{"id":7200,"date":"2026-06-09T12:55:32","date_gmt":"2026-06-09T04:55:32","guid":{"rendered":"https:\/\/ab123.xyz\/?p=7200"},"modified":"2026-06-09T12:55:32","modified_gmt":"2026-06-09T04:55:32","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%e6%b7%b1%e5%ba%a6%e8%a7%a3%e6%9e%90%ef%bc%9a%e5%8a%a0%e9%80%9f%e4%ba%ba%e5%bd%a2%e6%9c%ba%e5%99%a8%e4%ba%ba","status":"publish","type":"post","link":"https:\/\/ab123.xyz\/?p=7200","title":{"rendered":"Optimus Gen 2 \u4eff\u771f\u73af\u5883MuJoCo\u8bad\u7ec3\u63a5\u53e3\u6df1\u5ea6\u89e3\u6790\uff1a\u52a0\u901f\u4eba\u5f62\u673a\u5668\u4eba\u7814\u53d1\u7684\u5173\u952e\u5de5\u5177"},"content":{"rendered":"<p>Optimus Gen 2 \u4f5c\u4e3a\u7279\u65af\u62c9\u6700\u65b0\u4e00\u4ee3\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u5176\u8fd0\u52a8\u63a7\u5236\u4e0e\u884c\u4e3a\u5b66\u4e60\u79bb\u4e0d\u5f00\u9ad8\u4fdd\u771f\u4eff\u771f\u73af\u5883\u7684\u652f\u6491\u3002MuJoCo\uff08Multi-Joint dynamics with 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\u7528\u4e8e\u63a7\u5236\u5173\u8282\u626d\u77e9\u3001\u8bfb\u53d6\u4f20\u611f\u5668\u6570\u636e\u4ee5\u53ca\u8bbe\u7f6e\u73af\u5883\u53d8\u91cf\u3002\u5f00\u53d1\u8005\u53ef\u4ee5\u901a\u8fc7\u8be5\u63a5\u53e3\u5728\u865a\u62df\u4e16\u754c\u4e2d\u6784\u5efa\u590d\u6742\u5730\u5f62\u3001\u969c\u788d\u7269\u548c\u4ea4\u4e92\u4efb\u52a1\uff0c\u8ba9\u673a\u5668\u4eba\u5b66\u4e60\u884c\u8d70\u3001\u6293\u53d6\u3001\u5e73\u8861\u7b49\u6280\u80fd\u3002\u63a5\u53e3\u5185\u7f6e\u4e86\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u8bad\u7ec3\u5faa\u73af\u6a21\u677f\uff0c\u517c\u5bb9 Stable-Baselines3 \u548c Ray RLlib \u7b49\u4e3b\u6d41\u6846\u67b6\uff0c\u6781\u5927\u964d\u4f4e\u4e86\u4ece\u4eff\u771f\u5230\u771f\u5b9e\uff08Sim-to-Real\uff09\u7684\u8fc1\u79fb\u95e8\u69db\u3002<\/p>\n<h2>\u6838\u5fc3\u4f18\u52bf<\/h2>\n<ul>\n<li><strong>\u9ad8\u4eff\u771f\u5ea6<\/strong>\uff1a\u57fa\u4e8e Optimus Gen 2 \u7684\u771f\u5b9e\u8d28\u91cf\u3001\u60ef\u6027\u77e9\u9635\u4e0e\u7535\u673a\u53c2\u6570\u5efa\u6a21\uff0cMuJoCo \u53ef\u7cbe\u786e\u6a21\u62df\u5173\u8282\u6469\u64e6\u3001\u78b0\u649e\u63a5\u89e6\u548c\u5730\u9762\u53cd\u4f5c\u7528\u529b\uff0c\u4f7f\u8bad\u7ec3\u51fa\u7684\u7b56\u7565\u66f4\u8d34\u8fd1\u771f\u5b9e\u7269\u7406\u3002<\/li>\n<li><strong>\u6548\u7387\u4f18\u5316<\/strong>\uff1a\u63a5\u53e3\u5229\u7528 MuJoCo \u7684\u7f16\u8bd1\u578b\u6c42\u89e3\u5668\uff0c\u652f\u6301\u6279\u91cf\u5e76\u884c\u73af\u5883\uff08\u5982 1024 \u4e2a\u526f\u672c\u540c\u65f6\u8fd0\u884c\uff09\uff0c\u8bad\u7ec3\u901f\u5ea6\u76f8\u6bd4\u4f20\u7edf PyBullet \u63d0\u5347 5~10 \u500d\u3002<\/li>\n<li><strong>\u6613\u7528\u6027<\/strong>\uff1a\u63d0\u4f9b\u5f00\u7bb1\u5373\u7528\u7684\u914d\u7f6e\u6587\u4ef6\u4e0e\u6f14\u793a\u811a\u672c\uff0c\u65e0\u9700\u624b\u52a8\u7f16\u5199\u7e41\u7410\u7684\u4eff\u771f\u521d\u59cb\u5316\u4ee3\u7801\u3002<\/li>\n<\/ul>\n<h2>\u5e94\u7528\u573a\u666f<\/h2>\n<h3>\u5de5\u4e1a\u4e0e\u5bb6\u5ead\u670d\u52a1<\/h3>\n<p>\u4eff\u771f\u73af\u5883\u53ef\u6a21\u62df\u4ed3\u5e93\u642c\u8fd0\u3001\u5bb6\u5ead\u6e05\u6d01\u7b49\u573a\u666f\uff0c\u8bad\u7ec3 Optimus Gen 2 \u7684\u8def\u5f84\u89c4\u5212\u4e0e\u907f\u969c\u80fd\u529b\u3002\u63a5\u53e3\u8fd8\u652f\u6301\u968f\u673a\u5316\u5149\u7167\u3001\u6469\u64e6\u7cfb\u6570\u548c\u7269\u4f53\u91cd\u91cf\uff0c\u63d0\u5347\u7b56\u7565\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u7684\u6cdb\u5316\u6027\u80fd\u3002<\/p>\n<h3>\u4eba\u673a\u4ea4\u4e92\u7814\u7a76<\/h3>\n<p>\u901a\u8fc7 MuJoCo \u7684\u63a5\u89e6\u52a8\u529b\u5b66\uff0c\u7814\u7a76\u8005\u53ef\u5b89\u5168\u6d4b\u8bd5\u673a\u5668\u4eba\u5bf9\u4eba\u7c7b\u7684\u529b\u53cd\u9988\u54cd\u5e94\uff0c\u4f8b\u5982\u63e1\u624b\u3001\u79fb\u52a8\u7269\u4f53\u65f6\u7684\u534f\u4f5c\u529b\u77e9\u63a7\u5236\uff0c\u800c\u65e0\u9700\u62c5\u5fc3\u786c\u4ef6\u635f\u574f\u3002<\/p>\n<h2>\u5982\u4f55\u4f7f\u7528<\/h2>\n<ol>\n<li>\u5b89\u88c5 MuJoCo\uff08\u22652.3.0\uff09\u548c Python \u7ed1\u5b9a\uff08mujoco_py \u6216 dm_control\uff09\u3002<\/li>\n<li>\u514b\u9686 Optimus Gen 2 \u7684\u4eff\u771f\u4ed3\u5e93\uff0c\u8fd0\u884c <code>pip install -e .<\/code> \u5b89\u88c5\u4f9d\u8d56\u3002<\/li>\n<li>\u8c03\u7528 <code>from optimus_env import OptimusEnv<\/code> \u521b\u5efa\u73af\u5883\uff0c\u5e76\u50cf\u4f7f\u7528 Gym \u6807\u51c6\u63a5\u53e3\u4e00\u6837\u8bad\u7ec3\u6a21\u578b\u3002<\/li>\n<\/ol>\n<p>\u66f4\u591a\u8be6\u7ec6\u6587\u6863\u4e0e\u4ee3\u7801\u793a\u4f8b\uff0c\u8bf7\u8bbf\u95ee\u5b98\u65b9\u8d44\u6e90\uff1a<a href=\"https:\/\/mujoco.org\/\" target=\"_blank\">MuJoCo\u5b98\u65b9\u7f51\u7ad9<\/a> \u4ee5\u53ca\u7279\u65af\u62c9 AI \u5f00\u6e90\u9879\u76ee\u9875\u9762\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Optimus Gen 2 \u4f5c\u4e3a\u7279\u65af\u62c9\u6700\u65b0\u4e00\u4ee3\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u5176\u8fd0\u52a8\u63a7\u5236\u4e0e\u884c\u4e3a\u5b66\u4e60\u79bb\u4e0d\u5f00\u9ad8\u4fdd\u771f\u4eff\u771f\u73af\u5883\u7684\u652f\u6491\u3002Mu [&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":[8963,8803,8971,8970,8965],"class_list":["post-7200","post","type-post","status-publish","format-standard","hentry","category-4","tag-mujoco","tag-optimus-gen-2","tag-sim-to-real","tag-8970","tag-8965"],"_links":{"self":[{"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts\/7200","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=7200"}],"version-history":[{"count":1,"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts\/7200\/revisions"}],"predecessor-version":[{"id":7201,"href":"https:\/\/ab123.xyz\/index.php?rest_route=\/wp\/v2\/posts\/7200\/revisions\/7201"}],"wp:attachment":[{"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=7200"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=7200"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ab123.xyz\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=7200"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}