机器人软件与学习路线Robot software and learning route
约 45 分钟about 45 minutes
先分清策略、示范与仿真，再看中间件、规划与迁移。目标是看懂机器人演示背后的软件与学习分层，不把遥操作或仿真成功当成实机自主能力。First separate policy, demonstration and simulation, then look at middleware, planning and transfer. The goal is to understand the software and learning layers behind robot demos, without treating teleoperation or simulation success as real autonomous capability.
- 说清策略、模仿学习、强化学习三者关系，并指出遥操作数据通常进入哪条训练路线。
- 解释为什么仿真里跑通不等于实机跑通，至少说出一种缩小现实差距的方法。
- 看一段机器人演示时，能列出要追问的三件事：人控还是自主、仿真还是实机、训练数据覆盖什么。
- Explain how policy, imitation learning and reinforcement learning relate, and where teleoperation data usually enters training.
- Explain why passing in simulation does not mean passing on hardware, and name at least one way to narrow the reality gap.
- When watching a robot demo, list three questions: human-controlled or autonomous, simulation or hardware, and what the training data covers.
先试着回答，再展开参考答案。答不上来的地方，可从上方步骤返回对应词条。参考回答是核对要点，不要求逐字复述。Try answering before opening the reference. Revisit the relevant step above if needed. These answers highlight key ideas; you do not need to repeat the wording.
第 1 题 · 参考回答Question 1 · Reference answer
策略是观测到动作的映射；模仿学习从示范拟合策略，强化学习按奖励优化策略。遥操作录下的示范通常作为模仿学习的数据。A policy maps observations to actions; imitation learning fits a policy from demonstrations, while reinforcement learning optimises it by reward. Teleoperated demonstrations usually become imitation-learning data.
第 2 题 · 参考回答Question 2 · Reference answer
仿真的摩擦、延迟、传感噪声和接触模型与现实有差距。域随机化、动力学随机化或系统辨识都能缩小差距，但都要在实机上重新核对。Simulation differs from reality in friction, delay, sensor noise and contact models. Domain randomisation, dynamics randomisation or system identification can narrow the gap, but results must be rechecked on hardware.
第 3 题 · 参考回答Question 3 · Reference answer
先问动作是人实时遥操作还是模型自主执行；再问验证在仿真还是实机；最后问训练数据覆盖哪些任务与场景，未覆盖时谁兜底。First ask whether actions are human teleoperation or autonomous model execution; then whether validation was in simulation or on hardware; finally what tasks and scenes the training data covers and who handles uncovered cases.
半小时入门The Half-Hour Primer · 一个下午看懂原理One Afternoon Under the Hood · 一周路线The Full Week · 内容工作者路线The Writer's Route · 动手开发者路线The Builder's Route · 选型决策者路线The Decision-Maker's Route · 研究学习者路线The Researcher's Route · 运维上线路线The Operator's Route · 普通消费者路线The Everyday User's Route · 图像 / 视频 / 音频创作者路线The Image / Video / Audio Creator's Route · 安全与合规评审路线The Safety and Compliance Review Route · 评测与质量路线The Evaluation and Quality Route