{"id":63624,"date":"2026-01-22T04:48:40","date_gmt":"2026-01-21T20:48:40","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/63624.html"},"modified":"2026-01-22T04:48:40","modified_gmt":"2026-01-21T20:48:40","slug":"%e4%bb%80%e4%b9%88%e9%a9%b1%e5%8a%a8%e5%9f%ba%e4%ba%8e%e5%85%b3%e8%8a%82-%e5%b5%8c%e5%85%a5%e9%a2%84%e6%b5%8b%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e7%9a%84%e7%89%a9%e7%90%86%e8%a7%84%e5%88%92%e6%88%90","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/63624.html","title":{"rendered":"\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f"},"content":{"rendered":"

26\u5e741\u6708\u6765\u81eaMeta\u7684\u8bba\u6587\u201cWhat Drives Success In Physical Planning With Joint-embedding Predictive World Models? \u201d\u3002<\/p>\n

\u4eba\u5de5\u667a\u80fd\u9886\u57df\u957f\u671f\u9762\u4e34\u7684\u6311\u6218\u4e4b\u4e00\u662f\u5f00\u53d1\u80fd\u591f\u89e3\u51b3\u5404\u79cd\u7269\u7406\u4efb\u52a1\u5e76\u80fd\u6cdb\u5316\u5230\u65b0\u7684\u3001\u672a\u89c1\u8fc7\u7684\u4efb\u52a1\u548c\u73af\u5883\u7684\u667a\u4f53\u3002\u4e00\u79cd\u6d41\u884c\u7684\u8fd1\u671f\u65b9\u6cd5\u662f\u5229\u7528\u72b6\u6001-\u52a8\u4f5c\u8f68\u8ff9\u8bad\u7ec3\u4e16\u754c\u6a21\u578b，\u7136\u540e\u5c06\u5176\u4e0e\u89c4\u5212\u7b97\u6cd5\u7ed3\u5408\u4f7f\u7528\u6765\u89e3\u51b3\u65b0\u4efb\u52a1\u3002\u89c4\u5212\u901a\u5e38\u5728\u8f93\u5165\u7a7a\u95f4\u4e2d\u8fdb\u884c，\u4f46\u6700\u8fd1\u51fa\u73b0\u4e00\u7cfb\u5217\u65b9\u6cd5，\u8fd9\u4e9b\u65b9\u6cd5\u5f15\u5165\u5728\u4e16\u754c\u6a21\u578b\u5b66\u4e60\u8868\u793a\u7a7a\u95f4\u4e2d\u8fdb\u884c\u4f18\u5316\u7684\u89c4\u5212\u7b97\u6cd5，\u5176\u76ee\u6807\u662f\u901a\u8fc7\u62bd\u8c61\u65e0\u5173\u7ec6\u8282\u6765\u63d0\u9ad8\u89c4\u5212\u6548\u7387\u3002\u672c\u6587\u5c06\u8fd9\u7c7b\u6a21\u578b\u5b9a\u4e49\u4e3a JEPA-WM，\u5e76\u7814\u7a76\u4f7f\u8fd9\u7c7b\u7b97\u6cd5\u6709\u6548\u8fd0\u884c\u7684\u6280\u672f\u9009\u62e9\u3002\u5176\u63d0\u51fa\u4e00\u9879\u9488\u5bf9\u51e0\u4e2a\u5173\u952e\u7ec4\u6210\u90e8\u5206\u7684\u5168\u9762\u7814\u7a76，\u65e8\u5728\u627e\u5230\u8be5\u7c7b\u6a21\u578b\u4e2d\u7684\u6700\u4f18\u65b9\u6cd5\u3002\u7528\u6a21\u62df\u73af\u5883\u548c\u771f\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\u6570\u636e\u8fdb\u884c\u5b9e\u9a8c，\u5e76\u7814\u7a76\u6a21\u578b\u67b6\u6784\u3001\u8bad\u7ec3\u76ee\u6807\u548c\u89c4\u5212\u7b97\u6cd5\u5982\u4f55\u5f71\u54cd\u89c4\u5212\u7684\u6210\u529f\u7387\u3002\u5c06\u7814\u7a76\u7ed3\u679c\u7ed3\u5408\u8d77\u6765，\u63d0\u51fa\u4e00\u79cd\u6a21\u578b，\u8be5\u6a21\u578b\u5728\u5bfc\u822a\u548c\u64cd\u4f5c\u4efb\u52a1\u4e2d\u5747\u4f18\u4e8e\u4e24\u4e2a\u5df2\u5efa\u7acb\u7684\u57fa\u7ebf\u6a21\u578b DINO-WM \u548c V-JEPA-2-AC\u3002<\/p>\n

\n

\u5982\u56fe\u603b\u7ed3 JEPA-WM \u7684\u8bad\u7ec3\u548c\u89c4\u5212\u8fc7\u7a0b： \"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\u8bad\u7ec3\u65b9\u6cd5\u3002\u5728 JEPA-WM \u4e2d，\u7528\u51bb\u7ed3\u7684\u89c6\u89c9\u7f16\u7801\u5668 Evis<\/sup>_\u03c6 \u548c（\u53ef\u9009\u7684）\u6d45\u5c42\u7684\u672c\u4f53\u611f\u89c9\u7f16\u7801\u5668 Eprop<\/sup>_\u03b8 \u5bf9\u89c2\u6d4b\u6570\u636e\u8fdb\u884c\u5d4c\u5165\u3002\u5c06\u6bcf\u4e2a\u7f16\u7801\u5668\u5e94\u7528\u4e8e\u76f8\u5e94\u7684\u6a21\u6001\u6784\u6210\u5168\u5c40\u72b6\u6001\u7f16\u7801\u5668，\u8bb0\u4e3a E_\u03c6,\u03b8 = (Evis<\/sup>_\u03c6, Eprop<\/sup>_\u03b8)\u3002\u52a8\u4f5c\u7f16\u7801\u5668 A_\u03b8 \u7528\u4e8e\u5d4c\u5165\u673a\u5668\u4eba\u52a8\u4f5c\u3002\u5728\u6b64\u57fa\u7840\u4e0a，\u9884\u6d4b\u5668 P_\u03b8 \u4ee5\u72b6\u6001\u548c\u52a8\u4f5c\u5d4c\u5165\u4f5c\u4e3a\u8f93\u5165\u3002Eprop<\/sup>_\u03b8\u3001A_\u03b8 \u548c P_\u03b8 \u8054\u5408\u8bad\u7ec3，\u800c Evis<\/sup>_\u03c6 \u4fdd\u6301\u51bb\u7ed3\u72b6\u6001\u3002\u5bf9\u4e8e\u8fc7\u53bb w \u4e2a\u89c2\u6d4b\u503c o_t\u2212w:t := (o_t\u2212w, \u2026, o_t)，\u5305\u62ec\u89c6\u89c9\u8f93\u5165\u548c（\u53ef\u9009\u7684）\u672c\u4f53\u611f\u89c9\u8f93\u5165\u4ee5\u53ca\u8fc7\u53bb\u7684\u52a8\u4f5c a_t\u2212w:t，\u5b83\u4eec\u5728\u6279\u6b21 B \u4e2a\u5143\u7d20\u4e0a\u7684\u5171\u540c\u8bad\u7ec3\u9884\u6d4b\u76ee\u6807\u4e3aL\u3002L \u4f5c\u4e3a\u635f\u5931\u51fd\u6570，\u5206\u522b\u8ba1\u7b97\u89c6\u89c9\u9884\u6d4b\u4e0e\u76ee\u6807\u503c\u4e4b\u95f4\u4ee5\u53ca\u672c\u4f53\u611f\u89c9\u9884\u6d4b\u4e0e\u76ee\u6807\u503c\u4e4b\u95f4\u7684\u635f\u5931\u3002\u5728\u5b9e\u9a8c\u4e2d，\u9009\u62e9 L \u4f5c\u4e3a\u5747\u65b9\u8bef\u5dee (MSE)\u3002<\/p>\n

\u672c\u7814\u7a76\u4e2d\u7f16\u7801\u5668\u548c\u9884\u6d4b\u5668\u7684\u67b6\u6784\u5747\u91c7\u7528 ViT（Dosovitskiy，2021），\u4e0e\u57fa\u7ebf\u6a21\u578b（Zhou，2024a；Assran，2025）\u76f8\u540c\u3002\u5728DINO-WM（Zhou，2024a）\u4e2d，\u52a8\u4f5c\u7f16\u7801\u5668\u548c\u672c\u4f53\u611f\u89c9\u7f16\u7801\u5668\u53ea\u662f\u7ebf\u6027\u5c42，\u5b83\u4eec\u7684\u8f93\u51fa\u6cbf\u7740\u5d4c\u5165\u7ef4\u5ea6\u4e0e\u89c6\u89c9\u7f16\u7801\u5668\u7684\u8f93\u51fa\u8fde\u63a5\u8d77\u6765，\u8fd9\u88ab\u79f0\u4e3a\u7279\u5f81\u6761\u4ef6\u5316（Garrido，2024），\u8fd9\u4e0e\u5e8f\u5217\u6761\u4ef6\u5316\u4e0d\u540c\u3002\u5728\u5e8f\u5217\u6761\u4ef6\u5316\u4e2d，\u52a8\u4f5c\u548c\u672c\u4f53\u611f\u89c9\u88ab\u7f16\u7801\u4e3atoken，\u5e76\u4e0e\u89c6\u89c9token\u5e8f\u5217\u8fde\u63a5\u8d77\u6765，V-JEPA-2（Assran，2025）\u91c7\u7528\u8fd9\u79cd\u65b9\u6cd5\u3002\u5f3a\u8c03P_\u03b8\u662f\u4f7f\u7528\u5e27\u56e0\u679c\u6ce8\u610f\u63a9\u7801\u8fdb\u884c\u8bad\u7ec3\u7684，\u56e0\u6b64，\u5b83\u540c\u65f6\u88ab\u8bad\u7ec3\u6765\u9884\u6d4b\u4ecew = 0\u5230w = W \u2212 1\u7684\u6240\u6709\u4e0a\u4e0b\u6587\u957f\u5ea6，\u5176\u4e2dW\u662f\u4e00\u4e2a\u8bad\u7ec3\u8d85\u53c2，\u8bbe\u7f6e\u4e3aW = 3\u3002\u56e0\u679c\u9884\u6d4b\u5668\u88ab\u8bad\u7ec3\u6765\u9884\u6d4b\u591a\u4e2a\u52a8\u4f5c\u7684\u7ed3\u679c，\u800c\u4e0d\u4ec5\u4ec5\u662f\u5355\u4e2a\u52a8\u4f5c\u7684\u7ed3\u679c\u3002\u4e3a\u6b64，\u53ef\u4ee5\u8df3\u8fc7 f \u4e2a\u89c2\u6d4b\u503c，\u5e76\u5c06\u5bf9\u5e94\u7684 f \u200b\u200b\u4e2a\u52a8\u4f5c\u8fde\u63a5\u8d77\u6765，\u5f62\u6210\u4e00\u4e2a\u66f4\u9ad8\u7ef4\u5ea6 f \u00d7 A \u7684\u52a8\u4f5c，\u5982 DINO-WM (Zhou et al., 2024a) \u4e2d\u6240\u8ff0\u3002<\/p>\n

\u89c4\u5212\u3002\u5728 H \u65f6\u57df\u8fdb\u884c\u89c4\u5212\u662f\u4e00\u4e2a\u5728\u4e58\u79ef\u52a8\u4f5c\u7a7a\u95f4\u4e0a\u7684\u4f18\u5316\u95ee\u9898，\u5176\u4e2d\u6bcf\u4e2a\u52a8\u4f5c\u7684\u7ef4\u5ea6\u4e3a A，\u5f53\u5728\u8bad\u7ec3\u65f6\u4f7f\u7528\u5e27\u8df3\u8dc3\u65f6，\u5176\u7ef4\u5ea6\u53ef\u4ee5\u8bbe\u4e3a f \u00d7 A\u3002\u7ed9\u5b9a\u521d\u59cb\u89c2\u6d4b\u503c-\u76ee\u6807\u89c2\u6d4b\u503c\u5bf9 （o_t，o_g），\u6bcf\u4e2a\u52a8\u4f5c\u8f68\u8ff9 a_t:t+H\u22121 := (a_t, . . . , a_t+H\u22121) \u90fd\u5e94\u4f7f\u7528\u89c4\u5212\u76ee\u6807 Lp<\/sup> \u8fdb\u884c\u8bc4\u4f30\u3002\u4e0e\u8bad\u7ec3\u65f6\u7c7b\u4f3c，\u8003\u8651\u4e00\u4e2a\u76f8\u5f02\u6027\u5ea6\u91cf L（\u4f8b\u5982 L_1\u3001L_2 \u8ddd\u79bb\u6216\u8d1f\u4f59\u5f26\u76f8\u4f3c\u5ea6），\u8be5\u5ea6\u91cf\u6210\u5bf9\u5e94\u7528\u4e8e\u6bcf\u4e2a\u6a21\u6001，\u8bb0\u4e3a L_vis \u8868\u793a\u4e24\u4e2a\u89c6\u89c9\u5d4c\u5165\u4e4b\u95f4\u7684\u76f8\u5f02\u6027，L_prop \u8868\u793a\u672c\u4f53\u611f\u89c9\u5d4c\u5165\u4e4b\u95f4\u7684\u76f8\u5f02\u6027\u3002\u5f53\u4f7f\u7528\u540c\u65f6\u8bad\u7ec3\u672c\u4f53\u611f\u89c9\u548c\u89c6\u89c9\u8f93\u5165\u7684\u6a21\u578b\u8fdb\u884c\u89c4\u5212\u65f6，\u7ed9\u5b9a \u03b1 \u2265 0，\u65e8\u5728\u6700\u5c0f\u5316\u89c4\u5212\u76ee\u6807 Lp<\/sup>_\u03b1 \u3002<\/p>\n

\u5728\u6b64\u9012\u5f52\u5730\u5b9a\u4e49 F_\u03c6,\u03b8 \u4e3a\u9884\u6d4b\u5668\u4ece z_t = E_\u03c6,\u03b8(o_t) \u5728\u52a8\u4f5c\u7684\u5c55\u5f00，\u6700\u5927\u4e0a\u4e0b\u6587\u957f\u5ea6\u4e3a w（\u56fa\u5b9a\u4e3a Wp<\/sup>）\u3002<\/p>\n

\u5728\u4f8b\u5b50\u4e2d，\u5c06 G_\u03c6,\u03b8 \u53d6\u4e3a\u5c55\u5f00\u51fd\u6570 F_\u03c6,\u03b8，\u4f46\u4e5f\u53ef\u4ee5\u9009\u62e9 G_\u03c6,\u03b8 \u4e3a\u6240\u6709\u4e2d\u95f4\u5c55\u5f00\u6b65\u7684\u51fd\u6570，\u800c\u4e0d\u4ec5\u4ec5\u662f\u6700\u540e\u4e00\u6b65\u3002<\/p>\n

\n

\u57fa\u672c\u914d\u7f6e\u662f\u65e0\u672c\u4f53\u611f\u89c9\u7684DINO-WM，\u914d\u5907ViT-S\u7f16\u7801\u5668\u548c\u76f8\u540c\u5d4c\u5165\u7ef4\u5ea6\u7684\u6df1\u5ea6-6\u9884\u6d4b\u5668\u3002\u6839\u636e\u8bbe\u8ba1\u9009\u62e9\u7684\u5f71\u54cd\u8303\u56f4\u5bf9\u5176\u8fdb\u884c\u4f18\u5148\u7ea7\u6392\u5e8f：\u89c4\u5212\u65f6\u7684\u9009\u62e9\u4f1a\u5f71\u54cd\u6240\u6709\u8bc4\u4f30，\u56e0\u6b64\u9996\u5148\u4f18\u5316\u8fd9\u4e9b\u9009\u62e9，\u5e76\u4e3a\u6bcf\u4e2a\u73af\u5883\u56fa\u5b9a\u6700\u4f73\u89c4\u5212\u5668\u7528\u4e8e\u540e\u7eed\u5b9e\u9a8c；\u8bad\u7ec3\u548c\u67b6\u6784\u9009\u62e9\u968f\u540e\u8fdb\u884c\u3002\u6bcf\u4e2a\u7ec4\u4ef6\u90fd\u72ec\u7acb\u5730\u76f8\u5bf9\u4e8e\u57fa\u672c\u914d\u7f6e\u8fdb\u884c\u8c03\u6574，\u4ee5\u9694\u79bb\u5176\u5f71\u54cd\u3002<\/p>\n

\u89c4\u5212\u5668\u3002\u5404\u79cd\u4f18\u5316\u7b97\u6cd5\u90fd\u53ef\u7528\u4e8e\u89e3\u51b3\u6700\u5c0f\u5316\u53ef\u5fae\u5206\u7684\u89c4\u5212\u76ee\u6807\u95ee\u9898\u3002Zhou(2024a)；Hansen(2024)；Sobal(2025)；Assran(2025)；Bar（2025）\u91c7\u7528\u4ea4\u53c9\u71b5\u65b9\u6cd5（CEM）（\u6216\u200b\u200b\u5176\u53d8\u4f53MPPI（Williams，2015））\u3002\u7531\u4e8e\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u79cd\u7fa4（population）\u7684\u4f18\u5316\u65b9\u6cd5，\u4e0d\u4f9d\u8d56\u4e8e\u6210\u672c\u51fd\u6570\u7684\u68af\u5ea6，\u5f15\u5165\u4e00\u4e2a\u89c4\u5212\u5668，\u8be5\u89c4\u5212\u5668\u53ef\u4ee5\u4f7f\u7528NeverGrad（Bennet，2021）\u4e2d\u7684\u4efb\u4f55\u4f18\u5316\u65b9\u6cd5\u3002\u5728\u5b9e\u9a8c\u4e2d，\u9009\u62e9\u9ed8\u8ba4\u7684NGOpt\u4f18\u5316\u5668（Anonymous，2024），\u5b83\u88ab\u6307\u5b9a\u4e3a\u201c\u5143\u201d\u4f18\u5316\u5668\u3002\u4e0d\u8c03\u6574\u8be5\u4f18\u5316\u5668\u7684\u4efb\u4f55\u53c2\u6570\u3002<\/p>\n

\u5c1d\u8bd5\u57fa\u4e8e\u68af\u5ea6\u7684\u89c4\u5212\u5668（GD \u548c Adam），\u5b83\u4eec\u901a\u8fc7\u53cd\u5411\u4f20\u64ad\u76f4\u63a5\u4f18\u5316\u52a8\u4f5c\u5e8f\u5217\u3002\u8fd9\u56db\u4e2a\u4f18\u5316\u5668\u5171\u6709\u7684\u89c4\u5212\u8d85\u53c2\u5305\u62ec：\u5b9a\u4e49\u4e0e\u9884\u6d4b\u5668\u76f8\u5173\u7684\u6210\u672c\u51fd\u6570 G_\u03b8\u3001\u89c4\u5212\u65f6\u57df H\u3001\u5728\u73af\u5883\u4e2d\u6267\u884c\u7684\u89c4\u5212\u52a8\u4f5c\u6570\u91cf m \u2264 H \u4ee5\u53ca\u8f93\u5165\u5230\u9884\u6d4b\u5668\u4e2d\u8fc7\u53bb\u9884\u6d4b\u7ed3\u679c\u7684\u6700\u5927\u6ed1\u52a8\u4e0a\u4e0b\u6587\u7a97\u53e3\u5927\u5c0f Wp<\/sup>\u3002CEM \u548c NG \u6216 Adam \u548c GD \u5171\u6709\u7684\u8d85\u53c2\u5305\u62ec：\u5e76\u884c\u8bc4\u4f30\u6210\u672c\u7684\u5019\u9009\u52a8\u4f5c\u8f68\u8ff9\u6570\u91cf N \u4ee5\u53ca\u5e76\u884c\u6210\u672c\u8bc4\u4f30\u7684\u8fed\u4ee3\u6b21\u6570 J\u3002\u5728\u63a2\u7d22 CEM \u548c NG \u5171\u6709\u7684\u89c4\u5212\u8d85\u53c2\u5bf9\u6210\u529f\u7387\u7684\u5f71\u54cd\u540e，\u5c06\u5b83\u4eec\u56fa\u5b9a\u4e3a\u76f8\u540c\u503c\u3002\u7528 L_1 \u6216 L_2 \u5d4c\u5165\u7a7a\u95f4\u8ddd\u79bb\u4f5c\u4e3a\u6210\u672c Lp<\/sup>_\u03b1 \u4e2d\u7684\u76f8\u5f02\u6027\u5ea6\u91cf L\u3002<\/p>\n

\u6a21\u578b\u9884\u6d4b\u63a7\u5236 (MPC)\u3002\u5728\u5143\u4e16\u754c\u4e2d，\u6267\u884c MPC，\u8be5\u8fc7\u7a0b\u5141\u8bb8\u5728\u73af\u5883\u4e2d\u6267\u884c\u89c4\u5212\u540e\u8fdb\u884c\u91cd\u89c4\u5212\u3002\u5c06\u73af\u5883\u4e2d\u53ef\u6267\u884c\u7684\u6700\u5927\u52a8\u4f5c\u6570\u8bbe\u7f6e\u4e3a 100，\u8fd9\u6784\u6210\u4e00\u4e2aepisode\u3002\u5728episode\u7684\u6bcf\u4e2a\u89c4\u5212\u6b65\u9aa4\u4e2d，\u7528\u4ea4\u53c9\u71b5\u65b9\u6cd5 (CEM) \u6216 NG \u89c4\u5212\u5668\u3002<\/p>\n

\u4ea4\u53c9\u71b5\u65b9\u6cd5\u3002CEM \u4f18\u5316\u7b97\u6cd5\u4e0e\u7b97\u6cd5 1 \u76f8\u540c\u3002\u672c\u8d28\u4e0a，\u62df\u5408\u5177\u6709\u5bf9\u89d2\u534f\u65b9\u5dee\u7684\u65f6\u53d8\u591a\u5143\u9ad8\u65af\u5206\u5e03\u7684\u53c2\u6570\u3002<\/p>\n

\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

NG \u89c4\u5212\u5668\u3002\u8bbe\u8ba1\u4e00\u4e2a\u7a0b\u5e8f，\u53ef\u4ee5\u4f7f\u7528\u4efb\u4f55 NeverGrad \u4f18\u5316\u5668\u6765\u5b9e\u73b0\u89c4\u5212\u76ee\u6807 Lp<\/sup>_\u03b1(o_t,a_t:t+H\u22121,og)，\u5e76\u884c\u8bc4\u4f30\u7684\u52a8\u4f5c\u8f68\u8ff9\u6570\u91cf\u548c\u603b\u9884\u7b97\u4e0e CEM \u76f8\u540c，\u8be6\u89c1\u7b97\u6cd5 2\u3002\u5728\u672c\u7814\u7a76\u8003\u8651\u7684\u6240\u6709\u8bc4\u4f30\u8bbe\u7f6e\u4e2d，NGOpt \u5143\u4f18\u5316\u5668\u59cb\u7ec8\u9009\u62e9\u5177\u6709\u7279\u5b9a\u53c2\u6570\u5316\u7684 CMA-ES \u7b97\u6cd5\u7684\u5bf9\u89d2\u53d8\u578b\u3002\u5f53\u641c\u7d22\u7a7a\u95f4\u8f83\u5927\u65f6，\u5efa\u8bae\u4f7f\u7528 CMA \u7684\u5bf9\u89d2\u7248\u3002\u5c1d\u8bd5\u5bf9\u89d2 CMA \u7b97\u6cd5\u7684\u5176\u4ed6\u53c2\u6570\u5316\u540e，\u4f8b\u5982\u5176\u7cbe\u82f1\u7248（\u7f29\u653e\u56e0\u5b50\u4e3a 0.895 \u800c\u4e0d\u662f\u9ed8\u8ba4\u503c 1），\u5728 Wall\u3001Maze \u548c Push-T \u4efb\u52a1\u4e0a\u7684\u6210\u529f\u7387\u53ef\u80fd\u4f1a\u4e0b\u964d 20%\u3002 \"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\u68af\u5ea6\u4e0b\u964d\u89c4\u5212\u5668\u3002\u8fd8\u5c1d\u8bd5\u57fa\u4e8e\u68af\u5ea6\u7684\u89c4\u5212\u5668，\u8fd9\u4e9b\u89c4\u5212\u5668\u901a\u8fc7\u53cd\u5411\u4f20\u64ad\u76f4\u63a5\u4f18\u5316\u52a8\u4f5c\u5e8f\u5217\u3002\u4e0e\u57fa\u4e8e\u91c7\u6837\u7684\u65b9\u6cd5（CEM\u3001NG）\u4e0d\u540c，\u8fd9\u4e9b\u89c4\u5212\u5668\u5229\u7528\u4e16\u754c\u6a21\u578b\u7684\u53ef\u5fae\u6027\u6765\u8ba1\u7b97\u89c4\u5212\u76ee\u6807 Lp<\/sup>_\u03b1\u76f8\u5bf9\u4e8e\u52a8\u4f5c\u7684\u68af\u5ea6\u3002\u68af\u5ea6\u4e0b\u964d (GD) \u89c4\u5212\u5668\u9996\u5148\u5c06\u52a8\u4f5c\u521d\u59cb\u5316\u4e3a\u6807\u51c6\u9ad8\u65af\u5206\u5e03（\u6309 \u03c3_0 \u7f29\u653e）\u6216\u96f6，\u7136\u540e\u4ee5\u5b66\u4e60\u7387 \u03bb \u6267\u884c J \u6b21\u68af\u5ea6\u4e0b\u964d\u3002\u6bcf\u6b21\u68af\u5ea6\u4e0b\u964d\u540e，\u90fd\u4f1a\u5411\u52a8\u4f5c\u6dfb\u52a0\u6807\u51c6\u5dee\u4e3a \u03c3_noise \u7684\u9ad8\u65af\u566a\u58f0，\u4ee5\u9f13\u52b1\u63a2\u7d22\u5e76\u5e2e\u52a9\u8df3\u51fa\u5c40\u90e8\u6700\u5c0f\u503c\u3002\u52a8\u4f5c\u88c1\u526a\u7528\u4e8e\u9650\u5236\u7279\u5b9a\u52a8\u4f5c\u7ef4\u5ea6\u3002\u9ed8\u8ba4\u8d85\u53c2\u4e3a：J = 500 \u6b21\u8fed\u4ee3，\u03bb = 1，\u03c3_0 = 1，\u03c3_noise = 0.003\u3002<\/p>\n

Adam \u89c4\u5212\u5668\u3002Adam \u89c4\u5212\u5668\u6269\u5c55 GD \u89c4\u5212\u5668，\u4f7f\u7528 Adam \u4f18\u5316\u5668\u4ee3\u66ff\u4f20\u7edf\u7684\u968f\u673a\u68af\u5ea6\u4e0b\u964d\u3002 Adam \u7b97\u6cd5\u7ef4\u62a4\u68af\u5ea6（\u4e00\u9636\u77e9）\u548c\u68af\u5ea6\u5e73\u65b9（\u4e8c\u9636\u77e9）\u7684\u6307\u6570\u79fb\u52a8\u5e73\u5747\u503c，\u4ece\u800c\u63d0\u4f9b\u66f4\u7a33\u5b9a\u7684\u4f18\u5316\u52a8\u6001\u7279\u6027\u3002\u9ed8\u8ba4\u8d85\u53c2\u4e3a \u03b2_1 = 0.9，\u03b2_2 = 0.995，\u03b5 = 10\u207b\u2078，\u5176\u4ed6\u53c2\u6570\u7684\u9ed8\u8ba4\u503c\u4e0e GD \u7b97\u6cd5\u76f8\u540c（J = 500，\u03bb = 1，\u03c3_0 = 1，\u03c3_noise = 0.003）\u3002<\/p>\n

\u591a\u6b65\u5c55\u5f00\u8bad\u7ec3\u3002\u5728\u6bcf\u6b21\u8bad\u7ec3\u8fed\u4ee3\u4e2d，\u9664\u4e86\u9010\u5e27\u6559\u5e08\u5f3a\u5236\u635f\u5931\u4e4b\u5916，\u8fd8\u8ba1\u7b97\u989d\u5916\u7684\u635f\u5931\u9879，\u4f5c\u4e3a k \u6b65\u5c55\u5f00\u635f\u5931 L_k，\u5176\u4e2d k \u2265 1\u3002L_1 = L\u3002\u5728\u5b9e\u8df5\u4e2d，\u6267\u884c\u65f6\u95f4\u622a\u65ad\u53cd\u5411\u4f20\u64ad (TBPTT)（Elman，1990；Jaeger，2002），\u8fd9\u610f\u5473\u7740\u820d\u5f03\u7d2f\u79ef\u68af\u5ea6\u6765\u8ba1\u7b97 z\u02c6_t+H，\u5e76\u4e14\u4ec5\u53cd\u5411\u4f20\u64ad\u6700\u540e\u4e00\u6b21\u9884\u6d4b\u7684\u8bef\u5dee\u3002\u5c06\u4f7f\u7528\u635f\u5931\u9879\u4e4b\u548c\u76f4\u81f3 L_k \u635f\u5931\u8bad\u7ec3\u7684\u6a21\u578b\u8868\u793a\u4e3a k \u6b65\u6a21\u578b\u3002\u8bad\u7ec3\u7684\u6a21\u578b\u6700\u591a\u4f7f\u7528 6-\u6b65\u635f\u5931，\u8fd9\u9700\u8981\u6bd4\u9ed8\u8ba4\u503c W = 3 \u66f4\u5927\u7684\u4e0a\u4e0b\u6587\u5927\u5c0f，\u56e0\u6b64\u8bbe\u7f6e W = 7 \u6765\u8fdb\u884c\u8bad\u7ec3，\u8fd9\u4e0e\u4e4b\u540e\u5f15\u5165\u7684 W \u503c\u589e\u5927\u7684\u6a21\u578b\u7c7b\u4f3c\u3002<\/p>\n

\u672c\u4f53\u611f\u89c9\u3002\u5c06 DINO-WM \u7684\u6807\u51c6\u8bbe\u7f6e（Zhou，2024a）\u4e0e\u4ec5\u4f7f\u7528\u89c6\u89c9\u8f93\u5165\u7684\u8bbe\u7f6e\u8fdb\u884c\u6bd4\u8f83\u3002\u5728 DINO-WM \u4e2d，\u8054\u5408\u8bad\u7ec3\u672c\u4f53\u611f\u89c9\u7f16\u7801\u5668\u3001\u9884\u6d4b\u5668\u548c\u52a8\u4f5c\u7f16\u7801\u5668\u3002\u4e0e V-JEPA-2-AC \u4e0d\u540c，\u540c\u65f6\u4f7f\u7528\u89c6\u89c9\u635f\u5931\u9879\u548c\u672c\u4f53\u611f\u89c9\u635f\u5931\u9879\u6765\u8bad\u7ec3\u9884\u6d4b\u5668\u3001\u672c\u4f53\u611f\u89c9\u7f16\u7801\u5668\u548c\u52a8\u4f5c\u7f16\u7801\u5668\u3002 \u8bad\u7ec3\u4e0a\u4e0b\u6587\u5927\u5c0f\u3002\u65e8\u5728\u6d4b\u8bd5\u5141\u8bb8\u9884\u6d4b\u5668\u5728\u8bad\u7ec3\u65f6\u770b\u5230\u66f4\u957f\u7684\u4e0a\u4e0b\u6587\u662f\u5426\u80fd\u591f\u66f4\u597d\u5730\u5c55\u5f00\u66f4\u957f\u7684\u52a8\u4f5c\u5e8f\u5217\u3002\u6d4b\u8bd5 W = 1 \u5230 W = 7 \u7684\u503c\u3002 \u7f16\u7801\u5668\u7c7b\u578b\u3002\u6b63\u5982 Zhou（2024a）\u6240\u63d0\u51fa\u7684，\u5c40\u90e8\u7279\u5f81\u4fdd\u7559\u5bf9\u89e3\u51b3\u5f53\u524d\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u7684\u7a7a\u95f4\u7ec6\u8282\u3002\u56e0\u6b64，\u4f7f\u7528DINOv2\u548c\u6700\u8fd1\u63d0\u51fa\u7684DINOv3（Sime\u0301oni，2025）\u7684\u5c40\u90e8\u7279\u5f81，\u540e\u8005\u5728\u5bc6\u96c6\u4efb\u52a1\u4e0a\u8868\u73b0\u66f4\u4f73\u3002\u5728\u89c6\u9891\u7f16\u7801\u5668（\u5373V-JEPA（Bardes，2024）\u548cV-JEPA-2（Assran，2025））\u4e4b\u4e0a\u8bad\u7ec3\u9884\u6d4b\u5668\u3002\u8003\u8651\u7684\u662fViT-L\u7248\u672c\u3002\u5728\u63a2\u7d22\u5e27\u7f16\u7801\u7b56\u7565\u540e，\u6700\u7ec8\u9009\u62e9\u6027\u80fd\u6700\u4f73\u7684\u7b56\u7565，\u8be5\u7b56\u7565\u5305\u62ec\u590d\u5236o_t\u2212W+1, \u2026, o_t+1\u5e27，\u5e76\u5c06\u6bcf\u5bf9\u5e27\u72ec\u7acb\u7f16\u7801\u4e3a\u4e00\u4e2a2-\u5e27\u89c6\u9891\u3002\u5e27\u9884\u5904\u7406\u548c\u7f16\u7801\u8fc7\u7a0b\u5747\u5df2\u4f18\u5316，\u4ee5\u786e\u4fdd\u6bcf\u4e2a\u65f6\u95f4\u6b65\u7684\u89c6\u89c9\u5d4c\u5165\u6807\u8bb0\u6570\u91cf\u76f8\u540c，\u56e0\u6b64\u4e3b\u8981\u533a\u522b\u5728\u4e8e\u76f4\u63a5\u4f7f\u7528\u7684\u7f16\u7801\u5668\u7684\u6743\u91cd\u3002<\/p>\n

\u9884\u6d4b\u5668\u67b6\u6784\u3002Zhou(2024a)\u7684\u9884\u6d4b\u5668\u67b6\u6784\u4e0eAssran(2025)\u7684\u9884\u6d4b\u5668\u67b6\u6784\u7684\u4e3b\u8981\u533a\u522b\u5728\u4e8e，\u524d\u8005\u4f7f\u7528\u7279\u5f81\u6761\u4ef6\u5316，\u5e76\u91c7\u7528sincos\u4f4d\u7f6e\u5d4c\u5165；\u800c\u540e\u8005\u5219\u4f7f\u7528RoPE\u8fdb\u884c\u5e8f\u5217\u6761\u4ef6\u5316(Su，2024)\u3002\u5728\u524d\u4e00\u79cd\u67b6\u6784\u4e2d，\u52a8\u4f5c\u5d4c\u5165A_\u03b8(a)\u4e0e\u89c6\u89c9\u7279\u5f81E_\u03b8(o)\u6cbf\u5d4c\u5165\u7ef4\u5ea6\u8fde\u63a5，\u9884\u6d4b\u5668\u7684\u9690\u7ef4\u5ea6\u4eceD\u589e\u52a0\u5230D+f_a，\u5176\u4e2df_a\u4e3a\u52a8\u4f5c\u7684\u5d4c\u5165\u7ef4\u5ea6\u3002\u7136\u540e，\u8fd9\u4e9b\u7279\u5f81\u4f7f\u75283D sincos\u4f4d\u7f6e\u5d4c\u5165\u8fdb\u884c\u5904\u7406\u3002\u5728\u540e\u4e00\u79cd\u67b6\u6784\u4e2d，\u52a8\u4f5c\u88ab\u7f16\u7801\u4e3a\u5355\u72ec\u7684tokens，\u5e76\u4e0e\u89c6\u89c9tokens\u6cbf\u5e8f\u5217\u7ef4\u5ea6\u8fde\u63a5，\u4fdd\u6301\u9884\u6d4b\u5668\u7684\u9690\u7ef4\u5ea6\u4e3aD（\u4e0e\u7f16\u7801\u5668\u76f8\u540c）\u3002\u65cb\u8f6c\u4f4d\u7f6e\u5d4c\u5165(RoPE)\u7528\u4e8e\u9884\u6d4b\u5668\u7684\u6bcf\u4e2a\u6a21\u5757\u3002\u8fd8\u6d4b\u8bd5\u4e00\u79cd\u5c06\u7279\u5f81\u6761\u4ef6\u5316\u4e0eRoPE\u76f8\u7ed3\u5408\u7684\u67b6\u6784\u3002\u53e6\u4e00\u79cd\u9ad8\u6548\u7684\u6761\u4ef6\u5316\u6280\u672f\u662fAdaLN（Xu，2019），Bar（2025）\u4e5f\u91c7\u7528\u8fd9\u79cd\u65b9\u6cd5，\u5728\u6b64\u4f7f\u7528RoPE\u5bf9\u5176\u8fdb\u884c\u6d4b\u8bd5\u3002\u8fd9\u79cd\u65b9\u6cd5\u5141\u8bb8\u52a8\u4f5c\u4fe1\u606f\u5f71\u54cd\u9884\u6d4b\u5668\u7684\u6240\u6709\u5c42，\u800c\u4e0d\u4ec5\u4ec5\u662f\u8f93\u5165\u5c42，\u4ece\u800c\u6709\u53ef\u80fd\u9632\u6b62\u52a8\u4f5c\u4fe1\u606f\u5728\u7f51\u7edc\u4e2d\u6d88\u5931\u3002\u8fd8\u7814\u7a76AdaLN-zero\u53d8\u578b（Peebles&Xie，2023），\u5c06\u6761\u4ef6\u5316MLP\u521d\u59cb\u5316\u4e3a\u8f93\u51fa\u96f6\u5411\u91cf，\u4f7f\u5f97\u9884\u6d4b\u5668\u5728\u8bad\u7ec3\u5f00\u59cb\u65f6\u8868\u73b0\u5f97\u50cf\u4e00\u4e2a\u65e0\u6761\u4ef6ViT\u6a21\u5757\u3002<\/p>\n

\u6a21\u578b\u89c4\u6a21\u5316\u3002\u7528\u5e26\u5bc4\u5b58\u5668\u7684DINOv2 ViT-B\u548cViT-L（Darcet，2024）\u5c06\u7f16\u7801\u5668\u5927\u5c0f\u589e\u52a0\u5230ViT-B\u548cViT-L\u3002\u968f\u7740\u7f16\u7801\u5668\u5927\u5c0f\u7684\u589e\u52a0，\u9884\u671f\u9884\u6d4b\u4efb\u52a1\u4f1a\u53d8\u5f97\u66f4\u96be，\u56e0\u6b64\u9700\u8981\u66f4\u5927\u7684\u9884\u6d4b\u5668\u3002\u56e0\u6b64，\u76f8\u5e94\u5730\u589e\u52a0\u9884\u6d4b\u5668\u7684\u5d4c\u5165\u7ef4\u5ea6\u4ee5\u5339\u914d\u7f16\u7801\u5668\u3002\u8fd8\u7814\u7a76\u9884\u6d4b\u5668\u6df1\u5ea6\u7684\u5f71\u54cd，\u5c06\u5176\u4ece 3 \u5230 12 \u53d8\u5316\u3002<\/p>\n

\n

\u8bc4\u4f30\u8bbe\u7f6e<\/h3>\n

\u6570\u636e\u96c6\u3002\u5bf9\u4e8e\u5143\u4e16\u754c，\u901a\u8fc7\u8bad\u7ec3 TD-MPC2（Hansen，2024）\u5728\u7ebf\u667a\u4f53\u6765\u6536\u96c6\u6570\u636e\u96c6，\u5e76\u8bc4\u4f30\u4e24\u4e2a\u4efb\u52a1：\u201cReach\u201d\u548c\u201cReach-Wall\u201d，\u5206\u522b\u8bb0\u4e3a MW-R \u548c MW-RW\u3002\u7528Zhou（2024a）\u53d1\u5e03\u7684\u79bb\u7ebf\u8f68\u8ff9\u6570\u636e\u96c6，\u5373 Push-T（Chi，2023）\u3001Wall \u548c PointMaze\u3002\u6bcf\u4e2a\u6570\u636e\u96c6\u7684\u8bad\u7ec3\u96c6\u5360\u6bd4\u5747\u4e3a 90%\u3002\u5728 DROID \u6570\u636e\u96c6（Khazatsky，2024）\u4e0a\u8fdb\u884c\u8bad\u7ec3，\u5e76\u901a\u8fc7\u5b9a\u4e49\u81ea\u5b9a\u4e49\u7684\u53d6\u653e\u4efb\u52a1（\u5373\u201cPlace\u201d\u548c\u201cReach\u201d，\u5206\u522b\u8bb0\u4e3a Rc-Pl \u548c Rc-R），\u5728 Robocasa \u6570\u636e\u96c6（Nasiriany，2024）\u4e0a\u8fdb\u884c\u96f6\u6837\u672c\u8bc4\u4f30\u3002\u8fd9\u4e9b\u4efb\u52a1\u57fa\u4e8e\u8fdc\u7a0b\u64cd\u63a7\u8f68\u8ff9\u3002\u6ca1\u6709\u5728 Robocasa \u8f68\u8ff9\u4e0a\u5bf9 DROID \u6a21\u578b\u8fdb\u884c\u5fae\u8c03\u3002\u6b64\u5916，\u8fd8\u4f7f\u7528\u4e00\u7ec4 16 \u4e2a\u5728\u5b9e\u9a8c\u5ba4\u62cd\u6444\u7684\u771f\u5b9e Franka \u673a\u68b0\u81c2\u7684\u89c6\u9891\u8fdb\u884c\u8bc4\u4f30，\u8be5\u89c6\u9891\u66f4\u63a5\u8fd1 DROID \u5206\u5e03，\u5e76\u5c06\u6b64\u4efb\u52a1\u8bb0\u4e3a DROID\u3002\u5728 DROID \u4efb\u52a1\u4e2d，\u8ddf\u8e2a\u89c4\u5212\u5668\u8f93\u51fa\u7684\u52a8\u4f5c\u4e0e\u5b9a\u4e49\u521d\u59cb\u72b6\u6001\u548c\u76ee\u6807\u72b6\u6001\u7684\u6570\u636e\u96c6\u4e2d\u8f68\u8ff9\u7684\u771f\u5b9e\u52a8\u4f5c\u4e4b\u95f4\u7684 L_1 \u8bef\u5dee\u3002\u7136\u540e，\u91cd\u65b0\u8c03\u6574\u8be5\u52a8\u4f5c\u8bef\u5dee\u7684\u5012\u6570，\u5f97\u5230\u52a8\u4f5c\u5f97\u5206，\u8fd9\u662f\u4e00\u4e2a\u9700\u8981\u6700\u5927\u5316\u7684\u6307\u6807\u3002<\/p>\n

\u76ee\u6807\u5b9a\u4e49\u3002\u4ece Metaworld \u63d0\u4f9b\u7684\u4e13\u5bb6\u7b56\u7565\u4e2d\u91c7\u6837\u76ee\u6807\u5e27，\u4ece Push-T\u3001DROID \u548c Robocasa \u7684\u6570\u636e\u96c6\u4e2d\u91c7\u6837\u76ee\u6807\u5e27，\u5e76\u4ece Wall \u548c Maze \u7684\u968f\u673a 2D \u72b6\u6001\u91c7\u6837\u5668\u4e2d\u91c7\u6837\u76ee\u6807\u5e27\u3002\u5bf9\u4e8e\u5177\u6709\u672c\u4f53\u611f\u89c9\u7684\u6a21\u578b，\u7528\u672c\u4f53\u611f\u89c9\u5d4c\u5165\u8ddd\u79bb\u8fdb\u884c\u89c4\u5212，\u65b9\u6cd5\u662f\u5c06\u89c4\u5212\u76ee\u6807\u51fd\u6570\u4e2d\u7684 \u03b1 \u8bbe\u7f6e\u4e3a 0.1，\u4f46 DROID \u548c Robocasa \u9664\u5916，\u5c06\u5176 \u03b1 \u8bbe\u7f6e\u4e3a 0，\u4ee5\u4fbf\u4e0e V-JEPA-2-AC \u8fdb\u884c\u6bd4\u8f83\u3002<\/p>\n

\u6307\u6807\u3002\u4e3b\u8981\u8ffd\u6c42\u6700\u5927\u5316\u7684\u662f\u6210\u529f\u7387，\u4f46\u4e5f\u8ddf\u8e2a\u5176\u4ed6\u51e0\u4e2a\u6307\u6807，\u8fd9\u4e9b\u6307\u6807\u72ec\u7acb\u4e8e\u89c4\u5212\u8fc7\u7a0b\u8ddf\u8e2a\u4e16\u754c\u6a21\u578b\u7684\u8d28\u91cf，\u5e76\u4e14\u6bd4\u6210\u529f\u7387\u566a\u58f0\u66f4\u5c0f\u3002\u8fd9\u4e9b\u6307\u6807\u5305\u62ec\u9884\u6d4b\u5668\u5c55\u5f00\u8fc7\u7a0b\u4e2d\u7684\u5d4c\u5165\u7a7a\u95f4\u8bef\u5dee\u3001\u5c55\u5f00\u8fc7\u7a0b\u4e2d\u7684\u672c\u4f53\u611f\u89c9\u89e3\u7801\u8bef\u5dee\u3001\u5f00\u73af\u5c55\u5f00\u7684\u89c6\u89c9\u89e3\u7801（\u4ee5\u53ca\u8fd9\u4e9b\u89e3\u7801\u4e0e\u771f\u5b9e\u672a\u6765\u5e27\u4e4b\u95f4\u7684 LPIPS）\u3002<\/p>\n

\u7edf\u8ba1\u663e\u8457\u6027\u3002\u4e3a\u4e86\u8003\u8651\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7684\u53d8\u5f02\u6027，\u5728\u6700\u7ec8\u6a21\u578b\u4e2d，\u6bcf\u4e2a\u6a21\u578b\u4f7f\u7528 3 \u4e2a\u79cd\u5b50\u8fdb\u884c\u8bad\u7ec3\u3002\u4e3a\u4e86\u8003\u8651\u8bc4\u4f30\u8fc7\u7a0b\u4e2d\u7684\u53d8\u5f02\u6027，\u5728\u6bcf\u4e2a epoch，\u542f\u52a8 e = 96 \u4e2a episode，\u6bcf\u4e2a episode \u90fd\u5177\u6709\u4e0d\u540c\u7684\u521d\u59cb\u72b6\u6001\u548c\u76ee\u6807\u72b6\u6001，\u8fd9\u4e9b\u72b6\u6001\u8981\u4e48\u6765\u81ea\u6570\u636e\u96c6（Push-T\u3001Robocasa\u3001DROID），\u8981\u4e48\u7531\u6a21\u62df\u5668（Metaworld\u3001PointMaze\u3001Wall）\u751f\u6210\u3002\u5bf9\u4e8e DROID，\u91c7\u7528 e = 64 \u8fdb\u884c\u8bc4\u4f30，\u8fd9\u5bf9\u4e8e\u83b7\u5f97\u53ef\u9760\u7684\u8bc4\u4f30\u7ed3\u679c\u81f3\u5173\u91cd\u8981，\u5373\u4f7f\u6bd4\u8f83\u7684\u662f\u8fde\u7eed\u52a8\u4f5c\u5f97\u5206\u6307\u6807\u3002\u5bf9\u4e8e Robocasa，\u7531\u4e8e\u5176\u89c4\u5212 episode \u7684\u6210\u672c\u8f83\u9ad8（\u9700\u8981\u91cd\u89c4\u5212 12 \u6b21），\u8bbe\u7f6e e = 32\u3002\u5bf9\u8fd9\u4e9b episode \u53d6\u5e73\u5747\u503c\u4ee5\u83b7\u5f97\u6210\u529f\u7387\u3002\u5c3d\u7ba1\u5728\u6bcf\u4e2a epoch \u4e2d\u5bf9\u4e09\u4e2a\u79cd\u5b50\u53ca\u5176\u8bc4\u4f30 episode \u7684\u6210\u529f\u7387\u53d6\u5e73\u5747\u503c，\u4f46\u6574\u4e2a\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5b58\u5728\u8f83\u5927\u7684\u53d8\u5f02\u6027\u3002\u56e0\u6b64，\u4e3a\u4e86\u83b7\u5f97\u6bcf\u4e2a\u6a21\u578b\u7684\u7efc\u5408\u5f97\u5206，\u5bf9\u6700\u540e n \u4e2a\u8bad\u7ec3 epochs\u7684\u6210\u529f\u7387\u53d6\u5e73\u5747\u503c，\u6240\u6709\u6570\u636e\u96c6\u7684 n = 10，\u4f46 DROID \u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u7684\u6a21\u578b\u9664\u5916\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

26\u5e741\u6708\u6765\u81eaMeta\u7684\u8bba\u6587\u201cWhat Drives Success In Physical Planning With Joint-embedding Predictive World Models? \u201d\u3002
\n\u4eba\u5de5\u667a\u80fd\u9886\u57df\u957f\u671f\u9762\u4e34\u7684\u6311\u6218\u4e4b\u4e00\u662f\u5f00\u53d1\u80fd\u591f\u89e3\u51b3\u5404\u79cd\u7269\u7406\u4efb\u52a1\u5e76\u80fd\u6cdb\u5316\u5230\u65b0\u7684\u3001\u672a\u89c1\u8fc7\u7684\u4efb\u52a1\u548c\u73af\u5883\u7684\u667a\u4f53\u3002\u4e00\u79cd\u6d41\u884c\u7684\u8fd1\u671f\u65b9\u6cd5\u662f\u5229\u7528\u72b6\u6001-\u52a8\u4f5c\u8f68\u8ff9\u8bad\u7ec3\u4e16\u754c\u6a21\u578b，\u7136\u540e\u5c06\u5176\u4e0e\u89c4\u5212\u7b97\u6cd5\u7ed3\u5408\u4f7f\u7528\u6765\u89e3\u51b3\u65b0\u4efb\u52a1\u3002\u89c4\u5212\u901a\u5e38\u5728\u8f93\u5165\u7a7a\u95f4\u4e2d\u8fdb\u884c，\u4f46\u6700\u8fd1\u51fa\u73b0\u4e00\u7cfb\u5217\u65b9\u6cd5&#<\/p>\n","protected":false},"author":2,"featured_media":63621,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[384,207,86,523],"topic":[],"class_list":["post-63624","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-384","tag-207","tag-86","tag-523"],"yoast_head":"\n\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/63624.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"26\u5e741\u6708\u6765\u81eaMeta\u7684\u8bba\u6587\u201cWhat Drives Success In Physical Planning With Joint-embedding Predictive World Models? \u201d\u3002 \u4eba\u5de5\u667a\u80fd\u9886\u57df\u957f\u671f\u9762\u4e34\u7684\u6311\u6218\u4e4b\u4e00\u662f\u5f00\u53d1\u80fd\u591f\u89e3\u51b3\u5404\u79cd\u7269\u7406\u4efb\u52a1\u5e76\u80fd\u6cdb\u5316\u5230\u65b0\u7684\u3001\u672a\u89c1\u8fc7\u7684\u4efb\u52a1\u548c\u73af\u5883\u7684\u667a\u4f53\u3002\u4e00\u79cd\u6d41\u884c\u7684\u8fd1\u671f\u65b9\u6cd5\u662f\u5229\u7528\u72b6\u6001-\u52a8\u4f5c\u8f68\u8ff9\u8bad\u7ec3\u4e16\u754c\u6a21\u578b，\u7136\u540e\u5c06\u5176\u4e0e\u89c4\u5212\u7b97\u6cd5\u7ed3\u5408\u4f7f\u7528\u6765\u89e3\u51b3\u65b0\u4efb\u52a1\u3002\u89c4\u5212\u901a\u5e38\u5728\u8f93\u5165\u7a7a\u95f4\u4e2d\u8fdb\u884c，\u4f46\u6700\u8fd1\u51fa\u73b0\u4e00\u7cfb\u5217\u65b9\u6cd5&#\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/63624.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-01-21T20:48:40+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121204836-69713ba4eaa0a.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"4 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/63624.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/63624.html\",\"name\":\"\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-01-21T20:48:40+00:00\",\"dateModified\":\"2026-01-21T20:48:40+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/63624.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/63624.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/63624.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\",\"url\":\"https:\/\/www.wsisp.com\/helps\/\",\"name\":\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"description\":\"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\",\"name\":\"admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"contentUrl\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"caption\":\"admin\"},\"sameAs\":[\"http:\/\/wp.wsisp.com\"],\"url\":\"https:\/\/www.wsisp.com\/helps\/author\/admin\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.wsisp.com\/helps\/63624.html","og_locale":"zh_CN","og_type":"article","og_title":"\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"26\u5e741\u6708\u6765\u81eaMeta\u7684\u8bba\u6587\u201cWhat Drives Success In Physical Planning With Joint-embedding Predictive World Models? \u201d\u3002 \u4eba\u5de5\u667a\u80fd\u9886\u57df\u957f\u671f\u9762\u4e34\u7684\u6311\u6218\u4e4b\u4e00\u662f\u5f00\u53d1\u80fd\u591f\u89e3\u51b3\u5404\u79cd\u7269\u7406\u4efb\u52a1\u5e76\u80fd\u6cdb\u5316\u5230\u65b0\u7684\u3001\u672a\u89c1\u8fc7\u7684\u4efb\u52a1\u548c\u73af\u5883\u7684\u667a\u4f53\u3002\u4e00\u79cd\u6d41\u884c\u7684\u8fd1\u671f\u65b9\u6cd5\u662f\u5229\u7528\u72b6\u6001-\u52a8\u4f5c\u8f68\u8ff9\u8bad\u7ec3\u4e16\u754c\u6a21\u578b，\u7136\u540e\u5c06\u5176\u4e0e\u89c4\u5212\u7b97\u6cd5\u7ed3\u5408\u4f7f\u7528\u6765\u89e3\u51b3\u65b0\u4efb\u52a1\u3002\u89c4\u5212\u901a\u5e38\u5728\u8f93\u5165\u7a7a\u95f4\u4e2d\u8fdb\u884c，\u4f46\u6700\u8fd1\u51fa\u73b0\u4e00\u7cfb\u5217\u65b9\u6cd5&#","og_url":"https:\/\/www.wsisp.com\/helps\/63624.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-01-21T20:48:40+00:00","og_image":[{"url":"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121204836-69713ba4eaa0a.png"}],"author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"4 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/63624.html","url":"https:\/\/www.wsisp.com\/helps\/63624.html","name":"\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-01-21T20:48:40+00:00","dateModified":"2026-01-21T20:48:40+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/63624.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/63624.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/63624.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"\u4ec0\u4e48\u9a71\u52a8\u57fa\u4e8e\u5173\u8282-\u5d4c\u5165\u9884\u6d4b\u4e16\u754c\u6a21\u578b\u7684\u7269\u7406\u89c4\u5212\u6210\u529f\uff1f"}]},{"@type":"WebSite","@id":"https:\/\/www.wsisp.com\/helps\/#website","url":"https:\/\/www.wsisp.com\/helps\/","name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","description":"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41","name":"admin","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/","url":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","contentUrl":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","caption":"admin"},"sameAs":["http:\/\/wp.wsisp.com"],"url":"https:\/\/www.wsisp.com\/helps\/author\/admin"}]}},"_links":{"self":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/63624","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/comments?post=63624"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/63624\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media\/63621"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=63624"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=63624"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=63624"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=63624"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}