{"id":7194,"date":"2026-06-09T12:55:10","date_gmt":"2026-06-09T04:55:10","guid":{"rendered":"https:\/\/ab123.xyz\/?p=7194"},"modified":"2026-06-09T12:55:10","modified_gmt":"2026-06-09T04:55:10","slug":"optimus-gen-2-%e4%bb%bf%e7%9c%9f%e7%8e%af%e5%a2%83mujoco%e8%ae%ad%e7%bb%83%e6%8e%a5%e5%8f%a3%ef%bc%9a%e5%bc%80%e5%90%af%e6%9c%ba%e5%99%a8%e4%ba%ba%e9%ab%98%e6%95%88%e8%ae%ad%e7%bb%83%e6%96%b0%e6%97%b6","status":"publish","type":"post","link":"https:\/\/ab123.xyz\/?p=7194","title":{"rendered":"Optimus Gen 2 \u4eff\u771f\u73af\u5883MuJoCo\u8bad\u7ec3\u63a5\u53e3\uff1a\u5f00\u542f\u673a\u5668\u4eba\u9ad8\u6548\u8bad\u7ec3\u65b0\u65f6\u4ee3"},"content":{"rendered":"<p>\u968f\u7740\u4eba\u5f62\u673a\u5668\u4eba\u6280\u672f\u7684\u98de\u901f\u53d1\u5c55\uff0c\u7279\u65af\u62c9 Optimus Gen 2 \u7684\u4eae\u76f8\u5f15\u53d1\u4e86\u5168\u7403\u5173\u6ce8\u3002\u7136\u800c\uff0c\u8981\u8ba9\u8fd9\u4e00\u5c16\u7aef\u786c\u4ef6\u5728\u5b9e\u9645\u573a\u666f\u4e2d\u7a33\u5b9a\u8fd0\u884c\uff0c\u79bb\u4e0d\u5f00\u5f3a\u5927\u7684\u4eff\u771f\u8bad\u7ec3\u73af\u5883\u3002Optimus Gen 2 \u4eff\u771f\u73af\u5883\u4e0e MuJoCo \u8bad\u7ec3\u63a5\u53e3\u7684\u6df1\u5ea6\u96c6\u6210\uff0c\u4e3a\u5f00\u53d1\u8005\u63d0\u4f9b\u4e86\u4ece\u7b97\u6cd5\u9a8c\u8bc1\u5230\u7b56\u7565\u90e8\u7f72\u7684\u5168\u94fe\u8def\u89e3\u51b3\u65b9\u6848\u3002<a href=\"https:\/\/www.tesla.com\/optimus\" target=\"_blank\">\u5b98\u65b9\u7f51\u7ad9<\/a><\/p>\n<h2>\u6838\u5fc3\u529f\u80fd\u4e0e\u96c6\u6210\u4f18\u52bf<\/h2>\n<p>MuJoCo\uff08Multi-Joint dynamics with Contact\uff09\u662f\u4e00\u6b3e\u9ad8\u7cbe\u5ea6\u7269\u7406\u5f15\u64ce\uff0c\u4e13\u4e3a\u590d\u6742\u5173\u8282\u673a\u5668\u4eba\u7684\u52a8\u529b\u5b66\u6a21\u62df\u800c\u8bbe\u8ba1\u3002Optimus Gen 2 \u4eff\u771f\u73af\u5883\u901a\u8fc7\u6807\u51c6\u5316\u7684 Python API \u4e0e MuJoCo \u8fdb\u884c\u4ea4\u4e92\uff0c\u652f\u6301\u4ee5\u4e0b\u5173\u952e\u529f\u80fd\uff1a<\/p>\n<ul>\n<li><strong>\u9ad8\u4fdd\u771f\u7269\u7406\u4eff\u771f<\/strong>\uff1a\u51c6\u786e\u6a21\u62df\u5173\u8282\u6469\u64e6\u3001\u63a5\u89e6\u529b\u4e0e\u60ef\u6027\u6548\u5e94\uff0c\u51cf\u5c11 sim-to-real \u8fc1\u79fb\u5dee\u8ddd\u3002<\/li>\n<li><strong>\u7075\u6d3b\u7684\u8bad\u7ec3\u63a5\u53e3<\/strong>\uff1a\u63d0\u4f9b Gymnasium \u517c\u5bb9\u73af\u5883\uff0c\u53ef\u76f4\u63a5\u63a5\u5165 Stable-Baselines3\u3001RLlib \u7b49\u4e3b\u6d41\u5f3a\u5316\u5b66\u4e60\u6846\u67b6\u3002<\/li>\n<li><strong>\u5b9e\u65f6\u53ef\u89c6\u5316\u4e0e\u8c03\u8bd5<\/strong>\uff1a\u96c6\u6210 MuJoCo Viewer\uff0c\u652f\u6301\u5b9e\u65f6\u6e32\u67d3\u3001\u4f20\u611f\u5668\u6570\u636e\u56de\u653e\u4e0e\u5956\u52b1\u51fd\u6570\u76d1\u63a7\u3002<\/li>\n<\/ul>\n<h3>\u8bad\u7ec3\u63a5\u53e3\u5de5\u4f5c\u6d41\u7a0b<\/h3>\n<p>\u4f7f\u7528 Optimus Gen 2 MuJoCo \u63a5\u53e3\u8fdb\u884c\u8bad\u7ec3\uff0c\u901a\u5e38\u9075\u5faa\u4ee5\u4e0b\u6b65\u9aa4\uff1a<\/p>\n<ul>\n<li>\u73af\u5883\u521d\u59cb\u5316\uff1a\u52a0\u8f7d\u5b98\u65b9\u63d0\u4f9b\u7684 URDF \u6a21\u578b\u4e0e\u5730\u5f62\u573a\u666f\uff0c\u8bbe\u7f6e\u521d\u59cb\u59ff\u6001\u3002<\/li>\n<li>\u52a8\u4f5c\u7a7a\u95f4\u5b9a\u4e49\uff1a\u6620\u5c04 Optimus Gen 2 \u7684 28 \u4e2a\u81ea\u7531\u5ea6\u5173\u8282\u7535\u673a\u6307\u4ee4\u3002<\/li>\n<li>\u5956\u52b1\u51fd\u6570\u8bbe\u8ba1\uff1a\u9488\u5bf9\u884c\u8d70\u3001\u6293\u53d6\u7b49\u4efb\u52a1\u81ea\u5b9a\u4e49\u7a00\u758f\u6216\u5bc6\u96c6\u5956\u52b1\u3002<\/li>\n<li>\u7b97\u6cd5\u8bad\u7ec3\uff1a\u8c03\u7528 PPO\u3001SAC \u7b49\u7b97\u6cd5\uff0c\u5229\u7528 MuJoCo \u7684\u5e76\u884c\u6e32\u67d3\u52a0\u901f\u6570\u636e\u91c7\u96c6\u3002<\/li>\n<\/ul>\n<h2>\u5e94\u7528\u573a\u666f\u4e0e\u884c\u4e1a\u4ef7\u503c<\/h2>\n<p>\u8be5\u63a5\u53e3\u5e7f\u6cdb\u5e94\u7528\u4e8e\u4ee5\u4e0b\u9886\u57df\uff1a<\/p>\n<ul>\n<li><strong>\u6b65\u6001\u63a7\u5236\u7814\u7a76<\/strong>\uff1a\u5728\u52a8\u6001\u884c\u8d70\u3001\u6297\u6270\u52a8\u6062\u590d\u7b49\u573a\u666f\u4e2d\u5feb\u901f\u8fed\u4ee3\u7b56\u7565\u3002<\/li>\n<li><strong>\u64cd\u4f5c\u6280\u80fd\u8fc1\u79fb<\/strong>\uff1a\u6a21\u62df\u624b\u90e8\u6293\u53d6\u3001\u7269\u4f53\u642c\u8fd0\u7b49\u7cbe\u7ec6\u52a8\u4f5c\uff0c\u964d\u4f4e\u771f\u5b9e\u673a\u5668\u4eba\u78e8\u635f\u98ce\u9669\u3002<\/li>\n<li><strong>\u591a\u673a\u5668\u4eba\u534f\u540c<\/strong>\uff1a\u5229\u7528 MuJoCo \u7684\u591a\u4f53\u52a8\u529b\u5b66\u7279\u6027\uff0c\u6d4b\u8bd5\u96c6\u7fa4\u8c03\u5ea6\u7b97\u6cd5\u3002<\/li>\n<\/ul>\n<h3>\u4e0e\u5b98\u65b9\u8d44\u6e90\u7684\u5bf9\u6bd4\u4f18\u52bf<\/h3>\n<p>\u76f8\u8f83\u4e8e\u901a\u7528 MuJoCo \u73af\u5883\uff0cOptimus Gen 2 \u4e13\u7528\u63a5\u53e3\u63d0\u4f9b\u4e86\u9884\u6821\u51c6\u7684\u5173\u8282\u9650\u4f4d\u3001\u6469\u64e6\u53c2\u6570\u4ee5\u53ca\u9ad8\u7cbe\u5ea6\u60ef\u6027\u6570\u636e\uff0c\u4f7f\u4eff\u771f\u7ed3\u679c\u66f4\u63a5\u8fd1\u771f\u5b9e\u786c\u4ef6\u8868\u73b0\u3002\u6b64\u5916\uff0c\u63a5\u53e3\u5185\u7f6e\u4e86\u6279\u5904\u7406\u8bad\u7ec3\u4f1a\u8bdd\u7ba1\u7406\uff0c\u652f\u6301\u591a\u8fdb\u7a0b\u91c7\u6837\uff0c\u663e\u8457\u7f29\u77ed\u8bad\u7ec3\u5468\u671f\u3002<\/p>\n<h2>\u5982\u4f55\u5feb\u901f\u4e0a\u624b<\/h2>\n<p>\u5f00\u53d1\u8005\u53ef\u8bbf\u95ee\u5b98\u65b9 GitHub \u4ed3\u5e93\u83b7\u53d6\u5165\u95e8\u793a\u4f8b\u3002\u5b89\u88c5\u4f9d\u8d56\u540e\uff0c\u8fd0\u884c\u4ee5\u4e0b\u547d\u4ee4\u5373\u53ef\u542f\u52a8\u8bad\u7ec3\uff1a<\/p>\n<ul>\n<li><code>pip install mujoco gymnasium<\/code><\/li>\n<li><code>python train_optimus.py --algo ppo<\/code><\/li>\n<\/ul>\n<p>\u5b98\u65b9\u6587\u6863\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684 API \u53c2\u8003\u548c\u8c03\u53c2\u6307\u5357\uff0c\u5e2e\u52a9\u7528\u6237\u9488\u5bf9\u4e0d\u540c\u4efb\u52a1\u4f18\u5316\u8bad\u7ec3\u6548\u80fd\u3002<\/p>\n<p>\u6b63\u5728\u5f00\u542f\u4eba\u5f62\u673a\u5668\u4eba\u901a\u7528\u667a\u80fd\u7684\u94a5\u5319\uff0cOptimus Gen 2 \u4e0e MuJoCo \u7684\u7ed3\u5408\uff0c\u65e0\u7591\u5c06\u52a0\u901f\u5177\u8eab\u667a\u80fd\u4ece\u5b9e\u9a8c\u5ba4\u8d70\u5411\u4ea7\u4e1a\u7ea7\u7684\u8fdb\u7a0b\u3002\u7acb\u5373\u8bbf\u95ee\u5b98\u65b9\u7f51\u7ad9\u4e86\u89e3\u66f4\u591a\u6280\u672f\u7ec6\u8282\u4e0e\u793e\u533a\u6848\u4f8b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u968f\u7740\u4eba\u5f62\u673a\u5668\u4eba\u6280\u672f\u7684\u98de\u901f\u53d1\u5c55\uff0c\u7279\u65af\u62c9 Optimus Gen 2 \u7684\u4eae\u76f8\u5f15\u53d1\u4e86\u5168\u7403\u5173\u6ce8\u3002\u7136\u800c\uff0c\u8981\u8ba9\u8fd9\u4e00\u5c16\u7aef\u786c\u4ef6 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[8963,8803,8965,8964,8878],"class_list":["post-7194","post","type-post","status-publish","format-standard","hentry","category-4","tag-mujoco","tag-optimus-gen-2","tag-8965","tag-8964","tag-8878"],"_links":{"self":[{"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts\/7194","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=7194"}],"version-history":[{"count":1,"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts\/7194\/revisions"}],"predecessor-version":[{"id":7195,"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts\/7194\/revisions\/7195"}],"wp:attachment":[{"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=7194"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=7194"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=7194"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}