{"id":12685,"date":"2026-09-28T19:17:00","date_gmt":"2026-09-28T11:17:00","guid":{"rendered":"https:\/\/infernews.com\/blog\/tactile\/"},"modified":"2026-09-28T19:17:00","modified_gmt":"2026-09-28T11:17:00","slug":"tactile","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/tactile\/","title":{"rendered":"tactile\uff1a\u8b93\u96fb\u5b50\u76ae\u819a\u5b78\u61c2\u63a5\u89f8\u4f4d\u7f6e\u7684\u62d3\u64b2\u611f\u77e5\u6a21\u578b"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/09\/pasted-ec46d5357611.jpg\" alt=\"Tactile-JEPA maps distributed tactile signals to topology-aware per-taxel embeddings using the taxel graph during pretra\"><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u96fb\u5b50\u76ae\u819a\u9762\u5c0d\u7684\u96e3\u984c\uff0c\u4e0d\u53ea\u662f\u8b80\u53d6\u611f\u6e2c\u6578\u503c\uff0c\u800c\u662f\u8981\u7406\u89e3\u54ea\u4e9b taxel \u5f7c\u6b64\u76f8\u9130\u3001\u63a5\u89f8\u8a0a\u865f\u5982\u4f55\u5728\u611f\u6e2c\u8868\u9762\u5206\u5e03\u3002Tactile-JEPA \u5c6c\u65bc\u89f8\u89ba\u8868\u5fb5\u5b78\u7fd2\u6a21\u578b\uff0c\u900f\u904e\u611f\u6e2c\u5668\u62d3\u64b2\u9810\u6e2c\u88ab\u906e\u853d\u7684 taxel embedding\uff0c\u5c07\u539f\u672c\u5206\u6563\u7684\u6642\u9593\u5e8f\u5217\u8f49\u6210\u53ef\u4f9b\u4e0b\u6e38\u4efb\u52d9\u91cd\u7528\u7684\u8868\u793a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u6c92\u6709\u628a\u611f\u6e2c\u9762\u786c\u5957\u6210\u898f\u5247\u5f71\u50cf\u7db2\u683c\uff0c\u800c\u662f\u6cbf\u7740 sensor connectivity graph \u62bd\u53d6\u5c40\u90e8\u53ca\u5168\u5c40\u906e\u7f69\uff1b\u9810\u8a2d\u7d44\u5408\u5305\u542b\u5169\u500b local masks \u548c\u5169\u500b global masks\uff0c\u517c\u9867\u5c40\u90e8\u63a5\u89f8\u7d30\u7bc0\u8207\u6574\u500b\u8868\u9762\u7684\u72c0\u614b\u3002\u6a21\u578b\u7531 context encoder\u3001exponential-moving-average (EMA) target encoder \u548c predictor \u7d44\u6210\uff0cpredictor \u9810\u6e2c\u96b1\u85cf embedding\uff0c\u518d\u4ee5 mean squared error \u5c0d\u9f4a target encoder \u8f38\u51fa\uff1b\u9810\u8a13\u7df4\u5b8c\u6210\u5f8c\uff0c\u51cd\u7d50\u7684 target encoder \u53ef\u914d\u5408 task-specific heads \u4f7f\u7528\uff0c\u800c\u4e0b\u6e38\u7de8\u78bc\u4e0d\u518d\u9700\u8981\u5716\u7d50\u69cb\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9805\u76ee\u6db5\u84cb Xela magnetic hand skins\u3001piezoresistive tactile socks\uff0c\u4ee5\u53ca\u96d9\u624b DECO-50 \u7b49\u4e0d\u540c\u611f\u6e2c\u5668\u5f62\u614b\uff0c\u652f\u63f4 force estimation\u3001in-hand \u53ca full-body pose estimation\u3001object\/action classification \u548c visuo-tactile policy learning\u3002\u9996\u9801\u5831\u544a\u6307\uff0c\u6a21\u578b\u76f8\u5c0d\u5404\u4efb\u52d9\u6700\u5f37\u57fa\u7dda\uff0cin-hand orientation error \u6e1b\u5c11 20.8%\uff0cforce estimation error \u6e1b\u5c11 6.3%\uff0c\u4f46\u9810\u8a13\u7df4\u6a21\u578b\u53ca\u8ad6\u6587\u9023\u7d50\u4ecd\u6a19\u793a\u70ba TBD\uff0c\u7d50\u679c\u91cd\u73fe\u7a0b\u5ea6\u8981\u8996\u4e4e\u5f8c\u7e8c\u8cc7\u6e90\u662f\u5426\u88dc\u9f4a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6e2c\u8a66\u9700\u8981 Linux\u3001Conda \u53ca\u5177 CUDA-compatible driver \u7684 NVIDIA GPU\uff0c\u4e26\u7531\u5132\u5b58\u5eab\u5efa\u7acb\u74b0\u5883\u3001\u4ee5 editable package \u65b9\u5f0f\u5b89\u88dd\u3002\u4e09\u500b\u8cc7\u6599\u96c6\u5408\u5171\u6d89\u53ca\u6578\u767e\u500b taxels\uff0c\u4e0b\u8f09\u53ca\u6574\u7406\u6210\u672c\u4e0d\u4f4e\uff0c\u8f03\u9069\u5408\u7814\u7a76\u89f8\u89ba\u611f\u77e5\u3001\u6a5f\u68b0\u4eba\u64cd\u4f5c\u6216 visuo-tactile learning \u7684\u5718\u968a\uff1b\u53ea\u9700\u8981\u55ae\u4e00\u611f\u6e2c\u5668\u5206\u985e\u5668\u7684\u5de5\u4f5c\uff0c\u672a\u5fc5\u80fd\u62b5\u92b7\u5716\u7d50\u69cb\u6574\u7406\u53ca GPU \u9810\u8a13\u7df4\u6210\u672c\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4ee5\u62d3\u64b2\u906e\u7f69\u53d6\u4ee3\u5f71\u50cf\u5f0f\u898f\u5247\u906e\u7f69\uff0c\u8cbc\u8fd1\u4e0d\u898f\u5247\u96fb\u5b50\u76ae\u819a\u7684\u5be6\u969b\u6392\u5217\u3002<\/li>\n<li>Local \u8207 global targets \u540c\u6642\u6355\u6349\u63a5\u89f8\u7d30\u7bc0\u53ca\u6574\u9ad4\u611f\u6e2c\u72c0\u614b\u3002<\/li>\n<li>\u9810\u8a13\u7df4 encoder \u53ef\u670d\u52d9\u529b\u91cf\u3001\u59ff\u614b\u3001\u7269\u4ef6\u53ca\u52d5\u4f5c\u7b49\u591a\u7a2e\u4e0b\u6e38\u4efb\u52d9\u3002<\/li>\n<li>\u5716\u7d50\u69cb\u53ea\u53c3\u8207\u9810\u8a13\u7df4\uff0c\u4e4b\u5f8c\u7684\u7de8\u78bc\u6d41\u7a0b\u8f03\u5bb9\u6613\u63a5\u5165\u4e0d\u540c\u4efb\u52d9\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/bosbobos.github.io\/Tactile-JEPA\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/github.com\/E-Kovtun\/tactile\" rel=\"noopener noreferrer\"><strong>GitHub<\/strong><\/a> \u00b7 <a href=\"https:\/\/huggingface.co\/Tactile-JEPA\" rel=\"noopener noreferrer\"><strong>\u6a21\u578b<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tactile-JEPA \u628a\u5206\u6563\u5f0f\u89f8\u89ba\u611f\u6e2c\u5668\u7684\u9023\u63a5\u95dc\u4fc2\u7d0d\u5165\u9810\u8a13\u7df4\uff0c\u4ee4\u540c\u4e00\u5957\u8868\u5fb5\u53ef\u652f\u63f4\u529b\u91cf\u3001\u59ff\u614b\u53ca\u52d5\u4f5c\u5224\u65b7\u3002<\/p>\n","protected":false},"author":8,"featured_media":12684,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"wpai_generated_summary":"","footnotes":""},"categories":[133,131,76,127,184,150,199],"tags":[],"class_list":["post-12685","post","type-post","status-publish","format-standard","hentry","category-133","category-embedding","category-76","category-127","category-robotic","category-150","category-dataset-"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/12685","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=12685"}],"version-history":[{"count":0,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/12685\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/12684"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=12685"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=12685"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=12685"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}