扩散策略：通过动作扩散学习视觉运动策略
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
将机器人控制建模为条件动作序列去噪，把扩散模型连接到视觉运动学习。
THE RESEARCH ATLAS
π0.5：具有开放世界泛化能力的视觉—语言—动作模型
视觉—语言—动作系统利用多种监督来源，研究跨环境与任务泛化。
π0.5: a Vision-Language-Action Model with Open-World Generalization
为什么值得读
阅读实验如何定义“开放世界”，不要把它理解为无条件通用。
引用
@misc{intelligence2025vision,
title = {π0.5: a Vision-Language-Action Model with Open-World Generalization},
author = {Physical Intelligence and Kevin Black and Noah Brown and James Darpinian and Karan Dhabalia and Danny Driess and Adnan Esmail and Michael Equi and Chelsea Finn and Niccolo Fusai and Manuel Y. Galliker and Dibya Ghosh and Lachy Groom and Karol Hausman and Brian Ichter and Szymon Jakubczak and Tim Jones and Liyiming Ke and Devin LeBlanc and Sergey Levine and Adrian Li-Bell and Mohith Mothukuri and Suraj Nair and Karl Pertsch and Allen Z. Ren and Lucy Xiaoyang Shi and Laura Smith and Jost Tobias Springenberg and Kyle Stachowicz and James Tanner and Quan Vuong and Homer Walke and Anna Walling and Haohuan Wang and Lili Yu and Ury Zhilinsky},
year = {2025},
eprint = {2504.16054},
archivePrefix = {arXiv},
primaryClass = {cs.LG},
url = {https://arxiv.org/abs/2504.16054}
}论文与代码版权归原作者；引用及许可请以原始来源为准。
相关研究
RT-2：视觉—语言—动作模型将网络知识迁移至机器人控制
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
让视觉语言模型输出机器人动作，探索网络规模学习向机器人控制的迁移。
OpenVLA：开源视觉—语言—动作模型
OpenVLA: An Open-Source Vision-Language-Action Model
开源视觉—语言—动作模型及适配框架，为通用机器人策略研究提供基础。