{"id":25711,"date":"2025-02-27T17:35:49","date_gmt":"2025-02-27T09:35:49","guid":{"rendered":"http:\/\/192.168.10.115\/?p=25711"},"modified":"2025-02-27T17:35:49","modified_gmt":"2025-02-27T09:35:49","slug":"2025-02-27-%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6-%e8%b7%af%e7%ba%bf%e6%8e%a2%e8%ae%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/02\/27\/25711\/","title":{"rendered":"2025-02-27 \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u2014\u8def\u7ebf\u63a2\u8ba8"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/18239422064\">https:\/\/zhuanlan.zhihu.com\/p\/18239422064<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_18239422064_0\"><strong>0.1 \u4ec0\u4e48\u662f\u7aef\u5230\u7aef\uff1f<\/strong><\/h2>\n\n\n\n<p>\u9996\u5148\u5b9a\u4e49\u7aef\u5230\u7aef\uff0c\u5f53\u7136\u6709\u5f88\u591a\u8bf4\u6cd5\u3002\u6211\u89c9\u5f97\uff0c\u8d77\u7801\u8bf4\u76f8\u5bf9\u4e8e\u5206\u9636\u6bb5\u800c\u8a00\uff0c\u89c4\u5212\u4e0d\u53ea\u662f\u6839\u636e\u611f\u77e5\u548c\u9884\u6d4b\u7684\u7ed3\u679c\uff0c\u800c\u662f\u5176\u9690\u7279\u5f81\u3002\u8fdb\u4e00\u6b65\u8bf4\uff0c<strong>\u5728\u524d\u4f20\u548c\u53cd\u4f20\uff0cplanning\u53ef\u4ee5\u76f4\u63a5\u89e6\u53ca\u8f93\u5165\u4fe1\u606f<\/strong>\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_18239422064_1\"><strong>0.2 \u4e3a\u4ec0\u4e48\u505a\u7aef\u5230\u7aef\uff1f<\/strong><\/h2>\n\n\n\n<p><strong>\u2460 \u4f18\u52bf\u4e00\uff1a\u5e94\u5bf9\u573a\u666f\u66f4\u591a\u6837\uff1b<\/strong><\/p>\n\n\n\n<p><strong>\u2461 \u4f18\u52bf\u4e8c\uff1a\u4e0a\u6e38\u51fa\u9519\u7684\u7ed3\u679c\uff0c\u4e0d\u4e00\u5b9a\u5f71\u54cd\u4e0b\u6e38\u7684planning\uff1b<\/strong>\u6bd4\u5982\uff0c\u5982\u679c\u770btesla\u7684\u6709\u4e9b\u89c6\u9891\uff0c\u5c31\u662f\u8fd9\u6837\uff0c\u660e\u663e\u611f\u77e5\u51fa\u9519\u4e86\uff0c\u4e0d\u5f71\u54cdplanning\uff1b<\/p>\n\n\n\n<p><strong>\u2462 \u4f18\u52bf\u4e09\uff0c\u6027\u80fd\u5929\u82b1\u677f\u591f\u9ad8\uff0c\u6a21\u578b\u8bbe\u8ba1\u7a7a\u95f4\u5927\uff1a<\/strong>\u6bd4\u5982\u53ef\u4ee5\u548c\u5927\u6a21\u578b\u7ed3\u5408\uff1b\u6bd4\u5982\uff0c\u53ef\u4ee5\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252669806&amp;content_type=Article&amp;match_order=1&amp;q=%E6%97%A0%E7%9B%91%E7%9D%A3%E8%AE%AD%E7%BB%83&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u65e0\u76d1\u7763\u8bad\u7ec3<\/a><\/p>\n\n\n\n<p>\u7ed3\u5408\u3002\u56e0\u4e3a\uff0c\u65e0\u76d1\u7763\uff0c\u8bf4\u660e\u7279\u5f81\u65e0\u503e\u5411\uff1b\u6570\u636e\u91cf\u591f\u5927\uff0c\u8bf4\u660e\u7279\u5f81\u6cdb\u5316\u597d\u3002\u90a3\u5206\u9636\u6bb5\u7684\uff0c\u4e00\u822c\u662f\u6709\u76d1\u7763\u8bad\u7ec3\uff0c\u5f53\u7136\u4e5f\u53ef\u4ee5\u65e0\u76d1\u7763\u505a\u4e2abackbone\uff0c\u4f46\u8fd8\u662f\u9700\u8981\u6709\u76d1\u7763\u518d\u8c03\uff1b<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_18239422064_2\"><strong>1\u3001\u7aef\u5230\u7aef\u6280\u672f\u8def\u7ebf\u5212\u5206\u53ca\u4ee3\u8868\u5de5\u4f5c<\/strong><\/h2>\n\n\n\n<p><strong>\u2460 \u76f4\u63a5\u7aef\u5230\u7aef\uff1a<\/strong>\u5c31\u662f\u8bf4\uff0c\u4e0d\u9700\u8981\u4e2d\u95f4\u611f\u77e5\u9884\u6d4b\u6a21\u5757\uff0c\u6bd4\u5982mile\u3001driveworld\u3001dreamer-v1\u3001dreamer-v2\u3001sem2\u3001bevplanner\u3001transfuser\u3001driveTransformer\uff1b\u53ef\u80fd\u9700\u8981\u76d1\u7763\uff0c\u4e5f\u53ef\u80fd\u4e0d\u9700\u8981\u76d1\u7763\uff0c\u4f46\u662f\uff0c\u90fd\u6ca1\u6709\u4e2d\u95f4\u6a21\u5757\u4e86\uff1b<\/p>\n\n\n\n<p><strong>\u2461 \u6a21\u5757\u5316\u7aef\u5230\u7aef\uff1a<\/strong>\u4ee5UniAD\u4e3a\u4ee3\u8868\uff0cFusionAD\uff0cVAD\uff0cGenAD\uff0c\u90fd\u662f\uff1b<\/p>\n\n\n\n<p><strong>\u2462 \u5927\u8bed\u8a00\u6a21\u578b\u8def\u7ebf\uff1a<\/strong>drive like a human, driveGPT4\uff0c LMDrive, EMMA\uff0cSenna\uff1b\u6211\u8ba4\u4e3a\u662f\uff0c\u8fd9\u6761\u8def\u7ebf\u5728NLP\u548c\u591a\u6a21\u6001\u7684\u6210\u529f\uff0c\u5177\u6709\u542f\u53d1\u610f\u4e49\uff1b<\/p>\n\n\n\n<p><strong>\u2463 \u57fa\u4e8eworld model\u7684\u8def\u7ebf\uff1a<\/strong>world models\uff0cdreamer-V1\\V2, sem2\uff0cmile\uff0cdriveworld, \u8fd9\u4e9b\u7684\u72b6\u6001\u8f6c\u79fb\uff0c\u5176\u5b9e\u5c31\u662fworld model\u3002\u4f46\u662f\u73b0\u5728\u6240\u8bf4\u7684world model\uff0c\u6bd4\u5982gaia-1\uff0c drivewm\uff0c \u5176\u5b9e\u53ef\u4ee5\u548c\u7aef\u5230\u7aef\u6a21\u578b\u7ed3\u5408\uff0c\u6bd4\u5982drivewm\u505a\u4e86\u4e00\u4e2a\u6bd4\u8f83\u7c97\u7cd9\u7684\u7ed3\u5408\u3002\u6211\u8ba4\u4e3a\u662f\u8d8b\u52bf\u3001\u662f\u672a\u6765\u3002<\/p>\n\n\n\n<p><strong>\u2464 \u57fa\u4e8eDiffusion\u7684\u8def\u7ebf\uff1a<\/strong>\u4ee5<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252669806&amp;content_type=Article&amp;match_order=1&amp;q=DiffusionDrive&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DiffusionDrive<\/a><\/p>\n\n\n\n<p>\u4e3a\u4f8b\uff1b<\/p>\n\n\n\n<p>\u6309\u7167\u5b66\u4e60\u8303\u5f0f\uff0c\u53c8\u53ef\u5206\u4e3a\u6a21\u4eff\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\uff0c\u8fd9\u4e24\u4e2a\u5e76\u4e0d\u51b2\u7a81\uff0c\u53ef\u4ee5\u4e00\u8d77\u7528\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\uff0c\u4ec5\u4e3a\u68b3\u7406\u65b9\u4fbf\u800c\u4eba\u4e3a\u5212\u5206\uff0c\u4ec5\u4f9b\u53c2\u8003\u3002\u89d2\u5ea6\u4e0d\u540c\uff0c\u5212\u5206\u4e5f\u4e0d\u540c\u3002\u6211\u8ba4\u4e3a\uff0c\u6bcf\u4e2a\u7814\u7a76\u9886\u57df\u90fd\u6709\u5176\u81ea\u5df1\u7684\u751f\u547d\u529b\uff0c\u4e0d\u53ef\u786c\u6027\u5206\u4e3a\u51e0\u4e2aset\u7684\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_18239422064_3\"><strong>2\u3001\u8def\u7ebf\u5206\u6790<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_18239422064_4\"><strong>2.1 \u76f4\u63a5\u7aef\u5230\u7aef \u548c \u6a21\u5757\u5316\u7aef\u5230\u7aef \u7684\u5bf9\u6bd4<\/strong><\/h3>\n\n\n\n<p><strong>\u76f4\u63a5\u7aef\u5230\u7aef\uff0c<\/strong>\u7531\u4f20\u611f\u5668\u4fe1\u606f\u76f4\u63a5\u6620\u5c04\u5230action\u6216\u8005\u8f68\u8ff9\u3002\u7531\u4e8eaction\u6216\u8f68\u8ff9\u90fd\u592a\u7a00\u758f\uff0c\u8bad\u7ec3\u8f83\u4e3a\u56f0\u96be\uff0c\u56e0\u6b64\uff0c\u8fd9\u6761\u8def\u7ebf\u4e00\u822c<strong>\u8f85\u4ee5\u611f\u77e5\u7684\u76d1\u7763\u8bad\u7ec3\uff0c\u5982bevseg\u3001occ\u3001\u8f66\u9053\u7ebf\u3001\u7ea2\u7eff\u706f\u7b49<\/strong>\u3002\u6bd4\u5982mile\u3001driveworld\u3001dreamer-v1\u3001dreamer-v2\u3001sem2\u3001bevplanner\u3001transfuser\u3001driveTransformer<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-8fbaa846626f9027ce65847a6fae9d21_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u76f4\u63a5\u7aef\u5230\u7aef\uff08\u4ee5mile\u4e3e\u4f8b\uff09<\/figcaption><\/figure>\n\n\n\n<p><strong>\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff0c<\/strong>\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<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-9a0c097faa54f4d80df7d6e5655e64ec_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff08\u4ee5UniAD\u4e3e\u4f8b\uff09<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-8d35d5b0978f1f65441fa4e67cf57b68_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">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<\/figcaption><\/figure>\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<strong>\u76f4\u63a5\u7aef\u5230\u7aef\u662f\u5e76\u8054\u5f62\u5f0f<\/strong>\uff0c\u4e5f\u5c31\u662f\u57fa\u4e8e\u5171\u540c\u7684\u8868\u5f81feature map\uff0c\u6765\u5b66\u4e60\u611f\u77e5\u548c\u89c4\u5212\uff1b<strong>\u6a21\u5757\u5316\u7aef\u5230\u7aef\u7684\u4e3b\u7ebf\u662f\u4e32\u8054\u5f62\u5f0f<\/strong>\uff0c\u8fd8\u662f\u4f9d\u8d56\u4e8e\u611f\u77e5\u7ed3\u679c\u7684\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u6211\u8ba4\u4e3a\u662f<strong>\u76f4\u63a5\u7aef\u5230\u7aef\u7684\u5929\u82b1\u677f\u66f4\u9ad8\uff0c\u800c\u6a21\u5757\u5316\u7aef\u5230\u7aef\u66f4\u597d\u8bad\u7ec3\u4e00\u4e9b<\/strong>\u3002\u56e0\u4e3a\u6a21\u5757\u5316\u7aef\u5230\u7aef\u7684\u4e2d\u95f4\u6a21\u5757\uff0c\u5c31\u662f\u901a\u8fc7\u5bf9\u5e94\u7684\u611f\u77e5\uff0c\u91ca\u52a0\u663e\u793a\u7684\u7ea6\u675f\uff0c\u51cf\u5c0f\u6c42\u89e3\u7a7a\u95f4\uff0c\u90a3\u8fd9\u5e26\u6765\u7684\u597d\u5904\u5c31\u662f\u597d\u8bad\u7ec3\uff0c\u4e0d\u597d\u5c31\u662f\u53ef\u80fd\u628a\u66f4\u6709\u6548\u7684\u89c4\u5212\u7ed3\u679c\u7ed9\u7ea6\u675f\u6389\u4e86\u3002\u867d\u7136\u76f4\u63a5\u7aef\u5230\u7aef\u4e5f\u8f85\u4ee5\u611f\u77e5\uff0c\u4f46\u6bd5\u7adf\u662f\u9690\u5f0f\u7684\uff0c\u4e5f\u5c31\u662f\u611f\u77e5\u662f\u4e3a\u4e86\u5b66\u4e60feature map\uff0c \u89c4\u5212\u8fd8\u662f\u76f4\u63a5\u57fa\u4e8efeature map\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-722c67834555a0a522a830b9979fdd94_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">ICLR2025\u5728\u6295\u8bba\u6587 DriveTransformer\uff0c\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u5e76\u8054\u8f93\u51fa<\/figcaption><\/figure>\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\" id=\"h_18239422064_5\"><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><strong>\u9996\u5148\uff0c\u6211\u89c9\u5f97VLM\u6216LLM\u662f\u6709\u7528\u7684\u3002<\/strong><\/p>\n\n\n\n<p>\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><strong>\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\u3002<\/strong><\/p>\n\n\n\n<p>VLM\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><strong>\uff081\uff09\u53cc\u6d41\u67b6\u6784\u7684\u6a21\u578b\uff1a<\/strong><\/p>\n\n\n\n<p>\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<strong>\uff1b\u81f3\u4e8e\u4e8c\u8005\u600e\u4e48\u5206\u5de5\u548c\u4ea4\u4e92\uff0c\u6bcf\u4e2a\u5de5\u4f5c\u5404\u6709\u6240\u957f<\/strong>\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\u89c4\u5212\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\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-7beedde9a1c19aa0bad0ba759f747624_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">2024.03, DRIVEVLM: The Convergence of Autonomous Driving and Large Vision-Language Models<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-79b11aa0e86688111f555d367d7668f2_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">2024.05, Continuously Learning, Adapting, and Improving: A Dual-Process Approach to Autonomous Driving (LeapAD)<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-cb8bead2bf1d2d8dbe32783086e0b7a5_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">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<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-8aa756adbaf81e6d9c068d6c5c113c6e_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">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<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-35761e3cdac93b89390a6eceec0c102d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-3bfb170c70155f4ca562f3080b28173b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">2024.10\uff0cSenna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving<\/figcaption><\/figure>\n\n\n\n<p><strong>\uff082\uff093D\u4fe1\u606f\uff1a<\/strong><\/p>\n\n\n\n<p>\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\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-6d3dbfdab19a4b4fc93fc10fdc3dd5d6_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-b61b5cb2fe486a31a01baec3f2de549c_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">2024.05, &amp;quot;Is a 3D-Tokenized LLM the Key to Reliable Autonomous Driving?<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-429ca55a8d513548385923aa769f1ec3_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">2024.05, Language-Image Models with 3D Understanding\uff08Cube-LLM\uff09<\/figcaption><\/figure>\n\n\n\n<p><strong>\uff083\uff09\u603b\u7ed3\uff1a<\/strong><\/p>\n\n\n\n<p>\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<\/p>\n\n\n\n<p>\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<\/p>\n\n\n\n<p>\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<h3 class=\"wp-block-heading\" id=\"h_18239422064_6\"><strong>2.3 \u57fa\u4e8eworld model\u7684\u7aef\u5230\u7aef\u8def\u7ebf<\/strong><\/h3>\n\n\n\n<p>World Model\u5206\u4e3a\u4e24\u7c7b\uff1a<strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u4e2d\u7684world model\uff0c\u6570\u636e\u751f\u6210\u4e2d\u7684world model\u3002<\/strong><\/p>\n\n\n\n<p><strong>world model\u7684\u5b9a\u4e49\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-2dedd7c1bf56e9728793c32ab1ca1547_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">2018\uff0cWorld Models<\/figcaption><\/figure>\n\n\n\n<p>World Model\u8981\u5177\u5907<strong>\u4e09\u4e2a\u5c5e\u6027\uff1a\u9884\u6d4b\u3001\u8868\u5f81\u3001\u53ef\u63a7\u3002<\/strong><\/p>\n\n\n\n<p><strong>\uff081\uff09\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u4e2d\u7684world model<\/strong><\/p>\n\n\n\n<p><strong>\u7528\u4e8e\u5f00\u8f66\uff1a<\/strong>\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<\/p>\n\n\n\n<p>\u6bd4\u5982\u65e9\u671f\u7684world models\uff0cdreamr-V1, dream-V2, sem2\uff0c Fiery\uff0cmile\uff0c \u8fd1\u671f\u7684DriveWorld\uff0c\u4ee5Mile\u4e3a\u4ee3\u8868\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-wayve wp-block-embed-wayve\"><div class=\"wp-block-embed__wrapper\">\n<blockquote class=\"wp-embedded-content\" data-secret=\"HJjVxFkMAQ\"><a href=\"https:\/\/wayve.ai\/thinking\/learning-a-world-model-and-a-driving-policy\/\">Learning a world model and a driving policy<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"&#8220;Learning a world model and a driving policy&#8221; &#8212; Wayve\" src=\"https:\/\/wayve.ai\/thinking\/learning-a-world-model-and-a-driving-policy\/embed\/#?secret=pfXa7vogQN#?secret=HJjVxFkMAQ\" data-secret=\"HJjVxFkMAQ\" width=\"500\" height=\"282\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-260167776658da49aef53c0f799f2165_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u4ee5Mile\u4e3e\u4f8b\uff0c\u5176\u5148\u9a8c\u62df\u5408\u540e\u9a8c\uff0c\u5c31\u662fworld model<\/figcaption><\/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\uff0c\uff0c\u7528\u5230\u667a\u9a7e\u6709\u4e00\u4e2a\u660e\u663e\u95ee\u9898\uff1a\u7d2f\u8ba1\u8bef\u5dee\u3002<\/p>\n\n\n\n<p>\u76ee\u524d\uff0c\u667a\u9a7e\u9886\u57df\u7684World Model\uff0c\u4e00\u822c\u6307<strong>\u57fa\u4e8eaction\u6761\u4ef6\u7684\u9a7e\u9a76\u573a\u666f\u6570\u636e\u751f\u6210<\/strong>\u3002<\/p>\n\n\n\n<p><strong>\uff082\uff09\u6570\u636e\u751f\u6210\u4e2d\u7684world model<\/strong><\/p>\n\n\n\n<p><strong>\u7528\u4e8e\u6570\u636e\u751f\u6210\u548c\u9a7e\u9a76\u884c\u4e3a\u7406\u89e3\uff1a<\/strong>corner case\u7684\u6570\u636e\u751f\u6210\uff0c\u6a21\u578b\u6216\u4eba\u7c7b\u9a7e\u9a76\u884c\u4e3a\u7684\u7406\u89e3<\/p>\n\n\n\n<p>\u4ee5GAIA-1\u4e3a\u4ee3\u8868\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-wayve wp-block-embed-wayve\"><div class=\"wp-block-embed__wrapper\">\n<blockquote class=\"wp-embedded-content\" data-secret=\"xH3ixgLeJS\"><a href=\"https:\/\/wayve.ai\/thinking\/scaling-gaia-1\/\">Scaling GAIA-1: 9-billion parameter generative world model for autonomous driving<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"&#8220;Scaling GAIA-1: 9-billion parameter generative world model for autonomous driving&#8221; &#8212; Wayve\" src=\"https:\/\/wayve.ai\/thinking\/scaling-gaia-1\/embed\/#?secret=40HHEBvggB#?secret=xH3ixgLeJS\" data-secret=\"xH3ixgLeJS\" width=\"500\" height=\"282\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-47a0b77edbf34299123e111fec8f0966_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">2023.09\uff0cGAIA-1<\/figcaption><\/figure>\n\n\n\n<p><strong>\uff083\uff09\u4e8c\u8005\u7684\u7edf\u4e00\uff1aFoundation Model<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-cc6985a380a8463483cfdf521b4e3cbb_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">2024.05, DriveWorld, \u628aOcc\u9884\u6d4b\u548caction\u89c4\u5212\u5408\u4e8c\u4e3a\u4e00<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-260167776658da49aef53c0f799f2165_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">Mile, \u5176\u5b9e\u4e5f\u662f\u751f\u6210\u548c\u89c4\u5212\u5408\u4e8c\u4e3a\u4e00\u7684<\/figcaption><\/figure>\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><strong>\uff084\uff09\u603b\u7ed3world model\u7684\u7528\u5904\uff1a<\/strong><\/p>\n\n\n\n<p>\u7b2c\u4e00\u4e2a\u662f\uff1a\u7aef\u5230\u7aef\u51faplanning\u6216action<\/p>\n\n\n\n<p>\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<\/p>\n\n\n\n<p>\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<\/p>\n\n\n\n<p>\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\uff1b world 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<h3 class=\"wp-block-heading\" id=\"h_18239422064_7\"><strong>2.4 \u57fa\u4e8eDiffusion\u7684\u7aef\u5230\u7aef\u8def\u7ebf<\/strong><\/h3>\n\n\n\n<p>\u8fd9\u65b9\u9762\u770b\u7684\u4e0d\u591a\uff0c\u4ee5DiffusionDrive\u4e3e\u4f8b<\/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\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-525b8de2c2f2f4a22e2e1304d69bdd6a_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>1. \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<\/p>\n\n\n\n<p>2. \u56e0\u6b64\u63d0\u51fa\uff0cTruncated Diffusion\uff1a<\/p>\n\n\n\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\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-a2a7ba016a7e3d8f8f20ee1492b0b171_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>i. \u6d88\u878d\u5b9e\u9a8c\uff0c\u65e0\u4ece\u9a8c\u8bc1diffusion\u771f\u6b63\u8d77\u5230\u7684\u4f5c\u7528\uff1b<\/p>\n\n\n\n<p>ii. \u4e3a\u4ec0\u4e48\u8981\u7528diffusion\u505a\u89c4\u5212\uff1f\u6ca1\u6709\u8bba\u8ff0\u3002<strong>\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\u6216\u8bb8\u4e0d\u80fd\u51f8\u663e\u51fadiffusion\u7684\u4f18\u52bf\u3002<\/strong><\/p>\n\n\n\n<p><strong>\u8865\u5145\uff1a<\/strong>\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<h2 class=\"wp-block-heading\" id=\"h_18239422064_8\"><strong>3\u3001\u603b\u7ed3<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-262fe1d20dfaba99dec1eff1c8abb7d5_1440w.jpg\" alt=\"\"\/><\/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<h2 class=\"wp-block-heading\" id=\"h_18239422064_9\">4\u3001\u4e0d\u5b9a\u671f\u66f4\u65b0<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_18239422064_10\">4.1 2025.02.15\uff1a\u5927\u6a21\u578b\u84b8\u998f\u7aef\u5230\u7aef<\/h3>\n\n\n\n<p>\u5728\u201c2.2 \u57fa\u4e8eVLM\u6216LLM\u7684\u7aef\u5230\u7aef\u65b9\u6848\u201d\u63d0\u5230VLM\u548c\u7aef\u5230\u7aef\u6a21\u578b\u4e24\u4e2a\u5206\u652f\u4ea4\u4e92\u4fe1\u606f\u7684\u53cc\u6d41\u67b6\u6784\u65b9\u6848\u3002\u8fd9\u79cd\u65b9\u6848\u7684\u95ee\u9898\u4e4b\u4e00\u662f\uff0cVLM\u592a\u5927\uff0c\u90e8\u7f72\u96be\u5ea6\u548c\u8fd0\u884c\u901f\u5ea6\uff0c\u90fd\u4e0d\u597d\u89e3\u51b3\u3002<strong>\u6700\u8fd1\u8c03\u7814\u7684\u4e00\u4e9b\u8bba\u6587\uff0c\u901a\u8fc7\u84b8\u998f\u7684\u65b9\u6848\uff0c\u53ea\u9700\u5728\u8bad\u7ec3\u65f6\u4f7f\u7528VLM\uff0cinference\u65f6\u53bb\u6389VLM\u5206\u652f\uff0c\u53ea\u4fdd\u7559\u7aef\u5230\u7aef\u5206\u652f\u3002\u5f88\u597d\u7684\u89e3\u51b3\u4e86\u4e0a\u8ff0\u95ee\u9898\u3002<\/strong>\u8bba\u6587\u5982\uff1aVLM-AD\u3001DiMA\u3002<\/p>\n\n\n\n<p><strong>\uff081\uff09 2024.12,<\/strong> <strong>VLM-AD: End-to-End Autonomous Driving through<\/strong> <strong>Vision-Language Model Supervision\uff0cCruise<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-0feebc141c83be05e3cbb965118e524c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-bbe2e933f14496defe74c5aaa76a3127_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u65b9\u6848\u603b\u7ed3\uff1a<\/strong><\/p>\n\n\n\n<p>\u2460 \u603b\u7ed3\uff1a\u7528GPT-4o\u751f\u6210reasoning\u548caction\u5e8f\u5217\uff0cE2E\u8bbe\u8ba1\u5206\u652f\u6765\u5b66\u4e60\u8fd9\u4e9b\uff1b<\/p>\n\n\n\n<p>\u2461 GPT-4o\u4e0d\u8bad\u7ec3\u4e0d\u5fae\u8c03\uff1b\u5bf9\u4e8e\u6587\u672c\uff0c\u4f7f\u7528clip; \u52a8\u4f5c\u5e8f\u5217\uff0cone-hot\uff1a<\/p>\n\n\n\n<p>\u2462 \u84b8\u998f\u6a21\u5757\u503c\u5f97\u501f\u9274\uff0c\u53c2\u8003\u4e86DINO\uff1b<\/p>\n\n\n\n<p>\u2463 \u65f6\u5e8f\u56fe\u9001\u7ed9GPT-4o\u7684\u65b9\u6cd5\uff0c\u503c\u5f97\u501f\u9274\uff1b<\/p>\n\n\n\n<p><strong>\uff082\uff09 2025.01,\uff08DiMA\uff09Distilling Multi-modal Large Language Models for Autonomous Driving\uff0c\u9ad8\u901a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-f368f5515e44447b86b1f725be891b47_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u65b9\u6848\u603b\u7ed3\uff1a<\/strong><\/p>\n\n\n\n<p>\u2460 \u84b8\u998f\uff1a<strong>VLM\u84b8\u998f\u7ed9\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff1b<\/strong><\/p>\n\n\n\n<p>\u2461 MLLM\u7684\u8bbe\u8ba1\uff1a\u5176\u672c\u8eab\u662f\u591a\u6a21\u6001\u5e76\u8054\u6a21\u5f0f\uff1b<\/p>\n\n\n\n<p>\u2462 MLLM\u7684\u4ee3\u7406\u4efb\u52a1\uff1a\u5c24\u5176\u662fbev mask\u91cd\u5efa\uff0c\u548c\u9884\u6d4b\u672a\u6765\uff0c\u5bf9\u589e\u5f3a\u7279\u5f81\u5f88\u6709\u5e2e\u52a9\uff1b<\/p>\n\n\n\n<p>\u2463 \u8bad\u7ec3\u65b9\u5f0f\uff1a\u4e24\u9636\u6bb5\uff0c\u5408\u7406\u53ef\u501f\u9274\uff1b<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_18239422064_11\">4.2 2025.02.15\uff1a\u57fa\u4e8eDiffusion\u7684\u7aef\u5230\u7aef<\/h3>\n\n\n\n<p>\u5728\u201c2.4 \u57fa\u4e8eDiffusion\u7684\u7aef\u5230\u7aef\u8def\u7ebf\u201d\u4ecb\u7ecd\u4e86DiffusionDrive, \u6700\u8fd1\u53c8\u51fa\u73b0\u4e00\u4e9b\u57fa\u4e8eDiffusion\u505a\u7aef\u5230\u7aef\u89c4\u5212\u7684\u8bba\u6587\uff0c\u611f\u89c9\u4f1a\u5f62\u6210\u4e00\u80a1\u8d8b\u52bf\u3002<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252669806&amp;content_type=Article&amp;match_order=1&amp;q=VAD%E8%B7%AF%E7%BA%BF&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">VAD\u8def\u7ebf<\/a><\/p>\n\n\n\n<p>\u7684\u8d8b\u5411\u6210\u719f\u4e86\uff0cDiffusion\u7684\u53ef\u80fd\u521a\u5f00\u59cb\uff0c\u800c\u4e14\u5177\u5907\u505a\u591a\u6a21\u89c4\u5212\u3001\u7ed3\u6784\u53ef\u4ee5\u548cworld model\u7ed3\u5408\u7b49\u5148\u5929\u4f18\u52bf\u3002\u503c\u5f97\u5173\u6ce8\u3002\u76f8\u5173\u8bba\u6587\uff1aDiffusionDrive(2.4\u5df2\u63d0\u5230)\u3001Diffusion Planner\u3001He-Drive\uff1a<\/p>\n\n\n\n<p><strong>\uff081\uff09 2025.01,\uff08Diffusion Planner\uff09Diffusion-based Planning for Autonomous Driving with Flexible Guidance\uff0c\u6e05\u534e<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-250d336175694b82bbbd1f7836bacd68_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u65b9\u6848\u603b\u7ed3\uff1a<\/strong><\/p>\n\n\n\n<p>\u2460 \u57fa\u672c\u6846\u67b6\uff1a\u548cDiffusionDrive\u662f\u7c7b\u4f3c\u7684\uff0c\u5c31\u662f\u573a\u666f\u7279\u5f81\u4f5c\u4e3a\u6761\u4ef6\uff0c\u5f15\u5165\u7ed9Diffusion; \u4e0d\u8fc7\u662f\u4e8c\u9636\u6bb5\u7684\uff1b<\/p>\n\n\n\n<p>\u2461 \u81ea\u8f66\u89c4\u5212\u548c\u4ed6\u8f66\u8f68\u8ff9\u9884\u6d4b\uff0c\u540c\u65f6\u505a\uff0c\u8fd9\u4e2a\u662f\u5408\u7406\u7684\uff0c\u5728sparsedrive\u91cc\u6709\u8bba\u8ff0\uff1b<\/p>\n\n\n\n<p>\u2462 Vehicle Information Integration\uff1aDiffusion\u7684\u8f93\u5165\uff0cconcat\u4e86\u81ea\u8f66\u548c\u4ed6\u8f66\u5f53\u524d\u72b6\u6001\u4f5c\u4e3a\u5f15\u5bfc\uff0c\u4e0d\u8fc7\u53ea\u6709\u5750\u6807\u548cheading\u89d2\uff0c\u6ca1\u6709\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff1b\u4e5f\u8fd8\u597d\u5427\uff0c\uff0c<\/p>\n\n\n\n<p>\u2463 \u5bfc\u822a\u4fe1\u606f\u878d\u5408\uff1a\u91c7\u7528adaptive LN, \u8fd8\u6709scale, \u53ef\u501f\u9274\uff1b<\/p>\n\n\n\n<p>\u2464 \u63a7\u5236\u6761\u4ef6\u7684\u5f15\u5165\uff0c\u5982\u901f\u5ea6\u3001\u9632\u78b0\u649e\u4e4b\u7c7b\u7684\uff0c\u91c7\u7528diffusion posterior sampling\u7684\u65b9\u6cd5\uff1b\u611f\u89c9\u53ef\u4ee5\u628a\u7ea6\u675f\u53d8\u4e3adiffusion\u7684\u6761\u4ef6\u5f15\u5bfc\uff1b<\/p>\n\n\n\n<p>\u2465 \u5176\u4ed6tricks\uff1a\u5f53\u524d\u72b6\u6001\u6dfb\u52a0\u566a\u58f0\u3001\u8f68\u8ff9\u6570\u636e\u589e\u5f3a\u3001\u91c7\u7528\u81ea\u8f66\u4e2d\u5fc3\u5750\u6807\u3001x\u548cy\u7684\u5750\u6807\u91c7\u7528z-score\u5f52\u4e00\u5316\uff1binference\u65f6\uff0c\u91c7\u7528DPM\u6765\u52a0\u901f\uff1b<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_18239422064_12\"><strong>\u53c2\u8003\u6587\u732e\uff1a<\/strong><\/h2>\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\n\n\n<li>\uff08VLM-AD\uff09Xu Y, Hu Y, Zhang Z, et al. Vlm-ad: End-to-end autonomous driving through vision-language model supervision[J]. arXiv preprint arXiv:2412.14446, 2024.<\/li>\n\n\n\n<li>\uff08DiMA\uff09Hegde D, Yasarla R, Cai H, et al. Distilling Multi-modal Large Language Models for Autonomous Driving[J]. arXiv preprint arXiv:2501.09757, 2025.<\/li>\n\n\n\n<li>\uff08Diffusion Planner\uff09Zheng Y, Liang R, Zheng K, et al. Diffusion-Based Planning for Autonomous Driving with Flexible Guidance[J]. arXiv preprint arXiv:2501.15564, 2025.<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&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-25711","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\/25711"}],"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=25711"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/25711\/revisions"}],"predecessor-version":[{"id":25712,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/25711\/revisions\/25712"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=25711"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=25711"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=25711"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}