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25\u5e7412\u6708\u6765\u81ea\u667a\u5143\u7814\u7a76\u7684\u8bba\u6587\u201cAct2Goal: From World Model To General Goal-conditioned Policy\u201d\u3002<\/p>\n

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\n

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\u5728\u6846\u67b6\u4e2d，\u591a\u5c3a\u5ea6\u65f6\u57df\u54c8\u5e0c（MSTH）\u673a\u5236\u5171\u540c\u6307\u5bfc\u76ee\u6807\u6761\u4ef6\u5316\u7684\u4e16\u754c\u6a21\u578b\u548c\u52a8\u4f5c\u4e13\u5bb6，\u4ece\u800c\u5b9e\u73b0\u4e00\u81f4\u4e14\u7075\u6d3b\u7684\u591a\u5c3a\u5ea6\u65f6\u95f4\u62bd\u8c61\u3002\u7ed9\u5b9a\u603b\u7684\u60f3\u8c61\u8f68\u8ff9\u957f\u5ea6 K\u3001\u8fd1\u7aef\u89c6\u91ce P \u548c\u89c6\u89c9\u91c7\u6837\u6b65\u957f r，MSTH \u5c06\u672a\u6765\u8f68\u8ff9\u5212\u5206\u4e3a\u4e24\u4e2a\u90e8\u5206\u3002<\/p>\n

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\u9884\u6d4b\u7684\u52a8\u4f5c\u5e8f\u5217\u9075\u5faa\u76f8\u540c\u7684\u591a\u5c3a\u5ea6\u7ed3\u6784，\u4f46\u4e0e\u89c6\u89c9\u5b58\u5728\u91cd\u8981\u533a\u522b\u3002\u8fd1\u7aef\u52a8\u4f5c\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u90fd\u4f1a\u88ab\u9884\u6d4b，{a_t+1, a_t+2, \u2026, a_t+P}，\u5373\u4f7f\u89c6\u89c9\u72b6\u6001\u88ab\u6b65\u5e45\u5b50\u91c7\u6837，\u4e5f\u80fd\u5b9e\u73b0\u7cbe\u7ec6\u7684\u8fd0\u52a8\u63a7\u5236\u3002\u76f8\u6bd4\u4e4b\u4e0b，\u8fdc\u7aef\u52a8\u4f5c{a_t+d_m}\u4e0e\u8fdc\u7aef\u89c6\u89c9\u72b6\u6001\u5bf9\u9f50，\u5e76\u4f5c\u4e3a\u957f\u65f6\u7a0b\u7684\u6307\u5bfc\u3002\u5728\u90e8\u7f72\u8fc7\u7a0b\u4e2d，\u4ec5\u6267\u884c\u8fd1\u7aef\u52a8\u4f5c，\u800c\u8fdc\u7aef\u9884\u6d4b\u4fdd\u6301\u6f5c\u72b6\u6001，\u5e76\u6307\u5bfc\u957f\u671f\u76ee\u6807\u7684\u8fbe\u6210\u3002<\/p>\n

\u4e24\u9636\u6bb5\u79bb\u7ebf\u8bad\u7ec3<\/h3>\n

\u4e3a\u4e86\u8d4b\u4e88 Act2Goal \u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b，\u9996\u5148\u901a\u8fc7\u5927\u89c4\u6a21\u79bb\u7ebf\u6a21\u4eff\u5b66\u4e60\u6765\u8bad\u7ec3\u6a21\u578b\u3002\u8bad\u7ec3\u8fc7\u7a0b\u5206\u4e3a\u4e24\u4e2a\u4e3b\u8981\u9636\u6bb5，\u65e8\u5728\u786e\u4fdd\u8fc7\u6e21\u8f68\u8ff9\u9884\u6d4b\u76ee\u6807\u4e0e\u6307\u5bfc\u52a8\u4f5c\u89c4\u5212\u7684\u6700\u7ec8\u76ee\u6807\u7d27\u5bc6\u5951\u5408\u3002<\/p>\n

\u5728\u7b2c\u4e00\u9636\u6bb5，\u5bf9\u9884\u8bad\u7ec3\u7684\u4e16\u754c\u6a21\u578b\u8fdb\u884c\u5fae\u8c03，\u4f7f\u5176\u9002\u5e94\u8fc7\u6e21\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1，\u5373\u6839\u636e\u521d\u59cb\u89c2\u6d4b\u503c\u548c\u76ee\u6807\u6761\u4ef6\u4e4b\u95f4\u7684 MSTH \u5206\u5e03\u751f\u6210\u591a\u89c6\u89d2\u89c6\u9891\u5e27\u3002\u4e3a\u4e86\u589e\u5f3a\u8fc7\u6e21\u8f68\u8ff9\u9884\u6d4b\u548c\u52a8\u4f5c\u89c4\u5212\u76ee\u6807\u4e4b\u95f4\u7684\u5951\u5408\u5ea6，\u7528\u6d41\u5339\u914d\u8054\u5408\u8bad\u7ec3\u8fc7\u6e21\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u548c\u52a8\u4f5c\u751f\u6210\u4efb\u52a1\u3002<\/p>\n

\u89c6\u89c9\u751f\u6210\u7ec4\u4ef6\u7684\u8bad\u7ec3\u76ee\u6807\u9075\u5faa\u6d41\u5339\u914d\u635f\u5931\u516c\u5f0f\u3002\u8054\u5408\u8bad\u7ec3\u76ee\u6807\u7ed3\u5408\u4e24\u4e2a\u635f\u5931，\u5e76\u5f15\u5165\u5e73\u8861\u7cfb\u6570 \u03bb：L_stage1 = L_v + \u03bb\u00b7L_a\u3002\u8fd9\u79cd\u8054\u5408\u4f18\u5316\u786e\u4fdd\u76ee\u6807\u5bfc\u5411\u7684\u4e16\u754c\u6a21\u578b\u80fd\u591f\u5b66\u4e60\u751f\u6210\u4e0d\u4ec5\u5728\u89c6\u89c9\u4e0a\u5408\u7406，\u800c\u4e14\u53ef\u6267\u884c\u7684\u89c6\u89c9\u8f68\u8ff9，\u4ece\u800c\u4e3a\u540e\u7eed\u7684\u7b56\u7565\u5b66\u4e60\u9636\u6bb5\u5960\u5b9a\u575a\u5b9e\u7684\u57fa\u7840\u3002<\/p>\n

\u5728\u7b2c\u4e8c\u8bad\u7ec3\u9636\u6bb5，\u91c7\u7528\u884c\u4e3a\u514b\u9686\u6280\u672f，\u4ec5\u4f7f\u7528\u52a8\u4f5c\u6d41\u5339\u914d\u635f\u5931 L_stage2 = L_a \u5bf9\u6574\u4e2a\u6a21\u578b\u8fdb\u884c\u7aef\u5230\u7aef\u7684\u5fae\u8c03，\u8fdb\u4e00\u6b65\u589e\u5f3a\u5176\u52a8\u4f5c\u89c4\u5212\u80fd\u529b\u3002\u8be5\u9636\u6bb5\u7684\u91cd\u70b9\u5728\u4e8e\u4f7f\u4ece\u89c6\u89c9\u611f\u77e5\u5230\u52a8\u4f5c\u6267\u884c\u7684\u6574\u4e2a\u6d41\u7a0b\u4e0e\u4e13\u5bb6\u6f14\u793a\u4fdd\u6301\u4e00\u81f4\u3002\u52a8\u4f5c\u635f\u5931\u7684\u68af\u5ea6\u4f1a\u540c\u65f6\u4f20\u9012\u5230\u52a8\u4f5c\u751f\u6210\u7ec4\u4ef6\u548c\u76ee\u6807\u5bfc\u5411\u7684\u4e16\u754c\u6a21\u578b\u4e2d，\u4ece\u800c\u5b9e\u73b0\u9488\u5bf9\u52a8\u4f5c\u89c4\u5212\u7684\u89c6\u89c9\u8868\u5f81\u4f18\u5316\u3002<\/p>\n

\u8fd9\u79cd\u4e24\u9636\u6bb5\u79bb\u7ebf\u8bad\u7ec3\u65b9\u6cd5\u4f7f Act2Goal \u80fd\u591f\u83b7\u5f97\u5f3a\u5927\u7684\u4e16\u754c\u7406\u89e3\u548c\u52a8\u4f5c\u751f\u6210\u80fd\u529b，\u5e76\u80fd\u6709\u6548\u5730\u8fc1\u79fb\u5230\u672a\u89c1\u8fc7\u7684\u73af\u5883\u548c\u4efb\u52a1\u4e2d\u3002<\/p>\n

\u5728\u7ebf\u81ea\u4e3b\u6539\u8fdb<\/h3>\n

\u5c3d\u7ba1\u8be5\u6a21\u578b\u5728\u79bb\u7ebf\u6a21\u4eff\u5b66\u4e60\u540e\u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b，\u4f46\u5728\u90e8\u7f72\u5230\u7269\u7406\u673a\u5668\u4eba\u4e0a\u65f6，\u5982\u4f55\u5728\u65b0\u7684\u4efb\u52a1\u3001\u73af\u5883\u3001\u7269\u4f53\u548c\u8fd0\u52a8\u63a7\u5236\u94fe\u4e0a\u5b9e\u73b0\u9ad8\u6027\u80fd\u4ecd\u7136\u662f\u4e00\u4e2a\u6311\u6218\u2014\u2014\u8fd9\u662f\u57fa\u4e8e\u6a21\u4eff\u5b66\u4e60\u7b56\u7565\u7684\u5e38\u89c1\u5c40\u9650\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898，\u5f15\u5165\u4e00\u79cd\u57fa\u4e8e\u540e\u89c1\u4e4b\u660e\u7ecf\u9a8c\u56de\u653e（HER）\u7684\u5728\u7ebf\u81ea\u4e3b\u6539\u8fdb\u6846\u67b6，\u4ece\u800c\u80fd\u591f\u5728\u90e8\u7f72\u8fc7\u7a0b\u4e2d\u5b9e\u73b0\u81ea\u4e3b\u6027\u80fd\u63d0\u5347[14]\u3002<\/p>\n

\u5982\u7b97\u6cd51\u6240\u793a，\u7cfb\u7edf\u8fd0\u884c\u5982\u4e0b：\u5bf9\u4e8e\u7ed9\u5b9a\u7684\u9884\u671f\u76ee\u6807\u6761\u4ef6，\u6a21\u578b\u8fdb\u884c\u63a8\u7406\u5e76\u6267\u884c\u52a8\u4f5c\u3002\u6bcf\u4e2a\u63a8\u7406\u6b65\u9aa4\u2014\u2014\u5305\u62ec\u8d77\u59cb\u89c2\u6d4b\u6f5c\u53d8\u91cf\u3001\u521d\u59cb\u672c\u4f53\u72b6\u6001\u3001\u8f93\u51fa\u52a8\u4f5c\u4ee5\u53ca\u6267\u884c\u540e\u7684\u89c2\u6d4b\u6f5c\u53d8\u91cf\u2014\u2014\u90fd\u4f1a\u81ea\u52a8\u6536\u96c6\u5230\u8fb9\u7f18\u8bbe\u5907\u7684\u56de\u653e\u7f13\u51b2\u533a\u4e2d\u3002\u5173\u952e\u5728\u4e8e，\u65e0\u8bba\u8f6c\u6362\u662f\u5426\u6210\u529f\u8fbe\u5230\u9884\u671f\u76ee\u6807，\u90fd\u4f1a\u5728\u63a8\u7406\u6b65\u9aa4\u7ed3\u675f\u65f6\u81ea\u52a8\u5c06\u76ee\u6807\u6761\u4ef6\u91cd\u6807\u8bb0\u4e3a\u673a\u5668\u4eba\u7684\u89c2\u6d4b\u503c，\u4ece\u800c\u65e0\u9700\u624b\u52a8\u6807\u8bb0\u8f6c\u6362\u3002\u5f53\u56de\u653e\u7f13\u51b2\u533a\u8fbe\u5230\u9884\u8bbe\u5bb9\u91cf\u9608\u503c\u65f6，\u91c7\u7528\u4e0e\u79bb\u7ebf\u6a21\u4eff\u5b66\u4e60\u7b2c\u4e8c\u9636\u6bb5\u76f8\u540c\u7684\u65b9\u6cd5，\u5229\u7528\u7f13\u51b2\u533a\u8f6c\u6362\u6267\u884c\u56fa\u5b9a\u6b21\u6570\u7684\u7aef\u5230\u7aef\u8bad\u7ec3\u8fed\u4ee3\u3002\u4e3a\u786e\u4fdd\u9ad8\u6548\u7684\u8bbe\u5907\u7aef\u8bad\u7ec3，Act2Goal\u6a21\u578b\u4e2d\u4ec5\u66f4\u65b0\u65b0\u589e\u7684LoRA\u5c42，\u800c\u57fa\u7840\u6a21\u578b\u53c2\u6570\u4fdd\u6301\u4e0d\u53d8[15]\u3002\u5b8c\u6210\u56fa\u5b9a\u8fed\u4ee3\u6b21\u6570\u7684\u8bad\u7ec3\u540e，\u6e05\u7a7a\u56de\u653e\u7f13\u51b2\u533a，\u7cfb\u7edf\u901a\u8fc7\u6eda\u52a8\u66f4\u65b0\u7ee7\u7eed\u6536\u96c6\u65b0\u6570\u636e，\u91cd\u590d\u6b64\u5faa\u73af\u76f4\u81f3\u6027\u80fd\u8fbe\u5230\u9884\u671f\u3002\u5176\u4e3a\u4e0d\u540c\u4efb\u52a1\u8bbe\u7f6e\u6700\u5927\u63a8\u7406\u6b21\u6570；\u8d85\u8fc7\u6b64\u9608\u503c\u5c06\u89e6\u53d1\u673a\u5668\u4eba\u81ea\u52a8\u91cd\u7f6e\u3002\u5728\u5b9e\u9645\u673a\u5668\u4eba\u5b9e\u9a8c\u4e2d，\u552f\u4e00\u9700\u8981\u7684\u4eba\u5de5\u5e72\u9884\u662f\u5728\u5fc5\u8981\u65f6\u624b\u52a8\u6062\u590d\u6216\u4fee\u6539\u5b9e\u9a8c\u88c5\u7f6e\u3002 \"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n","protected":false},"excerpt":{"rendered":"

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