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\u5bfc\u8bfb<\/p>\n\n\n\n

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\u8bba\u6587\u6807\u9898\uff1aAsynchronous Large Language Model Enhanced Planner for Autonomous Driving<\/em><\/p>\n\n\n\n

\u8bba\u6587\u4f5c\u8005\uff1aYuan Chen, Zi-han Ding, Ziqin Wang, Yan Wang, Lijun Zhang , Si Liu<\/em><\/p>\n\n\n\n

\u8bba\u6587\u5730\u5740\uff1aAsynchronous Large Language Model Enhanced Planner for Autonomous Driving | SpringerLink<\/em><\/p>\n\n\n\n

1 \u7814\u7a76\u80cc\u666f<\/h2>\n\n\n\n


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\u5982\u4f55\u514b\u670d\u8fd9\u4e9b\u6311\u6218\uff0c\u4f7f\u5927\u8bed\u8a00\u6a21\u578b\u80fd\u591f\u66f4\u597d\u5730\u670d\u52a1\u4e8e\u81ea\u52a8\u9a7e\u9a76\u8fd0\u52a8\u89c4\u5212\uff0c\u662f\u672c\u6587\u8981\u89e3\u51b3\u7684\u6838\u5fc3\u95ee\u9898\u3002<\/p>\n\n\n\n

2 \u76f8\u5173\u7814\u7a76\u5de5\u4f5c<\/h2>\n\n\n\n


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\"\"\/
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\u4e3a\u514b\u670d\u8fd9\u4e9b\u9650\u5236\uff0c\u4e00\u4e9b\u591a\u6a21\u6001\u65b9\u6cd5\u5982DrivingWithLLM\u3001DriveGPT4\u548cRAGDriver\u88ab\u63d0\u51fa\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5c06\u77e2\u91cf\u5316\u6216\u56fe\u50cf\/\u89c6\u9891\u6a21\u6001\u4e0e\u8bed\u8a00\u6307\u4ee4\u5bf9\u9f50\uff0c\u4ee5\u66f4\u5168\u9762\u5730\u89e3\u91ca\u9a7e\u9a76\u573a\u666f\u3002\u4f46\u7528\u8bed\u8a00\u8868\u8fbe\u63a7\u5236\u4fe1\u53f7\u5b58\u5728\u5c40\u9650\u6027\uff1aDrivingWithLLM\u8f93\u51fa\u9ad8\u5c42\u8bed\u8a00\u6307\u4ee4\uff0c\u63d0\u5347\u4e86\u95ee\u7b54\u4ea4\u4e92\u4f46\u964d\u4f4e\u4e86\u5c06\u590d\u6742\u63a8\u7406\u8f6c\u5316\u4e3a\u7cbe\u786e\u8f66\u8f86\u63a7\u5236\u7684\u4fdd\u771f\u5ea6\uff1bDriveGPT4\u901a\u8fc7\u8bed\u8a00\u8868\u8fbe\u822a\u8def\u70b9\uff0c\u5c55\u73b0\u51fa\u826f\u597d\u7684\u5f00\u73af\u6027\u80fd\u4f46\u7f3a\u4e4f\u95ed\u73af\u4eff\u771f\u8bc4\u4f30\u3002

\u6b64\u5916\uff0c\u4e00\u4e9b\u5de5\u4f5c\u5982LMDrive\u548cLanguageMPC\u805a\u7126\u4e8e\u95ed\u73af\u8bc4\u4f30<\/a>\uff0c\u901a\u8fc7\u5728\u5927\u8bed\u8a00\u6a21\u578b\u540e\u8fde\u63a5\u4f4e\u5c42\u63a7\u5236\u5668\u6216\u56de\u5f52\u5668\u5b9e\u73b0\u7cbe\u786e\u7684\u8f66\u8f86\u63a7\u5236\u3002\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u9700\u8981\u5728\u6bcf\u4e2a\u89c4\u5212\u6b65\u9aa4\u8fdb\u884c\u5b8c\u6574\u7684\u8bed\u8a00\u89e3\u7801\u6216\u5927\u8bed\u8a00\u6a21\u578b\u63a8\u7406\uff0c\u8fd9\u7ed9\u5b9e\u65f6\u54cd\u5e94\u548c\u5b9e\u9645\u90e8\u7f72\u5e26\u6765\u6311\u6218\u3002

\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u672c\u6587\u63d0\u51fa\u7684\u65b9\u6cd5\u4ece\u76f4\u63a5\u4f7f\u7528\u5927\u8bed\u8a00\u6a21\u578b\u8fdb\u884c\u8bed\u8a00\u8f93\u51fa\u8f6c\u5411\u589e\u5f3a\u5b9e\u65f6\u5b66\u4e60\u578b\u89c4\u5212\u5668\u3002<\/strong>\u8fd9\u79cd\u7b56\u7565\u4e0d\u4ec5\u63d0\u5347\u4e86\u73af\u5883\u7406\u89e3\u80fd\u529b\uff0c\u8fd8\u5141\u8bb8\u5927\u8bed\u8a00\u6a21\u578b\u548c\u5b9e\u65f6\u89c4\u5212\u5668\u4ee5\u4e0d\u540c\u7684\u63a8\u7406\u9891\u7387\u72ec\u7acb\u8fd0\u884c\u3002\u8fd9\u79cd\u89e3\u8026\u673a\u5236\u663e\u8457\u964d\u4f4e\u4e86\u5927\u8bed\u8a00\u6a21\u578b\u63a8\u7406\u5ef6\u8fdf\uff0c\u6709\u5229\u4e8e\u5b9e\u9645\u90e8\u7f72\u3002<\/p>\n\n\n\n

3 \u6570\u636e\u751f\u6210<\/strong><\/h2>\n\n\n\n


\u4f5c\u8005\u57fa\u4e8enuPlan\u6570\u636e\u96c6\u6784\u5efa\u8bad\u7ec3\u6570\u636e<\/strong>\u3002nuPlan\u662f\u9996\u4e2a\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u57fa\u51c6\u6570\u636e\u96c6\uff0c\u5305\u542b\u6765\u81ea\u6ce2\u58eb\u987f\u3001\u5339\u5179\u5821\u3001\u62c9\u65af\u7ef4\u52a0\u65af\u548c\u65b0\u52a0\u5761\u51711200\u5c0f\u65f6\u7684\u771f\u5b9e\u4eba\u7c7b\u9a7e\u9a76\u6570\u636e\u3002\u7814\u7a76\u56e2\u961f\u4ecenuPlan\u7684\u8bad\u7ec3\u96c6\u548c\u9a8c\u8bc1\u96c6\u4e2d\u5f00\u53d1\u4e86\u9884\u8bad\u7ec3\u548c\u5fae\u8c03\u6570\u636e\u96c6\uff0c\u91cd\u70b9\u5173\u6ce814\u79cd\u5b98\u65b9\u5b9a\u4e49\u7684\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u7c7b\u578b\u3002

\u5728\u9884\u8bad\u7ec3\u6570\u636e\u751f\u6210\u65b9\u9762\uff0c\u4e3a\u4e86\u589e\u5f3a\u5927\u8bed\u8a00\u6a21\u578b\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6307\u4ee4\u7684\u7406\u89e3\uff0c\u7814\u7a76\u56e2\u961f\u521b\u5efa\u4e86\u57fa\u4e8e\u8bed\u8a00\u7684\u95ee\u7b54\u6570\u636e\u96c6\uff0c\u5305\u62ecPlanning-QA\u548cReasoning1K\u4e24\u90e8\u5206\u3002<\/strong>\u8fd9\u79cd\u8bbe\u8ba1\u4e0e\u5927\u8bed\u8a00\u6a21\u578b\u7684\u539f\u751f\u6a21\u6001\u76f8\u5339\u914d\uff0c\u6709\u52a9\u4e8e\u66f4\u597d\u5730\u7406\u89e3\u6307\u4ee4\u8bed\u4e49\u3002

\u5176\u4e2d\uff0cPlanning-QA\u91c7\u7528\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5<\/a>\u4ee5\u5b9e\u73b0\u53ef\u6269\u5c55\u6027\uff0c\u65e8\u5728\u589e\u5f3a\u5927\u8bed\u8a00\u6a21\u578b\u5bf9\u822a\u8def\u70b9\u3001\u9ad8\u5c42\u6307\u4ee4\u548c\u63a7\u5236\u4e4b\u95f4\u5173\u7cfb\u7684\u7406\u89e3\u3002\u5728\u8fd9\u4e2a\u6570\u636e\u96c6\u4e2d\uff0c\u822a\u8def\u70b9\u662f\u7531\u4e00\u7cfb\u5217\u70b9\u7ec4\u6210\u7684\u6570\u7ec4\uff0c\u9ad8\u5c42\u6307\u4ee4\u5305\u62ec\u901f\u5ea6\u6307\u4ee4\uff08\u505c\u6b62\u3001\u52a0\u901f\u3001\u51cf\u901f\u3001\u4fdd\u6301\u901f\u5ea6\uff09\u548c\u8def\u7531\u6307\u4ee4\uff08\u5de6\u8f6c\u3001\u53f3\u8f6c\u3001\u76f4\u884c\uff09\uff0c\u63a7\u5236\u5219\u6d89\u53ca\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u503c\u3002Planning-QA\u5305\u542b\u516d\u79cd\u7c7b\u578b\u7684\u95ee\u9898\uff0c\u6bcf\u79cd\u90fd\u805a\u7126\u4e8e\u822a\u8def\u70b9\u3001\u9ad8\u5c42\u6307\u4ee4\u548c\u63a7\u5236\u4e4b\u95f4\u7684\u8f6c\u6362\u5173\u7cfb\u3002<\/p>\n\n\n\n

Reasoning1K\u5305\u542b1000\u6761\u7531GPT-4\u751f\u6210\u7684\u6570\u636e\u3002\u8fd9\u90e8\u5206\u6570\u636e\u4e0d\u4ec5\u63d0\u4f9b\u7b54\u6848\uff0c\u8fd8\u57fa\u4e8e\u573a\u666f\u63cf\u8ff0\u8865\u5145\u4e86\u63a8\u7406\u548c\u89e3\u91ca\uff0c\u7528\u4e8e\u4e0ePlanning-QA\u6df7\u5408\u8bad\u7ec3\u3002<\/p>\n\n\n\n

\u5728\u5fae\u8c03\u6570\u636e\u751f\u6210\u65b9\u9762\uff0c\u7814\u7a76\u56e2\u961f\u57fa\u4e8e10000\u4e2a\u573a\u666f\u6784\u5efa\u4e86\u5fae\u8c03\u6570\u636e\u96c6\uff0c\u6bcf8\u79d2\u91c7\u6837\u4e00\u5e27\uff0c\u6700\u7ec8\u5f97\u5230\u4e86180000\u5e27\u8bad\u7ec3\u96c6\u548c20000\u5e27\u9a8c\u8bc1\u96c6\u3002\u6bcf\u4e00\u5e27\u90fd\u5305\u542b\u77e2\u91cf\u5316\u5730\u56fe<\/a>\u6570\u636e\u548c\u8bed\u8a00\u63d0\u793a\u3002\u91cd\u8981\u7684\u662f\uff0c\u8bad\u7ec3\u96c6\u548c\u9a8c\u8bc1\u96c6\u4e2d\u7684\u573a\u666f\u7c7b\u578b\u5206\u5e03\u4e0e\u6574\u4e2anuPlan\u8bad\u7ec3\u9a8c\u8bc1\u96c6\u7684\u5206\u5e03\u76f8\u5339\u914d\u3002

\u5bf9\u4e8e\u63d0\u53d6\u7684\u77e2\u91cf\u5316\u573a\u666f\u4fe1\u606f\uff0c\u7814\u7a76\u91c7\u7528\u4e86\u4e0eGameFormer\u7c7b\u4f3c\u7684\u65b9\u6cd5\uff0c\u5305\u542b\u4e86\u81ea\u8f66\u4fe1\u606f\u548c20\u4e2a\u5468\u56f4\u667a\u80fd\u4f53\u572820\u4e2a\u5386\u53f2\u5e27\u4e0a\u7684\u4fe1\u606f\uff0c\u4ee5\u53ca\u4ee5\u81ea\u8f66\u4e3a\u4e2d\u5fc3\u7684\u5168\u5c40\u5730\u56fe\u6570\u636e\u3002

\u5927\u8bed\u8a00\u6a21\u578b\u7684\u63d0\u793a\u7531\u4e24\u90e8\u5206\u7ec4\u6210\uff1a\u7cfb\u7edf\u63d0\u793a\u548c\u4e00\u7cfb\u5217\u8def\u7531\u6307\u4ee4\u3002\u5173\u4e8e\u8def\u7531\u6307\u4ee4\uff0c\u7814\u7a76\u56e2\u961f\u91c7\u7528\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5\u5c06\u8def\u5f84\u8f6c\u6362\u4e3a\u5e26\u6709\u8ddd\u79bb\u4fe1\u606f\u7684\u6307\u4ee4\u5e8f\u5217\u3002\u5728\u8bad\u7ec3\u6570\u636e\u96c6\u51c6\u5907\u9636\u6bb5\uff0c\u4f7f\u7528\u81ea\u8f66\u5728\u63a5\u4e0b\u67658\u79d2\u7684\u771f\u5b9e\u8f68\u8ff9\u4f5c\u4e3a\u751f\u6210\u8def\u7531\u6307\u4ee4\u7684\u8def\u5f84\u3002\u5728\u4eff\u771f\u8fc7\u7a0b\u4e2d\uff0c\u57fa\u4e8e\u5f53\u524d\u573a\u666f\u89c2\u5bdf\uff0c\u901a\u8fc7\u624b\u5de5\u8bbe\u8ba1\u7684\u65b9\u6cd5\u627e\u5230\u4e00\u6761\u7b26\u5408\u6307\u5b9a\u6700\u5927\u957f\u5ea6\u7684\u8def\u5f84\u4f5c\u4e3a\u751f\u6210\u6307\u4ee4\u7684\u53c2\u8003\u8def\u5f84\u3002<\/p>\n\n\n\n

4 \u7814\u7a76\u65b9\u6cd5<\/strong><\/h2>\n\n\n\n

\u5982\u56fe2\u6240\u793a\uff0c\u672c\u6587\u63d0\u51fa\u7684\u5f02\u6b65\u5927\u8bed\u8a00\u6a21\u578b\u589e\u5f3a\u95ed\u73af\u6846\u67b6AsyncDriver\u4e3b\u8981\u5305\u542b\u4e24\u4e2a\u6838\u5fc3\u7ec4\u4ef6\uff1a1\uff09\u573a\u666f\u5173\u8054\u6307\u4ee4\u7279\u5f81\u63d0\u53d6\u6a21\u5757\uff1b 2\uff09\u81ea\u9002\u5e94\u6ce8\u5165\u6a21\u5757\u3002<\/strong>\u6b64\u5916\uff0c\u5f97\u76ca\u4e8e\u6846\u67b6\u7684\u8bbe\u8ba1\uff0c\u5927\u8bed\u8a00\u6a21\u578b\u548c\u5b9e\u65f6\u89c4\u5212\u5668\u4e4b\u95f4\u7684\u63a8\u7406\u9891\u7387\u53ef\u4ee5\u89e3\u8026\uff0c\u5e76\u901a\u8fc7\u5f02\u6b65\u95f4\u9694\u8fdb\u884c\u8c03\u8282\uff0c\u663e\u8457\u63d0\u5347\u4e86\u63a8\u7406\u6548\u7387\u3002<\/p>\n\n\n\n

\"\"\/
\u25b2\u56fe2\uff5c AsyncDriver\u6846\u67b6\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n


4.1 \u573a\u666f\u5173\u8054\u6307\u4ee4\u7279\u5f81\u63d0\u53d6\u6a21\u5757<\/strong><\/h3>\n\n\n\n


\u591a\u6a21\u6001\u8f93\u5165<\/strong>\uff1a\u5728\u6bcf\u4e2a\u89c4\u5212\u8fed\u4ee3\u4e2d\uff0c\u7cfb\u7edf\u4ece\u4eff\u771f\u73af\u5883\u4e2d\u83b7\u53d6\u77e2\u91cf\u5316\u573a\u666f\u4fe1\u606f\u3002\u7c7b\u4f3c\u4e8eGameFormer\u7684\u65b9\u6cd5\uff0c\u63d0\u53d6\u4e86\u81ea\u8f66\u548c\u5176\u4ed6\u667a\u80fd\u4f53\u572820\u4e2a\u5386\u53f2\u5e27\u4e0a\u7684\u8f68\u8ff9\u548c\u72b6\u6001\u4fe1\u606f\uff0c\u4ee5\u53ca\u5168\u5c40\u5730\u56fe\u6570\u636e\u3002\u5b9e\u65f6\u89c4\u5212\u5668\u7684\u77e2\u91cf\u5316\u573a\u666f\u4fe1\u606f\u4ee5\u76f8\u540c\u65b9\u5f0f\u63d0\u4f9b\u3002\u6240\u6709\u77e2\u91cf\u6570\u636e\u90fd\u662f\u76f8\u5bf9\u4e8e\u81ea\u8f66\u4f4d\u7f6e\u7684\u3002\u968f\u540e\uff0c\u901a\u8fc7\u77e2\u91cf\u5730\u56fe\u7f16\u7801\u5668\u548c\u5730\u56fe\u9002\u914d\u5668\u7684\u5904\u7406\uff0c\u5f97\u5230\u5730\u56fe\u5d4c\u5165\u3002\u8fd9\u4e9b\u5730\u56fe\u5d4c\u5165\u4e0e\u8bed\u8a00\u5d4c\u5165\u4e00\u8d77\u8f93\u5165Llama2-13B\u4e3b\u5e72\u7f51\u7edc\u3002

\u5bf9\u9f50\u8f85\u52a9\u6a21\u5757<\/a>\uff1a <\/strong>\u4e3a\u4e86\u628a\u63e1\u8def\u7531\u6307\u4ee4\u7684\u672c\u8d28\u540c\u65f6\u4fdd\u6301\u5bf9\u77e2\u91cf\u5316\u573a\u666f\u4fe1\u606f\u7684\u7ec6\u7c92\u5ea6\u7406\u89e3\uff0c\u4ece\u800c\u66f4\u597d\u5730\u63d0\u53d6\u573a\u666f\u5173\u8054\u7684\u9ad8\u5c42\u6307\u4ee4\u7279\u5f81\uff0c\u7814\u7a76\u91c7\u7528\u4e86\u5bf9\u9f50\u8f85\u52a9\u6a21\u5757\u6765\u4fc3\u8fdb\u591a\u6a21\u6001\u8f93\u5165\u7684\u5bf9\u9f50\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u7814\u7a76\u56e2\u961f\u8bc6\u522b\u4e86\u81ea\u52a8\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u4e94\u4e2a\u5173\u952e\u7684\u573a\u666f\u8981\u7d20\u7528\u4e8e\u591a\u4efb\u52a1\u9884\u6d4b\uff0c\u901a\u8fc7\u4e94\u4e2a\u72ec\u7acb\u7684\u53cc\u5c42MLP\u9884\u6d4b\u5934\u6765\u5b9e\u73b0\u3002\u5bf9\u4e8e\u81ea\u8f66\u5f53\u524d\u72b6\u6001\uff0c\u6a21\u578b\u5728X\u8f74\u548cY\u8f74\u4e0a\u56de\u5f52\u4f30\u8ba1\u8f66\u8f86\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u3002\u5bf9\u4e8e\u5730\u56fe\u4fe1\u606f\uff0c\u8fdb\u884c\u5206\u7c7b\u4efb\u52a1\u4ee5\u8bc6\u522b\u5de6\u53f3\u4e24\u4fa7\u662f\u5426\u5b58\u5728\u76f8\u90bb\u8f66\u9053\uff0c\u5e76\u8bc4\u4f30\u5f53\u524d\u8f66\u9053\u76f8\u5173\u7684\u4ea4\u901a\u4fe1\u53f7\u72b6\u6001\u3002\u6b64\u5916\uff0c\u8003\u8651\u5230\u672a\u6765\u7684\u5bfc\u822a\u7b56\u7565\uff0c\u6a21\u578b\u8fd8\u5bf9\u672a\u6765\u8f68\u8ff9\u4e2d\u7684\u6362\u9053\u9700\u6c42\u548c\u672a\u6765\u901f\u5ea6\u51b3\u7b56\uff08\u5305\u62ec\u52a0\u901f\u3001\u51cf\u901f\u548c\u4fdd\u6301\u5f53\u524d\u901f\u5ea6\uff09\u8fdb\u884c\u5206\u7c7b\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5bf9\u9f50\u8f85\u52a9\u6a21\u5757\u4ec5\u7528\u4e8e\u8bad\u7ec3\u9636\u6bb5\u8f85\u52a9\u591a\u6a21\u6001\u5bf9\u9f50<\/a>\uff0c\u4e0d\u53c2\u4e0e\u63a8\u7406\u9636\u6bb5\u3002<\/p>\n\n\n\n


4.2 \u81ea\u9002\u5e94\u6ce8\u5165\u6a21\u5757<\/strong><\/h3>\n\n\n\n


\u7814\u7a76\u56e2\u961f\u91c7\u7528\u4e86GameFormer\u7684\u89e3\u7801\u5668\u7ed3\u6784\u4f5c\u4e3a\u57fa\u7840\u89e3\u7801\u5668\u5c42\uff0c\u901a\u8fc7\u5c06\u4f20\u7edf\u7684\u57fa\u4e8eTransformer\u7684\u89e3\u7801\u5668\u5c42\u6f14\u5316\u4e3a\u81ea\u9002\u5e94\u6ce8\u5165\u6a21\u5757\uff0c\u5b9e\u73b0\u4e86\u573a\u666f\u5173\u8054\u6307\u4ee4\u7279\u5f81\u7684\u81ea\u9002\u5e94\u96c6\u6210\u3002<\/strong>\u5177\u4f53\u6765\u8bf4\uff0c\u9996\u5148\u901a\u8fc7\u7279\u5f81\u9002\u914d\u5668\u5bf9\u6700\u540e\u4e00\u4e2atoken\u7684\u9690\u85cf\u7279\u5f81\u8fdb\u884c\u6295\u5f71\uff0c\u968f\u540e\u8f93\u5165\u5230\u81ea\u9002\u5e94\u6ce8\u5165\u6a21\u5757\u4e2d\u3002

\u5728\u81ea\u9002\u5e94\u89e3\u7801\u5668\u6a21\u5757\u4e2d\uff0c\u7814\u7a76\u56e2\u961f\u4f18\u96c5\u5730\u6269\u5c55\u4e86\u5b9e\u65f6\u89c4\u5212\u5668\u7684\u57fa\u7840\u89e3\u7801\u5668\u67b6\u6784\uff0c\u786e\u4fdd\u6bcf\u4e00\u5c42\u4e2d\u7684\u67e5\u8be2\u4e0d\u4ec5\u4fdd\u6301\u5bf9\u539f\u59cb\u573a\u666f\u4fe1\u606f\u7684\u6ce8\u610f\u529b\u64cd\u4f5c\uff0c\u8fd8\u80fd\u4e0e\u573a\u666f\u5173\u8054\u6307\u4ee4\u7279\u5f81\u8fdb\u884c\u4ea4\u53c9\u6ce8\u610f\u529b\u8ba1\u7b97\uff0c\u4ece\u800c\u5c06\u6307\u4ee4\u5f15\u5bfc\u878d\u5165\u9884\u6d4b\u8fc7\u7a0b\u3002\u4e4b\u540e\uff0c\u66f4\u65b0\u540e\u7684\u6307\u4ee4\u589e\u5f3a\u67e5\u8be2\u7279\u5f81\u901a\u8fc7\u53ef\u5b66\u4e60\u7684\u81ea\u9002\u5e94\u95e8\u8fdb\u884c\u8c03\u5236\uff0c\u8be5\u95e8\u7684\u521d\u59cb\u503c\u4e3a\u96f6\uff0c\u5e76\u88ab\u91cd\u65b0\u6574\u5408\u5230\u89e3\u7801\u5668\u5c42\u7684\u539f\u59cb\u6ce8\u610f\u529b\u8f93\u51fa\u4e2d\u3002

\u4f5c\u8005\u63d0\u51fa\u7684\u81ea\u9002\u5e94\u6ce8\u5165\u65b9\u6cd5\u4e0d\u4ec5\u7ef4\u6301\u4e86\u5b9e\u65f6\u89c4\u5212\u5668\u4e2d\u539f\u59cb\u89e3\u7801\u5668\u5c42\u5904\u7406\u5b8c\u6574\u573a\u666f\u4fe1\u606f\u7684\u80fd\u529b\uff0c\u8fd8\u589e\u5f3a\u4e86\u89c4\u5212\u5668\u5bf9\u4e00\u7cfb\u5217\u7075\u6d3b\u8bed\u8a00\u6307\u4ee4\u7684\u7406\u89e3\u548c\u9075\u5faa\u80fd\u529b\u3002\u8fd9\u79cd\u6539\u8fdb\u4f7f\u5f97\u7cfb\u7edf\u80fd\u591f\u4ea7\u751f\u66f4\u7cbe\u7ec6\u548c\u53ef\u63a7\u7684\u9884\u6d4b\u7ed3\u679c\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u7531\u4e8e\u81ea\u9002\u5e94\u6ce8\u5165\u6a21\u5757\u8bbe\u8ba1\u7b80\u5355\u800c\u6709\u6548\uff0c\u5b83\u53ef\u4ee5\u65e0\u7f1d\u96c6\u6210\u5230\u4efb\u4f55\u57fa\u4e8eTransformer\u7684\u67b6\u6784\u4e2d\uff0c\u8fd9\u4f7f\u5f97\u65b9\u6cd5\u5177\u6709\u9002\u914d\u5176\u4ed6\u5b9e\u65f6\u89c4\u5212\u5668\u6846\u67b6\u7684\u7075\u6d3b\u6027\u3002<\/p>\n\n\n\n


4.3 \u5f02\u6b65\u63a8\u7406<\/strong><\/h3>\n\n\n\n


\u7814\u7a76\u56e2\u961f\u7684\u8bbe\u8ba1\u5229\u7528\u5927\u8bed\u8a00\u6a21\u578b\u6765\u5f15\u5bfc\u5b9e\u65f6\u89c4\u5212\u5668\uff0c\u901a\u8fc7\u4e00\u7cfb\u5217\u7075\u6d3b\u7ec4\u5408\u7684\u8bed\u8a00\u6307\u4ee4\u663e\u8457\u63d0\u5347\u5176\u6027\u80fd\uff0c\u540c\u65f6\u4e0d\u635f\u5bb3\u5176\u7ed3\u6784\u5b8c\u6574\u6027\u3002\u8fd9\u79cd\u65b9\u6cd5\u5b9e\u73b0\u4e86\u53ef\u63a7\u7684\u5f02\u6b65\u63a8\u7406\uff0c\u6709\u6548\u89e3\u8026\u4e86\u5927\u8bed\u8a00\u6a21\u578b\u548c\u5b9e\u65f6\u89c4\u5212\u5668\u7684\u63a8\u7406\u9891\u7387\uff0c\u56e0\u6b64\u5927\u8bed\u8a00\u6a21\u578b\u4e0d\u9700\u8981\u5904\u7406\u6bcf\u4e00\u5e27\u3002\u5728\u5f02\u6b65\u95f4\u9694\u671f\u95f4\uff0c\u5148\u524d\u63a8\u5bfc\u51fa\u7684\u9ad8\u5c42\u6307\u4ee4\u7279\u5f81\u7ee7\u7eed\u6307\u5bfc\u5b9e\u65f6\u89c4\u5212\u5668\u7684\u9884\u6d4b\u8fc7\u7a0b\uff0c\u8fd9\u663e\u8457\u63d0\u5347\u4e86\u63a8\u7406\u6548\u7387\uff0c\u964d\u4f4e\u4e86\u5927\u8bed\u8a00\u6a21\u578b\u5f15\u5165\u7684\u8ba1\u7b97\u6210\u672c\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u7684\u6846\u67b6\u80fd\u591f\u9002\u5e94\u4e00\u7cfb\u5217\u7075\u6d3b\u7ec4\u5408\u7684\u8def\u7531\u6307\u4ee4\uff0c\u80fd\u591f\u63d0\u4f9b\u957f\u671f\u7684\u9ad8\u5c42\u8def\u7531\u6d1e\u5bdf\u3002\u56e0\u6b64\uff0c\u5373\u4f7f\u5728\u5f02\u6b65\u95f4\u9694\u671f\u95f4\uff0c\u4e4b\u524d\u7684\u9ad8\u5c42\u7279\u5f81\u4ecd\u7136\u80fd\u591f\u63d0\u4f9b\u6709\u6548\u6307\u5bfc\uff0c\u589e\u5f3a\u4e86\u6574\u4e2aLLM\u63a8\u7406\u95f4\u9694\u5185\u7684\u6027\u80fd\u7a33\u5b9a\u6027\u3002

\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5f53\u6269\u5927\u5927\u8bed\u8a00\u6a21\u578b\u7684\u5f02\u6b65\u63a8\u7406\u95f4\u9694\u65f6\uff0c\u6211\u4eec\u7684\u67b6\u6784\u4ecd\u4fdd\u6301\u63a5\u8fd1\u7a33\u5b9a\u7684\u6027\u80fd\u3002\u901a\u8fc7\u63a7\u5236\u5927\u8bed\u8a00\u6a21\u578b\u6bcf3\u5e27\u6267\u884c\u4e00\u6b21\u63a8\u7406\uff0c\u53ef\u4ee5\u5b9e\u73b0\u63a8\u7406\u65f6\u95f4\u51cf\u5c11\u8fd140%\uff0c\u800c\u7cbe\u5ea6\u4ec5\u635f\u5931\u7ea61%\uff0c\u8fd9\u8bc1\u660e\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u7cbe\u5ea6\u548c\u63a8\u7406\u901f\u5ea6\u4e4b\u95f4\u8fbe\u5230\u4e86\u6700\u4f18\u5e73\u8861\u3002\u5173\u4e8e\u5b9e\u9a8c\u7ed3\u679c\u548c\u5206\u6790\u7684\u66f4\u5168\u9762\u63a2\u8ba8\uff0c\u8bf7\u53c2\u89c15.2\u8282\u3002<\/p>\n\n\n\n


4.4 \u8bad\u7ec3\u7ec6\u8282<\/strong><\/h3>\n\n\n\n


\u5728\u9884\u8bad\u7ec3\u9636\u6bb5\uff0c\u4f7f\u7528\u5168\u90e8\u7684Reasoning1K\uff0c\u5e76\u4ecePlanning-QA\u4e2d\u968f\u673a\u9009\u53d61\uff0c500\u4e2a\u6837\u672c\u6765\u8bad\u7ec3LoRA\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4f7f\u5927\u8bed\u8a00\u6a21\u578b\u4ece\u901a\u7528\u5927\u8bed\u8a00\u6a21\u578b\u6f14\u53d8\u4e3a\u4e13\u95e8\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76\u4f18\u5316\u7684\u6a21\u578b\u3002\u4f5c\u4e3a\u8fd9\u79cd\u805a\u7126\u9002\u5e94\u7684\u76f4\u63a5\u7ed3\u679c\uff0c\u5927\u8bed\u8a00\u6a21\u578b\u5728\u8fd0\u52a8\u89c4\u5212\u60c5\u5883\u4e0b\u7406\u89e3\u6307\u4ee4\u7684\u51c6\u786e\u6027\u5f97\u5230\u663e\u8457\u63d0\u5347\u3002

\u5728\u5fae\u8c03\u9636\u6bb5\uff0c\u7531\u4e8e\u4fdd\u7559\u4e86\u77e2\u91cf\u5730\u56fe\u7f16\u7801\u5668\u548c\u89e3\u7801\u5668\u7684\u67b6\u6784\uff0c\u6211\u4eec\u52a0\u8f7d\u4e86\u5728\u76f8\u540c\u6570\u636e\u96c6\u4e0a\u9884\u8bad\u7ec3\u7684\u5b9e\u65f6\u89c4\u5212\u5668\u6743\u91cd\u4ee5\u589e\u5f3a\u8bad\u7ec3\u7a33\u5b9a\u6027\u3002\u5fae\u8c03\u9636\u6bb5\u7684\u603b\u635f\u5931\u7531\u5bf9\u9f50\u8f85\u52a9\u635f\u5931\u548c\u89c4\u5212\u635f\u5931\u7ec4\u6210\u3002\u524d\u8005\u5206\u4e3a\u4e94\u4e2a\u90e8\u5206\uff1a1\uff09 \u81ea\u8f66\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u9884\u6d4b\u7684l1\u635f\u5931\uff0c2\uff09 \u901f\u5ea6\u51b3\u7b56\u9884\u6d4b\u7684\u4ea4\u53c9\u71b5<\/a><\/p>\n\n\n\n

\u635f\u5931\uff0c3\uff09 \u4ea4\u901a\u4fe1\u53f7\u706f\u72b6\u6001\u9884\u6d4b\u7684\u4ea4\u53c9\u71b5\u635f\u5931\uff0c4\uff09 \u76f8\u90bb\u8f66\u9053\u5b58\u5728\u9884\u6d4b\u7684\u4e8c\u5143\u4ea4\u53c9\u71b5\u635f\u5931\uff0c\u4ee5\u53ca5\uff09 \u6362\u9053\u9884\u6d4b\u7684\u4e8c\u5143\u4ea4\u53c9\u71b5\u635f\u5931\u3002<\/p>\n\n\n\n

5 \u5b9e\u9a8c<\/strong><\/h2>\n\n\n\n

5.1 \u5b9e\u9a8c\u8bbe\u7f6e<\/h3>\n\n\n\n

\u5728\u8bc4\u4f30\u8bbe\u7f6e\u65b9\u9762\uff0c\u7814\u7a76\u56e2\u961f\u9075\u5faanuPlan\u6311\u6218\u8d5b2023\u7684\u8bbe\u5b9a\uff0c\u9009\u62e9\u4e8614\u79cd\u5b98\u65b9\u5b9a\u4e49\u7684\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u7c7b\u578b\u8fdb\u884c\u8bad\u7ec3\u548c\u8bc4\u4f30\u3002\u5c3d\u7ba1nuPlan\u6570\u636e\u96c6\u5305\u542b757\uff0c844\u4e2a\u573a\u666f\uff0c\u4f46\u5927\u591a\u6570\u7b80\u5355\u573a\u666f\u5bf9\u4e8e\u5173\u952e\u89c4\u5212\u5668\u6027\u80fd\u8bc4\u4f30\u800c\u8a00\u5e76\u4e0d\u5145\u5206\uff0c\u4e14\u5e9e\u5927\u7684\u6570\u636e\u91cf\u4f1a\u5ef6\u957f\u8bc4\u4f30\u65f6\u95f4\u3002\u56e0\u6b64\uff0c\u7814\u7a76\u56e2\u961f\u4ece\u6d4b\u8bd5\u96c6\u4e2d\u6bcf\u79cd\u7c7b\u578b\u968f\u673a\u9009\u62e9100\u4e2a\u573a\u666f\uff0c\u7136\u540e\u4f7f\u7528PDM\u89c4\u5212\u5668\uff08nuPlan 2023\u51a0\u519b\uff09\u4fdd\u7559\u6bcf\u79cd\u7c7b\u578b\u5f97\u5206\u6700\u4f4e\u768420\u4e2a\u573a\u666f\uff0c\u6700\u7ec8\u6784\u5efa\u4e86\u4e00\u4e2a\u5305\u542b279\u4e2a\u573a\u666f\u7684\u6d4b\u8bd5\u96c6Hard20\u3002<\/p>\n\n\n\n

\u5728\u5b9e\u73b0\u7ec6\u8282\u65b9\u9762\uff0c\u6240\u6709\u5b9e\u9a8c\u90fd\u5728\u95ed\u73af\u53cd\u5e94\u5f0f\u8bbe\u7f6e\u4e0b\u8fdb\u884c\u3002\u5728\u8fd9\u79cd\u8bbe\u7f6e\u4e2d\uff0c\u573a\u666f\u4e2d\u7684\u667a\u80fd\u4f53\u53ef\u4ee5\u914d\u5907IDM\u89c4\u5212\u5668\uff0c\u4f7f\u5b83\u4eec\u80fd\u591f\u5bf9\u81ea\u8f66\u7684\u884c\u4e3a\u505a\u51fa\u53cd\u5e94\u3002\u4eff\u771f\u9891\u7387\u4e3a10Hz\uff0c\u5728\u6bcf\u6b21\u8fed\u4ee3\u4e2d\uff0c\u9884\u6d4b\u8f68\u8ff9\u7684\u65f6\u95f4\u8303\u56f4\u4e3a8\u79d2\u3002\u8bc4\u4f30\u9075\u5faanuPlan\u6311\u6218\u8d5b\u63d0\u51fa\u7684\u95ed\u73af\u6307\u6807\uff0c\u5177\u4f53\u7ec6\u8282\u5728\u8865\u5145\u6750\u6599\u4e2d\u8be6\u7ec6\u8bf4\u660e\u3002\u5728\u6a21\u578b\u8bbe\u7f6e\u65b9\u9762\uff0cAsyncDriver\u57fa\u4e8eLlama2-13B\u6784\u5efa\uff0cLoRA\u914d\u7f6e\u4e3aR=8\u548c\u03b1=32\uff0c\u4f7f\u7528AdamW\u4f18\u5316\u5668\u548c\u5e26\u8870\u51cf\u7684\u9884\u70ed\u8c03\u5ea6\u5668\uff0c\u5b66\u4e60\u7387\u8bbe\u4e3a0.0001\u3002<\/p>\n\n\n\n

5.2 \u5b9e\u9a8c\u7ed3\u679c<\/h3>\n\n\n\n

\u5728Hard20\u8bc4\u4f30\u65b9\u9762\uff0c\u5982\u88681\u6240\u793a\uff0cAsyncDriver\u76f8\u6bd4\u73b0\u6709\u89c4\u5212\u5668\u53d6\u5f97\u4e86\u6700\u9ad8\u6027\u80fd\uff0c\u76f8\u6bd4GameFormer\u63d0\u5347\u4e864.6%\uff08\u7ea62.95\u5206\uff09\uff0c\u751a\u81f3\u8d85\u8fc7\u4e86\u5f53\u524d\u6700\u5148\u8fdb\u7684\u57fa\u4e8e\u89c4\u5219\u7684\u89c4\u5212\u5668\u3002\u4e3a\u4e86\u516c\u5e73\u6bd4\u8f83\uff0c\u8003\u8651\u5230\u8f68\u8ff9\u7ec6\u5316\u548c\u5bf9\u9f50\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u7684\u91cd\u8981\u5f71\u54cd\uff0c\u7814\u7a76\u56e2\u961f\u5c06PDM\u8bc4\u5206\u5668\u9002\u914d\u5230AsyncDriver\uff08\u8bb0\u4e3aAsyncDriver*\uff09\uff0c\u8fd9\u4f7f\u5f97\u6027\u80fd\u76f8\u6bd4PDM-Hybrid\u548cPDM-Closed\u5206\u522b\u63d0\u5347\u4e865.3%\u548c5.1%\uff08\u7ea63.43\u548c3.30\u5206\uff09\uff0c\u76f8\u6bd4\u5b66\u4e60\u578b\u89c4\u5212\u5668GameFormer\u63d0\u5347\u4e868.7%\uff08\u7ea65.43\u5206\uff09\u3002\u4ece\u53e6\u4e00\u4e2a\u89d2\u5ea6\u770b\uff0c\u88682\u5c55\u793a\u4e86Hard20\u6570\u636e\u96c6\u4e2d\u6bcf\u79cd\u573a\u666f\u7c7b\u578b\u7684\u5f97\u5206\u4ee5\u53ca\u4e0e\u73b0\u6709\u89c4\u5212\u5668\u7684\u6bd4\u8f83\uff0c\u7ed3\u679c\u8868\u660e\u8be5\u65b9\u6848\u5728\u5927\u591a\u6570\u573a\u666f\u7c7b\u578b\u4e2d\u90fd\u53d6\u5f97\u4e86\u5353\u8d8a\u7684\u8868\u73b0\u3002<\/p>\n\n\n\n

\"\"\/
\u25b2\u88681\uff5c Hard20\u5b9a\u91cf\u8bc4\u4f30\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n
\"\"\/
\u25b2\u88682\uff5c Hard20\u6570\u636e\u96c6\u4e2d\u6bcf\u79cd\u573a\u666f\u7c7b\u578b\u7684\u5f97\u5206\u4ee5\u53ca\u4e0e\u73b0\u6709\u89c4\u5212\u5668\u7684\u6bd4\u8f83\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n

\u5b9a\u91cf\u7ed3\u679c\u663e\u793a\uff0cScene-Associated Instruction Feature Extraction Module\u63d0\u53d6\u7684\u9ad8\u5c42\u7279\u5f81\u663e\u8457\u63d0\u5347\u4e86\u5b9e\u65f6\u89c4\u5212\u5668\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u7684\u6027\u80fd\u3002\u8be6\u7ec6\u6307\u6807\u663e\u793a\uff0c\u76f8\u6bd4GameFormer\uff0c\u8be5\u65b9\u6cd5\u5728\u53ef\u884c\u9a76\u533a\u57df\u6027\u80fd\u4e0a\u63d0\u5347\u4e863.23\u5206\uff0c\u8fd9\u8868\u660e\u7531\u4e8e\u573a\u666f\u4e0a\u4e0b\u6587\u7406\u89e3\u80fd\u529b\u7684\u63d0\u5347\uff0c\u7cfb\u7edf\u5728\u8bc6\u522b\u548c\u5bfc\u822a\u53ef\u884c\u9a7e\u9a76\u7a7a\u95f4\u65b9\u9762\u8868\u73b0\u51fa\u8272\u3002\u6b64\u5916\uff0cAsyncDriver*\u5728\u78b0\u649e\u65f6\u95f4\uff08TTC\uff09\u6307\u6807\u4e0a\u8d85\u8fc7PDM 4.39%\uff08\u7ea63.23\u5206\uff09\uff0c\u8fd9\u8868\u660e\u9884\u6d4b\u7cbe\u5ea6\u5f97\u5230\u63d0\u5347\uff0c\u901a\u8fc7\u6709\u6548\u9884\u6d4b\u548c\u51cf\u5c11\u6f5c\u5728\u78b0\u649e\u573a\u666f\u6765\u786e\u4fdd\u66f4\u5b89\u5168\u7684\u9a7e\u9a76\u3002<\/p>\n\n\n\n

\u5728\u5f02\u6b65\u63a8\u7406\u65b9\u9762\uff0c\u7814\u7a76\u56e2\u961f\u8ba4\u4e3a\uff0c\u7279\u522b\u662f\u5bf9\u4e8e\u4e00\u822c\u5316\u7684\u9ad8\u5c42\u6307\u4ee4\uff0c\u5728\u77ed\u65f6\u95f4\u95f4\u9694\u5185\u7684\u5e27\u4e4b\u95f4\u5b58\u5728\u663e\u8457\u7684\u76f8\u4f3c\u6027\u3002\u56e0\u6b64\uff0c\u8003\u8651\u5230\u5927\u8bed\u8a00\u6a21\u578b\u5728\u63d0\u53d6\u8fd9\u4e9b\u9ad8\u5c42\u7279\u5f81\u65b9\u9762\u7684\u4f5c\u7528\uff0c\u5b83\u4e0d\u9700\u8981\u53c2\u4e0e\u6bcf\u4e00\u5e27\u7684\u63a8\u7406\u8fc7\u7a0b\uff0c\u8fd9\u53ef\u4ee5\u663e\u8457\u63d0\u5347\u63a8\u7406\u901f\u5ea6\u3002\u4e3a\u63a2\u7d22\u8fd9\u4e00\u70b9\uff0c\u5b9e\u9a8c\u8bbe\u8ba1\u533a\u5206\u4e86\u5927\u8bed\u8a00\u6a21\u578b\u548c\u5b9e\u65f6\u89c4\u5212\u5668\u7684\u63a8\u7406\u9891\u7387\uff0c\u5728\u6bcf\u4e2a\u5927\u8bed\u8a00\u6a21\u578b\u63a8\u7406\u95f4\u9694\u671f\u95f4\uff0c\u4f7f\u7528\u5148\u524d\u7684\u6307\u4ee4\u7279\u5f81\u6765\u5f15\u5bfc\u5b9e\u65f6\u89c4\u5212\u5668\u7684\u9884\u6d4b\u8fc7\u7a0b\u3002\u5982\u56fe3\u6240\u793a\uff0c\u968f\u7740\u5927\u8bed\u8a00\u6a21\u578b\u89c4\u5212\u95f4\u9694\u7684\u589e\u52a0\uff0c\u8be5\u65b9\u6cd5\u7684\u6027\u80fd\u8868\u73b0\u51fa\u663e\u8457\u7684\u7a33\u5065\u6027\uff0c\u8fd9\u8868\u660e\u5927\u8bed\u8a00\u6a21\u578b\u80fd\u591f\u63d0\u4f9b\u957f\u671f\u7684\u9ad8\u5c42\u6307\u4ee4\u3002\u5b9e\u9a8c\u89c2\u5bdf\u5230\uff0c\u5373\u4f7f\u5728149\u5e27\u7684\u95f4\u9694\u4e0b\uff08\u610f\u5473\u7740\u5728\u4e00\u4e2a\u573a\u666f\u4e2d\u53ea\u8fdb\u884c\u4e00\u6b21\u63a8\u7406\uff09\uff0c\u6027\u80fd\u4ecd\u7136\u8d85\u8fc7GameFormer 1.0\u5206\u4ee5\u4e0a\uff0c\u800c\u63a8\u7406\u65f6\u95f4\u63a5\u8fd1\u5b9e\u65f6\u6c34\u5e73\u3002\u968f\u7740\u63a8\u7406\u95f4\u9694\u7684\u589e\u52a0\uff0c\u6240\u9700\u7684\u63a8\u7406\u65f6\u95f4\u6025\u5267\u4e0b\u964d\uff0c\u800c\u51c6\u786e\u6027\u51e0\u4e4e\u4fdd\u6301\u7a33\u5b9a\u3002\u56e0\u6b64\uff0c\u901a\u8fc7\u91c7\u7528\u5bc6\u96c6\u8bad\u7ec3\u4e0e\u5f02\u6b65\u63a8\u7406\u76f8\u7ed3\u5408\u7684\u7b56\u7565\uff0c\u8be5\u65b9\u6cd5\u5728\u51c6\u786e\u6027\u548c\u63a8\u7406\u901f\u5ea6\u4e4b\u95f4\u53d6\u5f97\u4e86\u6700\u4f73\u5e73\u8861\u3002<\/p>\n\n\n\n

\"\"\/
\u25b2\u56fe3\uff5c \u5f02\u6b65\u6027\u80fd\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n

5.3 \u6307\u4ee4\u9075\u5faa<\/h3>\n\n\n\n

\u56fe4\u5c55\u793a\u4e86\u8be5\u65b9\u6cd5\u5bf9\u4e0d\u540c\u8def\u7531\u6307\u4ee4\u7684\u53cd\u5e94\uff0c\u5c55\u793a\u4e86\u5176\u5728\u6307\u4ee4\u9075\u5faa\u65b9\u9762\u7684\u80fd\u529b\u3002\u56fe4a\u5c55\u793a\u4e86\u573a\u666f\u91c7\u7528\u5e38\u89c4\u8def\u7531\u6307\u4ee4\u65f6\u7684\u9884\u6d4b\u7ed3\u679c\u3002\u6211\u4eec\u6ce8\u610f\u5230\u81ea\u8f66\u7565\u5fae\u51cf\u901f\uff0c\u8fd9\u53cd\u6620\u4e86\u5728\u5f2f\u9053\u5904\u964d\u4f4e\u901f\u5ea6\u7684\u5e38\u8bc6\u6027\u5224\u65ad\u3002\u7136\u800c\uff0c\u8003\u8651\u5230\u9053\u8def\u7545\u901a\u7684\u60c5\u51b5\uff0c\u81ea\u8f66\u4fdd\u6301\u4e86\u76f8\u5bf9\u8f83\u9ad8\u7684\u901f\u5ea6\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u56fe4b\u63cf\u8ff0\u4e86\u4ee5”\u505c\u6b62”\u4f5c\u4e3a\u8def\u7531\u6307\u4ee4\u7684\u573a\u666f\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5373\u4f7f\u5728\u6ca1\u6709\u5916\u90e8\u969c\u788d\u7269\u7684\u60c5\u51b5\u4e0b\uff0c\u81ea\u8f66\u4e5f\u8fc5\u901f\u5bf9\u547d\u4ee4\u505a\u51fa\u5239\u8f66\u54cd\u5e94\uff0c\u5728\u77ed\u77ed6\u79d2\u5185\u5c06\u901f\u5ea6\u4ece10.65m\/s\u964d\u4f4e\u52301.06m\/s\u3002\u56e0\u6b64\uff0c\u5f88\u660e\u663eAsyncDriver\u53ef\u4ee5\u4f5c\u4e3a\u8bed\u8a00\u4ea4\u4e92\u63a5\u53e3\uff0c\u5177\u5907\u7cbe\u786e\u7406\u89e3\u548c\u9075\u5faa\u4eba\u7c7b\u6307\u4ee4\u4ee5\u89c4\u907f\u5f02\u5e38\u60c5\u51b5\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n

\"\"\/
\u25b2\u56fe4\uff5c \u53ef\u89c6\u5316\u6307\u4ee4\u9075\u5faa\u7ed3\u679c\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n

5.4 \u6d88\u878d\u7814\u7a76<\/h3>\n\n\n\n

\u5728\u8fd9\u90e8\u5206\u4e2d\uff0c\u7814\u7a76\u56e2\u961f\u63a2\u7a76\u4e86\u5927\u8bed\u8a00\u6a21\u578b\u7684\u5fc5\u8981\u6027\uff0c\u5e76\u8c03\u67e5\u4e86AsyncDriver\u4e2d\u5404\u4e2a\u7ec4\u4ef6\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

\u9996\u5148\uff0c\u5728\u5927\u8bed\u8a00\u6a21\u578b\u5fc5\u8981\u6027\u65b9\u9762\uff0c\u7814\u7a76\u56e2\u961f\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u7528\u4e0d\u540c\u7ef4\u5ea6\uff08256\u548c5120\uff09\u7684transformer\u5757\u66ff\u4ee3\u5927\u8bed\u8a00\u6a21\u578b\uff0c\u540c\u65f6\u5f15\u5165\u53ef\u5b66\u4e60\u7684\u8def\u7531\u6307\u4ee4\u5d4c\u5165\u3002\u540c\u65f6\u4fdd\u6301\u5bf9\u9f50\u8f85\u52a9\u6a21\u5757\u548c\u81ea\u9002\u5e94\u6ce8\u5165\u6a21\u5757\u4e0d\u53d8\u3002\u5982\u88683\u6240\u793a\uff0c\u7ed3\u679c\u8868\u660e\uff0c\u5c3d\u7ba1transformer\u53c2\u6570\u91cf\u589e\u52a0\u4e8620\u500d\uff0c\u6027\u80fd\u4ec5\u4ece63.27\u5c0f\u5e45\u63d0\u5347\u523063.59\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cAsyncDriver\u8fbe\u5230\u4e8665.00\u7684\u6027\u80fd\uff0c\u51f8\u663e\u4e86\u9884\u8bad\u7ec3\u77e5\u8bc6\u5bf9\u5927\u8bed\u8a00\u6a21\u578b\u7684\u91cd\u8981\u5f71\u54cd\u3002<\/p>\n\n\n\n

\"\"\/
\u25b2\u88683\uff5c \u7528\u975e\u9884\u8bad\u7ec3\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u66ff\u4ee3\u5927\u8bed\u8a00\u6a21\u578b\u00a9\ufe0f\u3010\u6df1\u84ddAI\u3011\u7f16\u8bd1<\/figcaption><\/figure>\n\n\n\n

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