{"id":3295,"date":"2025-05-16T15:11:01","date_gmt":"2025-05-16T07:11:01","guid":{"rendered":"https:\/\/www.15zhi.net\/blog\/?p=3295"},"modified":"2025-05-16T15:40:19","modified_gmt":"2025-05-16T07:40:19","slug":"vlm-agents-generate-their-own-memories-distilling-experience-into-embodied-programs-of-thought","status":"publish","type":"post","link":"https:\/\/www.15zhi.net\/blog\/vlm-agents-generate-their-own-memories-distilling-experience-into-embodied-programs-of-thought\/","title":{"rendered":"202505\u8bba\u6587\u7814\u8bfb-VLM Agents Generate Their Own Memories: Distilling Experience into Embodied Programs of Thought"},"content":{"rendered":"\n

\u6765\u6e90\uff1aNeurIPS 2024<\/p>\n\n\n\n

\u4f5c\u8005\uff1aGabriel Sarch\uff0cLawrence Jang,\u00a0Michael J. Tarr,\u00a0William W. Cohen,\u00a0Kenneth Marino,\u00a0Katerina Fragkiadaki<\/p>\n\n\n\n

\u5355\u4f4d\uff1a\u5361\u5185\u57fa\u6885\u9686\u5927\u5b66\uff0cGoogle DeepMind<\/p>\n\n\n\n

\u4e00\u3001\u80cc\u666f<\/strong><\/p>\n\n\n\n

\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u5df2\u53d6\u5f97\u4ee4\u4eba\u77a9\u76ee\u7684\u6210\u679c\uff0c\u4f46\u5728\u590d\u6742\u7684\u591a\u6b65\u9aa4\u4efb\u52a1\u4e2d\u4f9d\u7136\u5b58\u5728\u663e\u8457\u5c40\u9650\u3002\u8fd9\u4e9b\u4efb\u52a1\u9700\u8981\u4ee3\u7406\u80fd\u591f\u7406\u89e3\u957f\u671f\u4e0a\u4e0b\u6587\u3001\u8fdb\u884c\u591a\u8f6e\u63a8\u7406\u5e76\u4ece\u8fc7\u53bb\u7684\u7ecf\u9a8c\u4e2d\u5b66\u4e60\u3002\u53d7\u4eba\u7c7b\u901a\u8fc7\u603b\u7ed3\u7ecf\u9a8c\u5b66\u4e60\u7684\u542f\u53d1\uff0c\u6587\u7ae0\u63d0\u51fa\u8ba9 VLM agents \u5728\u6267\u884c\u4efb\u52a1\u65f6\u81ea\u52a8\u751f\u6210\u53ef\u590d\u7528\u7684\u201c\u5316\u8eab\u601d\u7ef4\u7a0b\u5e8f\u201d\uff08Embodied Programs of Thought\uff0cEPOTs\uff09\uff0c\u4f5c\u4e3a\u672a\u6765\u4efb\u52a1\u7684\u8bb0\u5fc6\u5e93\u3002\u4e0e\u4ec5\u5b58\u50a8\u5386\u53f2\u8f68\u8ff9\u7684\u88ab\u52a8\u8bb0\u5fc6\u4e0d\u540c\uff0cEPOTs \u80fd\u4e3b\u52a8\u603b\u7ed3\u5e76\u63d0\u70bc\u6838\u5fc3\u7ecf\u9a8c\u3002<\/p>\n\n\n\n

\u6587\u7ae0\u7684\u4e3b\u8981\u7814\u7a76\u95ee\u9898\u662f\uff1a\u5982\u4f55\u8ba9 VLM agents \u5728\u5b8c\u6210\u4efb\u52a1\u7684\u540c\u65f6\uff0c\u81ea\u52a8\u63d0\u53d6\u3001\u603b\u7ed3\u5e76\u751f\u6210\u53ef\u590d\u7528\u7684\u7a0b\u5e8f\u5316\u7ecf\u9a8c\uff0c\u4ee5\u4fbf\u672a\u6765\u8c03\u7528\u3002<\/p>\n\n\n\n

\u4e8c\u3001\u8d21\u732e<\/strong><\/p>\n\n\n\n

    \n
  1. \u63d0\u51fa\u4e86\u65b0\u578b\u7684\u5b66\u4e60\u6846\u67b6ICAL<\/strong>\uff08In-Context Abstraction Learning\uff09\uff1a\u9996\u6b21\u5c06\u591a\u6a21\u6001\u62bd\u8c61\u5b66\u4e60\u4e0e\u4e0a\u4e0b\u6587\u8bb0\u5fc6\u673a\u5236\u7ed3\u5408\uff0c\u4f7f VLM \u80fd\u4ece\u566a\u58f0\u6f14\u793a\u4e2d\u63d0\u53d6\u7ed3\u6784\u5316\u7ecf\u9a8c\u3002<\/li>\n\n\n\n
  2. \u5b9a\u4e49\u5e76\u5b9e\u73b0\u4e86\u201c\u5316\u8eab\u601d\u7ef4\u7a0b\u5e8f\u201d\uff08EPOTs\uff09<\/strong>\uff1a\u5f15\u5bfc\u4ee3\u7406\u603b\u7ed3\u4efb\u52a1\u4e2d\u7684\u5173\u952e\u5b50\u76ee\u6807\u3001\u56e0\u679c\u5173\u7cfb\u3001\u72b6\u6001\u53d8\u5316\u7b49\u8ba4\u77e5\u62bd\u8c61\uff0c\u5e76\u5f62\u6210\u53ef\u8c03\u7528\u7684\u4efb\u52a1\u6a21\u677f\u3002<\/li>\n\n\n\n
  3. \u8bbe\u8ba1\u4e86\u53cc\u9636\u6bb5\u62bd\u8c61\u673a\u5236\uff08\u81ea\u52a8 + \u4eba\u7c7b\u53cd\u9988\uff09<\/strong>\uff1a\u65e2\u80fd\u81ea\u52a8\u4fee\u6b63\u4efb\u52a1\u8def\u5f84\uff0c\u53c8\u80fd\u878d\u5408\u4eba\u7c7b\u8bed\u8a00\u53cd\u9988\uff0c\u6301\u7eed\u4f18\u5316\u62bd\u8c61\u3002<\/li>\n\n\n\n
  4. \u5728\u591a\u4e2a\u4efb\u52a1\u4e2d\u5b9e\u73b0 SOTA \u6027\u80fd<\/strong>\uff1a\u5305\u62ec TEACh\uff08\u5bb6\u5ead\u4efb\u52a1\uff09\u3001VisualWebArena\uff08\u7f51\u9875\u4efb\u52a1\uff09\u3001Ego4D\uff08\u89c6\u9891\u9884\u6d4b\uff09\u7b49\u3002<\/li>\n<\/ol>\n\n\n\n

    \u4e09\u3001\u6838\u5fc3\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n

    \u603b\u4f53\u67b6\u6784\uff1a<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u6bcf\u6b21\u8fed\u4ee3\u90fd\u4ece\u4e00\u6761\u5e26\u566a\u58f0\u7684\u8f68\u8ff9\u5f00\u59cb\uff0cICAL \u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\u5bf9\u5176\u8fdb\u884c\u62bd\u8c61\uff1a<\/strong><\/p>\n\n\n\n

      \n
    1. VLM\u62bd\u8c61\u9636\u6bb5\uff1a\n
        \n
      • \u63a5\u6536\u566a\u58f0\u8f68\u8ff9\u03benoisy<\/sub>\u3001\u6307\u4ee4 I<\/strong><\/em> \u548c\u5386\u53f2\u793a\u4f8b {e1<\/sub>,\u2026,ek<\/sub>}\uff1b<\/li>\n\n\n\n
      • \u8f93\u51fa\u4f18\u5316\u540e\u7684\u8f68\u8ff9 \u03beoptimized<\/sub>\u548c\u8bed\u8a00\u62bd\u8c61 L<\/em><\/strong>\uff1b<\/li>\n\n\n\n
      • \u62bd\u8c61\u5305\u62ec\uff1a\n
          \n
        • \u4efb\u52a1\u4e0e\u56e0\u679c\u7ed3\u6784<\/li>\n\n\n\n
        • \u72b6\u6001\u53d8\u5316<\/li>\n\n\n\n
        • \u5b50\u76ee\u6807\u5206\u89e3<\/li>\n\n\n\n
        • \u72b6\u6001\u53d8\u91cf\u7b5b\u9009\uff08\u4e0e\u6ce8\u610f\u529b\u673a\u5236\u7c7b\u4f3c\uff09<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n\n\n\n
        • \u4eba\u7c7b\u53cd\u9988\u9636\u6bb5\uff1a\n
            \n
          • \u6267\u884c\u4f18\u5316\u8f68\u8ff9\uff0c\u5931\u8d25\u65f6\u4eba\u7c7b\u63d0\u4f9b\u8bed\u8a00\u53cd\u9988 H<\/em><\/strong>(at<\/sub>,ot<\/sub><\/em>)\uff1b<\/li>\n\n\n\n
          • \u6a21\u578b\u7ed3\u5408\u53cd\u9988\u4fee\u6b63\u8f68\u8ff9\uff0c\u5e76\u66f4\u65b0\u62bd\u8c61\uff1a<\/li>\n\n\n\n
          • \"\"<\/li>\n\n\n\n
          • \u6210\u529f\u540e\u5c06\u793a\u4f8b e<\/em> =(\u03be\u2032<\/em>, L\u2032<\/em> )<\/strong>\u5b58\u5165\u8bb0\u5fc6\u5e93 M<\/em><\/strong> \u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n

            \u4e00\u65e6\u8f68\u8ff9\u6210\u529f\u6267\u884c\uff0c\u5b83\u5c06\u88ab\u5b58\u6863\u81f3\u4e00\u4e2a\u4e0d\u65ad\u6269\u5c55\u7684\u793a\u4f8b\u5e93\u4e2d\u3002\u8be5\u793a\u4f8b\u5e93\u65e2\u53ef\u7528\u4e8e\u6a21\u578b\u8bad\u7ec3\uff0c\u4e5f\u53ef\u5728\u63a8\u7406\u65f6\u4e3a\u4ee3\u7406\u63d0\u4f9b\u4e0a\u4e0b\u6587\u53c2\u8003\uff0c\u4ee5\u5e94\u5bf9\u65b0\u7684\u4efb\u52a1\u6307\u4ee4\u4e0e\u73af\u5883\u3002<\/p>\n\n\n\n

            \u90e8\u7f72\u65f6\u7684\u68c0\u7d22\u589e\u5f3a<\/strong>\uff08RAG\uff09\uff1a<\/p>\n\n\n\n

              \n
            • \u7ed9\u5b9a\u4efb\u52a1\u6307\u4ee4 I<\/em><\/strong>\uff0c\u4ece\u8bb0\u5fc6\u5e93 M<\/em><\/strong> \u4e2d\u68c0\u7d22\u76f8\u4f3c\u793a\u4f8b\uff1a<\/li>\n\n\n\n
            • \"\"<\/li>\n\n\n\n
            • \u7528\u4e8e\u751f\u6210\u6700\u7ec8\u52a8\u4f5c\u5e8f\u5217\u6216\u884c\u52a8\u7b56\u7565\u3002<\/li>\n<\/ul>\n\n\n\n

              \u56db\u3001\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

                \n
              1. \u5b9e\u9a8c\u73af\u5883<\/li>\n<\/ol>\n\n\n\n

                \u7814\u7a76\u8005\u5728 TEACh \u548c VisualWebArena \u4e2d\u6d4b\u8bd5\u4e86 ICAL \u7684\u4efb\u52a1\u89c4\u5212\u80fd\u529b\uff0c\u5e76\u5728 Ego4D \u57fa\u51c6\u6d4b\u8bd5\u4e2d\u6d4b\u8bd5\u5176\u52a8\u4f5c\u9884\u6d4b\u80fd\u529b\u3002\u5176\u4e2d\uff0cTEACh \u9488\u5bf9\u7684\u662f\u5bb6\u5ead\u73af\u5883\u4e2d\u7684\u5bf9\u8bdd\u5f0f\u6559\u5b66\uff0cVisualWebArena \u5219\u662f\u591a\u6a21\u6001\u81ea\u52a8\u5316\u7f51\u7edc\u4efb\u52a1\uff0cEgo4D \u5219\u662f\u7528\u4e8e\u89c6\u9891\u52a8\u4f5c\u9884\u6d4b\u3002<\/p>\n\n\n\n

                \u73af\u5883<\/td>\u4efb\u52a1\u7c7b\u578b<\/td>\u7279\u70b9<\/td><\/tr>
                TEACh<\/td>\u5bb6\u5ead\u6307\u4ee4\u4efb\u52a1<\/td>\u5bf9\u8bdd\u8f93\u5165\uff0c\u5177\u8eab\u6267\u884c<\/td><\/tr>
                VisualWebArena<\/td>\u591a\u6a21\u6001\u7f51\u9875\u5236\u4f5c<\/td>\u56fe\u6587\u7ec4\u5408\u8f93\u5165<\/td><\/tr>
                Ego4D<\/td>\u89c6\u9891\u52a8\u4f5c\u9884\u6d4b<\/td>\u88ab\u52a8\u611f\u77e5\uff0c\u65e0\u4ea4\u4e92\u53cd\u9988<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

                2. \u6307\u6807<\/p>\n\n\n\n

                  \n
                • SR\uff1a\u4efb\u52a1\u6210\u529f\u7387<\/li>\n\n\n\n
                • GC\uff1a\u76ee\u6807\u6761\u4ef6\u6210\u529f\u7387<\/li>\n\n\n\n
                • Edit Distance\uff1a\u540d\u8bcd \/ \u52a8\u4f5c\u9884\u6d4b\u5dee\u5f02\uff08\u89c6\u9891\u4efb\u52a1\uff09<\/li>\n<\/ul>\n\n\n\n

                  3. \u7ed3\u679c<\/p>\n\n\n\n

                  \"\"<\/figure>\n\n\n\n
                  \"\"<\/figure>\n\n\n\n
                    \n
                  • TEACh<\/strong>\uff1aICAL \u63d0\u5347 SR +8.6%\uff0cGC +12.6%\uff0c\u8d85\u8d8a SOTA HELPER\uff1b<\/li>\n\n\n\n
                  • VisualWebArena<\/strong>\uff1aICAL \u76f8\u6bd4 GPT-4V \u63d0\u5347 +8.4%\uff08\u76f8\u5bf9 +58.7%\uff09\uff1b<\/li>\n\n\n\n
                  • Ego4D<\/strong>\uff1aICAL \u5728\u4f7f\u7528 1\/639 \u6570\u636e\u4e0b\u903c\u8fd1\u5168\u76d1\u7763\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n

                    \u4e94\u3001\u603b\u7ed3<\/strong><\/p>\n\n\n\n

                    ICAL \u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u591a\u6a21\u6001\u4e0a\u4e0b\u6587\u5b66\u4e60\u673a\u5236\uff0c\u8ba9 VLM \u4ee3\u7406\u80fd\u591f\uff1a<\/p>\n\n\n\n

                      \n
                    • \u4ece\u6b21\u4f18\u793a\u4f8b\u4e2d\u81ea\u4e3b\u5b66\u4e60\uff1b<\/li>\n\n\n\n
                    • \u751f\u6210\u53ef\u89e3\u91ca\u3001\u53ef\u8fc1\u79fb\u7684\u62bd\u8c61\uff1b<\/li>\n\n\n\n
                    • \u5728\u4e0d\u540c\u4efb\u52a1\u573a\u666f\u4e2d\u4e0d\u65ad\u4f18\u5316\u7b56\u7565\u3002<\/li>\n<\/ul>\n\n\n\n

                      <\/p>\n\n\n\n

                      <\/p>\n","protected":false},"excerpt":{"rendered":"

                      \u6765\u6e90\uff1aNeurIPS 2024 \u4f5c\u8005\uff1aGabriel Sarch\uff0cLawrence Jang,\u00a0Michael […]<\/p>\n","protected":false},"author":64,"featured_media":0,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-3295","post","type-post","status-publish","format-standard","hentry","category-events"],"_links":{"self":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/3295","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/users\/64"}],"replies":[{"embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/comments?post=3295"}],"version-history":[{"count":7,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/3295\/revisions"}],"predecessor-version":[{"id":3308,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/3295\/revisions\/3308"}],"wp:attachment":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/media?parent=3295"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/categories?post=3295"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/tags?post=3295"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}