{"id":28672,"date":"2025-05-16T17:31:18","date_gmt":"2025-05-16T09:31:18","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28672"},"modified":"2025-05-16T17:31:18","modified_gmt":"2025-05-16T09:31:18","slug":"2025-05-16-%e7%90%86%e6%83%b3%e4%b8%ad%e7%a7%91%e9%99%a2%ef%bc%81transdiffuser%ef%bc%9a%e5%9f%ba%e4%ba%8e%e8%a7%a3%e8%80%a6%e5%a4%9a%e6%a8%a1%e6%80%81%e8%a1%a8%e7%a4%ba%e7%9a%84%e8%87%aa%e5%8a%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/16\/28672\/","title":{"rendered":"2025-05-16 \u7406\u60f3&amp;\u4e2d\u79d1\u9662\uff01TransDiffuser\uff1a\u57fa\u4e8e\u89e3\u8026\u591a\u6a21\u6001\u8868\u793a\u7684\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u8f68\u8ff9\u751f\u6210"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1906622922128353122\">https:\/\/zhuanlan.zhihu.com\/p\/1906622922128353122<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1906622922128353122_0\">TransDiffuser<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aTransDiffuser: End-to-end Trajectory Generation with Decorrelated Multi-modal Representation for Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.09315\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.09315<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-91690f011fae3268b8c237370e8f2180_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u7f16\u7801\u5668-\u89e3\u7801\u5668\u67b6\u6784\u4e0e\u591a\u6a21\u6001\u878d\u5408<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57fa\u4e8e\u51bb\u7ed3\u7684Transfuser\u9aa8\u5e72\u7f51\u7edc\uff0c\u6784\u5efa\u591a\u6a21\u6001\u573a\u666f\u7f16\u7801\u5668 \uff0c\u878d\u5408\u524d\u89c6\u56fe\u50cf\u3001\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u53ca\u81ea\u8f66\u72b6\u6001\uff08Ego Status\uff09\u4fe1\u606f\uff0c\u751f\u6210BEV\uff08Bird&#8217;s Eye View\uff09\u7279\u5f81\u7a7a\u95f4\u4e2d\u7684\u573a\u666f\u8868\u5f81\u3002\u901a\u8fc7<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=Transformer%E6%A8%A1%E5%9D%97&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Transformer\u6a21\u5757<\/a><\/li>\n\n\n\n<li>\u5b9e\u73b0\u8de8\u6a21\u6001\u6ce8\u610f\u529b\u673a\u5236\uff0c\u589e\u5f3a\u591a\u5c3a\u5ea6\u7279\u5f81\u4ea4\u4e92\uff0c\u4e3a\u8f68\u8ff9\u751f\u6210\u63d0\u4f9b\u6761\u4ef6\u8f93\u5165\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u53bb\u76f8\u5173\u591a\u6a21\u6001\u8868\u5f81\u4f18\u5316\u673a\u5236<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9488\u5bf9<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=%E6%89%A9%E6%95%A3%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6269\u6563\u6a21\u578b<\/a><\/li>\n\n\n\n<li>\u751f\u6210\u8f68\u8ff9\u7684\u6a21\u5f0f\u5d29\u6e83 \uff08Mode Collapse\uff09\u95ee\u9898\uff0c\u63d0\u51fa\u8ba1\u7b97\u9ad8\u6548\u7684\u591a\u6a21\u6001\u8868\u5f81\u53bb\u76f8\u5173\u6b63\u5219\u5316 \uff08Multi-modal Representation Decorrelation\uff09\u3002\u901a\u8fc7\u7ea6\u675f\u591a\u6a21\u6001\u7279\u5f81\u77e9\u9635\u7684\u975e\u5bf9\u89d2\u76f8\u5173\u7cfb\u6570\u8d8b\u8fd1\u4e8e\u96f6\uff0c\u964d\u4f4e\u4e0d\u540c\u6a21\u6001\u7ef4\u5ea6\u95f4\u7684\u5197\u4f59\u4fe1\u606f\uff0c\u4ece\u800c\u62d3\u5c55\u6f5c\u5728\u8868\u5f81\u7a7a\u95f4\u7684\u5229\u7528\u7387\u3002\u8be5\u673a\u5236\u5728\u8bad\u7ec3\u9636\u6bb5\u4f5c\u4e3a\u9644\u52a0\u635f\u5931\u9879\u5d4c\u5165\uff0c\u65e0\u9700\u4f9d\u8d56\u951a\u5b9a\u8f68\u8ff9\uff08Anchor Trajectories\uff09\u6216\u9884\u5b9a\u4e49\u8bcd\u6c47\u5e93\uff08Vocabulary\uff09\uff0c\u663e\u8457\u63d0\u5347\u751f\u6210\u8f68\u8ff9\u7684\u591a\u6837\u6027\uff08\u591a\u6837\u6027\u6307\u6807\u63d0\u53476.3%\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u6269\u6563\u6a21\u578b\u9a71\u52a8\u7684\u8fde\u7eed\u52a8\u4f5c\u7a7a\u95f4\u751f\u6210<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u91c7\u7528\u53bb\u566a\u6269\u6563\u6982\u7387\u6a21\u578b \uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=DDPM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DDPM<\/a><\/li>\n<\/ul>\n\n\n\n<p>\uff09\uff0c\u4ee5\u8fed\u4ee3\u65b9\u5f0f\u4ece\u9ad8\u65af\u566a\u58f0\u4e2d\u89e3\u7801\u8fde\u7eed\u52a8\u4f5c\u7a7a\u95f4\u7684\u8f68\u8ff9\u3002\u901a\u8fc7\u4f18\u5316\u53cd\u5411\u6269\u6563\u8fc7\u7a0b\uff08Reverse Denoising Process\uff09\uff0c\u5c06\u591a\u6a21\u6001\u6761\u4ef6\u8f93\u5165\u4e0e\u566a\u58f0\u72b6\u6001\u9010\u6b65\u89e3\u8026\uff0c\u6700\u7ec8\u751f\u6210\u7b26\u5408\u573a\u666f\u7ea6\u675f\u7684\u591a\u6837\u5316\u5019\u9009\u8f68\u8ff9\u3002\u63a8\u7406\u9636\u6bb5\u7ed3\u5408\u62d2\u7edd\u91c7\u6837\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=Rejection+Sampling&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Rejection Sampling<\/a><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff09\u7b5b\u9009\u53ef\u884c\u6027\u8f68\u8ff9\uff0c\u5728\u4fdd\u8bc1\u6548\u7387\u7684\u524d\u63d0\u4e0b\u51cf\u5c11\u5197\u4f59\u8ba1\u7b97\uff08\u4ec5\u751f\u621030\u4e2a\u5019\u9009\u8f68\u8ff9\uff0c\u5bf9\u6bd4GoalFlow\u7684128\/256\u4e2a\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u6027\u80fd\u4e0e\u6cdb\u5316\u80fd\u529b\u7a81\u7834<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u89c4\u5212\u5bfc\u5411\u7684NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cTransDiffuser\u4ee594.85 PDMS\u5206\u6570 \u5237\u65b0SOTA\uff0c\u8d85\u8d8a\u6240\u6709\u57fa\u4e8e\u951a\u5b9a\u5148\u9a8c\u6216\u56fa\u5b9a\u8bcd\u6c47\u7684\u65b9\u6cd5\u3002\u6d88\u878d\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u53bb\u76f8\u5173\u673a\u5236\u5bf9\u8f68\u8ff9\u591a\u6837\u6027\uff08EP\u21911.3%\uff09\u4e0e\u8212\u9002\u6027\uff08C\u21910.5%\uff09\u7684\u534f\u540c\u63d0\u5347\uff0c\u540c\u65f6\u8bc1\u660e\u5176\u5bf9\u6269\u6563\u6b65\u957f\uff08Timesteps\uff09\u4e0e\u6279\u91cf\u5927\u5c0f\uff08Batchsize\uff09\u7684\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1906622922128353122_1\">Generative AI for Autonomous Driving<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aGenerative AI for Autonomous Driving: Frontiers and Opportunities<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.08854\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.08854<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-d53f2f744b0840f0f0049fc5561ff5f0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u591a\u6a21\u6001\u6570\u636e\u751f\u6210\u4e0e\u589e\u5f3a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9ad8\u4fdd\u771f\u4f20\u611f\u5668\u6570\u636e\u5408\u6210<\/strong>\uff1a\u5229\u7528\u6269\u6563\u6a21\u578b\uff08Diffusion Models\uff09\u751f\u6210\u903c\u771f\u7684LiDAR\u70b9\u4e91\uff08\u5982LiDMs\u3001RangeLDM\uff09\u548c\u76f8\u673a\u56fe\u50cf\uff08\u5982BEVGen\u3001MagicDrive\uff09\uff0c\u89e3\u51b3\u957f\u5c3e\u573a\u666f\u6570\u636e\u7a00\u7f3a\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>3D\/4D\u573a\u666f\u91cd\u5efa<\/strong>\uff1a\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=NeRF&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">NeRF<\/a><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff08\u5982Block-NeRF\u3001UrbanNeRF\uff09\u548c3D\u9ad8\u65af\u6cfc\u6e85\uff083D Gaussian Splatting\uff0c\u5982OmniRe\u3001DrivingGaussian\uff09\u7684\u52a8\u6001\u573a\u666f\u5efa\u6a21\uff0c\u652f\u6301\u9ad8\u7cbe\u5ea6\u65f6\u7a7a\u4e00\u81f4\u6027\u6e32\u67d3\u4e0e\u7f16\u8f91\u3002<\/li>\n\n\n\n<li><strong>\u5408\u6210\u6570\u636e\u6d41\u6c34\u7ebf<\/strong>\uff1a\u901a\u8fc7\u7269\u7406\u6a21\u62df\uff08CARLA\u3001SUMO\uff09\u4e0e\u751f\u6210\u6a21\u578b\u7ed3\u5408\uff0c\u6784\u5efa\u6db5\u76d6\u5929\u6c14\u53d8\u5316\u3001\u4e8b\u6545\u573a\u666f\u7684\u591a\u6837\u5316\u6570\u636e\u96c6\uff08\u5982DeepAccident\u3001Shift\uff09\uff0c\u63d0\u5347\u611f\u77e5\u6a21\u578b\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u5927\u8bed\u8a00\u6a21\u578b\u4e0e\u591a\u6a21\u6001\u63a8\u7406<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u611f\u77e5-\u52a8\u4f5c\u4e00\u4f53\u5316\u67b6\u6784<\/strong>\uff1a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=DriveVLM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DriveVLM<\/a><\/li>\n<\/ul>\n\n\n\n<p>\u3001EMMA\u7b49\u6a21\u578b\u5c06\u89c6\u89c9-\u8bed\u8a00\u5927\u6a21\u578b\uff08VLM\uff09\u4e0e\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u7ed3\u5408\uff0c\u901a\u8fc7\u94fe\u5f0f\u63a8\u7406\uff08Chain-of-Thought\uff09\u5b9e\u73b0\u573a\u666f\u7406\u89e3\u3001\u8f68\u8ff9\u9884\u6d4b\u4e0e\u89c4\u5212\u7684\u7edf\u4e00\u6846\u67b6\u3002<strong>\u7aef\u5230\u7aef\u51b3\u7b56\u751f\u6210<\/strong>\uff1a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=GPT-Driver&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">GPT-Driver<\/a><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3001LMDrive\u7b49\u6a21\u578b\u76f4\u63a5\u6620\u5c04\u591a\u6a21\u6001\u8f93\u5165\uff08\u56fe\u50cf\u3001LiDAR\u3001\u6587\u672c\u6307\u4ee4\uff09\u4e3a\u63a7\u5236\u4fe1\u53f7\u6216\u8f68\u8ff9\uff0c\u964d\u4f4e\u4f20\u7edf\u6a21\u5757\u5316\u7cfb\u7edf\u7684\u8bef\u5dee\u7d2f\u79ef\u3002<\/li>\n\n\n\n<li><strong>\u4ea4\u4e92\u5f0f\u573a\u666f\u7f16\u8f91<\/strong>\uff1aChatSim\u3001DriveEditor\u7b49\u5de5\u5177\u5229\u7528LLM\u548c\u6269\u6563\u6a21\u578b\u5b9e\u73b0\u8bed\u4e49\u9a71\u52a8\u7684\u573a\u666f\u52a8\u6001\u4fee\u6539\uff08\u5982\u7269\u4f53\u589e\u51cf\u3001\u8f68\u8ff9\u8c03\u6574\uff09\uff0c\u652f\u6301\u95ed\u73af\u4eff\u771f\u6d4b\u8bd5\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u8f68\u8ff9\u4e0e\u884c\u4e3a\u5efa\u6a21<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u591a\u6a21\u6001\u8f68\u8ff9\u751f\u6210<\/strong>\uff1a\u6269\u6563\u6a21\u578b\uff08MotionDiffuser\u3001Scenario Diffusion\uff09\u4e0e\u6761\u4ef6VAE\uff08Trajectron++\uff09\u751f\u6210\u793e\u4f1a\u5408\u89c4\u7684\u4ea4\u4e92\u8f68\u8ff9\uff0c\u652f\u6301\u590d\u6742\u4ea4\u901a\u573a\u666f\u7684\u4eff\u771f\u4e0e\u6d4b\u8bd5\u3002<\/li>\n\n\n\n<li><strong>\u4ea4\u901a\u6d41\u6a21\u62df<\/strong>\uff1a\u57fa\u4e8eTransformer\u7684\u751f\u6210\u7b56\u7565\uff08TrafficBots\u3001BehaviorGPT\uff09\u5b66\u4e60\u771f\u5b9e\u9a7e\u9a76\u65e5\u5fd7\uff0c\u751f\u6210\u53ef\u6269\u5c55\u7684\u5f02\u6784\u4ea4\u901a\u53c2\u4e0e\u8005\u884c\u4e3a\uff0c\u63d0\u5347\u6a21\u62df\u771f\u5b9e\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6570\u5b57\u5b6a\u751f\u4e0eSim2Real\u6280\u672f<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9ad8\u4fdd\u771f\u6570\u5b57\u5b6a\u751f\u7cfb\u7edf<\/strong>\uff1a\u901a\u8fc7Real2Sim\uff08Occ3D\u3001UrbanDiffusion\uff09\u4e0eSim2Real\uff08Stag-1\u3001LidarDM\uff09\u53cc\u5411\u95ed\u73af\uff0c\u6784\u5efa\u865a\u5b9e\u4e00\u81f4\u7684\u52a8\u6001\u73af\u5883\uff0c\u652f\u6301\u8fb9\u7f18\u6848\u4f8b\u6d4b\u8bd5\u4e0e\u7b56\u7565\u4f18\u5316\u3002<\/li>\n\n\n\n<li><strong>\u7269\u7406\u4e00\u81f4\u6027\u589e\u5f3a<\/strong>\uff1a\u7ed3\u5408\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u4e0e\u7269\u7406\u5f15\u64ce\uff08Isaac Sim\uff09\uff0c\u751f\u6210\u51e0\u4f55\u4e0e\u52a8\u529b\u5b66\u4e00\u81f4\u7684\u5408\u6210\u6570\u636e\uff0c\u7f29\u5c0f\u4eff\u771f\u4e0e\u73b0\u5b9e\u7684\u4f20\u611f\u5dee\u8ddd\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>5. \u53ef\u4fe1\u4e0e\u5b89\u5168\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21<\/strong>\uff1a\u6269\u6563\u6a21\u578b\u4e0e\u8d1d\u53f6\u65af\u6846\u67b6\uff08CTPS\uff09\u751f\u6210\u591a\u6837\u5316\u5047\u8bbe\uff0c\u91cf\u5316\u9884\u6d4b\u4e0e\u89c4\u5212\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u652f\u6301\u5b89\u5168\u8fb9\u754c\u8bc4\u4f30\u3002<\/li>\n\n\n\n<li><strong>\u4f26\u7406\u4e0e\u5408\u89c4\u6027\u7814\u7a76<\/strong>\uff1a\u63d0\u51fa\u751f\u6210\u5f0fAI\u7684\u8bc4\u4f30\u6307\u6807\uff08\u5982FlowEval\u3001TIFA\uff09\u4e0e\u8054\u90a6\u5b66\u4e60\u6846\u67b6\uff08Federated GenAI\uff09\uff0c\u786e\u4fdd\u6570\u636e\u9690\u79c1\u4e0e\u7b97\u6cd5\u900f\u660e\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1906622922128353122_2\">Camera-Only 3D Panoptic Scene Completion<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aCamera-Only 3D Panoptic Scene Completion for Autonomous Driving through Differentiable Object Shapes<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.09562\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.09562<\/a><\/li>\n\n\n\n<li>\u4ee3\u7801\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/nicolamarinello\/OffsetOcc\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/nicolamarinello\/OffsetOcc<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-4389ed4654822a084e84c42481d4335f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u53ef\u5fae\u5206\u5bf9\u8c61\u5f62\u72b6\u5efa\u6a21<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9996\u521b\u5c063D\u5bf9\u8c61\u5f62\u72b6\u5efa\u6a21\u4e3a\u8fde\u7eed\u53ef\u5fae\u7684\u504f\u79fb\u91cf\u96c6\u5408\uff0c\u901a\u8fc7\u9884\u6d4b\u5bf9\u8c61\u4e2d\u5fc3\u5750\u6807\u4e0e\u76f8\u5bf9\u504f\u79fb\u5411\u91cf\uff08offsets\uff09\u6784\u5efa\u5bf9\u8c61\u70b9\u4e91\uff0c\u5b9e\u73b0\u4e86\u7aef\u5230\u7aef\u7684\u5bf9\u8c61\u5f62\u72b6\u5b66\u4e60\u3002\u8be5\u65b9\u6cd5\u7a81\u7834\u4f20\u7edf\u4f53\u7d20\u63a9\u6a21\u7684\u79bb\u6563\u8868\u793a\u5c40\u9650\uff0c\u4ee5\u53c2\u6570\u5316\u65b9\u5f0f\u9ad8\u6548\u8868\u5f81\u4efb\u610f\u5c3a\u5ea6\u5bf9\u8c61\u7684\u51e0\u4f55\u5f62\u6001\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u53cc\u6a21\u5757\u6269\u5c55\u67b6\u6784<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Object Module<\/strong>\uff1a\u57fa\u4e8eDETR\u6846\u67b6\u8bbe\u8ba1\uff0c\u901a\u8fc73D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\u89e3\u7801\u5bf9\u8c61\u67e5\u8be2\uff08object queries\uff09\uff0c\u540c\u6b65\u9884\u6d4b\u5bf9\u8c61\u7c7b\u522b\u30013D\u4e2d\u5fc3\u4f4d\u7f6e\u53ca\u5f62\u72b6\u504f\u79fb\u91cf\uff0c\u5b9e\u73b0\u5b9e\u4f8b\u7ea7\u5bf9\u8c61\u5efa\u6a21\u3002<\/li>\n\n\n\n<li><strong>Panoptic Module<\/strong>\uff1a\u63d0\u51fa\u65e0\u53c2\u6570\u7684\u6295\u7968\u878d\u5408\u673a\u5236\uff0c\u7ed3\u5408\u57fa\u7ebf\u8bed\u4e49\u9884\u6d4b\u4e0e\u5bf9\u8c61\u5b9e\u4f8b\u9884\u6d4b\uff0c\u901a\u8fc7\u534a\u5f84\u6295\u7968\uff08radius voting\uff09\u4f18\u5316\u5b9e\u4f8bID\u5206\u914d\uff0c\u6709\u6548\u6821\u6b63\u5b9a\u4f4d\u8bef\u5dee\uff0c\u751f\u6210\u5168\u666f\u5360\u7528\u7f51\u683c\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u89e3\u8026\u5f0f\u76d1\u7763\u7b56\u7565<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u91c7\u7528\u4e24\u9636\u6bb5\u8bad\u7ec3\u8303\u5f0f\uff1a\u9996\u9636\u6bb5\u51bb\u7ed3\u57fa\u7ebf\u8bed\u4e49\u573a\u666f\u8865\u5168\u6a21\u578b\uff0c\u6b21\u9636\u6bb5\u901a\u8fc7\u89e3\u8026\u76d1\u7763\u7b56\u7565\u5206\u79bb\u5bf9\u8c61\u4e2d\u5fc3\u5b9a\u4f4d\u4e0e\u5f62\u72b6\u5b66\u4e60\u3002\u8bad\u7ec3\u65f6\uff0c\u504f\u79fb\u91cf\u635f\u5931\u57fa\u4e8e\u771f\u5b9e\u5bf9\u8c61\u4e2d\u5fc3\u8ba1\u7b97\uff0c\u907f\u514d\u5b9a\u4f4d\u8bef\u5dee\u5e72\u6270\u5f62\u72b6\u4f18\u5316\uff0c\u663e\u8457\u63d0\u5347\u5b9e\u4f8b\u5206\u5272\u8d28\u91cf\uff08PQTh\u63d0\u53477.6%\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u8f7b\u91cf\u5316\u5168\u666f\u6269\u5c55<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6a21\u5757\u5316\u8bbe\u8ba1\u4f7f\u5168\u666f\u80fd\u529b\u6269\u5c55\u4ec5\u589e\u52a02.3M\u53c2\u6570\uff0c\u63a8\u7406\u5ef6\u8fdf\u63a7\u5236\u5728714ms\uff08NVIDIA L40S\uff09\uff0c\u8f83\u57fa\u7ebf\u6a21\u578b\u4ec5\u589e\u52a042.8%\uff0c\u4e3a\u5b9e\u65f6\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u63d0\u4f9b\u9ad8\u6548\u89e3\u51b3\u65b9\u6848\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1906622922128353122_3\"><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=MoRAL&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">MoRAL<\/a><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aMoRAL: Motion-aware Multi-Frame 4D Radar and LiDAR Fusion for Robust 3D Object Detection<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.09422\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.09422<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-60ed06764d442125b504d65d5e894130_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u8fd0\u52a8\u611f\u77e5\u96f7\u8fbe\u7f16\u7801\u5668\uff08Motion-aware Radar Encoder, MRE\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9488\u5bf9\u591a\u5e274D\u96f7\u8fbe\u70b9\u4e91\u4e2d\u52a8\u6001\u7269\u4f53\u8de8\u5e27\u9519\u4f4d\uff08inter-frame misalignment\uff09\u5bfc\u81f4\u7684&#8221;\u62d6\u5c3e\uff08tail\uff09&#8221;\u95ee\u9898\uff0c\u63d0\u51fa\u57fa\u4e8e\u8fd0\u52a8\u5206\u5272\uff08Moving Object Segmentation, MOS\uff09\u7684\u70b9\u7ea7\u8fd0\u52a8\u8865\u507f\u673a\u5236\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u96f7\u8fbe\u5f84\u5411\u901f\u5ea6\uff08radial velocity\uff09\u4e0e\u7edd\u5bf9\u5f84\u5411\u901f\u5ea6\uff08absolute radial velocity\uff09\u589e\u5f3a\u7f16\u7801\uff0c\u7ed3\u5408\u6ce8\u610f\u529b\u673a\u5236\uff08Velocity Attention\uff09\u4f18\u5316\u52a8\u6001\u70b9\u8868\u5f81\uff0c\u5e76\u5229\u7528\u5c42\u7ea7\u7279\u5f81\u63d0\u53d6\uff08Set Abstraction\uff09\u4e0e\u7279\u5f81\u4f20\u64ad\uff08Feature Propagation\uff09\u5b9e\u73b0\u8fd0\u52a8\u72b6\u6001\u9884\u6d4b\uff0c\u6700\u7ec8\u901a\u8fc7\u8fd0\u52a8\u63a9\u7801\uff08Motion Mask\uff09\u5bf9\u52a8\u6001\u70b9\u8fdb\u884c\u65f6\u5e8f\u5bf9\u9f50\u8865\u507f\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u8fd0\u52a8\u6ce8\u610f\u529b\u95e8\u63a7\u878d\u5408\uff08Motion Attention Gated Fusion, MAGF\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u591a\u5c3a\u5ea6\u8fd0\u52a8\u7279\u5f81\u878d\u5408\u7b56\u7565\uff1a\u901a\u8fc7\u96f7\u8fbe\u8fd0\u52a8\u7279\u5f81\uff08Fsa-\u5168\u5c40\u7279\u5f81\u3001Ffp-\u5c40\u90e8\u7279\u5f81\uff09\u7684\u52a0\u6743\u805a\u5408\u751f\u6210\u7edf\u4e00\u8fd0\u52a8\u8868\u5f81\uff08Fmotion R\uff09\uff0c\u7ed3\u5408\u901a\u9053\u6ce8\u610f\u529b\uff08Channel Attention\uff09\u589e\u5f3aLiDAR\u7a7a\u95f4\u7279\u5f81\uff08FL\uff09\u7684\u52a8\u6001\u76ee\u6807\u654f\u611f\u6027\u3002<\/li>\n\n\n\n<li>\u5f15\u5165\u95e8\u63a7\u673a\u5236\uff08Gating Map G\uff09\u5b9e\u73b0LiDAR\u7279\u5f81\u7684\u7a7a\u95f4\u9009\u62e9\u6027\u589e\u5f3a<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u591a\u6a21\u6001\u8fd0\u52a8\u611f\u77e5\u6846\u67b6\u96c6\u6210<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6784\u5efa\u7aef\u5230\u7aef\u878d\u5408\u67b6\u6784\uff0c\u5c06\u8fd0\u52a8\u8865\u507f\u540e\u76844D\u96f7\u8fbe\u70b9\u4e91\uff08\u7ecf\u96f7\u8fbe\u7a00\u758f\u7f16\u7801\u5668\u63d0\u53d6\u7a7a\u95f4\u7279\u5f81\uff09\u4e0eLiDAR\u7279\u5f81\u901a\u8fc7\u81ea\u9002\u5e94\u878d\u5408\uff08Adaptive Fusion\uff09\u7ed3\u5408\uff0c\u5e76\u5f15\u5165\u52a8\u6001\u524d\u666f\u589e\u5f3a\u673a\u5236\uff0c\u5728VoD\u6570\u636e\u96c6\u4e0a\u5b9e\u73b073.30% mAP\uff08\u5168\u533a\u57df\uff09\u4e0e88.68% mAP\uff08\u884c\u8f66\u901a\u9053\uff09\uff0c\u5c24\u5176\u5bf9\u884c\u4eba\uff0869.67% AP\uff09\u548c\u9a91\u884c\u8005\uff0896.25% AP\uff09\u68c0\u6d4b\u6027\u80fd\u663e\u8457\u63d0\u5347\uff0c\u9a8c\u8bc1\u4e86\u8fd0\u52a8\u4fe1\u606f\u5bf9\u52a8\u6001\u76ee\u6807\u68c0\u6d4b\u7684\u6709\u6548\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1906622922128353122_4\">FreeDriveRF<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aFreeDriveRF: Monocular RGB Dynamic NeRF without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.09406\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.09406<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-fb2248f3e7dc90a2c8859b5e333da000_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u65e0\u59ff\u6001\u8f93\u5165\u7684\u5355\u76ee\u52a8\u6001\u573a\u666f\u5efa\u6a21<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521b\u65b0\u70b9 \uff1a\u9996\u6b21\u5b9e\u73b0\u4ec5\u4f9d\u8d56\u5355\u76eeRGB\u89c6\u9891\u5e8f\u5217\u7684\u52a8\u6001NeRF\u91cd\u5efa\uff0c\u65e0\u9700\u771f\u5b9e\u76f8\u673a\u59ff\u6001\uff08poses\uff09\u6216\u5916\u90e8\u4f20\u611f\u5668\uff08\u5982LiDAR\uff09\u3002<\/li>\n\n\n\n<li>\u6280\u672f\u7ec6\u8282 \uff1a\u901a\u8fc7\u8054\u5408\u4f18\u5316\u76f8\u673a\u59ff\u6001\u4e0e\u8f90\u5c04\u573a\uff0c\u7ed3\u5408\u8bed\u4e49\u76d1\u7763\u7684\u52a8\u6001-\u9759\u6001\u5206\u79bb\u7b56\u7565\uff0c\u89e3\u51b3\u4e86\u4f20\u7edf\u65b9\u6cd5\u5bf9\u591a\u4f20\u611f\u5668\u4f9d\u8d56\u7684\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u91c7\u6837\u70b9\u7ea7\u52a8\u6001-\u9759\u6001\u89e3\u8026\uff08Dynamic-Static Decoupling\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521b\u65b0\u70b9 \uff1a\u5728\u5c04\u7ebf\u91c7\u6837\u5c42\u9762\u5f15\u5165\u8bed\u4e49\u76d1\u7763\u5206\u79bb\u573a\uff08Semantic-Supervised Separation Field\uff09 \uff0c\u5c06\u52a8\u6001\u4e0e\u9759\u6001\u70b9\u5206\u914d\u81f3\u72ec\u7acb\u6a21\u578b\u3002<\/li>\n\n\n\n<li>\u6280\u672f\u7ec6\u8282 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u5229\u7528\u516d\u5e73\u9762\u7ed3\u6784\uff08Six-plane Structure\uff09\u7f16\u7801\u65f6\u7a7a\u7279\u5f81\uff0c\u901a\u8fc7MLP\u751f\u6210\u52a8\u6001\u6982\u7387\u63a9\u7801\uff08Dynamic Probability Mask\uff09\uff0c\u4ee5\u53ef\u5b66\u4e60\u9608\u503c\u03c4\u533a\u5206\u52a8\u6001\/\u9759\u6001\u70b9\u3002<\/li>\n\n\n\n<li>\u72ec\u7acb\u5efa\u6a21\u52a8\u6001\u573a\uff08Dynamic Field\uff09\u4e0e\u9759\u6001\u573a\uff08Static Field\uff09\uff0c\u51cf\u5c11\u56e0\u52a8\u6001\u7269\u4f53\u8fd0\u52a8\u5bfc\u81f4\u7684\u6a21\u7cca\u4e0e\u4f2a\u5f71\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u5149\u6d41\u5f15\u5bfc\u7684\u52a8\u6001\u5bf9\u8c61\u4e00\u81f4\u6027\u7b56\u7565<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521b\u65b0\u70b9 \uff1a\u63d0\u51faWarped Ray-Guided Rendering Consistency Loss \uff0c\u901a\u8fc7\u5149\u6d41\u8ffd\u8e2a\u52a8\u6001\u5bf9\u8c61\u8fd0\u52a8\uff0c\u7f13\u89e3\u906e\u6321\u4e0e\u8fd0\u52a8\u6a21\u7cca\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u6280\u672f\u7ec6\u8282 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u57fa\u4e8e3D\u573a\u666f\u6d41\uff08Scene Flow\uff09\u5bf9\u52a8\u6001\u70b9\u8fdb\u884c\u65f6\u5e8f\u5bf9\u9f50\uff0c\u751f\u6210\u504f\u79fb\u5c04\u7ebf\uff08Warped Ray\uff09\uff0c\u7ed5\u8fc7\u906e\u6321\u533a\u57df\u3002<\/li>\n\n\n\n<li>\u5229\u7528\u76f8\u90bb\u5e27\u76842D\u5149\u6d41\u6784\u5efa\u4e00\u81f4\u6027\u635f\u5931\uff08L_adjacent\uff09\uff0c\u7ea6\u675f\u52a8\u6001\u5bf9\u8c61\u7684\u65f6\u7a7a\u8fde\u7eed\u6027\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u52a8\u6001\u6d41\u7ea6\u675f\u7684\u8054\u5408\u59ff\u6001\u4f18\u5316<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521b\u65b0\u70b9 \uff1a\u5c06\u52a8\u6001\u573a\u666f\u6d41\uff08Dynamic Scene Flow\uff09\u5f15\u5165\u76f8\u673a\u59ff\u6001\u4e0e\u8f90\u5c04\u573a\u7684\u8054\u5408\u4f18\u5316\uff0c\u63d0\u5347\u59ff\u6001\u4f30\u8ba1\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n<li>\u6280\u672f\u7ec6\u8282 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u901a\u8fc7\u9884\u6d4b\u52a8\u6001\u70b9\u76843D\u8fd0\u52a8\u6d41\uff08f_{w,bw}\uff09\uff0c\u7ed3\u5408\u6df1\u5ea6\u5148\u9a8c\uff08DPT\u9006\u6df1\u5ea6\uff09\u4e0e\u5149\u6d41\u635f\u5931\uff08L_flow\uff09\uff0c\u8054\u5408\u4f18\u5316\u76f8\u673a\u4f4d\u59ff\u3002<\/li>\n\n\n\n<li>\u6709\u6548\u907f\u514d\u4f20\u7edf\u65b9\u6cd5\u4e2d\u56e0\u906e\u6321\u6216\u52a8\u6001\u7269\u4f53\u906e\u853d\u5bfc\u81f4\u7684\u59ff\u6001\u6f02\u79fb\u95ee\u9898\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>5. \u591a\u5c3a\u5ea6\u65f6\u7a7a\u7279\u5f81\u5efa\u6a21\u4e0e\u4f18\u5316<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521b\u65b0\u70b9 \uff1a\u7ed3\u5408VM\u5206\u89e3\uff08Vector-Matrix Product\uff09\u4e0e\u591a\u5e73\u9762\u7ed3\u6784\uff0c\u9ad8\u6548\u6355\u6349\u5927\u89c4\u6a21\u573a\u666f\u7684\u65f6\u7a7a\u52a8\u6001\u3002<\/li>\n\n\n\n<li>\u6280\u672f\u7ec6\u8282 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u91c7\u7528\u975e\u7ebf\u6027\u6620\u5c04\u5c06\u65e0\u754c\u573a\u666f\u538b\u7f29\u81f3\u7acb\u65b9\u7a7a\u95f4\uff08side length=4\uff09\uff0c\u5e76\u5f15\u5165\u65f6\u95f4\u6233\u91cd\u6620\u5c04\uff08t\u2208[-2,2]\uff09\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u6e10\u8fdb\u5f0f\u7f51\u683c\u4f18\u5316\uff08Coarse-to-Fine Grid\uff09\u63d0\u5347\u5c0f\u5c3a\u5ea6\u53d8\u5f62\u4e0e\u52a8\u6001\u5143\u7d20\u7684\u5efa\u6a21\u7cbe\u5ea6\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1906622922128353122_5\">Embodied Intelligent Industrial Robotics<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aEmbodied Intelligent Industrial Robotics: Concepts and Techniques<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.09305\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.09305<\/a><\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/jackeyzengl\/Embodied_Intelligent_Industrial_Robotics_Paper_List\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/jackeyzengl\/Embodied_Intelligent_Industrial_Robotics_Paper_List<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-48c2d1f0c6ffbc1945efc99b5dd5f3d9_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u77e5\u8bc6\u9a71\u52a8\u7684\u5177\u8eab\u667a\u80fd\u6846\u67b6<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u591a\u6a21\u6001\u77e5\u8bc6\u56fe\u8c31 \uff1a\u878d\u5408\u5236\u9020\u8fc7\u7a0b\u4e2d\u7684\u4ea7\u54c1\u3001\u5de5\u827a\u3001\u8d44\u6e90\u7b49\u5f02\u6784\u6570\u636e\uff0c\u6784\u5efa\u52a8\u6001\u8bed\u4e49\u77e5\u8bc6\u56fe\u8c31\uff08\u5982KGAssembly\u3001KG-driven ASP\uff09\uff0c\u652f\u6301\u8de8\u54c1\u7c7b\u4ea7\u54c1\u7684\u53ef\u91cd\u6784\u88c5\u914d\u89c4\u5212\u4e0e\u5b9e\u65f6\u51b3\u7b56\u3002<\/li>\n\n\n\n<li>\u77e5\u8bc6\u589e\u5f3a\u578b\u95ee\u7b54\u7cfb\u7edf \uff1a\u901a\u8fc7\u672f\u8bed\u589e\u5f3a\u7684\u68c0\u7d22\u589e\u5f3a\u751f\u6210\uff08RAG\uff09\u6280\u672f\uff08\u5982AMGPT\u3001Manufacturing QA\uff09\uff0c\u5b9e\u73b0\u5de5\u4e1a\u77e5\u8bc6\u7684\u7cbe\u51c6\u89e3\u6790\u4e0e\u81ea\u7136\u8bed\u8a00\u4ea4\u4e92\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u9ad8\u5c42\u6b21\u4efb\u52a1\u89c4\u5212\u4e0e\u4f4e\u5c42\u6b21\u6280\u80fd\u63a7\u5236\u7684\u534f\u540c<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5206\u5c42\u4efb\u52a1\u89c4\u5212 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u57fa\u4e8e\u77e5\u8bc6\u56fe\u8c31\u4e0e\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\uff08DRL\uff09\u7684\u7ec6\u7c92\u5ea6\u88c5\u914d\u5e8f\u5217\u89c4\u5212\uff08\u5982M. Jiang\u7b49\uff09\u3002<\/li>\n\n\n\n<li>\u7ed3\u5408\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u4e16\u754c\u6a21\u578b\uff08\u59823D-VLA\u3001Spatial VLA\uff09\uff0c\u5b9e\u73b0\u81ea\u7136\u8bed\u8a00\u5230\u673a\u5668\u4eba\u52a8\u4f5c\u7684\u6620\u5c04\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6280\u80fd\u8868\u793a\u4e0e\u590d\u7528 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u6280\u80fd\u672c\u4f53\u8bba\u6846\u67b6 \uff08\u5982SkiROS2\u3001ROSPlan\uff09\uff0c\u901a\u8fc7\u884c\u4e3a\u6811\uff08Behavior Tree\uff09\u4e0e\u8fd0\u52a8\u57fa\u5143\uff08Dynamic Movement Primitives\uff09\u5b9e\u73b0\u6280\u80fd\u7684\u6a21\u5757\u5316\u5efa\u6a21\u4e0e\u8de8\u4efb\u52a1\u8fc1\u79fb\u3002<\/li>\n\n\n\n<li>\u57fa\u4e8e\u4eba\u7c7b\u793a\u6559\u7684\u591a\u6a21\u6001\u6280\u80fd\u89e3\u7801\uff08MASD\uff09\u4e0e\u51e0\u4f55\u96f6\u7a7a\u95f4\u5b66\u4e60\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u81ea\u4e3b\u6f14\u5316\u4e0e\u81ea\u9002\u5e94\u63a7\u5236<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f3a\u5316\u5b66\u4e60\u4e0e\u52a8\u6001\u9002\u5e94 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u9762\u5411\u590d\u6742\u8f66\u95f4\u7269\u6d41\u7684\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u5bfc\u822a\u3002<\/li>\n\n\n\n<li>\u57fa\u4e8e\u63a5\u89e6\u611f\u77e5\u7684\u67d4\u6027\u64cd\u4f5c\u6280\u80fd\u4e0e\u591a\u4efb\u52a1\u6280\u80fd\u5b66\u4e60\u6846\u67b6\uff08MT-RSL\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4eba\u673a\u534f\u4f5c\u4e0e\u77e5\u8bc6\u8fc1\u79fb \uff1a\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4eba\u673a\u5171\u4eab\u88c5\u914d\u5206\u7c7b\u6cd5\uff08Human-Robot Shared Assembly Taxonomy\uff09\uff0c\u652f\u6301\u65e0\u7f1d\u77e5\u8bc6\u8f6c\u79fb\u3002<\/li>\n\n\n\n<li>\u7ed3\u5408LLM\u7684\u793a\u6559\u5b66\u4e60\u4f18\u5316\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u865a\u5b9e\u878d\u5408\u7684\u4eff\u771f\u9a8c\u8bc1\u4f53\u7cfb<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9ad8\u4fdd\u771f\u5de5\u4e1a\u4eff\u771f\u5e73\u53f0 \uff1a\n<ul class=\"wp-block-list\">\n<li>\u96c6\u6210\u7269\u7406\u5f15\u64ce\u4e0e\u591a\u6a21\u6001\u4ea4\u4e92\u7684\u4eff\u771f\u73af\u5883\uff08\u5982iGibson 2.0\u3001ThreeDWorld\uff09\uff0c\u652f\u6301\u5bb6\u5ead\u4efb\u52a1\u4e0e\u5de5\u4e1a\u573a\u666f\u7684\u9884\u8bad\u7ec3\u3002<\/li>\n\n\n\n<li>\u57fa\u4e8e\u6570\u5b57\u5b6a\u751f\u7684\u865a\u5b9e\u4ea4\u4e92\u9a8c\u8bc1\uff08\u5982Open X-Embodiment\u6570\u636e\u96c6\u4e0eRT-X\u6a21\u578b\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>5. \u5de5\u4e1a\u57fa\u7840\u6a21\u578b\u4e0e\u9886\u57df\u4e13\u7528\u8bed\u8a00<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5de5\u4e1a\u901a\u7528\u6a21\u578b \uff1a\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u5de5\u4e1a\u57fa\u7840\u6a21\u578b \uff08Industrial Foundation Model\uff09\uff0c\u6574\u5408\u591a\u6a21\u6001\u6570\u636e\u4e0e\u9886\u57df\u77e5\u8bc6\uff0c\u652f\u6301\u8de8\u573a\u666f\u6cdb\u5316\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9886\u57df\u4e13\u7528\u8bed\u8a00 \uff08DSL\uff09\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5f00\u53d1\u9762\u5411\u88c5\u914d\u3001\u7269\u6d41\u7b49\u573a\u666f\u7684\u7f16\u7a0b\u8bed\u8a00\uff08\u5982RoboLang\u3001EzSkiROS\u3001PyDSLRep\uff09\uff0c\u964d\u4f4e\u673a\u5668\u4eba\u7f16\u7a0b\u95e8\u69db\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1906622922128353122_6\">Extending Large Vision-Language Model<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aExtending Large Vision-Language Model for Diverse Interactive Tasks in Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.08725\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.08725<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-bb956622a3151c971d0e8e744e525eb8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257796677&amp;content_type=Article&amp;match_order=1&amp;q=NuInteract%E6%95%B0%E6%8D%AE%E9%9B%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">NuInteract\u6570\u636e\u96c6<\/a><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u9996\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u5927\u89c4\u6a21\u591a\u89c6\u89d2\u56fe\u50cf-\u8bed\u8a00\u57fa\u51c6\u6570\u636e\u96c6 \uff0c\u5305\u542b239K\u56fe\u50cf\u300134K\u89c6\u9891\u5e27\u53ca1.5M\u56fe\u50cf-\u8bed\u8a00\u5bf9\uff0c\u8986\u76d6850\u4e2a\u590d\u6742\u9a7e\u9a76\u573a\u666f\u3002<\/li>\n\n\n\n<li>\u652f\u6301\u5bc6\u96c6\u573a\u666f\u63cf\u8ff0\u751f\u6210 \uff08Dense Caption\uff09\u30013D\u89c6\u89c9\u57fa\u7840\uff083D Visual Grounding\uff09\u3001\u8f68\u8ff9\u9884\u6d4b\u4e0e\u89c4\u5212\u7b49\u591a\u4efb\u52a1\uff0c\u63d0\u4f9b\u7ec6\u7c92\u5ea6\u73af\u5883\u4e0a\u4e0b\u6587\u4e0e\u7a7a\u95f4\u6807\u6ce8\uff08\u59823D\u5305\u56f4\u76d2\u3001\u6307\u4ee3\u8868\u8fbe\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. DriveMonkey\u6846\u67b6<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6784\u5efa\u57fa\u4e8e\u5927\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08LVLMs\uff09\u7684\u591a\u4efb\u52a1\u4ea4\u4e92\u5f0f\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6 \uff0c\u901a\u8fc7\u7a7a\u95f4\u5904\u7406\u5668\uff08Spatial Processor\uff09\u4e0eLVLM\u7684\u7aef\u5230\u7aef\u96c6\u6210\uff0c\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u6587\u672c\u54cd\u5e94\u751f\u6210\u4e0e3D\u89c6\u89c9\u57fa\u7840\u4efb\u52a1\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u652f\u6301\u52a8\u6001\u6307\u4ee4\u89e3\u6790\uff08\u5982\u81ea\u7136\u8bed\u8a00\u89c4\u5212\u6307\u4ee4\uff09\uff0c\u5e76\u4f18\u5316\u533a\u57df\u7ea7\u7406\u89e3\uff08Region-level Understanding\uff09\u4e0e\u6807\u8bb0\u5316\uff08Token-based Localization\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u7ec6\u7c92\u5ea63D\u611f\u77e5\u4e0e\u73af\u5883\u5efa\u6a21<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u878d\u5408\u533a\u57df\u5230\u6587\u672c\u751f\u6210\uff08Region-to-Text\uff09\u3001\u5206\u5272\u6a21\u578b\u4e0e\u56fe\u50cf\u63cf\u8ff0\u6a21\u578b\u7684\u591a\u6a21\u6001\u4fe1\u606f\u805a\u5408\u65b9\u6cd5 \uff0c\u589e\u5f3a\u7269\u4f53\u5c5e\u6027\uff08\u8ddd\u79bb\u3001\u8fd0\u52a8\u72b6\u6001\uff09\u4e0e\u573a\u666f\u8bed\u4e49\u7684\u8054\u5408\u63a8\u7406\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u8f85\u52a9\u6807\u8bb0\uff08Auxiliary Tokens\uff09\u4e0e\u5206\u5272\u7f51\u7edc\uff08\u5982SAM\uff09\u96c6\u6210\uff0c\u63d0\u53473D\u76ee\u6807\u5b9a\u4f4d\u4e0e\u73af\u5883\u5bc6\u96c6\u7406\u89e3\u7cbe\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u6a21\u578b\u67b6\u6784\u4f18\u5316<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7ed3\u5408\u6df7\u5408\u4e13\u5bb6\uff08MoE\uff09\u4e0e\u591a\u6a21\u6001\u65cb\u8f6c\u4f4d\u7f6e\u5d4c\u5165\uff08M-RoPE\uff09\uff0c\u6269\u5c55LVLMs\u81f3\u89c6\u9891\u3001\u97f3\u9891\u7b49\u591a\u6a21\u6001\u8f93\u5165\uff0c\u652f\u6301\u7edf\u4e00\u4efb\u52a1\u89e3\u7801\uff08\u5982\u68c0\u6d4b\u3001\u5206\u5272\u3001\u751f\u6210\uff09\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u8d85\u94fe\u63a5\u673a\u5236 \uff08Super Link\uff09\u8fde\u63a5\u4efb\u52a1\u4e13\u7528\u89e3\u7801\u5668\u4e0e\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\uff0c\u5b9e\u73b0\u8de8\u4efb\u52a1\u77e5\u8bc6\u8fc1\u79fb\u4e0e\u591a\u6a21\u6001\u534f\u540c\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>5. \u6027\u80fd\u9a8c\u8bc1\u4e0e\u57fa\u7ebf\u63d0\u5347<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57283D\u89c6\u89c9\u57fa\u7840\u3001\u5bc6\u96c6\u63cf\u8ff0\u7b49\u4efb\u52a1\u4e0a\u663e\u8457\u8d85\u8d8a\u73b0\u6709\u6a21\u578b\uff08\u5982Uni-MoE\u3001Qwen2VL\uff09\uff0c\u4ee5InternLM2.5-7B\u4e3a\u57fa\u5ea7\u6a21\u578b\u53d6\u5f97SOTA\u6027\u80fd\uff08\u5982BLEU-4\u8fbe67.50\uff0cmAP\u8fbe59.36\uff09\u3002<\/li>\n\n\n\n<li>\u63ed\u793a\u5f53\u524d\u6a21\u578b\u5728\u65f6\u5e8f\u4fe1\u606f\u5efa\u6a21 \u4e0e\u4f4e\u5c42\u8f68\u8ff9\u89c4\u5212 \u4e0a\u7684\u5c40\u9650\u6027\uff0c\u4e3a\u672a\u6765\u7814\u7a76\u63d0\u4f9b\u65b9\u5411\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1906622922128353122_7\">A Physics-informed End-to-End Occupancy Framework<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aA Physics-informed End-to-End Occupancy Framework for Motion Planning of Autonomous Vehicles<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2505.07855\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.07855<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-c53f09ef6323cb3ce952932dbacb54cf_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u7269\u7406\u4fe1\u606f\u5d4c\u5165\u7684\u7aef\u5230\u7aef\u5360\u4f4d\u9884\u6d4b\u6846\u67b6<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u5c06\u7269\u7406\u7ea6\u675f\uff08\u5982\u4eba\u5de5\u52bf\u573aAPF\uff09\u76f4\u63a5\u96c6\u6210\u5230\u795e\u7ecf\u7f51\u7edc\u5b66\u4e60\u8fc7\u7a0b\u7684\u7edf\u4e00\u6846\u67b6\u3002\u901a\u8fc7\u7ed3\u6784\u5316\u5d4c\u5165\u7269\u7406\u89c4\u5219\uff08\u5982\u5438\u5f15\u529b\/\u6392\u65a5\u529b\u6a21\u578b\uff09\uff0c\u786e\u4fdd\u9884\u6d4b\u7684\u5360\u4f4d\u56fe\uff08occupancy maps\uff09\u5728\u6570\u636e\u9a71\u52a8\u5b66\u4e60\u7684\u57fa\u7840\u4e0a\u6ee1\u8db3\u7269\u7406\u53ef\u884c\u6027\uff08\u5982\u78b0\u649e\u89c4\u907f\u4e0e\u76ee\u6807\u5bfc\u5411\u6027\uff09\uff0c\u89e3\u51b3\u4e86\u4f20\u7edf\u65b9\u6cd5\u4f9d\u8d56\u540e\u5904\u7406\u6216\u5916\u90e8\u6a21\u5757\u5bfc\u81f4\u7684\u5b9e\u65f6\u6027\u4e0d\u8db3\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u65f6\u7a7a\u7279\u5f81\u878d\u5408\u7684\u7f51\u7edc\u67b6\u6784\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<p>\u6784\u5efa\u4e86\u7ed3\u5408\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNN\uff09\u4e0e\u5faa\u73af\u795e\u7ecf\u7f51\u7edc\uff08RNN\uff09\u7684\u6df7\u5408\u67b6\u6784\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CNN\u90e8\u5206 \uff1a\u91c7\u7528\u6b8b\u5dee\u8fde\u63a5\uff08Residual Connections\uff09\u4e0e\u591a\u5c42\u5377\u79ef\u63d0\u53d6\u7a7a\u95f4\u7279\u5f81\uff0c\u4fdd\u7559\u8f93\u5165\u4e8c\u503c\u5730\u56fe\u7684\u51e0\u4f55\u4fe1\u606f\uff1b<\/li>\n\n\n\n<li>RNN\u90e8\u5206 \uff1a\u878d\u5408LSTM\u4e0eGRU\u5355\u5143\u6355\u6349\u52a8\u6001\u73af\u5883\u4e2d\u7684\u65f6\u95f4\u4f9d\u8d56\u6027\uff0c\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u65f6\u5e8f\u9884\u6d4b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u7269\u7406\u7ea6\u675f\u5f15\u5bfc\u7684\u635f\u5931\u51fd\u6570\u4f18\u5316<\/strong> \u5f15\u5165\u57fa\u4e8eAPF\u7684\u7269\u7406\u5f15\u5bfc\u635f\u5931\u51fd\u6570\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6700\u5c0f\u5316\u9884\u6d4b\u5360\u4f4d\u56fe\u4e0e\u7269\u7406\u7406\u60f3\u5360\u4f4d\u56fe\u95f4\u7684\u5747\u65b9\u8bef\u5dee\uff08MSE\uff09\uff0c\u5b9e\u73b0\u6570\u636e\u4e0e\u7269\u7406\u89c4\u5219\u7684\u8054\u5408\u4f18\u5316\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u53ef\u6269\u5c55\u7684\u7269\u7406\u5148\u9a8c\u6a21\u5757\u5316\u96c6\u6210<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6846\u67b6\u652f\u6301\u7075\u6d3b\u66ff\u6362\u7269\u7406\u7ea6\u675f\u5f62\u5f0f\uff08\u5982\u66f4\u6362\u5176\u4ed6\u52a8\u529b\u5b66\u6a21\u578b\uff09\uff0c\u65e0\u9700\u4fee\u6539\u7f51\u7edc\u7ed3\u6784\uff0c\u9002\u5e94\u4e0d\u540c\u4efb\u52a1\u9700\u6c42\uff08\u5982\u590d\u6742\u4ea4\u901a\u89c4\u5219\u6216\u52a8\u6001\u4f18\u5148\u7ea7\u8c03\u6574\uff09\uff0c\u63d0\u5347\u4e86\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u4e0e\u5b9e\u7528\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>5. \u5b9e\u9a8c\u9a8c\u8bc1\u6027\u80fd\u63d0\u5347<\/strong><\/p>\n\n\n\n<p>\u57282000\u4e2aCommonRoad\u573a\u666f\u4e2d\u9a8c\u8bc1\uff0c\u76f8\u8f83\u4f20\u7edfAPF\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b89\u5168\u6027 \uff1a\u4efb\u52a1\u5b8c\u6210\u7387\u63d0\u53474.8%\uff080.946 vs. 0.902\uff09\uff0c\u5e73\u5747\u78b0\u649e\u65f6\u95f4\uff08TTC\uff09\u589e\u52a06.4%\uff1b<\/li>\n\n\n\n<li>\u8212\u9002\u6027 \uff1a\u8f68\u8ff9\u6296\u52a8\uff08Jerk\uff09\u964d\u4f4e34.2%\uff081.361 m\/s\u00b3 vs. 2.079 m\/s\u00b3\uff09\uff1b<\/li>\n\n\n\n<li>\u6548\u7387 \uff1a\u89c4\u5212\u65f6\u95f4\u7f29\u77ed5.26\u500d\uff080.0019s vs. 0.01s\uff09\uff0c\u6ee1\u8db3\u5b9e\u65f6\u6027\u8981\u6c42\u3002<\/li>\n<\/ul>\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-28672","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\/28672"}],"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=28672"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/28672\/revisions"}],"predecessor-version":[{"id":28673,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/28672\/revisions\/28673"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=28672"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=28672"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=28672"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}