Google 如何教 LLM 控制机器人,并掀起一场机器人热潮
Google 在 2023 年 7 月发布 RT-2,把多模态 LLM 训练成直接输出机器人动作的视觉-语言-动作(VLA)模型,其泛化能力来自网络规模的视觉-语言预训练。此后 Google、Nvidia、Hugging Face、小米、字节跳动、智元等相继推出用扩散或流匹配生成动作块的 VLA 模型,Physical Intelligence 则通过强化学习、子目标图像和长短期记忆把机器人能力推向折衣服、做咖啡等长任务。作者认为 VLA 与世界模型之争尚无定论,最终胜出的可能是两者的混合架构。
to have the patience to let us do it the right way.” There was a lot to do. RT-2 was a big improvement over previous robotic models, but it was still far less capable than the average human. Over the last two years, the Physical Intelligence (PI) team has been working hard to close that gap. The company has been remarkably transparent, publishing at least 10 papers describing their work. For this story, I read all the PI papers I could find — along with 20 more from other companies and academic
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