{"id":11422,"date":"2026-08-26T01:23:45","date_gmt":"2026-08-25T17:23:45","guid":{"rendered":"https:\/\/infernews.com\/blog\/physcap\/"},"modified":"2026-08-26T02:57:45","modified_gmt":"2026-08-25T18:57:45","slug":"physcap","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/physcap\/","title":{"rendered":"PhysCaP \u8b93\u6a5f\u68b0\u4eba\u7528\u4e92\u52d5\u6478\u6e05\u7269\u4ef6\u7269\u7406\u7279\u6027"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/pasted-3e244371197b.jpg\" alt=\"Og image\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u7531\u570b\u7acb\u53f0\u7063\u5927\u5b78\u3001NVIDIA Research\u3001Google DeepMind \u53ca\u570b\u7acb\u967d\u660e\u4ea4\u901a\u5927\u5b78\u7814\u7a76\u4eba\u54e1\u7d44\u6210\u7684\u5718\u968a\uff0c\u63a8\u51fa PhysCaP\uff0c\u5c07\u7269\u7406\u8cc7\u8a0a\u63a2\u7d22\u52a0\u5165 Code-as-Policy \u6a5f\u68b0\u4eba\u4ee3\u7406\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7576\u6a5f\u68b0\u4eba\u53ea\u9760\u76f8\u6a5f\u7121\u6cd5\u5206\u8fa8\u54ea\u7f50\u662f\u7a7a\u7684\u3001\u54ea\u500b\u725b\u6cb9\u679c\u5df2\u719f\uff0cPhysCaP\u6703\u4e3b\u52d5\u5b89\u6392\u63d0\u8d77\u3001\u593e\u53d6\u7b49\u4e92\u52d5\uff0c\u5f9e\u52d5\u4f5c\u53cd\u61c9\u63a8\u65b7\u96b1\u85cf\u7684\u91cd\u91cf\u8207\u786c\u5ea6\u3002\u9019\u500b physics-informed Code-as-Policy agents \u9805\u76ee\uff0c\u91dd\u5c0d\u88ab\u52d5\u8996\u89ba\u4e0d\u8db3\u6642\u7684\u6a5f\u68b0\u4eba\u64cd\u4f5c\u554f\u984c\u52a0\u5165\u4e3b\u52d5\u611f\u77e5\u80fd\u529b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">PhysCaP\u4ee5\u96d9\u4ee3\u7406\u63a2\u7d22\u6846\u67b6\u914d\u5408\u53ef\u57f7\u884c\u7a0b\u5f0f\u78bc\u3002Planner\u5148\u5224\u65b7\u8996\u89ba\u8cc7\u8a0a\u662f\u5426\u8db3\u5920\uff0cPrioritizer\u518d\u6309\u9810\u671f information gain \u6392\u5e8f\u4e92\u52d5\uff0c\u904e\u6ffe\u4e0d\u5408\u7406\u6216\u91cd\u8907\u7684\u52d5\u4f5c\uff0c\u6700\u5f8c\u547c\u53eb PhysX\uff08physical property extraction modules\uff09\u4e2d\u7684 <code>get_mass<\/code> \u548c <code>get_stiffness<\/code>\u3002<\/p>\n\n\n<div\n    \tclass=\"align wp-block-vpb-video\"    id='vpbpVideoPlayer-1'\n    data-attributes='{&quot;source&quot;:&quot;https:\\\/\\\/physcap.github.io\\\/static\\\/videos\\\/cubes_05_ours_trial_07_cliped.mp4&quot;,&quot;repeat&quot;:true,&quot;autoplay&quot;:true,&quot;muted&quot;:true,&quot;align&quot;:&quot;&quot;,&quot;poster&quot;:&quot;&quot;,&quot;controls&quot;:{&quot;play-large&quot;:true,&quot;restart&quot;:false,&quot;rewind&quot;:true,&quot;play&quot;:true,&quot;fast-forward&quot;:true,&quot;progress&quot;:true,&quot;current-time&quot;:true,&quot;duration&quot;:false,&quot;mute&quot;:true,&quot;volume&quot;:true,&quot;pip&quot;:false,&quot;airplay&quot;:false,&quot;captions&quot;:false,&quot;settings&quot;:true,&quot;download&quot;:false,&quot;fullscreen&quot;:true},&quot;captions&quot;:[],&quot;ratio&quot;:&quot;16:9&quot;,&quot;accentColor&quot;:&quot;&quot;,&quot;lazyLoad&quot;:false,&quot;width&quot;:&quot;100%&quot;,&quot;radius&quot;:&quot;0px&quot;,&quot;resetOnEnd&quot;:false,&quot;autoHideControl&quot;:true,&quot;isSetup&quot;:false}'\n><\/div>\n\n\n<ul class=\"wp-block-list\">\n<li>\u900f\u904e joint-torque \u5dee\u7570\u53ca end-effector Jacobian \u4f30\u7b97\u7269\u4ef6\u8cea\u91cf<\/li>\n\n\n\n<li>\u6839\u64da gripper displacement \u548c normalized motor effort \u5206\u985e\u786c\u5ea6<\/li>\n\n\n\n<li>\u7121\u9700\u984d\u5916\u611f\u6e2c\u786c\u4ef6\uff0c\u76f4\u63a5\u5229\u7528 robot proprioception<\/li>\n\n\n\n<li>\u6db5\u84cb\u627e\u85cd\u8272\u65b9\u584a\u3001\u8fa8\u8a8d\u7a7a\u7f50\u548c\u6311\u9078\u719f\u725b\u6cb9\u679c<\/li>\n\n\n\n<li>\u6a21\u64ec\u8207\u771f\u5be6\u4efb\u52d9\u4e2d\uff0c\u90e8\u5206\u7d50\u679c\u9054\u5230 9\/10 \u6210\u529f\u7387<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u6e2c\u8a66\u4ea6\u5305\u62ec LIBERO Empty Can \u6a21\u64ec\u74b0\u5883\u3002\u7814\u7a76\u7d50\u679c\u6307\uff0c\u9019\u7a2e\u6309\u8cc7\u8a0a\u50f9\u503c\u9078\u64c7\u4e92\u52d5\u7684\u65b9\u5f0f\uff0c\u5728\u591a\u9805 benchmark \u4e2d\u8f03\u88ab\u52d5\u65b9\u6cd5\u548c\u76f4\u63a5\u9032\u884c\u4e92\u52d5\u7684\u65b9\u6cd5\u53d6\u5f97\u66f4\u9ad8\u4efb\u52d9\u6210\u529f\u7387\uff0c\u540c\u6642\u6e1b\u5c11\u4e92\u52d5\u6b21\u6578\u53ca\u57f7\u884c\u6642\u9593\uff1b\u4e0d\u904e\uff0c\u63a8\u65b7\u8cea\u91cf\u548c\u786c\u5ea6\u4ecd\u53d6\u6c7a\u65bc\u56fa\u5b9a\u63d0\u8209\u8ecc\u8de1\u3001\u91cd\u8907\u6e2c\u91cf\u53ca\u6a5f\u68b0\u4eba\u672c\u8eab\u7684 proprioception\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/physcap.github.io\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u7576\u8996\u89ba\u7121\u6cd5\u5206\u8fa8\u91cd\u91cf\u6216\u8edf\u786c\uff0cPhysCaP\u6703\u4e3b\u52d5\u5b89\u6392\u4e92\u52d5\uff0c\u8b93\u6a5f\u68b0\u4eba\u7528\u66f4\u5c11\u52d5\u4f5c\u5b8c\u6210\u64cd\u4f5c\u4efb\u52d9\u3002<\/p>\n","protected":false},"author":8,"featured_media":11421,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"wpai_generated_summary":"","footnotes":""},"categories":[178,179,116,127,184,197,199,210],"tags":[],"class_list":["post-11422","post","type-post","status-publish","format-standard","hentry","category-google","category-nvidia","category-agentic","category-127","category-robotic","category-framework","category-dataset-","category-worldactionmodel"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/11422","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=11422"}],"version-history":[{"count":2,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/11422\/revisions"}],"predecessor-version":[{"id":11426,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/11422\/revisions\/11426"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/11421"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=11422"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=11422"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=11422"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}