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Octo Gato

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张小珺Jùn｜商业访谈录
张小珺Jùn｜商业访谈录98. 逐篇讲解机器人基座模型和VLA经典论文——“人就是最智能的VLA”今天的嘉宾是清华大学交叉信息研究院助理教授、星动纪元创始人陈建宇。他的研究和创业方向都是人形机器人。大语言模型浪潮爆发后，学界和工业界看见了机器人从专用走向通用的可能迹象，机器人革命随之而来。其中，本轮革命最重要的是，对机器人底层架构，也就是机器人“大脑”的探索。但通用机器人还在科学研究阶段，处于产业发展早期。这集节目，陈老师将带领大家，概览式阅读机器人基座模型和当下最前沿的架构VLA架构（Vision-Language-Action Model，视觉语言动作模型）的经典论文。希望我们的节目能直观地帮助更多人靠近科学前线，感受技术之美，并且能直观感知当前技术拐点。还是那句话：期待2025，我们和AI共同进步！（因为因为，陈老师真的分享了很多很多的动图和视频，本集结合视频服用效果更佳噢！可以前往：含投屏的视频版本。嘿嘿！预祝你学得开心！学得顺利啦！）我们的播客节目在腾讯新闻首发，大家可以前往关注哦，这样可以第一时间获取节目信息和更多新闻资讯：）02:30 陈建宇的研究和创业方向04:11 讲解开始前，先提问几个小问题17:36 当下最大变量：从专用模型到通用模型（robot foundation model）的可能性21:12 大模型浪潮爆发后，机器人领域经历了两个阶段：从利用基础模型进行机器人研究（leveraging foundation models in robotics）到为机器人预训练基础模型（pretraining foundation models for robotics）第一阶段：利用基础模型进行机器人研究（leveraging foundation models in robotics）21:59 机器人传统三板块：Planning+Perception+Actuation（规划+感知+执行）——第一步，用LLM（Large Language Model，大语言模型）替代Planning23:54 由Google Robotics团队提出的具身智能开创性论文Say Can《Do As I Can, Not As I Say: Grounding Language in Robotic Affordances》（中文名：我能做到，而不是我说到：将语言与机器人的可供性相结合）27:03 第二步，用VLM（Vision-Language Models，视觉语言模型）替代Perception27:52 来自Google的论文《Inner Monologue: Embodied Reasoning through Planning with Language Models》（中文名：内心独白：通过语言模型规划进行具身推理）29:51 由清华和上海姚期智研究院提出的《DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment》（中文名：DoReMi：通过检测和恢复规划-执行不一致来落地语言模型）32:47 第三步，想把Actuation进一步自动化，用Code LM（专门用于代码相关任务的大型语言模型）来替代Actuation32:24 由李飞飞团队提出的《VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models》（中文名：VoxPoser：使用语言模型进行机器人操作的可组合3D价值地图）第二阶段：为机器人预训练基础模型（pretraining foundation models for robotics）38:36 VLA端到端模型（Vision-Language-Action Model，视觉语言动作模型）——“人是很智能的VLA Agent”39:53 关于VLA的经典论文及分类：40:17 Aloha论文《Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware》（中文名：学习用低成本硬件进行精细双手操作）47:36 Mobile Aloha论文《Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation》（中文名：移动ALOHA：使用低成本全身远程操作学习双手移动操作）50:15 论文《A Generalist Agent》介绍了一个名为Gato的通用型人工智能代理（中文名：通用型代理）52:45 RT-1论文《RT-1: Robotics Transformer for Real-World Control at Scale》（中文名：RT-1：机器人Transformer用于大规模现实世界控制）59:02 Octo论文《Octo: An Open-Source Generalist Robot Policy》（中文名：Octo：一个开源的通用机器人策略）01:02:20 CrossFormer论文《Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation》（中文名：扩展跨具身学习：操控、导航、运动和飞行的统一策略）01:06:58 字节跳动AI Lab的两个工作GR-1和GR-2：《Unleashing Large-Scale Video Generative Pre-Training For Visual Robot
2025-04-072h 29561 Music
561 MusicEPISODE 100Well, we did it! Episode 100, and what an amazing ride it has been! We couldn't have done it without the support of the local music community, the bands, the fans, our good friends, Live Music Community and so many more. This episode is dedicated to all of those that believe in our mission and have helped us along the way to make this show the success that it is. This episode is a recap of the 561 Music Festival 2, and what is festival it was! Thank you so much to all of the Mathews Brewing Company staff, volunteers...
2023-04-071h 49561 Music
561 MusicOcto GatoThis week Octo Gato stopped by the studio and had a great chat with us about being shipwrecked for over four years, getting back together, touring in Japan, playing the upcoming 561 Muisc Festival and their future plans. Octo Gato can be found at the following links: Facebook: https://www.facebook.com/octogato Instagram: https://www.instagram.com/octogatomusic YouTube: https://www.youtube.com/@octogato Website: https://linktr.ee/octogato Enjoy their music on Spotify, or you can find them on the new 561 Music Playlist we created of various local artists that...
2023-03-231h 13