{"id":39046,"date":"2018-11-28T00:00:51","date_gmt":"2018-11-27T16:00:51","guid":{"rendered":"https:\/\/case.ntu.edu.tw\/blog\/?p=39046"},"modified":"2022-01-04T17:35:33","modified_gmt":"2022-01-04T09:35:33","slug":"%e6%a9%9f%e6%a2%b0%e6%89%8b%e8%87%82%e9%9d%88%e5%b7%a7%e6%80%a7%e5%86%8d%e5%8d%87%e7%b4%9a","status":"publish","type":"post","link":"https:\/\/case.ntu.edu.tw\/blog\/?p=39046","title":{"rendered":"\u6a5f\u68b0\u624b\u81c2\u9748\u5de7\u6027\u518d\u5347\u7d1a"},"content":{"rendered":"<div class=\"single-post-media clr\">\n<div class=\"post-thumbnail\"><img fetchpriority=\"high\" decoding=\"async\" src=\"https:\/\/highscope.ch.ntu.edu.tw\/wordpress\/wp-content\/uploads\/2018\/11\/grasp-types.jpg\" alt=\"\u6a5f\u68b0\u624b\u81c2\u9748\u5de7\u6027\u518d\u5347\u7d1a\" width=\"500\" height=\"250\" \/><\/div>\n<\/div>\n<div class=\"entry clr\">\n<div class=\"pf-content\">\n<p><strong>\u7de8\u8b6f\uff0f\u8a31\u6649\u83ef<\/strong><span id=\"more-79841\"><\/span><\/p>\n<p><strong>\u96e3\u984c\u8207\u89e3\u6c7a\u65b9\u6848<\/strong><\/p>\n<p>\u4ee5\u5f80\u6a5f\u68b0\u624b\u81c2\u7684\u7a0b\u5f0f\u591a\u88ab\u5beb\u6b7b\uff0c\u56e0\u800c\u9650\u5236\u4e86\u53ef\u57f7\u884c\u7684\u6307\u4ee4\u5167\u5bb9\uff0c\u56e0\u6b64\u7814\u767c\u5718\u968a\u7d1b\u7d1b\u6539\u4ee5\u6a5f\u5668\u5b78\u7fd2\u4f86\u958b\u767c\u65b0\u4e00\u4ee3\u7684\u6a5f\u68b0\u624b\u81c2\uff0c\u4f46\u6a5f\u5668\u5b78\u7fd2\u7684\u8a13\u7df4\u904e\u7a0b\u9700\u8981\u8017\u8cbb\u5927\u91cf\u6642\u9593\uff0c\u4e26\u4e0d\u65b7\u5730\u91cd\u8907\u76f8\u540c\u52d5\u4f5c\uff0c\u5bb9\u6613\u8017\u640d\u786c\u9ad4\u8a2d\u5099\uff0c\u5c0d\u65bc\u6a5f\u68b0\u624b\u81c2\u9019\u7a2e\u7cbe\u7d30\u5ea6\u9ad8\u7684\u786c\u9ad4\u800c\u8a00\u66f4\u662f\u4e00\u5927\u50b7\u5bb3\uff1b\u5c31\u6b64\u554f\u984c\u5718\u968a\u63d0\u51fa\u66ff\u4ee3\u65b9\u6848\uff0c\u6539\u7528\u6a21\u64ec\u8a2d\u5099\u4f86\u8a13\u7df4\u6f14\u7b97\u6cd5\uff0c\u7136\u800c\u7562\u7adf\u5be6\u9ad4\u548c\u6a21\u64ec\u8a2d\u5099\u4e0d\u5168\u76f8\u540c\uff0c\u8981\u76f4\u63a5\u5c07\u6f14\u7b97\u6cd5\u5957\u7528\u81f3\u73fe\u5be6\u4e2d\u4ecd\u6709\u4e00\u6bb5\u5dee\u8ddd\u8981\u514b\u670d\u3002<\/p>\n<p>\u70ba\u6b64\uff0c\u7814\u7a76\u5718\u968a\u5728\u4e0d\u5fae\u8abf\u6f14\u7b97\u6cd5\u7684\u524d\u63d0\u4e0b\uff0c\u5728\u8a13\u7df4\u904e\u7a0b\u4e2d\u96a8\u6a5f\u52a0\u5165\u4e00\u4e9b\u8b8a\u6578\uff0c\u4f8b\u5982\u6469\u64e6\u529b\u3001\u6b32\u64cd\u63a7\u4e4b\u7269\u9ad4\u5927\u5c0f\u7b49\uff0c\u4e26\u8ce6\u4e88\u6a5f\u5668\u4eba\u77ed\u671f\u8a18\u61b6\uff0c\u5982\u6b64\u4e00\u4f86\uff0cDactyl\u7d93\u904e\u4e00\u6bb5\u6642\u9593\u4fbf\u80fd\u638c\u63e1\u7269\u9ad4\u78ba\u5207\u7684\u5927\u5c0f\u548c\u5176\u4ed6\u53c3\u6578\uff0c\u4e26\u96a8\u4e4b\u8abf\u6574\u3002<\/p>\n<p><strong>\u5b78\u7fd2\u67b6\u69cb<\/strong><\/p>\n<p>OpenAI\u5718\u968a\u63a1\u7528Shadow Dexterous Hand\u4f5c\u70ba\u7cfb\u7d71\u8f38\u51fa\u7684\u786c\u9ad4\u8a2d\u5099\u3002\u8a72\u6a5f\u68b0\u624b\u81c2\u670924\u500b\u6d3b\u52d5\u95dc\u7bc0\uff0c\u9060\u8d85\u51fa\u5176\u5b83\u6a5f\u68b0\u624b\u81c2\uff08\u5e73\u5747\u50c57\u500b\uff09\u3002\u7814\u767c\u5718\u968a\u4e3b\u8981\u662f\u5c07\u516d\u9762\u5370\u6709\u4e0d\u540c\u8272\u584a\u548c\u5b57\u6bcd\u7684\u6b63\u65b9\u9ad4\u7a4d\u6728\u653e\u7f6e\u5728\u6a5f\u5668\u624b\u81c2\u7684\u638c\u5fc3\u4e2d\uff0c\u8981\u6c42\u5b83\u8f49\u52d5\u81f3\u6307\u5b9a\u65b9\u5411\u3002Dactyl\u7684\u6838\u5fc3\u6f14\u7b97\u6cd5\u70ba\u5f37\u5316\u5b78\u7fd2\uff0c\u5176\u4e2d\u66f4\u7d50\u5408\u4e86\u5169\u5957\u985e\u795e\u7d93\u7db2\u8def\u2500\u2500\u64cd\u63a7\u7db2\u8def\u548c\u8996\u89ba\u7db2\u8def\u3002<\/p>\n<p>\u9996\u5148\uff0c\u64cd\u63a7\u7db2\u8def\u4ee5LSTM\u67b6\u69cb\uff08Long short-term memory\uff0c\u5177\u8a18\u61b6\u7684\u795e\u7d93\u7db2\u8def\uff09\u4f86\u5b78\u7fd2\u74b0\u5883\u4e2d\u7684\u52d5\u529b\u5b78\uff0c\u4e26\u6cbf\u7528OpenAI\u5728Dota2\u96fb\u7af6\u6bd4\u8cfd\u4e2d\u958b\u767c\u7684\u5f37\u5316\u5b78\u7fd2\u8a13\u7df4\u7cfb\u7d71Rapid\u3002\u7531\u65bcRapid\u52d5\u7528\u4e86\u516d\u5343\u9918\u9846CPU\u548c8\u9846GPU\u4f86\u52a0\u901f\uff0c\u8b93Dactyl\u50c5\u970050\u5c0f\u6642\u5c31\u80fd\u8490\u96c6\u76f8\u7576\u65bc100\u5e74\u7684\u5b78\u7fd2\u7d93\u9a57\uff0c\u9019\u4e5f\u6b63\u662f\u8a72\u7cfb\u7d71\u80fd\u9054\u5230\u9ad8\u9748\u5de7\u6027\u7684\u4e3b\u8981\u539f\u56e0\u3002\u800c\u8996\u89ba\u7db2\u8def\u5247\u662f\u57fa\u65bcCNN\u67b6\u69cb\uff0c\u7814\u7a76\u5718\u968a\u5728\u624b\u81c2\u4e0a\u65b9\u67b6\u8a2d\u4e09\u53f0\u76f8\u6a5f\u93e1\u982d\uff0c\u5c07\u5176\u63a5\u6536\u5230\u7684\u5f71\u50cf\u4f5c\u70ba\u8f38\u5165\uff0c\u7d93\u8996\u89ba\u7db2\u8def\u5b78\u7fd2\u5f8c\uff0c\u8f38\u51fa\u4f30\u8a08\u7684\u7a4d\u6728\u7684\u65b9\u5411\u548c\u4f4d\u7f6e\u8cc7\u8a0a\u3002\u64cd\u63a7\u7db2\u8def\u7528\u4ee5\u57f7\u884c\u624b\u81c2\u64cd\u4f5c\uff0c\u800c\u8996\u89ba\u7db2\u8def\u5247\u8b93\u624b\u81c2\u5f97\u4ee5\u300c\u770b\u898b\u300d\u7a4d\u6728\uff0c\u900f\u904e\u9019\u5169\u500b\u7db2\u8defDactyl\u53ef\u4ee5\u66f4\u5afb\u719f\u5730\u64cd\u63a7\u6a5f\u68b0\u624b\u81c2\u3001\u5b8c\u6210\u6307\u5b9a\u4efb\u52d9\u3002<\/p>\n<p><strong>\u9ad8\u9748\u5de7\u6027\u7684\u5c55\u73fe<\/strong><\/p>\n<div class=\"fluid-width-video-wrapper\">\n<div class=\"fitvids-video\"><iframe width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/c0mInqFb02s?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/div>\n<\/div>\n<p>\u7531\u7814\u7a76\u5718\u968a\u63d0\u4f9b\u7684\u5f71\u7247\u4e2d\uff0c\u53ef\u4ee5\u770b\u51fa\u6210\u679c\u76f8\u7576\u4e0d\u932f\u3002\u6a5f\u68b0\u624b\u81c2\u5728\u865b\u64ec\u5be6\u5883\u4e2d\u6b77\u7d93\u76f8\u7576\u767e\u5e74\u7684\u53cd\u8986\u8a66\u9a57\u5f8c\uff0c\u80fd\u9806\u5229\u9023\u7e8c\u57f7\u884c30\u7a2e\u4e0d\u540c\u7684\u65b9\u5411\u6307\u4ee4\uff0c\u9748\u6d3b\u5730\u8f49\u52d5\u65b9\u584a\uff0c\u5c07\u7a4d\u6728\u8f49\u52d5\u81f3\u6307\u5b9a\u65b9\u5411\uff08\u4f8b\u5982\u5c07\u5370\u6709\u300cA\u300d\u7684\u4e00\u9762\u671d\u4e0a\u3001\u300cP\u300d\u9762\u671d\u5916\u7b49\uff09\uff0c\u843d\u5be6\u64cd\u4f5c\u6307\u4ee4\u96f6\u5931\u8aa4\u3002\u6e2c\u8a66\u6642\u5718\u968a\u5c07\u6f14\u7b97\u6cd5\u61c9\u7528\u81f3\u771f\u5be6\u624b\u81c2\u4e0a\uff0c\u6700\u9ad8\u7d00\u9304\u662f\u80fd\u5b8c\u7f8e\u5730\u8f49\u52d5\u65b9\u584a\u81f315\u7a2e\u65b9\u5411\u3002\u7814\u7a76\u5718\u968a\u9084\u767c\u73feDactyl\u7adf\u5728\u7121\u4eba\u6559\u5c0e\u4e0b\u5b78\u6703\u4e00\u4e9b\u4eba\u985e\u7684\u5e38\u7528\u624b\u52e2\uff0c\u4f8b\u5982\uff1a\u6307\u5c16\u8f49\u52d5\u3001\u6ed1\u52d5\u7a4d\u6728\u7b49\uff0c\u53e6\u5916\uff0c\u5728\u6307\u5c16\u7dca\u63e1\u7684\u6307\u4ee4\u6642\uff0cDactyl\u6703\u4f7f\u7528\u5927\u62c7\u6307\u548c\u5c0f\u6307\uff0c\u7136\u4e00\u822c\u4eba\u90fd\u662f\u7528\u5927\u62c7\u6307\u548c\u98df\u6307\u6216\u4e2d\u6307\uff0c\u5c31\u6b64\u7814\u7a76\u5718\u968a\u8a8d\u70ba\u662f\u56e0\u6a5f\u68b0\u624b\u81c2\u4e0a\u5c0f\u6307\u8f03\u5176\u5b83\u624b\u6307\u9084\u591a\u51fa\u4e00\u500b\u95dc\u7bc0\u7684\u539f\u56e0\uff0c\u9019\u4e5f\u4ee3\u8868\u8457Dactyl\u4e0d\u50c5\u6703\u6478\u7d22\u51fa\u4eba\u985e\u5e38\u7528\u624b\u52e2\uff0c\u751a\u81f3\u6703\u6839\u64da\u6a5f\u68b0\u624b\u81c2\u7684\u6a5f\u80fd\u4f86\u505a\u51fa\u6539\u8b8a\u3002\u904e\u53bb\u5f9e\u672a\u6709\u6a5f\u68b0\u624b\u81c2\u80fd\u5b8c\u6210\u5982\u6b64\u7cbe\u5de7\u53c8\u8907\u96dc\u7684\u64cd\u4f5c\u6307\u4ee4\u3002<\/p>\n<p><strong>\u7d50\u8ad6<\/strong><\/p>\n<p>\u5f9eDactyl\u7684\u6210\u679c\u4e2d\u7814\u7a76\u5718\u968a\u4e5f\u5f97\u51fa\u5e7e\u500b\u7d50\u8ad6\u3002\u9996\u5148\uff0c\u89f8\u89ba\u529f\u80fd\u7684\u5075\u6e2c\u5668\u4e26\u975e\u5fc5\u8981\u3002\u4f8b\u5982\u5be6\u9a57\u4e2d\u50c5\u4f7f\u7528\u5230\u65b9\u5411\u548c\u4f4d\u7f6e\u8cc7\u8a0a\uff0c\u4ea6\u80fd\u9806\u5229\u5b8c\u6210\u4efb\u52d9\u3002\u518d\u8005\uff0c\u53ea\u8981\u5c0d\u55ae\u4e00\u7269\u9ad4\u4f5c\u51fa\u96a8\u6a5f\u7684\u53c3\u6578\u8abf\u6574\uff0c\u5c31\u80fd\u8b93\u7cfb\u7d71\u5177\u6709\u6982\u62ec\u6027\uff0c\u4e0d\u5fc5\u518d\u91dd\u5c0d\u7279\u5b9a\u7269\u9ad4\u9032\u884c\u8abf\u6574\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u4ed6\u5011\u4e5f\u767c\u73fe\u4e00\u5473\u58d3\u4f4e\u53cd\u61c9\u6642\u9593\u4e26\u4e0d\u6703\u6709\u66f4\u597d\u7684\u6210\u679c\uff1aDactyl\u6bcf\u57f7\u884c\u4e00\u500b\u6307\u4ee4\u7d04\u970080ms\u7684\u53cd\u61c9\u6642\u9593\uff0c\u4e00\u822c\u4eba\u985e\u5247\u662f\u4ecb\u65bc150-250ms\u4e4b\u9593\uff0c\u7576\u5718\u968a\u8a66\u5716\u5c07\u53cd\u61c9\u6642\u9593\u964d\u81f340ms\u6642\uff0c\u6210\u679c\u4e26\u6c92\u6709\u986f\u8457\u7684\u63d0\u5347\uff0c\u53cd\u800c\u8b93\u8a13\u7df4\u904e\u7a0b\u66f4\u52a0\u8017\u6642\u3002<\/p>\n<p>Dactyl\u5728\u9748\u5de7\u5ea6\u4e0a\u7684\u4eae\u773c\u8868\u73fe\u4e5f\u8a31\u80fd\u5c07\u6a5f\u68b0\u624b\u81c2\u5e36\u9818\u81f3\u4e0b\u4e00\u500b\u91cc\u7a0b\u7891\uff0c\u672a\u4f86\u6a5f\u68b0\u624b\u81c2\u5c07\u6709\u6a5f\u6703\u57f7\u884c\u96e3\u6613\u5ea6\u66f4\u9ad8\u7684\u4efb\u52d9\uff0c\u7d44\u88dd\u66f4\u7cbe\u5bc6\u7684\u96f6\u4ef6\u3001\u53c3\u8207\u624b\u8853\uff0c\u6291\u6216\u662f\u63d0\u5347\u5bb6\u5ead\u6a5f\u5668\u4eba\u7684\u5be6\u7528\u6027\u3002\u7121\u8ad6\u662f\u4f55\u7a2e\u61c9\u7528\u65b9\u5411\uff0c\u7686\u662f\u4eba\u985e\u4e4b\u798f\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u7de8\u8b6f\u4f86\u6e90<\/strong><\/p>\n<p>M. Huston, \u201c<a href=\"http:\/\/www.sciencemag.org\/news\/2018\/07\/watch-robot-hand-learn-manipulate-objects-just-human-hand?utm_source=sciencemagazine&amp;utm_medium=facebook-text&amp;utm_campaign=watchrobothand-20713\">Watch a robot hand learn to manipulate objects just like a human hand<\/a>\u201d.\u00a0<em>Science<\/em>, 30 July 2018.<\/p>\n<p><strong>\u53c3\u8003\u8cc7\u6599<\/strong><\/p>\n<p>OpenAI. \u201c<a href=\"https:\/\/blog.openai.com\/learning-dexterity\/\">Learning Dexterity<\/a>\u201d. OpenAI, 30 July 2018.<\/p>\n<p>(\u672c\u6587\u7531\u6559\u80b2\u90e8\u88dc\u52a9\uff62AI\u5831\u5831\u2500AI\u79d1\u666e\u63a8\u5ee3\u8a08\u756b\u300d\u57f7\u884c\u5718\u968a\u7de8\u8b6f)<\/p>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u79d1\u6280\u767c\u5c55\u84ec\u52c3\u7684\u4eca\u65e5\uff0c\u6a5f\u68b0\u624b\u81c2\u5df2\u8de8\u8db3\u5404\u500b\u9818\u57df\uff0c\u8f14\u52a9\u4eba\u985e\u63d0\u5347\u5de5\u4f5c\u6548\u7387\u3002\u5176\u6240\u8ffd\u6c42\u7684\u6700\u7d42\u76ee\u6a19\uff0c\u4e0d\u5916\u4e4e\u662f\u80fd\u548c\u4eba\u985e\u7684\u96d9\u624b\u4e00\u6a23\u654f\u6377\uff0c\u4ee5\u57f7\u884c\u66f4\u7cbe\u5bc6\u7684\u4efb\u52d9\uff0c\u60df\u73fe\u6709\u6a5f\u68b0\u624b\u81c2\u7684\u9748\u5de7\u6027\u4ecd\u9060\u4e0d\u53ca\u4eba\u985e\u3002\u56e0\u6b64\uff0cOpenAI\u5718\u968a\u63a8\u51fa\u7d50\u5408AI\u7684\u5168\u65b0\u7cfb\u7d71Dactyl\uff0c\u900f\u904e\u5f37\u5316\u5b78\u7fd2\u548c\u80fd\u9ad8\u901f\u5e73\u884c\u904b\u7b97\u7684\u8a13\u7df4\u5e73\u53f0Rapid\uff0c\u8b93Dactyl\u572850\u5c0f\u6642\u7684\u8a13\u7df4\u904e\u7a0b\u4e2d\u5438\u6536\u76f8\u7576\u65bc100\u5e74\u7684\u5b78\u7fd2\u7d93\u9a57\uff0c\u66f4\u81ea\u884c\u6478\u7d22\u51fa\u4eba\u985e\u5e38\u7528\u624b\u52e2\uff0c\u5927\u5e45\u63d0\u5347\u6a5f\u68b0\u624b\u81c2\u7684\u64cd\u4f5c\u9748\u6d3b\u5ea6\u3002<\/p>\n","protected":false},"author":21,"featured_media":39047,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3772,3293],"tags":[4989,5200,3032],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/case.ntu.edu.tw\/blog\/wp-content\/uploads\/2022\/01\/grasp-types.jpg","_links":{"self":[{"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=\/wp\/v2\/posts\/39046"}],"collection":[{"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=\/wp\/v2\/users\/21"}],"replies":[{"embeddable":true,"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=39046"}],"version-history":[{"count":1,"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=\/wp\/v2\/posts\/39046\/revisions"}],"predecessor-version":[{"id":39048,"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=\/wp\/v2\/posts\/39046\/revisions\/39048"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=\/wp\/v2\/media\/39047"}],"wp:attachment":[{"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=39046"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=39046"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/case.ntu.edu.tw\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=39046"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}