{"id":8692,"date":"2024-04-29T22:01:01","date_gmt":"2024-04-29T14:01:01","guid":{"rendered":""},"modified":"2024-04-29T22:01:01","modified_gmt":"2024-04-29T14:01:01","slug":"\u300a\u673a\u5668\u4eba\u52a8\u529b\u5b66\u4e0e\u63a7\u5236\u300b\u7b2c\u4e03\u7ae0\u2014\u8def\u5f84\u89c4\u5212\u4e0e\u907f\u969c 7.4 \u4f7f\u7528\u968f\u673a\u8fd0\u52a8\u6765\u9003\u79bb\u5c40\u90e8\u6700\u5c0f\u52bf\u80fd\u4f4d\u7f6e","status":"publish","type":"post","link":"https:\/\/mushiming.com\/8692.html","title":{"rendered":"\u300a\u673a\u5668\u4eba\u52a8\u529b\u5b66\u4e0e\u63a7\u5236\u300b\u7b2c\u4e03\u7ae0\u2014\u8def\u5f84\u89c4\u5212\u4e0e\u907f\u969c 7.4 \u4f7f\u7528\u968f\u673a\u8fd0\u52a8\u6765\u9003\u79bb\u5c40\u90e8\u6700\u5c0f\u52bf\u80fd\u4f4d\u7f6e"},"content":{"rendered":"<p><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"display: none;\"> \n <path stroke-linecap=\"round\" d=\"M5,0 0,2.5 5,5z\" id=\"raphael-marker-block\" style=\"-webkit-tap-highlight-color: rgba(0, 0, 0, 0);\"><\/path> \n<\/svg> <\/p>\n<div class=\"toc\">\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>7.4.0 \u524d\u8a00<\/li>\n<li>7.4.1 RPP \u7b97\u6cd5<\/li>\n<li>\u53c2\u8003\u5f15\u7528<\/li>\n<\/ul>\n<\/div>\n<h2>7.4.0 \u524d\u8a00<\/h2>\n<p>\u6b63\u5982\u524d\u9762\u63d0\u5230\u8fc7\u7684\uff0c\u4eba\u5de5\u52bf\u573a\u6cd5\u7684\u4e00\u4e2a\u7f3a\u70b9\u5c31\u662f\u5728\u52bf\u573a\u91cc\u9762\u53ef\u80fd\u4f1a\u5b58\u5728\u4e00\u4e2a\u5c40\u90e8\u6700\u5c0f\u52bf\u80fd\u4f4d\u7f6e\u5bfc\u81f4\u673a\u5668\u4eba\u9677\u5728\u90a3\u91cc\u51fa\u4e0d\u6765\u3002\u5c40\u90e8\u6781\u5c0f\u503c\u95ee\u9898\u5728\u4f18\u5316\u9886\u57df\u5f88\u65e9\u5c31\u51fa\u73b0\u4e86\uff0c\u4e3a\u6b64\u4eba\u4eec\u53d1\u5c55\u51fa\u4e86\u4e00\u4e9b\u6982\u7387\u65b9\u6cd5\u6765\u5e94\u5bf9\u8fd9\u4e2a\u95ee\u9898\u3002\u540c\u6837\u5730\uff0c\u5728\u673a\u5668\u4eba\u9886\u57df\u4e5f\u6709\u968f\u673a\u5316\u65b9\u6cd5\u6765\u5904\u7406\u5c40\u90e8\u6781\u5c0f\u503c\u7684\u95ee\u9898\u3002<\/p>\n<h2>7.4.1 RPP \u7b97\u6cd5<\/h2>\n<p>\u7b2c\u4e00\u4e2a\u8981\u4ecb\u7ecd\u7684\u65b9\u6cd5\u662fRPP\uff0c\u5168\u79f0Randomized Potential Planner\u3002\u8be5\u65b9\u6cd5\u601d\u8def\u5f88\u7b80\u5355\uff0c\u5c31\u662f\u6b63\u5e38\u4f7f\u7528\u68af\u5ea6\u4e0b\u964d\u6cd5\uff0c\u7136\u540e\u5728\u9677\u5165\u5c40\u90e8\u6781\u5c0f\u70b9\u4f4d\u7f6e\u7684\u65f6\u5019\u7528\u4e00\u4e2a\u968f\u673a\u7684\u4f4d\u7f6e\u6fc0\u52b1\u4f7f\u673a\u5668\u4eba\u9003\u79bb\u5c40\u90e8\u6781\u5c0f\u503c\u3002\u7b97\u6cd5\u5982\u4e0b\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img.mushiming.top\/app\/mushiming_com\/533f1781ba2d4012931331b8be4ac219.png\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u300a\u673a\u5668\u4eba\u52a8\u529b\u5b66\u4e0e\u63a7\u5236\u300b\u7b2c\u4e03\u7ae0\u2014\u8def\u5f84\u89c4\u5212\u4e0e\u907f\u969c 7.4 \u4f7f\u7528\u968f\u673a\u8fd0\u52a8\u6765\u9003\u79bb\u5c40\u90e8\u6700\u5c0f\u52bf\u80fd\u4f4d\u7f6e (https:\/\/mushiming.com\/)  \u7b2c1\u5f20\" title=\"\u300a\u673a\u5668\u4eba\u52a8\u529b\u5b66\u4e0e\u63a7\u5236\u300b\u7b2c\u4e03\u7ae0\u2014\u8def\u5f84\u89c4\u5212\u4e0e\u907f\u969c 7.4 \u4f7f\u7528\u968f\u673a\u8fd0\u52a8\u6765\u9003\u79bb\u5c40\u90e8\u6700\u5c0f\u52bf\u80fd\u4f4d\u7f6e  \u7b2c1\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><br \/> \u4e3a\u6b64\u6211\u4eec\u8981\u8003\u8651\u7684\u4e24\u4e2a\u65b0\u95ee\u9898\u662f\uff1a<\/p>\n<ol>\n<li>\u600e\u4e48\u6837\u624d\u7b97\u9677\u5165\u4e86\u5c40\u90e8\u6781\u5c0f\u503c<\/li>\n<li>\u600e\u4e48\u5b9a\u4e49\u8fd9\u4e2a\u968f\u673a\u7684\u4f4d\u7f6e\u6fc0\u52b1<\/li>\n<\/ol>\n<p>\u5bf9\u4e8e\u7b2c\u4e00\u4e2a\u95ee\u9898\u6bd4\u8f83\u5bb9\u6613\uff0c\u53ea\u8981\u8fde\u7eed\u7684\u51e0\u4e2a <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> q i \\boldsymbol{q}^{i} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0191em; vertical-align: -0.19444em;\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord\"><span class=\"mord boldsymbol\" style=\"margin-right: 0.03704em;\">q<\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.824664em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u7edf\u7edf\u5728\u4e00\u4e2a\u5c40\u90e8\u8303\u56f4\u5185\uff0c\u90a3\u4e48\u673a\u5668\u4eba\u6781\u6709\u53ef\u80fd\u5df2\u7ecf\u9677\u5165\u4e86\u5c40\u90e8\u6781\u5c0f\u503c\u70b9\u5373 (e.g.\u5982\u679c\u5bf9\u4e8e\u4e00\u4e2a\u5c0f\u7684 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> \u03f5 \\epsilon <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.43056em; vertical-align: 0em;\"><\/span><span class=\"mord mathdefault\">\u03f5<\/span><\/span><\/span><\/span><\/span> \u6211\u4eec\u6709 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> \u2225 q i \u2212 q i + 1 \u2225 &lt; \u03f5 , \u2225 q i \u2212 q i + 2 \u2225 &lt; \u03f5 , \\left\\|q^{i}-q^{i+1}\\right\\|&lt;\\epsilon,\\left\\|q^{i}-q^{i+2}\\right\\|&lt;\\epsilon, <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.212em; vertical-align: -0.35001em;\"><\/span><span class=\"minner\"><span class=\"mopen\"><span class=\"delimsizing mult\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.86199em;\"><span class=\"\" style=\"top: -2.25599em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><span class=\"\" style=\"top: -2.86199em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.35001em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.824664em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.824664em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><span class=\"mbin mtight\">+<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\"><span class=\"delimsizing mult\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.86199em;\"><span class=\"\" style=\"top: -2.25599em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><span class=\"\" style=\"top: -2.86199em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.35001em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><span class=\"mrel\">&lt;<\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.212em; vertical-align: -0.35001em;\"><\/span><span class=\"mord mathdefault\">\u03f5<\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"minner\"><span class=\"mopen\"><span class=\"delimsizing mult\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.86199em;\"><span class=\"\" style=\"top: -2.25599em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><span class=\"\" style=\"top: -2.86199em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.35001em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.824664em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.824664em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><span class=\"mbin mtight\">+<\/span><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\"><span class=\"delimsizing mult\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.86199em;\"><span class=\"\" style=\"top: -2.25599em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><span class=\"\" style=\"top: -2.86199em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.35001em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><span class=\"mrel\">&lt;<\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em; vertical-align: -0.19444em;\"><\/span><span class=\"mord mathdefault\">\u03f5<\/span><span class=\"mpunct\">,<\/span><\/span><\/span><\/span><\/span> and <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> \u2225 q i \u2212 q i + 3 \u2225 &lt; \u03f5 \\left\\|q^{i}-q^{i+3}\\right\\|&lt;\\epsilon <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.212em; vertical-align: -0.35001em;\"><\/span><span class=\"minner\"><span class=\"mopen\"><span class=\"delimsizing mult\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.86199em;\"><span class=\"\" style=\"top: -2.25599em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><span class=\"\" style=\"top: -2.86199em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.35001em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.824664em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.824664em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><span class=\"mbin mtight\">+<\/span><span class=\"mord mtight\">3<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\"><span class=\"delimsizing mult\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.86199em;\"><span class=\"\" style=\"top: -2.25599em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><span class=\"\" style=\"top: -2.86199em;\"><span class=\"pstrut\" style=\"height: 2.606em;\"><\/span><span class=\"delimsizinginner delim-size1\"><span class=\"\">\u2225<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.35001em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><span class=\"mrel\">&lt;<\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.43056em; vertical-align: 0em;\"><\/span><span class=\"mord mathdefault\">\u03f5<\/span><\/span><\/span><\/span><\/span> \u4fbf\u80fd\u5047\u5b9a <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> q i q^{i} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0191em; vertical-align: -0.19444em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.824664em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u5728\u5c40\u90e8\u6781\u5c0f\u503c\u9644\u8fd1).<\/p>\n<p>\u5bf9\u4e8e\u7b2c\u4e8c\u4e2a\u95ee\u9898\u9700\u8981\u591a\u64cd\u70b9\u5fc3\uff0cRPP\u4e5f\u6709\u4e0d\u540c\u7c7b\u578b\uff0c\u6211\u4eec\u8fd9\u91cc\u8bb2\u89e3Original RPP\u3002\u901a\u5e38\u76f4\u63a5\u7ed9\u6240\u6709\u5173\u8282\u53d8\u91cf\u5404\u968f\u673a\u52a0\u4e00\u4e2a\u5c0f\u7684\u5b9a\u503c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> v i v_{i} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.58056em; vertical-align: -0.15em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.311664em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u6765\u4f5c\u4e3a\u968f\u673a\u7684\u4f4d\u7f6e\u6fc0\u52b1\uff0c\u4e14<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> v i v_{i} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.58056em; vertical-align: -0.15em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.311664em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u7684\u53d6\u503c\u6ee1\u8db3\u5747\u5300\u5206\u5e03\u3002<br \/> <span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"> q random&nbsp; \u2212 &nbsp;step&nbsp; = ( q 1 \u00b1 v 1 , \u22ef q n \u00b1 v n ) \\boldsymbol{q}_{\\text {random }-\\text { step }}=\\left(q_{1} \\pm v_{1}, \\cdots q_{n} \\pm v_{n}\\right) <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.824688em; vertical-align: -0.380248em;\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord\"><span class=\"mord boldsymbol\" style=\"margin-right: 0.03704em;\">q<\/span><\/span><\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.241968em;\"><span class=\"\" style=\"top: -2.45586em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">random&nbsp;<\/span><\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord text mtight\"><span class=\"mord mtight\">&nbsp;step&nbsp;<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.380248em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><span class=\"mrel\">=<\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em; vertical-align: -0.25em;\"><\/span><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top: 0em;\">(<\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.301108em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mbin\">\u00b1<\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.301108em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"minner\">\u22ef<\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.151392em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">n<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mbin\">\u00b1<\/span><span class=\"mspace\" style=\"margin-right: 0.222222em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.151392em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">n<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top: 0em;\">)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><br \/> \u4e0d\u5931\u4e00\u822c\u6027\uff0c\u6211\u4eec\u53ef\u4ee5\u5047\u8bbe<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> q = 0 q=0 <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em; vertical-align: -0.19444em;\"><\/span><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><span class=\"mrel\">=<\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.64444em; vertical-align: 0em;\"><\/span><span class=\"mord\">0<\/span><\/span><\/span><\/span><\/span>\u3002\u7136\u540e\u7528\u6982\u7387\u8bba\u7684\u77e5\u8bc6\u6765\u5206\u6790\u5305\u542bt\u4e2a\u6b65\u9aa4\u7684\u968f\u673a\u4f4d\u7f6e\u6fc0\u52b1\u3002\u5bf9\u4e8e <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> q \u2032 = ( q 1 , \u22ef \u2009 , q n ) q^{\\prime}=\\left(q_{1}, \\cdots, q_{n}\\right) <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.946332em; vertical-align: -0.19444em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.751892em;\"><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\">\u2032<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><span class=\"mrel\">=<\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em; vertical-align: -0.25em;\"><\/span><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top: 0em;\">(<\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.301108em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"minner\">\u22ef<\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.151392em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">n<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose delimcenter\" style=\"top: 0em;\">)<\/span><\/span><\/span><\/span><\/span><\/span>\uff0c \u5176\u6982\u7387\u5bc6\u5ea6\u65b9\u7a0b\u4e3a<span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"> p i ( q i , t ) = 1 v i 2 \u03c0 t exp \u2061 ( \u2212 q i 2 2 v i 2 t ) p_{i}\\left(q_{i}, t\\right)=\\frac{1}{v_{i} \\sqrt{2 \\pi t}} \\exp \\left(-\\frac{q_{i}^{2}}{2 v_{i}^{2} t}\\right) <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em; vertical-align: -0.25em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\">p<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.311664em;\"><span class=\"\" style=\"top: -2.55em; margin-left: 0em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top: 0em;\">(<\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.311664em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"mord mathdefault\">t<\/span><span class=\"mclose delimcenter\" style=\"top: 0em;\">)<\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><span class=\"mrel\">=<\/span><span class=\"mspace\" style=\"margin-right: 0.277778em;\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 2.45397em; vertical-align: -0.962864em;\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.32144em;\"><span class=\"\" style=\"top: -2.20278em;\"><span class=\"pstrut\" style=\"height: 3em;\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.311664em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord sqrt\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.90722em;\"><span class=\"svg-align\" style=\"top: -3em;\"><span class=\"pstrut\" style=\"height: 3em;\"><\/span><span class=\"mord\" style=\"padding-left: 0.833em;\"><span class=\"mord\">2<\/span><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">\u03c0<\/span><span class=\"mord mathdefault\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -2.86722em;\"><span class=\"pstrut\" style=\"height: 3em;\"><\/span><span class=\"hide-tail\" style=\"min-width: 0.853em; height: 1.08em;\"><br \/>\n                   <svg width=\"400em\" height=\"1.08em\" viewbox=\"0 0 400000 1080\" preserveaspectratio=\"xMinYMin slice\"> \n                    <path d=\"M95,702c-2.7,0,-7.17,-2.7,-13.5,-8c-5.8,-5.3,-9.5,\n-10,-9.5,-14c0,-2,0.3,-3.3,1,-4c1.3,-2.7,23.83,-20.7,67.5,-54c44.2,-33.3,65.8,\n-50.3,66.5,-51c1.3,-1.3,3,-2,5,-2c4.7,0,8.7,3.3,12,10s173,378,173,378c0.7,0,\n35.3,-71,104,-213c68.7,-142,137.5,-285,206.5,-429c69,-144,104.5,-217.7,106.5,\n-221c5.3,-9.3,12,-14,20,-14H400000v40H845.2724s-225.272,467,-225.272,467\ns-235,486,-235,486c-2.7,4.7,-9,7,-19,7c-6,0,-10,-1,-12,-3s-194,-422,-194,-422\ns-65,47,-65,47z M834 80H400000v40H845z\"><\/path> \n                   <\/svg><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.13278em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em;\"><span class=\"pstrut\" style=\"height: 3em;\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em;\"><\/span><\/span><span class=\"\" style=\"top: -3.677em;\"><span class=\"pstrut\" style=\"height: 3em;\"><\/span><span class=\"mord\"><span class=\"mord\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.94722em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"mop\">exp<\/span><span class=\"mspace\" style=\"margin-right: 0.166667em;\"><\/span><span class=\"minner\"><span class=\"mopen delimcenter\" style=\"top: 0em;\"><span class=\"delimsizing size3\">(<\/span><\/span><span class=\"mord\">\u2212<\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.49111em;\"><span class=\"\" style=\"top: -2.314em;\"><span class=\"pstrut\" style=\"height: 3em;\"><\/span><span class=\"mord\"><span class=\"mord\">2<\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.795908em;\"><span class=\"\" style=\"top: -2.42314em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.0448em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.276864em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord mathdefault\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em;\"><span class=\"pstrut\" style=\"height: 3em;\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em;\"><\/span><\/span><span class=\"\" style=\"top: -3.677em;\"><span class=\"pstrut\" style=\"height: 3em;\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">q<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.814108em;\"><span class=\"\" style=\"top: -2.44134em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.258664em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.962864em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mclose delimcenter\" style=\"top: 0em;\"><span class=\"delimsizing size3\">)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><br \/> \u8fd9\u662f\u4e00\u4e2a\u5747\u503c\u4e3a0\uff0c\u65b9\u5dee\u4e3a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> v i 2 t v_{i}^{2} t <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.07277em; vertical-align: -0.258664em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.814108em;\"><span class=\"\" style=\"top: -2.44134em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.258664em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord mathdefault\">t<\/span><\/span><\/span><\/span><\/span>\u7684\u9ad8\u65af\u5bc6\u5ea6\u65b9\u7a0b\u3002\u8fd9\u662f\u7531\u4e8e\u4e00\u7cfb\u5217\u5747\u5300\u5206\u5e03\u7684\u6570\u7684\u548c\u662f\u4e00\u4e2a\u9ad8\u65af\u5206\u5e03\u53d8\u91cf\u7684\u7ed3\u679c\u5bfc\u81f4\u3002<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> v i 2 t v_{i}^{2} t <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.07277em; vertical-align: -0.258664em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.814108em;\"><span class=\"\" style=\"top: -2.44134em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.258664em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord mathdefault\">t<\/span><\/span><\/span><\/span><\/span> \u51b3\u5b9a\u4e86\u968f\u673a\u4f4d\u7f6e\u6fc0\u52b1\u7684\u8303\u56f4\uff0c\u5982\u679c\u6211\u4eec\u77e5\u9053\u67d0\u4e9b\u5c40\u90e8\u6781\u5c0f\u503c\u7684\u7279\u6027\u7684\u8bdd\uff08\u6bd4\u5982 \u5438\u5f15\u57df\u7684\u5927\u5c0f\uff09\uff0c\u90a3\u4e48\u6211\u4eec\u5c31\u53ef\u4ee5\u5bf9\u5e94\u5730\u9009\u62e9\u53c2\u6570 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> v i v_{i} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.58056em; vertical-align: -0.15em;\"><\/span><span class=\"mord\"><span class=\"mord mathdefault\" style=\"margin-right: 0.03588em;\">v<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.311664em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.03588em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathdefault mtight\">i<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u548c <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> t t <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.61508em; vertical-align: 0em;\"><\/span><span class=\"mord mathdefault\">t<\/span><\/span><\/span><\/span><\/span>\u3002\u5426\u5219\u7684\u8bdd\uff0c\u53ea\u80fd\u51ed\u7ecf\u9a8c\u6216\u8005\u6839\u636e\u52bf\u573a\u7684\u4e00\u4e9b\u8584\u5f31\u7684\u5047\u8bbe\u6765\u786e\u5b9a\u8fd9\u4e24\u4e2a\u53c2\u6570\u503c\u3002<\/p>\n<h2>\u53c2\u8003\u5f15\u7528<\/h2>\n<blockquote>\n<p>\u7ffb\u8bd1\u81ea\u300arobot dynamics and control\u300b<br \/> \u4f5c\u8005\uff1aMark W Spong\uff0cSeth Hutchinson\uff0c and M. Vidyasagar<\/p>\n<\/blockquote>\n","protected":false},"excerpt":{"rendered":"\u300a\u673a\u5668\u4eba\u52a8\u529b\u5b66\u4e0e\u63a7\u5236\u300b\u7b2c\u4e03\u7ae0\u2014\u8def\u5f84\u89c4\u5212\u4e0e\u907f\u969c 7.4 \u4f7f\u7528\u968f\u673a\u8fd0\u52a8\u6765\u9003\u79bb\u5c40\u90e8\u6700\u5c0f\u52bf\u80fd\u4f4d\u7f6e\u6587\u7ae0\u76ee\u5f557.4.0\u524d\u8a007.4.1RPP\u7b97\u6cd5\u53c2\u8003\u5f15...","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[],"tags":[],"_links":{"self":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts\/8692"}],"collection":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/comments?post=8692"}],"version-history":[{"count":0,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts\/8692\/revisions"}],"wp:attachment":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/media?parent=8692"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/categories?post=8692"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/tags?post=8692"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}