Nature Will 发布 Natura-1,称其为首个面向物理世界的通用基础模型,是一个 500 亿参数的 MoE 模型,在 100 万小时人类第一视角经验上预训练,通过有限机器人数据后训练适配灵巧操作,可零样本跟随自然语言指令并执行长时程工作流。引用作者补充称其驱动 20 自由度五指灵巧手,控制频率 100ms,可完成包馄饨、书法等多分钟任务,并用杆子拖近够不着的篮子;在其自建基准上。
AI 生成摘要 · 以原文为准
Most "general" robot models quietly settle for simple grippers. Nature Will went the hard way.
Natura-1: a 50B mixture-of-experts model trained on 1 million hours of human video, driving 20-DoF five-finger dexterous hands at a 100ms control loop.
It follows plain-language instructions zero-shot, runs multi-minute workflows (folding wontons, calligraphy), and even improvises, using a rod to drag an out-of-reach basket closer.
On their own benchmark, gripper-based baselines (pi-0.5, GPT-6-Astra) barely scored. Natura-1 roughly 4x'd them, with five-finger hands.
Autonomous 1x wonton folding:
Introducing Natura-1, our first general foundation model for the physical world. It follows natural-language instructions zero-shot and turns them into action with dexterous hands. Natura-1 is a 50-billion-parameter mixture-of-experts (MoE) model pretrained on one million hours of egocentric human experience. On top of this foundation, we conduct efficient post-training on a limited amount of robot data to adapt pretrained world knowledge to dexterous manipulation, yielding a model that generalizes to a wide range of unseen scenarios. Natura-1 follows complex natural-language instructions zero-shot, reasoning through spatial constraints, multi-object relationships, and negative conditions. It can also autonomously carry out long and continuous workflows to perform long-horizon executions. Natura-1 provides early evidence that generalization—and even emergent behavior—can coexist with the complexity of dexterous hands. Further progress depends on the full stack: infrastructure for faster training and real-time inference, pretraining data at greater scale and coverage, and models that transfer to robots with less adaptation. We expect it to be a long-term research and engineering effort.在 X 查看被引用的帖子
来源:The Humanoid Hub · x.com