LEARNING
面向通用机器人控制的原生视频-动作预训练
Qihang Zhang, Lin Li, Luyao Zhang, Shuai Yang, Yiming Luo, Shuaiting Li, Ruilin Wang, Junke Wang, Jiahao Shao, Gangwei Xu, Jiaming Zhou, Yishu Shen, Yudong Jin, Fangyi Xu, Shuailei Ma, Jiaqi Liao, Guanxing Lu, Zifan Shi, Yongkun Wen, Yujie Zhao
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出LingBot-VA 2.0，一种从零构建的视频-动作基础模型，通过语义视觉-动作分词器、因果预训练、稀疏MoE架构和异步推理方案，解决了传统视频生成模型在物理环境中的不足。该模型在指令跟随和动作精度上显著提升，并实现了实时闭环控制。
关键词
video-action modelpretrainingrobot controltokenizerMoE
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