{"id":7198,"date":"2026-06-09T12:55:16","date_gmt":"2026-06-09T04:55:16","guid":{"rendered":"https:\/\/ab123.xyz\/?p=7198"},"modified":"2026-06-09T12:55:16","modified_gmt":"2026-06-09T04:55:16","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%e9%ab%98%e7%b2%be%e5%ba%a6%e6%9c%ba%e5%99%a8%e4%ba%ba%e8%ae%ad%e7%bb%83%e5%b7%a5%e5%85%b7","status":"publish","type":"post","link":"https:\/\/ab123.xyz\/?p=7198","title":{"rendered":"Optimus Gen 2 \u4eff\u771f\u73af\u5883MuJoCo\u8bad\u7ec3\u63a5\u53e3\uff1a\u9ad8\u7cbe\u5ea6\u673a\u5668\u4eba\u8bad\u7ec3\u5de5\u5177"},"content":{"rendered":"<p>Optimus Gen 2 \u662f\u7279\u65af\u62c9\u6700\u65b0\u4e00\u4ee3\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u5176\u4eff\u771f\u8bad\u7ec3\u7684\u6838\u5fc3\u6280\u672f\u5e95\u5c42\u4fbf\u4f9d\u8d56\u4e8e MuJoCo \u7269\u7406\u5f15\u64ce\u3002MuJoCo\uff08Multi-Joint dynamics with Contact\uff09\u51ed\u501f\u5feb\u901f\u3001\u7cbe\u786e\u7684\u63a5\u89e6\u52a8\u529b\u5b66\u6a21\u62df\uff0c\u6210\u4e3a\u673a\u5668\u4eba\u9886\u57df\u6700\u4e3b\u6d41\u7684\u8bad\u7ec3\u63a5\u53e3\u4e4b\u4e00\u3002\u901a\u8fc7 <a href=\"https:\/\/mujoco.org\" target=\"_blank\">MuJoCo\u5b98\u65b9\u7f51\u7ad9<\/a>\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u83b7\u53d6\u5b8c\u6574\u7684\u4eff\u771f\u73af\u5883\u642d\u5efa\u6307\u5357\u4e0e API \u6587\u6863\uff0c\u4ece\u800c\u4e3a Optimus Gen 2 \u5b9a\u5236\u9ad8\u6548\u7684\u8bad\u7ec3\u6d41\u7a0b\u3002<\/p>\n<h2>\u529f\u80fd\u4ecb\u7ecd<\/h2>\n<p>Optimus Gen 2 \u5728 MuJoCo \u4e2d\u7684\u8bad\u7ec3\u63a5\u53e3\u63d0\u4f9b\u4e86\u4ee5\u4e0b\u6838\u5fc3\u80fd\u529b\uff1a<\/p>\n<ul>\n<li>\u9ad8\u4fdd\u771f\u7269\u7406\u6a21\u62df\uff1a\u652f\u6301\u5173\u8282\u67d4\u6027\u3001\u5730\u9762\u6469\u64e6\u3001\u78b0\u649e\u68c0\u6d4b\u7b49\u771f\u5b9e\u7269\u7406\u7279\u6027\uff0c\u4f7f\u8bad\u7ec3\u7ed3\u679c\u66f4\u63a5\u8fd1\u73b0\u5b9e\u3002<\/li>\n<li>Python\/C++ \u53cc\u63a5\u53e3\uff1a\u7528\u6237\u53ef\u901a\u8fc7 Python \u7ed1\u5b9a\u5feb\u901f\u7f16\u5199\u8bad\u7ec3\u811a\u672c\uff0c\u4e5f\u53ef\u5229\u7528 C++ \u539f\u751f\u63a5\u53e3\u83b7\u5f97\u6781\u81f4\u6027\u80fd\u3002<\/li>\n<li>\u573a\u666f\u5b9a\u5236\u5316\uff1a\u652f\u6301\u5bfc\u5165\u81ea\u5b9a\u4e49\u7f51\u683c\u3001\u5730\u5f62\u53ca\u969c\u788d\u7269\uff0c\u6ee1\u8db3\u590d\u6742\u4efb\u52a1\uff08\u5982\u6293\u53d6\u3001\u884c\u8d70\u3001\u642c\u8fd0\uff09\u7684\u4eff\u771f\u9700\u6c42\u3002<\/li>\n<\/ul>\n<h2>\u6838\u5fc3\u4f18\u52bf<\/h2>\n<p>\u5bf9\u6bd4\u5176\u4ed6\u4eff\u771f\u5e73\u53f0\uff0cMuJoCo \u7ed3\u5408 Optimus Gen 2 \u62e5\u6709\u4e09\u5927\u663e\u8457\u4f18\u52bf\uff1a<\/p>\n<ul>\n<li>\u8ba1\u7b97\u6548\u7387\uff1a\u91c7\u7528\u6700\u5c0f\u5750\u6807\u7b97\u6cd5\uff0c\u4eff\u771f\u901f\u5ea6\u6bd4\u4f20\u7edf\u521a\u4f53\u5f15\u64ce\u5feb\u6570\u500d\uff0c\u9002\u5408\u5927\u89c4\u6a21\u5f3a\u5316\u5b66\u4e60\u3002<\/li>\n<li>\u5f00\u6e90\u751f\u6001\uff1a\u5b8c\u5168\u514d\u8d39\u4e14\u793e\u533a\u6d3b\u8dc3\uff0c\u5df2\u6709\u5927\u91cf\u9488\u5bf9 Optimus \u6a21\u578b\u7684\u9884\u8bad\u7ec3\u6743\u91cd\u548c\u6559\u7a0b\u3002<\/li>\n<li>\u76f4\u63a5\u786c\u4ef6\u6620\u5c04\uff1a\u63a5\u53e3\u5e95\u5c42\u63d0\u4f9b\u5173\u8282\u7535\u673a\u529b\u77e9\u3001\u4f4d\u7f6e\u4f20\u611f\u5668\u7684\u6570\u503c\u53cd\u9988\uff0c\u53ef\u65e0\u7f1d\u5bf9\u63a5\u771f\u5b9e\u673a\u5668\u4eba\u63a7\u5236\u5668\u3002<\/li>\n<\/ul>\n<h2>\u5982\u4f55\u4f7f\u7528\u8be5\u63a5\u53e3<\/h2>\n<p>\u90e8\u7f72 Optimus Gen 2 MuJoCo \u8bad\u7ec3\u73af\u5883\u7684\u5178\u578b\u6d41\u7a0b\u5982\u4e0b\uff1a<\/p>\n<ul>\n<li>\u7b2c\u4e00\u6b65\uff1a\u4ece\u5b98\u7f51\u4e0b\u8f7d MuJoCo \u4e8c\u8fdb\u5236\u6587\u4ef6\u5e76\u5b89\u88c5 Python \u5305 <code>mujoco<\/code>\u3002<\/li>\n<li>\u7b2c\u4e8c\u6b65\uff1a\u5bfc\u5165 Optimus Gen 2 \u7684 URDF \u6216 MJCF \u6a21\u578b\u6587\u4ef6\uff0c\u5b9a\u4e49\u5173\u8282\u9650\u4f4d\u4e0e\u4f20\u52a8\u6bd4\u3002<\/li>\n<li>\u7b2c\u4e09\u6b65\uff1a\u7f16\u5199\u5f3a\u5316\u5b66\u4e60\u73af\u5883\uff0c\u4f8b\u5982\u57fa\u4e8e Gymnasium \u6846\u67b6\u5305\u88c5 MuJoCo \u573a\u666f\uff0c\u8bbe\u7f6e\u5956\u52b1\u51fd\u6570\u3002<\/li>\n<li>\u7b2c\u56db\u6b65\uff1a\u8c03\u7528 PPO \u6216 SAC \u7b97\u6cd5\u5f00\u59cb\u8bad\u7ec3\uff0c\u5e76\u901a\u8fc7 MuJoCo \u53ef\u89c6\u5316\u7a97\u53e3\u5b9e\u65f6\u89c2\u5bdf\u673a\u5668\u4eba\u52a8\u4f5c\u3002<\/li>\n<\/ul>\n<h2>\u5e94\u7528\u573a\u666f<\/h2>\n<p>\u8be5\u63a5\u53e3\u5e7f\u6cdb\u5e94\u7528\u4e8e\u4ee5\u4e0b\u9886\u57df\uff1a<\/p>\n<ul>\n<li>\u5de5\u4e1a\u573a\u666f\uff1a\u6a21\u62df Optimus 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\u662f\u7279\u65af\u62c9\u6700\u65b0\u4e00\u4ee3\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u5176\u4eff\u771f\u8bad\u7ec3\u7684\u6838\u5fc3\u6280\u672f\u5e95\u5c42\u4fbf\u4f9d\u8d56\u4e8e MuJoCo \u7269\u7406\u5f15 [&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-7198","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\/7198","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=7198"}],"version-history":[{"count":1,"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts\/7198\/revisions"}],"predecessor-version":[{"id":7199,"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts\/7198\/revisions\/7199"}],"wp:attachment":[{"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=7198"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=7198"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=7198"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}