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\u7ecf\u5178VLA<\/a><\/strong><\/p>\n\n\n\n

\u6d41\u7a0b<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u8bba\u6587\u300aWiseAD: Knowledge Augmented End-to-End Autonomous Driving with Vision-Language Model\u300b<\/p>\n\n\n\n

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\u5730\u5e73\u7ebf\u7684SENNA<\/a><\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u8bba\u6587\u300aSenna: Bridging Large Vision-Language Models and End-to-end Autonomous Driving\u300b<\/p>\n\n\n\n

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\u4e00\u822cVLA\u76f4\u63a5\u5c06\u524d\u89c6\u56fe\u50cftoken\u5316\u4e4b\u540e\u8f93\u5165VLA\u6a21\u578b\uff0c\u5982\u679c\u662f\u9ad8\u5206\u8fa8\u7387\u56fe\u50cf\u7684\u8bdd\uff0ctoken\u6570\u91cf\u592a\u591a\uff0c\u5373\u4f7f\u7528\u82f1\u4f1f\u8fbeH100\u4e5f\u96be\u4ee5\u505a\u5230\u6700\u4f4e10Hz\u7684\u4e0b\u9650\u3002\u5982\u679c\u5c06\u56fe\u50cf\u63d0\u53d6\u7279\u5f81\uff0ctoken\u6570\u91cf\u4f1a\u5927\u5e45\u5ea6\u51cf\u5c11\uff0c\u4f46\u8fd9\u6837\u4f1a\u589e\u52a0\u4e00\u4e2a\u7279\u5f81\u63d0\u53d6\u6a21\u5757\uff0c\u901a\u5e38\u5c31\u662fBEVFormer<\/a><\/p>\n\n\n\n

\uff0c\u8fd9\u6837\u5c31\u53c8\u56de\u5230\u4e86\u6a21\u5757\u5316\u5206\u6bb5\u7aef\u5230\u7aef\u3002<\/p>\n\n\n\n

\u4e16\u754c\u6a21\u578b\u548cDiffusion Planner<\/a>\u51fa\u73b0\u4e86\uff0cDiffusion Planner\u53c2\u6570\u89c4\u6a21\u5c0f\uff0c\u7ed3\u6784\u7b80\u5355\u80fd\u591f\u505a\u5230\u9ad8\u9891\u54cd\u5e94\uff0c\u4e0e\u4e16\u754c\u6a21\u578b\u6216\u8005\u5f3a\u5316\u5b66\u4e60\u7ed3\u5408\u8bad\u7ec3\u4e5f\u66f4\u4e3a\u5bb9\u6613\u3002\u76ee\u524d\uff0c\u5355\u7eafDiffusion Planner\u57fa\u672c\u4e0a\u80fd\u505a\u523090\u5206\uff0c\u6709\u4e9b\u5f3a\u5316\u5b66\u4e60\uff0c\u5982\u82f9\u679c\u7684\u81ea\u6211\u535a\u5f08\u63a5\u8fd1\u6ee1\u5206\uff0c\u4e8e\u662f\u4eba\u4eec\u60f3\u5230\u7ed3\u5408LLM\u548cDiffusion Planner\u6216\u8005Diffusion Policy\uff0c\u65e2\u6709\u9ad8\u6027\u80fd\u53c8\u6709\u9ad8\u6548\u7387\uff0c\u5178\u578b\u4ee3\u8868\u5c31\u662f\u7406\u60f3\u6c7d\u8f66\u7684MindVLA<\/a>\u3002\u5c0f\u7c73\u7684Orion\u4e5f\u7c7b\u4f3c\uff0c\u8f68\u8ff9\u89c4\u5212\u6a21\u578b\u7528\u4e86GRU\u751f\u6210\u5f0f<\/a>\u3002<\/p>\n\n\n\n

\u7406\u60f3\u6c7d\u8f66MindVLA<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

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\u7406\u60f3\u6c7d\u8f66\u73af\u5883\u611f\u77e5\u6a21\u5757<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u7406\u60f3\u6c7d\u8f66<\/p>\n\n\n\n

\u7406\u60f3\u6c7d\u8f66\u91c7\u7528\u4e86\u9ad8\u65af\u4e2d\u5fc3\u76844D\u7a00\u758f\u8868\u793a\uff0c\u76ee\u524d\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u9886\u57df\u73b0\u6709\u65b9\u6cd5\u91c7\u7528\u5bc6\u96c6\u8868\u793a\uff08\u4f8b\u5982\uff0cBEV\u9e1f\u77b0\u56fe\uff09\u6216\u7a00\u758f\u8868\u793a\uff08\u4f8b\u5982\uff0c\u5b9e\u4f8b\u6846instance bounding box\uff09\u8fdb\u884c\u51b3\u7b56\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u5168\u9762\u6027\u548c\u6548\u7387\u4e4b\u95f4\u5b58\u5728\u6743\u8861\u3002\u7406\u60f3\u6c7d\u8f66\u63a2\u7d22\u4e86\u4e00\u4e2a\u4ee5\u9ad8\u65af\u4e3a\u4e2d\u5fc3\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff08GaussianAD\uff09\u6846\u67b6\uff0c\u5e76\u5229\u75283D\u8bed\u4e49\u9ad8\u65af\u6765\u5e7f\u6cdb\u4f46\u7a00\u758f\u5730\u63cf\u8ff0\u573a\u666f\uff0c\u4e5f\u5c31\u662ftoken\u6570\u91cf\u5f88\u5c11\u3002\u7528\u5747\u5300\u76843D\u9ad8\u65af\u521d\u59cb\u5316\u573a\u666f\uff0c\u5e76\u4f7f\u7528\u5468\u56f4\u89c6\u56fe\u56fe\u50cf\u9010\u6b65\u5b8c\u5584\u5b83\u4eec\u4ee5\u83b7\u5f973D\u9ad8\u65af\u573a\u666f\u8868\u793a\u3002\u7136\u540e\u4f7f\u7528\u7a00\u758f\u5377\u79ef\u6765\u9ad8\u6548\u6267\u884c3D\u611f\u77e5\uff08\u4f8b\u5982\uff0c3D\u68c0\u6d4b\uff0c\u8bed\u4e49\u5730\u56fe\u6784\u5efa\uff09\u3002<\/p>\n\n\n\n

\u9ad8\u65af\u5206\u5e03\u7c7b\u4f3c\u8bed\u8a00\u5728LLM\u9886\u57df\u7684token\u5206\u5e03\uff0c\u4e24\u8005\u53ef\u4ee5\u6bd4\u8f83\u5bb9\u6613\u5bf9\u9f50\uff0c\u56e0\u6b64\u4e0d\u4f7f\u7528VLM\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u5c0f\u7c73\u6c7d\u8f66\u8bba\u6587\u300aORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generation\u300b<\/p>\n\n\n\n

\u5c0f\u7c73\u6c7d\u8f66\u7528QT-Former\u53d6\u5f97\u4e0e\u7406\u60f3\u6c7d\u8f66\u8fd1\u4f3c\u7684\u6548\u679c\uff0c\u5f15\u5165\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u7684Querying Transformer\uff08Q-Former\uff09\uff0c\u5728\u51bb\u7ed3\u7684\u56fe\u50cf\u7f16\u7801\u5668\u548cLLM\u8bed\u8a00\u6a21\u578b\u4e4b\u95f4\u67b6\u8d77\u6865\u6881\uff0c\u4e5f\u4e0d\u9700\u8981\u7528VLM\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u7406\u60f3\u6c7d\u8f66<\/p>\n\n\n\n

\u7406\u60f3\u6c7d\u8f66\u7684Diffusion Planner\u4e0eRLHF\uff08\u4eba\u7c7b\u53cd\u9988\u5f3a\u5316\u5b66\u4e60\uff09\u8054\u5408\u8bad\u7ec3\uff0c\u6269\u6563\u6a21\u578b\uff08Diffusion Model\uff09\u901a\u8fc7\u5229\u7528\u5927\u89c4\u6a21\u79bb\u7ebf\u6570\u636e\u5bf9\u8f68\u8ff9\u5206\u5e03\u8fdb\u884c\u5efa\u6a21\uff0c\u80fd\u591f\u751f\u6210\u590d\u6742\u7684\u8f68\u8ff9\u3002\u4e0e\u4f20\u7edf\u7684\u81ea\u56de\u5f52transformer\u89c4\u5212\u65b9\u6cd5\u4e0d\u540c\uff0c\u57fa\u4e8e\u6269\u6563\u7684\u89c4\u5212\u5668\u901a\u8fc7\u4e00\u7cfb\u5217\u53bb\u566a\u6b65\u9aa4\u53ef\u4ee5\u6574\u4f53\u751f\u6210\u5b8c\u6574\u8f68\u8ff9\uff0c\u65e0\u9700\u4f9d\u8d56\u524d\u5411\u52a8\u529b\u5b66\u6a21\u578b\uff0c\u6709\u6548\u89e3\u51b3\u4e86\u524d\u5411\u6a21\u578b\u7684\u5173\u952e\u5c40\u9650\u6027\uff0c\u7279\u522b\u9002\u7528\u4e8e\u5177\u6709\u81ea\u52a8\u9a7e\u9a76\u957f\u5468\u671f\u6216\u7a00\u758f\u5956\u52b1\u7684\u89c4\u5212\u4efb\u52a1\u3002\u6269\u6563\u6a21\u5f0f\u6700\u65e9\u51fa\u73b0\u5728\u89c6\u9891\u751f\u6210\u9886\u57df\uff0c\u5373\u7528\u6587\u672c\u751f\u6210\u89c6\u9891\u3002<\/p>\n\n\n\n

\u6269\u6563\u6a21\u578b\u5728\u7ecf\u5178\u7684\u667a\u80fd\u4f53 – \u73af\u5883 – \u7ecf\u9a8c\u56de\u653e\u6c60\u5faa\u73af\u4e2d\u4e0e\u4ee5\u5f80\u89e3\u51b3\u65b9\u6848\u76f8\u6bd4\u8d77\u5230\u4e0d\u540c\u4f5c\u7528\u7684\u793a\u610f\u56fe<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u8bba\u6587\u300aDiffusion Models for Reinforcement Learning: A Survey\u300b<\/p>\n\n\n\n

\u6269\u6563\u6a21\u578b\u5728\u5f3a\u5316\u5b66\u4e60\u4e2d\u7684\u89d2\u8272<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u8bba\u6587\u300aDiffusion Models for Reinforcement Learning: A Survey\u300b<\/p>\n\n\n\n

\u5f3a\u5316\u5b66\u4e60\u4e2d\u7684\u89c4\u5212\u662f\u6307\u901a\u8fc7\u4f7f\u7528\u52a8\u6001\u6a21\u578b\u5728\u60f3\u8c61\u4e2d\u505a\u51b3\u7b56\uff0c\u518d\u9009\u62e9\u6700\u5927\u5316\u7d2f\u79ef\u5956\u52b1\u7684\u9002\u5f53\u52a8\u4f5c\u3002\u89c4\u5212\u7684\u8fc7\u7a0b\u901a\u5e38\u4f1a\u63a2\u7d22\u5404\u79cd\u52a8\u4f5c\u548c\u72b6\u6001\u7684\u5e8f\u5217\uff0c\u4ece\u800c\u63d0\u5347\u51b3\u7b56\u7684\u957f\u671f\u6548\u679c\u3002\u5728\u57fa\u4e8e\u6a21\u578b\u7684\u5f3a\u5316\u5b66\u4e60\uff08MBRL\uff0c\u5c31\u662f\u4e16\u754c\u6a21\u578b\uff09\u6846\u67b6\u4e2d\uff0c\u89c4\u5212\u5e8f\u5217\u901a\u5e38\u4ee5\u81ea\u56de\u5f52\u65b9\u5f0f\u8fdb\u884c\u6a21\u62df\uff0c\u5bfc\u81f4\u7d2f\u79ef\u8bef\u5dee\u3002\u6269\u6563\u6a21\u578b\u53ef\u4ee5\u540c\u65f6\u751f\u6210\u591a\u6b65\u89c4\u5212\u5e8f\u5217\u3002\u73b0\u6709\u8bba\u6587\u7528\u6269\u6563\u6a21\u578b\u751f\u6210\u7684\u76ee\u6807\u975e\u5e38\u591a\u6837\uff0c\u5305\u62ec (s,a,r)\u3001(s,a)\u3001\u4ec5\u6709 s\u3001\u4ec5\u6709 a \u7b49\u7b49\u3002\u4e3a\u4e86\u5728\u5728\u7ebf\u8bc4\u4f30\u65f6\u751f\u6210\u9ad8\u5956\u52b1\u7684\u8f68\u8ff9\uff0c\u8bb8\u591a\u5de5\u4f5c\u4f7f\u7528\u4e86\u6709\u5206\u7c7b\u5668\u6216\u65e0\u5206\u7c7b\u5668\u7684\u5f15\u5bfc\u91c7\u6837\u6280\u672f\u3002<\/p>\n\n\n\n

\u5728\u6269\u6563\u7b56\u7565\u9886\u57df\uff0c\u66f4\u7c7b\u4f3c\u4e8e\u65e0\u6a21\u578b\u5f3a\u5316\u5b66\u4e60\u3002Diffusion-QL \u9996\u5148\u5c06\u6269\u6563\u7b56\u7565\u4e0e Q \u5b66\u4e60\u6846\u67b6\u7ed3\u5408\u3002\u7531\u4e8e\u6269\u6563\u6a21\u578b\u62df\u5408\u591a\u6a21\u6001\u5206\u5e03\u7684\u80fd\u529b\u8fdc\u8d85\u4f20\u7edf\u6a21\u578b\uff0c\u6269\u6563\u7b56\u7565\u5728\u7531\u591a\u4e2a\u884c\u4e3a\u7b56\u7565\u91c7\u6837\u7684\u591a\u6a21\u6001\u6570\u636e\u96c6\u4e2d\u8868\u73b0\u826f\u597d\u3002\u6269\u6563\u7b56\u7565\u4e0e\u666e\u901a\u7b56\u7565\u76f8\u540c\uff0c\u901a\u5e38\u4ee5\u72b6\u6001\u4f5c\u4e3a\u6761\u4ef6\u751f\u6210\u52a8\u4f5c\uff0c\u540c\u65f6\u8003\u8651\u6700\u5927\u5316 Q (s,a) \u51fd\u6570\u3002Diffusion-QL \u7b49\u65b9\u6cd5\u5728\u6269\u6563\u6a21\u578b\u8bad\u7ec3\u65f6\u52a0\u4e0a\u52a0\u6743\u7684\u4ef7\u503c\u51fd\u6570\u9879\uff0c\u800c CEP \u4ece\u80fd\u91cf\u7684\u89c6\u89d2\u6784\u9020\u52a0\u6743\u56de\u5f52\u76ee\u6807\uff0c\u7528\u4ef7\u503c\u51fd\u6570\u4f5c\u4e3a\u56e0\u5b50\uff0c\u8c03\u6574\u6269\u6563\u6a21\u578b\u5b66\u5230\u7684\u52a8\u4f5c\u5206\u5e03\u3002<\/p>\n\n\n\n

\u6269\u6563\u6a21\u578b\u7684\u5f15\u5165\u6709\u52a9\u4e8e\u79bb\u7ebf\u5f3a\u5316\u5b66\u4e60\u7b56\u7565\u62df\u5408\u591a\u6a21\u6001\u6570\u636e\u5206\u5e03\u5e76\u6269\u5c55\u4e86\u7b56\u7565\u7684\u8868\u5f81\u80fd\u529b\u3002Diffuser \u9996\u5148\u63d0\u51fa\u4e86\u57fa\u4e8e\u5206\u7c7b\u5668\u6307\u5bfc\u7684\u9ad8\u5956\u52b1\u8f68\u8ff9\u751f\u6210\u7b97\u6cd5\u5e76\u542f\u53d1\u4e86\u5927\u91cf\u7684\u540e\u7eed\u5de5\u4f5c\u3002\u540c\u65f6\uff0c\u6269\u6563\u6a21\u578b\u4e5f\u80fd\u5e94\u7528\u5728\u591a\u4efb\u52a1\u4e0e\u591a\u667a\u80fd\u4f53Collective Modeling\u5f3a\u5316\u5b66\u4e60\u573a\u666f\u3002<\/p>\n\n\n\n

\u6e05\u534e\u5927\u5b66\u8054\u5408\u6beb\u672b\u667a\u884c\u3001\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\u3001\u6e2f\u4e2d\u6587\u3001\u4e0a\u6d77\u4ea4\u5927\u3001\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u7684\u53d1\u8868\u4e8eICLR 2025\u7684\u8bba\u6587\u300aDiffusion-based Planning for Autonomous Driving with Flexible Guidance\u300b\uff0c\u4e5f\u662fdiffusion\u505a\u8def\u5f84\u8f68\u8ff9\u89c4\u5212\u7684\u4e00\u4e2a\u4f8b\u5b50\u3002<\/p>\n\n\n\n

Diffusion Planner\u67b6\u6784<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u8bba\u6587\u300aDiffusion-based Planning for Autonomous Driving with Flexible Guidance\u300b<\/p>\n\n\n\n

Diffusion Planner\u67b6\u6784\u8003\u8651\u4e86\u5468\u56f4\u8f66\u8f86\u7684\u5386\u53f2\u4fe1\u606f\u3001\u9053\u8def\u4fe1\u606f\u548c\u9759\u6001\u969c\u788d\u7269\uff0c\u8bbe\u8ba1\u4e86\u7b80\u6d01\u7684\u7f16\u7801\u5668\u7ed3\u6784\u7528\u4e8e\u4fe1\u606f\u63d0\u53d6\uff0c\u5e76\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u4e0e\u52a0\u566a\u540e\u7684\u81ea\u8f66\u548c\u5468\u8f66\u8f68\u8ff9\u8fdb\u884c\u4fe1\u606f\u4ea4\u4e92\u3002\u6b64\u5916\u8fd8\u5f15\u5165\u4e86\u989d\u5916\u7684\u5bfc\u822a\u4fe1\u606f\u4ee5\u53ca\u6269\u6563\u6a21\u578b\u7279\u6709\u7684\u52a0\u566a\u6b65\u6570\u4fe1\u606f\u3002\u4e3a\u4e86\u907f\u514d\u6a21\u578b\u91cd\u590d\u81ea\u8f66\u5386\u53f2\u884c\u4e3a\u5bfc\u81f4\u95ed\u73af\u6027\u80fd\u4e0b\u964d\uff0c\u4ec5\u8003\u8651\u81ea\u8f66\u5f53\u524d\u65f6\u523b\u7684\u4f4d\u7f6e\u548c\u671d\u5411\uff0c\u5e76\u4e0e\u5468\u8f66\u7684\u5f53\u524d\u72b6\u6001\u4e00\u8d77\u62fc\u63a5\u5230\u52a0\u566a\u8f68\u8ff9\u4e2d\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u8d77\u59cb\u72b6\u6001\u7684\u5f15\u5bfc\u8fd8\u80fd\u8fdb\u4e00\u6b65\u964d\u4f4e\u6a21\u578b\u5bf9\u672a\u6765\u8f68\u8ff9\u751f\u6210\u7684\u96be\u5ea6\u3002<\/p>\n\n\n\n

nuPlan\u6570\u636e\u96c6\u4e0a\u7684diffusion planner\u6d4b\u8bd5\u6210\u7ee9\uff0c\u76f8\u5f53\u4e0d\u9519\uff08\u89c1\u4e0b\u56fe\uff09\uff0c\u636e\u6089\u8fd0\u884c\u9891\u7387\u53ef\u4ee5\u523020Hz\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u6570\u636e\u6765\u6e90\uff1a\u8bba\u6587\u300aDiffusion-based Planning for Autonomous Driving with Flexible Guidance\u300b<\/p>\n\n\n\n

2025\u5e743\u6708\uff0c\u5730\u5e73\u7ebf\u548c\u534e\u4e2d\u79d1\u6280\u5927\u5b66\u8054\u5408\u53d1\u8868\u8bba\u6587\u300aDiffusionDrive<\/a><\/p>\n\n\n\n

: Truncated Diffusion Model for End-to-End Autonomous Driving\u300b\uff0c\u4e0e\u6e05\u534e\u5927\u5b66Diffusion planner\u601d\u8def\u5dee\u4e0d\u591a\uff0c\u5730\u5e73\u7ebf\u8fd8\u8003\u8651\u4e86\u524d\u7aef\u611f\u77e5\u3002<\/p>\n\n\n\n

DiffusionDrive\u67b6\u6784<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u8bba\u6587\u300aDiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving\u300b<\/p>\n\n\n\n

DiffusionDrive\u5728\u82f1\u4f1f\u8fbeNAVSIM\u6570\u636e\u96c6\u4e0a\u7684\u5f97\u5206\u548c\u5e27\u7387\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u6570\u636e\u6765\u6e90\uff1a\u8bba\u6587\u300aDiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving\u300b<\/p>\n\n\n\n

\u53c2\u6570\u53ea\u67096\u5343\u4e07\uff0c\u5728RTX4090\u4e0a\u80fd\u591f\u505a\u523045Hz\uff0c\u7528\u53ccOrin\u7684\u8bdd\u4f30\u8ba1\u53ef\u4ee5\u505a\u52305-10Hz\uff0c\u5df2\u57fa\u672c\u53ef\u4ee5\u843d\u5730\u4e86\u3002<\/p>\n\n\n\n

\u82f1\u4f1f\u8fbe\u7684\u673a\u5668\u4eba\u901a\u7528VLA\u5927\u6a21\u578bGR00T-N1\u67b6\u6784<\/strong><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u56fe\u7247\u6765\u6e90\uff1a\u82f1\u4f1f\u8fbe<\/p>\n\n\n\n

\u548c\u7406\u60f3\u7684MindVLA\u7c7b\u4f3c\uff0c\u4e0d\u8fc7\u82f1\u4f1f\u8fbe\u628aAction\u90e8\u5206\u5355\u72ec\u7b97\u4e00\u4e2a\u7cfb\u7edf\uff0c\u4e14\u4e0eVLM\u662f\u5e76\u884c\u7684\uff0c\u91c7\u7528\u7684\u662fDiT\u6a21\u5f0f\uff0c\u5373Diffusion\uff0c\u4e0d\u8fc7\u9aa8\u5e72\u7f51\u7528Transformer\u53d6\u4ee3\u4e86U-NET\u3002\u82f1\u4f1f\u8fbe\u79f0\u5176\u4e3a\u5feb\u6162\u53cc\u7cfb\u7edf\uff0c\u5feb\u7cfb\u7edf\u5c31\u662fDiffusion Action\uff0c\u6700\u9ad8\u53ef\u5230200Hz\uff0c\u6162\u7cfb\u7edf\u5c31\u662fVLM\uff08\u7528\u963f\u91cc\u7684Qwen2.5\u505a\u57fa\u7840\u6a21\u578b\uff09\uff0c\u7528\u82f1\u4f1f\u8fbe\u7684L40\u663e\u5361\uff08\u52a0\u4e0aCPU\u5927\u69825\u4e07\u4eba\u6c11\u5e01\uff09\uff0c\u8fd0\u884c\u9891\u738710Hz\u3002<\/p>\n\n\n\n

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