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这是一篇包含 typograms 代码的示例文章。 +----------+ +----------+ | 输入 | ----> | 输出 | +----------+ +----------+ 更多示例请参阅 typograms 文档。","excerpt":"一篇包含字符图代码的文章 这是一篇包含 typograms 代码的示例文章。 +----------+ +----------+ | 输入 | ----> | 输出 | +----------+ +----------+ 更多示例请参阅 typograms 文档。","content_hash":"5c69e07dc94ff0a5b1108d9c3910903286adc04c334e30309f69c60edee948e8","part":1,"length":80},{"id":"chunk-51c5762801255ee802","document":8,"title":"一篇带 plotly.js 的文章","heading":"","anchor":"","url":"/blog/2025/plotly/","chain":["博客","一篇带 plotly.js 的文章"],"tags":["排版","图表"],"categories":["示例文章"],"text":"一篇包含 plotly.js 代码的文章 这是一篇包含 plotly 代码的示例文章。","excerpt":"一篇包含 plotly.js 代码的文章 这是一篇包含 plotly 代码的示例文章。","content_hash":"a929ba3b3f09d3b368da220861bee45596905b8b66ad709e6e346e14cc77972d","part":1,"length":58},{"id":"chunk-06936cd74685eea1cc","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"","anchor":"","url":"/blog/2026/batch-lio/","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"Batch-LIO 将相邻约 1 ms 内的激光点批量更新，在当前哨兵 Livox rosbag 测试中将每帧平均计算耗时降低至 Point-LIO 式更新的约 1/3.5 至 1/4.7。","excerpt":"Batch-LIO 将相邻约 1 ms 内的激光点批量更新，在当前哨兵 Livox rosbag 测试中将每帧平均计算耗时降低至 Point-LIO 式更新的约 1/3.5 至 1/4.7。","content_hash":"a371073b175398aad1eb91cca86f61de35aed1abacccf78ef8f3e252b38d94e6","part":1,"length":128},{"id":"chunk-2db0e0cdef81822565","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"一、项目简介","anchor":"一项目简介","url":"/blog/2026/batch-lio/#一项目简介","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","一、项目简介"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"Point-LIO 采用 point-wise 的更新方式，在每个采样时刻更新系统状态。这样的设计可以获得较高的里程计输出频率，并天然避免传统帧式 LIO 中由整帧点云累积造成的运动畸变。 但另一方面，大量细粒度的点云匹配和滤波更新也会带来较高的计算开销，系统需要频繁进行近邻搜索、平面拟合、残差构建和 EKF 更新，消耗了较多的计算资源。 Batch-LIO 参考中国科学技术大学张昊鹏学长本科毕业设计 Batch-LIWO 中的批量更新方法，对 Point-LIO 的更新粒度进行了修改： 将相邻约 1 ms 内的激光点组成一个 batch，完成窗口内运动补偿后，统一执行一次滤波更新。 目前项目已经提供： ROS 1 Noetic 版本； ROS 2 Humble 版本； Point-LIO 与 Batch-LIO 的 A/B 对照开关； batch 内去畸变单元测试； ROS 2 rosbag 转换、运行和消融测试脚本。 项目地址：github.com/Functionhx/Batch-LIO","excerpt":"Point-LIO 采用 point-wise 的更新方式，在每个采样时刻更新系统状态。这样的设计可以获得较高的里程计输出频率，并天然避免传统帧式 LIO 中由整帧点云累积造成的运动畸变。 但另一方面，大量细粒度的点云匹配和滤波更新也会带来较高的计算开销，系统需要频繁进行近邻搜索、平面拟合、残差构建和 EKF 更新，消耗了较多的计算资源。 Batch-LIO 参考中国科学技术大学张昊鹏学长本科毕业设计 Batch-LIWO 中的批量更新","content_hash":"e16ee70002ef297f961706e461449c44ffb35bbb9d44d044a254a1aed2156fe6","part":1,"length":331},{"id":"chunk-10f66d45ebb1b3cdc8","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"二、测试结果","anchor":"二测试结果","url":"/blog/2026/batch-lio/#二测试结果","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","二、测试结果"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"目前实验在哨兵 Livox rosbag 上进行，测试平台为 x86 计算机，操作系统为 Ubuntu 22.04。 在相同数据和参数下，通过设置： batch_dt: 0.0 运行 Point-LIO 式细粒度更新；设置： batch_dt: 0.001 运行 1 ms Batch-LIO。 ROS 2 Humble 下的测试结果如下： 数据包 Point-LIO 式更新 Batch-LIO 1 ms 加速比 quick-shack 12.42 ms 3.51 ms 3.5× outdoor_run 2.56 ms 0.54 ms 4.7× 这里统计的是每帧点云对应的平均计算耗时。 在当前测试数据和参数下，Batch-LIO 输出的轨迹与 Point-LIO 基线比较接近，没有观察到明显的轨迹退化。 对不同 batch 时间窗口进行测试后可以看到：随着时间窗口增大，滤波更新次数继续减少，计算耗时也会下降。但较大的时间窗口会增加运动补偿误差，并可能影响滤波器稳定性。目前建议将 batch_dt 设置在 1～2 ms。","excerpt":"目前实验在哨兵 Livox rosbag 上进行，测试平台为 x86 计算机，操作系统为 Ubuntu 22.04。 在相同数据和参数下，通过设置： batch_dt: 0.0 运行 Point-LIO 式细粒度更新；设置： batch_dt: 0.001 运行 1 ms Batch-LIO。 ROS 2 Humble 下的测试结果如下： 数据包 Point-LIO 式更新 Batch-LIO 1 ms 加速比 quick-shack ","content_hash":"9fb445610d3aa00b22a744ef6d0de5cba45998ac2d11f51169d43fa41513b2bb","part":1,"length":306},{"id":"chunk-1d946ab258920055bc","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"1. 时间窗口分组","anchor":"1-时间窗口分组","url":"/blog/2026/batch-lio/#1-时间窗口分组","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","1. 时间窗口分组"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"Point-LIO 的算法设计是逐点更新。实际代码会将时间戳相同的少量点组合起来，但点组通常仍然很小，因此每帧需要执行大量细粒度更新。 Batch-LIO 不再只按照完全相同的时间戳分组，而是将相邻约 1 ms 内的点划分到同一个窗口： Point-LIO： [t₀] [t₁] [t₂] [t₃] [t₄] ... ↓ ↓ ↓ ↓ ↓ 多次小规模更新 Batch-LIO： [ t₀ ～ tₙ，约 1 ms ] ↓ 一次联合更新 这样可以显著减少每帧执行 EKF 更新的次数。","excerpt":"Point-LIO 的算法设计是逐点更新。实际代码会将时间戳相同的少量点组合起来，但点组通常仍然很小，因此每帧需要执行大量细粒度更新。 Batch-LIO 不再只按照完全相同的时间戳分组，而是将相邻约 1 ms 内的点划分到同一个窗口： Point-LIO： [t₀] [t₁] [t₂] [t₃] [t₄] ... ↓ ↓ ↓ ↓ ↓ 多次小规模更新 Batch-LIO： [ t₀ ～ tₙ，约 1 ms ] ↓ 一次联合更新 这样可以","content_hash":"fec35b004f7b067b3e5092d53c742bb580162093b1cf175d68018d0e87dad7b8","part":1,"length":215},{"id":"chunk-32381feb243c05982b","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"2. Batch 内运动补偿","anchor":"2-batch-内运动补偿","url":"/blog/2026/batch-lio/#2-batch-内运动补偿","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","2. Batch 内运动补偿"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"同一个 batch 内的点并不是在同一时刻采集的，因此不能直接将它们当作同时刻点云进行匹配。 Batch-LIO 将窗口内的点补偿到最后一个点的采样时刻。 对于第 $j$ 个点，其相对于窗口末端的时间偏移为： 根据当前滤波状态中的角速度和线速度，计算旋转补偿： 计算平移补偿： 最终得到补偿后的激光点： 这里需要注意，状态中的线速度 $v$ 位于世界坐标系，而激光点的运动补偿在机体坐标系中进行，因此需要通过 $R_I^\\top$ 完成坐标系转换，不能直接使用 $v \\Delta t_j$。","excerpt":"同一个 batch 内的点并不是在同一时刻采集的，因此不能直接将它们当作同时刻点云进行匹配。 Batch-LIO 将窗口内的点补偿到最后一个点的采样时刻。 对于第 $j$ 个点，其相对于窗口末端的时间偏移为： 根据当前滤波状态中的角速度和线速度，计算旋转补偿： 计算平移补偿： 最终得到补偿后的激光点： 这里需要注意，状态中的线速度 $v$ 位于世界坐标系，而激光点的运动补偿在机体坐标系中进行，因此需要通过 $R_I^\\top$ 完成坐标","content_hash":"f1ff4b8f33c3bd6b78744d447cf46f3a29073dcc95503fd55d9c94afe3bd521b","part":1,"length":257},{"id":"chunk-c7c481e8f8aab3f02d","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"3. 联合滤波更新","anchor":"3-联合滤波更新","url":"/blog/2026/batch-lio/#3-联合滤波更新","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","3. 联合滤波更新"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"完成窗口内运动补偿后，对 batch 中的点分别进行： 地图近邻搜索； 局部平面拟合； 点到平面残差计算； Jacobian 构建。 随后将所有有效量测堆叠起来，在窗口末端统一执行一次 EKF 更新。 因此，Batch-LIO 的主要加速来源并不是减少参与匹配的点数，而是： 减少滤波更新次数； 减少重复的滤波器计算； 将大量小规模任务合并为较大的点组； 使 KNN 和平面拟合更适合使用 OpenMP 并行。 测试中发现，直接在 Point-LIO 的小点组上使用 OpenMP 反而可能变慢，因为线程调度开销超过了实际计算量。经过 batch 分组后，每次处理的点数增加，OpenMP 才能获得比较明显的收益。","excerpt":"完成窗口内运动补偿后，对 batch 中的点分别进行： 地图近邻搜索； 局部平面拟合； 点到平面残差计算； Jacobian 构建。 随后将所有有效量测堆叠起来，在窗口末端统一执行一次 EKF 更新。 因此，Batch-LIO 的主要加速来源并不是减少参与匹配的点数，而是： 减少滤波更新次数； 减少重复的滤波器计算； 将大量小规模任务合并为较大的点组； 使 KNN 和平面拟合更适合使用 OpenMP 并行。 测试中发现，直接在 Poin","content_hash":"8dd062b9df9b4be96ff7fe1af2f9f75b1cb61c8bf2b57c413b6c1cce0a4eab0a","part":1,"length":276},{"id":"chunk-c06cac39368c1930b3","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"四、项目局限性","anchor":"四项目局限性","url":"/blog/2026/batch-lio/#四项目局限性","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","四、项目局限性"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"当前项目仍然存在以下不足： 测试主要基于有限的 rosbag，数据量和场景覆盖不足； 尚未在 RoboMaster 哨兵机器人上进行长期运行测试； 当前数据没有可靠的轨迹真值，只与 Point-LIO 基线进行了对比，尚未完成正式的 ATE、RPE 精度评价； 较大的 batch 时间窗口可能导致滤波器不稳定。 因此，目前结果主要用于验证批量更新方法是否可行，以及能够带来多大的计算加速，还不能代表已经完成了充分的精度和实车验证。 欢迎有条件的同学帮忙在不同雷达、计算平台或真实机器人上测试。遇到问题或者有改进想法，可以直接在 GitHub Issues 中反馈。","excerpt":"当前项目仍然存在以下不足： 测试主要基于有限的 rosbag，数据量和场景覆盖不足； 尚未在 RoboMaster 哨兵机器人上进行长期运行测试； 当前数据没有可靠的轨迹真值，只与 Point-LIO 基线进行了对比，尚未完成正式的 ATE、RPE 精度评价； 较大的 batch 时间窗口可能导致滤波器不稳定。 因此，目前结果主要用于验证批量更新方法是否可行，以及能够带来多大的计算加速，还不能代表已经完成了充分的精度和实车验证。 欢迎有","content_hash":"2efb0bec10e6912724f5678fb868d007f06c1e751da23c1f4057d8972076f993","part":1,"length":279},{"id":"chunk-d9c08a1f4504ada064","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"五、Future Work","anchor":"五future-work","url":"/blog/2026/batch-lio/#五future-work","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","五、Future Work"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"项目后续工作已经整理到 GitHub Issue #9。 目前计划包括：","excerpt":"项目后续工作已经整理到 GitHub Issue #9。 目前计划包括：","content_hash":"dc5514799fca40068313e1e5a43529d1430b7929bafdedcf1bd42c6ace5783b5","part":1,"length":106},{"id":"chunk-f5a0a95c7294e32df3","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"1. CPU 侧优化","anchor":"1-cpu-侧优化","url":"/blog/2026/batch-lio/#1-cpu-侧优化","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","1. CPU 侧优化"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"在保留 Batch-LIO 批量更新方式的基础上，选择性吸收 Small Point-LIO 在体素地图、内存管理和固定尺寸量测计算方面的优化。","excerpt":"在保留 Batch-LIO 批量更新方式的基础上，选择性吸收 Small Point-LIO 在体素地图、内存管理和固定尺寸量测计算方面的优化。","content_hash":"3ff417e9f9521c54a8af6e392fc34ff9f3b4c6317510b9385a6d2f8049cec4a0","part":1,"length":129},{"id":"chunk-cd63d8af681572e83b","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"2. CUDA 加速","anchor":"2-cuda-加速","url":"/blog/2026/batch-lio/#2-cuda-加速","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","2. CUDA 加速"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"首先在 x86 独立显卡上开发 CUDA 后端，使 GPU 负责： 体素地图查询与更新； 点云近邻搜索； 平面匹配和残差构建； 信息矩阵与信息向量的并行归约。 CPU 保留 IMU 状态传播和小尺寸 EKF 求解，并根据 batch 大小评估 CPU/GPU 分流阈值。","excerpt":"首先在 x86 独立显卡上开发 CUDA 后端，使 GPU 负责： 体素地图查询与更新； 点云近邻搜索； 平面匹配和残差构建； 信息矩阵与信息向量的并行归约。 CPU 保留 IMU 状态传播和小尺寸 EKF 求解，并根据 batch 大小评估 CPU/GPU 分流阈值。","content_hash":"756e61442648900cc2e9e50323adb18dd97640e9ae8ac3ac2431732276b43e26","part":1,"length":159},{"id":"chunk-6f4481f0c4c8182db1","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"3. 地图与鲁棒匹配","anchor":"3-地图与鲁棒匹配","url":"/blog/2026/batch-lio/#3-地图与鲁棒匹配","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","3. 地图与鲁棒匹配"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"参考 FR-LIO、FAR-LIO 等工作的思路，实验机器人中心体素地图、自适应点云密度、鲁棒匹配阈值和稀疏 GICP，同时保留 Batch-LIO 的批量量测语义。","excerpt":"参考 FR-LIO、FAR-LIO 等工作的思路，实验机器人中心体素地图、自适应点云密度、鲁棒匹配阈值和稀疏 GICP，同时保留 Batch-LIO 的批量量测语义。","content_hash":"a9946cf219a87e6f91886221040bad5984625a0ff6fa49821c95e87de82fb232","part":1,"length":139},{"id":"chunk-26a6ba3a0ae72cb726","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"4. Jetson 部署","anchor":"4-jetson-部署","url":"/blog/2026/batch-lio/#4-jetson-部署","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","4. Jetson 部署"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"在 x86 CUDA 版本验证完成后，迁移至 Jetson 平台，测试： 持续运行延迟； P50、P95、P99 耗时； 功耗和温度； 内存占用与降频； LIO 与 TensorRT 感知任务并发运行时的性能。","excerpt":"在 x86 CUDA 版本验证完成后，迁移至 Jetson 平台，测试： 持续运行延迟； P50、P95、P99 耗时； 功耗和温度； 内存占用与降频； LIO 与 TensorRT 感知任务并发运行时的性能。","content_hash":"0a4b5876fe5be1c5c60e9418690d8fef256fe6c414468990a25d2091a2e867ab","part":1,"length":135},{"id":"chunk-c820862049b8c0ea4a","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"5. 更多平台与数据测试","anchor":"5-更多平台与数据测试","url":"/blog/2026/batch-lio/#5-更多平台与数据测试","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","5. 更多平台与数据测试"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"后续还计划支持 ROS 2 Jazzy，并在带真值数据集和 RoboMaster 实车上完成更充分的轨迹精度、稳定性和性能测试。 所有后续优化都将保留原版 Batch-LIO 对照路径。","excerpt":"后续还计划支持 ROS 2 Jazzy，并在带真值数据集和 RoboMaster 实车上完成更充分的轨迹精度、稳定性和性能测试。 所有后续优化都将保留原版 Batch-LIO 对照路径。","content_hash":"0dea5c9b2d8e6de06dca4467fd529d23825181610f7dea0e45b864d00ae2c9da","part":1,"length":152},{"id":"chunk-482b8411f4de5e646e","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"六、开源地址","anchor":"六开源地址","url":"/blog/2026/batch-lio/#六开源地址","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","六、开源地址"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"项目仓库：github.com/Functionhx/Batch-LIO 目前 main 分支为 ROS 2 Humble 版本，ROS 1 Noetic 版本保留在 ros1-noetic tag 中。 欢迎感兴趣的同学使用不同型号雷达、计算平台和真实机器人进行测试，也欢迎提交 Issue 或 PR。","excerpt":"项目仓库：github.com/Functionhx/Batch-LIO 目前 main 分支为 ROS 2 Humble 版本，ROS 1 Noetic 版本保留在 ros1-noetic tag 中。 欢迎感兴趣的同学使用不同型号雷达、计算平台和真实机器人进行测试，也欢迎提交 Issue 或 PR。","content_hash":"181b1108a982636c9a4358506d0e81d9fb5b46e2e4a5d3a96f7804367dac7a81","part":1,"length":150},{"id":"chunk-c16ce1fe0339f8682f","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"七、参考文献","anchor":"七参考文献","url":"/blog/2026/batch-lio/#七参考文献","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","七、参考文献"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"[1] D. He, W. Xu, N. Chen, F. Kong, C. Yuan and F. Zhang, “Point-LIO: Robust High-Bandwidth Light Detection and Ranging Inertial Odometry,” Advanced Intelligent Systems, 2023. [2] 张昊鹏，《高带宽轮式激光惯性里程计（Batch-LIWO）》，中国科学技术大学本科毕业设计。 [3] W. Xu and F. Zhang, “FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter,” IEEE Robotics and Automation Letters, 2021. [4] W. Xu, Y. Cai, D. He, J. Lin and F. Zhang, “FAST-LIO2: Fast Direct LiDAR-Inertial Odometry,” IEEE Transactions on Robotics, 2022. [5] HKU-MARS, Point-LIO: github.com/hku-mars/Point-LIO [6] ACE, Small Point-LIO: github.com/Yancey2023/small_point_lio [7] J. Liu, Y. Zhang, X. Zhao and Z. He, “FR-LIO: Fast and Robust LiDAR-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels,” 2023.","excerpt":"[1] D. He, W. Xu, N. Chen, F. Kong, C. Yuan and F. Zhang, “Point-LIO: Robust High-Bandwidth Light Detection and Ranging Inertial Odometry,” Advanced Intelligent Systems, 2023. [2] 张昊鹏，《高带宽轮式激光惯性里程计（Batch-LIWO）》，中国科学技术大学本","content_hash":"2f11d1778423eb02652935ed3a6aa4551e11231f746c209e4a936ebfaa5dcf42","part":1,"length":231},{"id":"chunk-d2da033bbe1c571a06","document":9,"title":"【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","heading":"七、参考文献","anchor":"七参考文献","url":"/blog/2026/batch-lio/#七参考文献","chain":["博客","【RM2026-LIO算法开源】Batch-LIO：批量更新加速 Point-LIO 最高 4.7 倍","七、参考文献"],"tags":["LIO","机器人","开源"],"categories":["技术"],"text":"[8] M. Leitenstern, M. Weinmann, P. Haft, T. Lasser, D. Kulmer and M. Lienkamp, “FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry,” 2026. 本文于 2026 年 7 月 22 日发布于 RoboMaster 社区；社区版本采用 CC BY-NC-SA 4.0 许可协议。","excerpt":"[8] M. Leitenstern, M. Weinmann, P. Haft, T. Lasser, D. Kulmer and M. Lienkamp, “FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry,” 2026. 本文于 2026 年 7 月 22 日发布于 RoboMaster ","content_hash":"b369b38cbac7675a4fd1e44de32e25325b8446c20fe323ddf0a3beee67f38dfd","part":1,"length":140},{"id":"chunk-6ba2c26ea8d5f8e160","document":10,"title":"纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","heading":"","anchor":"","url":"/blog/2026/embodied-ai-control-story/","chain":["博客","纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事"],"tags":["具身智能","控制","VLA"],"categories":["观点"],"text":"从动态系统、反馈闭环与真实工程的角度，讨论纯 CS 范式主导具身智能和 VLA 叙事时容易忽略的问题。","excerpt":"从动态系统、反馈闭环与真实工程的角度，讨论纯 CS 范式主导具身智能和 VLA 叙事时容易忽略的问题。","content_hash":"36e69c4375d5365705fc52e61fb4d32f44769ca7b41d477d62ba1e33c926240d","part":1,"length":149},{"id":"chunk-d70552f6af456bc4de","document":10,"title":"纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","heading":"让纯 CS 范式主导具身智能，正在制造一场以 VLA 为名的泡沫","anchor":"让纯-cs-范式主导具身智能正在制造一场以-vla-为名的泡沫","url":"/blog/2026/embodied-ai-control-story/#让纯-cs-范式主导具身智能正在制造一场以-vla-为名的泡沫","chain":["博客","纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","让纯 CS 范式主导具身智能，正在制造一场以 VLA 为名的泡沫"],"tags":["具身智能","控制","VLA"],"categories":["观点"],"text":"把动作当成另一种 token，把控制当成可以靠数据 scaling 绕过的麻烦——这是这个领域最贵的一个误会。 先叠个甲，并非看不起 CS，也完全不想制造文理对立或者学科鄙视链。这只是一个关于认知范式与真实系统工程的客观讨论。 长期以来，我一直有个很天真的想法，只要愿意认真学控制，大部分纯 CS 转过来的同学，哪怕之前主要做后端、打算法竞赛、搞视觉识别甚至炼大模型，去做机器人控制、自动驾驶决策、甚至成为控制理论研究者，都是完全没问题的。 但经历过高强度的控制理论沉淀、真实机器人调试，以及无数次跨学科的底层交流后，我发现我错了。 我必须承认一个残酷的现实，很多纯 CS 背景同学认知世界的底层原理，与我和一些做自动化、机械、机器人的同学围绕“物理系统—动态演化—反馈闭环”建立起来的这套严密体系，存在着天然的、难以兼容的认知摩擦。 在日常讨论中，每次开启机器人或者自动驾驶的话题，往往是他们先挑起。但只要讨论的边界一旦从“用了什么模型、网络多大、数据集刷到多少”，推进到系统动力学、状态估计、稳定性、可观测性、实时性、闭环安全，我观察到绝大多数纯 CS 同学的思维惯性就会开始被动回避。 为了填补这种认知空白，他们会本能地调用一些论文摘要式或者营销号式的泛化文字，去粗暴地抹平其中的复杂性——“端到端可以自动学出来”“数据够多就不需要建模”“Transformer 能统一解决一切”“控制器不就是最后接个 MLP 嘛”。 但技术硬核的地方在于，动力学约束、传感器噪声、执行器延迟、摩擦、饱和、建模误差和闭环稳定性，是绝对不能仅靠叙事消除的。 纯 CS 和互联网算法的范式，是离散输入、静态数据集、明确的损失函数、可复现的离线评测。控制与机器人的范式，是连续时间、动态演化、反馈闭环、物理约束与无处不在的不确定性。在离线数据集里，预测错一次无非是 accuracy 掉零点几个点；但在真实闭环系统里，一个采样周期的延迟、一个符号写反、一个坐标系变换搞错，甚至一个没人考虑的执行器饱和，都可能让整个系统从稳定直接走向发散。 用静态预测的思维去理解动态控制，在我看来必然导致高频的误解。","excerpt":"把动作当成另一种 token，把控制当成可以靠数据 scaling 绕过的麻烦——这是这个领域最贵的一个误会。 先叠个甲，并非看不起 CS，也完全不想制造文理对立或者学科鄙视链。这只是一个关于认知范式与真实系统工程的客观讨论。 长期以来，我一直有个很天真的想法，只要愿意认真学控制，大部分纯 CS 转过来的同学，哪怕之前主要做后端、打算法竞赛、搞视觉识别甚至炼大模型，去做机器人控制、自动驾驶决策、甚至成为控制理论研究者，都是完全没问题的。","content_hash":"a5c3fefa210ae9509031ca5b20a56ebbd2c213d0b9086cfeb184091e8f55d24b","part":1,"length":808},{"id":"chunk-ca57dd3fcfb022fe4e","document":10,"title":"纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","heading":"说点得罪人的：当下大半个 VLA，本质是讲给不懂控制的投资人听的故事","anchor":"说点得罪人的当下大半个-vla本质是讲给不懂控制的投资人听的故事","url":"/blog/2026/embodied-ai-control-story/#说点得罪人的当下大半个-vla本质是讲给不懂控制的投资人听的故事","chain":["博客","纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","说点得罪人的：当下大半个 VLA，本质是讲给不懂控制的投资人听的故事"],"tags":["具身智能","控制","VLA"],"categories":["观点"],"text":"我知道这句话会被喷，但还是得说：这一轮具身智能里被吹得最凶的 VLA，与其说是一项落地中的控制技术，不如说是一套为融资量身定制的叙事。 VLA 的思路是把“视觉 + 语言 + 本体状态 → 动作”重新表述成一个大规模序列建模问题，言下之意是：只要模型够大、数据够多，机器人控制就能像大语言模型一样被“端到端学出来”。 这套叙事最迷人的地方，恰恰不在于它有多对，而在于它有多好卖。它把一个控制和机器人学界辛苦了几十年、至今没有彻底解决的闭环控制难题，重新包装成了一个“只要钱够多、数据够多就能解决”的 scaling 问题——而钱和算力，正好是投资人能提供的东西。一个几十年的工程硬骨头，被翻译成了一个投资人听得懂、也愿意为之买单的增长故事。 判断一个东西是技术还是话术，有几个非常朴素的检验标准： 第一，看它拿什么给你看。 融资看的是剪辑过的 demo 视频和实验室里布置好的桌面场景；落地看的是 7×24 小时不出事的闭环可靠性。一段挑出来的成功抓取，和一个能在开放环境里连续运行一周不撞、不掉、不失稳的系统，之间隔着的不是几个百分点，而是整个控制工程。Pitch deck 里永远是前者。 第二，看它报什么指标。 “动作预测准确率”“任务成功率”在精心布置的场景里刷到 90%+，听上去很唬人。但真正决定机器人能不能用的指标——闭环平均无故障时间、分布外状态下的安全边界、长时序滚动的误差累积、接触力是否导致滑移——这些既难看又难刷的数字，你几乎从不会在融资材料里见到。报喜不报忧本身不是骗局，但只报那个和真实可靠性几乎无关的指标，就很难说是无心。 第三，看它怎么解释失败。 真正的工程会告诉你失败的根因：是状态估计漂了、执行器延迟超了，还是控制器在某个工况下失稳了。而融资叙事解释失败永远只有一句话——“下一代模型就好了”“数据再多一个数量级就解决了”。它把证伪系统性地推迟到了下一轮融资之后。一个永远不可证伪、永远把答案押在“更大更多”上的技术承诺，和庞氏结构在认知形态上是高度同构的：都需要新的钱进来，才能维持上一轮叙事的体面。","excerpt":"我知道这句话会被喷，但还是得说：这一轮具身智能里被吹得最凶的 VLA，与其说是一项落地中的控制技术，不如说是一套为融资量身定制的叙事。 VLA 的思路是把“视觉 + 语言 + 本体状态 → 动作”重新表述成一个大规模序列建模问题，言下之意是：只要模型够大、数据够多，机器人控制就能像大语言模型一样被“端到端学出来”。 这套叙事最迷人的地方，恰恰不在于它有多对，而在于它有多好卖。它把一个控制和机器人学界辛苦了几十年、至今没有彻底解决的闭环控","content_hash":"0ff58dc89ceae38254ecf50722a1a60a3f3d3b85a1f67134118e7205774e21bf","part":1,"length":819},{"id":"chunk-548cdfdc22b0d118e5","document":10,"title":"纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","heading":"说点得罪人的：当下大半个 VLA，本质是讲给不懂控制的投资人听的故事","anchor":"说点得罪人的当下大半个-vla本质是讲给不懂控制的投资人听的故事","url":"/blog/2026/embodied-ai-control-story/#说点得罪人的当下大半个-vla本质是讲给不懂控制的投资人听的故事","chain":["博客","纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","说点得罪人的：当下大半个 VLA，本质是讲给不懂控制的投资人听的故事"],"tags":["具身智能","控制","VLA"],"categories":["观点"],"text":"我不是说做 VLA 的人都在骗。绝大多数研究者是真诚的，VLA 本身也确实给机器人带来了过去极度缺乏的开放世界语义理解能力。我说的是： 当一项还远没解决闭环可靠性的技术，被包装成“端到端即将取代状态估计、运动规划和反馈控制”的颠覆叙事，并以此撬动天量融资时，这套叙事服务的对象，已经从机器人悄悄变成了融资本身。 而最容易制造、也最容易相信这套叙事的，恰恰是那些只在静态数据集里训练过直觉、从没在真实闭环里被发散和撞车毒打过的纯 CS 背景。因为在他们的认知范式里，“预测得准”和“控制得住”本来就是一回事——而这，正是整个误会的起点。","excerpt":"我不是说做 VLA 的人都在骗。绝大多数研究者是真诚的，VLA 本身也确实给机器人带来了过去极度缺乏的开放世界语义理解能力。我说的是： 当一项还远没解决闭环可靠性的技术，被包装成“端到端即将取代状态估计、运动规划和反馈控制”的颠覆叙事，并以此撬动天量融资时，这套叙事服务的对象，已经从机器人悄悄变成了融资本身。 而最容易制造、也最容易相信这套叙事的，恰恰是那些只在静态数据集里训练过直觉、从没在真实闭环里被发散和撞车毒打过的纯 CS 背景。","content_hash":"392db2504387bf6b6074ce21b49b12abb90cbde95cb2c91154108ba330b6dbd0","part":1,"length":371},{"id":"chunk-21650647a9d98bf441","document":10,"title":"纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","heading":"第一性原理不是商业 PPT 里的口号","anchor":"第一性原理不是商业-ppt-里的口号","url":"/blog/2026/embodied-ai-control-story/#第一性原理不是商业-ppt-里的口号","chain":["博客","纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","第一性原理不是商业 PPT 里的口号"],"tags":["具身智能","控制","VLA"],"categories":["观点"],"text":"这种认知摩擦，在第一性原理这个词上展现得淋漓尽致。现在很多 CS 和 AI 从业者聊到第一性原理，脑子里蹦出的关键词永远只有那几个：马斯克、拆解问题、端到端、让模型自己发现规律。他们把一个源于物理建模和公理化推演的概念，降维简化成了一种商业方法论或者大模型时代的技术口号。 真正面向控制系统的第一性原理是什么？我认为是从牛顿—欧拉方程、刚体运动学、能量守恒、电路定律、系统约束这些东西出发，先建立一个能描述真实对象的数学模型，再去严密讨论平衡点、可控性、可观测性、稳定性、鲁棒性与最优性。一个倒立摆能立住，不是因为神经网络“理解”了平衡；一辆赛车能高速过弯，也不是因为模型在数据集里见过足够多的弯道。如果没有系统学习过经典控制、现代控制、信号与系统、动力学和状态估计，没有被拉普拉斯变换、状态空间、Lyapunov 稳定性和非线性系统的数学推导反复毒打过，所谓的“让模型自己学会控制”，不过是建立在有限数据分布上的空中楼阁。 很多人鼓吹的 AI 与机器人之间没有壁垒，其实混淆了工程工具的掌握与底层直觉的重塑。调 PyTorch、训感知模型、改网络结构、跑通开源代码，这更像是一种框架与流程的规范，纯 CS 同学通过高强度训练完全可以胜任。但涉及底层与前沿，比如非线性控制、模型预测控制、状态估计、实时优化、鲁棒控制，以及具身系统真正的闭环学习，这需要对系统状态、动态响应、时域与频域、噪声传播、物理约束、稳定裕度拥有极强的技术直觉。 这种直觉需要长期的数理与工程训练来做支撑，甚至需要在真实系统上一次次振荡、超调、发散、失稳、撞车之后，才能慢慢建立起来。缺乏这种训练，在面对模型失配、传感器异步、执行器延迟、轮胎打滑、闭环不稳定时，再漂亮的离线指标、再高级的叙事文字，也可能无能为力。 我的这种幻灭，是对一个假设的修正——以为一个擅长软件和算法的人，补几门控制课，就能自然跨越从“处理信息”到“操纵物理世界”的底层范式鸿沟。","excerpt":"这种认知摩擦，在第一性原理这个词上展现得淋漓尽致。现在很多 CS 和 AI 从业者聊到第一性原理，脑子里蹦出的关键词永远只有那几个：马斯克、拆解问题、端到端、让模型自己发现规律。他们把一个源于物理建模和公理化推演的概念，降维简化成了一种商业方法论或者大模型时代的技术口号。 真正面向控制系统的第一性原理是什么？我认为是从牛顿—欧拉方程、刚体运动学、能量守恒、电路定律、系统约束这些东西出发，先建立一个能描述真实对象的数学模型，再去严密讨论平","content_hash":"50dfc281e1b49180a031d96922ee04d4d1431da66a65d248d69911e682a1402a","part":1,"length":747},{"id":"chunk-85fc0ab3ff2448c8ff","document":10,"title":"纯 CS 搞具身，正在把一个控制问题硬讲成一个融资故事","heading":"第一性原理不是商业 PPT 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