{"id":24810,"date":"2025-02-11T17:26:18","date_gmt":"2025-02-11T09:26:18","guid":{"rendered":"http:\/\/192.168.10.115\/?p=24810"},"modified":"2025-02-11T17:26:18","modified_gmt":"2025-02-11T09:26:18","slug":"2025-02-11-%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%ef%bc%9a%e5%88%b0%e5%ba%95%e6%9c%89%e5%93%aa%e4%ba%9b%e5%8f%af%e8%83%bd%e7%9a%84%e9%87%8f%e4%ba%a7%e6%8a%80%e6%9c%af%e8%b7%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/02\/11\/24810\/","title":{"rendered":"2025-02-11 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-3-1024x192.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-3-300x56.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-3-768x144.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-3.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u8def\u7ebf\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>2.1 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-4.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-4-300x169.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>\u76f4\u63a5\u7aef\u5230\u7aef\uff08\u4ee5mile\u4e3e\u4f8b\uff09<\/p>\n\n\n\n<p>\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff0c\u4f20\u611f\u5668\u4fe1\u606f\uff0c\u7ecf\u8fc7\u82e5\u5e72\u611f\u77e5\u6a21\u5757\uff0c\u6620\u5c04\u4e3aaction\u6216\u8f68\u8ff9\u3002\u4e0d\u540c\u6a21\u5757\u95f4\u53ef\u4f20\u68af\u5ea6\uff0c\u5171\u540c\u8bad\u7ec3\u3002\u5176\u7c7b\u4f3c\u4e8e\u4f20\u7edf\u7684\u5206\u9636\u6bb5\u81ea\u52a8\u9a7e\u9a76\uff0c\u4e0d\u8fc7\u662f\u628a\u4e0d\u540c\u9636\u6bb5\u901a\u8fc7transformer\u4e2d\u7684query\u673a\u5236\u8fde\u63a5. \u4ee5UniAD\u4e3a\u4ee3\u8868\uff0cFusionAD\uff0cVAD\uff0cGenAD\uff0c\u90fd\u662f\u3002<br><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"222\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-5.png\" alt=\"\" class=\"wp-image-24814\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-5.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-5-300x89.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff08\u4ee5UniAD\u4e3e\u4f8b\uff09<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"636\" height=\"334\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-6.png\" alt=\"\" class=\"wp-image-24815\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-6.png 636w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-6-300x158.png 300w\" sizes=\"(max-width: 636px) 100vw, 636px\" \/><\/figure>\n\n\n\n<p>BevPlanner\u91cc\u9762\u7684\u5bf9\u6bd4\u56fe\uff08\u4e0a\u9762\u662f\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff0c\u4e0b\u9762\u662f\u76f4\u63a5\u7aef\u5230\u7aef\uff09<\/p>\n\n\n\n<p>\u5bf9\u6bd4\u53ef\u77e5\uff0c\u7531\u4e8e\u73b0\u6709\u76f4\u63a5\u7aef\u5230\u7aef\u4e5f\u4f1a\u8f85\u4ee5\u611f\u77e5\u7684\u76d1\u7763\uff0c\u76f4\u63a5\u7aef\u5230\u7aef\u548c\u6a21\u5757\u5316\u7aef\u5230\u7aef\u7684\u5171\u540c\u70b9\u662f\u90fd\u9700\u8981\u611f\u77e5\u76d1\u7763\u3002\u4e0d\u540c\u7684\u662f\uff0c\u76f4\u63a5\u7aef\u5230\u7aef\u662f\u5e76\u8054\u5f62\u5f0f\uff0c\u4e5f\u5c31\u662f\u57fa\u4e8e\u5171\u540c\u7684\u8868\u5f81feature 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map\uff0c \u89c4\u5212\u8fd8\u662f\u76f4\u63a5\u57fa\u4e8efeature map\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"332\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-7.png\" alt=\"\" class=\"wp-image-24816\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-7.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-7-300x133.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>ICLR2025\u5728\u6295\u8bba\u6587 DriveTransformer\uff0c\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u5e76\u8054\u8f93\u51fa<\/p>\n\n\n\n<p>\u6211\u8ba4\u4e3a\u8fd9\u4e24\u6761\u8def\u7ebf\uff0c\u6ca1\u6709\u672c\u8d28\u533a\u522b\uff0c\u53ea\u662f\u6280\u672f\u53d1\u5c55\u7684\u4e00\u4e2a\u987a\u5e8f\uff1a\u6a21\u5757\u5316\u66f4\u597d\u8bad\uff0c\u4f46\u6700\u7ec8\u6536\u655b\u5230\u76f4\u63a5\u7aef\u5230\u7aef\u3002\u4f46\u8fbe\u5230\u66f4\u597d\u6548\u679c\uff0c\u8fd8\u6709\u4e0d\u5c11\u5de5\u4f5c\u8981\u505a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.2 \u57fa\u4e8eVLM\u6216LLM\u7684\u7aef\u5230\u7aef\u65b9\u6848<\/strong><\/h3>\n\n\n\n<p>\u6bd4\u5982drive like a human, driveGPT4\uff0c LMDrive, EMMA\uff0cSenna\u3002<\/p>\n\n\n\n<p>\u9996\u5148\uff0c\u6211\u89c9\u5f97VLM\u6216LLM\u662f\u6709\u7528\u7684\u3002\u56e0\u4e3aLLM\u6216VLM\uff0c\u590d\u6742\u573a\u666f\u7406\u89e3\u3001\u63a8\u7406\u80fd\u529b\uff0c\u8fd9\u662f\u5f88\u5f3a\u7684\u3002\u53e6\u5916\u4e00\u65b9\u9762\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u91cc\uff0c\u5bf9\u4e8e\u8f68\u8ff9\u89e3\u91ca\u3001VQA\u7b49\uff0c\u53ef\u80fd\u53ea\u80fd\u7528VLM\u8fd9\u6837\u7684\u6280\u672f\u6765\u505a\u3002<\/p>\n\n\n\n<p>\u4f46\u662f\uff0c\u5177\u4f53\u600e\u4e48\u7528\uff1f\u662f\u76f4\u63a5\u66ff\u4ee3\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff0c\u8fd8\u662f\u548c\u4ed6\u4eec\u7ed3\u5408\uff1f\u6211\u8ba4\u4e3a\u662f\u540e\u8005\u3002VLM\u64c5\u957f\u573a\u666f\u7406\u89e3\u548c\u63a8\u7406\u3002\u6240\u4ee5\u5728\u590d\u6742\u573a\u666f\uff0c\u6a21\u5757\u5316\u7aef\u5230\u7aef\u53ef\u80fd\u5c31\u50bb\u773c\u4e86\uff1bVLM\u5462\uff0c\u6cdb\u5316\u80fd\u529b\u5f3a\uff0c\u8fd8\u80fd\u6709\u4e2a\u57fa\u672c\u7684\u573a\u666f\u7406\u89e3\u3002\u6240\u4ee5\u8fd9\u4e9b\u573a\u666f\uff0cVLM\u51fa\u51b3\u7b56\u5efa\u8bae\uff0c\u6216\u8005\u7c97\u8f68\u8ff9\u7ed9\u6a21\u5757\u5316\u7684\u7aef\u5230\u7aef\uff0c\u6216\u8005\u76f4\u63a5\u7ed9\u4e0b\u6e38\uff0c\u5e94\u8be5\u662f\u5f88\u6709\u7528\u7684\u3002<\/p>\n\n\n\n<p>\uff081\uff09\u53cc\u6d41\u67b6\u6784\u7684\u6a21\u578b\uff1a\u4e5f\u5c31\u662f\u4e00\u4e2a\u8fd0\u884c\u5feb\u7684\u6a21\u578b\uff0c\u548c\u4e00\u4e2a\u8fd0\u884c\u6162\u7684\u6a21\u578b\uff0c\u5e76\u884c\u8fd0\u884c\uff1b\u81f3\u4e8e\u4e8c\u8005\u600e\u4e48\u5206\u5de5\u548c\u4ea4\u4e92\uff0c\u6bcf\u4e2a\u5de5\u4f5c\u5404\u6709\u6240\u957f\uff0c\u8fd9\u4e2a\u7ec6\u8282\u53ef\u4ee5\u5728\u8ba8\u8bba\u3002\u76f8\u5173\u5de5\u4f5c\uff0c\u6bd4\u5982 DriveVLM\u3001LeapAD\u3001AsyncDriver\u3002On the road\u867d\u7136\u6ca1\u505a\uff0c\u4f46\u5728future work\u4e2d\u63d0\u5230\u4e86\u611f\u77e5\u90e8\u5206\u9700\u8981\u878d\u5408\u4f20\u7edf\u65b9\u6848\u548cVLM\u65b9\u6848\u7684\u53cc\u6d41\u6784\u601d\u3002Senna\u662f\u505a\u7aef\u5230\u7aef\u89c4\u5212\uff0c\u5176\u903b\u8f91\u548c\u601d\u60f3\uff0c\u4e0eOn the road\u4e00\u81f4\u3002On the road\u548cSenna\u90fd\u8ba4\u4e3a\uff0cVLM\u9002\u5408\u7c97\u7c92\u5ea6\u7684\u573a\u666f\u7406\u89e3\u548c\u63a8\u7406\uff0c\u5e94\u7ed3\u5408\u5177\u4f53\u4efb\u52a1\u7684\u6a21\u578b\uff0c\u5b9e\u73b0\u4e13\u5bb6\u6a21\u578b\u6cdb\u5316\u80fd\u529b\u7684\u589e\u5f3a\u3002\u6211\u4e2a\u4eba\u975e\u5e38\u8d5e\u540c\u8fd9\u4e2a\u89c2\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"469\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-8.png\" alt=\"\" class=\"wp-image-24817\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-8.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-8-300x188.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>2024.03, DRIVEVLM: The Convergence of Autonomous Driving and Large Vision-Language Models<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"736\" height=\"497\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-9.png\" alt=\"\" class=\"wp-image-24818\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-9.png 736w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-9-300x203.png 300w\" sizes=\"(max-width: 736px) 100vw, 736px\" \/><\/figure>\n\n\n\n<p>2024.05, Continuously Learning, Adapting, and Improving:\u00a0A Dual-Process Approach to Autonomous Driving\u00a0(LeapAD)<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"733\" height=\"526\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-10.png\" alt=\"\" class=\"wp-image-24819\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-10.png 733w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-10-300x215.png 300w\" sizes=\"(max-width: 733px) 100vw, 733px\" \/><\/figure>\n\n\n\n<p>2024.06, Asynchronous Large Language Model Enhanced Planner for Autonomous Driving\uff0c\u548cDriveVLM\u4e0d\u540c\u7684\u662f\uff1a\u8fd9\u91cc\u7684\u4e24\u4e2a\u7cfb\u7edf\u662f\u505a\u81ea\u9002\u5e94\u878d\u5408\uff0c\u800cDriveVLM\u662f\u505aswitch\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"229\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-11.png\" alt=\"\" class=\"wp-image-24820\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-11.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-11-300x92.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>2023.11, On the Road with GPT-4V(ision): Explorations of Utilizing Visual-Language Model as Autonomous Driving Agent\u7684conclusion\u90e8\u5206, \u603b\u7ed3\u7684\u7279\u522b\u597d\uff1aVLM\u9002\u5408\u7c97\u7c92\u5ea6\u7684\u573a\u666f\u7406\u89e3\u548c\u63a8\u7406\uff0c\u53ef\u548c\u5177\u4f53\u4efb\u52a1\u6a21\u578b\uff08\u4e13\u5bb6\u6a21\u578b\uff09\u7ed3\u5408\uff0c\u53d1\u6325\u4e8c\u8005\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"515\" height=\"536\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-12.png\" alt=\"\" class=\"wp-image-24821\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-12.png 515w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-12-288x300.png 288w\" sizes=\"(max-width: 515px) 100vw, 515px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"392\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-13.png\" alt=\"\" class=\"wp-image-24822\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-13.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-13-300x157.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>\uff082\uff093D\u4fe1\u606f\uff1a\u6709\u51e0\u7bc7\u5de5\u4f5c\uff0c\u652f\u6491\u9700\u89813D\u4fe1\u606f\u7684\u89c2\u70b9\u3002\u81f3\u4e8e\u8fd9\u4e2a3D\uff0c\u662f\u663e\u5f0f\u7684\u76d1\u7763\u4fe1\u606f\u5e26\u6765\u7684\uff0c\u8fd8\u662f2D\u81ea\u76d1\u7763\u5e26\u6765\u7684\uff08\u5982dinov2\uff09\uff0c\u662f\u53ef\u4ee5\u8ba8\u8bba\u7684\u3002\u6bd4\u5982&#8221;Is a 3D-Tokenized LLM the Key to Reliable Autonomous Driving? &#8220;\u3001\u201dLanguage-Image Models with 3D Understanding\uff08Cube-LLM\uff09\u201c\u3001\u201dOn the Road with GPT-4V(ision): Explorations of Utilizing Visual-Language Model as Autonomous Driving Agent\u201c\u3002\u524d\u4e24\u7bc7\uff0c\u662f\u6b63\u5411\u652f\u6491\uff0c\u8bc1\u660e\u4e86\u52a0\u4e863D\u6bd4\u8f83\u597d\uff1b\u7b2c\u4e09\u7bc7\u662f\u53cd\u5411\u652f\u6491\uff0c\u8bc1\u660e\u6ca1\u67093D\u7684\u5b9a\u4f4d\u548c\u7a7a\u95f4\u63a8\u7406\u80fd\u529b\u5f31\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"396\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-14.png\" alt=\"\" class=\"wp-image-24823\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-14.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-14-300x159.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"434\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-15.png\" alt=\"\" class=\"wp-image-24824\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-15.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-15-300x174.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>2024.05, &#8220;Is\u00a0a\u00a03D-Tokenized\u00a0LLM\u00a0the\u00a0Key\u00a0to\u00a0Reliable\u00a0Autonomous\u00a0Driving?<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"389\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-16.png\" alt=\"\" class=\"wp-image-24825\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-16.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-16-300x156.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>2024.05, Language-Image Models with 3D Understanding\uff08Cube-LLM\uff09<\/p>\n\n\n\n<p>\uff083\uff09\u603b\u7ed3\uff1a\u603b\u7684\u6765\u8bf4\uff0c\u8fd9\u6761\u8def\u7ebf\u7684\u53d1\u5c55\u8d8b\u52bf\u53ef\u80fd\u662f\uff1a\u2460\u548c\u975e\u5927\u8bed\u8a00\u6a21\u578b\u7684\u65b9\u6848\u5f62\u6210\u53cc\u6d41\u67b6\u6784\uff1b\u2461\u8865\u51453D\u4fe1\u606f\u3002\u6b64\u5916\uff0cOn the Road with GPT-4V \u548c Image Textualization\u8fd9\u4e24\u7bc7\u8bba\u6587\u90fd\u63d0\u5230\uff0c\u73b0\u5728VLM\u5bf9\u73af\u5883\u7684\u611f\u77e5\uff0c\u5c5e\u4e8e\u7c92\u5ea6\u6bd4\u8f83\u7c97\u7684\u573a\u666f\u7406\u89e3\u3002\u5f53\u7136\uff0c\u5982 Image Textualization\u8fd9\u6837\u7684\u65b9\u6cd5\uff0c\u6b63\u5728\u5f25\u8865VLM\u5728\u7ec6\u7c92\u5ea6\u95ee\u9898\u4e0a\u7684\u4e0d\u8db3\u3002\u8fd9\u6761\u8def\u7ebf\u503c\u5f97\u4e00\u76f4\u5173\u6ce8\u3002<\/p>\n\n\n\n<p><strong>2.3 \u57fa\u4e8eworld model\u7684\u7aef\u5230\u7aef\u8def\u7ebf<\/strong><\/p>\n\n\n\n<p>World Model\u5206\u4e3a\u4e24\u7c7b\uff1a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u4e2d\u7684world model\uff0c\u6570\u636e\u751f\u6210\u4e2d\u7684world model\u3002world model\u7684\u5b9a\u4e49\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"537\" height=\"376\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-17.png\" alt=\"\" class=\"wp-image-24826\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-17.png 537w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-17-300x210.png 300w\" sizes=\"(max-width: 537px) 100vw, 537px\" \/><\/figure>\n\n\n\n<p>2018, World Models<\/p>\n\n\n\n<p>\uff081\uff09\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u4e2d\u7684world model\u3002\u7528\u4e8e\u5f00\u8f66\uff1a\u63a2\u8ba8\u4e16\u754c\u6a21\u578b\u7684\u96c6\u6210\u5982\u4f55\u4f7f\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u80fd\u591f\u9884\u6d4b\u5e76\u5236\u5b9a\u884c\u52a8\u7b56\u7565\uff1f\u6bd4\u5982\u65e9\u671f\u7684world models\uff0cdreamr-V1, dream-V2, sem2\uff0c Fiery\uff0cmile\uff0c \u8fd1\u671f\u7684DriveWorld\uff0c\u4ee5Mile\u4e3a\u4ee3\u8868\uff1ahttps:\/\/wayve.ai\/thinking\/learning-a-world-model-and-a-driving-policy\/<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"421\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-18.png\" alt=\"\" class=\"wp-image-24827\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-18.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-18-300x169.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>\u4f46\u662f\u8fd9\u6761\u8def\u7ebf\uff0c\u597d\u50cf\u662f\u7528\u5230\u673a\u5668\u4eba\u7684\u504f\u591a\uff0c\u7528\u5230\u667a\u9a7e\u6709\u4e00\u4e2a\u660e\u663e\u95ee\u9898\uff1a\u7d2f\u8ba1\u8bef\u5dee\u3002\u76ee\u524d\uff0c\u667a\u9a7e\u9886\u57df\u7684World Model\uff0c\u4e00\u822c\u6307\u57fa\u4e8eaction\u6761\u4ef6\u7684\u9a7e\u9a76\u573a\u666f\u6570\u636e\u751f\u6210\u3002<\/p>\n\n\n\n<p>\uff082\uff09\u6570\u636e\u751f\u6210\u4e2d\u7684world model\u3002\u7528\u4e8e\u6570\u636e\u751f\u6210\u548c\u9a7e\u9a76\u884c\u4e3a\u7406\u89e3\uff1acorner case\u7684\u6570\u636e\u751f\u6210\uff0c\u6a21\u578b\u6216\u4eba\u7c7b\u9a7e\u9a76\u884c\u4e3a\u7684\u7406\u89e3\u3002\u4ee5GAIA-1\u4e3a\u4ee3\u8868\uff1ahttps:\/\/wayve.ai\/thinking\/scaling-gaia-1\/<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"278\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-19.png\" alt=\"\" class=\"wp-image-24828\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-19.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-19-300x111.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p>2023.09\uff0cGAIA-1<\/p>\n\n\n\n<p>\uff083\uff09\u4e8c\u8005\u7684\u7edf\u4e00\uff1aFoundation Model<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"519\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-20.png\" alt=\"\" class=\"wp-image-24829\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-20.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-20-300x208.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>2024.05, DriveWorld, \u628aOcc\u9884\u6d4b\u548caction\u89c4\u5212\u5408\u4e8c\u4e3a\u4e00<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"421\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-21.png\" alt=\"\" class=\"wp-image-24830\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-21.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-21-300x169.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>Mile, \u5176\u5b9e\u4e5f\u662f\u751f\u6210\u548c\u89c4\u5212\u5408\u4e8c\u4e3a\u4e00\u7684<\/p>\n\n\n\n<p>\u5c06\u751f\u6210\u548c\u89c4\u5212\u5408\u4e8c\u4e3a\u4e00\u7684\uff0c\u57fa\u672c\u90fd\u53ef\u4ee5\u4f5c\u4e3afoundation model\u3002\u8fd9\u7c7b\u5de5\u4f5c\u6709\u4e2a\u5171\u6027\uff0c\u5c31\u662f\u751f\u6210\u7684\u5bf9\u8c61\u662f\u6709\u8bed\u4e49\u4fe1\u606f\u548c\u51e0\u4f55\u4fe1\u606f\u7684\u3002\u6309\u9053\u7406\uff0c\u4e5f\u53ea\u6709\u8fd9\u6837\u624d\u80fd\u505a\u89c4\u5212\u3002\u6bd4\u5982\uff0cDriveworld\u662f\u751f\u6210Occ; Mile\u662f\u751f\u6210BevSeg\u56fe\u3002<\/p>\n\n\n\n<p>\u503c\u5f97\u8bf4\u660e\uff0cMile\u672c\u8eab\u4e0d\u662fFoundation model\uff0c\u4f46\u5176\u8303\u5f0f\u975e\u5e38\u5177\u5907\u81ea\u52a8\u9a7e\u9a76Foundation Model\u7684\u6f5c\u529b\u3002Mile\u662f\u4e00\u7bc7\u975e\u5e38\u597d\u7684\u5b66\u672f\u5de5\u4f5c\uff0c\u6307\u7684\u4e0d\u662f\u6027\u80fd\u597d\uff0c\u800c\u662f\u542f\u53d1\u6027\u5f3a\u3002\u540e\u671f\u5f88\u591a\u7aef\u5230\u7aef\u7684\u5de5\u4f5c\uff0c\u90fd\u6709Mile\u7684\u5f71\u5b50\u3002DriveWorld\u91cc\u7684MSSM\u548cMile\u4e5f\u7c7b\u4f3c\u3002<\/p>\n\n\n\n<p>\uff084\uff09\u603b\u7ed3world model\u7684\u7528\u5904\uff1a\u7b2c\u4e00\u4e2a\u662f\uff1a\u7aef\u5230\u7aef\u51faplanning\u6216action\uff1b\u7b2c\u4e8c\u4e2a\u662f\uff1a\u6570\u636e\u751f\u6210\uff0c\u53ef\u63a7\u6570\u636e\u751f\u6210\uff0ccorner case\u6570\u636e\u751f\u6210\uff1b\u7ed9\u8bad\u7ec3\u611f\u77e5\u6216\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7528\uff1b\u7b2c\u4e09\u4e2a\u662f\uff1a\u771f\u5b9e\u573a\u666f\u7684\u95ed\u73af\u4eff\u771f\u7cfb\u7edf\uff0c\u91c7\u96c6\u6570\u636e\u3001\u8bc4\u4f30\u6a21\u578b\u3001\u9a7e\u9a76\u884c\u4e3a\u7406\u89e3\uff1b\u7b2c\u56db\u4e2a\u662f\uff1aFoundation Model\u3002\u4e5f\u5c31\u662f\u57fa\u4e8e\u8fd9\u4e2a\u6a21\u578b\uff0c\u505a\u4e00\u7cfb\u5217\u4e0b\u6e38\u4efb\u52a1\u3002\u8fd9\u79cd\u8303\u5f0f\u7684\u5de5\u4f5c\u5e76\u4e0d\u591a\uff0c\u4ee3\u8868\u6027\u7684\u662fDriveWorld\u3002\u4e2a\u4eba\u731c\u6d4b\u7279\u65af\u62c9\u662f\u57fa\u4e8eworldmodel\uff0c\uff0c\uff0c\u56e0\u4e3atesla\u8fd9\u4e48\u5927\u7684\u7b97\u529b\uff0c\u6211\u60f3\u4e0d\u662f\u8bad\u7ec3\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff0c\u4e5f\u4e0d\u662f\u8bad\u7ec3VLM\uff0c\uff0c\u53ea\u6709world model\u5339\u914d\u5982\u6b64\u5927\u7b97\u529b\u3002\u4ec5\u4e3a\u4e2a\u4eba\u731c\u6d4b\u3002<\/p>\n\n\n\n<p>\u4e2a\u4eba\u8ba4\u4e3a\uff1a\u867d\u7136\u8fd9\u4e24\u5e74\u662f\u6a21\u5757\u5316\u7aef\u5230\u7aef\u548cVLM\u7aef\u5230\u7aef\u70ed\u95f9\uff0c\u8fc7\u4e24\u5e74\u53ef\u80fd\u5c31\u662fworld model\u4e86\uff1bworld model\u662f\u975e\u5e38\u5177\u5907\u6f5c\u529b\u7684\u65b9\u5411\uff0c\u7aef\u5230\u7aef\u53ef\u4ee5\u770b\u505a\u662fworld model\u7684\u5b50\u96c6\u3002<\/p>\n\n\n\n<p><strong>2.4 \u57fa\u4e8eDiffusion\u7684\u7aef\u5230\u7aef\u8def\u7ebf<\/strong><\/p>\n\n\n\n<p>\u8fd9\u65b9\u9762\u770b\u7684\u4e0d\u591a\uff0c\u4ee5DiffusionDrive\u4e3e\u4f8b\u3002<\/p>\n\n\n\n<p>Motivation\uff1a\u6269\u6563\u6a21\u578b\u5df2\u88ab\u8bc1\u660e\u662f\u673a\u5668\u4eba\u9886\u57df\u4e00\u79cd\u5f3a\u5927\u7684\u751f\u6210\u51b3\u7b56\u7b56\u7565\uff1b\u800c\u6269\u6563\u672c\u8eab\u662f\u8fde\u7eed\u7a7a\u95f4\u7684\u95ee\u9898\uff0c\u548c\u8f68\u8ff9\u89c4\u5212\u66f4\u5951\u5408\uff0c\u4f46Diffusion\u7528\u4e8e\u89c4\u5212\uff0c\u4e0d\u80fd\u5b9e\u65f6\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"535\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-22.png\" alt=\"\" class=\"wp-image-24831\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-22.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-22-300x215.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>\u76f4\u63a5\u628aTransfuser\u91cc\u7684planning decoder\u6362\u6210diffusion\uff0c\u6709\u4e24\u4e2a\u95ee\u9898\uff1a\u6a21\u5f0f\u574d\u584c\u3001\u65f6\u95f4\u592a\u957f\uff1b\u56e0\u6b64\u63d0\u51fa\uff0cTruncated Diffusion\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u2460 \u6dfb\u52a0anchor\u7684\u6982\u5ff5\uff0c\u57fa\u4e8eanchor\u505a\u6269\u6563\uff1b<\/p>\n\n\n\n<p>\u2461 \u524d\u5411\u6269\u6563\uff0c\u53ea\u6dfb\u52a0\u5c0f\u90e8\u5206\u9ad8\u65af\u566a\u58f0\uff0c\u4e0d\u8981\u5230\u5168\u90e8\u662f\u9ad8\u65af\u566a\u58f0\uff1b<\/p>\n\n\n\n<p>\u2462 \u5176\u4ed6\u7ec6\u8282\uff1a\u524d\u5411diffusion steps=50\uff0c\u53cd\u5411denoising steps=2\u3002<\/p>\n<\/blockquote>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"747\" height=\"275\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-23.png\" alt=\"\" class=\"wp-image-24832\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-23.png 747w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-23-300x110.png 300w\" sizes=\"(max-width: 747px) 100vw, 747px\" \/><\/figure>\n\n\n\n<p>\u4e2a\u4eba\u8ba4\u4e3a\u6709\u4e24\u4e2a\u5730\u65b9\u7591\u60d1\uff1a\u6d88\u878d\u5b9e\u9a8c\uff0c\u65e0\u4ece\u9a8c\u8bc1diffusion\u771f\u6b63\u8d77\u5230\u7684\u4f5c\u7528\uff1b\u4e3a\u4ec0\u4e48\u8981\u7528diffusion\u505a\u89c4\u5212\uff1f\u6ca1\u6709\u8bba\u8ff0\u3002\u4e2a\u4eba\u8ba4\u4e3a\uff0c\u8f68\u8ff9\u89c4\u5212\uff0c\u672c\u8eab\u53ef\u4ee5\u770b\u51fa\u662f\u5206\u5e03\u7684\u95ee\u9898\uff0c\u7528Diffusion\u5408\u60c5\u5408\u7406\uff1b\u4f46\u603b\u611f\u89c9\uff0c\u6740\u9e21\u7528\u725b\u5200\uff0cdiffusion\u66f4\u9002\u5408\u5206\u5e03\u590d\u6742\u7684\u60c5\u51b5\uff0c\u5982\u56fe\u50cf\u751f\u6210\u3001\u8bed\u97f3\u751f\u6210\uff0c\u800c\u5bf9\u4e8e\u8f68\u8ff9\u89c4\u5212\uff0c\u53ef\u80fd\u4e0d\u80fd\u51f8\u663e\u51fadiffusion\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<p>\u8865\u5145\uff1a\u57fa\u4e8eDiffusion\u7684\u65b9\u6cd5\uff0c\u548c\u524d\u9762\u6240\u8bf4\u7684\u76f4\u63a5\u7aef\u5230\u7aef\u3001\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff0c\u751a\u81f3\u57fa\u4e8eworld model\u7684\u7aef\u5230\u7aef\uff0c\u4e0d\u51b2\u7a81\uff0c\u662f\u7ed3\u5408\u4f7f\u7528\u7684\u3002\u7b80\u5355\u8bf4\uff0c\u5c31\u662f\u628a\u4e00\u6b65\u56de\u5f52\u6539\u4e3a\u591a\u6b65\u56de\u5f52\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"193\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-24-1024x193.png\" alt=\"\" class=\"wp-image-24833\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-24-1024x193.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-24-300x57.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-24-768x145.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-24.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"532\" height=\"261\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/image-25.png\" alt=\"\" class=\"wp-image-24834\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-25.png 532w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/image-25-300x147.png 300w\" sizes=\"(max-width: 532px) 100vw, 532px\" \/><\/figure>\n\n\n\n<p>\u6574\u4f53\u6765\u8bf4\uff0c\u8fd9\u51e0\u6761\u8def\u7ebf\uff0c\u7edf\u4e00\u5927\u4e8e\u5bf9\u7acb\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003\u6587\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>(mile) Hu A, Corrado G, Griffiths N, et al. 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Fiery: Future instance prediction in bird&#8217;s-eye view from surround monocular cameras[C]\/\/Proceedings of the IEEE\/CVF International Conference on Computer Vision. 2021: 15273-15282.<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u4ec0\u4e48\u662f\u7aef\u5230\u7aef\uff1f\u9996\u5148\u5b9a\u4e49\u7aef\u5230\u7aef\uff0c\u5f53\u7136\u6709\u5f88\u591a\u8bf4\u6cd5\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":[27,1],"tags":[],"class_list":["post-24810","post","type-post","status-publish","format-standard","hentry","category-industry-trends","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24810"}],"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=24810"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24810\/revisions"}],"predecessor-version":[{"id":24836,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24810\/revisions\/24836"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=24810"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=24810"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=24810"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}