{"id":12094,"date":"2026-09-10T20:56:25","date_gmt":"2026-09-10T12:56:25","guid":{"rendered":"https:\/\/infernews.com\/blog\/robospa-official-code-repo\/"},"modified":"2026-09-10T20:56:25","modified_gmt":"2026-09-10T12:56:25","slug":"robospa-official-code-repo","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/robospa-official-code-repo\/","title":{"rendered":"RoboSPA \u7528 280 \u500b\u96e3\u5ea6\u8b8a\u9ad4\u5e6b\u4f60\u58d3\u529b\u6e2c\u8a66"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/09\/pasted-b017204bde57.jpg\" alt=\"Repository image for fanzhenxuan\/RoboSPA\"><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u7576 VLA\uff08Vision-Language-Action\uff09\u6a21\u578b\u5728\u4e7e\u6de8\u3001\u77ed\u4efb\u52d9\u7684\u74b0\u5883\u4e2d\u8dd1\u51fa\u4e0d\u932f\u7684\u6210\u529f\u7387\uff0c\u8981\u600e\u6a23\u624d\u77e5\u9053\u5b83\u662f\u771f\u6b63\u300c\u7406\u89e3\u300d\u6307\u4ee4\uff0c\u9084\u662f\u53ea\u662f\u525b\u597d\u8499\u5c0d\uff1fRoboSPA \u7d66\u51fa\u7684\u7b54\u6848\u662f\uff1a\u628a\u5834\u666f\u5f04\u5f97\u66f4\u4e82\u3001\u628a\u6b65\u9a5f\u62c9\u5f97\u66f4\u9577\uff0c\u7136\u5f8c\u770b\u6a21\u578b\u5f9e\u7b2c\u5e7e\u95dc\u958b\u59cb\u5d29\u6f70\u3002\u9019\u662f\u4e00\u500b<strong>\u57fa\u6e96\u8207\u6578\u64da\u96c6\u9805\u76ee<\/strong>\uff0c\u5efa\u57fa\u65bc RoboTwin 2.0 \u6a21\u64ec\u6846\u67b6\uff08SAPIEN + CuRobo\uff09\uff0c\u7531\u6d59\u6c5f\u5927\u5b78\u4e3b\u5c0e\uff0c\u5df2\u7372 EMNLP 2026 \u6536\u9304\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u628a 56 \u500b\u57fa\u790e\u4efb\u52d9\u5404\u884d\u751f\u51fa\u4e94\u500b\u96e3\u5ea6\u7d1a\u5225\uff08L1\u2013L5\uff09\uff0c\u5171 280 \u500b\u8b8a\u9ad4\uff0c\u8986\u84cb\u4e94\u7a2e\u6a5f\u68b0\u81c2\u5be6\u9ad4\uff08Franka\u3001Piper\u3001UR5\u3001Aloha-AgileX\u3001ARX-X5\uff09\uff0c\u7e3d\u8a08 527K \u689d\u8ecc\u8de1\u3001\u7d04 108M \u6b65\u6578\u3001997 \u5c0f\u6642\u4e92\u52d5\u5f71\u7247\u3002Spatial \u7dad\u5ea6\u6301\u7e8c\u52a0\u5165\u5916\u89c0\u76f8\u8fd1\u7684\u5019\u9078\u7269\uff0cProcedural \u7dad\u5ea6\u5247\u9010\u6b65\u758a\u52a0\u5b50\u76ee\u6a19\u3001\u57f7\u884c\u9806\u5e8f\u3001\u91cd\u8907\u6b21\u6578\u8207\u8a18\u61b6\u9700\u6c42\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8207\u53ea\u770b\u6700\u7d42\u4e8c\u5143\u6210\u6557\u7684\u50b3\u7d71\u505a\u6cd5\u76f8\u6bd4\uff0cRoboSPA \u984d\u5916\u63d0\u4f9b\u5169\u500b\u8a3a\u65b7\u6307\u6a19\uff1a\u7a7a\u9593\u4efb\u52d9\u7528 <strong>ONTA\uff08Object-Normalized Target Accuracy\uff09<\/strong> \u8861\u91cf\u6a21\u578b\u80fd\u5426\u5728\u300c\u770b\u8d77\u4f86\u90fd\u50cf\u300d\u7684\u7269\u4ef6\u4e2d\u9078\u5c0d\u76ee\u6a19\uff0c\u4e26\u4ee5 chance-corrected \u65b9\u5f0f\u6263\u6389\u96a8\u6a5f\u547d\u4e2d\uff1b\u7a0b\u5e8f\u4efb\u52d9\u5247\u7528 <strong>Progress Score\uff08PS\uff09<\/strong> \u8a08\u7b97\u5be6\u969b\u5b8c\u6210\u7684\u5b50\u76ee\u6a19\u6bd4\u4f8b\uff0c\u53cd\u6620\u6a21\u578b\u5728\u4e2d\u9014\u5361\u4f4f\u6216\u8df3\u6b65\u7684\u771f\u5be6\u72c0\u6cc1\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9069\u5408\u6a5f\u5668\u4eba\u5be6\u9a57\u5ba4\u3001VLA \u6a21\u578b\u958b\u767c\u8005\uff0c\u4ee5\u53ca\u9700\u8981\u8a55\u4f30\u7b56\u7565\u53ef\u64f4\u5c55\u6027\u7684\u5718\u968a\u3002\u652f\u63f4\u81ea\u5e36\u7b56\u7565\u63a5\u5165\uff0c\u6578\u64da\u8207\u4ee3\u78bc\u5747\u5df2\u516c\u958b\u3002\u7814\u7a76\u7aef\u5728\u591a\u500b\u4ee3\u8868\u6027 VLA \u6a21\u578b\u4e0a\u7684\u7d50\u679c\u986f\u793a\uff0c\u7a7a\u9593\u95dc\u4fc2\u3001\u4f4e\u968e\u7cbe\u7d30\u52d5\u4f5c\u8207\u9577\u7a0b\u8a18\u61b6\u4ecd\u7136\u662f\u660e\u986f\u74f6\u9838\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/fanzhenxuan.github.io\/RoboSPA\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/github.com\/fanzhenxuan\/RoboSPA\" rel=\"noopener noreferrer\"><strong>GitHub<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>RoboSPA \u662f\u6d59\u6c5f\u5927\u5b78\u5718\u968a\u91dd\u5c0d Vision-Language-Action \u6a21\u578b\u63a8\u51fa\u7684\u8a3a\u65b7\u5f0f\u57fa\u6e96\uff0c\u900f\u904e\u9010\u6b65\u62c9\u9ad8\u7a7a\u9593\u6b67\u7fa9\u8207\u7a0b\u5e8f\u6b65\u6578\uff0c\u63ed\u958b\u73fe\u6709\u6a5f\u5668\u4eba\u7b56\u7565\u5728\u7cbe\u6e96\u5b9a\u4f4d\u8207\u9577\u7a0b\u898f\u5283\u4e0a\u7684\u77ed\u677f\u3002<\/p>\n","protected":false},"author":8,"featured_media":12093,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"wpai_generated_summary":"","footnotes":""},"categories":[133,76,149,119,31,204,197,189,199],"tags":[],"class_list":["post-12094","post","type-post","status-publish","format-standard","hentry","category-133","category-76","category-149","category-119","category-video","category-visionlanguageaction","category-framework","category-189","category-dataset-"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/12094","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=12094"}],"version-history":[{"count":0,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/12094\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/12093"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=12094"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=12094"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=12094"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}