \u7684\u505a\u6cd5\u662f\u7528\u56fa\u5b9a\u7a7a\u95f4\u7d22\u5f15\u505a\u5bf9\u9f50\u3001\u4e0d\u505a\u7269\u4f53\u8ddf\u8e2a&#xff0c;\u4e5f\u5c31\u662f\u76ee\u6807\u4fa7\u7684\u7a7a\u95f4\u5bf9\u5e94\u5173\u7cfb\u662f\u9759\u6001\u7684&#xff0c;\u573a\u666f\u5927\u5e45\u4f4d\u79fb\u65f6\u662f\u5426\u8fd8\u6210\u7acb&#xff0c;\u8bba\u6587\u6ca1\u6709\u8ba8\u8bba\u3002<\/li>\n<li>VAE \u76f4\u8fde\u76ee\u6807\u8981\u4e00\u4e2a\u4fdd\u8303\u6570\u7684\u5347\u7ef4\u6620\u5c04&#xff08;Wan \u4e0a\u662f 192 \u7ef4\u5230 3072 \u7ef4&#xff09;&#xff0c;\u5426\u5219\u4f59\u5f26\u76f8\u4f3c\u5ea6\u4f1a\u88ab\u7834\u574f\u3002<\/li>\n<li>\u03bbF \u8981\u6309\u914d\u65b9\u91cd\u8c03&#xff08;Wan 0.6\u3001\u5176\u4ed6 0.3&#xff09;&#xff0c;\u504f\u79fb\u4e2a\u6570\u53d8\u5316\u65f6\u603b\u6743\u91cd\u4e0d\u53d8&#xff0c;\u8fd9\u4e00\u70b9\u7701\u4e86\u4e00\u4e9b\u8c03\u53c2\u3002<\/li>\n<li>\u6570\u636e\u4fa7\u5fc5\u987b\u80fd\u7ed9\u51fa\u201c\u8bb0\u5f55\u7684\u672a\u6765\u201d&#xff0c;\u5e76\u4e14\u65f6\u95f4\u95f4\u9694\u56fa\u5b9a\u3002\u8bba\u6587\u6ca1\u6709\u62a5\u544a\u672a\u6765\u5e27\u7f3a\u5931\u3001\u65f6\u95f4\u6233\u6296\u52a8\u6216\u4e0d\u7b49\u95f4\u9694\u65f6\u7684\u884c\u4e3a\u3002<\/li>\n<\/ul>\n<h3>\u5c40\u9650\u4e0e\u5931\u6548\u573a\u666f<\/h3>\n<h4>\u8bba\u6587\u81ea\u5df1\u627f\u8ba4\u7684\u4e09\u6761<\/h4>\n<p>\u7b2c\u4e00\u6761&#xff0c;\u8de8 backbone \u7684\u6bd4\u8f83\u4e0d\u80fd\u9694\u79bb\u9884\u8bad\u7ec3\u672c\u8eab\u7684\u5f71\u54cd\u3002\u8868 3 \u7684\u6807\u9898\u91cc\u5199\u5f97\u76f4\u767d&#xff1a;\u67b6\u6784\u4e0e\u52a8\u4f5c\u63a5\u53e3\u4e0a\u7684\u5dee\u5f02\u59a8\u788d\u4e86\u9694\u79bb\u9884\u8bad\u7ec3\u6548\u679c\u3002\u6240\u4ee5\u201c\u751f\u6210\u5f0f\u5b9e\u4f8b 96.75%\u3001\u89c6\u89c9\u8bed\u8a00\u5b9e\u4f8b 96.55%&#xff0c;\u4e24\u8005\u6253\u5e73\u201d\u4e0d\u80fd\u88ab\u5347\u7ea7\u6210\u201c\u9884\u8bad\u7ec3\u65b9\u5f0f\u65e0\u5173\u7d27\u8981\u201d\u3002<\/p>\n<p>\u7b2c\u4e8c\u6761&#xff0c;\u6700\u4f18\u76ee\u6807\u4e0e\u67b6\u6784\u7ed1\u5b9a\u3002Wan \u4e0a\u6700\u597d\u7684\u662f VAE \u76f4\u8fde&#xff0c;Ovis-U1 \u4e0a\u6700\u597d\u7684\u662f\u9884\u8bad\u7ec3 Yak&#xff0c;\u4f5c\u8005\u7528\u4e24\u8005\u76ee\u6807\u8868\u793a\u91cc\u65f6\u95f4\u4fe1\u606f\u7684\u4e0d\u540c\u6765\u89e3\u91ca\u3002\u8fd9\u610f\u5473\u7740\u6362\u67b6\u6784\u5c31\u5f97\u91cd\u65b0\u9009\u76ee\u6807\u7a7a\u95f4&#xff0c;\u4e0d\u5b58\u5728\u4e00\u4e2a\u653e\u4e4b\u56db\u6d77\u7686\u51c6\u7684\u951a\u70b9\u3002<\/p>\n<p>\u7b2c\u4e09\u6761&#xff0c;\u90e8\u5206\u5bf9\u6bd4\u662f\u5355\u6b21\u8fd0\u884c\u3002\u5171\u4eab\u6743\u91cd\u4e0e\u72ec\u7acb\u4e13\u5bb6\u7684\u5bf9\u6bd4\u53ea\u6709\u4e00\u6b21\u8bad\u7ec3&#xff1b;\u4e09\u6b21\u91cd\u590d\u53ea\u8986\u76d6\u4e24\u4e2a\u6700\u7ec8\u914d\u7f6e\u3002\u6b64\u5916\u5168\u90e8\u5b9e\u9a8c\u90fd\u5728\u4eff\u771f\u91cc&#xff0c;\u4f26\u7406\u58f0\u660e\u91cc\u4e5f\u5199\u660e&#xff0c;\u628a\u4eff\u771f\u8bad\u7ec3\u7684\u7b56\u7565\u4e0d\u7ecf\u7269\u7406\u9a8c\u8bc1\u76f4\u63a5\u90e8\u7f72\u662f\u6709\u98ce\u9669\u7684&#xff0c;\u8fd9\u662f\u4f5c\u8005\u81ea\u5df1\u5217\u51fa\u7684\u98ce\u9669&#xff0c;\u4e0d\u662f\u6211\u7684\u8865\u5145\u3002<\/p>\n<h4>\u6211\u8bfb\u51fa\u6765\u7684\u4e94\u6761\u98ce\u9669<\/h4>\n<ul>\n<li>\u589e\u76ca\u4e0e\u7c7b\u522b\u5f3a\u76f8\u5173\u3002LIBERO-Plus \u7684\u5206\u9879\u91cc&#xff0c;Qwen3.5 \u5728\u673a\u5668\u4eba\u521d\u59cb\u72b6\u6001\u4e0e\u8bed\u8a00\u4e0a\u53d8\u5dee&#xff0c;DINOv2-L \u5728\u8bed\u8a00\u3001\u5149\u7167\u3001\u80cc\u666f\u4e0a\u53d8\u5dee\u3002\u5982\u679c\u4f60\u7684\u4e3b\u8981\u6270\u52a8\u662f\u8fd9\u51e0\u7c7b&#xff0c;\u524d\u77bb\u635f\u5931\u53ef\u80fd\u662f\u8d1f\u8d21\u732e\u3002<\/li>\n<li>LIBERO \u4e0a\u7684\u52a0\u6210\u5f88\u8584\u3002\u914d\u5bf9\u5dee &#043;1.15 \u70b9&#xff0c;\u533a\u95f4\u4e0b\u754c\u53ea\u6709 &#043;0.20&#xff0c;\u800c LIBERO \u672c\u8eab\u5df2\u7ecf\u63a5\u8fd1\u9971\u548c&#xff08;JAM \u7684\u4e24\u4e2a\u914d\u7f6e\u5728 Spatial \u4e0e Object \u4e0a\u5230\u4e86 98.6 \u5230 100&#xff09;\u3002\u5728\u8fd9\u4e2a\u57fa\u51c6\u4e0a\u518d\u62a0\u4e00\u4e2a\u70b9&#xff0c;\u6536\u76ca\u4e0e\u5f15\u5165\u65b0\u5206\u652f\u7684\u6210\u672c\u4e0d\u6210\u6bd4\u4f8b\u3002<\/li>\n<li>\u8bad\u7ec3\u9884\u7b97\u654f\u611f\u300210k \u6b65\u65f6 JAM (Wan) \u5728 LIBERO-Plus \u4e0a\u53ea\u6709 48.47%&#xff0c;\u4f4e\u4e8e FastWAM \u7684 55.25%\u3002\u8981\u7528\u8fd9\u4e2a\u914d\u65b9&#xff0c;\u9884\u7b97\u81f3\u5c11\u5f97\u8ddf\u5230\u57fa\u7ebf\u6536\u655b\u6b65\u6570\u7684\u4e24\u500d\u5de6\u53f3\u3002<\/li>\n<li>\u8d85\u53c2\u6570\u654f\u611f\u3002\u76d1\u7763\u6df1\u5ea6\u4ece 18 \u632a\u5230 20 \u6389 2 \u70b9&#xff0c;\u03bbF \u4ece 0.6 \u632a\u5230 0.4 \u6389 1.75 \u70b9&#xff0c;Long \u5957\u4ef6\u5728\u6743\u91cd\u626b\u63cf\u91cc\u8df3 7 \u4e2a\u70b9\u3002\u8fd9\u4e9b\u90fd\u4e0d\u662f\u53ef\u4ee5\u968f\u4fbf\u6284\u7684\u9ed8\u8ba4\u503c\u3002<\/li>\n<li>\u6536\u76ca\u7684\u53e3\u5f84\u8981\u5c0f\u5fc3\u3002Wan \u4e0a 9.2 \u70b9\u7684\u4e3b\u8981\u6765\u6e90\u662f\u76ee\u6807\u7a7a\u95f4\u6362\u6210 VAE \u6f5c\u53d8\u91cf&#xff0c;\u4e0d\u662f\u201c\u4e0d\u751f\u6210\u753b\u9762\u201d&#xff1b;Ovis-U1 \u4e0a\u624d\u662f\u6362\u635f\u5931\u672c\u8eab\u3002\u540c\u4e00\u53e5\u201c\u524d\u77bb\u66ff\u4ee3\u751f\u6210\u201d\u5728\u4e24\u4e2a\u67b6\u6784\u4e0a\u4ee3\u4ef7\u4e0e\u6536\u76ca\u7684\u6765\u6e90\u5e76\u4e0d\u76f8\u540c\u3002<\/li>\n<\/ul>\n<h4>\u4ec0\u4e48\u60c5\u51b5\u4e0b\u522b\u7528<\/h4>\n<p>\u6570\u636e\u4fa7\u7ed9\u4e0d\u51fa\u5bf9\u9f50\u7684\u8bb0\u5f55\u672a\u6765\u65f6&#xff0c;\u8fd9\u5957\u65b9\u6cd5\u6ca1\u6709\u8d77\u70b9&#xff0c;\u524d\u77bb\u635f\u5931\u65e0\u4ece\u8ba1\u7b97\u3002\u8bad\u7ec3\u9884\u7b97\u53ea\u6709\u51e0\u5343\u6b65\u65f6&#xff0c;\u6536\u76ca\u5f88\u53ef\u80fd\u4e3a\u8d1f&#xff0c;\u56e0\u4e3a\u6270\u52a8\u57fa\u51c6\u4e0a\u7684\u589e\u76ca\u9700\u8981\u66f4\u957f\u7684\u8bad\u7ec3\u624d\u80fd\u5151\u73b0\u3002\u9700\u8981\u6a21\u578b\u5728\u63a8\u7406\u671f\u201c\u5148\u60f3\u8c61\u518d\u884c\u52a8\u201d\u7684\u53ef\u89e3\u91ca\u6027\u53d9\u4e8b\u65f6\u4e5f\u4e0d\u9002\u5408&#xff0c;\u672c\u6587\u660e\u786e\u628a\u672a\u6765\u7559\u5728\u8bad\u7ec3\u671f&#xff0c;\u9644\u5f55\u91cc\u4e5f\u548c\u7528\u6f5c\u53d8\u91cf rollout \u505a\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7684 V-JEPA 2-AC \u5212\u6e05\u4e86\u754c\u9650\u3002\u6700\u540e&#xff0c;\u5982\u679c\u4f60\u53ea\u662f\u60f3\u5728\u4e00\u4e2a\u5f88\u5f3a\u7684\u57fa\u7ebf\u4e0a\u62a0\u4e00\u4e2a\u70b9&#xff0c;LIBERO \u4e0a &#043;1.15 \u7684\u4ee3\u4ef7\u4e0d\u592a\u503c\u3002<\/p>\n<h3>\u843d\u5730\u5224\u65ad&#xff1a;\u4ec0\u4e48\u56e2\u961f\u503c\u5f97\u8bd5&#xff0c;\u4ec0\u4e48\u56e2\u961f\u522b\u78b0<\/h3>\n<h4>\u503c\u5f97\u8bd5\u7684\u4e09\u7c7b\u56e2\u961f<\/h4>\n<ul>\n<li>\u5df2\u7ecf\u6709 VLA \u6216 WAM \u8bad\u7ec3\u7ba1\u7ebf\u3001\u60f3\u628a\u672a\u6765\u76d1\u7763\u505a\u4fbf\u5b9c\u4e00\u4e9b\u7684\u56e2\u961f\u3002\u6539\u52a8\u53ea\u53d1\u751f\u5728\u635f\u5931\u4e0e\u76ee\u6807\u5206\u652f\u4e0a&#xff0c;\u52a8\u4f5c\u901a\u8def\u548c\u90e8\u7f72\u5f62\u6001\u5b8c\u5168\u4e0d\u52a8&#xff0c;\u56de\u9000\u6210\u672c\u4f4e\u3002<\/li>\n<li>\u4e3b\u5e72\u89c4\u6a21\u53d7\u9650\u7684\u56e2\u961f\u3002DINOv2-L \u53ea\u6709 304M&#xff0c;\u5728 LIBERO \u4e0a\u5230 96.30%\u3001LIBERO-Plus \u4e0a\u5230 70.39%&#xff0c;\u6bd4 1.13B \u7684\u751f\u6210\u5f0f\u57fa\u7ebf\u9ad8 5.1 \u70b9\u3002\u8fd9\u8bf4\u660e\u4e0d\u9700\u8981\u4e00\u4e2a 5B \u7684\u89c6\u9891\u6a21\u578b\u4e5f\u80fd\u5403\u5230\u672a\u6765\u76d1\u7763\u3002<\/li>\n<li>\u60f3\u5728\u540c\u4e00\u5957\u4ee3\u7801\u91cc\u6a2a\u5411\u6bd4\u8f83\u4e0d\u540c backbone \u7684\u56e2\u961f\u3002JAM \u628a\u63a5\u53e3\u6536\u655b\u6210\u201c\u52a8\u4f5c\u635f\u5931\u52a0\u524d\u77bb\u635f\u5931\u201d&#xff0c;\u951a\u70b9\u4e0e\u76d1\u7763\u5c42\u53ef\u6362&#xff0c;\u6bd4\u8f83\u8d77\u6765\u6bd4\u8de8\u8bba\u6587\u5bf9\u9f50\u8bbe\u7f6e\u53ef\u9760\u5f97\u591a\u3002<\/li>\n<\/ul>\n<h4>\u522b\u78b0\u7684\u56db\u7c7b\u60c5\u5f62<\/h4>\n<ul>\n<li>\u573a\u666f\u7684\u4e3b\u8981\u6270\u52a8\u96c6\u4e2d\u5728\u673a\u5668\u4eba\u521d\u59cb\u72b6\u6001\u3001\u8bed\u8a00\u6216\u5149\u7167\u4e0a\u7684\u56e2\u961f\u3002\u8fd9\u51e0\u7c7b\u4e0a\u524d\u77bb\u635f\u5931\u6709\u53d8\u5dee\u7684\u5206\u9879&#xff0c;\u5148\u505a\u5c0f\u89c4\u6a21\u9a8c\u8bc1\u518d\u51b3\u5b9a\u3002<\/li>\n<li>\u8bad\u7ec3\u9884\u7b97\u88ab\u5361\u6b7b\u7684\u56e2\u961f\u300210k \u6b65\u8fd9\u4e2a\u91cf\u7ea7\u4e0a&#xff0c;JAM (Wan) \u5728 LIBERO-Plus \u4e0a\u8fd8\u4e0d\u5982\u4e0d\u52a0\u672a\u6765\u76d1\u7763\u7684\u57fa\u7ebf\u914d\u65b9\u3002<\/li>\n<li>\u6570\u636e\u91cc\u6ca1\u6709\u53ef\u9760\u672a\u6765\u5e27\u7684\u56e2\u961f\u3002\u9700\u8981\u7684\u662f\u56fa\u5b9a\u95f4\u9694\u7684\u8bb0\u5f55\u672a\u6765&#xff0c;\u4e0d\u662f\u4efb\u610f\u540e\u7eed\u5e27\u3002<\/li>\n<li>\u9700\u8981\u63a8\u7406\u671f\u663e\u5f0f\u89c4\u5212\u80fd\u529b\u7684\u56e2\u961f\u3002\u8fd9\u6761\u8def\u7ebf\u628a\u672a\u6765\u5b8c\u5168\u7559\u5728\u8bad\u7ec3\u671f&#xff0c;\u90e8\u7f72\u65f6\u6ca1\u6709\u4efb\u4f55\u60f3\u8c61\u73af\u8282\u3002<\/li>\n<\/ul>\n<h4>\u6700\u5c0f\u53ef\u884c\u9a8c\u8bc1\u8def\u5f84<\/h4>\n<li>\u5728\u4e00\u5957\u5df2\u6709\u7b56\u7565\u4e0a\u56fa\u5b9a\u67b6\u6784&#xff0c;\u53ea\u628a\u751f\u6210\u635f\u5931\u6362\u6210\u524d\u77bb\u635f\u5931&#xff0c;\u504f\u79fb\u5148\u53d6 [1]&#xff0c;\u76d1\u7763\u5c42\u53d6\u5927\u7ea6 60% \u6df1\u5ea6&#xff0c;\u03bbF \u4ece 0.3 \u5f00\u59cb\u3002<\/li>\n<li>\u76ee\u6807\u4fa7\u5148\u7528\u6700\u4fbf\u5b9c\u7684\u65b9\u6848&#xff1a;\u51bb\u7ed3 VAE \u76f4\u8fde\u3002Wan \u4e0a\u8fd9\u4e00\u6863\u5c31\u662f\u6700\u4f18&#xff0c;Ovis-U1 \u4e0a\u5b83\u4e5f\u662f\u7b2c\u4e8c\u597d\u7684\u9009\u62e9&#xff0c;\u5148\u8dd1\u901a\u518d\u6362\u9884\u8bad\u7ec3\u951a\u70b9\u3002<\/li>\n<li>\u540c\u65f6\u8bad action-only \u4e0e foresight \u4e24\u7ec4&#xff0c;\u7528\u540c\u4e00\u4efd\u56fa\u5b9a\u4efb\u52a1\u6e05\u5355\u505a\u914d\u5bf9\u6bd4\u8f83&#xff0c;\u4e0d\u8981\u53ea\u6bd4\u5e73\u5747\u503c\u3002<\/li>\n<li>\u9884\u7b97\u81f3\u5c11\u7ed9\u5230\u57fa\u7ebf\u6536\u655b\u6b65\u6570\u7684\u4e24\u500d&#xff0c;\u5426\u5219\u7ed3\u8bba\u4f1a\u88ab\u8bad\u7ec3\u4e0d\u8db3\u6c61\u67d3\u3002<\/li>\n<li>\u6309\u6270\u52a8\u7c7b\u522b\u770b\u589e\u76ca&#xff0c;\u627e\u51fa\u8d1f\u8d21\u732e\u7684\u90a3\u51e0\u7c7b&#xff0c;\u518d\u51b3\u5b9a\u662f\u5426\u4e0a\u7ebf\u3001\u4ee5\u53ca\u662f\u5426\u9700\u8981\u9488\u5bf9\u8fd9\u4e9b\u7c7b\u522b\u8865\u6570\u636e\u3002<\/li>\n<h4>\u672f\u8bed\u901f\u67e5\u8868<\/h4>\n<table>\n<tr>\u672f\u8bed\u542b\u4e49\u4e0e\u5728\u672c\u6587\u91cc\u7684\u4f5c\u7528<\/tr>\n<tbody>\n<tr>\n<td>VLA&#xff08;Vision-Language-Action&#xff09;<\/td>\n<td>\u4ee5\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u4e3a\u5e95\u5ea7\u3001\u9644\u52a0\u52a8\u4f5c\u4e13\u5bb6\u9884\u6d4b\u52a8\u4f5c\u5757\u7684\u4e00\u7c7b\u7b56\u7565&#xff0c;\u4ee3\u8868\u662f OpenVLA\u3001\u03c00\u3001\u03c00.5<\/td>\n<\/tr>\n<tr>\n<td>WAM&#xff08;World-Action Model&#xff09;<\/td>\n<td>\u4ece\u56fe\u50cf\u6216\u89c6\u9891\u751f\u6210\u5668\u51fa\u53d1\u3001\u628a\u52a8\u4f5c\u4e0e\u672a\u6765\u89c6\u89c9\u9884\u6d4b\u4e00\u8d77\u5b66\u7684\u4e00\u7c7b\u6a21\u578b&#xff0c;\u4ee3\u8868\u662f Motus\u3001LingBot-VA\u3001FastWAM\u3001ImageWAM<\/td>\n<\/tr>\n<tr>\n<td>JAM&#xff08;Just Action Model&#xff09;<\/td>\n<td>\u672c\u6587\u63d0\u51fa\u7684\u7edf\u4e00\u914d\u65b9&#xff1a;\u9884\u8bad\u7ec3\u89c6\u89c9 backbone \u52a0\u52a8\u4f5c\u4e13\u5bb6&#xff0c;\u8bad\u7ec3\u7528\u52a8\u4f5c\u635f\u5931\u52a0\u524d\u77bb\u635f\u5931&#xff0c;\u90e8\u7f72\u53ea\u7559\u8fd9\u4e24\u90e8\u5206<\/td>\n<\/tr>\n<tr>\n<td>Lact<\/td>\n<td>\u52a8\u4f5c\u6d41\u5339\u914d\u635f\u5931&#xff0c;\u76d1\u7763\u52a8\u4f5c\u5757 a1:H&#xff0c;\u4e09\u7c7b\u505a\u6cd5\u5171\u6709&#xff0c;\u4e5f\u662f\u552f\u4e00\u5728\u90e8\u7f72\u65f6\u4fdd\u7559\u7684\u635f\u5931<\/td>\n<\/tr>\n<tr>\n<td>LG<\/td>\n<td>\u89c6\u89c9\u751f\u6210\u635f\u5931&#xff0c;WAM \u7528\u6765\u53bb\u566a\u6216\u6e32\u67d3\u672a\u6765\u89c2\u6d4b&#xff0c;\u9700\u8981\u89e3\u7801\u5668\u6216\u53bb\u566a\u901a\u8def<\/td>\n<\/tr>\n<tr>\n<td>LF<\/td>\n<td>\u524d\u77bb\u635f\u5931&#xff0c;\u5f53\u524d\u89c2\u6d4b\u7279\u5f81\u4e0e\u51bb\u7ed3\u951a\u70b9\u5bf9\u672a\u6765\u7684\u7f16\u7801\u4e4b\u95f4\u7684\u4f59\u5f26\u8ddd\u79bb<\/td>\n<\/tr>\n<tr>\n<td>\u672a\u6765\u951a\u70b9 E\u03c6<\/td>\n<td>\u51bb\u7ed3\u7f16\u7801\u5668&#xff0c;\u628a\u8bb0\u5f55\u7684\u672a\u6765\u53d8\u6210\u524d\u77bb\u635f\u5931\u7684\u76ee\u6807&#xff1b;\u53ef\u4ee5\u662f\u9884\u8bad\u7ec3 backbone\u3001\u968f\u673a\u521d\u59cb\u5316\u7684 backbone&#xff0c;\u6216\u7b56\u7565\u81ea\u5df1\u7684 VAE<\/td>\n<\/tr>\n<tr>\n<td>\u8bfb\u51fa\u504f\u79fb k<\/td>\n<td>\u951a\u70b9\u65f6\u95f4\u5e8f\u5217\u4e0a\u7684\u4f4d\u7f6e\u7f16\u53f7&#xff0c;k&#061;0 \u662f\u5f53\u524d\u89c2\u6d4b&#xff0c;k\u22651 \u662f\u8bb0\u5f55\u7684\u672a\u6765&#xff1b;K \u662f\u88ab\u76d1\u7763\u7684\u504f\u79fb\u96c6\u5408<\/td>\n<\/tr>\n<tr>\n<td>\u9884\u6d4b\u5934 p<\/td>\n<td>\u8bad\u7ec3\u671f\u4e13\u7528\u7684\u6620\u5c04&#xff0c;\u628a\u7b56\u7565 token \u6295\u5230\u76ee\u6807\u7a7a\u95f4&#xff0c;\u6bcf\u4e2a\u504f\u79fb\u4e00\u4e2a\u7ebf\u6027\u8bfb\u51fa&#xff0c;\u8bad\u5b8c\u5373\u4e22<\/td>\n<\/tr>\n<tr>\n<td>stop-gradient&#xff08;sg&#xff09;<\/td>\n<td>\u622a\u65ad\u76ee\u6807\u4e00\u4fa7\u7684\u68af\u5ea6&#xff0c;\u4f7f\u951a\u70b9\u53ea\u63d0\u4f9b\u76ee\u6807\u3001\u4e0d\u88ab\u8bad\u7ec3\u6539\u53d8<\/td>\n<\/tr>\n<tr>\n<td>VAE \u76f4\u8fde\u76ee\u6807<\/td>\n<td>\u4e0d\u7528\u76ee\u6807 transformer&#xff0c;\u76f4\u63a5\u628a\u51bb\u7ed3 VAE \u7684\u6f5c\u53d8\u91cf\u5757\u505a\u4fdd\u8303\u6570\u5347\u7ef4\u5f53\u76ee\u6807&#xff0c;\u951a\u70b9\u53c2\u6570\u91cf\u4e3a 0<\/td>\n<\/tr>\n<tr>\n<td>LIBERO-Plus<\/td>\n<td>LIBERO \u7684\u6270\u52a8\u7248\u672c&#xff0c;\u6309\u76f8\u673a\u3001\u673a\u5668\u4eba\u72b6\u6001\u3001\u8bed\u8a00\u3001\u5149\u7167\u3001\u80cc\u666f\u3001\u566a\u58f0\u3001\u5e03\u5c40\u4e03\u7c7b\u751f\u6210\u6270\u52a8&#xff1b;\u672c\u6587\u7528 1,506 \u4e2a\u4efb\u52a1\u7684\u56fa\u5b9a\u5b50\u96c6<\/td>\n<\/tr>\n<tr>\n<td>P.T.&#xff08;\u5b9e\u4f53\u9884\u8bad\u7ec3&#xff09;<\/td>\n<td>\u5bf9\u6bd4\u8868\u91cc\u6807\u662f\u5426\u7528\u673a\u5668\u4eba\u6570\u636e\u505a\u8fc7\u9884\u8bad\u7ec3\u7684\u5217&#xff0c;JAM \u7684\u5168\u90e8\u5b9e\u4f8b\u90fd\u662f \u00d7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u56de\u5230\u5f00\u5934\u90a3\u4e2a\u95ee\u9898&#xff1a;VLA \u8fd8\u662f 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