{"id":82325,"date":"2026-07-25T08:02:32","date_gmt":"2026-07-25T00:02:32","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/82325.html"},"modified":"2026-07-25T08:02:32","modified_gmt":"2026-07-25T00:02:32","slug":"%e5%9f%ba%e4%ba%8e5090d%e6%9c%8d%e5%8a%a1%e5%99%a8%e7%9a%84nvidia-alpamayo%e5%ae%9e%e9%aa%8c","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/82325.html","title":{"rendered":"\u57fa\u4e8e5090D\u670d\u52a1\u5668\u7684NVIDIA Alpamayo\u5b9e\u9a8c"},"content":{"rendered":"<\/p>\n<h4>\u57fa\u4e8e5090D\u670d\u52a1\u5668\u7684NVIDIA Alpamayo\u4f53\u9a8c<\/h4>\n<ul>\n<li>Alpamayo\u9879\u76ee\u6982\u8ff0<\/li>\n<li>\n<ul>\n<li>\u9879\u76ee\u7b80\u4ecb<\/li>\n<li>VLA\u4e0e\u56e0\u679c\u63a8\u7406<\/li>\n<li>\u4e3b\u8981\u529f\u80fd\u4e0e\u7279\u70b9<\/li>\n<li>\u5f00\u6e90\u751f\u6001\u4e0e\u5f00\u53d1\u8005\u652f\u6301<\/li>\n<\/ul>\n<\/li>\n<li>\u7cfb\u7edf\u73af\u5883\u8981\u6c42<\/li>\n<li>\n<ul>\n<li>\u786c\u4ef6\u8981\u6c42<\/li>\n<li>\u8f6f\u4ef6\u8981\u6c42<\/li>\n<\/ul>\n<\/li>\n<li>\u5b9e\u9a8c\u8bb0\u5f55<\/li>\n<li>\u81f4\u8c22<\/li>\n<\/ul>\n<h2>Alpamayo\u9879\u76ee\u6982\u8ff0<\/h2>\n<h3>\u9879\u76ee\u7b80\u4ecb<\/h3>\n<p>Alpamayo&#xff08;\u5982Alpamayo-R1-10B&#xff09;\u662f\u7531NVIDIA\u793e\u533a&#xff08;nv-community&#xff09;\u63a8\u51fa\u7684\u524d\u6cbf\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u5927\u6a21\u578b\u9879\u76ee\u3002\u8be5\u9879\u76ee\u81f4\u529b\u4e8e\u5c06\u5927\u8bed\u8a00\u6a21\u578b&#xff08;LLM&#xff09;\u7684\u5f3a\u5927\u63a8\u7406\u80fd\u529b\u4e0e\u81ea\u52a8\u9a7e\u9a76\u7684\u89c6\u89c9\u611f\u77e5\u548c\u52a8\u4f5c\u63a7\u5236\u6df1\u5ea6\u878d\u5408&#xff0c;\u6253\u9020\u5177\u5907**\u201c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u201d&#xff08;Vision-Language-Action, VLA&#xff09;**\u80fd\u529b\u7684\u4e0b\u4e00\u4ee3\u7269\u7406AI&#xff08;PhysicalAI&#xff09;\u7cfb\u7edf\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260725000230-6a63fd16bf542.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>VLA\u4e0e\u56e0\u679c\u63a8\u7406<\/h3>\n<p>\u4f20\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u901a\u5e38\u662f\u201c\u9ed1\u76d2\u201d&#xff0c;\u76f4\u63a5\u4ece\u4f20\u611f\u5668\u6570\u636e\u6620\u5c04\u5230\u63a7\u5236\u4fe1\u53f7\u3002Alpamayo\u7684\u6838\u5fc3\u7a81\u7834\u5728\u4e8e\u5f15\u5165\u4e86**\u56e0\u679c\u63a8\u7406\u94fe&#xff08;Chain-of-Causation&#xff09;**\u673a\u5236\u3002\u6a21\u578b\u4e0d\u4ec5\u80fd\u5904\u7406\u591a\u6a21\u6001\u8f93\u5165&#xff08;\u5982\u8f66\u8f7d\u6444\u50cf\u5934\u56fe\u50cf&#xff09;&#xff0c;\u8fd8\u80fd\u50cf\u4eba\u7c7b\u9a7e\u9a76\u5458\u4e00\u6837\u8fdb\u884c\u903b\u8f91\u601d\u8003&#xff1a;\u5148\u7406\u89e3\u573a\u666f\u4e2d\u7684\u5371\u9669\u6e90\u548c\u56e0\u679c\u5173\u7cfb&#xff0c;\u7528\u81ea\u7136\u8bed\u8a00\u89e3\u91ca\u201c\u4e3a\u4ec0\u4e48\u201d\u8981\u91c7\u53d6\u67d0\u79cd\u52a8\u4f5c&#xff0c;\u968f\u540e\u518d\u751f\u6210\u5177\u4f53\u7684\u884c\u9a76\u8f68\u8ff9\u3002<\/p>\n<h3>\u4e3b\u8981\u529f\u80fd\u4e0e\u7279\u70b9<\/h3>\n<ul>\n<li>\u9ad8\u5ea6\u53ef\u89e3\u91ca\u7684\u9a7e\u9a76\u51b3\u7b56&#xff1a;\u6a21\u578b\u80fd\u591f\u8f93\u51fa\u7c7b\u4f3c*\u201c\u5411\u5de6\u5fae\u8c03\u65b9\u5411&#xff0c;\u4ee5\u589e\u52a0\u4e0e\u4fb5\u5165\u8f66\u9053\u7684\u65bd\u5de5\u9525\u6876\u7684\u5b89\u5168\u8ddd\u79bb\u201d*\u7684\u81ea\u7136\u8bed\u8a00\u63a8\u7406\u8fc7\u7a0b\u3002\u8fd9\u79cd\u767d\u76d2\u5316\u7684\u51b3\u7b56\u673a\u5236\u6781\u5927\u63d0\u5347\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u900f\u660e\u5ea6\u3001\u5b89\u5168\u6027\u548c\u53ef\u89e3\u91ca\u6027\u3002<\/li>\n<li>\u591a\u6a21\u6001\u8f68\u8ff9\u89c4\u5212\u4e0e\u9884\u6d4b&#xff1a;\u5728\u6df1\u5ea6\u7406\u89e3\u590d\u6742\u4ea4\u901a\u573a\u666f&#xff08;\u5982\u65bd\u5de5\u533a\u57df\u3001\u969c\u788d\u7269\u3001\u52a8\u6001\u8f66\u8f86&#xff09;\u7684\u57fa\u7840\u4e0a&#xff0c;\u6a21\u578b\u80fd\u591f\u751f\u6210\u5b89\u5168\u3001\u5e73\u6ed1\u7684\u9884\u6d4b\u8f68\u8ff9&#xff08;Trajectory&#xff09;&#xff0c;\u5e76\u652f\u6301\u901a\u8fc7minADE&#xff08;\u6700\u5c0f\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee&#xff09;\u7b49\u6807\u51c6\u6307\u6807\u8fdb\u884c\u7cbe\u51c6\u8bc4\u4f30\u3002<\/li>\n<li>\u7075\u6d3b\u7684\u91c7\u6837\u4e0e\u90e8\u7f72&#xff1a;\u6a21\u578b\u652f\u6301\u591a\u8f68\u8ff9\u91c7\u6837&#xff08;Trajectory Sampling&#xff09;\u4ee5\u5e94\u5bf9\u9a7e\u9a76\u73af\u5883\u7684\u4e0d\u786e\u5b9a\u6027&#xff0c;\u540c\u65f6\u517610B&#xff08;100\u4ebf\u53c2\u6570&#xff09;\u7b49\u7248\u672c\u5728\u4fdd\u6301\u5f3a\u5927\u63a8\u7406\u80fd\u529b\u7684\u540c\u65f6&#xff0c;\u4f18\u5316\u4e86\u663e\u5b58\u5360\u7528&#xff0c;\u9002\u5408\u5728\u6d88\u8d39\u7ea7GPU\u6216\u8fb9\u7f18\u8ba1\u7b97\u8bbe\u5907\u4e0a\u8fdb\u884c\u9ad8\u6548\u63a8\u7406\u3002<\/li>\n<\/ul>\n<h3>\u5f00\u6e90\u751f\u6001\u4e0e\u5f00\u53d1\u8005\u652f\u6301<\/h3>\n<p>Alpamayo \u6a21\u578b\u6743\u91cd\u53ca\u76f8\u5173\u6570\u636e\u96c6\u5df2\u5728 Hugging Face\u548cModelScope\u7b49\u4e3b\u6d41\u5f00\u6e90\u5e73\u53f0\u5168\u9762\u5f00\u653e\u3002\u9879\u76ee\u63d0\u4f9b\u4e86\u5b8c\u5584\u7684Python\u63a8\u7406\u811a\u672c&#xff08;\u5982 test_inference.py&#xff09;\u548cJupyter\u53ef\u89c6\u5316Notebook&#xff0c;\u652f\u6301\u5f00\u53d1\u8005\u4fbf\u6377\u5730\u4e0b\u8f7d\u6a21\u578b\u3001\u590d\u73b0\u63a8\u7406\u7ed3\u679c\u5e76\u8fdb\u884c\u4e8c\u6b21\u5f00\u53d1&#xff0c;\u6781\u5927\u964d\u4f4e\u4e86\u7269\u7406AI\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u7814\u7a76\u4e0e\u843d\u5730\u95e8\u69db\u3002<\/p>\n<h2>\u7cfb\u7edf\u73af\u5883\u8981\u6c42<\/h2>\n<p>\u6839\u636e\u5b98\u65b9\u6587\u6863&#xff0c;\u8fd0\u884cAlpamayo\u6a21\u578b\u9700\u8981\u6ee1\u8db3\u4ee5\u4e0b\u786c\u4ef6\u914d\u7f6e\u8981\u6c42\u3002<\/p>\n<h3>\u786c\u4ef6\u8981\u6c42<\/h3>\n<p>GPU&#xff1a; \u6700\u4f4e\u8981\u6c42&#xff1a;NVIDIA GPU&#xff0c;\u663e\u5b58\u226524GB \u63a8\u8350\u914d\u7f6e&#xff1a;RTX 3090\u3001RTX 4090\u3001RTX 5090\u3001A5000\u3001A100\u3001H100<\/p>\n<p>\u5176\u4ed6\u786c\u4ef6&#xff1a;<\/p>\n<table>\n<tr>CPU\u5185\u5b58\u5b58\u50a8<\/tr>\n<tbody>\n<tr>\n<td>\u73b0\u4ee3\u591a\u6838\u5904\u7406\u5668&#xff08;\u63a8\u83508\u6838\u4ee5\u4e0a&#xff09;<\/td>\n<td>\u5efa\u8bae32GB\u4ee5\u4e0a\u7cfb\u7edf\u5185\u5b58<\/td>\n<td>\u81f3\u5c1150GB\u53ef\u7528\u7a7a\u95f4<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>\u8f6f\u4ef6\u8981\u6c42<\/h3>\n<table>\n<tr>\u64cd\u4f5c\u7cfb\u7edfPython\u7248\u672cCUDA\u548cGPU\u9a71\u52a8<\/tr>\n<tbody>\n<tr>\n<td>Linux\u7cfb\u7edf<\/td>\n<td>Python 3.12<\/td>\n<td>NVIDIA\u9a71\u52a8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6b64\u5916\u8fd8\u9700\u5b89\u88c5git\u3001uv\u3002<\/p>\n<h2>\u5b9e\u9a8c\u8bb0\u5f55<\/h2>\n<li>\u4f7f\u7528conda\u521b\u5efapython\u7248\u672c\u4e3a3.12\u7684\u865a\u62df\u73af\u5883&#xff0c;\u907f\u514d\u5f71\u54cd\u670d\u52a1\u5668base\u73af\u5883\u3002<\/li>\n<p>conda create <span class=\"token parameter variable\">-n<\/span> pamayo <span class=\"token assign-left variable\">python<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token number\">3.12<\/span><\/p>\n<p>conda activate pamayo<\/p>\n<li>\u68c0\u67e5Python\u7248\u672c\u3001NVIDIA\u9a71\u52a8\u7248\u672c\u53ca\u663e\u5b58\u662f\u5426\u7a7a\u4f59<\/li>\n<p>python <span class=\"token operator\">&#8211;<\/span><span class=\"token operator\">&#8211;<\/span>version<br \/>\nnvidia<span class=\"token operator\">&#8211;<\/span>smi<\/p>\n<li>\u5b89\u88c5git<\/li>\n<p>dpkg <span class=\"token parameter variable\">-x<\/span> git_1%3a2.43.0-1ubuntu7.3_amd64.deb  <span class=\"token function\">git<\/span><\/p>\n<p>\u5e76\u5728.bashrc\u4e2d\u4fee\u6539<\/p>\n<p><span class=\"token function\">vim<\/span> ~\/.bashrc<\/p>\n<p><span class=\"token builtin class-name\">export<\/span> <span class=\"token assign-left variable\"><span class=\"token environment constant\">PATH<\/span><\/span><span class=\"token operator\">&#061;<\/span><span class=\"token environment constant\">$PATH<\/span>:~\/git\/usr\/bin<br \/>\n<span class=\"token builtin class-name\">export<\/span> <span class=\"token assign-left variable\">GIT_EXEC_PATH<\/span><span class=\"token operator\">&#061;~<\/span>\/git\/usr\/lib\/git-core<\/p>\n<p>\u5728\u7ec8\u7aef\u8f93\u5165:wq\u4fdd\u5b58\u9000\u51fa<\/p>\n<p><span class=\"token builtin class-name\">source<\/span> ~\/.bashrc<\/p>\n<p>\u91cd\u65b0\u8fdb\u5165\u7ec8\u7aef&#xff0c;\u9a8c\u8bc1git\u7248\u672c<\/p>\n<p>conda activate pamayo<br \/>\n<span class=\"token function\">git<\/span> <span class=\"token parameter variable\">&#8211;version<\/span><\/p>\n<li>\u5b89\u88c5uv&#xff08;\u9700\u8981\u9b54\u6cd5&#xff09;<\/li>\n<p><span class=\"token function\">curl<\/span> <span class=\"token parameter variable\">-LsSf<\/span> https:\/\/astral.sh\/uv\/install.sh <span class=\"token operator\">|<\/span> <span class=\"token function\">sh<\/span><br \/>\n<span class=\"token comment\"># \u6216<\/span><br \/>\n<span class=\"token comment\"># curl -L#f https:\/\/astral.sh\/uv\/install.sh -o uv-install.sh &amp;&amp; sh uv-install.sh &amp;&amp; rm uv-install.sh<\/span><\/p>\n<p><span class=\"token builtin class-name\">export<\/span> <span class=\"token assign-left variable\"><span class=\"token environment constant\">PATH<\/span><\/span><span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;<span class=\"token environment constant\">$HOME<\/span>\/.local\/bin:<span class=\"token environment constant\">$PATH<\/span>&#034;<\/span><\/p>\n<p>uv <span class=\"token parameter variable\">&#8211;version<\/span><\/p>\n<p><span class=\"token builtin class-name\">echo<\/span> <span class=\"token string\">&#039;export PATH&#061;&#034;$HOME\/.local\/bin:$PATH&#034;&#039;<\/span> <span class=\"token operator\">&gt;&gt;<\/span> ~\/.bashrc<br \/>\n<span class=\"token builtin class-name\">source<\/span> ~\/.bashrc<\/p>\n<li>\u4e0b\u62c9\u4ee3\u7801&amp;\u8bbe\u7f6e\u73af\u5883<\/li>\n<p><span class=\"token function\">git<\/span> clone https:\/\/github.com\/NVlabs\/alpamayo.git<br \/>\n<span class=\"token builtin class-name\">cd<\/span> alpamayo<\/p>\n<p>uv venv ar1_venv<\/p>\n<p><span class=\"token builtin class-name\">source<\/span> ar1_venv\/bin\/activate  <span class=\"token comment\"># Linux\/macOS<\/span><\/p>\n<p>uv <span class=\"token function\">sync<\/span> <span class=\"token parameter variable\">&#8211;active<\/span><\/p>\n<li>\u4e0b\u8f7d\u6a21\u578b\u6743\u91cd&#xff08;\u6587\u4ef6\u8f83\u5927&#xff0c;\u8d70\u56fd\u5185modelscope&#xff0c;\u53ef\u975e\u9b54\u6cd5&#xff09;<\/li>\n<p><span class=\"token function\">mkdir<\/span> ~\/Project\/alpamayo<br \/>\n<span class=\"token builtin class-name\">cd<\/span> ~\/Project\/alpamayo<br \/>\n<span class=\"token function\">git<\/span> clone https:\/\/www.modelscope.cn\/nv-community\/Alpamayo-R1-10B.git<\/p>\n<li>\u4fee\u6539test_inference.py \u7f16\u8f91test_inference.py\u6587\u4ef6&#xff0c;\u4f7f\u7528vim\u4fee\u6539<\/li>\n<p>model <span class=\"token operator\">&#061;<\/span> AlpamayoR1<span class=\"token punctuation\">.<\/span>from_pretrained<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;nvidia\/Alpamayo-R1-10B&#034;<\/span><span class=\"token punctuation\">,<\/span> dtype<span class=\"token operator\">&#061;<\/span>torch<span class=\"token punctuation\">.<\/span>bfloat16<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>to<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;cuda&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u4e3a<\/p>\n<p>model <span class=\"token operator\">&#061;<\/span> AlpamayoR1<span class=\"token punctuation\">.<\/span>from_pretrained<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;~\/Project\/alpamayo\/Alpamayo-R1-10B&#034;<\/span><span class=\"token punctuation\">,<\/span> dtype<span class=\"token operator\">&#061;<\/span>torch<span class=\"token punctuation\">.<\/span>bfloat16<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">.<\/span>to<span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;cuda&#034;<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<li>\u767b\u5f55huggingface&#xff0c;\u7ed9\u6570\u636e\u96c6\u8bb8\u53ef\u6743\u9650&#xff0c;\u8bbe\u7f6etoken&#xff08;\u9700\u8981\u9b54\u6cd5&#xff09;<\/li>\n<p>\u6570\u636e\u96c6\u5730\u5740&#xff1a;https:\/\/huggingface.co\/datasets\/nvidia\/PhysicalAI-Autonomous-Vehicles \u5c55\u5f00\u4e0a\u65b9\u7684\u8bf4\u660e&#xff0c;\u5212\u5230\u8bf4\u660e\u7684\u6700\u4e0b\u65b9&#xff0c;\u5141\u8bb8\u5373\u53ef\u3002<\/p>\n<p>token\u8bbe\u7f6e\u5730\u5740&#xff1a;https:\/\/huggingface.co\/settings\/tokens \u6211\u662f\u628a\u53ef\u4ee5\u80fd\u6253\u221a\u7684\u90fd\u6253\u4e0a\u221a&#xff0c;\u4e0d\u8fc7\u4e5f\u6709\u4eba\u8bf4\u8bbe\u7f6e\u53ef\u8bfb\u5373\u53ef\u3002 \u8bb0\u5f97\u4fdd\u5b58\u4f60\u7684token\u8bbf\u95ee\u4ee4\u724c&#xff0c;\u4e0d\u7136\u5f97\u5220\u4e86\u91cd\u65b0\u5efa\u3002<\/p>\n<li>\u4f7f\u7528HuggingFace CLI\u8ba4\u8bc1&#xff08;\u9700\u8981\u9b54\u6cd5&#xff09;<\/li>\n<p>huggingface-cli login<\/p>\n<p>\u7136\u540e\u8f93\u5165\u4f60\u7684token\u4ee4\u724c<\/p>\n<li>\u8fd0\u884ctest_inference.py&#xff08;\u9700\u8981\u9b54\u6cd5&#xff09;<\/li>\n<p>python <span class=\"token operator\">~<\/span><span class=\"token operator\">\/<\/span>Project<span class=\"token operator\">\/<\/span>alpamayo<span class=\"token operator\">\/<\/span>src<span class=\"token operator\">\/<\/span>alpamayo_r1<span class=\"token operator\">\/<\/span>test_inference<span class=\"token punctuation\">.<\/span>py<\/p>\n<p>\u9884\u671f\u8f93\u51fa&#xff1a;<\/p>\n<p>Loading dataset <span class=\"token keyword\">for<\/span> clip_id: 030c760c-ae38-49aa-9ad8-f5650a545d26<span class=\"token punctuation\">..<\/span>.<br \/>\nDataset loaded.<br \/>\nChain-of-Causation <span class=\"token punctuation\">(<\/span>per trajectory<span class=\"token punctuation\">)<\/span>:<br \/>\n <span class=\"token punctuation\">[<\/span>\u6a21\u578b\u751f\u6210\u7684\u63a8\u7406\u6587\u672c&#xff0c;\u89e3\u91ca\u9a7e\u9a76\u51b3\u7b56<span class=\"token punctuation\">]<\/span><br \/>\nminADE: <span class=\"token punctuation\">[<\/span>\u6570\u503c<span class=\"token punctuation\">]<\/span> meters<br \/>\nNote: VLA-reasoning models produce nondeterministic outputs<span class=\"token punctuation\">..<\/span>.<\/p>\n<p>\u8f93\u51fa&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260725000231-6a63fd17afa68.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" 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