{"id":122906,"date":"2026-11-06T00:48:43","date_gmt":"2026-11-05T16:48:43","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/122906.html"},"modified":"2026-11-06T00:48:43","modified_gmt":"2026-11-05T16:48:43","slug":"%e5%bc%ba%e5%8c%96%e5%ad%a6%e4%b9%a0%e7%ac%ac%e5%9b%9b%e8%af%be%ef%bc%9astate-%e5%92%8c-observation-%e5%88%b0%e5%ba%95%e6%9c%89%e4%bb%80%e4%b9%88%e5%8c%ba%e5%88%ab%ef%bc%9f","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/122906.html","title":{"rendered":"\u5f3a\u5316\u5b66\u4e60\u7b2c\u56db\u8bfe\uff1aState \u548c Observation \u5230\u5e95\u6709\u4ec0\u4e48\u533a\u522b\uff1f"},"content":{"rendered":"<p>        \/* MD \/ \u5bcc\u6587\u672c\u4e2d\u7684 .toc\uff08\u542b\u535a\u5ba2\u56ed\u642c\u5bb6\u7b49\u5d4c\u5957\u7ed3\u6784\uff09\uff1b.toc-box \u5728\u4fa7\u680f\uff0c\u4e0d\u53d7\u5f71\u54cd *\/<br \/>\n        #content_views .toc,<br \/>\n        \/* \u7f16\u8f91\u5668\u5e38\u5728\u76ee\u5f55\u524d\u540e\u63d2\u5165\u7a7a p\uff08:empty \u4ecd\u5360 20px\uff09\uff0c\u4e00\u5e76\u53bb\u6389\u907f\u514d\u9876\u7a7a\u9699 *\/<br \/>\n        #content_views.markdown_views &gt; p:empty:has(+ .toc),<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty,<br \/>\n        \/* \u5bcc\u6587\u672c\u65e7\u7248\u76ee\u5f55\u6807\u8bb0 *\/<br \/>\n        #content_views.htmledit_views #main-toc,<br \/>\n        #content_views.htmledit_views #hr-toc,<br \/>\n        #content_views.htmledit_views p[id*=\\&#8221;-toc\\&#8221;] {<br \/>\n          display: none !important;<br \/>\n        }<br \/>\n        \/* \u76ee\u5f55\u53bb\u6389\u540e\uff0c\u7d27\u8ddf\u7684\u9996\u4e2a\u6807\u9898\u4e0d\u518d\u591a\u51fa\u4e00\u5757\u4e0a\u8fb9\u8ddd *\/<br \/>\n        #content_views.markdown_views &gt; .toc + h1,<br \/>\n        #content_views.markdown_views &gt; .toc + h2,<br \/>\n        #content_views.markdown_views &gt; .toc + h3,<br \/>\n        #content_views.markdown_views &gt; .toc + h4,<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty + h1,<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty + h2,<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty + h3,<br \/>\n        #content_views.markdown_views &gt; .toc + p:empty + h4 {<br \/>\n          margin-top: 0 !important;<br \/>\n        }<\/p>\n<h3>\u7b2c\u4e09\u8bfe\u5c0f\u6d4b\u6807\u51c6\u7b54\u6848<\/h3>\n<p>\u5df2\u77e5&#xff1a;<\/p>\n<p>\\\\[ s_t&#061;\\\\text{\u672b\u7aef\u4f4d\u7f6e} \\\\]<\/p>\n<p>\u60c5\u51b5 A&#xff1a;<\/p>\n<p>\\\\[ x&#061;10\\\\text{ cm},\\\\quad v&#061;&#043;5\\\\text{ cm\/s} \\\\]<\/p>\n<p>\u60c5\u51b5 B&#xff1a;<\/p>\n<p>\\\\[ x&#061;10\\\\text{ cm},\\\\quad v&#061;-5\\\\text{ cm\/s} \\\\]<\/p>\n<li>\u4e24\u79cd\u60c5\u51b5\u4e0b\u7684 \\\\(s_t\\\\) \u662f\u5426\u76f8\u540c&#xff1f;\u76f8\u540c\u3002 \u56e0\u4e3a\u4f60\u628a State \u53ea\u5b9a\u4e49\u6210\u201c\u4f4d\u7f6e\u201d&#xff0c;\u4e24\u8005\u4f4d\u7f6e\u90fd\u662f&#xff1a;<\/li>\n<p>\\\\[ x&#061;10\\\\text{ cm} \\\\]<\/p>\n<p>\u6240\u4ee5\u5bf9 Agent \u6765\u8bf4&#xff0c;\u8fd9\u4e24\u4e2a\u72b6\u6001\u770b\u8d77\u6765\u4e00\u6a21\u4e00\u6837\u3002<\/p>\n<li>\n<p>\u5b83\u4eec\u4e0b\u4e00\u65f6\u523b\u7684\u72b6\u6001\u662f\u5426\u4e00\u5b9a\u76f8\u540c&#xff1f;\u4e0d\u4e00\u5b9a&#xff0c;\u5b9e\u9645\u4e0a\u5f88\u53ef\u80fd\u4e0d\u540c\u3002 A \u6b63\u5728\u5411\u53f3\u8fd0\u52a8&#xff0c;B \u6b63\u5728\u5411\u5de6\u8fd0\u52a8&#xff0c;\u56e0\u6b64\u5373\u4f7f\u5f53\u524d\u4f4d\u7f6e\u76f8\u540c&#xff0c;\u4e0b\u4e00\u65f6\u523b\u4f4d\u7f6e\u4e5f\u53ef\u80fd\u4e0d\u540c\u3002<\/p>\n<\/li>\n<li>\n<p>\u4e3a\u4ec0\u4e48\u201c\u53ea\u7528\u4f4d\u7f6e\u4f5c\u4e3a State\u201d\u53ef\u80fd\u4e0d\u6ee1\u8db3 Markov \u6027\u8d28&#xff1f;\u56e0\u4e3a\u5f53\u524d\u7684&#xff1a;<\/p>\n<\/li>\n<p>\\\\[ s_t&#061;x \\\\]<\/p>\n<p>\u6ca1\u6709\u5305\u542b\u8db3\u591f\u7684\u4fe1\u606f\u6765\u9884\u6d4b\u672a\u6765\u3002\u8fc7\u53bb\u7684\u4fe1\u606f\u2014\u2014\u4f8b\u5982\u201c\u5b83\u4e4b\u524d\u662f\u4ece\u5de6\u8fb9\u8fc7\u6765\u7684\u8fd8\u662f\u4ece\u53f3\u8fb9\u8fc7\u6765\u7684\u201d\u2014\u2014\u4ecd\u7136\u80fd\u5e2e\u52a9\u9884\u6d4b\u672a\u6765&#xff0c;\u8fd9\u8bf4\u660e\u5f53\u524d State \u6ca1\u6709\u628a\u8fc7\u53bb\u6709\u7528\u7684\u4fe1\u606f\u603b\u7ed3\u5b8c\u6574\u3002<\/p>\n<li>\u600e\u4e48\u6539\u8fdb&#xff1f;\u6700\u76f4\u63a5\u7684\u65b9\u6cd5\u662f\u52a0\u5165\u901f\u5ea6&#xff1a;<\/li>\n<p>\\\\[ \\\\boxed{s_t&#061;(x_t,v_t)} \\\\]<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\\\\[ s_t^A&#061;(10,&#043;5) \\\\]\\\\[ s_t^B&#061;(10,-5) \\\\]<\/p>\n<p>\u73b0\u5728 Agent \u5c31\u80fd\u533a\u5206\u8fd9\u4e24\u79cd\u60c5\u51b5\u3002<\/p>\n<p>\u8fd9\u5c31\u662f\u4e00\u4e2a\u975e\u5e38\u91cd\u8981\u7684\u601d\u60f3&#xff1a;<\/p>\n<p>State \u4e0d\u662f\u201c\u4fe1\u606f\u8d8a\u5c11\u8d8a\u597d\u201d&#xff0c;\u800c\u662f\u81f3\u5c11\u8981\u5305\u542b\u5b8c\u6210\u51b3\u7b56\u548c\u9884\u6d4b\u672a\u6765\u6240\u9700\u7684\u91cd\u8981\u4fe1\u606f\u3002<\/p>\n<hr \/>\n<h2>\u7b2c\u56db\u8bfe&#xff1a;State \u548c Observation \u5230\u5e95\u6709\u4ec0\u4e48\u533a\u522b&#xff1f;<\/h2>\n<p>\u8fd9\u4e00\u8bfe\u5bf9\u4f60\u4ee5\u540e\u505a\u89c6\u89c9\u5f3a\u5316\u5b66\u4e60\u3001\u673a\u68b0\u81c2\u3001\u5177\u8eab\u667a\u80fd\u3001VLA\u975e\u5e38\u91cd\u8981\u3002<\/p>\n<p>\u56e0\u4e3a\u73b0\u5b9e\u673a\u5668\u4eba\u7ecf\u5e38\u9762\u4e34\u4e00\u4e2a\u95ee\u9898&#xff1a;<\/p>\n<p>\u4e16\u754c\u771f\u6b63\u5904\u4e8e\u4ec0\u4e48\u72b6\u6001&#xff0c;\u548c\u673a\u5668\u4eba\u5b9e\u9645\u80fd\u770b\u5230\u4ec0\u4e48&#xff0c;\u5e76\u4e0d\u662f\u4e00\u56de\u4e8b\u3002<\/p>\n<p>\u5148\u4ece\u4e00\u4e2a\u975e\u5e38\u7b80\u5355\u7684\u4f8b\u5b50\u5f00\u59cb\u3002<\/p>\n<hr \/>\n<h3>1. \u5047\u8bbe\u4f60\u95ed\u7740\u4e00\u53ea\u773c\u775b\u6293\u676f\u5b50<\/h3>\n<p>\u684c\u5b50\u4e0a\u6709\u4e00\u4e2a\u676f\u5b50\u3002<\/p>\n<p>\u771f\u5b9e\u4e16\u754c\u91cc&#xff0c;\u676f\u5b50\u6709&#xff1a;<\/p>\n<p>\u4f4d\u7f6e<br \/>\n\u59ff\u6001<br \/>\n\u901f\u5ea6<br \/>\n\u8d28\u91cf<br \/>\n\u8868\u9762\u6469\u64e6\u7cfb\u6570<br \/>\n\u662f\u5426\u88ab\u906e\u6321<br \/>\n\u4e0e\u5939\u722a\u8ddd\u79bb<\/p>\n<p>\u673a\u68b0\u81c2\u4e5f\u6709&#xff1a;<\/p>\n<p>\u6bcf\u4e2a\u5173\u8282\u7684\u771f\u5b9e\u89d2\u5ea6<br \/>\n\u5173\u8282\u901f\u5ea6<br \/>\n\u7535\u673a\u72b6\u6001<br \/>\n\u5939\u722a\u4f4d\u7f6e<\/p>\n<p>\u8fd9\u4e9b\u4e1c\u897f\u5408\u8d77\u6765&#xff0c;\u53ef\u4ee5\u63cf\u8ff0&#xff1a;<\/p>\n<p>\u4e16\u754c\u771f\u6b63\u7684\u72b6\u6001\u3002<\/p>\n<p>\u6211\u4eec\u628a\u5b83\u8bb0\u6210&#xff1a;<\/p>\n<p>\\\\[ s_t \\\\]<\/p>\n<p>\u4e5f\u5c31\u662f&#xff1a;<\/p>\n<p>State\u3002<\/p>\n<p>\u4f46\u662f\u673a\u5668\u4eba\u771f\u7684\u80fd\u77e5\u9053\u8fd9\u4e9b\u4e1c\u897f\u5417&#xff1f;<\/p>\n<p>\u4e0d\u4e00\u5b9a\u3002<\/p>\n<hr \/>\n<h2>2. \u6444\u50cf\u5934\u53ea\u80fd\u770b\u5230\u201c\u4e00\u90e8\u5206\u201d<\/h2>\n<p>\u5047\u8bbe\u4f60\u7684\u673a\u5668\u4eba\u53ea\u6709\u4e00\u53f0\u6df1\u5ea6\u76f8\u673a\u3002<\/p>\n<p>\u5b83\u5f97\u5230&#xff1a;<\/p>\n<p>RGB \u56fe\u50cf<br \/>\nDepth \u6df1\u5ea6\u56fe<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\\\\[ o_t&#061; \\\\{\\\\text{RGB image},\\\\text{Depth image}\\\\} \\\\]<\/p>\n<p>\u8fd9\u91cc\u6211\u4eec\u7528&#xff1a;<\/p>\n<p>\\\\[ o_t \\\\]<\/p>\n<p>\u8868\u793a&#xff1a;<\/p>\n<p>Observation&#xff0c;\u89c2\u6d4b\u3002<\/p>\n<hr \/>\n<h3>State \u662f\u771f\u5b9e\u60c5\u51b5<\/h3>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\\\\[ s_t&#061; \\\\{ x_{\\\\text{object}}, y_{\\\\text{object}}, z_{\\\\text{object}}, v_{\\\\text{object}}, \\\\text{friction}, \\\\text{joint angles}, \\\\text{joint velocities} \\\\} \\\\]<\/p>\n<hr \/>\n<h3>Observation \u662f\u673a\u5668\u4eba\u5b9e\u9645\u62ff\u5230\u7684\u4fe1\u606f<\/h3>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\\\\[ o_t&#061; \\\\{ \\\\text{RGB image}, \\\\text{Depth image} \\\\} \\\\]<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>\\\\[ \\\\boxed{\\\\text{State} \\\\neq \\\\text{Observation}} \\\\]<\/p>\n<p>\u5728\u771f\u5b9e\u673a\u5668\u4eba\u95ee\u9898\u4e2d\u5c24\u5176\u5982\u6b64\u3002<\/p>\n<hr \/>\n<h2>3. \u4e3a\u4ec0\u4e48 Observation \u4e0d\u4e00\u5b9a\u7b49\u4e8e State&#xff1f;<\/h2>\n<p>\u5047\u8bbe\u676f\u5b50\u88ab\u76d2\u5b50\u6321\u4f4f\u4e00\u534a\u3002<\/p>\n<p>\u771f\u5b9e\u60c5\u51b5&#xff1a;<\/p>\n<p>\u676f\u5b50\u5b8c\u6574\u5b58\u5728<br \/>\n\u676f\u5b50\u4e2d\u5fc3\u4f4d\u7f6e\u786e\u5b9a<br \/>\n\u676f\u5b50\u59ff\u6001\u786e\u5b9a<\/p>\n<p>\u8fd9\u5c5e\u4e8e State\u3002<\/p>\n<p>\u4f46\u662f\u76f8\u673a\u770b\u5230\u7684\u53ef\u80fd\u53ea\u6709&#xff1a;<\/p>\n<p>\u676f\u5b50\u7684\u4e0a\u534a\u90e8\u5206<\/p>\n<p>\u6240\u4ee5 Observation \u662f&#xff1a;<\/p>\n<p>\u4e0d\u5b8c\u6574\u7684\u3002<\/p>\n<p>\u518d\u6bd4\u5982&#xff0c;\u771f\u5b9e\u4e16\u754c\u5b58\u5728&#xff1a;<\/p>\n<p>\\\\[ \\\\text{\u6469\u64e6\u7cfb\u6570}&#061;0.4 \\\\]<\/p>\n<p>\u4f46\u662f\u666e\u901a RGB \u76f8\u673a\u5e76\u4e0d\u4f1a\u76f4\u63a5\u544a\u8bc9\u673a\u5668\u4eba&#xff1a;<\/p>\n<p>\u6469\u64e6\u7cfb\u6570 &#061; 0.4<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>\\\\[ s_t \\\\]<\/p>\n<p>\u91cc\u9762\u53ef\u80fd\u5305\u542b\u7684\u4fe1\u606f&#xff0c;\u6bd4&#xff1a;<\/p>\n<p>\\\\[ o_t \\\\]<\/p>\n<p>\u66f4\u591a\u3002<\/p>\n<hr \/>\n<h2>4. \u7528\u4e00\u53e5\u8bdd\u533a\u5206<\/h2>\n<p>\u4f60\u5148\u76f4\u63a5\u8bb0&#xff1a;<\/p>\n<p>\\\\[ \\\\boxed{\\\\text{State&#xff1a;\u4e16\u754c\u5b9e\u9645\u4e0a\u662f\u4ec0\u4e48\u6837}} \\\\]\\\\[ \\\\boxed{\\\\text{Observation&#xff1a;Agent \u5b9e\u9645\u89c2\u5bdf\u5230\u4e86\u4ec0\u4e48}} \\\\]<\/p>\n<p>\u8fd9\u4e2a\u533a\u522b\u4ee5\u540e\u975e\u5e38\u91cd\u8981\u3002<\/p>\n<hr \/>\n<h2>5. \u4e00\u4e2a\u673a\u68b0\u81c2\u4f8b\u5b50<\/h2>\n<p>\u5047\u8bbe\u771f\u5b9e\u73af\u5883\u662f&#xff1a;<\/p>\n<p>\u7269\u4f53\u4f4d\u7f6e&#xff1a;<br \/>\nx &#061; 30 cm<br \/>\ny &#061; 10 cm<br \/>\nz &#061; 5 cm<\/p>\n<p>\u7269\u4f53\u901f\u5ea6&#xff1a;<br \/>\n0 cm\/s<\/p>\n<p>Joint1 &#061; 20\u00b0<br \/>\nJoint2 &#061; 40\u00b0<\/p>\n<p>\u5939\u722a\u6253\u5f00<\/p>\n<p>\u684c\u9762\u6469\u64e6\u7cfb\u6570 &#061; 0.5<\/p>\n<p>\u90a3\u4e48\u771f\u5b9e\u72b6\u6001\u53ef\u4ee5\u5199&#xff1a;<\/p>\n<p>\\\\[ s_t&#061; (30,10,5,0,20^\\\\circ,40^\\\\circ,\\\\text{open},0.5) \\\\]<\/p>\n<p>\u6ce8\u610f&#xff0c;\u6211\u4eec\u8fd9\u91cc\u53ea\u662f\u7b80\u5316\u8868\u793a\u3002<\/p>\n<p>\u4f46\u662f\u673a\u68b0\u81c2\u53ef\u80fd\u53ea\u80fd\u83b7\u53d6&#xff1a;<\/p>\n<p>\u76f8\u673a RGB \u56fe\u50cf<br \/>\n\u6df1\u5ea6\u56fe<br \/>\n\u7f16\u7801\u5668\u8bfb\u51fa\u7684 Joint1\u3001Joint2<\/p>\n<p>\u4e8e\u662f\u5b83\u83b7\u5f97\u7684 Observation&#xff1a;<\/p>\n<p>\\\\[ o_t&#061; (\\\\text{RGB},\\\\text{Depth},20^\\\\circ,40^\\\\circ) \\\\]<\/p>\n<p>\u8fd9\u91cc&#xff1a;<\/p>\n<p>\\\\[ o_t\\\\neq s_t \\\\]<\/p>\n<hr \/>\n<h2>6. \u751a\u81f3\u4f20\u611f\u5668\u8bfb\u6570\u4e5f\u4e0d\u4e00\u5b9a\u662f\u771f\u5b9e State<\/h2>\n<p>\u8fd9\u4e2a\u6982\u5ff5\u975e\u5e38\u91cd\u8981\u3002<\/p>\n<p>\u5047\u8bbe\u771f\u5b9e\u5173\u8282\u89d2&#xff1a;<\/p>\n<p>\\\\[ \\\\theta&#061;30^\\\\circ \\\\]<\/p>\n<p>\u4f46\u662f\u7f16\u7801\u5668\u6709\u8bef\u5dee\u3002<\/p>\n<p>\u673a\u5668\u4eba\u8bfb\u53d6\u5230&#xff1a;<\/p>\n<p>\\\\[ 29.7^\\\\circ \\\\]<\/p>\n<p>\u90a3\u4e48&#xff1a;<\/p>\n<p>\u771f\u5b9e\u72b6\u6001&#xff1a;<\/p>\n<p>\\\\[ s_t:\\\\theta&#061;30^\\\\circ \\\\]<\/p>\n<p>\u89c2\u6d4b&#xff1a;<\/p>\n<p>\\\\[ o_t:\\\\hat{\\\\theta}&#061;29.7^\\\\circ \\\\]<\/p>\n<p>\u8fd9\u91cc\u51fa\u73b0&#xff1a;<\/p>\n<p>\\\\[ \\\\hat{\\\\theta} \\\\]<\/p>\n<p>\u4e0a\u9762\u7684\u5c0f\u5e3d\u5b50&#xff1a;<\/p>\n<p>\\\\[ \\\\hat{} \\\\]<\/p>\n<p>\u901a\u5e38\u7528\u6765\u8868\u793a&#xff1a;<\/p>\n<p>\u4f30\u8ba1\u503c\u3002<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>\\\\[ \\\\theta \\\\]<\/p>\n<p>\u53ef\u80fd\u4ee3\u8868\u771f\u5b9e\u89d2\u5ea6\u3002<\/p>\n<p>\u800c&#xff1a;<\/p>\n<p>\\\\[ \\\\hat{\\\\theta} \\\\]<\/p>\n<p>\u4ee3\u8868\u673a\u5668\u4eba\u4f30\u8ba1\u51fa\u6765\u7684\u89d2\u5ea6\u3002<\/p>\n<p>\u4ee5\u540e\u4f60\u505a\u89c6\u89c9\u5b9a\u4f4d\u3001\u72b6\u6001\u4f30\u8ba1\u65f6\u4f1a\u5927\u91cf\u770b\u5230\u8fd9\u4e2a\u7b26\u53f7\u3002<\/p>\n<hr \/>\n<h2>7. \u90a3 Agent \u5230\u5e95\u6839\u636e State \u8fd8\u662f Observation \u51b3\u7b56&#xff1f;<\/h2>\n<p>\u7406\u8bba\u4e0a\u5982\u679c Agent \u80fd\u83b7\u5f97\u5b8c\u6574 State&#xff0c;\u53ef\u4ee5\u5199&#xff1a;<\/p>\n<p>\\\\[ s_t\\\\rightarrow a_t \\\\]<\/p>\n<p>\u4f46\u771f\u5b9e\u673a\u5668\u4eba\u5f80\u5f80\u53ea\u80fd\u6839\u636e Observation&#xff1a;<\/p>\n<p>\\\\[ o_t\\\\rightarrow a_t \\\\]<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>RealSense D435<br \/>\n      \u2193<br \/>\nRGB &#043; Depth<br \/>\n      \u2193<br \/>\nObservation<br \/>\n      \u2193<br \/>\n\u795e\u7ecf\u7f51\u7edc<br \/>\n      \u2193<br \/>\nAction<br \/>\n      \u2193<br \/>\n\u673a\u68b0\u81c2<\/p>\n<p>\u8fd9\u5df2\u7ecf\u975e\u5e38\u63a5\u8fd1\u4f60\u4ee5\u540e\u771f\u6b63\u505a\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u4e86\u3002<\/p>\n<hr \/>\n<h2>8. \u4e3a\u4ec0\u4e48\u673a\u5668\u4eba\u8bba\u6587\u7ecf\u5e38\u5199 observation&#xff1f;<\/h2>\n<p>\u4ee5\u540e\u4f60\u770b\u5230\u4ee3\u7801&#xff1a;<\/p>\n<p>obs &#061; env.reset()<\/p>\n<p>\u8fd9\u91cc&#xff1a;<\/p>\n<p>obs<\/p>\n<p>\u5c31\u662f&#xff1a;<\/p>\n<p>observation\u3002<\/p>\n<p>\u53c8\u6bd4\u5982&#xff1a;<\/p>\n<p>action &#061; policy(obs)<\/p>\n<p>\u610f\u601d\u5c31\u662f&#xff1a;<\/p>\n<p>\u7b56\u7565\u6839\u636e\u5f53\u524d\u89c2\u6d4b\u51b3\u5b9a\u52a8\u4f5c\u3002<\/p>\n<p>\u6570\u5b66\u4e0a&#xff1a;<\/p>\n<p>\\\\[ a_t\\\\sim\\\\pi(a\\\\mid o_t) \\\\]<\/p>\n<p>\u8fd9\u4e2a\u516c\u5f0f\u4eca\u5929\u6682\u65f6\u53ea\u8ba4\u8bc6\u3002<\/p>\n<p>\u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li>\\\\(a_t\\\\)&#xff1a;\u5f53\u524d\u52a8\u4f5c<\/li>\n<li>\\\\(\\\\pi\\\\)&#xff1a;Policy&#xff0c;\u7b56\u7565<\/li>\n<li>\\\\(o_t\\\\)&#xff1a;\u5f53\u524d Observation<\/li>\n<li>\\\\(\\\\mid\\\\)&#xff1a;\u5728\u2026\u2026\u6761\u4ef6\u4e0b<\/li>\n<\/ul>\n<p>\u610f\u601d&#xff1a;<\/p>\n<p>\u6839\u636e\u5f53\u524d\u89c2\u6d4b \\\\(o_t\\\\)&#xff0c;\u7b56\u7565 \\\\(\\\\pi\\\\) \u51b3\u5b9a\u91c7\u53d6\u4ec0\u4e48\u52a8\u4f5c\u3002<\/p>\n<hr \/>\n<h2>9. State \u548c Observation \u4ec0\u4e48\u65f6\u5019\u53ef\u4ee5\u4e00\u6837&#xff1f;<\/h2>\n<p>\u5728\u4e00\u4e9b\u7b80\u5355\u4eff\u771f\u73af\u5883\u91cc&#xff0c;\u53ef\u4ee5\u4eba\u4e3a\u8ba9 Agent \u83b7\u5f97\u5b8c\u6574\u72b6\u6001\u3002<\/p>\n<p>\u4f8b\u5982\u7ecf\u5178\u5c0f\u8f66&#xff1a;<\/p>\n<p>\u4f4d\u7f6e x<br \/>\n\u901f\u5ea6 v<br \/>\n\u89d2\u5ea6 \u03b8<br \/>\n\u89d2\u901f\u5ea6 \u03c9<\/p>\n<p>\u6a21\u62df\u5668\u76f4\u63a5\u5168\u90e8\u544a\u8bc9 Agent\u3002<\/p>\n<p>\u90a3\u4e48\u53ef\u4ee5\u8fd1\u4f3c\u8ba4\u4e3a&#xff1a;<\/p>\n<p>\\\\[ o_t&#061;s_t \\\\]<\/p>\n<p>\u8fd9\u7c7b\u95ee\u9898\u6bd4\u8f83\u7b80\u5355\u3002<\/p>\n<p>\u4f46\u771f\u5b9e\u673a\u5668\u4eba\u4e00\u822c\u66f4\u590d\u6742&#xff1a;<\/p>\n<p>\\\\[ o_t\\\\neq s_t \\\\]<\/p>\n<p>\u56e0\u4e3a\u5b58\u5728&#xff1a;<\/p>\n<p>\u906e\u6321<br \/>\n\u4f20\u611f\u5668\u566a\u58f0<br \/>\n\u65e0\u6cd5\u6d4b\u91cf\u7684\u4fe1\u606f<br \/>\n\u5ef6\u8fdf<br \/>\n\u89c6\u89c9\u8bef\u5dee<br \/>\n\u672a\u77e5\u7269\u7406\u53c2\u6570<\/p>\n<hr \/>\n<h2>10. \u8fd9\u91cc\u4f1a\u5f15\u51fa POMDP<\/h2>\n<p>\u4e0a\u4e00\u8bfe\u6211\u4eec\u5b66\u4e86&#xff1a;<\/p>\n<p>\\\\[ \\\\boxed{\\\\text{MDP}} \\\\]<\/p>\n<p>Markov Decision Process\u3002<\/p>\n<p>\u5982\u679c Agent \u80fd\u83b7\u5f97\u5145\u5206\u7684 State&#xff0c;\u6211\u4eec\u53ef\u4ee5\u7528 MDP \u63cf\u8ff0\u3002<\/p>\n<p>\u4f46\u662f\u5982\u679c Agent \u53ea\u80fd\u83b7\u5f97\u4e0d\u5b8c\u6574 Observation&#xff1a;<\/p>\n<p>\\\\[ o_t \\\\]<\/p>\n<p>\u800c\u4e0d\u80fd\u76f4\u63a5\u77e5\u9053\u771f\u5b9e&#xff1a;<\/p>\n<p>\\\\[ s_t \\\\]<\/p>\n<p>\u90a3\u4e48\u901a\u5e38\u4f1a\u5f15\u51fa&#xff1a;<\/p>\n<p>\\\\[ \\\\boxed{\\\\text{POMDP}} \\\\]<\/p>\n<p>\u5168\u79f0&#xff1a;<\/p>\n<p>Partially Observable Markov Decision Process<\/p>\n<p>\u4e2d\u6587&#xff1a;<\/p>\n<p>\u90e8\u5206\u53ef\u89c2\u6d4b\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b\u3002<\/p>\n<p>\u540d\u5b57\u5f88\u957f&#xff0c;\u5176\u5b9e\u6838\u5fc3\u5c31\u4e00\u53e5\u8bdd&#xff1a;<\/p>\n<p>\u771f\u5b9e\u4e16\u754c\u6709\u4e00\u4e2a State&#xff0c;\u4f46 Agent \u53ea\u80fd\u770b\u5230\u5b83\u7684\u4e00\u90e8\u5206\u3002<\/p>\n<hr \/>\n<h2>11. \u4e00\u4e2a\u975e\u5e38\u76f4\u89c2\u7684 POMDP \u4f8b\u5b50<\/h2>\n<p>\u60f3\u8c61\u4f60\u5728\u4e00\u4e2a\u9ed1\u6697\u623f\u95f4\u3002<\/p>\n<p>\u623f\u95f4\u771f\u5b9e\u72b6\u6001&#xff1a;<\/p>\n<p>\u4f60\u5728\u623f\u95f4\u5de6\u4fa7<br \/>\n\u684c\u5b50\u5728\u53f3\u4fa7<br \/>\n\u95e8\u5728\u524d\u65b9<br \/>\n\u6905\u5b50\u5728\u540e\u65b9<\/p>\n<p>\u8fd9\u662f&#xff1a;<\/p>\n<p>\\\\[ s_t \\\\]<\/p>\n<p>\u4f46\u4f60\u53ea\u80fd\u7528\u624b\u6478\u5230\u5468\u56f4 20 cm\u3002<\/p>\n<p>\u4f60\u5f53\u524d\u6478\u5230&#xff1a;<\/p>\n<p>\u524d\u9762\u662f\u7a7a\u7684<br \/>\n\u5de6\u8fb9\u6709\u5899<\/p>\n<p>\u8fd9\u662f&#xff1a;<\/p>\n<p>\\\\[ o_t \\\\]<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>\u771f\u5b9e\u4e16\u754c<br \/>\ns_t<br \/>\n\u2193<br \/>\n\u53ea\u80fd\u89c2\u5bdf\u5176\u4e2d\u4e00\u90e8\u5206<br \/>\n\u2193<br \/>\no_t<br \/>\n\u2193<br \/>\nAgent<br \/>\n\u2193<br \/>\nAction<\/p>\n<p>\u8fd9\u5c31\u662f\u90e8\u5206\u53ef\u89c2\u6d4b\u3002<\/p>\n<hr \/>\n<h2>12. \u4e3a\u4ec0\u4e48\u201c\u5386\u53f2\u4fe1\u606f\u201d\u7a81\u7136\u53c8\u53d8\u91cd\u8981\u4e86&#xff1f;<\/h2>\n<p>\u5047\u8bbe\u673a\u5668\u4eba\u5f53\u524d\u76f8\u673a\u753b\u9762&#xff1a;<\/p>\n<p>\u4e00\u4e2a\u7403\u51fa\u73b0\u5728\u753b\u9762\u4e2d\u592e<\/p>\n<p>\u53ea\u770b\u8fd9\u4e00\u5e27&#xff0c;\u4f60\u4e0d\u77e5\u9053\u7403&#xff1a;<\/p>\n<p>\u662f\u5411\u5de6\u8fd0\u52a8&#xff1f;<\/p>\n<p>\u8fd8\u662f&#xff1a;<\/p>\n<p>\u5411\u53f3\u8fd0\u52a8&#xff1f;<\/p>\n<p>\u4f46\u662f\u5982\u679c\u770b\u8fde\u7eed\u4e09\u5e27&#xff1a;<\/p>\n<p>Frame 1&#xff1a;\u7403\u5728\u5de6\u8fb9<br \/>\nFrame 2&#xff1a;\u7403\u5728\u4e2d\u592e\u504f\u5de6<br \/>\nFrame 3&#xff1a;\u7403\u5728\u4e2d\u592e<\/p>\n<p>\u4f60\u5c31\u80fd\u63a8\u6d4b&#xff1a;<\/p>\n<p>\u7403\u6b63\u5728\u5411\u53f3\u8fd0\u52a8\u3002<\/p>\n<p>\u4e5f\u5c31\u662f\u8bf4&#xff1a;<\/p>\n<p>\\\\[ o_t \\\\]<\/p>\n<p>\u5355\u72ec\u53ef\u80fd\u4e0d\u591f\u3002<\/p>\n<p>\u4f46\u662f&#xff1a;<\/p>\n<p>\\\\[ o_{t-2},o_{t-1},o_t \\\\]<\/p>\n<p>\u7ed3\u5408\u8d77\u6765&#xff0c;\u53ef\u4ee5\u63d0\u4f9b\u66f4\u591a\u4fe1\u606f\u3002<\/p>\n<p>\u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60\u6709\u65f6\u5019\u4f1a\u4f7f\u7528&#xff1a;<\/p>\n<p>\u591a\u5e27\u56fe\u50cf<br \/>\nFrame Stacking<\/p>\n<p>RNN<\/p>\n<p>LSTM<\/p>\n<p>Transformer<\/p>\n<p>\u56e0\u4e3a\u5b83\u4eec\u53ef\u4ee5\u5229\u7528\u5386\u53f2\u4fe1\u606f\u3002<\/p>\n<p>\u4ee5\u540e VLA \u91cc\u8fd9\u4e2a\u6982\u5ff5\u4e5f\u975e\u5e38\u91cd\u8981\u3002<\/p>\n<hr \/>\n<h2>13. \u4e00\u4e2a\u4f60\u4ee5\u540e\u4e00\u5b9a\u4f1a\u770b\u5230\u7684\u6280\u5de7&#xff1a;Frame Stacking<\/h2>\n<p>\u4f8b\u5982 Atari \u6e38\u620f\u3002<\/p>\n<p>\u5982\u679c\u53ea\u7ed9 Agent \u4e00\u5f20\u56fe&#xff1a;<\/p>\n<p>\u25cf<\/p>\n<p>\u4f60\u53ef\u80fd\u77e5\u9053\u7403\u5728\u54ea\u91cc&#xff0c;\u4f46\u662f\u4e0d\u77e5\u9053\u7403\u5f80\u54ea\u8fd0\u52a8\u3002<\/p>\n<p>\u4e8e\u662f\u7814\u7a76\u8005\u628a\u8fde\u7eed\u51e0\u5e27\u62fc\u8d77\u6765&#xff1a;<\/p>\n<p>\\\\[ o_t&#061; (I_{t-3},I_{t-2},I_{t-1},I_t) \\\\]<\/p>\n<p>\u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li>\\\\(I\\\\)&#xff1a;Image&#xff0c;\u56fe\u50cf<\/li>\n<li>\\\\(I_t\\\\)&#xff1a;\u7b2c \\\\(t\\\\) \u65f6\u523b\u56fe\u50cf<\/li>\n<\/ul>\n<p>\u8fd9\u53eb&#xff1a;<\/p>\n<p>Frame Stacking&#xff0c;\u5e27\u5806\u53e0\u3002<\/p>\n<p>\u8fd9\u6837 Agent \u53ef\u4ee5\u4ece\u4f4d\u7f6e\u53d8\u5316\u95f4\u63a5\u63a8\u65ad\u901f\u5ea6\u3002<\/p>\n<hr \/>\n<h2>14. \u653e\u5230\u4f60\u7684\u673a\u68b0\u81c2\u573a\u666f<\/h2>\n<p>\u4ee5\u540e\u5982\u679c\u505a\u89c6\u89c9\u6293\u53d6&#xff0c;\u4f60\u53ef\u80fd\u6709&#xff1a;<\/p>\n<p>\\\\[ o_t&#061; \\\\{ I_t^{RGB}, I_t^{Depth}, q_t, \\\\dot q_t, g_t \\\\} \\\\]<\/p>\n<p>\u7b2c\u4e00\u6b21\u770b\u5230\u7b26\u53f7&#xff0c;\u6211\u4eec\u4e00\u4e2a\u4e2a\u89e3\u91ca\u3002<\/p>\n<h4>\\\\(I_t^{RGB}\\\\)<\/h4>\n<p>\u7b2c \\\\(t\\\\) \u65f6\u523b\u7684 RGB \u56fe\u50cf\u3002<\/p>\n<h4>\\\\(I_t^{Depth}\\\\)<\/h4>\n<p>\u7b2c \\\\(t\\\\) \u65f6\u523b\u7684\u6df1\u5ea6\u56fe\u3002<\/p>\n<h4>\\\\(q_t\\\\)<\/h4>\n<p>\u901a\u5e38\u8868\u793a&#xff1a;<\/p>\n<p>\u673a\u68b0\u81c2\u5173\u8282\u4f4d\u7f6e\/\u5173\u8282\u89d2\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\\\\[ q_t&#061; [\\\\theta_1,\\\\theta_2,\\\\theta_3,\\\\theta_4] \\\\]<\/p>\n<p>\u5047\u8bbe\u662f 4 \u4e2a\u5173\u8282\u3002<\/p>\n<h4>\\\\(\\\\dot q_t\\\\)<\/h4>\n<p>\u4e0a\u9762\u7684\u70b9\u8868\u793a\u5bf9\u65f6\u95f4\u6c42\u5bfc\u3002<\/p>\n<p>\u7b80\u5355\u7406\u89e3&#xff1a;<\/p>\n<p>\u5173\u8282\u901f\u5ea6\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\\\\[ \\\\dot q_t&#061; [\\\\dot\\\\theta_1,\\\\dot\\\\theta_2,\\\\dot\\\\theta_3,\\\\dot\\\\theta_4] \\\\]<\/p>\n<h4>\\\\(g_t\\\\)<\/h4>\n<p>\u6211\u4eec\u8fd9\u91cc\u5047\u8bbe\u8868\u793a&#xff1a;<\/p>\n<p>gripper state&#xff0c;\u5939\u722a\u72b6\u6001\u3002<\/p>\n<p>\u6bd4\u5982&#xff1a;<\/p>\n<p>\\\\[ g_t&#061;0 \\\\]<\/p>\n<p>\u8868\u793a\u6253\u5f00\u3002<\/p>\n<p>\\\\[ g_t&#061;1 \\\\]<\/p>\n<p>\u8868\u793a\u95ed\u5408\u3002<\/p>\n<p>\u4e8e\u662f&#xff1a;<\/p>\n<p>\\\\[ o_t&#061; \\\\{ RGB, Depth, \u5173\u8282\u89d2, \u5173\u8282\u901f\u5ea6, \u5939\u722a\u72b6\u6001 \\\\} \\\\]<\/p>\n<p>\u5c31\u53ef\u4ee5\u4f5c\u4e3a\u673a\u5668\u4eba\u7b56\u7565\u7684\u8f93\u5165\u3002<\/p>\n<p>\u8fd9\u5df2\u7ecf\u662f\u6bd4\u8f83\u5178\u578b\u7684\u673a\u5668\u4eba\u5f3a\u5316\u5b66\u4e60 Observation \u8bbe\u8ba1\u601d\u8def\u4e86\u3002<\/p>\n<hr \/>\n<h2>15. \u4ece\u4eca\u5929\u5f00\u59cb\u518d\u533a\u5206\u4e00\u4e2a\u8bcd<\/h2>\n<p>\u4ee5\u540e\u6211\u4eec\u6700\u597d\u4e0d\u8981\u603b\u8bf4&#xff1a;<\/p>\n<p>\u201c\u76f8\u673a\u56fe\u50cf\u5c31\u662f State\u3002\u201d<\/p>\n<p>\u66f4\u4e25\u8c28\u4e00\u4e9b\u5e94\u8be5\u8bf4&#xff1a;<\/p>\n<p>\u76f8\u673a\u56fe\u50cf\u901a\u5e38\u5c5e\u4e8e Observation\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\u771f\u5b9e\u7269\u4f53\u4e09\u7ef4\u59ff\u6001<br \/>\n            \u2192 State<\/p>\n<p>D435 \u62cd\u5230\u7684 RGB-D<br \/>\n            \u2192 Observation<\/p>\n<p>\u5f53\u7136\u5f88\u591a RL \u8bba\u6587\u4e3a\u4e86\u65b9\u4fbf&#xff0c;\u4e5f\u4f1a\u5bbd\u677e\u5730\u628a\u8f93\u5165\u7edf\u4e00\u79f0\u4f5c\u201cstate\u201d&#xff0c;\u6240\u4ee5\u4f60\u4ee5\u540e\u770b\u5230\u8bba\u6587\u4e0d\u80fd\u673a\u68b0\u5730\u8ba4\u4e3a\u4f5c\u8005\u4e00\u5b9a\u4e25\u683c\u533a\u5206\u4e86\u4e8c\u8005\u3002<\/p>\n<p>\u8981\u6839\u636e\u4e0a\u4e0b\u6587\u5224\u65ad\u3002<\/p>\n<hr \/>\n<h2>16. \u4eca\u5929\u6700\u6838\u5fc3\u7684\u4e00\u5f20\u56fe<\/h2>\n<p>            \u771f\u5b9e\u4e16\u754c<br \/>\n               \u2502<br \/>\n               \u2502<br \/>\n        True State s\u209c<br \/>\n               \u2502<br \/>\n       \u250c\u2500\u2500\u2500\u2500\u4f20\u611f\u5668\u2500\u2500\u2500\u2500\u2510<br \/>\n       \u2502              \u2502<br \/>\n       \u25bc              \u2502<br \/>\n Observation o\u209c       \u2502<br \/>\n       \u2502              \u2502<br \/>\n       \u25bc              \u2502<br \/>\n     Agent            \u2502<br \/>\n       \u2502              \u2502<br \/>\n    Action a\u209c         \u2502<br \/>\n       \u2502              \u2502<br \/>\n       \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u25ba<br \/>\n             \u73af\u5883\u53d8\u5316<br \/>\n               \u2502<br \/>\n               \u25bc<br \/>\n          New State s\u209c\u208a\u2081<\/p>\n<p>\u6700\u6838\u5fc3\u5173\u7cfb&#xff1a;<\/p>\n<p>\\\\[ \\\\boxed{ s_t \\\\rightarrow o_t \\\\rightarrow a_t \\\\rightarrow s_{t&#043;1} } \\\\]<\/p>\n<p>\u89e3\u91ca&#xff1a;<\/p>\n<p>\u4e16\u754c\u5904\u4e8e\u771f\u5b9e\u72b6\u6001 \\\\(s_t\\\\) \u2192 \u4f20\u611f\u5668\u4ea7\u751f\u89c2\u6d4b \\\\(o_t\\\\) \u2192 Agent \u6839\u636e\u89c2\u6d4b\u4ea7\u751f\u52a8\u4f5c \\\\(a_t\\\\) \u2192 \u73af\u5883\u53d1\u751f\u53d8\u5316\u8fdb\u5165\u4e0b\u4e00\u72b6\u6001 \\\\(s_{t&#043;1}\\\\)\u3002<\/p>\n<hr \/>\n<h2>\u7b2c\u56db\u8bfe\u5fc5\u987b\u8bb0\u4f4f\u7684\u56db\u53e5\u8bdd<\/h2>\n<p>\\\\[ \\\\boxed{\\\\text{State &#061; \u4e16\u754c\u771f\u5b9e\u5904\u4e8e\u4ec0\u4e48\u60c5\u51b5}} \\\\]\\\\[ \\\\boxed{\\\\text{Observation &#061; Agent \u5b9e\u9645\u83b7\u5f97\u7684\u4fe1\u606f}} \\\\]<\/p>\n<p>\u771f\u5b9e\u673a\u5668\u4eba\u901a\u5e38&#xff1a;<\/p>\n<p>\\\\[ \\\\boxed{o_t\\\\neq s_t} \\\\]<\/p>\n<p>\u5982\u679c\u53ea\u80fd\u83b7\u5f97\u90e8\u5206\u72b6\u6001\u4fe1\u606f&#xff0c;\u5c31\u4f1a\u5f15\u51fa&#xff1a;<\/p>\n<p>\\\\[ \\\\boxed{\\\\text{POMDP}} \\\\]<\/p>\n<p>\u800c\u5229\u7528&#xff1a;<\/p>\n<p>\u5386\u53f2\u5e27<br \/>\nRNN<br \/>\nLSTM<br \/>\nTransformer<\/p>\n<p>\u672c\u8d28\u4e0a\u7ecf\u5e38\u90fd\u662f\u5728\u60f3\u529e\u6cd5&#xff1a;<\/p>\n<p>\u6839\u636e\u6709\u9650\u7684 Observation&#xff0c;\u66f4\u597d\u5730\u63a8\u65ad\u771f\u5b9e\u4e16\u754c\u73b0\u5728\u5230\u5e95\u662f\u4ec0\u4e48\u72b6\u6001\u3002<\/p>\n<p>\u8fd9\u4ef6\u4e8b\u60c5\u540e\u9762\u548c\u673a\u5668\u4eba\u89c6\u89c9\u3001\u5177\u8eab\u667a\u80fd\u3001VLA \u4f1a\u6162\u6162\u8fde\u63a5\u8d77\u6765\u3002<\/p>\n<hr \/>\n<h3 style=\"background-color:transparent\">\u7b2c\u56db\u8bfe\u5c0f\u6d4b<\/h3>\n<p>\u5047\u8bbe\u684c\u5b50\u4e0a\u7684\u5c0f\u7403\u771f\u5b9e\u60c5\u51b5\u662f&#xff1a;<\/p>\n<p>\\\\[ x&#061;20\\\\text{ cm} \\\\]\\\\[ v&#061;&#043;3\\\\text{ cm\/s} \\\\]\\\\[ m&#061;100\\\\text{ g} \\\\]<\/p>\n<p>\u4f46\u6444\u50cf\u5934\u53ea\u80fd\u6d4b\u51fa&#xff1a;<\/p>\n<p>\u7403\u7684\u4f4d\u7f6e\u7ea6\u4e3a 20.4 cm<\/p>\n<p>Agent \u6ca1\u6709\u901f\u5ea6\u4f20\u611f\u5668&#xff0c;\u4e5f\u4e0d\u77e5\u9053\u5c0f\u7403\u8d28\u91cf\u3002<\/p>\n<p>\u8bf7\u5224\u65ad&#xff1a;<\/p>\n<li>\u54ea\u4e9b\u4fe1\u606f\u5c5e\u4e8e\u771f\u5b9e State&#xff1f;<\/li>\n<li>\u5f53\u524d Observation \u662f\u4ec0\u4e48&#xff1f;<\/li>\n<li>\u4e3a\u4ec0\u4e48\u8fd9\u91cc \\\\(o_t\\\\neq s_t\\\\)&#xff1f;<\/li>\n<li>\u53ea\u770b\u4e00\u5f20\u56fe\u4e3a\u4ec0\u4e48\u53ef\u80fd\u4e0d\u77e5\u9053\u7403\u7684\u8fd0\u52a8\u65b9\u5411&#xff1f;<\/li>\n<li>\u5982\u679c\u7ed9 Agent \u8fde\u7eed 4 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