{"id":28333,"date":"2025-04-30T17:27:38","date_gmt":"2025-04-30T09:27:38","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28333"},"modified":"2025-04-30T17:27:38","modified_gmt":"2025-04-30T09:27:38","slug":"2025-04-30-%e7%88%86%e6%8b%89hydra-mdp%ef%bc%81artemis%ef%bc%9a%e6%b7%b7%e5%90%88%e4%b8%93%e5%ae%b6%e6%a8%a1%e5%9e%8bmoe%e9%97%ae%e9%bc%8e%e7%ab%af%e5%88%b0%e7%ab%af%e8%bd%a8%e8%bf%b9%e8%a7%84","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/04\/30\/28333\/","title":{"rendered":"2025-04-30 \u7206\u62c9Hydra-MDP++\uff01ARTEMIS\uff1a\u6df7\u5408\u4e13\u5bb6\u6a21\u578bMoE\u95ee\u9f0e\u7aef\u5230\u7aef\u8f68\u8ff9\u89c4\u5212SOTA"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/FVczrOhLUqRvr8RqQLRjMQ\">https:\/\/mp.weixin.qq.com\/s\/FVczrOhLUqRvr8RqQLRjMQ<\/a><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86&nbsp;<strong>ARTEMIS<\/strong>\uff0c\u8fd9\u662f\u4e00\u79cd\u7ed3\u5408\u81ea\u56de\u5f52\u8f68\u8ff9\u89c4\u5212\u4e0e\u4e13\u5bb6\u6df7\u5408\uff08Mixture-of-Experts, MoE\uff09\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u3002\u4f20\u7edf\u7684\u6a21\u5757\u5316\u65b9\u6cd5\u5b58\u5728\u8bef\u5dee\u4f20\u64ad\u95ee\u9898\uff0c\u800c\u73b0\u6709\u7684\u7aef\u5230\u7aef\u6a21\u578b\u901a\u5e38\u91c7\u7528\u9759\u6001\u7684\u4e00\u6b21\u6027\u63a8\u7406\u8303\u5f0f\uff0c\u96be\u4ee5\u6355\u6349\u73af\u5883\u7684\u52a8\u6001\u53d8\u5316\u3002ARTEMIS \u901a\u8fc7\u6309\u987a\u5e8f\u751f\u6210\u8f68\u8ff9\u822a\u70b9\u7684\u65b9\u6cd5\uff0c\u4fdd\u7559\u4e86\u5173\u952e\u7684\u65f6\u95f4\u4f9d\u8d56\u6027\uff0c\u540c\u65f6\u5c06\u573a\u666f\u7279\u5b9a\u7684\u67e5\u8be2\u52a8\u6001\u8def\u7531\u5230\u4e13\u95e8\u7684\u4e13\u5bb6\u7f51\u7edc\u3002\u8fd9\u79cd\u65b9\u6cd5\u6709\u6548\u7f13\u89e3\u4e86\u5f15\u5bfc\u4fe1\u606f\u6a21\u7cca\u65f6\u9047\u5230\u7684\u8f68\u8ff9\u8d28\u91cf\u9000\u5316\u95ee\u9898\uff0c\u5e76\u514b\u670d\u4e86\u5355\u4e00\u7f51\u7edc\u67b6\u6784\u5728\u5904\u7406\u591a\u6837\u5316\u9a7e\u9a76\u573a\u666f\u65f6\u56fa\u6709\u7684\u8868\u793a\u80fd\u529b\u9650\u5236\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u4f7f\u7528\u4e86\u4e00\u79cd\u8f7b\u91cf\u7ea7\u7684\u6279\u91cf\u91cd\u5206\u914d\u7b56\u7565\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u4e13\u5bb6\u6df7\u5408\u6a21\u578b\u7684\u8bad\u7ec3\u901f\u5ea6\u3002\u901a\u8fc7\u5728 NAVSIM \u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\uff0cARTEMIS \u5c55\u793a\u4e86\u4f18\u8d8a\u7684\u7ade\u4e89\u6027\u80fd\uff0c\u5728 ResNet-34 \u4e3b\u5e72\u7f51\u7edc\u4e0b\u5b9e\u73b0\u4e86 87.0 PDMS \u548c 83.1 EPDMS\uff0c\u8868\u73b0\u51faSOTA\u6027\u80fd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2504.19580<\/strong><\/li>\n<\/ul>\n\n\n\n<p><strong>\u6587\u7ae0\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u5728\u8fc7\u53bb\u51e0\u5341\u5e74\u4e2d\u7ecf\u5386\u4e86\u5feb\u901f\u53d1\u5c55\u3002\u4f20\u7edf\u7684\u6a21\u5757\u5316\u65b9\u6cd5\u5c06\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u5212\u5206\u4e3a\u8bf8\u5982\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u79bb\u6563\u6a21\u5757\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u6a21\u5757\u4e4b\u95f4\u7684\u7d2f\u8ba1\u8bef\u5dee\u548c\u590d\u6742\u7684\u76f8\u4e92\u4f9d\u8d56\u5173\u7cfb\u53ef\u80fd\u4f1a\u53d7\u5230\u9884\u5b9a\u4e49\u63a5\u53e3\u7684\u9650\u5236\u3002\u7aef\u5230\u7aef\u6a21\u578b\u901a\u8fc7\u76f4\u63a5\u5c06\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\u6620\u5c04\u5230\u8ba1\u5212\u8f68\u8ff9\u6216\u63a7\u5236\u4fe1\u53f7\u6765\u514b\u670d\u8fd9\u4e9b\u95ee\u9898 \u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5b83\u4eec\u9759\u6001\u7684\u4e00\u6b21\u6027\u63a8\u7406\u8303\u5f0f\u901a\u5e38\u65e0\u6cd5\u6355\u6349\u73af\u5883\u7684\u52a8\u6001\u53d8\u5316\uff08\u56fe 1(a)\uff09\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u81ea\u56de\u5f52\u65b9\u6cd5\u6309\u987a\u5e8f\u751f\u6210\u8f68\u8ff9\uff0c\u4fdd\u7559\u4e86\u65f6\u95f4\u4e00\u81f4\u6027\uff0c\u5e76\u5141\u8bb8\u6839\u636e\u5148\u524d\u8ba1\u5212\u7684\u7247\u6bb5\u8fdb\u884c\u9002\u5e94\u6027\u51b3\u7b56\u3002\u81ea\u56de\u5f52\u6a21\u578b\u5df2\u5e7f\u6cdb\u5e94\u7528\u4e8e\u8f68\u8ff9\u9884\u6d4b\u9886\u57df\u3002\u6700\u8fd1\u7684\u7814\u7a76\u5df2\u7ecf\u5f00\u59cb\u63a2\u7d22\u7edf\u4e00\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u901a\u8fc7\u81ea\u56de\u5f52\u5efa\u6a21\u65b9\u6cd5\u540c\u65f6\u5b8c\u6210\u4e16\u754c\u6a21\u578b\u6784\u5efa\u548c\u5b8c\u6574\u6216\u90e8\u5206\u8f68\u8ff9\u89c4\u5212\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u76ee\u524d\u7684\u95ee\u9898\u662f\u5355\u7f51\u7edc\u7aef\u5230\u7aef\u6a21\u578b\u4ecd\u7136\u96be\u4ee5\u5145\u5206\u6355\u6349\u548c\u9002\u5e94\u591a\u6837\u5316\u7684\u9a7e\u9a76\u573a\u666f\u3002\u4e3a\u4e86\u89e3\u51b3\u8f68\u8ff9\u89c4\u5212\u4e2d\u7684\u56fa\u6709\u590d\u6742\u6027\uff0c\u7814\u7a76\u4eba\u5458\u8d8a\u6765\u8d8a\u591a\u5730\u91c7\u7528\u8bf8\u5982\u4e13\u5bb6\u6df7\u5408\uff08Mixture of Experts, MoE\uff09\u6846\u67b6\u7b49\u590d\u6742\u67b6\u6784\u3002<\/p>\n\n\n\n<p>MoE \u5229\u7528\u591a\u4e2a\u4e13\u4e1a\u4e13\u5bb6\u7f51\u7edc\u4ee5\u53ca\u667a\u80fd\u8def\u7531\u673a\u5236\uff0c\u52a8\u6001\u5206\u914d\u548c\u5904\u7406\u8f93\u5165\u2014\u2014\u8fd9\u4e00\u7b56\u7565\u5728\u5927\u89c4\u6a21\u8bed\u8a00\u6a21\u578b\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u6210\u529f\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u7aef\u5230\u7aef\u6a21\u578b\u751f\u6210\u7684\u89c4\u5212\u8f68\u8ff9\u672c\u8d28\u4e0a\u5305\u542b\u4e86\u591a\u79cd\u6f5c\u5728\u7684\u884c\u4e3a\u6a21\u5f0f\uff0c\u53cd\u6620\u4e86\u9a7e\u9a76\u884c\u4e3a\u7684\u6839\u672c\u4e0d\u786e\u5b9a\u6027\u3002\u9a7e\u9a76\u5458\u53ef\u4ee5\u5728\u76f8\u540c\u73af\u5883\u6761\u4ef6\u4e0b\u9009\u62e9\u51e0\u79cd\u5408\u7406\u7684\u672a\u6765\u884c\u52a8\uff08\u56fe 1(b)) \uff0c\u800c\u4f20\u7edf\u5355\u7f51\u7edc\u67b6\u6784\u96be\u4ee5\u51c6\u786e\u8868\u5f81\u8fd9\u79cd\u5185\u5728\u7684\u884c\u4e3a\u591a\u6837\u6027\u3002\u76f8\u53cd\uff0cMoE \u4f7f\u5f97\u4e13\u5bb6\u6a21\u5757\u80fd\u591f\u4e13\u6ce8\u4e8e\u7279\u5b9a\u7684\u9a7e\u9a76\u573a\u666f\u6216\u884c\u4e3a\u6a21\u5f0f\uff0c\u4ece\u800c\u5728\u4e0d\u4f9d\u8d56\u9884\u5b9a\u4e49\u6307\u5bfc\u4fe1\u53f7\u7684\u60c5\u51b5\u4e0b\u5b66\u4e60\u9a7e\u9a76\u884c\u4e3a\u7684\u7279\u5f81\u5206\u5e03\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"928\" height=\"684\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-468.png\" alt=\"\" class=\"wp-image-28334\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-468.png 928w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-468-300x221.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-468-768x566.png 768w\" sizes=\"(max-width: 928px) 100vw, 928px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u79cd\u5185\u751f\u591a\u6a21\u6001\u5efa\u6a21\u65b9\u6cd5\u6709\u6548\u5730\u907f\u514d\u4e86\u5f53\u6307\u5bfc\u4fe1\u606f\u504f\u79bb\u5b9e\u9645\u60c5\u51b5\u65f6\u53ef\u80fd\u51fa\u73b0\u7684\u8f68\u8ff9\u8d28\u91cf\u9000\u5316\u95ee\u9898\u3002\u6700\u8fd1\uff0c\u6269\u6563\u6a21\u578b\uff08\u56fe 1(c))\u5411\u81ea\u52a8\u9a7e\u9a76\u5f15\u5165\u4e86\u65b0\u9896\u7684\u751f\u6210\u5efa\u6a21\u8303\u5f0f\uff0c\u5c55\u793a\u4e86\u589e\u5f3a\u7684\u8f68\u8ff9\u591a\u6837\u6027\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u5efa\u7acb\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u4f46\u5b83\u4eec\u901a\u5e38\u91c7\u7528\u9759\u6001\u8303\u5f0f\uff0c\u540c\u65f6\u751f\u6210\u6240\u6709\u8f68\u8ff9\u70b9\uff08\u6216\u901a\u8fc7\u591a\u6b21\u53bb\u566a\u8fed\u4ee3\uff09\uff0c\u9650\u5236\u4e86\u5b83\u4eec\u51c6\u786e\u6355\u6349\u8f68\u8ff9\u53d1\u5c55\u7684\u52a8\u6001\u6f14\u5316\u7279\u5f81\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5229\u7528 MoE \u7684\u81ea\u56de\u5f52\u65b9\u6cd5\u5c55\u793a\u4e86\u4f18\u8d8a\u7684\u65f6\u95f4\u5e8f\u5217\u6355\u6349\u80fd\u529b\u3001\u73af\u5883\u9002\u5e94\u6027\u548c\u5b9e\u7528\u6027\uff0c\u56e0\u4e3a\u5b83\u4eec\u53ef\u4ee5\u5728\u4e0d\u9700\u8981\u5f3a\u5148\u9a8c\u7ea6\u675f\u7684\u60c5\u51b5\u4e0b\u8fd0\u884c\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 ARTEMIS\uff0c\u5373\u81ea\u56de\u5f52\u7aef\u5230\u7aef\u8f68\u8ff9\u89c4\u5212\u4e0e\u4e13\u5bb6\u6df7\u5408\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528\uff0c\u5982\u56fe 2 \u6240\u793a\u3002ARTEMIS \u5305\u62ec\u4e09\u4e2a\u4e3b\u8981\u7ec4\u4ef6\uff1a\u611f\u77e5\u6a21\u5757\u3001\u5177\u6709 MOE \u7684\u81ea\u56de\u5f52\u89c4\u5212\u6a21\u5757\u548c\u8f68\u8ff9\u4f18\u5316\u6a21\u5757\u3002<\/p>\n\n\n\n<p>\u611f\u77e5\u6a21\u5757\u91c7\u7528 Transfuser\uff0c\u5229\u7528\u5355\u72ec\u7684\u9aa8\u5e72\u7f51\u7edc\u5904\u7406\u56fe\u50cf\u548c LiDAR \u6570\u636e\uff0c\u6700\u7ec8\u5c06\u5176\u878d\u5408\u6210 BEV \u7279\u5f81\u8868\u793a\u3002\u5177\u6709 MOE \u7684\u81ea\u56de\u5f52\u89c4\u5212\u6a21\u5757\u901a\u8fc7\u987a\u5e8f\u51b3\u7b56\u8fc7\u7a0b\u9010\u6b65\u751f\u6210\u8f68\u8ff9\u822a\u70b9\uff0c\u540c\u65f6\u52a8\u6001\u9009\u62e9\u6700\u9002\u5408\u5f53\u524d\u9a7e\u9a76\u573a\u666f\u7684\u4e13\u5bb6\u7f51\u7edc\u3002\u6b64\u5916\uff0c\u5b83\u8fd8\u57fa\u4e8e\u4e13\u5bb6\u6fc0\u6d3b\u6a21\u5f0f\u5b9e\u65bd\u6279\u91cf\u91cd\u65b0\u5206\u914d\u3002\u6700\u540e\uff0c\u8f68\u8ff9\u4f18\u5316\u6a21\u5757\u5904\u7406\u5e76\u4f18\u5316\u81ea\u56de\u5f52\u8f68\u8ff9\u8f93\u51fa\u3002\u6211\u4eec\u4f7f\u7528 NAVSIM \u6570\u636e\u96c6\u5bf9 ARTEMIS \u8fdb\u884c\u4e86\u5168\u9762\u8bc4\u4f30\u3002\u6211\u4eec\u7684\u8d21\u732e\u53ef\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>(1) \u636e\u6211\u4eec\u6240\u77e5\uff0c\u672c\u6587\u9996\u6b21\u5c06\u4e13\u5bb6\u6df7\u5408\uff08MoE\uff09\u5f15\u5165\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff0c\u5728\u52a8\u6001\u8def\u7531\u673a\u5236\u548c\u4e13\u4e1a\u5316\u4e13\u5bb6\u7f51\u7edc\u5212\u5206\u7684\u5e2e\u52a9\u4e0b\uff0c\u6709\u6548\u7f13\u89e3\u4e86\u4f20\u7edf\u65b9\u6cd5\u5728\u6307\u5bfc\u4fe1\u606f\u6a21\u7cca\u65f6\u9047\u5230\u7684\u8f68\u8ff9\u8d28\u91cf\u9000\u5316\u95ee\u9898\uff0c\u4ee5\u53ca\u5355\u4e00\u7f51\u7edc\u67b6\u6784\u5728\u5904\u7406\u591a\u6837\u5316\u9a7e\u9a76\u573a\u666f\u65f6\u56fa\u6709\u7684\u8868\u793a\u80fd\u529b\u9650\u5236\u3002<\/li>\n\n\n\n<li>(2) \u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u81ea\u56de\u5f52\u7aef\u5230\u7aef\u89c4\u5212\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u901a\u8fc7\u8fed\u4ee3\u51b3\u7b56\u8fc7\u7a0b\u9010\u6b65\u6784\u5efa\u8f68\u8ff9\uff0c\u5b9e\u73b0\u8f68\u8ff9\u822a\u70b9\u4e4b\u95f4\u5f3a\u65f6\u95f4\u4f9d\u8d56\u6027\u7684\u7cbe\u786e\u5efa\u6a21\u3002<\/li>\n\n\n\n<li>(3) \u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5927\u89c4\u6a21\u771f\u5b9e\u4e16\u754c\u7684 NAVSIM \u6570\u636e\u96c6\u4e0a\u53d6\u5f97\u4e86\u663e\u8457\u7ed3\u679c\u3002\u4f7f\u7528\u76f8\u540c\u7684 ResNet-34 \u4e3b\u5e72\u7f51\u7edc\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6807\u51c6\u6307\u6807\u4e0b\u8fbe\u5230 87.0 PDMS\uff0c\u5728\u6269\u5c55\u8bc4\u4f30\u6307\u6807\u4e0b\u8fbe\u5230 83.1 EPDMS\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>ARTEMIS\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"462\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-469-1024x462.png\" alt=\"\" class=\"wp-image-28335\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-469-1024x462.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-469-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-469-768x346.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-469.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>A. \u9884\u5907\u77e5\u8bc6<\/strong><\/p>\n\n\n\n<p><strong>1) \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"344\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043001.png\" alt=\"\" class=\"wp-image-28336\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043001.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043001-300x154.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>2) \u4e13\u5bb6\u6df7\u5408\uff08Mixture of Experts, MoE\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"211\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043002.png\" alt=\"\" class=\"wp-image-28337\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043002.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043002-300x95.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<p><strong>B. \u6a21\u578b\u67b6\u6784<\/strong><\/p>\n\n\n\n<p><strong>1) \u611f\u77e5\u6a21\u5757<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"171\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043003.png\" alt=\"\" class=\"wp-image-28338\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043003.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043003-300x77.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>2) \u5e26\u6709\u4e13\u5bb6\u6df7\u5408\u7684\u81ea\u56de\u5f52\u89c4\u5212\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u4e0e\u4f20\u7edf\u7684\u4e00\u6b21\u6027\u65b9\u6cd5\u4e0d\u540c\uff0c\u672c\u7814\u7a76\u91c7\u7528\u81ea\u56de\u5f52\u7b56\u7565\u9010\u6b65\u6784\u5efa\u8f68\u8ff9\uff0c\u540c\u65f6\u96c6\u6210\u4e13\u5bb6\u6df7\u5408\uff08Mixture-of-Experts, MoE\uff09\u67b6\u6784\u3002\u8fd9\u79cd\u8bbe\u8ba1\u7ed3\u5408\u4e86\u5148\u524d\u8f68\u8ff9\u4fe1\u606f\u4ee5\u53ca\u57fa\u4e8e\u573a\u666f\u7279\u5f81\u52a8\u6001\u9009\u62e9\u7684\u4e13\u4e1a\u4e13\u5bb6\u7f51\u7edc\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"928\" height=\"894\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-470.png\" alt=\"\" class=\"wp-image-28339\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-470.png 928w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-470-300x289.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-470-768x740.png 768w\" sizes=\"(max-width: 928px) 100vw, 928px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"196\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043004.png\" alt=\"\" class=\"wp-image-28340\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043004.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043004-300x88.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>\u4f4d\u7f6e\u548c\u65f6\u95f4\u5d4c\u5165<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"101\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043005.png\" alt=\"\" class=\"wp-image-28341\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043005.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043005-300x45.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>\u81ea\u56de\u5f52\u751f\u6210<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"270\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043006.png\" alt=\"\" class=\"wp-image-28342\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043006.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043006-300x121.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u6279\u6b21\u91cd\u5206\u914d MoE<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"677\" height=\"125\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043007.png\" alt=\"\" class=\"wp-image-28343\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043007.png 677w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043007-300x55.png 300w\" sizes=\"(max-width: 677px) 100vw, 677px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"930\" height=\"830\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-471.png\" alt=\"\" class=\"wp-image-28344\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-471.png 930w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-471-300x268.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-471-768x685.png 768w\" sizes=\"(max-width: 930px) 100vw, 930px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"540\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043008.png\" alt=\"\" class=\"wp-image-28345\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043008.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043008-300x240.png 300w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<p><strong>3) \u8f68\u8ff9\u4f18\u5316\u6a21\u5757<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"679\" height=\"542\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043009.png\" alt=\"\" class=\"wp-image-28346\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043009.png 679w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043009-300x239.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><\/figure>\n\n\n\n<p><strong>4) \u8bad\u7ec3\u635f\u5931<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"484\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/043010.png\" alt=\"\" class=\"wp-image-28347\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043010.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/043010-300x215.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>A. \u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728 NAVSIM \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u8bad\u7ec3\u548c\u6d4b\u8bd5\u3002NAVSIM \u4ece OpenScene \u6570\u636e\u96c6 \u4e2d\u9009\u53d6\u4e86\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\uff0c\u6392\u9664\u4e86\u7b80\u5355\u7684\u9a7e\u9a76\u60c5\u5883\u3002\u8bad\u7ec3\u96c6\u5305\u542b 1192 \u4e2a\u573a\u666f\uff0c\u6d4b\u8bd5\u96c6\u5305\u542b 136 \u4e2a\u573a\u666f\u3002\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u4e2a\u6837\u672c\u5305\u62ec\u6765\u81ea 8 \u4e2a\u89c6\u89d2\u7684\u76f8\u673a\u56fe\u50cf\u3001\u878d\u5408\u81ea 5 \u4e2a\u4f20\u611f\u5668\u7684 LiDAR \u6570\u636e\u3001\u5730\u56fe\u6807\u6ce8\u4fe1\u606f\u4ee5\u53ca 3D \u76ee\u6807\u8fb9\u754c\u6846\u7b49\u5176\u4ed6\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u5728 NAVSIM \u6570\u636e\u96c6\u4e2d\uff0c\u6a21\u578b\u9700\u8981\u4f7f\u7528 4 \u5e27\uff08\u5171 2 \u79d2\uff09\u7684\u5386\u53f2\u4e0e\u5f53\u524d\u6570\u636e\u6765\u89c4\u5212\u4e00\u4e2a\u7531\u672a\u6765 8 \u5e27\u7ec4\u6210\u7684 4 \u79d2\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>B. \u8bc4\u4f30\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u5df2\u6709\u4f17\u591a\u7814\u7a76\u8868\u660e\uff0c\u4ec5\u901a\u8fc7\u7b80\u5355\u7684\u5f00\u73af\u8bc4\u4f30\u4e0d\u8db3\u4ee5\u5168\u9762\u8861\u91cf\u6a21\u578b\u6027\u80fd\uff0c\u800c\u95ed\u73af\u8bc4\u4f30\u7531\u4e8e\u8ba1\u7b97\u6210\u672c\u9ad8\u6602\u53ca\u4eff\u771f\u5668\u4e0e\u771f\u5b9e\u4e16\u754c\u5b58\u5728\u5dee\u5f02\uff0c\u5e94\u7528\u53d7\u5230\u9650\u5236\u3002NAVSIM \u63d0\u4f9b\u4e86\u4e00\u79cd\u4ecb\u4e8e\u4e24\u8005\u4e4b\u95f4\u7684\u8bc4\u4f30\u65b9\u6848\uff0c\u5373\u9884\u6d4b\u9a7e\u9a76\u6a21\u578b\u8bc4\u5206\uff08Predictive Driving Model Score, PDMS\uff09\uff0c\u8be5\u8bc4\u5206\u4e0e\u95ed\u73af\u6307\u6807\u9ad8\u5ea6\u76f8\u5173\u3002PDMS \u57fa\u4e8e\u4e94\u4e2a\u6307\u6807\u8ba1\u7b97\uff1a\u65e0\u78b0\u649e\uff08No-Collision, NC\uff09\u3001\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u6027\uff08Drivable Area Compliance, DAC\uff09\u3001\u78b0\u649e\u65f6\u95f4\uff08Time-to-Collision, TTC\uff09\u3001\u8212\u9002\u5ea6\uff08Comfort, C\uff09\u548c\u81ea\u8f66\u8fdb\u5c55\uff08Ego Progress, EP\uff09\u3002<\/p>\n\n\n\n<p>\u9664\u4e86 PDMS\uff0cNAVSIM \u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6269\u5c55\u57fa\u51c6\u2014\u2014\u6269\u5c55\u9884\u6d4b\u9a7e\u9a76\u6a21\u578b\u8bc4\u5206\uff08Extended Predictive Driving Model Score, EPDMS\uff09\u3002\u8be5\u6269\u5c55\u8bc4\u5206\u5f15\u5165\u4e24\u4e2a\u65b0\u7684\u52a0\u6743\u6307\u6807\uff08\u8f66\u9053\u4fdd\u6301 LK \u548c\u6269\u5c55\u8212\u9002\u5ea6 EC\uff09\u3001\u4e24\u4e2a\u65b0\u7684\u4e58\u6cd5\u6307\u6807\uff08\u884c\u9a76\u65b9\u5411\u5408\u89c4\u6027 DDC \u548c\u4ea4\u901a\u706f\u5408\u89c4\u6027 TLC\uff09\uff0c\u4ee5\u53ca\u4e00\u4e2a\u8bef\u62a5\u60e9\u7f5a\u673a\u5236\u3002<\/p>\n\n\n\n<p><strong>C. \u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u91c7\u7528 Transfuser\u4f5c\u4e3a\u611f\u77e5\u7f51\u7edc\uff0c\u4ee5 ResNet-34 \u4f5c\u4e3a\u7279\u5f81\u63d0\u53d6\u4e3b\u5e72\u3002\u611f\u77e5\u6a21\u5757\u8f93\u5165\u5305\u62ec\u524d\u5de6\u3001\u524d\u3001\u524d\u53f3\u6444\u50cf\u5934\u62fc\u63a5\u7684\u56fe\u50cf\uff0c\u4ee5\u53ca\u8986\u76d6 64m \u00d7 64m \u533a\u57df\u7684\u70b9\u4e91\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u5728\u96c6\u6210 MoE \u7684\u81ea\u56de\u5f52\u89c4\u5212\u6a21\u5757\u4e2d\uff0c\u6211\u4eec\u914d\u7f6e\u4e86 E_private = 5 \u4e2a\u9886\u57df\u7279\u5b9a\u4e13\u5bb6\u548c E_shared = 1 \u4e2a\u5171\u4eab\u4e13\u5bb6\u3002\u5728\u524d\u5411\u4f20\u64ad\u8fc7\u7a0b\u4e2d\uff0c\u9009\u62e9\u5f97\u5206\u6700\u9ad8\u7684 K = 2 \u4e2a\u4e13\u5bb6\u8fdb\u884c\u6fc0\u6d3b\u3002<\/p>\n\n\n\n<p>\u6a21\u578b\u5728 navtrain \u5206\u5272\u4e0a\u4f7f\u7528\u4e24\u5757 A100 GPU \u8fdb\u884c\u8bad\u7ec3\uff0c\u6279\u91cf\u5927\u5c0f\u4e3a 128\u3002\u521d\u59cb\u5b66\u4e60\u7387\u4e3a 2\u00d710\u207b\u2074\uff0c\u6743\u91cd\u8870\u51cf\u4e3a 1\u00d710\u207b\u2074\u3002\u6a21\u578b\u6267\u884c 8 \u6b21\u81ea\u56de\u5f52\u6b65\u9aa4\uff0c\u6bcf\u6b65\u8f93\u51fa\u4e00\u4e2a\u8f68\u8ff9\u70b9\uff08x, y \u548c\u822a\u5411\uff09\u3002\u6240\u6709\u81ea\u56de\u5f52\u6b65\u9aa4\u5b8c\u6210\u540e\uff0c\u751f\u6210\u7684\u8f68\u8ff9\u5c06\u88ab\u4f18\u5316\u4e3a 2Hz \u7684 4 \u79d2\u89c4\u5212\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u5728\u611f\u77e5\u6a21\u5757\u8bad\u7ec3\u9636\u6bb5\uff0c\u635f\u5931\u6743\u91cd\u7cfb\u6570 \u03bb_sem\u3001\u03bb_class \u548c \u03bb_box \u5206\u522b\u8bbe\u7f6e\u4e3a 10\u300110 \u548c 5\u3002\u5728\u7aef\u5230\u7aef\u8bad\u7ec3\u9636\u6bb5\uff0c\u6743\u91cd\u7cfb\u6570 \u03bb_sem\u3001\u03bb_class\u3001\u03bb_box\u3001\u03bb_traj\u3001\u03bb_var \u548c \u03bb_NLL \u5206\u522b\u8bbe\u7f6e\u4e3a 2\u30012\u30011\u300115\u30010.01 \u548c 0.5\u3002<\/p>\n\n\n\n<p><strong>D. \u4e3b\u8981\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"411\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-472-1024x411.png\" alt=\"\" class=\"wp-image-28348\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-472-1024x411.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-472-300x121.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-472-768x309.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-472.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728 Navtest \u57fa\u51c6\u4e0a\uff0c\u6211\u4eec\u5c06 ARTEMIS \u4e0e\u591a\u4e2a\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u5bf9\u6bd4\uff0c\u7ed3\u679c\u603b\u7ed3\u5728\u8868 I \u4e2d\u3002\u4f7f\u7528 ResNet-34 \u4e3b\u5e72\u65f6\uff0cARTEMIS \u5728 navtest \u5206\u5272\u4e0a\u8fbe\u5230\u4e86 87.0 PDMS\uff0c\u5728\u5927\u591a\u6570\u6a21\u578b\u4e2d\u8868\u73b0\u51fa\u7ade\u4e89\u529b\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cARTEMIS \u5728 EP\u3001NC \u548c C \u6307\u6807\u4e0a\u663e\u8457\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u8868\u660e\u5176\u5f3a\u5927\u7684\u8f68\u8ff9\u89c4\u5212\u80fd\u529b\u548c\u73af\u5883\u9002\u5e94\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"240\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-473-1024x240.png\" alt=\"\" class=\"wp-image-28349\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-473-1024x240.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-473-300x70.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-473-768x180.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-473.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u8fdb\u4e00\u6b65\u5728 Navtest \u57fa\u51c6\u4e0a\u4f7f\u7528\u6269\u5c55\u6307\u6807\u5bf9 ARTEMIS \u8fdb\u884c\u4e86\u8bc4\u4f30\uff08\u89c1\u8868 II\uff09\u3002\u7ed3\u679c\u663e\u793a\uff0c\u5728\u4f7f\u7528\u540c\u6837 ResNet-34 \u4e3b\u5e72\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u663e\u8457\u4f18\u4e8e\u6240\u6709\u57fa\u7ebf\u6a21\u578b\uff0c\u8fbe\u5230\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff08SOTA\uff09\u3002\u7279\u522b\u662f\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728 TTC \u548c EP \u7b49\u5173\u952e\u6307\u6807\u4e0a\u660e\u663e\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u8fd9\u4e9b\u7ed3\u679c\u7a81\u51fa\u4e86 ARTEMIS \u5728\u591a\u79cd\u8bc4\u4f30\u6807\u51c6\u4e0b\u7684\u9c81\u68d2\u6027\u548c\u4f18\u8d8a\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u56fe 5 \u5c55\u793a\u4e86\u4ece navtest \u6570\u636e\u96c6\u4e2d\u91c7\u6837\u7684\u56db\u4e2a\u4ee3\u8868\u6027\u9a7e\u9a76\u573a\u666f\uff0c\u7528\u4e8e\u5b9a\u6027\u8bc4\u4f30\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u3002\u4e3a\u4e86\u7a81\u51fa\u4e0d\u540c\u4e13\u5bb6\u5bf9\u540c\u4e00\u573a\u666f\u7684\u54cd\u5e94\uff0c\u6bcf\u4e2a\u9886\u57df\u7279\u5b9a\u4e13\u5bb6\u751f\u6210\u7684\u8f68\u8ff9\u7528\u4e0d\u540c\u989c\u8272\u7ed8\u5236\u3002<\/p>\n\n\n\n<p>\u7b2c\u4e00\u4e2a\u4f8b\u5b50\uff08\u56fe 5a\uff09\u5c55\u793a\u4e86\u81ea\u8f66\u901a\u8fc7\u4ea4\u53c9\u8def\u53e3\u7684\u60c5\u666f\uff0c\u4e13\u5bb6\u884c\u4e3a\u5206\u4e3a\u5de6\u8f6c\u6216\u76f4\u884c\u4e24\u79cd\u60c5\u51b5\u3002\u7ecf\u8fc7\u8def\u7531\u7f51\u7edc\u878d\u5408\u5904\u7406\u540e\u7684\u8f68\u8ff9\u4f18\u5148\u9009\u62e9\u4e86\u6a59\u8272\u4e13\u5bb6\u7684\u76f4\u7ebf\u8def\u5f84\u3002<\/p>\n\n\n\n<p>\u56fe 5b \u4e2d\uff0c\u5f53\u81ea\u8f66\u63a5\u8fd1 T \u5f62\u8def\u53e3\u65f6\uff0c\u9ec4\u8272\u4e13\u5bb6\u9009\u62e9\u53f3\u8f6c\uff0c\u800c\u5176\u4f59\u4e13\u5bb6\u9009\u62e9\u7ee7\u7eed\u76f4\u884c\u3002\u7ecf\u8fc7\u8def\u7531\u7f51\u7edc\u878d\u5408\u5904\u7406\u540e\u7684\u8f68\u8ff9\u5219\u878d\u5408\u4e86\u9ec4\u8272\u4e13\u5bb6\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u56fe 5c \u548c\u56fe 5d \u5c55\u793a\u4e86\u53e6\u5916\u4e24\u4e2a\u573a\u666f\uff1a\u7ed5\u884c\u73af\u5c9b\u548c\u8f66\u9053\u5165\u53e3\u9009\u62e9\u3002\u5728\u56fe 5c \u4e2d\uff0c\u9664\u7ea2\u8272\u4e13\u5bb6\u5916\uff0c\u5176\u4ed6\u4e13\u5bb6\u9519\u8bef\u5730\u9009\u62e9\u5411\u53f3\u524d\u65b9\u884c\u9a76\uff0c\u800c\u7ea2\u8272\u4e13\u5bb6\u6210\u529f\u6355\u6349\u5230\u4e86\u73af\u5c9b\u9053\u8def\u7279\u5f81\u5e76\u6b63\u786e\u7ed5\u884c\u3002\u6700\u7ec8\u7684\u89c4\u5212\u8f68\u8ff9\u4e3b\u8981\u53c2\u8003\u4e86\u7ea2\u8272\u4e13\u5bb6\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u4f53\u73b0\u4e86\u5185\u5728\u8def\u7531\u673a\u5236\u7684\u6709\u6548\u6027\u548c\u5408\u7406\u6027\u3002\u8f66\u9053\u5165\u53e3\u9009\u62e9\u573a\u666f\u7684\u53ef\u89c6\u5316\uff08\u56fe 5d\uff09\u4e5f\u6e05\u6670\u5730\u5c55\u793a\u4e86\u4e0d\u540c\u4e13\u5bb6\u5728\u5f53\u524d\u4e0a\u4e0b\u6587\u4e2d\u5bf9\u4e0d\u540c\u5165\u53e3\u8f66\u9053\u4f4d\u7f6e\u7684\u504f\u597d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"742\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-474-1024x742.png\" alt=\"\" class=\"wp-image-28350\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-474-1024x742.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-474-300x218.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-474-768x557.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-474.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5728\u4e0d\u540c\u573a\u666f\u4e0b\u5bf9 ARTEMIS \u548c Transfuser \u7684\u8f68\u8ff9\u89c4\u5212\u6027\u80fd\u8fdb\u884c\u4e86\u89c6\u89c9\u5bf9\u6bd4\uff0c\u7ed3\u679c\u5982\u56fe 6 \u6240\u793a\u3002<\/p>\n\n\n\n<p><strong>E. \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u7ec4\u4ef6\u5f71\u54cd\u5206\u6790<\/strong><\/h4>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u6bcf\u4e2a\u67b6\u6784\u7ec4\u4ef6\u7684\u8d21\u732e\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u4e09\u4e2a\u53d8\u4f53\u6a21\u578b\uff0c\u5206\u522b\u79fb\u9664\u4e86\u4ee5\u4e0b\u7ec4\u4ef6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u81ea\u56de\u5f52\u89c4\u5212\u6a21\u5757 + MoE\uff08AME\uff09<\/li>\n\n\n\n<li>MoE \u6a21\u5757\u672c\u8eab\uff08MoE\uff09<\/li>\n\n\n\n<li>\u8f68\u8ff9\u4f18\u5316\u6a21\u5757\uff08TR\uff09<\/li>\n<\/ul>\n\n\n\n<p>\u7ed3\u679c\u603b\u7ed3\u5728\u8868 III \u4e2d\uff0c\u663e\u793a\u79fb\u9664\u4efb\u4f55\u5355\u4e00\u7ec4\u4ef6\u90fd\u4f1a\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\uff0c\u786e\u8ba4\u4e86\u8fd9\u4e09\u90e8\u5206\u7684\u5fc5\u8981\u6027\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u79fb\u9664\u81ea\u56de\u5f52\u6a21\u5757\u4f7f PDMS \u4e0b\u964d 3.0 \u5206\uff0c\u8bf4\u660e\u81ea\u56de\u5f52\u8303\u5f0f\u5bf9\u4e8e\u6355\u6349\u822a\u70b9\u4e4b\u95f4\u7684\u65f6\u95f4\u4f9d\u8d56\u6027\u548c\u51c6\u786e\u5e94\u5bf9\u53d8\u5316\u7684\u73af\u5883\u80cc\u666f\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"926\" height=\"704\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-475.png\" alt=\"\" class=\"wp-image-28351\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-475.png 926w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-475-300x228.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-475-768x584.png 768w\" sizes=\"(max-width: 926px) 100vw, 926px\" \/><\/figure>\n\n\n\n<p>\u79fb\u9664 MoE \u6a21\u5757\u4f1a\u5bfc\u81f4 PDMS \u4e0b\u964d 4.1 \u5206\uff0c\u5f3a\u8c03\u4e86 MoE \u67b6\u6784\u5728\u52a8\u6001\u9002\u5e94\u591a\u6837\u5316\u9a7e\u9a76\u573a\u666f\u548c\u884c\u4e3a\u6a21\u5f0f\u65b9\u9762\u7684\u4f18\u52bf\u3002\u6700\u540e\uff0c\u79fb\u9664\u7ea7\u8054\u4f18\u5316\u6a21\u5757\u4f1a\u4f7f PDMS \u4e0b\u964d 2.3 \u5206\uff0c\u8868\u660e\u8be5\u9636\u6bb5\u6709\u6548\u7f13\u89e3\u4e86\u81ea\u56de\u5f52\u8f68\u8ff9\u751f\u6210\u8fc7\u7a0b\u4e2d\u7684\u91c7\u6837\u4e0d\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n<p><strong>\u8def\u7531\u7f51\u7edc\u6709\u6548\u6027\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u5185\u7f6e\u8def\u7531\u673a\u5236\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5c06\u5176\u4e0e\u663e\u5f0f\u7684\u9a7e\u9a76\u547d\u4ee4\u5f15\u5bfc\u7b56\u7565\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u5b9e\u9a8c\u7ed3\u679c\uff08\u89c1\u8868 IV\uff09\u663e\u793a\uff0c\u5185\u7f6e\u8def\u7531\u673a\u5236\u5728\u663e\u5f0f\u5f15\u5bfc\u504f\u79bb\u5b9e\u9645\u573a\u666f\u65f6\u80fd\u6709\u6548\u907f\u514d\u5bf9\u9886\u57df\u7279\u5b9a\u4e13\u5bb6\u7684\u4e0d\u5f53\u5206\u914d\u3002<\/p>\n\n\n\n<p><strong>\u7ea7\u8054\u4f18\u5316\u5c42\u6570\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<p>\u8868 V \u62a5\u544a\u4e86\u4f18\u5316\u5c42\u6570\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\u3002\u589e\u52a0\u7ea7\u8054\u6df1\u5ea6\u6700\u591a\u63d0\u5347\u4e24\u5c42\u6548\u679c\uff0c\u8d85\u8fc7\u6b64\u6570\u540e\u6027\u80fd\u8d8b\u4e8e\u9971\u548c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"898\" height=\"808\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-476.png\" alt=\"\" class=\"wp-image-28352\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-476.png 898w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-476-300x270.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/\u56fe\u7247-476-768x691.png 768w\" sizes=\"(max-width: 898px) 100vw, 898px\" \/><\/figure>\n\n\n\n<p><strong>\u9886\u57df\u7279\u5b9a\u4e13\u5bb6\u6570\u91cf\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<p>\u8868 VI \u63a2\u7d22\u4e86\u4e13\u5bb6\u6570\u91cf\u53d8\u5316\u7684\u5f71\u54cd\u3002\u5c06\u4e13\u5bb6\u6570\u91cf\u4ece 3 \u4e2a\u589e\u52a0\u5230 5 \u4e2a\u9010\u6b65\u63d0\u5347\u4e86\u6a21\u578b\u6027\u80fd\uff0c\u8868\u660e\u589e\u5f3a\u4e86\u5904\u7406\u590d\u6742\u573a\u666f\u7684\u80fd\u529b\u3002\u7136\u800c\uff0c\u6269\u5c55\u5230 10 \u4e2a\u4e13\u5bb6\u65f6\u6027\u80fd\u4e0b\u964d 1.5 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