对嵌入式智能系统的审查:一个三层框架,集成多式联络感知,世界建模和结构化策略
Yunwei Zhang1,2, Jing Tian1, Qiaochu Xiong1
1Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming, China.
Frontiers in robotics and AI
|November 24, 2025
概括
本综述探讨了多式大型模型 (MLM) 和世界模型 (WM) 如何推进体现智能. 它介绍了一个动态感知-任务适应 (DP-TA) 框架,使机器人能够理解和与复杂的环境互动.
科学领域:
- 机器人和人工智能 机器人和人工智能
- 认知科学和计算神经科学
背景情况:
- 嵌入式智能系统整合了感知,世界建模和控制动态环境.
- 多模大型模型 (MLMs) 和世界模型 (WMs) 的最新进展是实现这些系统中语义理解和概括的关键.
研究的目的:
- 综合审查现代MLM和WM如何共同推进体现智能.
- 提出一个理论框架,整合了体内代理人的感知,建模和决策.
主要方法:
- 关键维度的系统化:多式联运感知,跨式联运调整,自适应性决策和Sim-to-Real转移.
- 介绍了"动态感知-任务适应 (DP-TA) "框架.
- 关于"特征条件模态调整 (F-CMA) "机制的建议,以加强模态交叉融合.
主要成果:
- DP-TA框架将感知建模,世界状态预测和战略优化集成到一个感知建模决策循环中.
- 在特定任务的约束下,F-CMA机制改善了跨模式融合.
结论:
- 现代的MLM和WM为体内智能提供了强大的工具.
- DP-TA框架为开发更具能力和适应性的嵌入式系统提供了一个结构化的方法.
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