{"id":10938,"date":"2026-08-11T18:14:48","date_gmt":"2026-08-11T10:14:48","guid":{"rendered":"https:\/\/infernews.com\/blog\/scaling-robotic-temporal-distance\/"},"modified":"2026-08-11T18:14:48","modified_gmt":"2026-08-11T10:14:48","slug":"scaling-robotic-temporal-distance","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/scaling-robotic-temporal-distance\/","title":{"rendered":"RynnValue \u7528\u79d2\u4f30\u8a08\u6a5f\u68b0\u4eba\u5b8c\u6210\u6642\u9593"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/pasted-8ea3864854b7.jpg\" alt=\"RynnValue overview\"><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u6a5f\u68b0\u4eba\u64cd\u4f5c\u6700\u96e3\u7684\u4e0d\u53ea\u662f\u8b58\u5225\u52d5\u4f5c\u6210\u6557\uff0c\u800c\u662f\u8981\u6301\u7e8c\u77e5\u9053\u8ddd\u96e2\u5b8c\u6210\u6307\u4ee4\u4ef2\u6709\u5e7e\u9060\u3002RynnValue \u5c31\u662f\u91dd\u5c0d\u5462\u500b\u7a7a\u7f3a\u800c\u4f86\u7684\u6a21\u578b\u9805\u76ee\uff1a\u5b83\u628a\u6a5f\u68b0\u4eba\u5f71\u7247\u9023\u540c\u6587\u5b57\u6307\u4ee4\u4e00\u9f4a\u8b80\u5165\uff0c\u9010\u683c\u9810\u6e2c\u5269\u9918\u5b8c\u6210\u6642\u9593\uff0c\u4e26\u8f38\u51fa\u81ea\u7136\u8a9e\u8a00\u5206\u6790\uff0c\u8b93\u9032\u5ea6\u4f30\u8a08\u3001\u5931\u6557\u5075\u6e2c\u8207 VLA\uff08vision-language-action\uff09policy \u7684\u734e\u52f5\u5efa\u69cb\u53ef\u4ee5\u5171\u7528\u540c\u4e00\u5957\u8a0a\u865f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u548c\u5e38\u898b\u9032\u5ea6\u5206\u6578\u6216\u504f\u597d\u6a19\u8a3b\u505a\u6cd5\u7684\u5206\u91ce\u5f88\u6e05\u695a\u3002RynnValue \u4e0d\u9760\u4eba\u5de5\u6a19\u51fa\u300c\u8f03\u597d\u300d\u8ecc\u8de1\uff0c\u4e5f\u4e0d\u628a\u9032\u5ea6\u786c\u58d3\u6210 0 \u5230 1\uff0c\u800c\u662f\u76f4\u63a5\u5b78\u7fd2 goal-conditioned cost-to-go \u7684\u7269\u7406\u6642\u9593\uff1b\u6a19\u7c64\u4f86\u81ea\u6642\u9593\u6233\uff0c\u914d\u5408\u5b50\u4efb\u52d9\u5207\u5206\u8207 cutoff relabeling\uff0c\u65bc\u662f\u80fd\u64f4\u5c55\u5230 7,000 \u591a\u5c0f\u6642\u3001\u7d04 300 \u842c\u6bb5 instruction-conditioned clips \u7684\u7570\u8cea\u6a5f\u68b0\u4eba\u8cc7\u6599\u3002\u9019\u500b\u53d6\u6368\u5e36\u4f86\u7684\u597d\u8655\u662f\u53ef\u64f4\u5c55\uff0c\u4ee3\u50f9\u5247\u662f\u6a21\u578b\u5fc5\u9808\u66f4\u597d\u5730\u8655\u7406\u9577\u5c3e\u4efb\u52d9\u6642\u9577\u8207\u4e0d\u540c\u8996\u89d2\u3001\u4e0d\u540c embodiment \u7684\u5dee\u7570\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">RynnValue \u9023\u540c\u5b8c\u6574\u5de5\u5177\u93c8\u4e00\u4f75\u63d0\u4f9b\u3002\u4f60\u53ef\u4ee5\u628a\u5b83\u7406\u89e3\u6210\u4e00\u5957\u7531 HuggingFace \u76f8\u5bb9\u6a21\u578b\u3001\u5f71\u7247\u63a8\u7406\u793a\u7bc4\uff0c\u5230 reward-model benchmark \u8207\u5f37\u5316\u5b78\u7fd2\u4ecb\u9762\u90fd\u5305\u8d77\u4f86\u7684\u7814\u7a76\u578b\u5de5\u5177\u7d44\uff1b\u7576\u4e2d RynnValue \u5efa\u57fa\u65bc RynnBrain\uff0c\u5be6\u4f5c\u5728 Qwen3-VL architecture \u4e4b\u4e0a\uff0c\u9664\u4e86\u9810\u6e2c absolute \u8207 relative temporal value\uff0c\u4ea6\u6703\u751f\u6210\u5f71\u7247\u63cf\u8ff0\uff0c\u4e26\u5224\u65b7 instruction\u2013video \u662f\u5426\u5339\u914d\u3001\u4efb\u52d9\u662f\u5426\u6210\u529f\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6838\u5fc3\u80fd\u529b\u662f\u628a\u300c\u8ddd\u96e2\u5b8c\u6210\u5c1a\u9918\u5e7e\u591a\u79d2\u300d\u8b8a\u6210\u7a20\u5bc6 value signal<\/li>\n<li>\u8a13\u7df4\u6bcb\u9808 preference \u6216 progress annotations\uff0c\u8f03\u6613\u653e\u5927\u91cf\u7570\u8cea\u8cc7\u6599<\/li>\n<li>8B \u7248\u672c\u5728 RBM-EVAL-OOD \u7684\u5e73\u5747 Kendall&#8217;s \u03c4\u2090 \u9054 0.675\uff0c\u9ad8\u65bc\u6587\u4e2d\u5c0d\u7167\u7684 fully preference-supervised \u65b9\u6cd5 0.655<\/li>\n<li>\u53ef\u76f4\u63a5\u63a5\u5230 reward shaping\uff0c\u7528\u4f5c policy ranking\u3001evaluation \u8207 reinforcement learning critic<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u70ba\u514d\u6a21\u578b\u5077\u770b\u5e8f\u5217\u4f4d\u7f6e\u53bb\u731c\u9032\u5ea6\uff0c\u4f5c\u8005\u52a0\u5165 temporal-order shuffling\u3001random temporal sampling\uff0c\u4ee5\u53ca value-isolation attention\uff1b\u6d88\u878d\u7d50\u679c\u4ea6\u986f\u793a\u9019\u4e9b\u8a2d\u8a08\u4e0d\u662f\u88dd\u98fe\uff0c\u62ff\u8d70\u5f8c\u6307\u6a19\u6703\u660e\u986f\u4e0b\u8dcc\u3002\u518d\u9032\u4e00\u6b65\uff0c\u5b83\u628a\u8f38\u51fa\u7684 value \u8f49\u6210 potential-based shaping reward\uff0c\u5728\u96d9\u81c2 Franka \u7684\u771f\u5be6\u6a5f\u68b0\u4eba\u5b78\u7fd2\u4e2d\uff0c\u7121\u8ad6 online \u5b9a offline \u90fd\u6bd4\u6700\u5f37 reward-model baseline \u6709\u66f4\u9ad8\u6210\u529f\u7387\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u53d7\u60e0\u7684\u6703\u662f\u505a\u6a5f\u68b0\u4eba\u64cd\u4f5c\u3001VLA \u8a13\u7df4\u3001reward modeling \u8207 embodied AI \u8a55\u6e2c\u7684\u5718\u968a\uff0c\u5c24\u5176\u60f3\u6e1b\u5c11\u4eba\u624b\u6a19\u8a3b\u6210\u672c\u3001\u53c8\u9700\u8981\u8de8\u8cc7\u6599\u4f86\u6e90\u6cdb\u5316\u80fd\u529b\u7684\u4eba\u3002\u9650\u5236\u540c\u6a23\u5b58\u5728\uff1a\u9019\u985e\u6642\u9593\u8ddd\u96e2\u8a0a\u865f\u96d6\u7136\u6bd4\u4e8c\u5143\u6210\u6557\u66f4\u7d30\u7dfb\uff0c\u4f46\u5c0d\u4efb\u52d9\u5207\u5206\u3001\u5f71\u7247\u54c1\u8cea\u8207\u89c0\u6e2c\u8986\u84cb\u4ecd\u7136\u654f\u611f\uff0c\u800c\u4e14\u5b83\u76ee\u524d\u805a\u7126\u65bc robot manipulation\uff0c\u4e0d\u4ee3\u8868\u53ef\u76f4\u63a5\u5916\u63a8\u5230\u6240\u6709 agent \u5834\u666f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/alibaba-damo-academy.github.io\/RynnValue.github.io\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/github.com\/alibaba-damo-academy\/RynnValue\" rel=\"noopener noreferrer\"><strong>GitHub<\/strong><\/a> \u00b7 <a href=\"https:\/\/huggingface.co\/collections\/Alibaba-DAMO-Academy\/rynnvalue\" rel=\"noopener noreferrer\"><strong>\u6a21\u578b<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5b83\u4e0d\u53ea\u5224\u65b7\u6a5f\u68b0\u4eba\u6709\u5187\u505a\u5c0d\uff0c\u4ef2\u6703\u4f30\u8a08\u8ddd\u96e2\u5b8c\u6210\u4ef2\u5dee\u5e7e\u591a\u79d2\u3002\u5462\u7a2e\u6642\u9593\u5f0f\u50f9\u503c\u8a0a\u865f\uff0c\u4ee4\u5f37\u5316\u5b78\u7fd2\u734e\u52f5\u8a2d\u8a08\u8b8a\u5f97\u76f4\u63a5\u5f97\u591a\u3002<\/p>\n","protected":false},"author":8,"featured_media":10937,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ai_generated_summary":"","footnotes":""},"categories":[133,171,185,116,31,119,127,149,184,199,204],"tags":[],"class_list":["post-10938","post","type-post","status-publish","format-standard","hentry","category-133","category-171","category-qwen","category-agentic","category-video","category-119","category-127","category-149","category-robotic","category-dataset-","category-visionlanguageaction"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/10938","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/comments?post=10938"}],"version-history":[{"count":0,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/10938\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/10937"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=10938"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=10938"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=10938"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}