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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"252\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-30.png\" alt=\"\" class=\"wp-image-12773\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-30.png 800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-30-300x95.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-30-768x242.png 768w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/><\/figure>\n\n\n\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/arunbalajeev.github.io\/world_models_planning\/world_model_paper.html<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul 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3\u6210\u672c\u6700\u5c0f\u5316\u7b56\u7565\u4e3a\u6bcf\u4e2a\u65f6\u95f4\u6b65\u957f\u9009\u62e9\u5c40\u90e8\u6700\u4f18\u8f68\u8ff9\u3002\u8fd9\u4f7f\u5f97\u57fa\u4e8eMPC\u7684\u7b97\u6cd5\u80fd\u591f\u5feb\u901f\u9002\u5e94\u73af\u5883\u7684\u53d8\u5316\u3002<\/p>\n\n\n\n<p><strong>\u6570\u636e\u9a71\u52a8\u7684\u4eff\u771f<\/strong>\u3002\u8fd1\u5e74\u6765\uff0c\u5229\u7528CARLA\u3001AirSim\u7b49\u6a21\u62df\u5668\u73af\u5883\u7684\u53ef\u7528\u6027\uff0c\u51fa\u73b0\u4e86\u8bb8\u591a\u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\u8005\u3002\u7136\u800c\uff0c\u76ee\u524d\u7684\u4eff\u771f\u73af\u5883\u662f\u6709\u9650\u7684\uff0c\u56e0\u4e3a\u5b83\u4eec\u4f9d\u8d56\u4e8e\u6e38\u620f\u5f15\u64ce\u751f\u6210\u7684\u5408\u6210\u6570\u636e\uff0c\u5e76\u4e14\u89c6\u89c9\u903c\u771f\u5ea6\u4e0d\u8db3\u3002\u91cd\u8981\u7684\u662f\uff0c\u4ed6\u4eec\u7f3a\u4e4f\u5168\u9762\u57f9\u8bad\u548c\u8bc4\u4f30\u6240\u9700\u7684\u9a7e\u9a76\u573a\u666f\u7684\u5fc5\u8981\u591a\u6837\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u9650\u5236\uff0c\u63d0\u51fa\u4e86\u591a\u667a\u80fd\u4f53\u884c\u4e3a\u6a21\u578b\uff0c\u7528\u4e8e\u751f\u6210\u591a\u6837\u5316\u548c\u73b0\u5b9e\u7684\u4ea4\u901a\u6a21\u62df\u3002\u6700\u8fd1\uff0c\u63a8\u51fa\u4e86Waymo\u6a21\u62dfagent\u6311\u6218\uff0c\u901a\u8fc7\u5c06\u6240\u6709\u4eff\u771f\u4ee3\u7406\u7684\u8f68\u8ff9\u4e0e\u5176\u5730\u9762\u5b9e\u51b5\u8f68\u8ff9\u8fdb\u884c\u6bd4\u8f83\u6765\u8bc4\u4f30\u6a21\u62df\u5668\u3002\u6b64\u5916\uff0cCommonRoad\u63d0\u4f9b\u4e86\u4e00\u4e2a\u9a7e\u9a76\u6570\u636e\u96c6\u548c\u89c4\u5212\u57fa\u51c6\uff0c\u5b83\u7ed3\u5408\u4e86\u771f\u5b9e\u4e16\u754c\u7684\u6570\u636e\u548c\u57fa\u4e8e\u89c4\u5219\u7684\u542f\u53d1\u5f0f\u65b9\u6cd5\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cnuPlan\u901a\u8fc7\u95ed\u73af\u6a21\u62df\u903b\u8f91\u589e\u5f3a\u4e86\u771f\u5b9e\u4e16\u754c\u7684\u9a7e\u9a76\u65e5\u5fd7\uff0c\u6709\u6548\u5730\u5c06\u56fa\u5b9a\u6570\u636e\u96c6\u53d8\u6210\u4e86\u53cd\u5e94\u5f0f\u6a21\u62df\u5668\u3002nuPlan\u53d1\u5e03\u4e86\u6765\u81ea\u62c9\u65af\u7ef4\u52a0\u65af\u3001\u6ce2\u58eb\u987f\u3001\u5339\u5179\u5821\u548c\u65b0\u52a0\u5761\u7b49\u591a\u4e2a\u57ce\u5e02\u76841300\u5c0f\u65f6\u771f\u5b9e\u9a7e\u9a76\u65e5\u5fd7\u3002\u5728\u6bcf\u4e2a\u57ce\u5e02\u5f00\u8f66\u90fd\u4f1a\u5e26\u6765\u4e00\u7cfb\u5217\u72ec\u7279\u7684\u9a7e\u9a76\u6311\u6218\u3002\u4f8b\u5982\uff0c\u62c9\u65af\u7ef4\u52a0\u65af\u6709\u8bb8\u591a\u9ad8\u5bc6\u5ea6\u7684\u4e0a\u4e0b\u8f66\u5730\u70b9\uff0c\u6bcf\u4e2a\u65b9\u5411\u67098\u6761\u5e73\u884c\u8f66\u9053\u7684\u5341\u5b57\u8def\u53e3\u3002\u5728\u6ce2\u58eb\u987f\uff0c\u53f8\u673a\u4eec\u503e\u5411\u4e8e\u53cc\u505c\u8f66\uff0c\u8fd9\u7ed9\u89c4\u5212\u5e26\u6765\u4e86\u72ec\u7279\u7684\u6311\u6218\u3002<\/p>\n\n\n\n<p><strong>Planning With An Ensemble of World Models<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"808\" height=\"555\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-31.png\" alt=\"\" class=\"wp-image-12774\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-31.png 808w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-31-300x206.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-31-768x528.png 768w\" sizes=\"(max-width: 808px) 100vw, 808px\" \/><\/figure>\n\n\n\n<p>\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5206\u6790\u4e86PDM-C\u7684\u5c40\u9650\u6027\uff0c\u5e76\u63d0\u51fa\u4e86AdaptiveDriver\uff0c\u8fd9\u662f\u4e00\u79cd\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7684\u66ff\u4ee3\u5b9e\u4f8b\uff0c\u5728nuPlan\u57fa\u51c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u95ed\u73af\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>nuPlan\u5728\u53cd\u5e94\u4eff\u771f\u4e2d\u8bc4\u4f30\u89c4\u5212\u8005<\/strong>\u3002nuPlan\u901a\u8fc7\u95ed\u73af\u6a21\u62df\u903b\u8f91\u589e\u5f3a\u4e86\u771f\u5b9e\u4e16\u754c\u7684\u9a7e\u9a76\u65e5\u5fd7\uff0c\u5141\u8bb8\u5176\u4ed6\u4ee3\u7406\u5bf9\u81ea\u6211\u8f66\u8f86\u505a\u51fa\u53cd\u5e94\u3002\u4ee3\u7406\u4ee5\u57fa\u4e8e\u5176\u8f68\u8ff9\u5386\u53f2\u7684\u521d\u59cb\u901f\u5ea6\u5b9e\u4f8b\u5316\uff0c\u5e76\u5c06\u4ece\u8bb0\u5f55\u7684\u9a7e\u9a76\u65e5\u5fd7\u4e2d\u91cd\u65b0\u6a21\u62df\u5176\u7a7a\u95f4\u8f68\u8ff9\u3002\u6240\u6709\u4ee3\u7406\u7684\u5c01\u95ed\u4e16\u754c\u6a21\u62df\u903b\u8f91\u7528\u56fa\u5b9a\u7684\u76ee\u6807\u901f\u5ea6\uff08h0\uff09\u3001\u6700\u5c0f\u95f4\u9699\uff08h1\uff09\u3001\u8f66\u5934\u65f6\u8ddd\uff08h2\uff09\u3001\u6700\u5927\u52a0\u901f\u5ea6\uff08h3\uff09\u548c\u6700\u5927\u51cf\u901f\u5ea6\uff08h4\uff09\u521d\u59cb\u5316\u3002<\/p>\n\n\n\n<p><strong>\u7406\u89e3PDM-C\u7684\u5c40\u9650\u6027<\/strong>\u3002PDM-C\u662f\u4e00\u79cd\u6700\u5148\u8fdb\u7684\u57fa\u4e8e\u89c4\u5219\u7684\u89c4\u5212\u5668\uff0c\u5b83\u6539\u8fdb\u4e86\u667a\u80fd\u9a7e\u9a76\u5458\u6a21\u578b\uff08IDM\uff09\uff0c\u8fd9\u662f\u4e00\u79cd\u6cbf\u53c2\u8003\u8def\u5f84\u4f7f\u7528\u7b80\u5355\u7eb5\u5411PID\u901f\u5ea6\u63a7\u5236\u5668\u7684\u8ddf\u8f66\u7b97\u6cd5\u3002PDM-C\u901a\u8fc7\u7528\u4e0d\u540c\u7684\u7eb5\u5411\u901f\u5ea6\u548c\u6a2a\u5411\u504f\u79fb\u8c03\u5236IDM\u7684\u53c2\u8003\u8def\u5f84\u6765\u751f\u6210\u5019\u9009\u8f68\u8ff9\uff0c\u5728\u5185\u90e8\u5c55\u5f00\u5176\u4ed6\u4ee3\u7406\u7684\u4e16\u754c\u6a21\u578b\uff0c\u5e76\u9009\u62e9\u4f7f\u8be5\u4e16\u754c\u6a21\u578b\u7684\u6210\u672c\u51fd\u6570\u6700\u5c0f\u5316\u7684\u8f68\u8ff9\uff0c\u5c06IDM\u5347\u7ea7\u4e3a\u57fa\u4e8eMPC\u7684\u89c4\u5212\u5668\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cPDM-C\u4f7f\u7528\u4e86\u4e00\u4e2a\u66f4\u7b80\u5355\u7684\u201c\u8f68\u9053\u4e0a\u7684\u4e16\u754c\u201d\u5185\u90e8\u4e16\u754c\u6a21\u578b\uff0c\u5176\u4e2d\u5176\u4ed6\u4ee3\u7406\u662f\u65e0\u53cd\u5e94\u7684\uff0c\u5728\u63a8\u51fa\u8fc7\u7a0b\u4e2d\u4ee5\u6052\u5b9a\u901f\u5ea6\u79fb\u52a8\u3002\u5c3d\u7ba1\u5177\u6709\u6052\u5b9a\u901f\u5ea6\u9884\u6d4b\u7684\u201c\u8f68\u9053\u4e0a\u7684\u4e16\u754c\u201d\u6a21\u578b\u53ef\u80fd\u9002\u7528\u4e8e\u77ed\u671f\u9884\u6d4b\uff0c\u4f46\u5b83\u65e0\u6cd5\u6b63\u786e\u6a21\u62df\u591a\u667a\u80fd\u4f53\u7684\u76f8\u4e92\u4f5c\u7528\uff0c\u5982\u8f66\u9053\u53d8\u66f4\u3001\u8f66\u9053\u5408\u5e76\u548c\u7ea2\u7eff\u706f\u505c\u8f66\u3002<\/p>\n\n\n\n<p><strong>\u7528BehaviorNet\u9884\u6d4b\u672a\u6765Agent\u884c\u4e3a<\/strong>\u3002\u6211\u4eec\u901a\u8fc7\u5b66\u4e60\u4f7f\u7528BehaviorNet\u9884\u6d4b\u672a\u6765\u7684\u4ee3\u7406\u884c\u4e3a\uff0c\u6539\u8fdb\u4e86\u201c\u8f68\u9053\u4e0a\u7684\u4e16\u754c\u201d\u6a21\u578b\u3002\u6211\u4eec\u901a\u8fc7\u7f16\u7801\u81ea\u8f66\u8f86\u5468\u56f4\u534a\u5f84\u4e3aR\u7684\u77e2\u91cf\u5316\u9053\u8def\u56fe\u548c\u6240\u6709\u9644\u8fd1\u4ee3\u7406\u7684\u4e24\u79d2\u8f68\u8ff9\u5386\u53f2\uff0c\u5bf9\u6bcf\u4e2a\u573a\u666f\u7684\u72ec\u7279\u9a7e\u9a76\u7279\u5f81\u8fdb\u884c\u5efa\u6a21\u3002BehaviorNet\u7531\u51e0\u4e2a\u591a\u5c3a\u5ea6\u56fe\u5377\u79ef\u548c\u6ce8\u610f\u529b\u6a21\u5757\u7ec4\u6210\uff0c\u540e\u9762\u662f\u4e00\u4e2a\u5168\u8fde\u63a5\u5c42\uff0c\u7528\u4e8e\u9884\u6d4bIDM\u63a7\u5236\u53c2\u6570\u3002\u6211\u4eec\u5728\u8865\u5145\u4e2d\u8fdb\u4e00\u6b65\u63cf\u8ff0\u4e86BehaviorNet\u7684\u67b6\u6784\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4e0e\u4f20\u7edf\u7684\u9884\u6d4b\u5668\u4e0d\u540c\uff0cBehaviorNet\u76f4\u63a5\u9884\u6d4bIDM\u63a7\u5236\u53c2\u6570\uff0c\u7136\u540e\u53ef\u4ee5\u7528\u6765\u5c55\u5f00\u53cd\u5e94\u4e16\u754c\u6a21\u578b\u3002<\/p>\n\n\n\n<p><strong>\u5b66\u4e60\u81ea\u9002\u5e94\u884c\u4e3a\u53c2\u6570<\/strong>\u3002\u6211\u4eec\u7528\u8fc7\u53bb\u7684\u4ee3\u7406\u8f68\u8ff9\u548c\u76ee\u6807IDM\u63a7\u5236\u53c2\u6570\u7684\u914d\u5bf9\u4f8b\u5b50\u6765\u8bad\u7ec3BehaviorNet\uff0c\u8fd9\u4e9b\u53c2\u6570\u6700\u80fd\u89e3\u91ca\u672a\u6765\u7684\u4ee3\u7406\u884c\u4e3a\u3002\u6211\u4eec\u901a\u8fc7\u4f7f\u7528\u7f51\u683c\u641c\u7d22\u62df\u5408\u8bad\u7ec3\u65e5\u5fd7\u6765\u4f18\u5316\u76ee\u6807IDM\u53c2\u6570\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"367\" height=\"29\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-32.png\" alt=\"\" class=\"wp-image-12775\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-32.png 367w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-32-300x24.png 300w\" sizes=\"(max-width: 367px) 100vw, 367px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"355\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71101-1.png\" alt=\"\" class=\"wp-image-12776\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71101-1.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71101-1-300x155.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"802\" height=\"293\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-33.png\" alt=\"\" class=\"wp-image-12777\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-33.png 802w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-33-300x110.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-33-768x281.png 768w\" sizes=\"(max-width: 802px) 100vw, 802px\" \/><\/figure>\n\n\n\n<p><strong>\u5c06\u5b66\u4e60\u7684\u5148\u9a8c\u7eb3\u5165\u57fa\u4e8e\u89c4\u5219\u7684\u89c4\u5212\u5668<\/strong>\u3002\u5c3d\u7ba1\u50cfPDM-C\u8fd9\u6837\u7684\u57fa\u4e8e\u89c4\u5219\u7684\u89c4\u5212\u8005\u5728\u771f\u5b9e\u6570\u636e\u4e0a\u4ecd\u7136\u4f18\u4e8e\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\uff0c\u4f46\u5b83\u4eec\u65e0\u6cd5\u5728\u4e16\u754c\u6a21\u578b\u7684\u63a8\u51fa\u4e2d\u51c6\u786e\u5730\u5bf9\u672a\u6765\u7684\u4ee3\u7406\u884c\u4e3a\u5efa\u6a21\u3002\u6211\u4eec\u7684\u76ee\u6807\u662f\u901a\u8fc7AdaptiveDriver\uff08\u53c2\u89c1\u56fe4\uff09\u5f25\u5408\u57fa\u4e8e\u89c4\u5219\u548c\u5b66\u4e60\u7684\u89c4\u5212\u8005\u4e4b\u95f4\u7684\u5dee\u8ddd\uff0cAdaptiveDrive\u662f\u4e00\u79cd\u6a21\u578b\u9884\u6d4b\u63a7\u5236\uff08MPC\uff09\u89c4\u5212\u8005\uff0c\u4f7f\u7528\u884c\u4e3a\u53c2\u6570\u9884\u6d4b\u6765\u63d0\u9ad8\u4e16\u754c\u6a21\u578b\u63a8\u51fa\u7684\u8d28\u91cf\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5c3d\u7ba1AdaptiveDriver\u548cPDM-C\u90fd\u662f\u57fa\u4e8eMPC\u7684\u89c4\u5212\u8005\u7684\u5b9e\u4f8b\uff0c\u4f46\u6211\u4eec\u7684\u6a21\u578b\uff081\uff09\u4f7f\u7528\u4e86\u4e00\u4e2a\u53cd\u5e94\u4e16\u754c\u6a21\u578b\uff0c\u8be5\u6a21\u578b\uff082\uff09\u4f7f\u7528\u4ece\u8fc7\u53bb\u7684\u4ee3\u7406\u884c\u4e3a\u4e2d\u5bfc\u51fa\u7684\u7279\u5f81\u6765\u9002\u5e94\u6bcf\u4e2a\u65e5\u5fd7\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"803\" height=\"518\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-34.png\" alt=\"\" class=\"wp-image-12778\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-34.png 803w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-34-300x194.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-34-768x495.png 768w\" sizes=\"(max-width: 803px) 100vw, 803px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"803\" height=\"214\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-35.png\" alt=\"\" class=\"wp-image-12779\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-35.png 803w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-35-300x80.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-35-768x205.png 768w\" sizes=\"(max-width: 803px) 100vw, 803px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"805\" height=\"341\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-36.png\" alt=\"\" class=\"wp-image-12780\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-36.png 805w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-36-300x127.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-36-768x325.png 768w\" sizes=\"(max-width: 805px) 100vw, 805px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"803\" height=\"391\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-37.png\" alt=\"\" class=\"wp-image-12781\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-37.png 803w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-37-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-37-768x374.png 768w\" sizes=\"(max-width: 803px) 100vw, 803px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"230\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-38.png\" alt=\"\" class=\"wp-image-12782\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-38.png 800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-38-300x86.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-38-768x221.png 768w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"799\" height=\"352\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-39.png\" alt=\"\" class=\"wp-image-12783\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-39.png 799w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-39-300x132.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-39-768x338.png 768w\" sizes=\"(max-width: 799px) 100vw, 799px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"460\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-40.png\" alt=\"\" class=\"wp-image-12784\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-40.png 800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-40-300x173.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-40-768x442.png 768w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u8bc1\u660e\u4e86\u6bcf\u4e2a\u57ce\u5e02\u90fd\u6709\u81ea\u5df1\u72ec\u7279\u7684\u9a7e\u9a76\u884c\u4e3a\uff08\u4f8b\u5982\uff0c\u6ce2\u58eb\u987f\u53f8\u673a\u6bd4\u5339\u5179\u5821\u53f8\u673a\u66f4\u503e\u5411\u4e8e\u5c3e\u95e8\uff09\uff0c\u5e76\u5b66\u4e60\u4f7f\u7528BehaviorNet\u5bf9\u72ec\u7279\u7684\u9a7e\u9a76\u7279\u5f81\u8fdb\u884c\u5efa\u6a21\u3002\u6211\u4eec\u63d0\u51fa\u4e86AdaptiveDriver\uff0c\u8fd9\u662f\u4e00\u79cd\u6a21\u578b\u9884\u6d4b\u63a7\u5236\uff08MPC\uff09\uff0c\u5b83\u4ee5BehaviorNet\u7684\u9884\u6d4b\u4e3a\u6761\u4ef6\u5c55\u5f00\u5e76\u6267\u884c\u7279\u5b9a\u884c\u4e3a\u7684\u4e16\u754c\u6a21\u578b\uff0c\u5e76\u5728nuPlan\u95ed\u73af\u53cd\u5e94\u57fa\u51c6\u4e0a\u5b9e\u73b0\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] Planning with Adaptive World Models for Autonomous Driving<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8fd0\u52a8\u89c4\u5212\u5bf9\u4e8e\u590d\u6742\u57ce\u5e02\u73af\u5883\u4e2d\u7684\u5b89\u5168\u822a\u884c\u81f3\u5173\u91cd\u8981\u3002 [&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-12771","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12771"}],"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=12771"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12771\/revisions"}],"predecessor-version":[{"id":12785,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12771\/revisions\/12785"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=12771"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=12771"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=12771"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}