{
  "language_code": "en",
  "title": "Boston Dynamics · Atlas On a Roll（2026-11-10 抓取）",
  "source_text": "官方博客原文 + 前八页讲解中出现的英文术语与生句。原文与全文译文见 D:\\AI content\\articles\\2026-11-10-atlas-on-a-roll\\",
  "vocab": [
    {
      "word": "actuator",
      "phonetic": "",
      "pos": "n.",
      "meaning": "执行器",
      "example": "\"it let us push our actuators, and our models of them, hard\"",
      "level": ""
    },
    {
      "word": "actuator dynamics",
      "phonetic": "",
      "pos": "n.",
      "meaning": "执行器动力学",
      "example": "\"tight integration between actuator dynamics and whole-body RL\"",
      "level": ""
    },
    {
      "word": "ankle actuator",
      "phonetic": "",
      "pos": "n.",
      "meaning": "脚踝执行器",
      "example": "\"mounts an off-the-shelf scooter rim onto our existing ankle actuator\"",
      "level": ""
    },
    {
      "word": "custom adapter",
      "phonetic": "",
      "pos": "n.",
      "meaning": "定制适配器",
      "example": "\"A single custom adapter mounts an off-the-shelf scooter rim\"",
      "level": ""
    },
    {
      "word": "off-the-shelf",
      "phonetic": "",
      "pos": "adj.",
      "meaning": "现成的、货架上直接买的",
      "example": "\"an off-the-shelf scooter rim\"",
      "level": ""
    },
    {
      "word": "retrofit",
      "phonetic": "",
      "pos": "n./v.",
      "meaning": "改装、加装",
      "example": "\"the retrofit was about as involved as swapping a wheel on a bicycle\"",
      "level": ""
    },
    {
      "word": "baseline robot model",
      "phonetic": "",
      "pos": "n.",
      "meaning": "基线机器人模型",
      "example": "\"take the baseline robot model and swap the feet out for wheels\"",
      "level": ""
    },
    {
      "word": "research testbed",
      "phonetic": "",
      "pos": "n.",
      "meaning": "研究试验台",
      "example": "\"It's a research testbed.\"",
      "level": ""
    },
    {
      "word": "learned controller / learned whole-body controller",
      "phonetic": "",
      "pos": "n.",
      "meaning": "学出来的（全身）控制器",
      "example": "\"see how faithfully a learned whole-body controller can work with real actuators\"",
      "level": ""
    },
    {
      "word": "whole-body RL",
      "phonetic": "",
      "pos": "n.",
      "meaning": "全身强化学习",
      "example": "\"Bridging Classical Motor Controls and Whole-Body RL\"（副标题）",
      "level": ""
    },
    {
      "word": "low-level motor control",
      "phonetic": "",
      "pos": "n.",
      "meaning": "底层电机控制",
      "example": "\"low-level motor control, and whole-body RL each have specialists\"",
      "level": ""
    },
    {
      "word": "torque-speed range",
      "phonetic": "",
      "pos": "n.",
      "meaning": "扭矩-转速范围",
      "example": "\"pushes the motors across their full torque-speed range\"",
      "level": ""
    },
    {
      "word": "performance envelope",
      "phonetic": "",
      "pos": "n.",
      "meaning": "性能包络",
      "example": "\"running at the edge of their performance envelopes\"",
      "level": ""
    },
    {
      "word": "capability envelope",
      "phonetic": "",
      "pos": "n.",
      "meaning": "能力包络",
      "example": "\"expand the capability envelope of Atlas\"",
      "level": ""
    },
    {
      "word": "at the edge of",
      "phonetic": "",
      "pos": "phr.",
      "meaning": "在……的边缘",
      "example": "\"at the edge of their performance envelopes\"",
      "level": ""
    },
    {
      "word": "sim2real gap",
      "phonetic": "",
      "pos": "n.",
      "meaning": "仿真到真机的差距",
      "example": "\"Closing that simulation-to-hardware gap, also called the sim2real gap\"",
      "level": ""
    },
    {
      "word": "simulation-trained policy",
      "phonetic": "",
      "pos": "n.",
      "meaning": "仿真训练出的策略",
      "example": "\"so that the simulation-trained policy transfers over to the physical robot\"",
      "level": ""
    },
    {
      "word": "policy framework",
      "phonetic": "",
      "pos": "n.",
      "meaning": "策略框架",
      "example": "\"adapting established policy frameworks rather than starting from scratch\"",
      "level": ""
    },
    {
      "word": "reward composition",
      "phonetic": "",
      "pos": "n.",
      "meaning": "奖励组成",
      "example": "\"changes to the reward composition, the range of commands ... and how it holds its posture\"",
      "level": ""
    },
    {
      "word": "characterization experiments",
      "phonetic": "",
      "pos": "n.",
      "meaning": "特性标定实验",
      "example": "\"running characterization experiments\"",
      "level": ""
    },
    {
      "word": "approximation",
      "phonetic": "",
      "pos": "n.",
      "meaning": "近似（处理）",
      "example": "\"knowing which approximations were safe to make\"",
      "level": ""
    },
    {
      "word": "exploit",
      "phonetic": "",
      "pos": "v.",
      "meaning": "钻空子、利用漏洞",
      "example": "\"which ones the policy would learn to exploit\"",
      "level": ""
    },
    {
      "word": "plant",
      "phonetic": "",
      "pos": "n.",
      "meaning": "被控对象",
      "example": "\"train against the same 'plant' it would meet on the hardware\"",
      "level": ""
    },
    {
      "word": "over-idealized",
      "phonetic": "",
      "pos": "adj.",
      "meaning": "过于理想化的",
      "example": "\"assumes the motors are over-idealized\"",
      "level": ""
    },
    {
      "word": "trajectory-tracking policy",
      "phonetic": "",
      "pos": "n.",
      "meaning": "轨迹跟踪策略",
      "example": "\"It's a trajectory-tracking policy that follows a recording\"",
      "level": ""
    },
    {
      "word": "motion capture (data)",
      "phonetic": "",
      "pos": "n.",
      "meaning": "动作捕捉（数据）",
      "example": "\"a library of human motion capture data\"",
      "level": ""
    },
    {
      "word": "foot sliding",
      "phonetic": "",
      "pos": "n.",
      "meaning": "脚打滑",
      "example": "\"clips with a lot of foot sliding\"",
      "level": ""
    },
    {
      "word": "traction",
      "phonetic": "",
      "pos": "n.",
      "meaning": "抓地力",
      "example": "\"how differently it used traction compared with Atlas on feet\"",
      "level": ""
    },
    {
      "word": "robustness / failure modes",
      "phonetic": "",
      "pos": "n.",
      "meaning": "鲁棒性 / 失效模式",
      "example": "\"enhance policy robustness against failure modes\"",
      "level": ""
    },
    {
      "word": "standard configuration",
      "phonetic": "",
      "pos": "n.",
      "meaning": "标准配置",
      "example": "\"adapted back to our standard configuration\"",
      "level": ""
    },
    {
      "word": "all-electric / electric actuation",
      "phonetic": "",
      "pos": "adj./n.",
      "meaning": "全电驱 / 电驱动",
      "example": "讲解 01 节；BD 官方沿革稿 \"Starting the Commercial Journey with an Electric Humanoid in 2024\"",
      "level": ""
    },
    {
      "word": "hydraulic",
      "phonetic": "",
      "pos": "adj.",
      "meaning": "液压的",
      "example": "\"The Death of Hydraulics: The Atlas Transition\"（行业资料）",
      "level": ""
    },
    {
      "word": "rotary actuator / linear actuator",
      "phonetic": "",
      "pos": "n.",
      "meaning": "旋转执行器 / 直线执行器",
      "example": "讲解 01 节",
      "level": ""
    },
    {
      "word": "degree of freedom (DoF)",
      "phonetic": "",
      "pos": "n.",
      "meaning": "自由度",
      "example": "\"56 degrees of freedom\"（BD 规格页转述）",
      "level": ""
    },
    {
      "word": "continuous torque / peak torque",
      "phonetic": "",
      "pos": "n.",
      "meaning": "连续扭矩 / 峰值扭矩",
      "example": "讲解 04 节（电机 T-N 曲线通用术语）",
      "level": ""
    },
    {
      "word": "thermal limit",
      "phonetic": "",
      "pos": "n.",
      "meaning": "热限制 / 温度上限",
      "example": "同上",
      "level": ""
    },
    {
      "word": "back-EMF",
      "phonetic": "",
      "pos": "n.",
      "meaning": "反电动势",
      "example": "同上",
      "level": ""
    },
    {
      "word": "torque-speed curve",
      "phonetic": "",
      "pos": "n.",
      "meaning": "扭矩-转速曲线",
      "example": "同上",
      "level": ""
    },
    {
      "word": "MJX / MuJoCo Warp",
      "phonetic": "",
      "pos": "n.",
      "meaning": "MuJoCo 的 GPU 并行实现",
      "example": "讲解 05 节",
      "level": ""
    },
    {
      "word": "RT Core",
      "phonetic": "",
      "pos": "n.",
      "meaning": "光线追踪核心",
      "example": "\"Isaac Sim needs an RTX GPU with RT cores\"（2026 对比资料）",
      "level": ""
    },
    {
      "word": "whole-body control (WBC)",
      "phonetic": "",
      "pos": "n.",
      "meaning": "全身控制",
      "example": "11-06 频率分层表",
      "level": ""
    },
    {
      "word": "action space",
      "phonetic": "",
      "pos": "n.",
      "meaning": "动作空间",
      "example": "讲解 03 节",
      "level": ""
    },
    {
      "word": "coupled / coupling",
      "phonetic": "",
      "pos": "adj./n.",
      "meaning": "耦合的 / 耦合",
      "example": "讲解 03 节",
      "level": ""
    },
    {
      "word": "domain randomization",
      "phonetic": "",
      "pos": "n.",
      "meaning": "域随机化",
      "example": "11-05 学习地图",
      "level": ""
    },
    {
      "word": "VLA (vision-language-action)",
      "phonetic": "",
      "pos": "n.",
      "meaning": "视觉-语言-动作模型",
      "example": "11-05 学习地图",
      "level": ""
    },
    {
      "word": "teleoperation",
      "phonetic": "",
      "pos": "n.",
      "meaning": "遥操作",
      "example": "11-05 学习地图",
      "level": ""
    },
    {
      "word": "productize / at scale",
      "phonetic": "",
      "pos": "v./phr.",
      "meaning": "产品化 / 大规模地",
      "example": "BD 2026-10-06 CEO 任命稿",
      "level": ""
    },
    {
      "word": "spin-off",
      "phonetic": "",
      "pos": "n.",
      "meaning": "分拆出来的公司",
      "example": "\"an MIT spin-off\"（BD 公司资料）",
      "level": ""
    },
    {
      "word": "push ... hard / push the limits",
      "phonetic": "",
      "pos": "",
      "meaning": "把……逼到极限 / 推极限",
      "example": "\"push our actuators, and our models of them, hard\"",
      "level": ""
    },
    {
      "word": "a quick primer",
      "phonetic": "",
      "pos": "",
      "meaning": "先补个基础 / 快速入门说明",
      "example": "\"A quick primer: Reinforcement learning works by...\"",
      "level": ""
    },
    {
      "word": "unglamorous but important",
      "phonetic": "",
      "pos": "",
      "meaning": "不光鲜但重要",
      "example": "\"A good share of that work was unglamorous but important\"",
      "level": ""
    },
    {
      "word": "from scratch",
      "phonetic": "",
      "pos": "",
      "meaning": "从零开始",
      "example": "\"rather than starting from scratch\"",
      "level": ""
    },
    {
      "word": "emerge on its own",
      "phonetic": "",
      "pos": "",
      "meaning": "自己涌现出来",
      "example": "\"smooth rolling to emerge on its own\"",
      "level": ""
    },
    {
      "word": "play off one another",
      "phonetic": "",
      "pos": "",
      "meaning": "互相影响、彼此借力",
      "example": "\"how the motors, the low-level control, and the training all play off one another\"",
      "level": ""
    },
    {
      "word": "live in the space between",
      "phonetic": "",
      "pos": "",
      "meaning": "存在于……之间的缝隙里",
      "example": "\"the robot's limits usually lived in the space between them\"",
      "level": ""
    },
    {
      "word": "first real dive into",
      "phonetic": "",
      "pos": "",
      "meaning": "第一次真正扎进",
      "example": "\"this was my first real dive into reinforcement learning\"",
      "level": ""
    },
    {
      "word": "come from a ... background",
      "phonetic": "",
      "pos": "",
      "meaning": "出身于……背景",
      "example": "\"Coming from a more 'classical' motor controls background\"",
      "level": ""
    },
    {
      "word": "about as involved as",
      "phonetic": "",
      "pos": "",
      "meaning": "工作量差不多相当于",
      "example": "\"about as involved as swapping a wheel on a bicycle\"",
      "level": ""
    },
    {
      "word": "figure out",
      "phonetic": "",
      "pos": "",
      "meaning": "琢磨明白、想出办法",
      "example": "\"Give the policy wheels, and it figures out how to use them.\"",
      "level": ""
    },
    {
      "word": "on the first try",
      "phonetic": "",
      "pos": "",
      "meaning": "第一次就成功",
      "example": "\"it worked on the first try\"",
      "level": ""
    },
    {
      "word": "bolt ... onto",
      "phonetic": "",
      "pos": "",
      "meaning": "把……用螺栓装上",
      "example": "\"for bolting wheels onto Atlas\" · 致谢",
      "level": ""
    },
    {
      "word": "faithful / faithfully",
      "phonetic": "",
      "pos": "",
      "meaning": "忠实的 / 忠实地",
      "example": "\"see how faithfully a learned whole-body controller can work\"",
      "level": ""
    }
  ],
  "sentences": [
    {
      "original": "A wheeled Atlas isn't a product. It's a research testbed.",
      "grammar": "两个短句对比；wheeled 是过去分词作形容词",
      "translation": "装轮子的 Atlas 不是一个产品，它是一台研究试验台。"
    },
    {
      "original": "If the simulation used for training assumes the motors are over-idealized, the policy can end up learning things the real hardware can't actually do.",
      "grammar": "If 条件从句 + 过去分词短语 used for training 作后置定语 + 省略关系代词的定语从句 (that) the real hardware can't...；end up doing 表「最终落得」",
      "translation": "如果训练用的仿真把电机假定得过于理想，策略最后可能学到真硬件根本做不到的东西。"
    },
    {
      "original": "Just as important was knowing which approximations were safe to make and which ones the policy would learn to exploit.",
      "grammar": "表语前置引起倒装（正常语序 Knowing... was just as important）+ 两个并列的宾语从句",
      "translation": "同样重要的是判断哪些近似是安全的、哪些会被策略学会钻空子。"
    },
    {
      "original": "Because Atlas was designed from the start to be produced at high volume and to be easy to service, the retrofit was about as involved as swapping a wheel on a bicycle.",
      "grammar": "Because 原因从句 + 两个并列不定式被动 + as ... as 同级比较",
      "translation": "因为 Atlas 从一开始就按可大批量生产、易维护设计，这次改装的工作量差不多等于给自行车换个轮子。"
    },
    {
      "original": "A good share of that work was unglamorous but important: checking that ..., running characterization experiments, and tuning the simulated motor model to match what we measured on the robot.",
      "grammar": "冒号后三个动名词并列作同位语；match 后接 what 引导的宾语从句",
      "translation": "这份工作里相当一部分不光鲜但很重要：核对参数、跑特性标定实验、把仿真电机模型调到与真机实测吻合。"
    },
    {
      "original": "The goal was for the policy to train against the same \"plant\" it would meet on the hardware.",
      "grammar": "for sb./sth. to do 不定式复合结构作表语；plant 后省略关系代词",
      "translation": "目标是让策略训练时面对的「被控对象」，和它在硬件上遇到的是同一个。"
    },
    {
      "original": "Working across these layers, I found that the robot's limits usually lived in the space between them, in how the motors, the low-level control, and the training all play off one another.",
      "grammar": "现在分词短语作状语 + that 宾语从句 + in how 引导的介词宾语从句具体化 \"the space\"",
      "translation": "跨这些层工作之后，我发现机器人的极限通常住在层与层之间：在电机、底层控制、训练三者如何互相影响里。"
    },
    {
      "original": "I deliberately looked for clips with a lot of foot sliding, since that seemed like exactly where wheels would make things interesting.",
      "grammar": "since 引导原因从句 + where 引导表语从句",
      "translation": "我专门挑了脚打滑多的片段，因为那看起来正是轮子会让事情变有意思的地方。"
    },
    {
      "original": "The 360-degree jump was actually low-risk, despite looking like a high-energy feat.",
      "grammar": "despite + 动名词短语作让步状语",
      "translation": "360° 转体跳看着像高能量动作，其实风险很低。"
    },
    {
      "original": "Give the policy wheels, and it figures out how to use them.",
      "grammar": "祈使句 + and + 陈述句（＝ 条件句「只要……就……」）+ how to 不定式作宾语",
      "translation": "给策略装上轮子，它自己就琢磨出该怎么用。"
    },
    {
      "original": "Before Atlas rolled across a real floor, it rolled across millions of simulated ones.",
      "grammar": "Before 时间从句 + ones 替代前面名词避免重复；rolled 一词两用形成对照",
      "translation": "在 Atlas 滚过真实地板之前，它先滚过了上百万块仿真地板。"
    }
  ]
}