{"id":8565,"date":"2026-05-29T04:09:26","date_gmt":"2026-05-28T20:09:26","guid":{"rendered":"https:\/\/infernews.com\/blog\/official-code-of-gem-generative-supervision-helps-embodied-intelligence\/"},"modified":"2026-05-29T04:16:21","modified_gmt":"2026-05-28T20:16:21","slug":"official-code-of-gem-generative-supervision-helps-embodied-intelligence","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/official-code-of-gem-generative-supervision-helps-embodied-intelligence\/","title":{"rendered":"GEM \u628a\u6df1\u5ea6\u5716\u751f\u6210\u5e36\u5165\u8a13\u7df4\u6d41\u7a0b"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/05\/pasted-f2e21d0c1e18.jpg\" alt=\"overview\"\/><\/figure>\n\n\n\n<p>GEM\uff08Generative-supervised Embodied vision-language Model\uff09\u662f\u4e00\u500b\u9762\u5411\u5177\u8eab\u667a\u80fd\u7684 Vision-Language Models\uff08VLMs\uff09\u9805\u76ee\uff0c\u91cd\u9ede\u4e0d\u662f\u53ea\u9760\u6587\u5b57\u8207\u5716\u7247\u5c0d\u7b54\uff0c\u800c\u662f\u8b93\u6a21\u578b\u540c\u6642\u5b78\u6703\u5834\u666f\u7684\u7a7a\u9593\u7d50\u69cb\u3002\u5b83\u52a0\u5165\u4e86\u6df1\u5ea6\u5716\u751f\u6210\u9019\u500b\u8f14\u52a9\u76ee\u6a19\uff0c\u5e0c\u671b\u88dc\u8db3\u4e00\u822c\u6587\u5b57\u9a45\u52d5\u9810\u8a13\u7df4\u8f03\u5c11\u63a5\u89f8\u7684\u7269\u7406\u8207\u5e7e\u4f55\u8a0a\u606f\uff0c\u4ee4\u6a21\u578b\u4e0d\u53ea\u300c\u770b\u5f97\u660e\u300d\uff0c\u4e5f\u66f4\u63a5\u8fd1\u300c\u77e5\u9053\u600e\u6a23\u5728\u7a7a\u9593\u4e2d\u884c\u52d5\u300d\u3002<\/p>\n\n\n\n<p>\u9019\u500b\u8a2d\u8a08\u60f3\u89e3\u6c7a\u7684\u554f\u984c\u5f88\u6e05\u695a\uff1a\u5f88\u591a\u6a21\u578b\u5728\u8a9e\u610f\u7406\u89e3\u3001\u554f\u7b54\u548c\u63cf\u8ff0\u8868\u73fe\u4e0d\u932f\uff0c\u4f46\u4e00\u727d\u6d89\u5230\u8ddd\u96e2\u3001\u906e\u64cb\u3001\u65b9\u5411\u3001\u53ef\u64cd\u4f5c\u4f4d\u7f6e\uff0c\u6216\u8005\u4e0b\u4e00\u6b65\u61c9\u600e\u6a23\u505a\uff0c\u80fd\u529b\u5c31\u672a\u5fc5\u8ddf\u5f97\u4e0a\u3002GEM\u7684\u505a\u6cd5\uff0c\u662f\u5728\u9810\u8a13\u7df4\u968e\u6bb5\u76f4\u63a5\u628a depth map generation \u653e\u9032\u53bb\uff0c\u4ee4\u6a21\u578b\u5728\u5b78\u6587\u5b57\u751f\u6210\u6642\uff0c\u4e5f\u5b78\u5834\u666f\u6df1\u5ea6\u8207\u7d50\u69cb\u3002\u8ad6\u6587\u4ea6\u63d0\u5230\u5176\u65b9\u6cd5\u7d50\u5408 hybrid autoregressive-diffusion architecture\uff0c\u4e26\u4ee5 progressive training strategy \u5148\u7a69\u5b9a\u751f\u6210\u6a21\u7d44\uff0c\u518d\u806f\u5408\u8a13\u7df4\u3002<\/p>\n\n\n\n<p>GEM \u6bd4\u8f03\u9069\u5408\u7814\u7a76\u8207\u5be6\u9a57\u7528\u9014\u3002\u5009\u5eab\u5df2\u63d0\u4f9b GEM-2B checkpoint\u3001GEM-250K \u8cc7\u6599\u6a23\u672c\uff0c\u4ee5\u53ca VLM training \/ inference \u4ee3\u78bc\uff1b\u8981\u52d5\u624b\u6e2c\u8a66\uff0c\u4e3b\u8981\u662f\u5148\u6e96\u5099 Python 3.10+ \u74b0\u5883\u8207 torch\u3001transformers\u3001deepspeed\u3001flash-attn \u7b49\u4f9d\u8cf4\uff0c\u518d\u628a\u8cc7\u6599\u8def\u5f91\u3001depth image \u8def\u5f91\u3001MODEL_PATH \u548c OUTPUT_DIR \u8a2d\u5b9a\u597d\u3002\u7531\u65bc\u8cc7\u6599\u4f4d\u7f6e\u9700\u8981\u624b\u52d5\u4fee\u6539\u5230\u7a0b\u5f0f\u6a94\u6848\u5167\uff0c\u6574\u500b\u6d41\u7a0b\u4e0d\u50cf\u4e00\u822c\u5373\u958b\u5373\u7528\u5de5\u5177\uff0c\u6bd4\u8f03\u50cf\u7d66\u719f\u6089\u6a21\u578b\u8a13\u7df4\u6d41\u7a0b\u7684\u4eba\u505a\u91cd\u73fe\u3001\u5fae\u8abf\u6216\u5ef6\u4f38\u958b\u767c\u3002<\/p>\n\n\n<div class=\"align wp-block-vpb-video\" id='vpbVideoPlayer-1' data-attributes='{&quot;source&quot;:&quot;https:\\\/\\\/zhaorw02.github.io\\\/GEM\\\/static\\\/videos\\\/GEM-demo.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;settings&quot;:true,&quot;download&quot;:false,&quot;fullscreen&quot;:true},&quot;width&quot;:&quot;100%&quot;,&quot;radius&quot;:&quot;0px&quot;,&quot;resetOnEnd&quot;:false,&quot;autoHideControl&quot;:true}'><\/div>\n\n\n<p>\u9805\u76ee\u7684\u4eae\u9ede\u4e0d\u6b62\u65bc\u6a21\u578b\u7d50\u69cb\uff0c\u9084\u5305\u62ec\u8cc7\u6599\u65b9\u5411\u3002README \u63d0\u5230\u91cb\u51fa\u7684\u662f GEM-250K \u6a23\u672c\uff0c\u800c\u8ad6\u6587\u5167\u5bb9\u5247\u63cf\u8ff0\u4e86\u66f4\u5927\u898f\u6a21\u7684 GEM-4M\uff0c\u6db5\u84cb grounding\u3001reasoning\u3001planning \u4ee5\u53ca depth supervision\u3002\u9019\u8868\u793a\u5718\u968a\u7684\u91cd\u9ede\u4e0d\u53ea\u662f\u5806\u5927\u6a21\u578b\u53c3\u6578\uff0c\u800c\u662f\u628a\u5177\u8eab\u4efb\u52d9\u5e38\u898b\u7684\u7a7a\u9593\u7406\u89e3\u3001\u6642\u5e8f\u898f\u5283\u548c\u7269\u7406\u63a8\u7406\uff0c\u653e\u9032\u540c\u4e00\u5957\u8a13\u7df4\u8cc7\u6599\u8207\u76ee\u6a19\u5167\uff0c\u9019\u5c0d Embodied VLMs \u8d70\u5411 Vision-Language-Action Models\uff08VLA\uff09\u76f8\u7576\u95dc\u9375\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6838\u5fc3\u65b9\u6cd5\u662f\u5728 VLM \u9810\u8a13\u7df4\u4e2d\u52a0\u5165 depth map generation\uff0c\u5f37\u5316 physical grounding \u8207 spatial reasoning<\/li>\n\n\n\n<li>\u5df2\u516c\u958b\u7684\u76f8\u95dc\u8cc7\u6e90\u5305\u62ec GEM-2B\u3001GEM-250K\uff0c\u4ee5\u53ca\u8a13\u7df4\u8207\u63a8\u8ad6\u4ee3\u78bc<\/li>\n\n\n\n<li>\u5ef6\u4f38\u7248\u672c GEM-VLA \u9762\u5411 Vision-Language-Action Models\uff08VLA\uff09\u8207\u6a5f\u68b0\u4eba\u64cd\u4f5c<\/li>\n\n\n\n<li>\u4f9d\u8cf4\u5305\u542b torch>=2.6.0\u3001transformers>=4.57.0\u3001deepspeed\u3001flash-attn\u3001accelerate\u3001peft\u3001triton\u3001torchcodec<\/li>\n\n\n\n<li>\u73fe\u968e\u6bb5\u8f03\u9069\u5408\u7814\u7a76\u4eba\u54e1\u3001ML \u5de5\u7a0b\u5e2b\uff0c\u6216\u60f3\u91cd\u73fe\u8ad6\u6587\u7d50\u679c\u7684\u5718\u968a<\/li>\n<\/ul>\n\n\n\n<p>\u6027\u80fd\u65b9\u9762\uff0cGEM \u5728\u591a\u500b embodied benchmarks \u4e0a\u6709\u5f37\u52c1\u8868\u73fe\uff0c\u800c\u8ad6\u6587\u5167\u5bb9\u5247\u9032\u4e00\u6b65\u6307\u51fa GEM \u8207 GEM-VLA \u5728 diverse embodied benchmarks\u3001LIBERO \u6a21\u64ec\u74b0\u5883\uff0c\u4ee5\u53ca real-world robot tasks \u53d6\u5f97 state-of-the-art results\u3002\u5f9e\u516c\u958b\u8cc7\u8a0a\u53ef\u898b\uff0c\u5b83\u6bd4\u8f03\u7684\u662f\u7a7a\u9593\u63a8\u7406\u3001grounding \u8207\u4efb\u52d9\u57f7\u884c\u80fd\u529b\uff0c\u800c\u4e0d\u53ea\u662f\u901a\u7528\u804a\u5929\u6216\u5716\u6587\u554f\u7b54\u5206\u6578\u3002\u4e0d\u904e\uff0c\u5009\u5eab\u9801\u9762\u672a\u5b8c\u6574\u5217\u51fa\u6240\u6709\u53ef\u91cd\u73fe\u7684\u8a55\u6e2c\u8868\u683c\u8207\u8a2d\u5b9a\u7d30\u7bc0\uff0c\u4f7f\u7528\u6642\u4ecd\u61c9\u4ee5\u8ad6\u6587\u548c\u5f8c\u7e8c\u91cb\u51fa\u7684\u5b8c\u6574\u8cc7\u6599\u70ba\u6e96\u3002<\/p>\n\n\n\n<p>\u6574\u9ad4\u4f86\u770b\uff0cGEM\u6700\u9069\u5408\u95dc\u6ce8\u6a5f\u68b0\u4eba\u3001\u591a\u6a21\u614b\u5b78\u7fd2\u3001Embodied Intelligence \u7684\u8b80\u8005\u7559\u610f\u3002\u82e5\u4f60\u6b63\u5728\u627e\u7684\u662f\u4e00\u500b\u73fe\u6210\u804a\u5929\u52a9\u624b\uff0c\u9019\u500b\u9805\u76ee\u672a\u5fc5\u5c0d\u53e3\uff1b\u4f46\u82e5\u4f60\u60f3\u4e86\u89e3\u4e0b\u4e00\u4ee3\u6a21\u578b\u600e\u6a23\u7531\u300c\u770b\u5716\u7b54\u984c\u300d\u8d70\u5411\u300c\u7406\u89e3\u7a7a\u9593\u4e26\u652f\u63f4\u52d5\u4f5c\u6c7a\u7b56\u300d\uff0cGEM\u63d0\u4f9b\u4e86\u4e00\u689d\u5f88\u5177\u4ee3\u8868\u6027\u7684\u8def\u7dda\u3002\u76f8\u95dc\u6a21\u578b\u8207\u57fa\u790e\u5305\u62ec GEM\u3001GEM-2B\u3001\u5f85\u91cb\u51fa\u7684 GEM-8B\u3001\u5ef6\u4f38\u7248\u672c GEM-VLA\uff0c\u4ee5\u53ca\u5176\u4ee3\u78bc\u6240\u5efa\u57fa\u7684 Qwen3-VL\u3001Sana\u3001RDT2\u3002<\/p>\n\n\n\n<p><strong>GitHub\uff1a<\/strong> <a href=\"https:\/\/github.com\/zhaorw02\/GEM\" rel=\"noopener noreferrer\">https:\/\/github.com\/zhaorw02\/GEM<\/a><\/p>\n\n\n\n<p><strong>Paper\uff1a<\/strong> <a href=\"https:\/\/arxiv.org\/pdf\/2605.28548\" rel=\"noopener noreferrer\">https:\/\/arxiv.org\/pdf\/2605.28548<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>GEM\u628a\u6df1\u5ea6\u5716\u751f\u6210\u5e36\u5165\u8a13\u7df4\u6d41\u7a0b\uff0c\u76ee\u6a19\u662f\u4ee4\u6a21\u578b\u66f4\u61c2\u7a7a\u9593\u8207\u52d5\u4f5c\u3002\u9019\u500b\u9805\u76ee\u4ea6\u5c55\u793a\u4e86\u7531 VLM \u8d70\u5411\u6a5f\u68b0\u4eba\u64cd\u4f5c\u7684\u5ef6\u4f38\u6f5b\u529b\u3002<\/p>\n","protected":false},"author":8,"featured_media":8564,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[172,116,76,149,196],"tags":[],"class_list":["post-8565","post","type-post","status-publish","format-standard","hentry","category-172","category-agentic","category-76","category-149","category-196"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/8565","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=8565"}],"version-history":[{"count":1,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/8565\/revisions"}],"predecessor-version":[{"id":8567,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/8565\/revisions\/8567"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/8564"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=8565"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=8565"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=8565"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}