{"id":24483,"date":"2025-02-06T17:17:08","date_gmt":"2025-02-06T09:17:08","guid":{"rendered":"http:\/\/192.168.10.115\/?p=24483"},"modified":"2025-02-06T17:17:08","modified_gmt":"2025-02-06T09:17:08","slug":"2025-02-06-nuplan%e6%96%b0sota%ef%bc%81%e6%b8%85%e5%8d%8e%e6%8f%90%e5%87%badiffusion-planner%ef%bc%9a%e6%89%a9%e6%95%a3%e6%a8%a1%e5%9e%8b%e9%87%8d%e5%a1%91%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e8%b7%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/02\/06\/24483\/","title":{"rendered":"2025-02-06 nuPlan\u65b0SOTA\uff01\u6e05\u534e\u63d0\u51faDiffusion Planner\uff1a\u6269\u6563\u6a21\u578b\u91cd\u5851\u81ea\u52a8\u9a7e\u9a76\u8def\u5f84\u89c4\u5212\uff08ICLR&#8217;25\uff09"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"350\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-94-1024x350.png\" alt=\"\" class=\"wp-image-24484\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-94-1024x350.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-94-300x103.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-94-768x262.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-94.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u6e05\u534e\u5927\u5b66\u8054\u5408\u6beb\u672b\u667a\u884c\u3001\u81ea\u52a8\u5316\u6240\u3001\u6e2f\u4e2d\u6587\u3001\u4e0a\u6d77\u4ea4\u5927\u3001\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u7684\u53d1\u8868\u4e8e<strong>ICLR 2025<\/strong>\u7684\u6700\u65b0\u7814\u7a76\u6210\u679c\u300aDiffusion-based Planning for Autonomous Driving with Flexible Guidance\u300b\u3002\u8be5\u7b97\u6cd5\u521b\u65b0\u6027\u5730\u8bbe\u8ba1\u4e86<strong>\u57fa\u4e8e Diffusion Transformer \u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u6a21\u578b\u67b6\u6784<\/strong>\uff0c\u9ad8\u6548\u5904\u7406\u590d\u6742\u573a\u666f\u8f93\u5165\uff0c\u5e76\u8054\u5408\u5efa\u6a21\u5468\u8f66\u8fd0\u52a8\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212\u4e2d\u7684\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\uff0c\u5145\u5206\u53d1\u6325\u6269\u6563\u6a21\u578b\u5728\u95ed\u73af\u89c4\u5212\u4e2d\u7684\u6f5c\u529b\uff0c\u89e3\u51b3\u4e86\u73b0\u6709\u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\u65b9\u6cd5\u5bf9\u540e\u5904\u7406\u7684\u4e25\u91cd\u4f9d\u8d56\u95ee\u9898\u3002\u6b64\u5916\uff0c\u501f\u52a9<strong>\u6269\u6563\u6a21\u578b\u7684\u5f15\u5bfc\u673a\u5236<\/strong>\uff0c\u6a21\u578b\u5728\u90e8\u7f72\u9636\u6bb5\u80fd\u591f\u7075\u6d3b\u9002\u5e94\u4e0d\u540c\u7684\u9a7e\u9a76\u9700\u6c42\uff0c\u63d0\u9ad8\u6cdb\u5316\u80fd\u529b\u4e0e\u5b9e\u7528\u6027\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2501.15564<\/p>\n\n\n\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/zhengyinan-air.github.io\/Diffusion-Planner\/<\/p>\n\n\n\n<p><strong>\u80cc\u666f\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212<\/strong>\u6b63\u671d\u7740\u66f4\u5b89\u5168\u3001\u9ad8\u6548\u7684\u65b9\u5411\u53d1\u5c55\uff0c\u4f46\u5728\u590d\u6742\u73af\u5883\u4e0b\u5b9e\u73b0\u7c7b\u4eba\u9a7e\u9a76\u4ecd\u5177\u6311\u6218\u3002\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5\u867d\u5728\u5de5\u4e1a\u5e94\u7528\u4e2d\u53d6\u5f97\u6210\u529f\uff0c\u4f46\u9002\u5e94\u6027\u5dee\uff0c\u8c03\u6574\u6210\u672c\u9ad8\uff1b\u6a21\u4eff\u5b66\u4e60\u80fd\u76f4\u63a5\u5b66\u4e60\u4e13\u5bb6\u9a7e\u9a76\u884c\u4e3a\uff0c\u5e76\u968f\u8bad\u7ec3\u6570\u636e\u6269\u5c55\u63d0\u5347\u6027\u80fd\u3002\u7136\u800c\uff0c\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u5728\u591a\u6a21\u6001\u884c\u4e3a\u9002\u5e94\u6027\u3001\u6cdb\u5316\u80fd\u529b\u548c\u9a7e\u9a76\u98ce\u683c\u7075\u6d3b\u8c03\u63a7\u4e0a\u4ecd\u5b58\u6311\u6218\uff0c\u4f9d\u8d56\u540e\u5904\u7406\u6765\u4f18\u5316\u6a21\u578b\u8f93\u51fa\u3002<\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c<strong>\u6269\u6563\u6a21\u578b<\/strong>\u5728\u51b3\u7b56\u9886\u57df\u5f97\u5230\u5e7f\u6cdb\u5e94\u7528\uff0c\u4f46\u5728\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u4e2d\u7684\u63a2\u7d22\u4ecd\u6709\u9650\u3002\u73b0\u6709\u7814\u7a76\u591a\u805a\u7126\u4e8e\u8fd0\u52a8\u9884\u6d4b\u548c\u573a\u666f\u751f\u6210\uff0c\u5173\u6ce8\u5f00\u73af\u6027\u80fd\uff0c\u800c\u975e\u95ed\u73af\u89c4\u5212\u3002\u4e00\u4e9b\u65b9\u6cd5\u5c1d\u8bd5\u5c06\u6269\u6563\u6a21\u578b\u5e94\u7528\u4e8e\u89c4\u5212\u4efb\u52a1\uff0c\u4f46\u4ec5\u4ec5\u662f\u6cbf\u7528\u73b0\u6709\u7ed3\u6784\u6216\u6269\u5c55\u6a21\u578b\u53c2\u6570\uff0c\u7f3a\u4e4f\u9488\u5bf9\u6027\u7ed3\u6784\u8bbe\u8ba1\uff0c\u5bfc\u81f4\u4ecd\u7136\u9ad8\u5ea6\u4f9d\u8d56\u540e\u5904\u7406\u3002<\/p>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86<strong>Diffusion Planner<\/strong>\uff0c\u4e00\u79cd\u521b\u65b0\u7684<strong>\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u65b9\u6cd5<\/strong>\u3002\u901a\u8fc7\u6269\u6563\u6a21\u578b\u5f3a\u5927\u7684\u6570\u636e\u5206\u5e03\u62df\u5408\u80fd\u529b\uff0cDiffusion Planner\u80fd\u591f\u7cbe\u51c6\u6355\u6349\u590d\u6742\u573a\u666f\u4e2d\u5468\u8f66\u4e0e\u81ea\u8f66\u7684\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\uff0c\u5e76\u5b9e\u73b0\u5468\u8f66\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212\u7684\u8054\u5408\u5efa\u6a21\u3002\u540c\u65f6\uff0c\u57fa\u4e8eTransformer\u7684\u7ed3\u6784\u8bbe\u8ba1\u9ad8\u6548\u5904\u7406\u590d\u6742\u573a\u666f\u8f93\u5165\uff0c\u5b9e\u73b020Hz\u7684\u9ad8\u901f\u5b9e\u65f6\u63a8\u7406\u3002\u6b64\u5916\uff0c\u501f\u52a9\u7075\u6d3b\u7684\u5f15\u5bfc\u673a\u5236\uff0c\u6a21\u578b\u5728\u90e8\u7f72\u9636\u6bb5\u5373\u53ef\u9002\u5e94\u4e0d\u540c\u7684\u9a7e\u9a76\u9700\u6c42\u3002\u5728\u5927\u89c4\u6a21\u771f\u5b9e\u6570\u636e\u96c6 nuPlan \u7684\u95ed\u73af\u8bc4\u4f30\u4e2d\uff0c<strong>Diffusion Planner\u53d6\u5f97\u4e86SOTA\u7ea7\u8868\u73b0\uff0c\u2f24\u5e45\u964d\u4f4e\u4e86\u5bf9\u540e\u5904\u7406\u7684\u4f9d\u8d56<\/strong>\uff0c\u5e76\u5728\u989d\u5916\u6536\u96c6\u7684 200 \u5c0f\u65f6\u7269\u6d41\u5c0f\u8f66\u6570\u636e\u4e0a\u9a8c\u8bc1\u4e86\u5176\u5728\u591a\u79cd\u9a7e\u9a76\u98ce\u683c\u4e0b\u7684\u9c81\u68d2\u6027\u548c\u8fc1\u79fb\u80fd\u529b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>Diffusion Planner \u6280\u672f\u7ec6\u8282<\/strong><strong><\/strong><\/h2>\n\n\n\n<p><strong>Diffusion Planner\u4e13\u4e3a\u81ea\u52a8\u9a7e\u9a76\u95ed\u73af\u89c4\u5212\u8bbe\u8ba1<\/strong>\uff0c\u5177\u5907\u4ee5\u4e0b\u7279\u70b9\uff1a<\/p>\n\n\n\n<ul 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Transformer\u8bbe\u8ba1\u4e86\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u7684\u7ed3\u6784<\/strong>\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"508\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-95-1024x508.png\" alt=\"\" class=\"wp-image-24485\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-95-1024x508.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-95-300x149.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-95-768x381.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-95.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-heading\"><strong>\u6709\u504f\u597d\u8f68\u8ff9\u751f\u6210<\/strong><\/h3>\n\n\n\n<p>\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u5f15\u5bfc\u673a\u5236\uff0c\u6211\u4eec\u53ef\u4ee5\u5728\u6a21\u578b\u7684\u6d4b\u8bd5\u9636\u6bb5\u5f15\u5165\u5b89\u5168\uff0c\u8212\u9002\u7b49\u504f\u597d\uff0c\u540c\u65f6\u4e5f\u53ef\u4ee5\u6839\u636e\u7528\u6237\u9700\u6c42\u7075\u6d3b\u7684\u6539\u53d8\u6a21\u578b\u8f93\u51fa\u7684\u8f68\u8ff9\u7279\u6027\uff0c\u4f8b\u5982\u901f\u5ea6\u7279\u6027\u3002\u6b64\u5916\uff0c\u4e0d\u540c\u7684\u504f\u597d\u53ef\u4ee5\u901a\u8fc7\u52a0\u6743\u6c42\u548c\u8f7b\u677e\u7ec4\u5408\uff0c\u5e76\u4e14\u5728\u90e8\u7f72\u9636\u6bb5\u53ef\u4ee5\u7075\u6d3b\u9009\u62e9\u662f\u5426\u542f\u7528\uff0c\u63d0\u4f9b\u66f4\u5927\u7684\u7075\u6d3b\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"440\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-96-1024x440.png\" alt=\"\" class=\"wp-image-24486\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-96-1024x440.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-96-300x129.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-96-768x330.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-96.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>nuPlan\u95ed\u73af\u4eff\u771f<\/strong><\/h3>\n\n\n\n<p>\u4e0b\u56fe\u5c55\u793a\u4e86Diffusion 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-97-1024x442.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-97-300x129.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-97-768x331.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-97.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5bf9\u6bd4\u4e86\u73b0\u6709\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u7b97\u6cd5\u3002\u4e0e\u73b0\u6709\u65b9\u6cd5\u76f8\u6bd4\uff0cDiffusion Planner <strong>\u6709\u6548\u964d\u4f4e\u4e86\u5bf9\u540e\u5904\u7406\u7684\u4f9d\u8d56\uff0c\u540c\u65f6\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u63a8\u7406\u9891\u7387<\/strong>\uff0c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u6211\u4eec\u8bbe\u8ba1\u7ed3\u6784\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"244\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-98-1024x244.png\" alt=\"\" class=\"wp-image-24488\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-98-1024x244.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-98-300x71.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-98-768x183.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-98.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u8f68\u8ff9\u751f\u6210\u53ef\u89c6\u5316<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5c55\u793aDiffusion 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-99-1024x296.png\" alt=\"\" class=\"wp-image-24489\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-99-1024x296.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-99-300x87.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-99-768x222.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-99.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-100-768x271.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-100.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6709\u504f\u597d\u8f68\u8ff9\u751f\u6210\u6848\u4f8b<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5c55\u793a\u5f15\u5bfc\u673a\u5236\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u6311\u9009\u4e86\u90e8\u5206\u573a\u666f\uff0c\u4ece\u76f8\u540c\u8d77\u59cb\u4f4d\u7f6e\u51fa\u53d1\uff0c\u5c55\u793a\u4e86\u95ed\u73af\u6d4b\u8bd5\u7ed3\u679c\u3002\u7ea2\u8272\u865a\u7ebf\u548c\u7a7a\u5fc3\u9ec4\u8272\u8f66\u4ee3\u8868\u6ca1\u6709\u5f15\u5bfc\u7684\u7ed3\u679c\uff0c\u800c\u7ea2\u8272\u5b9e\u7ebf\u548c\u5b9e\u5fc3\u9ec4\u8272\u8f66\u5219\u8868\u793a\u6709\u5f15\u5bfc\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"719\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-101-1024x719.png\" alt=\"\" class=\"wp-image-24491\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-101-1024x719.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-101-300x211.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-101-768x539.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-101.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 Diffusion 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