{"id":1186831,"date":"2026-09-17T20:00:00","date_gmt":"2026-09-18T03:00:00","guid":{"rendered":"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/?post_type=msr-blog-post&#038;p=1186831"},"modified":"2026-10-28T00:34:58","modified_gmt":"2026-10-28T07:34:58","slug":"unisteer","status":"publish","type":"msr-blog-post","link":"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/articles\/unisteer\/","title":{"rendered":"UniSteer\u7528\u673a\u68b0\u81c2\u62fc\u8c46\uff1a\u8ba9\u4eba\u7c7b\u6307\u5bfc\u8fdb\u5165VLA\u566a\u58f0\u7a7a\u95f4\u5f3a\u5316\u5b66\u4e60"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u89c6\u89c9 &#8211; \u8bed\u8a00 &#8211; \u52a8\u4f5c\u6a21\u578b\uff08Vision-Language-Action Model\uff0cVLA\uff09\u6b63\u5728\u6210\u4e3a\u673a\u5668\u4eba\u64cd\u4f5c\u7684\u91cd\u8981\u57fa\u7840\u6a21\u578b\u3002\u7ecf\u8fc7\u5c11\u91cf\u793a\u8303\u5fae\u8c03\u540e\uff0cVLA \u5df2\u7ecf\u80fd\u591f\u5b8c\u6210\u6293\u53d6\u3001\u653e\u7f6e\u3001\u5806\u53e0\u7b49\u591a\u79cd\u4efb\u52a1\u3002\u7136\u800c\uff0c\u4e00\u65e6\u4efb\u52a1\u6d89\u53ca\u7cbe\u5bc6\u63a5\u89e6\u3001\u72ed\u5c0f\u5bb9\u5dee\u6216\u5206\u5e03\u5916\u4f4d\u7f6e\uff0c\u6a21\u578b\u7684\u6210\u529f\u7387\u4ecd\u4f1a\u660e\u663e\u4e0b\u964d\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u4e5f\u662f\u4e3a\u4ec0\u4e48\u771f\u673a\u5f3a\u5316\u5b66\u4e60\u5982\u6b64\u91cd\u8981\uff1a\u9884\u8bad\u7ec3\u548c\u6a21\u4eff\u5b66\u4e60\u8d4b\u4e88\u4e86\u673a\u5668\u4eba\u4e00\u4e2a\u4e0d\u9519\u7684\u8d77\u70b9\uff0c\u800c\u5f3a\u5316\u5b66\u4e60\u5219\u8ba9\u673a\u5668\u4eba\u80fd\u591f\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u7ee7\u7eed\u8bd5\u9519\uff0c\u9002\u5e94\u5177\u4f53\u7269\u4f53\u3001\u89c6\u89d2\u5e76\u63a5\u89e6\u52a8\u529b\u5b66\u3002\u4f46\u771f\u673a\u8bd5\u9519\u7684\u6210\u672c\u8fdc\u9ad8\u4e8e\u4eff\u771f\uff0c\u6bcf\u4e00\u6b21\u5931\u8d25\u90fd\u4f1a\u6d88\u8017\u8bbe\u5907\u3001\u65f6\u95f4\u3001\u5b9e\u9a8c\u4eba\u5458\u7cbe\u529b\uff0c\u751a\u81f3\u7834\u574f\u4efb\u52a1\u73b0\u573a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u56e0\u6b64\uff0c\u771f\u673a\u5f3a\u5316\u5b66\u4e60\u9762\u5bf9\u7684\u6838\u5fc3\u95ee\u9898\u4e0d\u662f\u80fd\u5426\u5b66\u4e60\uff0c\u800c\u662f\u5982\u4f55\u7528\u5c3d\u53ef\u80fd\u5c11\u7684\u771f\u5b9e\u4ea4\u4e92\uff0c\u8ba9\u7b56\u7565\u5c3d\u5feb\u5b66\u4f1a\u6210\u529f\uff1f<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e00\u4e2a\u81ea\u7136\u7684\u7b54\u6848\u662f\u8ba9\u4eba\u7c7b\u53c2\u4e0e\u3002\u6a21\u578b\u63a2\u7d22\u9519\u8bef\u65b9\u5411\u65f6\uff0c\u4eba\u7c7b\u53ef\u4ee5\u7acb\u5373\u63a5\u7ba1\u5e76\u5b8c\u6210\u7ea0\u6b63\u3002\u7136\u800c\uff0c\u5bf9\u4e8e\u91c7\u7528\u6d41\u5339\u914d\uff08flow matching\uff09\u7684 VLA\u6765\u8bf4\uff0c\u65b0\u7684\u77db\u76fe\u968f\u4e4b\u51fa\u73b0\u3002\u4eba\u7c7b\u7ed9\u51fa\u7684\u662f\u673a\u5668\u4eba\u52a8\u4f5c\uff0c\u8f7b\u91cf\u5f3a\u5316\u5b66\u4e60\u4f18\u5316\u7684\u5374\u662f\u521d\u59cb\u566a\u58f0\uff0c\u4e5f\u5c31\u662f\u8bf4\u4eba\u7c7b\u77e5\u9053\u673a\u68b0\u81c2\u5e94\u8be5\u600e\u6837\u79fb\u52a8\uff0c\u5374\u65e0\u6cd5\u76f4\u63a5\u544a\u8bc9\u6a21\u578b\u5e94\u8be5\u9009\u62e9\u54ea\u4e00\u4e2a\u566a\u58f0\u3002\u4eba\u7c7b\u52a8\u4f5c\u4e0e\u566a\u58f0\u7a7a\u95f4\u4e4b\u95f4\uff0c\u7f3a\u5c11\u4e00\u4e2a\u53ef\u9760\u7684\u63a5\u53e3\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6765\u81ea\u5fae\u8f6f\u4e9a\u6d32\u7814\u7a76\u9662\u3001\u6089\u5c3c\u79d1\u6280\u5927\u5b66\u548c\u6e05\u534e\u5927\u5b66\u7684\u7814\u7a76\u5458\u4eec\u63d0\u51fa\u4e86<strong>&nbsp;<\/strong>UniSteer\u3002\u5b83\u901a\u8fc7\u52a8\u4f5c\u5230\u566a\u58f0\u7684\u8fd1\u4f3c\u53cd\u6f14\uff0c\u53ef\u5c06\u4eba\u7c7b\u7ea0\u6b63\u8f6c\u6362\u6210\u566a\u58f0\u76d1\u7763\uff0c\u4f7f\u76d1\u7763\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u80fd\u591f\u5171\u540c\u66f4\u65b0\u540c\u4e00\u4e2a\u8f7b\u91cf\u566a\u58f0\u884c\u4e3a\u4f53\uff08noise actor\uff09\uff0c\u800c\u9884\u8bad\u7ec3 VLA \u7684\u52a8\u4f5c\u89e3\u7801\u5668\u59cb\u7ec8\u4fdd\u6301\u51bb\u7ed3\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3a\u4e86\u5c55\u793a\u8fd9\u79cd\u65b9\u6cd5\u5728\u9ad8\u7cbe\u5ea6\u4efb\u52a1\u4e0a\u7684\u6f5c\u529b\uff0c\u7814\u7a76\u5458\u4eec\u8ba9\u673a\u68b0\u81c2\u6311\u6218\u4e86\u4e00\u9879\u9887\u5177\u96be\u5ea6\u7684\u624b\u5de5\u4efb\u52a1\uff1a\u62fc\u8c46\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u673a\u68b0\u81c2\u9700\u8981\u9010\u9897\u5939\u53d6\u7ec6\u5c0f\u7684\u805a\u4e59\u70ef\u4e2d\u7a7a\u9897\u7c92\uff0c\u518d\u5c06\u5176\u51c6\u786e\u653e\u5230\u5e26\u6709\u67f1\u72b6\u51f8\u8d77\u7684\u62fc\u8c46\u677f\u4e0a\u3002\u529b\u5ea6\u8fc7\u5927\uff0c\u62fc\u8c46\u53ef\u80fd\u5f39\u98de\uff1b\u59ff\u6001\u7a0d\u6709\u504f\u5dee\uff0c\u62fc\u8c46\u5c31\u65e0\u6cd5\u987a\u5229\u5957\u5165\u51f8\u8d77\uff1b\u91ca\u653e\u65f6\u7a0d\u6709\u78b0\u649e\uff0c\u8fd8\u53ef\u80fd\u63a8\u5012\u5df2\u7ecf\u653e\u597d\u7684\u9897\u7c92\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728<img loading=\"lazy\" decoding=\"async\" width=\"35\" height=\"22\" class=\"wp-image-1186833\" style=\"width: 35px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff081\uff09UNI-1.png\" alt=\"formula\">\u6a21\u578b\u57fa\u7840\u4e0a\uff0cUniSteer \u8bad\u7ec3\u4e86\u989d\u5916\u7684 noise actor\uff0c\u9010\u9897\u653e\u7f6e 16 \u9897\u62fc\u8c46\uff0c\u6700\u7ec8\u62fc\u51fa\u4e86\u5fae\u8f6f Logo\u3002\u6574\u4e2a\u4efb\u52a1\u7684\u5728\u7ebf\u5b66\u4e60\u9636\u6bb5\u4eba\u7c7b\u6570\u636e\u9884\u7b97\u4ec5\u4e3a\u4e24\u6761\u5b8c\u6574\u6f14\u793a\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><em>\u76f8\u5173\u8bba\u6587\u53ca\u8bad\u7ec3\u4ee3\u7801\u7684\u5f00\u6e90\u4fe1\u606f\u5df2\u6574\u7406\u81f3\u6587\u672b\uff0c\u6b22\u8fce\u70b9\u51fb\u4e86\u89e3\u66f4\u591a\u6280\u672f\u8be6\u60c5\u3002<\/em><\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 id=\"\u566a\u58f0\u7a7a\u95f4\u5fae\u8c03\u8db3\u591f\u8f7b\u91cf-\u4f46\u63a2\u7d22\u4ecd\u7136\u592a\u6602\u8d35\" class=\"wp-block-heading\">\u566a\u58f0\u7a7a\u95f4\u5fae\u8c03\u8db3\u591f\u8f7b\u91cf\uff0c\u4f46\u63a2\u7d22\u4ecd\u7136\u592a\u6602\u8d35<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u76ee\u524d\u4e0d\u5c11 VLA \u4f7f\u7528\u6d41\u5339\u914d\u6765\u751f\u6210\u8fde\u7eed\u52a8\u4f5c\u3002\u7ed9\u5b9a\u89c6\u89c9\u89c2\u6d4b\u3001\u673a\u5668\u4eba\u72b6\u6001\u548c\u8bed\u8a00\u6307\u4ee4\uff0c\u6a21\u578b\u5148\u91c7\u6837\u4e00\u4e2a\u9ad8\u65af\u566a\u58f0\uff0c\u518d\u901a\u8fc7\u591a\u6b65\u53bb\u566a\uff0c\u5c06\u5b83\u9010\u6e10\u53d8\u6362\u4e3a\u4e00\u6bb5\u673a\u5668\u4eba\u52a8\u4f5c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u76f4\u63a5\u5bf9\u6574\u4e2a VLA \u505a\u5728\u7ebf\u5f3a\u5316\u5b66\u4e60\uff0c\u4e0d\u4ec5\u8ba1\u7b97\u4ee3\u4ef7\u9ad8\uff0c\u8fd8\u9700\u8981\u8ba9\u68af\u5ea6\u7a7f\u8fc7\u591a\u6b65\u52a8\u4f5c\u751f\u6210\u8fc7\u7a0b\uff0c\u8bad\u7ec3\u5bb9\u6613\u53d8\u5f97\u4e0d\u7a33\u5b9a\u3002\u566a\u58f0\u7a7a\u95f4\u5f3a\u5316\u5b66\u4e60\u63d0\u4f9b\u4e86\u4e00\u6761\u66f4\u8f7b\u91cf\u7684\u8def\u7ebf\uff1a\u51bb\u7ed3\u9884\u8bad\u7ec3 VLA\uff0c\u53ea\u8bad\u7ec3\u4e00\u4e2a\u5c0f\u578b noise actor\uff0c\u7531\u5b83\u6839\u636e\u5f53\u524d\u72b6\u6001\u9009\u62e9\u521d\u59cb\u566a\u58f0\uff0c\u518d\u4ea4\u7ed9\u51bb\u7ed3\u7684 VLA \u89e3\u7801\u6210\u52a8\u4f5c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5176\u6267\u884c\u8fc7\u7a0b\u53ef\u4ee5\u5199\u6210\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"498\" height=\"68\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff082\uff09UNI.png\" alt=\"formula\" class=\"wp-image-1186834\" style=\"width:400px;height:auto\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff082\uff09UNI.png 498w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff082\uff09UNI-300x41.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff082\uff09UNI-240x33.png 240w\" sizes=\"auto, (max-width: 498px) 100vw, 498px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u5176\u4e2d\uff0c<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"33\" class=\"wp-image-1186835\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/3UNI.png\" alt=\"formula\">\u662f\u53ef\u8bad\u7ec3\u7684 noise actor\uff0c<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"30\" class=\"wp-image-1186836\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff084\uff09UNI.png\" alt=\"formula\">\u662f\u51bb\u7ed3\u7684 VLA \u52a8\u4f5c\u89e3\u7801\u5668\u3002\u5f3a\u5316\u5b66\u4e60\u7684\u8bc4\u4ef7\u5668\uff08critic\uff09\u76f4\u63a5\u8bc4\u4f30\u72b6\u6001\u4e0e\u566a\u58f0\u7684\u7ec4\u5408<img loading=\"lazy\" decoding=\"async\" width=\"60\" height=\"28\" class=\"wp-image-1186837\" style=\"width: 60px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff085\uff09UNI.png\" alt=\"formula\">\u3002\u8fd9\u79cd\u8bbe\u8ba1\u6709\u4e24\u4e2a\u76f4\u63a5\u4f18\u52bf\u3002\u5176\u4e00\uff0c\u53ea\u66f4\u65b0\u5c0f\u578b\u7684\u884c\u52a8\u4f53\uff08actor\uff09\u8bad\u7ec3\u6210\u672c\u663e\u8457\u964d\u4f4e\uff1b\u5176\u4e8c\uff0c\u6240\u6709\u52a8\u4f5c\u4ecd\u7531\u9884\u8bad\u7ec3 VLA \u89e3\u7801\uff0c\u56e0\u6b64\u4e0d\u4f1a\u8f7b\u6613\u504f\u79bb\u6a21\u578b\u539f\u6709\u7684\u52a8\u4f5c\u5148\u9a8c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f46\u8f7b\u91cf\u5e76\u4e0d\u7b49\u4e8e\u9ad8\u6548\u3002\u82e5\u521d\u59cb\u7b56\u7565\u6210\u529f\u7387\u5f88\u4f4e\u3001\u5956\u52b1\u53c8\u53ea\u5728\u4efb\u52a1\u5b8c\u6210\u65f6\u51fa\u73b0\uff0cnoise actor \u4ecd\u9700\u8981\u4f9d\u9760\u81ea\u4e3b\u8bd5\u9519\u5bfb\u627e\u5c11\u91cf\u6210\u529f\u8f68\u8ff9\u3002\u5982\u679c\u673a\u68b0\u81c2\u59cb\u7ec8\u4ee5\u9519\u8bef\u59ff\u6001\u63a5\u8fd1\u7269\u4f53\uff0c\u5b83\u5c31\u5f88\u96be\u83b7\u5f97\u4efb\u4f55\u6b63\u5956\u52b1\uff0c\u66f4\u8c08\u4e0d\u4e0a\u4ece\u5956\u52b1\u4e2d\u5b66\u4e60\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4eba\u7c7b\u7ea0\u6b63\u672c\u5e94\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff1a\u770b\u5230\u673a\u68b0\u81c2\u4ece\u9519\u8bef\u65b9\u5411\u9760\u8fd1\u52fa\u5b50\uff0c\u4eba\u7c7b\u53ef\u4ee5\u63a5\u7ba1\u5e76\u628a\u5939\u722a\u79fb\u52a8\u5230\u66f4\u4f4e\u3001\u66f4\u5bb9\u6613\u6293\u53d6\u7684\u4f4d\u7f6e\u3002\u7136\u800c\uff0c\u8fd9\u6761\u7ea0\u6b63\u8f68\u8ff9\u8bb0\u5f55\u7684\u662f\u52a8\u4f5c<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"33\" class=\"wp-image-1186838\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff087\uff09UNI.png\" alt=\"formula\">\uff0cnoise actor \u9700\u8981\u5b66\u4e60\u7684\u5374\u662f\u566a\u58f0<img loading=\"lazy\" decoding=\"async\" width=\"25\" height=\"36\" class=\"wp-image-1186839\" style=\"width: 25px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff088\uff09UNI.png\" alt=\"formula\">\u3002\u8fd9\u5c31\u628a\u95ee\u9898\u6536\u655b\u4e3a\u4e00\u4e2a\u5173\u952e\u6280\u672f\u95ee\u9898\uff0c\u80fd\u5426\u627e\u5230\u4e00\u4e2a\u566a\u58f0\uff0c\u4f7f\u51bb\u7ed3\u7684 VLA \u6070\u597d\u751f\u6210\u63a5\u8fd1\u4eba\u7c7b\u7ea0\u6b63\u7684\u52a8\u4f5c\uff1f<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"357\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff089\uff09UNI-1-1024x357.png\" alt=\"diagram\" class=\"wp-image-1186841\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff089\uff09UNI-1-1024x357.png 1024w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff089\uff09UNI-1-300x104.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff089\uff09UNI-1-767x267.png 767w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff089\uff09UNI-1-240x84.png 240w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff089\uff09UNI-1.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">\u56fe1\uff1aUniSteer \u539f\u7406\u56fe\u53ca\u6027\u80fd\u6982\u8981<\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 id=\"\u52a8\u4f5c\u65e0\u6cd5\u76f4\u63a5\u76d1\u7763-noise-actor-unisteer\u9009\u62e9\u53cd\u6f14\u6574\u4e2a\u751f\u6210\u8fc7\u7a0b\" class=\"wp-block-heading\">\u52a8\u4f5c\u65e0\u6cd5\u76f4\u63a5\u76d1\u7763 noise actor\uff0cUniSteer\u9009\u62e9\u53cd\u6f14\u6574\u4e2a\u751f\u6210\u8fc7\u7a0b<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">UniSteer \u7684\u6838\u5fc3\u601d\u8def\u5e76\u4e0d\u590d\u6742\uff0c\u65e2\u7136\u51bb\u7ed3\u7684 VLA \u5b9a\u4e49\u4e86\u4ece\u566a\u58f0\u5230\u52a8\u4f5c\u7684\u6620\u5c04\uff0c\u90a3\u5c31\u6cbf\u7740\u8fd9\u6761\u8def\u5f84\u53cd\u5411\u5bfb\u627e\u4ea7\u751f\u4eba\u7c7b\u52a8\u4f5c\u7684\u521d\u59cb\u566a\u58f0\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5bf9\u56fa\u5b9a\u72b6\u6001<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"45\" class=\"wp-image-1186842\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/10UNI.png\" alt=\"formula\">\uff0c\u6d41\u5339\u914d\u89e3\u7801\u5668\u4ece\u521d\u59cb\u566a\u58f0<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"35\" class=\"wp-image-1186843\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0811\uff09UNI.png\" alt=\"formula\">\u51fa\u53d1\uff0c\u6cbf\u901f\u5ea6\u573a<img loading=\"lazy\" decoding=\"async\" width=\"35\" height=\"42\" class=\"wp-image-1186844\" style=\"width: 35px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0812\uff09UNI.png\" alt=\"formula\">\u6f14\u5316\uff0c\u5e76\u5728\u7ec8\u70b9\u5f97\u5230\u52a8\u4f5c<img loading=\"lazy\" decoding=\"async\" width=\"25\" height=\"27\" class=\"wp-image-1186845\" style=\"width: 25px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0813\uff09UNI.png\" alt=\"formula\">\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"584\" height=\"90\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/15UNI.png\" alt=\"formula\" class=\"wp-image-1186847\" style=\"aspect-ratio:6.489694971145919;width:436px;height:auto\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/15UNI.png 584w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/15UNI-300x46.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/15UNI-240x37.png 240w\" sizes=\"auto, (max-width: 584px) 100vw, 584px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u8fde\u7eed\u65f6\u95f4\u4e0b\uff0c\u5982\u679c\u901f\u5ea6\u573a\u6ee1\u8db3\u8bba\u6587\u7ed9\u51fa\u7684\u8fde\u7eed\u6027\u4e0e Lipschitz \u6761\u4ef6\uff0c\u8fd9\u4e2a\u4ece\u566a\u58f0\u5230\u52a8\u4f5c\u7684\u6620\u5c04\u662f\u53cc\u5c04\uff0c\u6bcf\u4e2a\u52a8\u4f5c\u90fd\u5b58\u5728\u552f\u4e00\u7684\u521d\u59cb\u566a\u58f0\u4e0e\u4e4b\u5bf9\u5e94\u3002\u771f\u6b63\u7684\u56f0\u96be\u5728\u4e8e\uff0c\u5b9e\u9645\u6a21\u578b\u91c7\u7528\u79bb\u6563\u7684 Euler \u6b65\u5b8c\u6210\u89e3\u7801\uff0c\u800c\u5355\u6b65\u9006\u6620\u5c04\u4ecd\u7136\u4f9d\u8d56\u672a\u77e5\u7684\u8f93\u5165\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9a\u4e49\u4e00\u6b21\u524d\u5411\u66f4\u65b0\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"372\" height=\"58\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/16UNI.png\" alt=\"formula\" class=\"wp-image-1186848\" style=\"aspect-ratio:6.416243654822335;width:280px;height:auto\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/16UNI.png 372w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/16UNI-300x47.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/16UNI-240x37.png 240w\" sizes=\"auto, (max-width: 372px) 100vw, 372px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u8981\u4ece\u8f93\u51fa<img loading=\"lazy\" decoding=\"async\" width=\"25\" height=\"34\" class=\"wp-image-1186849\" style=\"width: 25px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/17UNI.png\" alt=\"formula\">\u6062\u590d\u8f93\u5165<img loading=\"lazy\" decoding=\"async\" width=\"26\" height=\"33\" class=\"wp-image-1186850\" style=\"width: 26px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/18UNI.png\" alt=\"formula\">\uff0c\u9700\u8981\u6c42\u89e3\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter is-resized\"><img decoding=\"async\" src=\"https:\/\/mmbiz.qpic.cn\/sz_mmbiz_png\/5L8bhP5dIqFcrBr2Eh7kjc4mLgyibfGgOiaVJibm0lfiabias6luib0sP8Odrgdic8d6OXoqROWderzTlTCXbK3E1vA6UhP9KDIDwZDic55RLGLTIU4\/640?wx_fmt=png&from=appmsg&wxfrom=5&wx_lazy=1&tp=wxpic#imgIndex=18\" alt=\"formula\" style=\"aspect-ratio:5.486204125368336;width:304px;height:auto\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u53f3\u4fa7\u4ecd\u7136\u5305\u542b\u672a\u77e5\u7684<img loading=\"lazy\" decoding=\"async\" width=\"25\" height=\"32\" class=\"wp-image-1186852\" style=\"width: 25px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0820\uff09UNI-1.png\" alt=\"formula\">\uff0c\u56e0\u6b64\u65e0\u6cd5\u76f4\u63a5\u4ee3\u5165\u6c42\u89e3\u3002\u4f46\u5b83\u5929\u7136\u6784\u6210\u4e00\u4e2a\u4e0d\u52a8\u70b9\u65b9\u7a0b\u3002UniSteer \u4ece<img loading=\"lazy\" decoding=\"async\" width=\"25\" height=\"34\" class=\"wp-image-1186853\" style=\"width: 25px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/21UNI.png\" alt=\"formula\">\u5f00\u59cb\u53cd\u590d\u8fed\u4ee3\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"494\" height=\"66\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/22UNI.png\" alt=\"formula\" class=\"wp-image-1186854\" style=\"aspect-ratio:7.4855875831485585;width:376px;height:auto\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/22UNI.png 494w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/22UNI-300x40.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/22UNI-240x32.png 240w\" sizes=\"auto, (max-width: 494px) 100vw, 494px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f53\u901f\u5ea6\u573a\u5173\u4e8e<img loading=\"lazy\" decoding=\"async\" width=\"25\" height=\"32\" class=\"wp-image-1186855\" style=\"width: 25px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0823\uff09UNI.png\" alt=\"formula\">\u7684 Lipschitz \u5e38\u6570\u4e3a<img loading=\"lazy\" decoding=\"async\" width=\"25\" height=\"33\" class=\"wp-image-1186856\" style=\"width: 25px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/24UNI.png\" alt=\"formula\">\uff0c\u5e76\u6ee1\u8db3<img loading=\"lazy\" decoding=\"async\" width=\"80\" height=\"28\" class=\"wp-image-1186857\" style=\"width: 80px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/25UNI.png\" alt=\"formula\">\u65f6\uff0c\u8fd9\u4e2a\u6620\u5c04\u662f\u538b\u7f29\u6620\u5c04\uff0c\u8fed\u4ee3\u4f1a\u6536\u655b\u5230\u552f\u4e00\u7684\u4e0d\u52a8\u70b9\u3002\u4e8e\u662f\uff0cUniSteer \u53ef\u4ee5\u4ece\u4eba\u7c7b\u52a8\u4f5c\u5f00\u59cb\uff0c\u9010\u6b65\u9006\u8f6c\u6bcf\u4e00\u4e2a Euler \u53bb\u566a\u6b65\u9aa4\uff0c\u6700\u7ec8\u6062\u590d\u5bf9\u5e94\u7684\u521d\u59cb\u566a\u58f0<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"35\" class=\"wp-image-1186858\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/26UNI.png\" alt=\"formula\">\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 id=\"\u540c\u4e00\u4e2a\u566a\u58f0\u63a5\u53e3-\u5982\u4f55\u540c\u65f6\u63a5\u4f4f\u4eba\u7c7b\u7ea0\u6b63\u4e0e\u5f3a\u5316\u5b66\u4e60\" class=\"wp-block-heading\">\u540c\u4e00\u4e2a\u566a\u58f0\u63a5\u53e3\uff0c\u5982\u4f55\u540c\u65f6\u63a5\u4f4f\u4eba\u7c7b\u7ea0\u6b63\u4e0e\u5f3a\u5316\u5b66\u4e60\uff1f<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f97\u5230\u76ee\u6807\u566a\u58f0\u4e4b\u540e\uff0c\u4eba\u7c7b\u6307\u5bfc\u7ec8\u4e8e\u53ef\u4ee5\u76f4\u63a5\u8fdb\u5165 noise actor \u7684\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u6a21\u578b\u81ea\u4e3b\u6267\u884c\u65f6\uff0c\u7cfb\u7edf\u8bb0\u5f55\u72b6\u6001\u3001noise actor \u91c7\u6837\u7684\u566a\u58f0\u3001\u5956\u52b1\u4e0e\u4e0b\u4e00\u72b6\u6001\uff0c\u5e76\u5c06\u5b83\u4eec\u653e\u5165\u5f3a\u5316\u5b66\u4e60\u7f13\u51b2\u533a\u3002\u4eba\u7c7b\u63a5\u7ba1\u65f6\uff0cUniSteer \u5c06\u7ea0\u6b63\u52a8\u4f5c<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"33\" class=\"wp-image-1186859\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0827\uff09UNI.png\" alt=\"formula\">\u53cd\u6f14\u4e3a\u76ee\u6807\u566a\u58f0<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"35\" class=\"wp-image-1186860\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/28UNI.png\" alt=\"formula\">\uff1b\u8fd9\u6761\u6570\u636e\u4e00\u65b9\u9762\u8fdb\u5165\u6f14\u793a\u7f13\u51b2\u533a\uff0c\u7528\u5747\u65b9\u8bef\u5dee\u76f4\u63a5\u76d1\u7763 actor\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"378\" height=\"74\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/29UNI.png\" alt=\"formula\" class=\"wp-image-1186861\" style=\"width:296px;height:auto\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/29UNI.png 378w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/29UNI-300x59.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/29UNI-240x47.png 240w\" sizes=\"auto, (max-width: 378px) 100vw, 378px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u53e6\u4e00\u65b9\u9762\u4e5f\u8fdb\u5165\u5f3a\u5316\u5b66\u4e60\u7f13\u51b2\u533a\uff0c\u5e2e\u52a9 critic \u5b66\u4e60\u8fd9\u4e9b\u66f4\u6709\u4ef7\u503c\u7684\u72b6\u6001 &#8211; \u566a\u58f0\u7ec4\u5408\u3002\u968f\u540e\uff0cactor \u518d\u6839\u636e critic \u7ed9\u51fa\u7684\u4ef7\u503c\u4fe1\u53f7\u7ee7\u7eed\u4f18\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"556\" height=\"68\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0830\uff09UNI-1.png\" alt=\"formula\" class=\"wp-image-1186863\" style=\"aspect-ratio:8.1790463833928;width:408px;height:auto\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0830\uff09UNI-1.png 556w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0830\uff09UNI-1-300x37.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0830\uff09UNI-1-240x29.png 240w\" sizes=\"auto, (max-width: 556px) 100vw, 556px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u56e0\u6b64\uff0c\u4eba\u7c7b\u7ea0\u6b63\u548c\u5f3a\u5316\u5b66\u4e60\u4e0d\u518d\u5206\u522b\u4fee\u6539\u52a8\u4f5c\u6a21\u578b\u7684\u4e0d\u540c\u90e8\u5206\uff0c\u800c\u662f\u901a\u8fc7\u540c\u4e00\u4e2a\u566a\u58f0\u63a5\u53e3\u66f4\u65b0\u540c\u4e00\u4e2a actor\u3002\u76d1\u7763\u5b66\u4e60\u5148\u628a actor \u62c9\u5411\u4eba\u7c7b\u6307\u51fa\u7684\u6709\u5e0c\u671b\u533a\u57df\uff0c\u5f3a\u5316\u5b66\u4e60\u518d\u5229\u7528\u4efb\u52a1\u5956\u52b1\uff0c\u5728\u8fd9\u4e9b\u533a\u57df\u9644\u8fd1\u7ee7\u7eed\u63a2\u7d22\u548c\u5de9\u56fa\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"535\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/31UNI-1024x535.png\" alt=\"diagram\" class=\"wp-image-1186864\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/31UNI-1024x535.png 1024w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/31UNI-300x157.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/31UNI-768x401.png 768w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/31UNI-240x125.png 240w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/31UNI.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">\u56fe2\uff1aUniSteer \u6d41\u7a0b\u56fe<\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 id=\"\u5e73\u5747-66-\u5206\u949f\u4ece-20-\u5230-90-\u63d0\u5347\u6765\u81ea\u66f4\u6709\u6548\u7684\u63a2\u7d22\" class=\"wp-block-heading\">\u5e73\u5747 66 \u5206\u949f\u4ece 20% \u5230 90%\uff0c\u63d0\u5347\u6765\u81ea\u66f4\u6709\u6548\u7684\u63a2\u7d22<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u7814\u7a76\u5458\u4eec\u5728 AgileX Piper \u673a\u68b0\u81c2\u4e0a\u6d4b\u8bd5\u4e86\u62ff\u8d77\u52fa\u5b50\u3001\u5806\u53e0\u79ef\u6728\u3001\u63d2\u5165\u65b9\u5757\u548c\u6298\u53e0\u6bdb\u5dfe\u56db\u9879\u771f\u673a\u4efb\u52a1\uff0c\u8986\u76d6\u6293\u53d6\u653e\u7f6e\u3001\u7cbe\u5bc6\u63a5\u89e6\u548c\u53ef\u53d8\u5f62\u7269\u4f53\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7cfb\u7edf\u4ee5 30 Hz \u63a5\u6536\u4fa7\u89c6\u4e0e\u8155\u90e8\u4e24\u8def RGB \u56fe\u50cf\u30016D \u672b\u7aef\u4f4d\u59ff\u548c\u5939\u722a\u72b6\u6001\u3002\u56db\u9879\u6b63\u5f0f\u57fa\u51c6\u5b9e\u9a8c\u5747\u4ece\u9884\u8bad\u7ec3\u7684<img loading=\"lazy\" decoding=\"async\" width=\"30\" height=\"30\" class=\"wp-image-1186866\" style=\"width: 30px;\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/33UNI.png\" alt=\"formula\">\u67b6\u6784\u51fa\u53d1\uff0c\u6bcf\u9879\u4efb\u52a1\u5148\u4f7f\u7528 30 \u6761\u793a\u8303\u8fdb\u884c\u9884\u70ed\uff0c\u518d\u8fdb\u5165\u5728\u7ebf\u771f\u673a\u5fae\u8c03\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"265\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/32UNI-1024x265.png\" alt=\"flowchart\" class=\"wp-image-1186865\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/32UNI-1024x265.png 1024w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/32UNI-300x78.png 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/32UNI-768x199.png 768w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/32UNI-240x62.png 240w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/32UNI.png 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">\u56fe3\uff1aUniSteer \u6d4b\u8bd5\u4f7f\u7528\u7684\u771f\u673a\u5b9e\u9a8c\u4efb\u52a1<\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ecf\u8fc7\u5e73\u5747 66 \u5206\u949f\u5728\u7ebf\u5fae\u8c03\uff0cUniSteer \u5c06\u56db\u9879\u4efb\u52a1\u7684\u5e73\u5747\u6210\u529f\u7387\u4ece 20% \u63d0\u5347\u5230 90%\u3002\u4f5c\u4e3a\u5bf9\u6bd4\uff0c\u53ea\u505a\u566a\u58f0\u7a7a\u95f4\u5f3a\u5316\u5b66\u4e60\u3001\u4e0d\u4f7f\u7528\u4eba\u7c7b\u6307\u5bfc\u7684 DSRL \u8fbe\u5230 55%\uff1b\u5728\u52a8\u4f5c\u7a7a\u95f4\u805a\u5408\u4eba\u7c7b\u793a\u8303\u7684 DAgger \u8fbe\u5230 60%\u3002<br>\u4e3a\u4e86\u68c0\u9a8c\u6a21\u578b\u662f\u5426\u53ea\u662f\u5728\u91cd\u590d\u793a\u8303\uff0c\u7814\u7a76\u5458\u4eec\u8fd8\u4e13\u95e8\u8bbe\u7f6e\u4e86\u5206\u5e03\u5916\uff08OOD\uff09\u521d\u59cb\u4f4d\u7f6e\u3002\u521d\u59cb\u7b56\u7565\u5728\u4e09\u9879\u4efb\u52a1\u7684 OOD \u6d4b\u8bd5\u4e2d\u6210\u529f\u7387\u5747\u4e3a 0%\u3002\u7ecf\u8fc7 UniSteer \u5fae\u8c03\u540e\uff0c\u4e09\u9879\u4efb\u52a1\u7684 OOD \u6210\u529f\u7387\u5168\u90e8\u8fbe\u5230 100%\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cDSRL \u5728\u4e09\u9879 OOD \u6d4b\u8bd5\u4e2d\u5206\u522b\u8fbe\u5230 0%\u30010% \u548c 25%\uff0cDAgger \u5219\u5206\u522b\u4e3a 75%\u3001100% \u548c 25%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"437\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0834\uff09UNI-1024x437.jpg\" alt=\"table\" class=\"wp-image-1186867\" style=\"aspect-ratio:2.343368592351505;width:746px;height:auto\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0834\uff09UNI-1024x437.jpg 1024w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0834\uff09UNI-300x128.jpg 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0834\uff09UNI-766x327.jpg 766w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0834\uff09UNI-240x102.jpg 240w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0834\uff09UNI.jpg 1080w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">\u88681\uff1a\u771f\u673a\u5b9e\u9a8c\u7ed3\u679c<\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u76f8\u6bd4\u4e8e DAgger \u8fd9\u6837\u7ecf\u5178\u7684\u4eba\u5de5\u7ea0\u9519\u7c7b\u7b97\u6cd5\uff0cUniSteer \u6240\u9700\u8981\u7684\u4eba\u529b\u6295\u5165\u66f4\u5c11\u3002\u5728\u5bf9\u6bd4\u5b9e\u9a8c\u4e2d\uff0cDAgger \u6bcf\u8f6e\u56fa\u5b9a\u6536\u96c6 8 \u6761\u7eaf\u4eba\u5de5\u8f68\u8ff9\uff1b\u800c UniSteer \u5728\u6bcf\u8f6e\u4eba\u5de5\u8f68\u8ff9\u66f4\u5c11\u7684\u60c5\u51b5\u4e0b\uff0c\u5374\u80fd\u53d6\u5f97\u5f88\u597d\u7684\u6548\u679c\u3002\u6b64\u5916\uff0cUniSteer \u4f7f\u7528\u7684\u7eaf\u6a21\u578b\u8f68\u8ff9\u4e5f\u5c11\u4e8e DSRL \u57fa\u7ebf\uff0c\u8fd9\u8bf4\u660e\u5b83\u7684\u63d0\u5347\u5e76\u975e\u6765\u81ea\u91c7\u5f97\u66f4\u591a\uff0c\u800c\u662f\u6765\u81ea\u66f4\u6709\u6548\u7684\u63a2\u7d22\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"370\" src=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0835\uff09UNI-1024x370.jpg\" alt=\"chart, bar chart\" class=\"wp-image-1186868\" style=\"aspect-ratio:2.767634057274649;width:790px;height:auto\" srcset=\"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0835\uff09UNI-1024x370.jpg 1024w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0835\uff09UNI-300x108.jpg 300w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0835\uff09UNI-767x277.jpg 767w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0835\uff09UNI-240x87.jpg 240w, https:\/\/cm-edgetun.pages.dev\/en-us\/research\/wp-content\/uploads\/2026\/09\/\uff0835\uff09UNI.jpg 1074w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">\u56fe4\uff1aUniSteer\u3001DAgger \u548c DSRL \u7684\u6027\u80fd\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u4e2a\u7ed3\u679c\u7684\u610f\u4e49\u4e0d\u53ea\u5728\u4e8e\u6700\u7ec8\u6210\u529f\u7387\u66f4\u9ad8\uff0c\u66f4\u5728\u4e8e\u63d0\u5347\u6765\u5f97\u66f4\u5feb\u3002DSRL \u5b8c\u5168\u4f9d\u8d56\u81ea\u4e3b\u63a2\u7d22\uff0c\u521d\u59cb\u7b56\u7565\u8d8a\u5f31\uff0c\u8d8a\u96be\u6536\u96c6\u5230\u6210\u529f\u8f68\u8ff9\uff1bDAgger \u867d\u7136\u80fd\u8f83\u5feb\u5229\u7528\u4eba\u5de5\u52a8\u4f5c\uff0c\u4f46\u53ef\u80fd\u5728\u8fde\u7eed\u7684\u52a8\u4f5c\u7a7a\u95f4\u76d1\u7763\u4e2d\u8986\u76d6\u6b64\u524d\u5b66\u5230\u7684\u884c\u4e3a\u3002UniSteer \u5219\u5148\u501f\u52a9\u5c11\u91cf\u7ea0\u6b63\u627e\u5230\u66f4\u6709\u5e0c\u671b\u7684\u566a\u58f0\u533a\u57df\uff0c\u518d\u901a\u8fc7\u5956\u52b1\u9a71\u52a8\u7684\u4f18\u5316\u4fdd\u7559\u548c\u6269\u5c55\u8fd9\u4e9b\u80fd\u529b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 id=\"\u56fa\u5b9a\u70b9\u53cd\u6f14\u7684\u4ef7\u503c-\u4e0d\u53ea\u662f\u80fd\u591f\u53cd\u6f14\" class=\"wp-block-heading\">\u56fa\u5b9a\u70b9\u53cd\u6f14\u7684\u4ef7\u503c\uff0c\u4e0d\u53ea\u662f\u80fd\u591f\u53cd\u6f14<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u52a8\u4f5c\u5230\u566a\u58f0\u5e76\u975e\u53ea\u6709\u4e00\u79cd\u5b9e\u73b0\u65b9\u5f0f\u3002\u7814\u7a76\u5458\u4eec\u8fd8\u6bd4\u8f83\u4e86\u4e24\u79cd\u66ff\u4ee3\u65b9\u6848\u3002\u4e00\u79cd\u628a\u566a\u58f0\u672c\u8eab\u5f53\u4f5c\u4f18\u5316\u53d8\u91cf\uff0c\u901a\u8fc7\u68af\u5ea6\u641c\u7d22\u80fd\u591f\u91cd\u5efa\u4eba\u7c7b\u52a8\u4f5c\u7684\u566a\u58f0\uff1b\u53e6\u4e00\u79cd\u4e0d\u663e\u5f0f\u6062\u590d\u76ee\u6807\u566a\u58f0\uff0c\u800c\u662f\u628a actor \u8f93\u51fa\u9001\u5165\u51bb\u7ed3\u89e3\u7801\u5668\uff0c\u518d\u4ece\u52a8\u4f5c\u91cd\u5efa\u8bef\u5dee\u53cd\u5411\u4f20\u64ad\u5230 actor\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9e\u9a8c\u663e\u793a\uff0c\u56fa\u5b9a\u70b9\u53cd\u6f14\u5728\u901f\u5ea6\u3001\u91cd\u5efa\u7cbe\u5ea6\u548c\u6700\u7ec8\u6210\u529f\u7387\u4e4b\u95f4\u53d6\u5f97\u4e86\u66f4\u597d\u7684\u5e73\u8861\u3002\u5728\u62ff\u52fa\u5b50\u4efb\u52a1\u7684 8 \u6761\u6d4b\u8bd5\u8f68\u8ff9\u4e0a\uff0c\u56fa\u5b9a\u70b9\u53cd\u6f14\u603b\u8017\u65f6 73.26 \u79d2\u5e76\u5b9e\u73b0 8\/8 \u6210\u529f\uff1b\u57fa\u4e8e\u4f18\u5316\u7684\u53cd\u6f14\u8017\u65f6 208.04 \u79d2\uff0c\u4ec5\u5b9e\u73b0 3\/8 \u6210\u529f\u3002\u63d2\u65b9\u5757\u4efb\u52a1\u4e2d\uff0c\u4e24\u8005\u5206\u522b\u4e3a 40.42 \u79d2\u30018\/8 \u6210\u529f\u548c 80.96 \u79d2\u30014\/8 \u6210\u529f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u76f4\u63a5\u52a8\u4f5c\u76d1\u7763\u867d\u7136\u4e5f\u80fd\u53d6\u5f97\u8f83\u9ad8\u6210\u529f\u7387\uff0c\u5374\u9700\u8981\u8ba9\u68af\u5ea6\u7a7f\u8fc7\u6574\u4e2a\u591a\u6b65\u89e3\u7801\u94fe\u3002\u5728\u62ff\u52fa\u5b50\u548c\u63d2\u65b9\u5757\u4efb\u52a1\u4e2d\uff0c\u5176\u8bad\u7ec3\u8017\u65f6\u5206\u522b\u8fbe\u5230 193.22 \u79d2\u548c 90.43 \u79d2\uff0c\u660e\u663e\u9ad8\u4e8e\u56fa\u5b9a\u70b9\u53cd\u6f14\u65b9\u6848\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u56fa\u5b9a\u70b9\u53cd\u6f14\u771f\u6b63\u91cd\u8981\u7684\u5730\u65b9\u56e0\u6b64\u4e0d\u53ea\u662f\u627e\u5230\u4e00\u4e2a\u566a\u58f0\uff0c\u800c\u662f\u4ee5\u8f83\u4f4e\u6210\u672c\u627e\u5230\u4e0e\u51bb\u7ed3 VLA \u4e00\u81f4\u7684\u566a\u58f0\u76d1\u7763\u76ee\u6807\u3002\u5b83\u65e2\u53ef\u4ee5\u907f\u514d\u53cd\u590d\u4f18\u5316\u5355\u4e2a\u566a\u58f0\uff0c\u4e5f\u80fd\u591f\u907f\u514d\u6bcf\u6b21 actor \u66f4\u65b0\u90fd\u7a7f\u8fc7\u5b8c\u6574\u52a8\u4f5c\u751f\u6210\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 id=\"\u7ed3\u8bed\" class=\"wp-block-heading\">\u7ed3\u8bed<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">VLA \u5df2\u7ecf\u4e3a\u673a\u5668\u4eba\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u52a8\u4f5c\u5148\u9a8c\uff0c\u4f46\u4ece\u5927\u81f4\u4f1a\u505a\u8d70\u5411\u7a33\u5b9a\u505a\u597d\uff0c\u4ecd\u7136\u79bb\u4e0d\u5f00\u771f\u5b9e\u73af\u5883\u4e2d\u7684\u9002\u5e94\u3002\u96be\u70b9\u5728\u4e8e\uff0c\u771f\u673a\u4ea4\u4e92\u6602\u8d35\uff0c\u7eaf\u5f3a\u5316\u5b66\u4e60\u63a2\u7d22\u7f13\u6162\uff0c\u800c\u4eba\u7c7b\u7ea0\u6b63\u4e0e\u566a\u58f0\u7a7a\u95f4\u4f18\u5316\u53c8\u4f7f\u7528\u4e24\u79cd\u4e0d\u540c\u7684\u8868\u793a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">UniSteer \u7ed9\u51fa\u7684\u7b54\u6848\uff0c\u662f\u628a\u4eba\u7c7b\u52a8\u4f5c\u53cd\u6f14\u4e3a\u521d\u59cb\u566a\u58f0\uff0c\u8ba9\u76d1\u7763\u5b66\u4e60\u4e0e\u5f3a\u5316\u5b66\u4e60\u5728\u540c\u4e00\u4e2a\u8f7b\u91cf noise actor \u4e0a\u6c47\u5408\u3002\u4eba\u7c7b\u7ea0\u6b63\u8d1f\u8d23\u6307\u51fa\u66f4\u6709\u5e0c\u671b\u7684\u63a2\u7d22\u533a\u57df\uff0c\u5f3a\u5316\u5b66\u4e60\u8d1f\u8d23\u6839\u636e\u771f\u5b9e\u4efb\u52a1\u5956\u52b1\u7ee7\u7eed\u4f18\u5316\uff0c\u51bb\u7ed3\u7684 VLA \u5219\u59cb\u7ec8\u63d0\u4f9b\u52a8\u4f5c\u5148\u9a8c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ece\u5e73\u5747 66 \u5206\u949f\u5185\u5c06\u56db\u9879\u4efb\u52a1\u7684\u6210\u529f\u7387\u7531 20% \u63d0\u5347\u81f3 90%\uff0c\u5230\u4ec5\u7528\u4e24\u6761\u5b8c\u6574\u6f14\u793a\u652f\u6301\u673a\u68b0\u81c2\u9010\u9897\u5b8c\u6210\u5fae\u8f6f Logo \u62fc\u8c46\uff0cUniSteer \u5c55\u793a\u4e86\u4e00\u6761\u9887\u5177\u73b0\u5b9e\u610f\u4e49\u7684\u8def\u7ebf\uff1a\u4e0d\u5fc5\u5168\u91cf\u66f4\u65b0\u5e9e\u5927\u7684 VLA\uff0c\u4e5f\u4e0d\u5fc5\u8ba9\u673a\u5668\u4eba\u4ece\u7a00\u758f\u5956\u52b1\u4e2d\u76f2\u76ee\u8bd5\u9519\uff0c\u800c\u662f\u8ba9\u4eba\u7c7b\u5728\u5173\u952e\u65f6\u523b\u7ed9\u51fa\u7684\u7ea0\u6b63\uff0c\u76f4\u63a5\u6210\u4e3a\u566a\u58f0\u7a7a\u95f4\u4e2d\u53ef\u5b66\u4e60\u7684\u65b9\u5411\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u968f\u7740 VLA \u9010\u6e10\u8fdb\u5165\u66f4\u7cbe\u5bc6\u3001\u66f4\u957f\u7a0b\u548c\u66f4\u590d\u6742\u7684\u771f\u5b9e\u4efb\u52a1\uff0c\u5982\u4f55\u628a\u6709\u9650\u7684\u4eba\u7c7b\u53c2\u4e0e\u8f6c\u5316\u4e3a\u9ad8\u6548\u3001\u7a33\u5b9a\u7684\u7b56\u7565\u6539\u8fdb\uff0c\u5c06\u6210\u4e3a\u673a\u5668\u4eba\u540e\u8bad\u7ec3\u8d8a\u6765\u8d8a\u91cd\u8981\u7684\u95ee\u9898\u3002UniSteer \u4e3a\u8fd9\u4e00\u95ee\u9898\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7b80\u6d01\u800c\u7edf\u4e00\u7684\u63a5\u53e3\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>UniSteer: Unified Noise Steering for Efficient Human-Guided VLA Adaptation<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8bba\u6587\u94fe\u63a5\uff1a<a class=\"msr-external-link glyph-append glyph-append-open-in-new-tab glyph-append-xsmall\" rel=\"noopener noreferrer\" target=\"_blank\" href=\"https:\/\/arxiv.org\/abs\/2605.10821\">https:\/\/arxiv.org\/abs\/2605.10821<span class=\"sr-only\"> (opens in new tab)<\/span><\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee3\u7801\u94fe\u63a5\uff1a<a class=\"msr-external-link glyph-append glyph-append-open-in-new-tab glyph-append-xsmall\" rel=\"noopener noreferrer\" target=\"_blank\" href=\"https:\/\/github.com\/microsoft\/UniSteer\">https:\/\/github.com\/microsoft\/UniSteer<span class=\"sr-only\"> (opens in new tab)<\/span><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u89c6\u89c9 &#8211; \u8bed\u8a00 &#8211; \u52a8\u4f5c\u6a21\u578b\uff08Vision-Language-Action Model\uff0cVLA\uff09\u6b63\u5728\u6210\u4e3a\u673a\u5668\u4eba\u64cd\u4f5c\u7684\u91cd\u8981\u57fa\u7840\u6a21\u578b\u3002\u7ecf\u8fc7\u5c11\u91cf\u793a\u8303\u5fae\u8c03\u540e\uff0cVLA \u5df2\u7ecf\u80fd\u591f\u5b8c\u6210\u6293\u53d6\u3001\u653e\u7f6e\u3001\u5806\u53e0\u7b49\u591a\u79cd\u4efb\u52a1\u3002\u7136\u800c\uff0c\u4e00\u65e6\u4efb\u52a1\u6d89\u53ca\u7cbe\u5bc6\u63a5\u89e6\u3001\u72ed\u5c0f\u5bb9\u5dee\u6216\u5206\u5e03\u5916\u4f4d\u7f6e\uff0c\u6a21\u578b\u7684\u6210\u529f\u7387\u4ecd\u4f1a\u660e\u663e\u4e0b\u964d\u3002 \u8fd9\u4e5f\u662f\u4e3a\u4ec0\u4e48\u771f\u673a\u5f3a\u5316\u5b66\u4e60\u5982\u6b64\u91cd\u8981\uff1a\u9884\u8bad\u7ec3\u548c\u6a21\u4eff\u5b66\u4e60\u8d4b\u4e88\u4e86\u673a\u5668\u4eba\u4e00\u4e2a\u4e0d\u9519\u7684\u8d77\u70b9\uff0c\u800c\u5f3a\u5316\u5b66\u4e60\u5219\u8ba9\u673a\u5668\u4eba\u80fd\u591f\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u7ee7\u7eed\u8bd5\u9519\uff0c\u9002\u5e94\u5177\u4f53\u7269\u4f53\u3001\u89c6\u89d2\u5e76\u63a5\u89e6\u52a8\u529b\u5b66\u3002\u4f46\u771f\u673a\u8bd5\u9519\u7684\u6210\u672c\u8fdc\u9ad8\u4e8e\u4eff\u771f\uff0c\u6bcf\u4e00\u6b21\u5931\u8d25\u90fd\u4f1a\u6d88\u8017\u8bbe\u5907\u3001\u65f6\u95f4\u3001\u5b9e\u9a8c\u4eba\u5458\u7cbe\u529b\uff0c\u751a\u81f3\u7834\u574f\u4efb\u52a1\u73b0\u573a\u3002 \u56e0\u6b64\uff0c\u771f\u673a\u5f3a\u5316\u5b66\u4e60\u9762\u5bf9\u7684\u6838\u5fc3\u95ee\u9898\u4e0d\u662f\u80fd\u5426\u5b66\u4e60\uff0c\u800c\u662f\u5982\u4f55\u7528\u5c3d\u53ef\u80fd\u5c11\u7684\u771f\u5b9e\u4ea4\u4e92\uff0c\u8ba9\u7b56\u7565\u5c3d\u5feb\u5b66\u4f1a\u6210\u529f\uff1f \u4e00\u4e2a\u81ea\u7136\u7684\u7b54\u6848\u662f\u8ba9\u4eba\u7c7b\u53c2\u4e0e\u3002\u6a21\u578b\u63a2\u7d22\u9519\u8bef\u65b9\u5411\u65f6\uff0c\u4eba\u7c7b\u53ef\u4ee5\u7acb\u5373\u63a5\u7ba1\u5e76\u5b8c\u6210\u7ea0\u6b63\u3002\u7136\u800c\uff0c\u5bf9\u4e8e\u91c7\u7528\u6d41\u5339\u914d\uff08flow matching\uff09\u7684 VLA\u6765\u8bf4\uff0c\u65b0\u7684\u77db\u76fe\u968f\u4e4b\u51fa\u73b0\u3002\u4eba\u7c7b\u7ed9\u51fa\u7684\u662f\u673a\u5668\u4eba\u52a8\u4f5c\uff0c\u8f7b\u91cf\u5f3a\u5316\u5b66\u4e60\u4f18\u5316\u7684\u5374\u662f\u521d\u59cb\u566a\u58f0\uff0c\u4e5f\u5c31\u662f\u8bf4\u4eba\u7c7b\u77e5\u9053\u673a\u68b0\u81c2\u5e94\u8be5\u600e\u6837\u79fb\u52a8\uff0c\u5374\u65e0\u6cd5\u76f4\u63a5\u544a\u8bc9\u6a21\u578b\u5e94\u8be5\u9009\u62e9\u54ea\u4e00\u4e2a\u566a\u58f0\u3002\u4eba\u7c7b\u52a8\u4f5c\u4e0e\u566a\u58f0\u7a7a\u95f4\u4e4b\u95f4\uff0c\u7f3a\u5c11\u4e00\u4e2a\u53ef\u9760\u7684\u63a5\u53e3\u3002 \u6765\u81ea\u5fae\u8f6f\u4e9a\u6d32\u7814\u7a76\u9662\u3001\u6089\u5c3c\u79d1\u6280\u5927\u5b66\u548c\u6e05\u534e\u5927\u5b66\u7684\u7814\u7a76\u5458\u4eec\u63d0\u51fa\u4e86&nbsp;UniSteer\u3002\u5b83\u901a\u8fc7\u52a8\u4f5c\u5230\u566a\u58f0\u7684\u8fd1\u4f3c\u53cd\u6f14\uff0c\u53ef\u5c06\u4eba\u7c7b\u7ea0\u6b63\u8f6c\u6362\u6210\u566a\u58f0\u76d1\u7763\uff0c\u4f7f\u76d1\u7763\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u80fd\u591f\u5171\u540c\u66f4\u65b0\u540c\u4e00\u4e2a\u8f7b\u91cf\u566a\u58f0\u884c\u4e3a\u4f53\uff08noise actor\uff09\uff0c\u800c\u9884\u8bad\u7ec3 VLA \u7684\u52a8\u4f5c\u89e3\u7801\u5668\u59cb\u7ec8\u4fdd\u6301\u51bb\u7ed3\u3002 \u4e3a\u4e86\u5c55\u793a\u8fd9\u79cd\u65b9\u6cd5\u5728\u9ad8\u7cbe\u5ea6\u4efb\u52a1\u4e0a\u7684\u6f5c\u529b\uff0c\u7814\u7a76\u5458\u4eec\u8ba9\u673a\u68b0\u81c2\u6311\u6218\u4e86\u4e00\u9879\u9887\u5177\u96be\u5ea6\u7684\u624b\u5de5\u4efb\u52a1\uff1a\u62fc\u8c46\u3002 \u673a\u68b0\u81c2\u9700\u8981\u9010\u9897\u5939\u53d6\u7ec6\u5c0f\u7684\u805a\u4e59\u70ef\u4e2d\u7a7a\u9897\u7c92\uff0c\u518d\u5c06\u5176\u51c6\u786e\u653e\u5230\u5e26\u6709\u67f1\u72b6\u51f8\u8d77\u7684\u62fc\u8c46\u677f\u4e0a\u3002\u529b\u5ea6\u8fc7\u5927\uff0c\u62fc\u8c46\u53ef\u80fd\u5f39\u98de\uff1b\u59ff\u6001\u7a0d\u6709\u504f\u5dee\uff0c\u62fc\u8c46\u5c31\u65e0\u6cd5\u987a\u5229\u5957\u5165\u51f8\u8d77\uff1b\u91ca\u653e\u65f6\u7a0d\u6709\u78b0\u649e\uff0c\u8fd8\u53ef\u80fd\u63a8\u5012\u5df2\u7ecf\u653e\u597d\u7684\u9897\u7c92\u3002 \u5728\u6a21\u578b\u57fa\u7840\u4e0a\uff0cUniSteer \u8bad\u7ec3\u4e86\u989d\u5916\u7684 noise actor\uff0c\u9010\u9897\u653e\u7f6e 16 \u9897\u62fc\u8c46\uff0c\u6700\u7ec8\u62fc\u51fa\u4e86\u5fae\u8f6f Logo\u3002\u6574\u4e2a\u4efb\u52a1\u7684\u5728\u7ebf\u5b66\u4e60\u9636\u6bb5\u4eba\u7c7b\u6570\u636e\u9884\u7b97\u4ec5\u4e3a\u4e24\u6761\u5b8c\u6574\u6f14\u793a\u8f68\u8ff9\u3002 \u76f8\u5173\u8bba\u6587\u53ca\u8bad\u7ec3\u4ee3\u7801\u7684\u5f00\u6e90\u4fe1\u606f\u5df2\u6574\u7406\u81f3\u6587\u672b\uff0c\u6b22\u8fce\u70b9\u51fb\u4e86\u89e3\u66f4\u591a\u6280\u672f\u8be6\u60c5\u3002 \u76ee\u524d\u4e0d\u5c11 VLA \u4f7f\u7528\u6d41\u5339\u914d\u6765\u751f\u6210\u8fde\u7eed\u52a8\u4f5c\u3002\u7ed9\u5b9a\u89c6\u89c9\u89c2\u6d4b\u3001\u673a\u5668\u4eba\u72b6\u6001\u548c\u8bed\u8a00\u6307\u4ee4\uff0c\u6a21\u578b\u5148\u91c7\u6837\u4e00\u4e2a\u9ad8\u65af\u566a\u58f0\uff0c\u518d\u901a\u8fc7\u591a\u6b65\u53bb\u566a\uff0c\u5c06\u5b83\u9010\u6e10\u53d8\u6362\u4e3a\u4e00\u6bb5\u673a\u5668\u4eba\u52a8\u4f5c\u3002 \u5982\u679c\u76f4\u63a5\u5bf9\u6574\u4e2a VLA 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