{"id":1749,"date":"2026-10-09T00:00:17","date_gmt":"2026-10-08T16:00:17","guid":{"rendered":"https:\/\/cleardatascience.com\/?p=1749"},"modified":"2026-09-29T10:03:37","modified_gmt":"2026-09-29T02:03:37","slug":"world-models-and-simulation-training-custom-agents-for-real-world-physical-interactions","status":"publish","type":"post","link":"https:\/\/cleardatascience.com\/zh-hant\/world-models-and-simulation-training-custom-agents-for-real-world-physical-interactions\/","title":{"rendered":"\u4e16\u754c\u6a21\u578b\u8207\u6a21\u64ec\uff1a\u70ba\u73fe\u5be6\u4e16\u754c\u7269\u7406\u4e92\u52d5\u8a13\u7df4\u81ea\u8a02\u4ee3\u7406"},"content":{"rendered":"<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-medium wp-image-1733\" src=\"https:\/\/cleardatascience.com\/wp-content\/uploads\/2026\/04\/brain_with_circuit-300x276.png\" alt=\"\" width=\"300\" height=\"276\" 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<strong>NVIDIA Isaac Sim<\/strong>\u3001<strong>Google <\/strong><strong>\u7684 DeepMind MuJoCo<\/strong>\u3001<strong>Facebook <\/strong><strong>\u7684 Habitat<\/strong> \u4ee5\u53ca <strong>MIT <\/strong><strong>\u7684 PyBullet<\/strong> \u9019\u4e9b\u5de5\u5177\u63d0\u4f9b\u7269\u7406\u5f15\u64ce\u548c\u6e32\u67d3\u529f\u80fd\uff0c\u80fd\u5920\u6a21\u64ec\u5f9e\u6a5f\u68b0\u81c2\u52d5\u529b\u5b78\u5230\u6d41\u9ad4\u529b\u5b78\u548c\u5149\u6563\u5c04\u7684\u4e00\u5207\u3002<\/li>\n<li><strong>\u4e3b\u8981\u5275\u65b0\uff1a<\/strong>\u5f9e\u8cbb\u6642\u7684\u624b\u5de5\u74b0\u5883\u7de8\u78bc\u8f49\u5411<strong>\u7a0b\u5e8f\u751f\u6210<\/strong>\u548c<strong>\u9818\u57df\u96a8\u6a5f\u5316<\/strong>\u3002\u7cfb\u7d71\u81ea\u52d5\u5275\u5efa\u6578\u767e\u842c\u500b\u4e0d\u540c\u7684\u8a13\u7df4\u5834\u666f\uff0c\u5177\u6709\u4e0d\u540c\u7684\u5149\u7167\u3001\u6750\u8cea\u3001\u7269\u9ad4\u8cea\u91cf\u548c\u6469\u64e6\u4fc2\u6578\u3002\u9019\u7a2e\u591a\u6a23\u6027\u5c0d\u65bc\u6559\u5c0e\u667a\u80fd\u9ad4\u7a69\u5065\u4e14\u53ef\u6cdb\u5316\u7684\u6280\u80fd\u81f3\u95dc\u91cd\u8981\u3002<\/li>\n<\/ul>\n<p><strong>\u7b2c\u4e8c\u968e\u6bb5\uff1a\u4f7f\u7528\u5148\u9032\u4ee3\u7406\u67b6\u69cb\u7684\u8a13\u7df4<\/strong><\/p>\n<p>\u5728\u6a21\u64ec\u4e2d\uff0c\u4ee3\u7406\u4f7f\u7528\u6700\u5148\u9032\u7684\u5f37\u5316\u5b78\u7fd2\uff08RL\uff09\u548c\u6a21\u4eff\u5b78\u7fd2\uff08IL\uff09\u7bc4\u5f0f\u9032\u884c\u8a13\u7df4\u3002<\/p>\n<ul>\n<li><strong>\u4f86\u81ea\u4eba\u985e\u53cd\u994b\u7684\u5f37\u5316\u5b78\u7fd2\uff08RLHF<\/strong><strong>\uff09\u61c9\u7528\u65bc\u7269\u7406<\/strong>\uff1a\u667a\u80fd\u4ee3\u7406\u900f\u904e\u57f7\u884c\u52d5\u4f5c\u4e26\u7372\u5f97\u734e\u52f5\u4f86\u5b78\u7fd2\u3002\u50cf<strong>\u57fa\u65bc\u6a21\u578b\u7684\u5f37\u5316\u5b78\u7fd2<\/strong>\u9019\u985e\u7684\u9032\u968e\u6280\u8853\u660e\u78ba\u5229\u7528\u4e16\u754c\u6a21\u578b\u9032\u884c\u66f4\u9ad8\u6548\u7387\u7684\u6a23\u672c\u898f\u5283\u3002<\/li>\n<li><strong>\u6a21\u4eff\u8207\u5c0d\u6297\u5b78\u7fd2\uff1a<\/strong>\u4ee3\u7406\u53ef\u4ee5\u901a\u904e\u89c0\u5bdf\u793a\u7bc4\uff08\u52d5\u4f5c\u6355\u6349\u6578\u64da\u3001\u4eba\u985e\u9059\u63a7\u64cd\u4f5c\uff09\u4f86\u5b78\u7fd2\u3002\u50cf<strong>\u9006\u5411\u52d5\u529b\u5b78\u6a21\u578b<\/strong>\u9019\u6a23\u7684\u6280\u8853\u5e6b\u52a9\u4ee3\u7406\u7406\u89e3\u793a\u7bc4\u80cc\u5f8c\u7684\u610f\u5716\uff0c<strong>\u800c\u751f\u6210\u5c0d\u6297\u6a21\u4eff\u5b78\u7fd2\uff08<\/strong><strong>GAIL<\/strong><strong>\uff09<\/strong>\u5247\u5c07\u4ee3\u7406\u8207\u4e00\u500b\u5224\u5225\u7db2\u7d61\u5c0d\u6297\uff0c\u8a72\u7db2\u7d61\u5224\u65b7\u5176\u884c\u70ba\u662f\u5426\u770b\u8d77\u4f86\u201c\u771f\u5be6\u201d\u6216\u985e\u4f3c\u4eba\u985e\u3002<\/li>\n<li><strong>\u8ab2\u7a0b\u5b78\u7fd2\uff1a<\/strong>\u8a13\u7df4\u5f9e\u7c21\u55ae\u4efb\u52d9\u958b\u59cb\uff08\u4f8b\u5982\uff0c\u300c\u6293\u4f4f\u4e00\u500b\u975c\u6b62\u7684\u7a4d\u6728\u300d\uff09\uff0c\u4e26\u9010\u6f38\u589e\u52a0\u8907\u96dc\u5ea6\uff08\u300c\u5728\u66b4\u98a8\u4e2d\u5806\u758a\u4e09\u500b\u7a4d\u6728\u300d\uff09\uff0c\u8b93\u4ee3\u7406\u80fd\u9010\u6b65\u5efa\u7acb\u6280\u80fd\u3002<\/li>\n<\/ul>\n<p><strong>\u7b2c\u4e09\u968e\u6bb5\uff1a\u7cbe\u901a\u6a21\u64ec\u5230\u5be6\u5883\u7684\u8f49\u79fb<\/strong><\/p>\n<p>\u9019\u662f\u5c07\u7d93\u904e\u6a21\u64ec\u8a13\u7df4\u7684\u4ee3\u7406\u90e8\u7f72\u5230\u73fe\u5be6\u4e16\u754c\u4e2d\u7684\u95dc\u9375\u4e14\u975e\u5e73\u51e1\u7684\u6b65\u9a5f\u3002\u201c\u73fe\u5be6\u5dee\u8ddd\u201d\u2014\u2014\u6a21\u64ec\u8207\u73fe\u5be6\u4e4b\u9593\u7684\u5dee\u7570\u2014\u2014\u901a\u904e\u5e7e\u9805\u958b\u6e90\u5275\u65b0\u4f86\u5f4c\u5408\uff1a<\/p>\n<ul>\n<li><strong>\u9818\u57df\u96a8\u6a5f\u5316 (DR)<\/strong><strong>\uff1a<\/strong>\u901a\u904e\u5728\u5177\u6709\u6975\u5ea6\u591a\u8b8a\u53c3\u6578\uff08\u984f\u8272\u3001\u5149\u7dda\u3001\u7269\u7406\u5c6c\u6027\uff09\u7684\u6a21\u64ec\u74b0\u5883\u4e2d\u8a13\u7df4\uff0c\u4ee3\u7406\u5b78\u6703\u4e00\u7a2e\u5c0d\u9019\u4e9b\u7d30\u7bc0\u4e0d\u8b8a\u7684\u7b56\u7565\uff0c\u4f7f\u5176\u66f4\u6709\u53ef\u80fd\u5728\u672a\u898b\u904e\u7684\u73fe\u5be6\u4e16\u754c\u4e2d\u6709\u6548\u3002<\/li>\n<li><strong>\u9818\u57df\u9069\u61c9\uff1a<\/strong>\u50cf <strong>AdaGraph<\/strong> \u6216 <strong>ROS <\/strong><strong>\u8207 Unity<\/strong> \u6574\u5408\u4e4b\u985e\u7684\u6280\u8853\u5141\u8a31\u5373\u6642\u9069\u61c9\uff0c\u5176\u4e2d\u4f7f\u7528\u5c11\u91cf\u7684\u73fe\u5be6\u4e16\u754c\u6578\u64da\u4f86\u5feb\u901f\u5fae\u8abf\u6a21\u64ec\u6a21\u578b\u6216\u4ee3\u7406\u7684\u611f\u77e5\u7cfb\u7d71\u3002<\/li>\n<li><strong>\u7cfb\u7d71\u8b58\u5225\uff1a<\/strong>\u50cf <strong>Facebook <\/strong><strong>\u7684 Droid<\/strong> \u9019\u985e\u5de5\u5177\u53ef\u4ee5\u81ea\u52d5\u6821\u6e96\u6a21\u64ec\u7684\u7269\u7406\u53c3\u6578\uff0c\u4ee5\u7b26\u5408\u5be6\u969b\u6a5f\u5668\u4eba\u7684\u6578\u64da\uff0c\u7e2e\u5c0f\u73fe\u5be6\u5dee\u8ddd\u3002<\/li>\n<\/ul>\n<p><strong>\u7b2c\u56db\u968e\u6bb5\uff1a\u5728\u73fe\u5be6\u4e16\u754c\u4e2d\u7684\u6301\u7e8c\u5b78\u7fd2<\/strong><\/p>\n<p>\u6700\u7d42\u968e\u6bb5\u5275\u5efa\u4e86\u4e00\u500b\u9589\u74b0\u7cfb\u7d71\uff0c\u4f7f\u4ee3\u7406\u5728\u90e8\u7f72\u5f8c\u6301\u7e8c\u6539\u9032\u3002<\/p>\n<ul>\n<li>\u9019\u500b\u4ee3\u7406\u5728\u73fe\u5be6\u4e16\u754c\u4e2d\u904b\u4f5c\uff0c\u5176\u7d93\u9a57\uff08\u5c24\u5176\u662f\u5931\u6557\uff09\u6703\u88ab\u8a18\u9304\u4e0b\u4f86\u3002<\/li>\n<li>\u9019\u4e9b\u65b0\u6578\u64da\u7528\u65bc\u9032\u4e00\u6b65\u5b8c\u5584\u4e16\u754c\u6a21\u578b\u548c\u6a21\u64ec\uff0c\u4f7f\u6578\u4f4d\u5b7f\u751f\u66f4\u52a0\u6e96\u78ba\u3002<\/li>\n<li>\u8a72\u4ee3\u7406\u6703\u5b9a\u671f\u5728\u9019\u500b\u6539\u9032\u7684\u6a21\u64ec\u74b0\u5883\u4e2d\u91cd\u65b0\u8a13\u7df4\uff0c\u4e26\u900f\u904e\u7a7a\u4e2d\u66f4\u65b0\uff0c\u4f7f\u5176\u5f62\u6210<strong>\u6301\u7e8c\u3001\u7d42\u8eab\u5b78\u7fd2<\/strong>\u7684\u5faa\u74b0\u3002<\/li>\n<\/ul>\n<h2><strong>\u4e16\u754c\u6a21\u578b\u8207\u6a21\u64ec\u8a13\u7df4\u7684\u958b\u6e90\u5806\u758a<\/strong><\/h2>\n<p>\u9019\u9805\u5de5\u4f5c\u7684\u751f\u614b\u7cfb\u7d71\u8c50\u5bcc\u4e14\u5feb\u901f\u6f14\u8b8a\uff1a<\/p>\n<ul>\n<li><strong>\u6a21\u64ec\u5f15\u64ce\uff1aIsaac Sim<\/strong>\uff08\u6a5f\u5668\u4eba\u5c08\u6ce8\uff09\u3001<strong>MuJoCo<\/strong>\uff08\u5feb\u901f\u7269\u7406\uff09\u3001<strong>PyBullet<\/strong>\uff08\u6613\u65bc\u4f7f\u7528\u7684 Python API\uff09\u3002<\/li>\n<li><strong>RL\/IL <\/strong><strong>\u6846\u67b6\uff1aRLlib<\/strong><strong>\uff08Ray<\/strong><strong>\uff09<\/strong>\u7528\u65bc\u53ef\u64f4\u5c55\u7684\u5f37\u5316\u5b78\u7fd2\uff0c<strong>Stable-Baselines3<\/strong><strong>\uff0cImitation<\/strong> \u5eab\u7528\u65bc GAIL \u53ca\u5176\u4ed6\u7b97\u6cd5\u3002<\/li>\n<li><strong>\u4e16\u754c\u6a21\u578b\u8207\u898f\u5283\uff1aDreamerV3<\/strong><strong>\u3001PlaNet<\/strong><strong>\uff0c<\/strong>\u4ee5\u53ca\u50cf <strong>Genie<\/strong> \u9019\u6a23\u7684\u6846\u67b6\uff0c\u7528\u65bc\u5f9e\u5f71\u7247\u4e2d\u5b78\u7fd2\u901a\u7528\u4e16\u754c\u6a21\u578b\u3002<\/li>\n<li><strong>\u7de8\u6392\u8207\u90e8\u7f72\uff1a<\/strong>\u4f7f\u7528 <strong>Kubernetes<\/strong> \u7ba1\u7406\u5927\u898f\u6a21\u5206\u5e03\u5f0f\u8a13\u7df4\u4efb\u52d9\uff0c\u4f7f\u7528 <strong>ROS 2<\/strong> 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