{"id":11137,"date":"2024-06-05T16:33:07","date_gmt":"2024-06-05T08:33:07","guid":{"rendered":"http:\/\/192.168.10.115\/?p=11137"},"modified":"2024-06-05T16:33:07","modified_gmt":"2024-06-05T08:33:07","slug":"2024-06-05-%e8%bf%88%e5%90%91%e3%80%8e%e9%97%ad%e7%8e%af%e3%80%8f-planagent%ef%bc%9a%e5%9f%ba%e4%ba%8emllm%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e9%97%ad%e7%8e%af%e8%a7%84%e5%88%92%e6%96%b0sot","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/06\/05\/11137\/","title":{"rendered":"2024-06-05 \u8fc8\u5411\u300e\u95ed\u73af\u300f| PlanAgent\uff1a\u57fa\u4e8eMLLM\u7684\u81ea\u52a8\u9a7e\u9a76\u95ed\u73af\u89c4\u5212\u65b0SOTA\uff01"},"content":{"rendered":"\n<p>\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u56e2\u961f\u8054\u5408\u7406\u60f3\u6c7d\u8f66\u7b49\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u57fa\u4e8e\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578bMLLM\u7684\u81ea\u52a8\u9a7e\u9a76\u95ed\u73af\u89c4\u5212\u6846\u67b6\u2014PlanAgent\u3002\u8be5\u65b9\u6cd5\u4ee5\u573a\u666f\u7684\u9e1f\u77b0\u56fe\u548c\u57fa\u4e8e\u56fe\u7684\u6587\u672c\u63d0\u793a\u4e3a\u8f93\u5165\uff0c\u5229\u7528\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\u7684\u591a\u6a21\u6001\u7406\u89e3\u548c\u5e38\u8bc6\u63a8\u7406\u80fd\u529b\uff0c\u8fdb\u884c\u4ece\u573a\u666f\u7406\u89e3\u5230\u6a2a\u5411\u548c\u7eb5\u5411\u8fd0\u52a8\u6307\u4ee4\u751f\u6210\u7684\u5c42\u6b21\u5316\u63a8\u7406\uff0c\u5e76\u8fdb\u4e00\u6b65\u4ea7\u751f\u89c4\u5212\u5668\u6240\u9700\u7684\u6307\u4ee4\u3002\u5728\u5927\u89c4\u6a21\u4e14\u5177\u6709\u6311\u6218\u6027\u7684nuPlan\u57fa\u51c6\u4e0a\u5bf9\u8be5\u65b9\u6cd5\u8fdb\u884c\u4e86\u6d4b\u8bd5\uff0c\u5b9e\u9a8c\u8868\u660ePlanAgent\u5728\u5e38\u89c4\u573a\u666f\u548c\u957f\u5c3e\u573a\u666f\u4e0a\u90fd\u53d6\u5f97\u4e86\u6700\u597d(SOTA)\u6027\u80fd\u3002\u4e0e\u5e38\u89c4\u5927\u8bed\u8a00\u6a21\u578b(LLM)\u65b9\u6cd5\u76f8\u6bd4\uff0cPlanAgent\u6240\u9700\u7684\u573a\u666f\u63cf\u8ff0\u8bcd\u7b26(token)\u91cf\u4ec5\u4e3a1\/3\u5de6\u53f3\u3002<\/p>\n\n\n\n<p><strong>\u8bba\u6587\u4fe1\u606f<\/strong><\/p>\n\n\n\n<p>\u8bba\u6587\u9898\u76ee\uff1aPlanAgent: A Multi-modal Large Language Agent for Closed loop Vehicle Motion Planning<\/p>\n\n\n\n<p>\u8bba\u6587\u53d1\u8868\u5355\u4f4d\uff1a\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\uff0c\u7406\u60f3\u6c7d\u8f66\uff0c\u6e05\u534e\u5927\u5b66\uff0c\u5317\u4eac\u822a\u7a7a\u822a\u5929\u5927\u5b66<\/p>\n\n\n\n<p>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2406.01587<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"226\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-34-1024x226.png\" alt=\"\" class=\"wp-image-11138\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-34-1024x226.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-34-300x66.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-34-768x169.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-34.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>1 \u5f15\u8a00<\/p>\n\n\n\n<p>\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u6838\u5fc3\u6a21\u5757\u4e4b\u4e00\uff0c\u8fd0\u52a8\u89c4\u5212\u7684\u76ee\u6807\u662f\u4ea7\u751f\u4e00\u6761\u5b89\u5168\u8212\u9002\u7684\u6700\u4f18\u8f68\u8ff9\u3002\u57fa\u4e8e\u89c4\u5219\u7684\u7b97\u6cd5\uff0c\u5982PDM[1]\u7b97\u6cd5\uff0c\u5728\u5904\u7406\u5e38\u89c1\u573a\u666f\u65f6\u8868\u73b0\u826f\u597d\uff0c\u4f46\u5f80\u5f80\u96be\u4ee5\u5e94\u5bf9\u9700\u8981\u66f4\u590d\u6742\u9a7e\u9a76\u64cd\u4f5c\u7684\u957f\u5c3e\u573a\u666f[2]\u3002\u57fa\u4e8e\u5b66\u4e60\u7684\u7b97\u6cd5[2,3]\u5e38\u5e38\u4f1a\u5728\u957f\u5c3e\u60c5\u51b5\u4e0b\u8fc7\u62df\u5408\uff0c\u5bfc\u81f4\u5176\u5728nuPlan\u4e2d\u7684\u6027\u80fd\u5e76\u4e0d\u5982\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5PDM\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\uff0c\u5927\u8bed\u8a00\u6a21\u578b\u7684\u53d1\u5c55\u4e3a\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u5f00\u8f9f\u4e86\u65b0\u7684\u53ef\u80fd\u6027\u3002\u6700\u65b0\u7684\u4e00\u4e9b\u7814\u7a76\u5c1d\u8bd5\u5229\u7528\u5927\u8bed\u8a00\u6a21\u578b\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u7684\u89c4\u5212\u548c\u63a7\u5236\u80fd\u529b\u3002\u7136\u800c\uff0c\u5b83\u4eec\u9047\u5230\u4e86\u4e00\u4e9b\u95ee\u9898\uff1a\uff081\uff09\u5b9e\u9a8c\u73af\u5883\u672a\u80fd\u57fa\u4e8e\u771f\u5b9e\u95ed\u73af\u573a\u666f\uff082\uff09\u4f7f\u7528\u8fc7\u91cf\u7684\u5750\u6807\u6570\u5b57\u8868\u793a\u5730\u56fe\u7ec6\u8282\u6216\u8fd0\u52a8\u72b6\u6001\uff0c\u5927\u5927\u589e\u52a0\u4e86\u6240\u9700\u7684\u8bcd\u7b26(token)\u6570\u91cf\uff1b\uff083\uff09\u7531\u5927\u8bed\u8a00\u6a21\u578b\u76f4\u63a5\u751f\u6210\u8f68\u8ff9\u70b9\u96be\u4ee5\u786e\u4fdd\u5b89\u5168\u3002\u4e3a\u5e94\u5bf9\u4e0a\u8ff0\u6311\u6218\uff0c\u672c\u6587\u63d0\u51fa\u4e86PlanAgent\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>2 \u65b9\u6cd5<\/p>\n\n\n\n<p>\u57fa\u4e8eMLLM\u7684\u95ed\u73af\u89c4\u5212\u667a\u80fd\u4f53PlanAgent\u6846\u67b6\u5982\u56fe1\u6240\u793a\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u4e09\u4e2a\u6a21\u5757\u6765\u89e3\u51b3\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u590d\u6742\u95ee\u9898\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u573a\u666f\u4fe1\u606f\u63d0\u53d6\u6a21\u5757(Environment Transformation module)\uff1a\u4e3a\u4e86\u5b9e\u73b0\u9ad8\u6548\u7684\u573a\u666f\u4fe1\u606f\u8868\u793a\uff0c\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u73af\u5883\u4fe1\u606f\u63d0\u53d6\u6a21\u5757\uff0c\u80fd\u591f\u63d0\u53d6\u5177\u6709\u8f66\u9053\u4fe1\u606f\u7684\u591a\u6a21\u6001\u8f93\u5165\u3002<\/li>\n\n\n\n<li>\u63a8\u7406\u6a21\u5757(Reasoning module)\uff1a\u4e3a\u4e86\u5b9e\u73b0\u573a\u666f\u7406\u89e3\u548c\u5e38\u8bc6\u63a8\u7406\uff0c\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u63a8\u7406\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u5229\u7528\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578bMLLM\u751f\u6210\u5408\u7406\u4e14\u5b89\u5168\u7684\u89c4\u5212\u5668\u4ee3\u7801\u3002<\/li>\n\n\n\n<li>\u53cd\u601d\u6a21\u5757(Reflection module)\uff1a\u4e3a\u4e86\u4fdd\u969c\u5b89\u5168\u89c4\u5212\uff0c\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u53cd\u601d\u673a\u5236\uff0c\u80fd\u591f\u901a\u8fc7\u4eff\u771f\u5bf9\u89c4\u5212\u5668\u8fdb\u884c\u9a8c\u8bc1\uff0c\u8fc7\u6ee4\u6389\u4e0d\u5408\u7406\u7684MLLM\u63d0\u6848\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"617\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-35-1024x617.png\" alt=\"\" class=\"wp-image-11139\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-35-1024x617.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-35-300x181.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-35-768x463.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-35.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe1 PlanAgent\u7684\u6574\u4f53\u6846\u67b6\uff0c\u5305\u542b\u573a\u666f\u4fe1\u606f\u63d0\u53d6\/\u63a8\u7406\/\u53cd\u601d\u6a21\u5757<\/p>\n\n\n\n<p>2.1\u00a0\u73af\u5883\u4fe1\u606f\u63d0\u53d6\u6a21\u5757<\/p>\n\n\n\n<p>\u5927\u8bed\u8a00\u6a21\u578b\u4e2d\u7684\u63d0\u793a\u8bcd\uff08prompt\uff09\u5bf9\u5176\u751f\u6210\u8f93\u51fa\u7684\u8d28\u91cf\u6709\u7740\u81f3\u5173\u91cd\u8981\u7684\u5f71\u54cd\u3002\u4e3a\u4e86\u63d0\u9ad8MLLM\u7684\u751f\u6210\u8d28\u91cf\uff0c\u573a\u666f\u4fe1\u606f\u63d0\u53d6\u6a21\u5757\u80fd\u591f\u63d0\u53d6\u573a\u666f\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u5e76\u5c06\u5176\u8f6c\u6362\u4e3a\u9e1f\u77b0\u56fe\uff08BEV\uff09\u56fe\u50cf\u548c\u6587\u672c\u63d0\u793a\uff0c\u4f7f\u4e4b\u4e0eMLLM\u7684\u8f93\u5165\u4fdd\u6301\u4e00\u81f4\u3002\u9996\u5148\uff0c\u672c\u6587\u5c06\u573a\u666f\u4fe1\u606f\u8f6c\u5316\u6210\u9e1f\u77b0\u56fe\uff08BEV\uff09\u56fe\u50cf\uff0c\u4ee5\u589e\u5f3aMLLM\u5bf9\u5168\u5c40\u573a\u666f\u7684\u7406\u89e3\u80fd\u529b\u3002\u540c\u65f6\uff0c\u9700\u8981\u5bf9\u9053\u8def\u4fe1\u606f\u8fdb\u884c\u56fe\u8868\u5f81\uff0c\u5982\u56fe 2\u6240\u793a\uff0c\u5728\u6b64\u57fa\u7840\u4e0a\u63d0\u53d6\u5173\u952e\u8f66\u8f86\u7684\u8fd0\u52a8\u4fe1\u606f\uff0c\u4f7fMLLM\u80fd\u591f\u91cd\u70b9\u5173\u6ce8\u4e0e\u81ea\u8eab\u4f4d\u7f6e\u6700\u76f8\u5173\u7684\u533a\u57df\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"296\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-36-1024x296.png\" alt=\"\" class=\"wp-image-11140\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-36-1024x296.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-36-300x87.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-36-768x222.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-36.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe2 \u57fa\u4e8e\u56fe\u8868\u5f81\u7684\u6587\u672c\u63d0\u793a\u63cf\u8ff0<\/p>\n\n\n\n<p>\u00a02.2 \u63a8\u7406\u6a21\u5757<\/p>\n\n\n\n<p>\u5982\u4f55\u5c06\u5927\u8bed\u8a00\u6a21\u578b\u7684\u63a8\u7406\u80fd\u529b\u5f15\u5165\u5230\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u8fc7\u7a0b\u4e2d\uff0c\u5b9e\u73b0\u5177\u6709\u5e38\u8bc6\u63a8\u7406\u80fd\u529b\u7684\u89c4\u5212\u7cfb\u7edf\u662f\u4e00\u4e2a\u5173\u952e\u95ee\u9898\u3002\u672c\u6587\u8bbe\u8ba1\u7684\u65b9\u6cd5\u80fd\u591f\u4ee5\u5305\u542b\u5f53\u524d\u573a\u666f\u4fe1\u606f\u7684\u7528\u6237\u6d88\u606f\u548c\u9884\u5b9a\u4e49\u7684\u7cfb\u7edf\u6d88\u606f\u4e3a\u8f93\u5165\uff0c\u7ecf\u8fc7\u5206\u5c42\u601d\u7ef4\u94fe\u591a\u8f6e\u63a8\u7406\uff0c\u751f\u6210\u667a\u80fd\u9a7e\u9a76\u5458\u6a21\u578b\uff08IDM\uff09\u7684\u89c4\u5212\u5668\u4ee3\u7801\u3002\u7531\u6b64\uff0cPlanAgent\u80fd\u591f\u901a\u8fc7\u4e0a\u4e0b\u6587\u5b66\u4e60\u5c06MLLM\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\u5d4c\u5165\u5230\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u4efb\u52a1\u4e2d\u3002<\/p>\n\n\n\n<p>\u5176\u4e2d\uff0c\u7528\u6237\u6d88\u606f\u5305\u62ecBEV\u7f16\u7801\u548c\u57fa\u4e8e\u56fe\u8868\u5f81\u63d0\u53d6\u51fa\u6765\u7684\u5468\u56f4\u8f66\u8f86\u8fd0\u52a8\u4fe1\u606f\u3002\u7cfb\u7edf\u6d88\u606f\u5305\u62ec\u4efb\u52a1\u7684\u5b9a\u4e49\u3001\u5e38\u8bc6\u77e5\u8bc6\u4ee5\u53ca\u601d\u7ef4\u94fe\u6b65\u9aa4\uff0c\u5982\u56fe 3\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"513\" height=\"568\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-37.png\" alt=\"\" class=\"wp-image-11141\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-37.png 513w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-37-271x300.png 271w\" sizes=\"(max-width: 513px) 100vw, 513px\" \/><\/figure>\n\n\n\n<p>\u56fe3\u00a0\u7cfb\u7edf\u63d0\u793a\u6a21\u7248<\/p>\n\n\n\n<p>\u5728\u5f97\u5230prompt\u4fe1\u606f\u540e\uff0cMLLM\u4f1a\u5bf9\u5f53\u524d\u573a\u666f\u4ece\u4e09\u4e2a\u5c42\u6b21\u8fdb\u884c\u63a8\u7406\uff1a\u573a\u666f\u7406\u89e3\u3001\u8fd0\u52a8\u6307\u4ee4\u548c\u4ee3\u7801\u751f\u6210\uff0c\u6700\u7ec8\u751f\u6210\u89c4\u5212\u5668\u7684\u4ee3\u7801\u3002\u5728PlanAgent\u4e2d\uff0c\u4f1a\u751f\u6210\u8ddf\u8f66\u3001\u4e2d\u5fc3\u7ebf\u3001\u901f\u5ea6\u9650\u5236\u3001\u6700\u5927\u52a0\u901f\u5ea6\u548c\u6700\u5927\u51cf\u901f\u5ea6\u53c2\u6570\u4ee3\u7801\uff0c\u518d\u7531IDM\u751f\u6210\u67d0\u4e00\u573a\u666f\u4e0b\u7684\u77ac\u65f6\u52a0\u901f\u5ea6\uff0c\u6700\u7ec8\u7531\u6b64\u751f\u6210\u8f68\u8ff9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"392\" height=\"152\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-38.png\" alt=\"\" class=\"wp-image-11142\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-38.png 392w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-38-300x116.png 300w\" sizes=\"(max-width: 392px) 100vw, 392px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"478\" height=\"54\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-39.png\" alt=\"\" class=\"wp-image-11143\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-39.png 478w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-39-300x34.png 300w\" sizes=\"(max-width: 478px) 100vw, 478px\" \/><\/figure>\n\n\n\n<p>2.3 \u53cd\u601d\u6a21\u5757<\/p>\n\n\n\n<p>\u901a\u8fc7\u4ee5\u4e0a\u4e24\u4e2a\u6a21\u5757\u5f3a\u5316\u4e86MLLM\u5bf9\u573a\u666f\u7684\u7406\u89e3\u548c\u63a8\u7406\u80fd\u529b\u3002\u7136\u800c\uff0cMLLM\u7684\u5e7b\u89c9\u4ecd\u7136\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7684\u5b89\u5168\u6784\u6210\u4e86\u6311\u6218\u3002\u53d7\u5230\u4eba\u7c7b\u201c\u4e09\u601d\u800c\u540e\u884c\u201d\u51b3\u7b56\u7684\u542f\u53d1\uff0c\u672c\u6587\u5728\u7b97\u6cd5\u8bbe\u8ba1\u4e2d\u52a0\u5165\u4e86\u53cd\u601d\u673a\u5236\u3002\u5bf9MLLM\u751f\u6210\u7684\u89c4\u5212\u5668\u8fdb\u884c\u4eff\u771f\u6a21\u62df\uff0c\u5e76\u901a\u8fc7\u78b0\u649e\u53ef\u80fd\u6027\u3001\u884c\u9a76\u8ddd\u79bb\u3001\u8212\u9002\u5ea6\u7b49\u6307\u6807\u8bc4\u4f30\u8be5\u89c4\u5212\u5668\u7684\u9a7e\u9a76\u5206\u6570\u3002\u5f53\u5f97\u5206\u4f4e\u4e8e\u67d0\u4e2a\u9608\u503c\u03c4\u65f6\uff0c\u8868\u660eMLLM\u751f\u6210\u7684\u89c4\u5212\u5668\u6b20\u59a5\uff0cMLLM\u5c06\u88ab\u8bf7\u6c42\u91cd\u65b0\u751f\u6210\u89c4\u5212\u5668\u3002<\/p>\n\n\n\n<p>3 \u5b9e\u9a8c\u4e0e\u7ed3\u679c<\/p>\n\n\n\n<p>\u672c\u6587\u5728\u5927\u89c4\u6a21\u771f\u5b9e\u573a\u666f\u7684\u95ed\u73af\u89c4\u5212\u5e73\u53f0nuPlan[4]\u8fdb\u884c\u95ed\u73af\u89c4\u5212\u5b9e\u9a8c\uff0c\u4ee5\u8bc4\u4f30PlanAgent\u7684\u6027\u80fd\uff0c\u5b9e\u9a8c\u7ed3\u679c\u5982\u4e0b\u3002<\/p>\n\n\n\n<p>3.1\u00a0\u4e3b\u8981\u5b9e\u9a8c<\/p>\n\n\n\n<p>\u88681\u00a0PlanAgent\u4e0e\u5176\u4ed6\u7b97\u6cd5\u5728nuPlan\u7684val14\u548ctest-hard\u57fa\u51c6\u4e0a\u7684\u6bd4\u8f83<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"466\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-40-1024x466.png\" alt=\"\" class=\"wp-image-11144\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-40-1024x466.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-40-300x136.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-40-768x349.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-40.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5982\u8868 1\u6240\u793a\uff0c\u672c\u6587\u5c06\u6240\u63d0\u51fa\u7684PlanAgent\u548c\u4e09\u7c7b\u6700\u524d\u6cbf\u7684\u7b97\u6cd5\u8fdb\u884c\u6bd4\u8f83\uff0c\u5e76\u5728nuPlan\u7684\u4e24\u4e2a\u57fa\u51c6val14\u548ctest-hard\u4e0a\u8fdb\u884c\u6d4b\u8bd5\u3002PlanAgent\u4e0e\u5176\u4ed6\u65b9\u6cd5\u76f8\u6bd4\u8868\u73b0\u51fa\u4e86\u6709\u7ade\u4e89\u529b\u548c\u53ef\u6cdb\u5316\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6709\u7ade\u4e89\u529b\u7684\u7ed3\u679c\uff1a\u5728\u5e38\u89c1\u573a\u666fval14\u57fa\u51c6\u4e0a\uff0cPlanAgent\u4f18\u4e8e\u5176\u4ed6\u57fa\u4e8e\u89c4\u5219\u3001\u57fa\u4e8e\u5b66\u4e60\u548c\u57fa\u4e8e\u5927\u8bed\u8a00\u6a21\u578b\u7684\u65b9\u6cd5\uff0c\u5728NR-CLS\u548cR-CLS\u4e2d\u90fd\u53d6\u5f97\u4e86\u6700\u597d\u7684\u8bc4\u5206\u3002<\/li>\n\n\n\n<li>\u53ef\u6cdb\u5316\u7684\u7ed3\u679c\uff1a\u4ee5PDM-Closed[1]\u4e3a\u4ee3\u8868\u7684\u89c4\u5219\u7c7b\u65b9\u6cd5\u548c\u4ee5planTF[2]\u4e3a\u4ee3\u8868\u7684\u5b66\u4e60\u7c7b\u65b9\u6cd5\u90fd\u4e0d\u80fd\u540c\u65f6\u5728val14\u548ctest-hard\u4e0a\u8868\u73b0\u826f\u597d\u3002\u4e0e\u8fd9\u4e24\u7c7b\u65b9\u6cd5\u76f8\u6bd4PlanAgent\u80fd\u591f\u5728\u514b\u670d\u957f\u5c3e\u573a\u666f\u7684\u540c\u65f6\uff0c\u4fdd\u8bc1\u5e38\u89c1\u573a\u666f\u4e2d\u7684\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u88682\u00a0\u4e0d\u540c\u65b9\u6cd5\u63cf\u8ff0\u573a\u666f\u6240\u7528token\u6bd4\u8f83<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"594\" height=\"149\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-41.png\" alt=\"\" class=\"wp-image-11145\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-41.png 594w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-41-300x75.png 300w\" sizes=\"(max-width: 594px) 100vw, 594px\" \/><\/figure>\n\n\n\n<p>\u540c\u65f6\uff0cPlanAgent\u76f8\u6bd4\u4e8e\u5176\u4ed6\u57fa\u4e8e\u5927\u6a21\u578b\u7684\u65b9\u6cd5\u6240\u7528\u7684token\u6570\u91cf\u66f4\u5c11\uff0c\u5982\u8868 2\uff0c\u5927\u6982\u53ea\u9700\u8981GPT-Driver[5]\u6216LLM-ASSIST[6]\u76841\/3\u3002\u8fd9\u8868\u660ePlanAgent\u80fd\u591f\u7528\u8f83\u5c11\u7684token\u66f4\u6709\u6548\u5730\u5bf9\u573a\u666f\u8fdb\u884c\u63cf\u8ff0\u3002\u8fd9\u5bf9\u4e8e\u95ed\u6e90\u5927\u8bed\u8a00\u6a21\u578b\u7684\u4f7f\u7528\u5c24\u4e3a\u91cd\u8981\u3002<\/p>\n\n\n\n<p>3.2\u00a0\u6d88\u878d\u5b9e\u9a8c<\/p>\n\n\n\n<p>\u88683\u00a0\u573a\u666f\u63d0\u53d6\u6a21\u5757\u4e2d\u4e0d\u540c\u90e8\u5206\u7684\u6d88\u878d\u5b9e\u9a8c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"565\" height=\"163\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-42.png\" alt=\"\" class=\"wp-image-11146\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-42.png 565w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-42-300x87.png 300w\" sizes=\"(max-width: 565px) 100vw, 565px\" \/><\/figure>\n\n\n\n<p>\u88684\u00a0\u5206\u5c42\u601d\u7ef4\u94fe\u4e2d\u4e0d\u540c\u90e8\u5206\u7684\u6d88\u878d\u5b9e\u9a8c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"636\" height=\"161\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-43.png\" alt=\"\" class=\"wp-image-11147\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-43.png 636w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-43-300x76.png 300w\" sizes=\"(max-width: 636px) 100vw, 636px\" \/><\/figure>\n\n\n\n<p>\u5982\u88683\u548c\u88684\uff0c\u672c\u6587\u5bf9\u573a\u666f\u4fe1\u606f\u63d0\u53d6\u6a21\u5757\u548c\u63a8\u7406\u6a21\u5757\u4e2d\u4e0d\u540c\u90e8\u5206\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff0c\u5b9e\u9a8c\u8bc1\u660e\u4e86\u5404\u4e2a\u6a21\u5757\u7684\u6709\u6548\u6027\u548c\u5fc5\u8981\u6027\u3002\u901a\u8fc7BEV\u56fe\u50cf\u548c\u56fe\u8868\u5f81\u4e24\u79cd\u5f62\u5f0f\u53ef\u4ee5\u589e\u5f3aMLLM\u5bf9\u573a\u666f\u7684\u7406\u89e3\u80fd\u529b\uff0c\u901a\u8fc7\u5206\u5c42\u601d\u7ef4\u94fe\u80fd\u589e\u5f3aMLLM\u5bf9\u573a\u666f\u7684\u63a8\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u88685 PlanAgent\u5728\u4e0d\u540c\u8bed\u8a00\u6a21\u578b\u4e0a\u7684\u5b9e\u9a8c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"648\" height=\"159\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-44.png\" alt=\"\" class=\"wp-image-11148\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-44.png 648w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-44-300x74.png 300w\" sizes=\"(max-width: 648px) 100vw, 648px\" \/><\/figure>\n\n\n\n<p>\u540c\u65f6\uff0c\u5982\u8868 5\u6240\u793a\uff0c\u672c\u6587\u4f7f\u7528\u4e86\u4e00\u4e9b\u5f00\u6e90\u5927\u8bed\u8a00\u6a21\u578b\u8fdb\u884c\u6d4b\u8bd5\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5728Test-hard\u7684NR-CLS\u57fa\u51c6\u4e0a\uff0cPlanAgent\u4f7f\u7528\u4e0d\u540c\u7684\u5927\u8bed\u8a00\u6a21\u578b\u5206\u522b\u80fd\u591f\u6bd4PDM-Closed\u7684\u9a7e\u9a76\u5206\u6570\u9ad8\u51fa4.1%\u30015.1%\u548c6.7%\u3002\u8fd9\u8bc1\u660e\u4e86PlanAgent\u4e0e\u5404\u79cd\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\u7684\u517c\u5bb9\u6027\u3002<\/p>\n\n\n\n<p>3.3\u00a0\u53ef\u89c6\u5316\u5206\u6790<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"640\" height=\"360\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/640.gif\" alt=\"\" class=\"wp-image-11150\"\/><\/figure>\n\n\n\n<p>\u8def\u53e3\u505c\u6b62\u7ebf\u505c\u8f66\u573a\u666f<\/p>\n\n\n\n<p>PDM\u9009\u62e9\u4e86\u7ea2\u7eff\u706f\u7c7b\u4e3a\u8ddf\u8f66\u7c7b\u3002PlanAgent\u8f93\u51fa\u5408\u7406\u6307\u4ee4\uff0c\u9009\u62e9\u505c\u6b62\u7ebf\u4e3a\u8ddf\u8f66\u7c7b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"426\" height=\"240\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/641.gif\" alt=\"\" class=\"wp-image-11151\"\/><\/figure>\n\n\n\n<p>\u7ed3\u8bba<\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u57fa\u4e8eMLLM\u7684\u81ea\u52a8\u9a7e\u9a76\u95ed\u73af\u89c4\u5212\u6846\u67b6\uff0c\u79f0\u4e3aPlanAgent\u3002\u8be5\u65b9\u6cd5\u5f15\u5165\u4e86\u4e00\u4e2a\u573a\u666f\u4fe1\u606f\u63d0\u53d6\u6a21\u5757\uff0c\u7528\u4e8e\u63d0\u53d6BEV\u56fe\u50cf\uff0c\u5e76\u57fa\u4e8e\u9053\u8def\u7684\u56fe\u8868\u5f81\u63d0\u53d6\u5468\u56f4\u8f66\u8f86\u7684\u8fd0\u52a8\u4fe1\u606f\u3002\u540c\u65f6\u63d0\u51fa\u4e86\u4e00\u4e2a\u5177\u6709\u5c42\u6b21\u7ed3\u6784\u7684\u63a8\u7406\u6a21\u5757\uff0c\u7528\u4e8e\u6307\u5bfcMLLM\u7406\u89e3\u573a\u666f\u4fe1\u606f\u3001\u751f\u6210\u8fd0\u52a8\u6307\u4ee4\uff0c\u6700\u7ec8\u751f\u6210\u89c4\u5212\u5668\u4ee3\u7801\u3002\u6b64\u5916\uff0cPlanAgent\u8fd8\u6a21\u4eff\u4eba\u7c7b\u51b3\u7b56\u8fdb\u884c\u53cd\u601d\uff0c\u5f53\u8f68\u8ff9\u8bc4\u5206\u4f4e\u4e8e\u9608\u503c\u65f6\u8fdb\u884c\u91cd\u89c4\u5212\uff0c\u4ee5\u52a0\u5f3a\u51b3\u7b56\u7684\u5b89\u5168\u6027\u3002\u57fa\u4e8e\u591a\u6a21\u6001\u5927\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u95ed\u73af\u89c4\u5212\u667a\u80fd\u4f53PlanAgent\u5728nuPlan\u57fa\u51c6\u4e0a\u53d6\u5f97\u4e86\u95ed\u73af\u89c4\u5212SOTA\u6027\u80fd\u3002<\/p>\n\n\n\n<p>[1]D. Dauner, M. Hallgarten, A. Geiger, and K. Chitta, \u201cParting with Misconceptions about Learning-based Vehicle Motion Planning,\u201d CoRL, 2023.<\/p>\n\n\n\n<p>[2]J. Cheng, Y. Chen, X. Mei, B. Yang, B. Li, and M. Liu, \u201cRethinking Imitation-based Planner for Autonomous Driving,\u201d ICRA, 2024.<\/p>\n\n\n\n<p>[3]Z. Huang, P. Karkus, et al., \u201cDTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Driving,\u201d ICRA, 2024.<\/p>\n\n\n\n<p>[4]N. Karnchanachari, D. Geromichalos, et al., \u201cTowards Learning-based Planning: The nuPlan Benchmark for Real-world Autonomous Driving,\u201d arXiv preprint arXiv:2403.04133, 2024.<\/p>\n\n\n\n<p>[5]J. Mao, Y. Qian, H. Zhao, and Y. Wang, \u201cGPT-Driver: Learning to Drive with GPT,\u201d arXiv preprint arXiv:2310.01415, 2023.<\/p>\n\n\n\n<p>[6]S. Sharan, F. Pittaluga, M. Chandraker, et al., \u2018LLM-Assist: Enhancing Closed-Loop Planning with Language-Based Reasoning,\u201d arXiv preprint arXiv:2401.00125, 2024.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u56e2\u961f\u8054\u5408\u7406\u60f3\u6c7d\u8f66\u7b49\u63d0 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-11137","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11137"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=11137"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11137\/revisions"}],"predecessor-version":[{"id":11152,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11137\/revisions\/11152"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=11137"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=11137"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=11137"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}