{"id":10100,"date":"2026-07-10T12:53:36","date_gmt":"2026-07-10T04:53:36","guid":{"rendered":"https:\/\/infernews.com\/blog\/post-be853a96\/"},"modified":"2026-07-10T12:53:36","modified_gmt":"2026-07-10T04:53:36","slug":"post-be853a96","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/post-be853a96\/","title":{"rendered":"OmniTacTune \u7528\u89f8\u89ba\u88dc\u4e0a\u8996\u89ba\u6a5f\u68b0\u624b"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/07\/teaser-3.jpg\" alt=\"Og image\"><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u505a\u5230\u770b\u5f97\u898b\u8def\u5f91\uff0c\u672a\u5fc5\u505a\u5f97\u5230\u63d2\u5f97\u6e96\u3001\u626d\u5f97\u958b\u3002OmniTacTune \u5c6c\u65bc Robotic \u9805\u76ee\uff0c\u8655\u7406\u7684\u6b63\u662f\u8996\u89ba\u7b56\u7565\u5728\u63a5\u89f8\u5bc6\u96c6\u64cd\u4f5c\u4e0a\u7684\u77ed\u677f\uff1a\u93e1\u982d\u80fd\u63d0\u4f9b\u6574\u9ad4\u52d5\u4f5c\u65b9\u5411\uff0c\u4f46\u4e00\u5230\u771f\u6b63\u78b0\u649e\u3001\u53d7\u529b\u3001\u5361\u4f4d\u7684\u77ac\u9593\uff0c\u5c31\u9700\u8981\u89f8\u89ba\u53bb\u88dc\u8db3\u5224\u65b7\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u7684\u53d6\u5411\u5e7e\u6e05\u6670\uff1a\u4e0d\u91cd\u8a13\u6574\u500b visuo-tactile policy\uff0c\u800c\u662f\u4fdd\u7559\u5df2\u8a13\u7df4\u597d\u7684 visual policy \u4f5c\u70ba motion prior\uff0c\u518d\u7528 real-world RL \u5b78\u4e00\u500b\u8f15\u91cf tactile residual correction\u3002\u9019\u7a2e\u505a\u6cd5\u7684\u50f9\u503c\uff0c\u5728\u65bc\u53ef\u4ee5\u76f4\u63a5\u758a\u52a0\u5230\u4e0d\u540c\u57fa\u790e\u7b56\u7565\u4e0a\uff0c\u5305\u62ec ACT\u3001Diffusion Policy (DP) \u8207 Flow Policy\uff0c\u4ea6\u80fd\u914d\u5408\u4f86\u81ea human video \u6216 teleoperation data \u7684\u8996\u89ba\u57fa\u790e\u80fd\u529b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9805\u76ee\u793a\u7bc4\u4e86\u56db\u985e contact-rich tasks\uff0c\u5305\u62ec peg-in-hole\u3001charger insertion\u3001cap opening \u540c box opening\u3002\u516c\u958b\u7d50\u679c\u6307\u51fa\uff0c\u7cfb\u7d71\u53ef\u5728\u7d04 40 \u81f3 80 \u5206\u9418\u5167\u65bc\u771f\u6a5f\u5b8c\u6210\u9069\u61c9\u8a13\u7df4\uff0c\u800c\u4e14\u6709\u4e00\u6bb5 one-take online RL \u793a\u7bc4\uff0c\u8a13\u7df4\u904e\u7a0b\u4e0d\u9700\u8981\u70ba\u93e1\u982d\u523b\u610f\u91cd\u8a2d\u5834\u666f\uff0c\u91cd\u9ede\u653e\u5728\u7531\u8f03\u5f31\u7684 base policy \u6301\u7e8c\u7df4\u5230\u8f03\u53ef\u9760\u7684\u63a5\u89f8\u64cd\u4f5c\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u51cd\u7d50 visual base policy\uff0c\u53ea\u5b78 tactile residual\uff0c\u6e1b\u5c11\u91cd\u8a13\u6210\u672c<\/li>\n<li>\u53ef\u63a5\u5230\u4e0d\u540c observations\u3001architectures \u540c action-chunk horizons \u7684\u57fa\u790e\u7b56\u7565<\/li>\n<li>\u9069\u5408\u63d2\u5165\u3001\u958b\u84cb\u3001\u958b\u76d2\u9019\u985e\u4f9d\u8cf4\u63a5\u89f8\u5e7e\u4f55\u8207\u53d7\u529b\u56de\u994b\u7684\u5de5\u4f5c\u6d41<\/li>\n<li>\u4f7f\u7528 human video \u8207 teleoperation data \u8a13\u7df4\u7684\u57fa\u790e\u7b56\u7565\u90fd\u53ef\u63a5\u5165<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u9019\u500b\u9805\u76ee\u6700\u53d7\u7528\u7684\u5834\u666f\uff0c\u662f\u624b\u4e0a\u5df2\u7d93\u6709\u8996\u89ba\u6a21\u4eff\u5b78\u7fd2\u7b56\u7565\uff0c\u4f46\u5361\u5728\u6700\u5f8c\u63a5\u89f8\u6210\u529f\u7387\u7684\u4eba\u3002\u73fe\u6709\u8cc7\u6599\u986f\u793a\uff0c\u5b83\u5f37\u8abf\u7684\u662f\u901a\u7528\u63a5\u5165\u80fd\u529b\u8207\u771f\u6a5f\u77ed\u6642\u9069\u61c9\uff0c\u800c\u4e0d\u662f\u7528\u5927\u91cf\u89f8\u89ba\u8cc7\u6599\u7531\u96f6\u958b\u59cb\u5efa\u6a21\uff1b\u53d6\u6368\u4e5f\u5f88\u660e\u986f\uff0c\u7cfb\u7d71\u50f9\u503c\u96c6\u4e2d\u5728\u300c\u6700\u5f8c\u4e00\u91cc\u300d\u4fee\u6b63\uff0c\u524d\u63d0\u4ecd\u7136\u662f base policy \u672c\u8eab\u5df2\u5177\u5099\u57fa\u672c\u52d5\u4f5c\u5148\u9a57\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/colinyu1.github.io\/omnitactune-site\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u53ea\u9760\u93e1\u982d\u5b78\u5230\u7684\u6a5f\u68b0\u624b\uff0c\u9047\u4e0a\u63d2\u5b54\u3001\u958b\u84cb\u9019\u985e\u63a5\u89f8\u52d5\u4f5c\u5f88\u6613\u5931\u624b\u3002OmniTacTune 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