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开源鸿蒙具身智能PMC(筹)成果入选顶会IROS!推出SOMA系统,提升VLA模型复杂场景作业稳定性

  • 2026-07-02 19:53:22
开源鸿蒙具身智能PMC(筹)成果入选顶会IROS!推出SOMA系统,提升VLA模型复杂场景作业稳定性

近日，2026 IEEE/RSJ 智能机器人与系统国际会议（IROS: International Conference on Intelligent Robots and Systems）公布录用结果。开源鸿蒙具身智能PMC（筹）相关研究论文成功入选。IROS是机器人领域极具影响力的国际会议之一。本次成果聚焦视觉-语言-动作模型在复杂开放环境中的鲁棒部署问题，自研SOMA策略编排与记忆增强系统，并探索通过上下文内自适应提升VLA模型在复杂机器人任务中的泛化能力。

当前，VLA模型是通用机器人控制的主流技术路线。然而，真实场景下的视觉干扰、语言歧义以及长程任务中的误差累积等问题，极易导致机器人在陌生环境中执行任务时失效，而反复微调模型则会带来极高的落地成本。为应对这一难题，SOMA通过对比式双记忆模块存储成败轨迹，依托大模型编排器结合历史经验诊断任务故障，并借助Model Context Protocol（MCP）动态组织工具链，完成画面降噪、任务拆解及关键步骤重试等实时干预。同时，系统还通过离线记忆巩固机制持续迭代经验库，不断优化机器人执行策略。

本文提出LIBERO-SOMA评测基准，对π₀、π₀.₅和SmolVLA三种主流VLA模型开展测试，实验证明搭载SOMA后，机器人任务执行成功率平均提升59.3%，有效解决VLA模型在真实环境部署稳定性不足的行业难题。

论文信息：Zhuoran Li, Zhiyang Li, Kaijun Zhou, Jinyu Gu. SOMA: Strategic Orchestration and Memory-Augmented System for Vision-Language-Action Model Robustness via In-Context Adaptation. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2026.（成果来自于开源鸿蒙具身智能PMC（筹）古金宇老师团队）

供稿：张文静

责编：张婕逾

编审：谢青霖

审核：刘果

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  1. CONNECT:[ UseTime:0.000330s ] mysql:host=127.0.0.1;port=3306;dbname=c_mffb;charset=utf8mb4
  2. SHOW FULL COLUMNS FROM `fenlei` [ RunTime:0.000466s ]
  3. SELECT * FROM `fenlei` WHERE `fid` = 0 [ RunTime:0.000263s ]
  4. SELECT * FROM `fenlei` WHERE `fid` = 63 [ RunTime:0.004304s ]
  5. SHOW FULL COLUMNS FROM `set` [ RunTime:0.000737s ]
  6. SELECT * FROM `set` [ RunTime:0.000789s ]
  7. SHOW FULL COLUMNS FROM `article` [ RunTime:0.000556s ]
  8. SELECT * FROM `article` WHERE `id` = 498372 LIMIT 1 [ RunTime:0.012162s ]
  9. UPDATE `article` SET `lasttime` = 1782999687 WHERE `id` = 498372 [ RunTime:0.004425s ]
  10. SELECT * FROM `fenlei` WHERE `id` = 66 LIMIT 1 [ RunTime:0.013057s ]
  11. SELECT * FROM `article` WHERE `id` < 498372 ORDER BY `id` DESC LIMIT 1 [ RunTime:0.009500s ]
  12. SELECT * FROM `article` WHERE `id` > 498372 ORDER BY `id` ASC LIMIT 1 [ RunTime:0.001501s ]
  13. SELECT * FROM `article` WHERE `id` < 498372 ORDER BY `id` DESC LIMIT 10 [ RunTime:0.032695s ]
  14. SELECT * FROM `article` WHERE `id` < 498372 ORDER BY `id` DESC LIMIT 10,10 [ RunTime:0.014074s ]
  15. SELECT * FROM `article` WHERE `id` < 498372 ORDER BY `id` DESC LIMIT 20,10 [ RunTime:0.012148s ]
0.182631s