{"id":4464,"date":"2026-11-01T12:00:22","date_gmt":"2026-11-01T04:00:22","guid":{"rendered":"https:\/\/www.heimaobook.com\/?p=4464"},"modified":"2026-11-01T12:00:22","modified_gmt":"2026-11-01T04:00:22","slug":"%e5%92%8c%e4%b8%ad%e5%9b%bd%e7%a7%91%e5%ad%a6%e9%99%a2%e8%81%94%e6%89%8b%ef%bc%8c%e5%85%b7%e8%ba%ab%e6%99%ba%e8%83%bd%e4%bc%81%e4%b8%9a%e6%80%8e%e4%b9%88%e6%8a%8a%e4%ba%9a%e6%af%ab%e7%b1%b3%e7%ba%a7","status":"publish","type":"post","link":"https:\/\/www.heimaobook.com\/?p=4464","title":{"rendered":"\u548c\u4e2d\u56fd\u79d1\u5b66\u9662\u8054\u624b\uff0c\u5177\u8eab\u667a\u80fd\u4f01\u4e1a\u600e\u4e48\u628a\u4e9a\u6beb\u7c73\u7ea7\u201c\u7cbe\u5bc6\u64cd\u4f5c\u201d\u505a\u6210\u7edd\u6d3b\uff1f"},"content":{"rendered":"

\u4eba\u5728\u9ed1\u591c\u91cc\u62ff\u7740\u94a5\u5319\u5f00\u9501\uff0c\u9760\u7684\u7edd\u4e0d\u662f\u773c\u775b\u770b\uff0c\u800c\u662f\u94a5\u5319\u78b0\u5230\u9501\u5b54\u8fb9\u7f18\u7684\u90a3\u4e00\u77ac\u95f4\uff0c\u6307\u5c16\u4f20\u6765\u7684\u7ec6\u5fae\u963b\u529b\uff0c\u80fd\u5e2e\u52a9\u6211\u4eec\u5224\u65ad\u65b9\u5411\u662f\u5426\u504f\u4e86\u3001\u94a5\u5319\u662f\u5426\u5361\u4f4f\uff0c\u518d\u987a\u52bf\u8c03\u6574\u89d2\u5ea6\uff0c\u76f4\u5230\u51c6\u786e\u63d2\u5165\u3002<\/p>\n

\u8fd9\u672c\u8d28\u4e0a\u5c31\u662f\u4eba\u7c7b\u6700\u539f\u59cb\u3001\u4e5f\u6700\u7cbe\u5bc6\u7684\u88c5\u914d\u52a8\u4f5c\u3002<\/p>\n

\u4f46\u5728\u81ea\u52a8\u5316\u5de5\u4e1a\u754c\uff0c\u8ba9\u673a\u5668\u4eba\u62e5\u6709\u8fd9\u79cd\u201c\u9ed1\u591c\u5f00\u9501\u7684\u624b\u611f\u201d\uff0c\u4e00\u76f4\u662f\u5236\u7ea6\u9ad8\u7cbe\u5ea6\u67d4\u6027\u88c5\u914d\u8fc8\u5411\u5168\u9762\u81ea\u4e3b\u5316\u7684\u5173\u952e\u6280\u672f\u74f6\u9888\u3002<\/p>\n

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\u7eaf\u9760\u89c6\u89c9\uff0c\u673a\u5668\u4eba\u770b\u4e0d\u6e05\uff1b\u7eaf\u9760\u4f20\u7edf\u529b\u5b66\u63a7\u5236\uff0c\u6362\u4e2a\u96f6\u4ef6\u5c31\u5f97\u91cd\u65b0\u8c03\u53c2\u3002\u53ea\u8981\u7a0d\u5fae\u6709\u4e00\u4e1d\u4f4d\u59ff\u504f\u5dee\uff0c\u5de5\u4ef6\u5c31\u4f1a\u5361\u6b7b\u3001\u522e\u4f24\uff0c\u751a\u81f3\u76f4\u63a5\u649e\u6bc1\u6602\u8d35\u7684\u8bbe\u5907\u3002<\/p>\n

\u90a3\u4e48\u5982\u4f55\u8ba9\u673a\u5668\u4eba\u5728\u770b\u4e0d\u5927\u6e05\u7684\u60c5\u51b5\u4e0b\uff0c\u4f9d\u7136\u80fd\u591f\u4f9d\u9760\u63a5\u89e6\u53cd\u9988\u5b8c\u6210\u7cbe\u5bc6\u64cd\u4f5c\uff1f<\/p>\n

\u4e3a\u4e86\u653b\u514b\u8fd9\u4e2a\u4e9a\u6beb\u7c73\u7ea7\u7684\u88c5\u914d\u96be\u9898\uff0c\u4e2d\u56fd\u79d1\u5b66\u9662\u81ea\u52a8\u5316\u7814\u7a76\u6240\uff08\u7b80\u79f0CASIA\uff09\uff0c\u7a0b\u9f99\u7814\u7a76\u5458\u56e2\u961f\u7684\u674e\u539a\u6210\u526f\u7814\u7a76\u5458\u3001\u5b5f\u946b\u6500\u535a\u58eb\u3001\u9a6c\u6b63\u534e\u535a\u58eb\u7b49\u79d1\u7814\u4eba\u5458\uff0c\u5f00\u5c55\u4e86\u4e00\u9879\u53d1\u8868\u4e8e\u56fd\u9645\u673a\u5668\u4eba\u9876\u4f1aIROS 2026\u7684\u7814\u7a76\uff0c\u63a2\u7d22\u5982\u4f55\u5229\u7528\u89e6\u89c9\u589e\u5f3a\u5f3a\u5316\u5b66\u4e60\uff0c\u63d0\u9ad8\u4e9a\u6beb\u7c73\u7ea7\u7cbe\u5bc6\u64cd\u4f5c\u7684\u6210\u529f\u7387\u4e0e\u7a33\u5b9a\u6027\u3002<\/p>\n

\n\n<\/p>\n

\u8fd9\u9879\u7814\u7a76\u6307\u5411\u4e00\u4e2a\u6838\u5fc3\u95ee\u9898\uff1a\u8ba9\u673a\u5668\u4eba\u4e0d\u53ea\u4f9d\u9760\u89c6\u89c9\u5224\u65ad\u7a7a\u95f4\u4f4d\u7f6e\uff0c\u8fd8\u80fd\u901a\u8fc7\u89e6\u89c9\u7406\u89e3\u63a5\u89e6\u72b6\u6001\uff0c\u5e76\u636e\u6b64\u8c03\u6574\u52a8\u4f5c\u3002<\/p>\n

\u4e3a\u4e86\u8ba9\u7b97\u6cd5\u5728\u771f\u5b9e\u7269\u7406\u4e16\u754c\u91cc\u8dd1\u8d77\u6765\uff0cCASIA\u56e2\u961f\u5728\u5e15\u897f\u5c3cPGH (PaXini Global Horizons)\u5bf0\u5b87\u5b66\u8005\u8ba1\u5212\u7684\u4f9d\u6258\u4e0b\u4e0e\u5e15\u897f\u5c3c\u5c55\u5f00\u6df1\u5ea6\u8054\u52a8\uff0c\u901a\u8fc7\u642d\u8f7dPX6AX GEN3\u9635\u5217\u5f0f\u591a\u7ef4\u89e6\u89c9\u4f20\u611f\u5668\uff0c\u76f4\u63a5\u4e3a\u673a\u68b0\u81c2\u88c5\u4e0a\u4e86\u9ad8\u7cbe\u5ea6\u7684\u201c\u89e6\u89c9\u795e\u7ecf\u201d\u3002<\/p>\n

\u8fd1\u65e5\uff0c\u5e15\u897f\u5c3c\u4f20\u611f\u5668\u7814\u53d1\u603b\u76d1\u3001\u535a\u58eb\u540e\u5de5\u4f5c\u7ad9\u5bfc\u5e08\u5b59\u6d2a\u6d9b\u535a\u58eb\uff0c\u4e0eCASIA\u56e2\u961f\u5b5f\u946b\u6500\u535a\u58eb\u5c55\u5f00\u4e86\u4e00\u573a\u6df1\u5ea6\u5bf9\u8bdd\uff0c\u5171\u540c\u63a2\u8ba8\u4e86\u8fd9\u573a\u4e9a\u6beb\u7c73\u7f1d\u9699\u91cc\u7684\u201c\u89e6\u89c9\u9769\u547d\u201d\u3002\u4ed6\u4eec\u7a76\u7adf\u662f\u600e\u4e48\u8ba9\u673a\u5668\u4eba\u5b66\u4f1a\u8fd9\u79cd\u7269\u7406\u624b\u611f\u7684\uff1f\u8fd9\u9879\u5237\u5c4f\u5b66\u672f\u754c\u7684\u7814\u7a76\u80cc\u540e\u53c8\u6709\u54ea\u4e9b\u6280\u672f\u7ec6\u8282\uff1f\u6211\u4eec\u4e0d\u59a8\u4e00\u8d77\u6765\u62c6\u89e3\u770b\u770b\u3002<\/p>\n

\u5982\u4f55\u8ba9\u673a\u5668\u4eba\u5b66\u4f1a\u4e9a\u6beb\u7c73\u7ea7\u7684\u7269\u7406\u624b\u611f<\/p>\n

\u5728\u8fc7\u53bb\uff0c\u5f88\u591a\u5c1d\u8bd5\u5c06\u89e6\u89c9\u5f15\u5165\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u7684\u7814\u7a76\u90fd\u4ee5\u5931\u8d25\u544a\u7ec8\u3002\u539f\u56e0\u5728\u4e8e\u771f\u5b9e\u4e16\u754c\u7684\u89e6\u89c9\u4fe1\u53f7\u5f88\u201c\u810f\u201d\u2014\u2014\u5939\u722a\u6bcf\u6b21\u6293\u53d6\u5de5\u4ef6\u7684\u4f4d\u7f6e\u7a0d\u5fae\u504f\u4e86\u4e00\u4e1d\uff0c\u4f20\u611f\u5668\u8f93\u51fa\u7684\u539f\u59cb\u529b\u77e9\u5c31\u4f1a\u4ea7\u751f\u5de8\u5927\u504f\u79fb\uff0c\u4e25\u91cd\u5e72\u6270\u4e86AI\u7684\u51b3\u7b56\u4e0e\u8bad\u7ec3\u3002<\/p>\n

CASIA\u56e2\u961f\u5728\u673a\u5668\u4eba\u9876\u4f1aIROS 2026\u4e0a\u53d1\u8868\u4e86\u8fd9\u9879\u7814\u7a76\uff0c\u8fd9\u5957\u65b9\u6848\u4e0d\u518d\u53ea\u9760\u4e00\u79cd\u611f\u77e5\u65b9\u5f0f\uff0c\u800c\u662f\u628a\u88c5\u914d\u62c6\u6210\u4e24\u6bb5\uff1a\u5148\u7528\u6a21\u4eff\u5b66\u4e60\uff08IL\uff09\u5feb\u901f\u62b5\u8fbe\uff0c\u518d\u7528\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u5b8c\u6210\u63d2\u5165\u3002\u8bad\u7ec3\u65f6\u91c7\u7528\u975e\u5bf9\u79f0Actor-Critic\u67b6\u6784\uff1aActor\u65b9\u9762\u4ee5\u89c6\u89c9\u4fe1\u606f\u4e3a\u4e3b\u5bfc\uff0c\u4fdd\u8bc1\u5b9e\u9645\u90e8\u7f72\u65f6\u7684\u6548\u7387\uff1bCritic\u65b9\u9762\u5f15\u5165\u89e6\u89c9\u53cd\u9988\uff0c\u7528\u6765\u6307\u5bfc\u8bad\u7ec3\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u7814\u7a76\u4e3b\u8981\u5728\u89e6\u89c9\u4fe1\u53f7\u5904\u7406\u3001\u8bad\u7ec3\u6837\u672c\u91c7\u6837\u548c\u4e24\u9636\u6bb5\u5b66\u4e60\u67b6\u6784\u4e0a\u8fdb\u884c\u4e86\u63a2\u7d22\uff1a<\/p>\n

-\u7ed9\u89e6\u89c9\u201c\u6234\u4e0a\u964d\u566a\u8033\u673a\u201d<\/p>\n

\u771f\u5b9e\u88c5\u914d\u4e2d\uff0c\u4e0d\u540c\u7684\u6293\u63e1\u59ff\u6001\u53ef\u80fd\u5bfc\u81f4\u4f20\u611f\u5668\u4ea7\u751f\u4e0d\u540c\u7684\u521d\u59cb\u529b\u77e9\u8bfb\u6570\u3002\u5982\u679c\u76f4\u63a5\u4f7f\u7528\u539f\u59cb\u6570\u636e\uff0c\u6293\u63e1\u72b6\u6001\u5e26\u6765\u7684\u504f\u5dee\u5c31\u53ef\u80fd\u5e72\u6270\u7b97\u6cd5\u5bf9\u540e\u7eed\u63a5\u89e6\u60c5\u51b5\u7684\u5224\u65ad\u3002<\/p>\n

\u4e3a\u6b64\uff0c\u56e2\u961f\u91c7\u7528\u4e86\u89e6\u89c9\u57fa\u7ebf\u8865\u507f\uff0c\u5e76\u8bbe\u8ba1\u4e86\u6b8b\u5dee\u89e6\u89c9Critic\uff08Residual Tactile Critic\uff09\u3002\u673a\u5668\u4eba\u6293\u7a33\u5de5\u4ef6\u540e\uff0c\u7cfb\u7edf\u4f1a\u5728\u5c1a\u672a\u63a5\u89e6\u5b54\u53e3\u65f6\u4f30\u8ba1\u4e00\u7ec4\u7a33\u5b9a\u7684\u89e6\u89c9\u57fa\u51c6\u503cf\u02c9\uff0c\u968f\u540e\u8ba1\u7b97\u5f53\u524d\u89e6\u89c9\u8bfb\u6570\u76f8\u5bf9\u4e8e\u57fa\u51c6\u7684\u53d8\u5316\u91cf\uff1a\u0394ft=ft -f\u02c9\u3002\u8fd9\u5c31\u50cf\u7ed9\u89e6\u89c9\u4fe1\u53f7\u6234\u4e0a\u4e86\u4e00\u526f\u201c\u964d\u566a\u8033\u673a\u201d\uff1a\u5148\u6263\u9664\u521d\u59cb\u72b6\u6001\u4e0b\u5df2\u6709\u7684\u53d7\u529b\u504f\u7f6e\uff0c\u518d\u91cd\u70b9\u5173\u6ce8\u63d2\u5165\u8fc7\u7a0b\u4e2d\u65b0\u589e\u7684\u53d7\u529b\u53d8\u5316\uff0c\u4ece\u800c\u51cf\u8f7b\u4e0d\u540c\u6293\u63e1\u59ff\u6001\u5e26\u6765\u7684\u4fe1\u53f7\u504f\u5dee\u5bf9\u7b97\u6cd5\u8bad\u7ec3\u7684\u5e72\u6270\u3002<\/p>\n

\n\n<\/p>\n

-\u7528\u89e6\u89c9\u5206\u7ec4\u91c7\u6837\u6d88\u9664\u8bad\u7ec3\u504f\u79d1<\/p>\n

\u5728\u5f3a\u5316\u5b66\u4e60\u63a2\u7d22\u4e2d\uff0c\u79bb\u7ebf\u91cd\u653e\u7f13\u51b2\u533a\u5bb9\u6613\u504f\u5411\u67d0\u4e9b\u7279\u5b9a\u59ff\u6001\u3002\u56e2\u961f\u6839\u636e\u6293\u53d6\u540e\u7684\u626d\u77e9\u5206\u91cf\uff08Mx,My\uff09\u8fdb\u884c\u79bb\u6563\u5316\u7f51\u683c\u5206\u7ec4\uff0c\u8bad\u7ec3\u65f6\u5728\u4e0d\u540c\u89e6\u89c9\u5206\u7ec4\u95f4\u5747\u8861\u62bd\u53d6\u6837\u672c\u3002<\/p>\n

\u8fd9\u79cd\u5de7\u601d\u6781\u5927\u5730\u5f25\u8865\u4e86\u63a5\u89e6\u6761\u4ef6\u8986\u76d6\u4e0d\u8db3\u7684\u95ee\u9898\uff0c\u8ba9\u673a\u5668\u4eba\u5373\u4fbf\u6362\u4e86\u5343\u5947\u767e\u602a\u7684\u6293\u63e1\u59ff\u52bf\uff0c\u4f9d\u7136\u80fd\u7a33\u5b9a\u6536\u655b\u3002<\/p>\n

-\u4e24\u9636\u6bb5\u6d41\u6c34\u7ebf\uff0c\u517c\u987e\u6548\u7387\u4e0e\u7cbe\u5ea6<\/p>\n

CASIA\u56e2\u961f\u8bbe\u8ba1\u4e86\u5206\u5de5\u660e\u786e\u7684\u4e24\u9636\u6bb5\u67b6\u6784\uff1a\u65e2\u4fdd\u8bc1\u62b5\u8fbe\u7684\u6548\u7387\uff0c\u53c8\u517c\u987e\u63d2\u5165\u7684\u7cbe\u5ea6\u3002<\/p>\n

\u62b5\u8fbe\u9636\u6bb5\uff08IL\uff09\u91c7\u7528Diffusion Policy\uff08\u6269\u6563\u7b56\u7565\uff09\u8fdb\u884c\u6a21\u4eff\u5b66\u4e60\uff0c\u8ba9\u673a\u68b0\u81c2\u5b66\u4e60\u5c06\u5de5\u4ef6\u79fb\u52a8\u5230\u5b54\u53e3\u9644\u8fd1\uff1b\u63d2\u5165\u9636\u6bb5\uff08RL\uff09\u5219\u5207\u6362\u4e3aSAC\uff08Soft Actor-Critic\uff09\uff0c\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u63a2\u7d22\u63a5\u89e6\u8fc7\u7a0b\u4e2d\u7684\u5fae\u8c03\u7b56\u7565\u3002\u524d\u6bb5\u62a2\u901f\u5ea6\uff0c\u540e\u6bb5\u4fdd\u7cbe\u5ea6\uff0c\u4e5f\u4e3a\u964d\u4f4e\u5bf9\u7cbe\u786e\u5efa\u6a21\u7684\u4f9d\u8d56\u3001\u6539\u5584\u7b56\u7565\u7684\u6cdb\u5316\u80fd\u529b\u63d0\u4f9b\u4e86\u65b0\u7684\u601d\u8def\u3002<\/p>\n

\u597d\u6570\u636e\uff0c\u624d\u662f\u8dd1\u51fa\u597d\u7b97\u6cd5\u7684\u524d\u63d0<\/p>\n

\u5728\u8fd9\u7c7b\u4f9d\u8d56\u63a5\u89e6\u53cd\u9988\u7684\u8bad\u7ec3\u6846\u67b6\u91cc\uff0c\u7b97\u6cd5\u80fd\u5426\u6536\u655b\uff0c\u5f88\u5927\u7a0b\u5ea6\u4e0a\u53d6\u51b3\u4e8e\u6307\u5c16\u62ff\u5230\u7684\u89e6\u89c9\u6570\u636e\u8d28\u91cf\u3002<\/p>\n

\u4ee5\u5f80\u5728\u5de5\u4e1a\u88c5\u914d\u4e2d\uff0c\u5927\u5bb6\u4e60\u60ef\u5728\u673a\u68b0\u81c2\u672b\u7aef\u6302\u4e00\u4e2a\u201c\u8155\u90e8\u516d\u7ef4\u529b\u4f20\u611f\u5668\u201d\u3002\u4f46\u5728\u4e9a\u6beb\u7c73\u7ea7\u7684\u5c40\u90e8\u63a5\u89e6\u91cc\uff0c\u8155\u90e8\u4f20\u611f\u5668\u611f\u77e5\u5230\u7684\u662f\u6574\u6761\u673a\u68b0\u81c2\u540e\u7aef\u7684\u8026\u5408\u53d7\u529b\uff0c\u7b49\u5b83\u53cd\u5e94\u51fa\u5361\u6ede\u548c\u503e\u659c\u65f6\uff0c\u5fae\u89c2\u5c42\u9762\u7684\u51b2\u51fb\u5f80\u5f80\u5df2\u7ecf\u53d1\u751f\u3002<\/p>\n

\u8981\u6355\u6349\u6700\u771f\u5b9e\u7684\u63a5\u89e6\u72b6\u6001\uff0c\u611f\u77e5\u70b9\u5fc5\u987b\u65e0\u9650\u63a5\u8fd1\u4ea4\u4e92\u53d1\u751f\u7684\u5730\u65b9\u3002<\/p>\n

\u5728\u8fd9\u9879\u7814\u7a76\u4e2d\uff0c\u5e15\u897f\u5c3c\u7684PX6AX GEN3\u51ed\u501f\u5176\u539f\u751f6D\u611f\u77e5\u30010.01N\u7075\u654f\u5ea6\u30011000Hz\u6570\u636e\u8f93\u51fa\u9891\u7387\u3001\u8d85\u9ad8\u6d4b\u529b\u4e00\u81f4\u6027\u4ee5\u53ca\u9ad8\u96c6\u6210\u6613\u7528\u8bbe\u8ba1\u7684\u80fd\u529b\uff0c\u6210\u4e3a\u8be5\u7814\u7a76\u7ecf\u8bc4\u4f30\u9009\u7528\u7684\u89e6\u89c9\u4f20\u611f\u5668\uff0c\u88ab\u96c6\u6210\u5230\u4e03\u8f74\u673a\u68b0\u81c2\u4e0a\uff0c\u8d1f\u8d23\u5b9e\u65f6\u6d4b\u91cf\u4e0e\u53cd\u9988\u63a5\u89e6\u72b6\u6001\u3002\u57fa\u4e8e\u6307\u5c16\u9635\u5217\u7684\u89e3\u7b97\uff0c\u7cfb\u7edf\u80fd\u591f\u5b9e\u65f6\u83b7\u53d6Fx,Fy,Fz\u4e09\u5411\u529b\u4e0eMx,My,Mz\u4e09\u5411\u529b\u77e9\u7684\u65f6\u5e8f\u53d8\u5316\u3002<\/p>\n

\n\n<\/p>\n

\u8fd9\u5957\u6307\u5c16\u89e6\u89c9\u6570\u636e\uff0c\u6784\u6210\u4e86\u6574\u4e2a\u5f3a\u5316\u5b66\u4e60\u8bc4\u5224\u65b9\u9762\u5341\u5206\u6838\u5fc3\u7684\u4fe1\u606f\u6765\u6e90\u3002\u65e0\u8bba\u662f\u8fc7\u6ee4\u6293\u63e1\u566a\u97f3\u7684\u6b8b\u5dee\u8ba1\u7b97\uff0c\u8fd8\u662f\u5747\u8861\u6837\u672c\u5206\u5e03\u7684\u5206\u7ec4\u91c7\u6837\uff0c\u90fd\u5bf9\u4f20\u611f\u5668\u7684\u96f6\u6f02\u63a7\u5236\u3001\u54cd\u5e94\u65f6\u5ef6\u548c\u91cd\u590d\u7cbe\u5ea6\u6709\u7740\u82db\u523b\u7684\u8981\u6c42\u2014\u2014\u5982\u679c\u539f\u59cb\u4fe1\u53f7\u672c\u8eab\u5145\u65a5\u7740\u9ad8\u9891\u6f02\u79fb\uff0c\u6b8b\u5dee\u7b97\u6cd5\u5c31\u4f1a\u77ac\u95f4\u88ab\u566a\u70b9\u6df9\u6ca1\u3002<\/p>\n

\u6b63\u662f\u8fd9\u79cd\u6307\u5c16\u611f\u77e5\u4e0e\u5fae\u89c2\u529b\u5b66\u7b97\u6cd5\u7684\u7cbe\u51c6\u5951\u5408\uff0c\u6700\u7ec8\u5728\u5b66\u672f\u9876\u4f1a\u4e0a\u4ea4\u51fa\u4e86\u6781\u5177\u542b\u91d1\u91cf\u7684\u5b9e\u6d4b\u7b54\u5377\u3002<\/p>\n

\u5728 IROS 2026\u5f55\u7528\u7684\u7814\u7a76\u4e2d\uff0c\u5b9e\u9a8c\u8fdb\u884c\u4e86\u9762\u5bf95\u79cd\u4e0d\u540c\u51e0\u4f55\u5f62\u72b6\u7684\u5f02\u5f62\u5b54\uff08\u65b9\u5f62\u3001\u5706\u5f62\u3001\u516d\u8fb9\u5f62\u3001L \u5f62\u3001\u4e09\u89d2\u5f62\uff09\u4ee5\u53ca\u4e0d\u540c\u8ddd\u79bb\u95f4\u9699\u68af\u5ea6\u7684\u6d4b\u8bd5\u3002\u57280.05\u6beb\u7c73\u95f4\u9699\u4e0b\uff0c\u4ec5\u9760\u89c6\u89c9\u4e0e\u4f4d\u59ff\u793a\u6559\u7684\u7eaf\u6a21\u4eff\u5b66\u4e60\u65b9\u6848\u6210\u529f\u7387\u76f4\u63a5\u6302\u96f60%\uff0c\u65e0\u89e6\u89c9\u7684 IL+RL \u65b9\u6848\u4e3a52%\uff0c\u800c\u52a0\u5165\u4e86\u6307\u5c16\u89e6\u89c9\u53cd\u9988\u540e\uff0c\u6210\u529f\u7387\u9661\u5347\u81f367%\u3002<\/p>\n

\n\n<\/p>\n

IROS 2026\u7684\u8fd9\u7ec4\u6570\u636e\uff0c\u5df2\u7ecf\u8bf4\u660e\u4e86\u6307\u5c16\u89e6\u89c9\u5728\u4e9a\u6beb\u7c73\u7ea7\u88c5\u914d\u4e2d\u7684\u4ef7\u503c\u3002\u800c\u8981\u8ba9\u8fd9\u79cd\u4ef7\u503c\u4ece\u5b66\u672f\u6d4b\u8bd5\u8d70\u5411\u771f\u5b9e\u4ea7\u7ebf\uff0c\u7b97\u6cd5\u4e4b\u5916\uff0c\u89e6\u89c9\u4f20\u611f\u5668\u5e26\u6765\u7684\u6570\u636e\u8d28\u91cf\u540c\u6837\u5173\u952e\u3002<\/p>\n

\u9876\u5c16\u7b97\u6cd5\u9047\u5230\u5de5\u4e1a\u7ea7\u6307\u5c16\uff0c\u4e00\u573a\u5173\u4e8e\u673a\u5668\u4eba\u201c\u7269\u7406\u63a5\u89e6\u201d\u7684\u5bf9\u8bdd<\/p>\n

\u5728\u8fd1\u671f\u4e2d\u56fd\u79d1\u5b66\u9662\u81ea\u52a8\u5316\u7814\u7a76\u6240\u4e0e\u5e15\u897f\u5c3c\u7684\u6df1\u5ea6\u4ea4\u6d41\u4e2d\uff0c\u5b5f\u946b\u6500\u535a\u58eb\u4e0e\u5b59\u6d2a\u6d9b\u535a\u58eb\u5c55\u5f00\u4e86\u6df1\u5ea6\u5bf9\u8bdd\u56f4\u7ed5\u5177\u8eab\u667a\u80fd\u5728\u524d\u6cbf\u5b66\u672f\u4e0e\u5b9e\u9a8c\u9a8c\u8bc1\u5c42\u9762\u7684\u6838\u5fc3\u672c\u8d28\u5c55\u5f00\u4e86\u63a2\u8ba8\u3002<\/p>\n

\n\n<\/p>\n

\u8c08\u53ca\u89c6\u89c9\u4e0e\u89e6\u89c9\u7684\u7269\u7406\u5206\u5de5\uff0c\u4e2d\u56fd\u79d1\u5b66\u9662\u5b5f\u946b\u6500\u535a\u58eb\u8868\u793a\uff1a<\/p>\n

\u201c\u89c6\u89c9\u8d4b\u4e88\u4e86\u673a\u5668\u4eba\u8d70\u8fdb\u7269\u7406\u4e16\u754c\u7684\u611f\u77e5\u89c6\u89d2\uff0c\u4f46\u89e6\u89c9\uff0c\u53ef\u4ee5\u6784\u6210\u5b83\u4e0e\u771f\u5b9e\u4e16\u754c\u53d1\u751f\u5fae\u89c2\u7269\u7406\u4ea4\u4e92\u4e0e\u7ea0\u9519\u7684\u6700\u7ec8\u95ed\u73af\u3002\u7279\u522b\u662f\u5728\u4e9a\u6beb\u7c73\u7ea7\u516c\u5dee\u7684\u88c5\u914d\u76f2\u533a\u91cc\uff0c\u8089\u773c\u548c\u6df1\u5ea6\u76f8\u673a\u90fd\u4f1a\u56e0\u906e\u6321\u800c\u53d7\u9650\uff0c\u552f\u6709\u6307\u5c16\u7684\u591a\u7ef4\u89e6\u89c9\u53cd\u9988\u80fd\u51c6\u786e\u63d0\u4f9b\u63a5\u89e6\u72b6\u6001\u3002\u6211\u4eec\u505a\u7b97\u6cd5\u521b\u65b0\uff0c\u672c\u8d28\u4e0a\u662f\u5728\u7ed9\u673a\u5668\u4eba\u8865\u9f50\u4e00\u5957\u7c7b\u4f3c\u4eba\u7c7b\u7684\u7269\u7406\u624b\u611f\u3002\u201d<\/p>\n

\u5bf9\u6b64\uff0c\u5e15\u897f\u5c3c\u5b59\u6d2a\u6d9b\u535a\u58eb\u4ece\u786c\u4ef6\u5e95\u5ea7\u7684\u89d2\u5ea6\u7ed9\u51fa\u4e86\u547c\u5e94\uff1a<\/p>\n

\u201c\u8fc7\u53bb\u5f88\u591a\u89e6\u89c9\u5f3a\u5316\u5b66\u4e60\u7b97\u6cd5\u5728\u771f\u673a\u90e8\u7f72\u65f6\u9047\u5230\u74f6\u9888\uff0c\u539f\u56e0\u5f80\u5f80\u5728\u4e8e\u4f20\u611f\u5668\u96f6\u6f02\u4e25\u91cd\u3001\u5ef6\u8fdf\u8f83\u9ad8\u6216\u53d7\u529b\u7ef4\u5ea6\u5355\u4e00\uff0c\u5bfc\u81f4AI\u7b97\u6cd5\u5728\u9ad8\u566a\u58f0\u6570\u636e\u4e0b\u96be\u4ee5\u7a33\u5b9a\u6536\u655b\u3002\u5e15\u897f\u5c3c\u5728\u7814\u53d1PX6AX GEN3\u65f6\uff0c\u6838\u5fc3\u76ee\u6807\u5c31\u662f\u8f93\u51fa\u5e72\u51c0\u3001\u7a33\u5b9a\u3001\u9ad8\u9891\u7684\u5168\u91cf\u6307\u5c16\u516d\u7ef4\u63a5\u89e6\u6570\u636e\u3002\u53ea\u6709\u786c\u4ef6\u63d0\u4f9b\u7684\u6570\u636e\u5e95\u5ea7\u8db3\u591f\u575a\u56fa\uff0c\u9876\u5c16\u7b97\u6cd5\u7684\u5a01\u529b\u624d\u80fd\u5728\u771f\u5b9e\u7269\u7406\u4e16\u754c\u91cc\u88ab\u5f7b\u5e95\u91ca\u653e\u3002\u201d<\/p>\n

\u53cc\u65b9\u5728\u5bf9\u8bdd\u4e2d\u56f4\u7ed5\u4e00\u4e2a\u5171\u540c\u65b9\u5411\u5c55\u5f00\u8ba8\u8bba\uff1a\u7b97\u6cd5\u6b63\u5728\u4ece\u5355\u7eaf\u7684\u89c6\u89c9\u4e0e\u7a7a\u95f4\u4fe1\u606f\u5904\u7406\uff0c\u8fdb\u4e00\u6b65\u8d70\u5411\u5bf9\u7269\u7406\u63a5\u89e6\u72b6\u6001\u7684\u7406\u89e3\u3002\u53ea\u6709\u5c06\u9ad8\u5c42\u89c6\u89c9\u89c4\u5212\u4e0e\u5e95\u5c42\u89e6\u89c9\u53cd\u9988\u6df1\u5ea6\u878d\u5408\uff0c\u673a\u5668\u4eba\u624d\u80fd\u5728\u591a\u53d8\u7684\u7269\u7406\u4e16\u754c\u4e2d\u5177\u5907\u771f\u6b63\u7684\u6cdb\u5316\u4e0e\u81ea\u7ea0\u9519\u80fd\u529b\u3002<\/p>\n

\u5f53\u4ea7\u5b66\u7814\u5171\u5efa\u5fae\u89c2\u89e6\u89c9\uff0c\u5177\u8eab\u667a\u80fd\u624d\u7b97\u771f\u6b63\u843d\u5230\u4e86\u5b9e\u5904<\/p>\n

\u5177\u8eab\u667a\u80fd\u8d70\u5230\u4eca\u5929\uff0c\u5355\u9760\u4f01\u4e1a\u7684\u5de5\u7a0b\u7a81\u56f4\u6216\u9ad8\u6821\u7684\u95ed\u95e8\u7406\u8bba\uff0c\u5df2\u5f88\u96be\u8de8\u8d8a\u4eff\u771f\u4e0e\u73b0\u5b9e\u7684\u7269\u7406\u9e3f\u6c9f\u3002\u8d8a\u6765\u8d8a\u591a\u7684\u5934\u90e8\u4f01\u4e1a\u5f00\u59cb\u4e0e\u9876\u7ea7\u79d1\u7814\u9662\u6240\u6df1\u5ea6\u7ed1\u5b9a\u2014\u2014\u5f53\u9876\u5c16\u7b97\u6cd5\u7684\u7406\u8bba\u7a81\u7834\u4e0e\u9ad8\u9891\u7a33\u5065\u7684\u5de5\u4e1a\u7ea7\u89e6\u89c9\u5e95\u5ea7\u771f\u6b63\u54ac\u5408\uff0c\u5177\u8eab\u667a\u80fd\u624d\u7b97\u62ff\u5230\u4e86\u901a\u5f80\u9ad8\u96be\u5ea6\u5de5\u4e1a\u573a\u666f\u7684\u5bc6\u94a5\u3002<\/p>\n

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