而高度追踪奖励，跟训狗一个道理。让机器人下蹲或者站立到某个高度，完成任务就能获得奖励。对称性利用，说白了就是让机器人的左右两边的动作更协调、一致。 这要比其他同样是做远程控制方案的机器人，成本要低得多。比如斯坦福 Aloha 机器人的硬件成本，就要 ...

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