{"id":12170,"date":"2026-09-12T13:02:50","date_gmt":"2026-09-12T05:02:50","guid":{"rendered":"https:\/\/infernews.com\/blog\/map-wam\/"},"modified":"2026-09-12T13:05:10","modified_gmt":"2026-09-12T05:05:10","slug":"map-wam","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/map-wam\/","title":{"rendered":"MaP-WAM\uff1a\u628a\u8a18\u61b6\u8b8a\u6210\u8a08\u5283"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/09\/pasted-1cc7e0ecd0a3.jpg\" alt=\"Repository image for aipixel\/MaP-WAM\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u505a\u904e\u9577\u4efb\u52d9\u7684 robot policy \u90fd\u77e5\u9053\uff0c\u7576\u52d5\u4f5c\u5e8f\u5217\u62c9\u9577\uff0c\u6a21\u578b\u8981\u561b\u9760\u8a9e\u8a00\u6458\u8981\u56de\u61b6\u904e\u53bb\uff0c\u8981\u561b\u786c\u628a\u4e00\u5806\u756b\u9762\u585e\u9032\u4e0a\u4e0b\u6587\uff0c\u7d50\u679c\u524d\u8005\u4e1f\u5931\u7cbe\u78ba\u8996\u89ba\u8b49\u64da\uff0c\u5f8c\u8005\u5247\u96a8\u6b65\u6578\u7d2f\u7a4d\u8d8a\u4f86\u8d8a\u6162\u3002MaP-WAM \u8d70\u7684\u7b2c\u4e09\u689d\u8def\uff1a\u628a\u8a18\u61b6\u8996\u70ba\u300c\u898f\u5283\u6642\u7684\u8b49\u64da\u300d\uff0c\u800c\u975e\u300c\u57f7\u884c\u6642\u7684\u8ca0\u64d4\u300d\u3002\u5b83\u7531\u54c8\u723e\u6ff1\u5de5\u696d\u5927\u5b78\u3001\u5357\u6d0b\u7406\u5de5\u5927\u5b78\u53ca\u5c71\u6771\u5927\u5b78\u7b49\u5718\u968a\u5171\u540c\u63d0\u51fa\uff0c\u5c6c\u65bc VLA \u6846\u67b6\u8207 World-Action Model \u601d\u8def\u7684\u5ef6\u4f38\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3b\u6d41\u6a5f\u5668\u4eba\u7b56\u7565\u901a\u5e38\u63a1\u7528\u99ac\u53ef\u592b\u516c\u5f0f\uff0c\u4f46\u8a31\u591a\u8907\u96dc\u7684\u73fe\u5be6\u4e16\u754c\u64cd\u7e31\u4efb\u52d9\u672c\u8cea\u4e0a\u662f\u975e\u99ac\u53ef\u592b\u7684\uff0c\u9700\u8981\u8d85\u8d8a\u7576\u524d\u89c0\u5bdf\u7684\u9577\u8996\u91ce\u8a18\u61b6\u3002MaP-WAM \u7684\u6838\u5fc3\u5206\u4e09\u5c64\uff1a\u6bcf\u5b8c\u6210\u4e00\u6bb5\u4efb\u52d9\uff0c\u4fbf\u628a\u8a72\u6bb5\u7684\u8a9e\u8a00\u6307\u4ee4\u8207\u5c11\u91cf\u771f\u5be6\u57f7\u884c\u5e40\u6253\u5305\u6210 episodic memory\uff1b\u4e4b\u5f8c\u7531\u8996\u89ba\u8a9e\u8a00\u6a21\u578b\u751f\u6210\u4e0b\u4e00\u6bb5\u7684\u8a9e\u8a00\u8a08\u5283\uff0c\u4e26\u7531\u56e0\u679c\u4e16\u754c\u6a21\u578b\u88dc\u51fa\u5c0d\u61c9\u7684\u8996\u89ba\u5f15\u5c0e\uff1b\u6700\u5f8c\u7531 World-Action-Progress\uff08WAP\uff09\u6a21\u578b\u5728\u540c\u4e00\u4e0a\u4e0b\u6587\u5167\u540c\u6642\u8f38\u51fa\u52d5\u4f5c chunk \u8207\u9032\u5ea6\uff0c\u518d\u4ee5 plan-observation alignment \u6821\u6b63\u905e\u8ff4\u4f30\u8a08\u3001\u4ee5 progress-gated transitions \u6c7a\u5b9a\u4f55\u6642\u66f4\u65b0\u8a18\u61b6\u4e26\u8acb\u6c42\u4e0b\u4e00\u6bb5\u8a08\u5283\u3002\u7531\u65bc\u5df2\u5b8c\u6210\u7247\u6bb5\u7684 episodic \u8b49\u64da\u8207\u7576\u524d\u8a08\u5283\u90fd\u53ef\u88ab cache\uff0cexecutor \u7684\u4e0a\u4e0b\u6587\u9577\u5ea6\u4fdd\u6301\u56fa\u5b9a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728 RMBench \u4e0a\u9054\u5230 83.3% \u6210\u529f\u7387\u3001\u771f\u6a5f\u5be6\u9a57\u7d04 78.0%\uff0c\u540c\u6642 executor \u7dad\u6301\u8fd1\u4f3c\u5e38\u6578\u7684 per-chunk \u5ef6\u9072\u3002\u5728\u4e09\u500b\u9577\u4efb\u52d9\u8a18\u61b6\u65b9\u6848\u4e2d\uff0c\u9019\u5957\u8a2d\u8a08\u62ff\u4f86\u5c0d\u6bd4\u7684\u6070\u662f\u300c\u8a9e\u8a00\u8a18\u61b6\u4e1f\u8996\u89ba\u8b49\u64da\u300d\u8207\u300c\u6ed1\u52d5\u8996\u7a97\u8a18\u61b6\u5403 GPU\u300d\u9019\u5169\u500b\u8001\u6bdb\u75c5\uff0c\u4e26\u4ee5\u56fa\u5b9a\u4e0a\u4e0b\u6587\u7684\u65b9\u5f0f\u76f4\u63a5\u62c6\u89e3\u6548\u7387\u8207\u8986\u84cb\u7387\u7684\u53d6\u6368\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9069\u5408\u95dc\u6ce8\u6a5f\u5668\u4eba\u9577\u4efb\u52d9\u3001World-Action Model\u3001VLA \u6846\u67b6\u7684\u7814\u7a76\u5718\u968a\u8207\u5de5\u7a0b\u5718\u968a\u53c3\u8003\u3002\u6a21\u578b checkpoint \u6a19\u793a\u70ba Coming Soon\uff0c\u73fe\u968e\u6bb5\u53ea\u80fd\u8b80 paper \u8207\u9805\u76ee\u9801\u7406\u89e3\u601d\u8def\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u91cd\u9ede\u6458\u8981\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Memory-as-Plans<\/strong>\uff1a\u5c07\u9577\u4efb\u52d9\u8a18\u61b6\u62c6\u6210\u300c\u5df2\u5b8c\u6210\u7247\u6bb5\u7684\u7a00\u758f\u8996\u89ba\u8b49\u64da + \u8a9e\u8a00\u8a08\u5283\u300d\uff0c\u800c\u975e\u628a\u6240\u6709\u6b77\u53f2\u585e\u56de executor\u3002<\/li>\n\n\n\n<li><strong>WAP \u6a21\u578b<\/strong>\uff1a\u5728\u540c\u4e00\u4e0a\u4e0b\u6587\u5167\u540c\u6642\u8f38\u51fa\u52d5\u4f5c chunk \u8207\u4efb\u52d9\u9032\u5ea6\uff0c\u4e26\u900f\u904e plan-observation alignment \u6821\u6b63\u905e\u8ff4\u4f30\u8a08\u3002<\/li>\n\n\n\n<li><strong>\u56fa\u5b9a\u4e0a\u4e0b\u6587\u57f7\u884c<\/strong>\uff1a\u5df2\u5b8c\u6210\u7247\u6bb5\u8207\u7576\u524d\u8a08\u5283\u7686\u53ef cache\uff0cexecutor \u4e0a\u4e0b\u6587\u9577\u5ea6\u4e0d\u518d\u96a8\u6b77\u53f2\u589e\u9577\u3002<\/li>\n\n\n\n<li><strong>\u5c0d\u6bd4\u6e05\u6670<\/strong>\uff1a\u76f4\u63a5\u6311\u6230\u8a9e\u8a00\u8a18\u61b6\u4e1f\u5931\u8996\u89ba\u8b49\u64da\u3001\u6ed1\u52d5\u8996\u7a97\u5403 GPU \u8a18\u61b6\u9ad4\u5169\u7a2e\u4e3b\u6d41\u505a\u6cd5\u3002<\/li>\n\n\n\n<li><strong>\u73fe\u6cc1\u9650\u5236<\/strong>\uff1a\u8a13\u7df4\u8207\u63a8\u7406\u7a0b\u5f0f\u78bc\u3001\u6a21\u578b checkpoint \u5747\u672a\u91cb\u51fa\uff0c\u76ee\u524d\u50c5\u6709 paper \u8207\u9805\u76ee\u9801\u53ef\u53c3\u8003\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/sizhezhao.github.io\/projects\/MaP-WAM\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/github.com\/aipixel\/MaP-WAM\" rel=\"noopener noreferrer\"><strong>GitHub<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>MaP-WAM \u5c07\u6a5f\u68b0\u81c2\u9577\u4efb\u52d9\u62c6\u6210\u300c\u8a18\u61b6 \u2192 \u8a08\u5283 \u2192 \u884c\u52d5\u300d\u4e09\u6b65\uff0c\u5148\u4fdd\u7559\u7a00\u758f\u8996\u89ba\u8b49\u64da\uff0c\u518d\u58d3\u6210\u56fa\u5b9a\u9577\u5ea6\u7684\u8a08\u5283\u57f7\u884c\uff0c\u8b93 executor \u4e0d\u518d\u56e0\u6b77\u53f2\u589e\u9577\u800c\u8d8a\u4f86\u8d8a\u6162\u3002<\/p>\n","protected":false},"author":8,"featured_media":12169,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"wpai_generated_summary":"","footnotes":""},"categories":[133,76,149,119,186,127,204,210,184,197],"tags":[],"class_list":["post-12170","post","type-post","status-publish","format-standard","hentry","category-133","category-76","category-149","category-119","category-186","category-127","category-visionlanguageaction","category-worldactionmodel","category-robotic","category-framework"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/12170","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=12170"}],"version-history":[{"count":1,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/12170\/revisions"}],"predecessor-version":[{"id":12172,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/12170\/revisions\/12172"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/12169"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=12170"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=12170"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=12170"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}