具身的这几个方向，组成了所谓的大小脑算法

Core Viewpoint - The article discusses the evolution and current trends in embodied intelligence technology, emphasizing the integration of various models and techniques to enhance robotic capabilities in real-world environments [3][10]. Group 1: Technology Development Stages - The development of embodied intelligence has progressed through several stages, starting from grasp pose detection to behavior cloning, and now to diffusion policy and VLA models [7][10]. - The first stage focused on static object grasping with limited decision-making capabilities [7]. - The second stage introduced behavior cloning, allowing robots to learn from expert demonstrations but faced challenges in generalization and error accumulation [7]. - The third stage, marked by the introduction of diffusion policy methods, improved stability and generalization by modeling action sequences [8]. - The fourth stage, beginning in 2025, explores the integration of VLA models with reinforcement learning and world models to enhance predictive capabilities and multi-modal perception [9][10]. Group 2: Key Technologies and Techniques - Key technologies in embodied intelligence include VLA, diffusion policy, and reinforcement learning, which collectively enhance robots' task execution and adaptability [5][10]. - VLA models combine visual perception, language understanding, and action generation, enabling robots to interpret human commands and perform complex tasks [8]. - The integration of tactile sensing with VLA models expands the sensory capabilities of robots, allowing for more precise operations in unstructured environments [10]. Group 3: Industry Implications and Opportunities - The advancements in embodied intelligence are leading to increased demand for engineering and system capabilities, transitioning from theoretical research to practical deployment [10][14]. - There is a growing interest in training and deploying various models, including diffusion policy and VLA, on platforms like Mujoco and IsaacGym [14]. - The industry is witnessing a surge in job opportunities and research interest, prompting many professionals to shift focus towards embodied intelligence [10].