{"id":29289,"date":"2025-06-03T17:32:00","date_gmt":"2025-06-03T09:32:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29289"},"modified":"2025-06-03T17:32:00","modified_gmt":"2025-06-03T09:32:00","slug":"2025-06-03-%e5%91%8a%e5%88%ab%e5%8f%8c%e7%b3%bb%e7%bb%9f%ef%bc%8c%e6%b8%85%e5%8d%8e%e5%8d%9a%e4%b8%96%e5%b8%a6%e6%9d%a5%e5%ae%8c%e5%85%a8%e5%bc%80%e6%ba%90%e6%80%a7%e8%83%bdsota%e7%9a%84%e7%ba%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/03\/29289\/","title":{"rendered":"2025-06-03-\u544a\u522b\u53cc\u7cfb\u7edf\uff0c\u6e05\u534e\u535a\u4e16\u5e26\u6765\u5b8c\u5168\u5f00\u6e90\u6027\u80fdSOTA\u7684\u7eaf\u8840VLA\uff01"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/bFoP1Ugpvc26ZvLwL9uGjg<\/a><\/p>\n\n\n\n

\u5bfc\u8bfb<\/strong><\/p>\n\n\n\n

\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u57ce\u5e02\u548c\u9ad8\u901f\u516c\u8def\u7b49\u7ed3\u6784\u5316\u73af\u5883\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u9762\u5bf9\u4e61\u6751\u5c0f\u8def\u3001\u4e34\u65f6\u65bd\u5de5\u533a\u3001\u975e\u6807\u51c6\u4ea4\u901a\u89c4\u5219\u4ee5\u53ca\u6076\u52a3\u8def\u51b5\u7b49\u201c\u975e\u7ed3\u6784\u5316\u573a\u666f<\/strong>\u201d\u65f6\uff0c\u5176\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027\u4ecd\u9762\u4e34\u4e25\u5cfb\u6311\u6218\u3002\u73b0\u6709\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e3b\u8981\u4fa7\u91cd\u4e8e\u5e38\u89c4\u4ea4\u901a\u72b6\u51b5 \uff0c\u5bfc\u81f4\u5728\u8fd9\u4e9b\u590d\u6742\u591a\u53d8\u7684\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2d\u7f3a\u4e4f\u4e13\u95e8\u7684\u3001\u5927\u89c4\u6a21\u4e14\u7cbe\u7ec6\u6807\u6ce8\u7684\u6570\u636e\u3002\u4e3a\u4e86\u5f25\u8865\u8fd9\u4e00\u5173\u952e\u7a7a\u767d\uff0c\u6e05\u534eAIR\u8054\u5408\u535a\u4e16\u4e2d\u592e\u7814\u7a76\u9662\u00a0\u63d0\u51fa\u5e76\u6784\u5efa\u4e86\u00a0Impromptu VLA\u00a0\u6846\u67b6\uff0c\u65e8\u5728\u63d0\u4f9b\u4e00\u4e2a\u5f00\u653e\u6743\u91cd\u548c\u5f00\u653e\u6570\u636e<\/strong>\u7684\u9a7e\u9a76\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\u3002Impromptu VLA \u662f\u4e00\u4e2a\u5b8c\u5168\u7aef\u5230\u7aef\u3001\u65e0\u4e2d\u95f4\u611f\u77e5\u8868\u5f81\u7684\u201c\u7eaf\u8840VLA\u201d\u7cfb\u7edf<\/strong>\uff0c\u5176\u4ece\u9a7e\u9a76\u89c6\u9891\u7247\u6bb5\u4e2d\u76f4\u63a5\u63d0\u53d6\u591a\u6a21\u6001\u7279\u5f81\uff0c\u5e76\u751f\u6210\u81ea\u7136\u8bed\u8a00\u683c\u5f0f\u7684\u9a7e\u9a76\u547d\u4ee4\uff0c\u65e0\u9700\u624b\u5de5\u8bbe\u8ba1\u611f\u77e5\u6a21\u5757\u3001\u884c\u4e3a\u5148\u9a8c\u6216\u4e2d\u95f4BEV\u8868\u8fbe<\/strong>\u3002\u5728NeuroNCAP\u95ed\u73af\u5b89\u5168\u8bc4\u6d4b\u4f53\u7cfb\u4e2d\uff0cImpromptu VLA \u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u51b3\u7b56\u7a33\u5065\u6027\u4e0e\u6cdb\u5316\u80fd\u529b\uff0c\u663e\u8457\u8d85\u8d8a CVPR 2025 \u6700\u65b0\u63d0\u51fa\u7684 BridgeAD \u7cfb\u7edf\uff082.15 v.s. 1.60\uff09<\/strong>\u3002<\/p>\n\n\n\n

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

\u8bba\u6587\u94fe\u63a5: https:\/\/arxiv.org\/abs\/2505.23757<\/p>\n\n\n\n

\u4ee3\u7801\u4ed3\u5e93 (Github): https:\/\/github.com\/ahydchh\/Impromptu-VLA<\/p>\n\n\n\n

\u9879\u76ee\u4e3b\u9875: http:\/\/impromptu-vla.c7w.tech\/<\/p>\n\n\n\n

\u6570\u636e\u96c6 (Hugging Face): https:\/\/huggingface.co\/datasets\/aaaaaap\/unstructed<\/p>\n\n\n\n

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

\u56fe 1: Impromptu VLA \u7684\u89c6\u89c9\u6458\u8981<\/p>\n\n\n\n

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

\u8868 1\uff1a\u95ed\u73af\u8bc4\u4f30\u7ed3\u679c<\/p>\n\n\n\n

\u7814\u7a76\u80cc\u666f<\/strong><\/p>\n\n\n\n

\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u6b65\uff0c\u5c24\u5176\u662f\u5728\u57ce\u5e02\u548c\u9ad8\u901f\u516c\u8def\u7b49\u7ed3\u6784\u5316\u73af\u5883\u4e2d\uff0c\u5177\u5907\u6e05\u6670\u7684\u8f66\u9053\u6807\u8bb0\u548c\u53ef\u9884\u6d4b\u7684\u4ea4\u901a\u6d41\uff0c\u5176\u5bfc\u822a\u80fd\u529b\u5df2\u65e5\u76ca\u6210\u719f\u3002\u7136\u800c\uff0c\u8981\u5b9e\u73b0\u201c\u65e0\u5904\u4e0d\u5728\u201d\u7684\u81ea\u52a8\u9a7e\u9a76\u7ec8\u6781\u613f\u666f\uff0c\u6211\u4eec\u5fc5\u987b\u8d85\u8d8a\u8fd9\u4e9b\u5e38\u89c4\u573a\u666f\uff0c\u6df1\u5165\u63a2\u7d22\u590d\u6742\u4e14\u5f80\u5f80\u96be\u4ee5\u9884\u6d4b\u7684\u975e\u7ed3\u6784\u5316\u9053\u8def\u73af\u5883<\/strong>\u3002\u8fd9\u4e9b\u975e\u7ed3\u6784\u5316\u573a\u666f\u6db5\u76d6\u4e86\u4ece\u4e61\u6751\u571f\u8def\u3001\u52a8\u6001\u65bd\u5de5\u533a\u57df\u5230\u6807\u5fd7\u6a21\u7cca\u5730\u5e26\uff0c\u751a\u81f3\u662f\u7ecf\u5386\u8fc7\u81ea\u7136\u4e8b\u4ef6\u6062\u590d\u7684\u533a\u57df\uff0c\u5b83\u4eec\u5171\u540c\u6784\u6210\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e9f\u5f85\u653b\u514b\u7684\u4e0b\u4e00\u4e2a\u91cd\u5927\u524d\u6cbf\u3002\u76ee\u524d\uff0c\u73b0\u6709\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u8fd9\u4e9b\u590d\u6742\u573a\u666f\u4e2d\u7ecf\u5e38\u906d\u9047\u4e25\u5cfb\u8003\u9a8c\uff0c\u56e0\u6b64\uff0c\u8981\u5145\u5206\u53d1\u6325\u201c\u968f\u5904\u53ef\u8fbe\u201d\u7684\u81ea\u52a8\u9a7e\u9a76\u6f5c\u529b\uff0c\u5c31\u5fc5\u987b\u5728\u8fd9\u4e9b\u9886\u57df\u53d6\u5f97\u7a81\u7834\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u6210\u529f\u5e94\u5bf9\u8fd9\u4e00\u524d\u6cbf\u6311\u6218\u53d7\u5230\u4e13\u4e1a\u6570\u636e\u4e25\u91cd\u7a00\u7f3a\u7684\u6781\u5927\u963b\u788d\u3002\u5c3d\u7ba1\u8bb8\u591a\u73b0\u6709\u9a7e\u9a76\u6570\u636e\u96c6\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u5f53\u524d\u8fdb\u5c55\u5960\u5b9a\u4e86\u57fa\u7840\uff0c\u4f46\u5b83\u4eec\u4e3b\u8981\u4fa7\u91cd\u4e8e\u6355\u83b7\u5e38\u89c1\u7684\u3001\u7ed3\u6784\u5316\u7684\u4ea4\u901a\u72b6\u51b5\u3002\u8fd9\u5bfc\u81f4\u5728\u5904\u7406\u975e\u7ed3\u6784\u5316\u73af\u5883\u7684\u5de8\u5927\u591a\u6837\u6027\u548c\u72ec\u7279\u6311\u6218\u65b9\u9762\u5b58\u5728\u663e\u8457\u7684\u201c\u76f2\u70b9<\/strong>\u201d\uff0c\u4f8b\u5982\u9053\u8def\u8fb9\u754c\u4e0d\u6e05\u6670\u3001\u51fa\u73b0\u975e\u5e38\u89c4\u52a8\u6001\u969c\u788d\u7269\u3001\u4e34\u65f6\u4ea4\u901a\u89c4\u5219\u53d8\u5316\u6216\u6076\u52a3\u8def\u9762\u6761\u4ef6<\/strong>\u7b49\u3002\u5982\u679c\u6ca1\u6709\u5927\u89c4\u6a21\u3001\u7cbe\u5fc3\u6807\u6ce8\u4e14\u4e13\u95e8\u53cd\u6620\u8fd9\u4e9b\u590d\u6742\u6761\u4ef6\u7684\u6570\u636e\u96c6\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u8bad\u7ec3\u7684\u6709\u6548\u6027\u5c06\u53d7\u5230\u4e25\u91cd\u9650\u5236\uff0c\u4e5f\u96be\u4ee5\u4e25\u683c\u8bc4\u4f30\u5176\u5728\u6b64\u7c7b\u573a\u666f\u4e2d\u7684\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n

\u4e3a\u89e3\u51b3\u8fd9\u4e00\u6570\u636e\u7a00\u7f3a\u95ee\u9898\uff0c\u7814\u7a76\u56e2\u961f\u5f15\u5165\u4e86 Impromptu VLA \u6570\u636e\u96c6<\/strong>\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b\u7ea680,000\u4e2a\u7ecf\u8fc7\u7cbe\u5fc3\u6311\u9009\u548c\u6807\u6ce8\u7684\u89c6\u9891\u7247\u6bb5\uff0c\u8fd9\u4e9b\u7247\u6bb5\u4ece\u516b\u4e2a\u516c\u5f00\u6765\u6e90\u7684200\u591a\u4e07\u4e2a\u539f\u59cb\u7247\u6bb5\u4e2d\u63d0\u53d6\u800c\u6765\uff0c\u91cd\u70b9\u5173\u6ce8\u56db\u7c7b\u6311\u6218\u6027\u975e\u7ed3\u6784\u5316\u573a\u666f\uff1a\u8fb9\u754c\u4e0d\u6e05\u6670\u7684\u9053\u8def\u3001\u4e34\u65f6\u4ea4\u901a\u89c4\u5219\u53d8\u5316\u3001\u975e\u5e38\u89c4\u52a8\u6001\u969c\u788d\u7269\u548c\u6311\u6218\u6027\u9053\u8def\u6761\u4ef6<\/strong>\u3002<\/p>\n\n\n\n

\u6211\u4eec\u7684\u4e3b\u8981\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n

    \n
  1. Impromptu VLA \u6570\u636e\u96c6<\/strong>\uff1a \u4e00\u4e2a\u516c\u5f00\u53ef\u7528\u3001\u5927\u89c4\u6a21\u3001\u6807\u6ce8\u4e30\u5bcc<\/strong>\u7684\u6570\u636e\u96c6\uff0c\u4e13\u95e8\u7528\u4e8e\u89e3\u51b3\u975e\u7ed3\u6784\u5316\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6570\u636e\u7a7a\u767d\u3002<\/li>\n\n\n\n
  2. \u7cfb\u7edf\u5206\u7c7b\u548c\u6570\u636e\u6574\u7406\u7ba1\u9053<\/strong>\uff1a\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u56db\u7c7b\u975e\u7ed3\u6784\u5316\u573a\u666f\u5206\u7c7b\u6cd5\uff0c\u4ee5\u53ca\u53ef\u6269\u5c55\u7684\u3001\u4ee5 VLM \u4e3a\u4e2d\u5fc3\u7684\u6570\u636e\u7ba1\u7406\u6d41\u7a0b\uff0c\u7528\u4e8e\u8bc6\u522b\u3001\u5206\u7c7b\u548c\u5168\u9762\u6ce8\u91ca\uff0c\u5e76\u5177\u6709\u9002\u7528\u4e8e\u8bad\u7ec3\u9ad8\u7ea7 VLM \u7684\u591a\u4efb\u52a1\u95ee\u7b54\u529f\u80fd\u3002<\/li>\n\n\n\n
  3. \u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\uff1a<\/strong>\u00a0\u5927\u91cf\u5b9e\u9a8c\u8bc1\u636e\u8868\u660e\uff0c\u4f7f\u7528 Impromptu VLA \u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\u53ef\u663e\u8457\u63d0\u5347\u6807\u51c6\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u7684\u7ed3\u679c\uff0c\u5e76\u53ef\u4f5c\u4e3a\u8bc4\u4f30\u548c\u6539\u8fdb\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2d VLM \u80fd\u529b\u7684\u6709\u6548\u8bca\u65ad\u5de5\u5177\u3002<\/li>\n<\/ol>\n\n\n\n

    \u65b9\u6cd5<\/strong><\/p>\n\n\n\n

    \u4e3a\u4e86\u89e3\u51b3\u81ea\u52a8\u9a7e\u9a76\u5728\u975e\u7ed3\u6784\u5316\u573a\u666f\u4e2d\u6570\u636e\u532e\u4e4f\u7684\u5173\u952e\u95ee\u9898\uff0c\u7814\u7a76\u56e2\u961f\u8bbe\u8ba1\u5e76\u5b9e\u73b0\u4e86\u4e00\u5957\u5148\u8fdb\u7684\u6570\u636e\u5904\u7406\u548c\u6807\u6ce8\u6d41\u7a0b\uff0c\u901a\u8fc7\u4ee5\u4e0b\u51e0\u4e2a\u5173\u952e\u6b65\u9aa4\uff0c\u4ece\u6d77\u91cf\u539f\u59cb\u6570\u636e\u4e2d\u63d0\u53d6\u5e76\u4e30\u5bcc\u51fa\u9ad8\u8d28\u91cf\u7684\u975e\u7ed3\u6784\u5316\u9a7e\u9a76\u573a\u666f\uff1a<\/p>\n\n\n\n

    2.1 Impromptu VLA \u6570\u636e\u96c6\u6982\u8ff0<\/strong><\/p>\n\n\n\n

    \u5f53\u524d\u7814\u7a76\u793e\u533a\u7f3a\u4e4f\u8db3\u591f\u5927\u89c4\u6a21\u3001\u591a\u6837\u5316\u4e14\u7cbe\u7ec6\u6807\u6ce8\u7684\u3001\u4e13\u95e8\u9488\u5bf9\u975e\u7ed3\u6784\u5316\u573a\u666f\u7684\u6570\u636e\u96c6\u3002Impromptu VLA \u6570\u636e\u96c6\u65e8\u5728\u5f25\u8865\u8fd9\u4e00\u5173\u952e\u7a7a\u767d\uff0c\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u5728\u975e\u7ed3\u6784\u5316\u9053\u8def\u4e0a\u7684\u53d1\u5c55\u3002\u8be5\u6570\u636e\u96c6\u6700\u521d\u4ece8\u4e2a\u4e3b\u8981\u516c\u5171\u6570\u636e\u96c6<\/strong>\uff08\u603b\u8ba1\u8d85\u8fc7200\u4e07\u4e2a\u89c6\u9891\u7247\u6bb5\uff0c\u5360\u7528\u8d85\u8fc710TB\u5b58\u50a8\u7a7a\u95f4\uff09\u4e2d\u805a\u5408\u800c\u6765\u3002\u7ecf\u8fc7\u7cbe\u5bc6\u7684\u7b5b\u9009\u673a\u5236\uff0cImpromptu VLA \u88ab\u63d0\u70bc\u6210\u4e00\u4e2a\u9ad8\u5ea6\u96c6\u4e2d\u7684\u7ea680,000\u4e2a\u7247\u6bb5<\/strong>\u7684\u96c6\u5408\u3002\u8fd9\u4e9b\u7247\u6bb5\u4e13\u95e8\u6355\u83b7\u4e86\u591a\u6837\u5316\u7684\u6311\u6218\u6027\u573a\u666f\uff0c\u5305\u62ec\u8fb9\u754c\u4e0d\u6e05\u6670\u7684\u9053\u8def\u3001\u5b58\u5728\u975e\u5e38\u89c4\u52a8\u6001\u969c\u788d\u7269\u4ee5\u53ca\u5177\u6709\u4e34\u65f6\u6216\u975e\u6807\u51c6\u4ea4\u901a\u89c4\u5219\u7684\u8def\u6bb5\u3002<\/p>\n\n\n\n

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

    \u8868 2\uff1a\u6570\u636e\u96c6\u4fe1\u606f<\/p>\n\n\n\n

    2.2 \u5b9a\u4e49\u975e\u7ed3\u6784\u5316\u9a7e\u9a76\u573a\u666f\u5206\u7c7b\u4f53\u7cfb<\/strong><\/p>\n\n\n\n

    \u521b\u5efa Impromptu VLA \u6570\u636e\u96c6\u7684\u4e00\u4e2a\u4e3b\u8981\u76ee\u6807\u662f\u8d85\u8d8a\u5bf9\u201c\u975e\u7ed3\u6784\u5316\u201d\u7684\u7b3c\u7edf\u6a21\u7cca\u770b\u6cd5\uff0c\u5efa\u7acb\u5bf9\u8fd9\u4e9b\u73af\u5883\u6240\u5448\u73b0\u5177\u4f53\u6311\u6218\u7684\u66f4\u7ec6\u81f4\u7406\u89e3\u3002\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u5e76\u5c06\u6570\u636e\u96c6\u805a\u7126\u4e8e\u771f\u6b63\u8003\u9a8c\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6781\u9650\u7684\u573a\u666f\uff0c\u7814\u7a76\u56e2\u961f\u521d\u6b65\u5f00\u5c55\u4e86\u4e00\u9879\u6570\u636e\u9a71\u52a8<\/strong>\u7684\u8fc7\u7a0b\uff0c\u5b9a\u4e49\u4e86\u4e00\u4e2a\u7b80\u6d01\u800c\u5168\u9762\u7684\u975e\u7ed3\u6784\u5316\u9053\u8def\u573a\u666f\u5206\u7c7b\u4f53\u7cfb\u3002<\/p>\n\n\n\n

    \u8be5\u5206\u7c7b\u4f53\u7cfb\u7684\u5b9a\u4e49\u65b9\u6cd5\u59cb\u4e8e\u5bf9\u6536\u96c6\u5230\u7684\u6570\u636e\u8fdb\u884c\u5e7f\u6cdb\u3001\u65e0\u504f\u89c1\u7684\u63a2\u7d22\u3002\u9996\u5148\uff0c\u7814\u7a76\u56e2\u961f\u901a\u8fc7\u4ece\u805a\u5408\u548c\u6807\u51c6\u5316\u540e\u7684\u591a\u6e90\u6570\u636e\u96c6\u4e2d\u4ee5\u56fa\u5b9a\u95f4\u9694\u91c7\u6837\u7ea610%\u7684\u7247\u6bb5\uff0c\u521b\u5efa\u4e86\u4e00\u4e2a\u5177\u6709\u4ee3\u8868\u6027\u7684\u5b50\u96c6\u3002\u968f\u540e\uff0c\u5229\u7528\u5f3a\u5927\u7684\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b Qwen2.5-VL 72B<\/strong> \u7684\u80fd\u529b\uff0c\u5bf9\u8be5\u5b50\u96c6\u8fdb\u884c\u5f00\u653e\u5f0f\u63cf\u8ff0\u6027\u5206\u6790<\/strong>\u3002<\/p>\n\n\n\n

    \u63a5\u4e0b\u6765\u7684\u9636\u6bb5\u662f\u4e00\u4e2a\u591a\u9636\u6bb5\u3001\u9ad8\u5ea6\u81ea\u52a8\u5316<\/strong>\u7684\u8fc7\u7a0b\uff0c\u65e8\u5728\u5c06\u8fd9\u4e9b\u63cf\u8ff0\u63d0\u70bc\u6210\u6709\u610f\u4e49\u7684\u975e\u7ed3\u6784\u5316\u6311\u6218\u7c7b\u522b\u3002\u9996\u5148\uff0c\u4e3a\u4e86\u4ee5\u7f16\u7a0b\u65b9\u5f0f\u8bc6\u522b\u5e76\u8fc7\u6ee4\u6389\u5e38\u89c4\u9a7e\u9a76\u573a\u666f\uff0c\u7814\u7a76\u56e2\u961f\u91c7\u7528\u4e86\u53e6\u4e00\u4e2a\u57fa\u4e8e VLM \u7684\u5206\u7c7b\u6b65\u9aa4\u3002Qwen2.5-VL \u751f\u6210\u7684\u6bcf\u4e00\u4e2a\u521d\u59cb\u7684\u3001\u4e30\u5bcc\u7684\u573a\u666f\u63cf\u8ff0\u90fd\u4f7f\u7528\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u63d0\u793a\uff08prompt\uff09\u8fdb\u884c\u8bc4\u4f30\uff0c\u8be5\u63d0\u793a\u6307\u793a VLM \u626e\u6f14\u573a\u666f\u5206\u7c7b\u5668<\/strong>\u7684\u89d2\u8272\uff0c\u5224\u65ad\u8be5\u63cf\u8ff0\u662f\u5426\u5c5e\u4e8e\u975e\u5e38\u89c4\u60c5\u51b5\u3002\u4e3a\u4e86\u786e\u4fdd\u8fd9\u79cd\u57fa\u4e8e VLM \u7684\u8fc7\u6ee4\u63d0\u793a\u7684\u53ef\u9760\u6027\u548c\u6709\u6548\u6027\uff0c\u7814\u7a76\u56e2\u961f\u8fdb\u884c\u4e86\u4e00\u4e2a\u8fed\u4ee3\u4f18\u5316<\/strong>\u8fc7\u7a0b\u3002\u8be5\u8fc7\u7a0b\u5728\u4e00\u4e2a\u5305\u542b\u7ea61000\u4e2a\u573a\u666f\u63cf\u8ff0\u7684\u9a8c\u8bc1\u5b50\u96c6\u4e0a\u8fdb\u884c\u4e86\u6d4b\u8bd5\uff0c\u8fd9\u4e9b\u63cf\u8ff0\u4e5f\u7531\u4e24\u540d\u4eba\u5de5\u6807\u6ce8\u5458<\/strong>\u72ec\u7acb\u5730\u624b\u52a8\u6807\u6ce8\u4e3a\u201c\u5e38\u89c4\u201d\u6216\u201c\u975e\u5e38\u89c4\u201d\u3002VLM \u7684\u5206\u7c7b\u7ed3\u679c\u4e0e\u4eba\u5de5\u5171\u8bc6\u8fdb\u884c\u6bd4\u8f83\uff0c\u5e76\u8fed\u4ee3\u8c03\u6574\u63d0\u793a\uff0c\u76f4\u5230\u8fbe\u5230\u9ad8\u5ea6\u4e00\u81f4\u3002<\/p>\n\n\n\n

    \u5bf9\u4e8e\u4ece\u5b8c\u6574\u6570\u636e\u96c6\u4e2d\u9009\u51fa\u7684\u975e\u5e38\u89c4\u573a\u666f\uff0c\u7814\u7a76\u56e2\u961f\u8fdb\u884c\u4e86\u8bed\u4e49\u7ea7\u5206\u6790\uff0c\u4ee5\u8bc6\u522b\u91cd\u590d\u51fa\u73b0\u7684\u6a21\u5f0f\uff0c\u5e76\u5c06\u8bed\u4e49\u76f8\u4f3c\u7684\u975e\u7ed3\u6784\u5316\u573a\u666f\u8fdb\u884c\u5206\u7ec4\u3002\u8fd9\u79cd\u805a\u7c7b\u65b9\u6cd5\u4fc3\u6210\u4e86\u6f5c\u5728\u5b50\u7c7b\u522b\u7684\u81ea\u4e0b\u800c\u4e0a\u6d8c\u73b0\uff0c\u4f8b\u5982\u6d89\u53ca\u201c\u4e0d\u6e05\u6670\u7684\u9053\u8def\u8fb9\u7f18\u201d\u3001\u201c\u4e34\u65f6\u9053\u8def\u65bd\u5de5\u201d\u3001\u201c\u9053\u8def\u4e0a\u7684\u52a8\u7269\u201d\u6216\u201c\u7531\u4e8e\u4e0b\u96ea\u5bfc\u81f4\u80fd\u89c1\u5ea6\u5dee\u201d\u7b49\u3002\u901a\u8fc7\u5bf9\u8fd9\u4e9b\u673a\u5668\u751f\u6210\u7684\u7c07\u8fdb\u884c\u8fed\u4ee3\u7ec6\u5316\u3001\u6574\u5408\u4ee5\u53ca\u57fa\u4e8e\u8fd9\u4e9b\u7ec4\u4e2d\u8bc6\u522b\u51fa\u7684\u4e3b\u8981\u9a7e\u9a76\u590d\u6742\u6027\u6765\u6e90\u8fdb\u884c\u62bd\u8c61\uff0c\u7814\u7a76\u56e2\u961f\u6700\u7ec8\u786e\u5b9a\u4e86\u4ee5\u4e0b\u56db\u4e2a\u7a81\u51fa\u7684\u9ad8\u5c42\u7c7b\u522b<\/strong> \uff1a<\/p>\n\n\n\n

      \n
    1. \u9053\u8def\u8fb9\u754c\u4e0d\u6e05\u6670\uff08Roads with unclear boundaries\uff09<\/strong>: \u8def\u5f84\u6a21\u7cca\u6216\u672a\u5b9a\u4e49\u7684\u573a\u666f\uff0c\u4f8b\u5982\u4e61\u6751\u571f\u8def\u3001\u8d8a\u91ce\u5c0f\u5f84\u6216\u6807\u8bb0\u892a\u8272\/\u7f3a\u5931\u7684\u9053\u8def\u3002\u8fd9\u4e9b\u573a\u666f\u4e25\u91cd\u6311\u6218\u4e86\u8f66\u9053\u68c0\u6d4b\u548c\u53ef\u9a7e\u9a76\u533a\u57df\u5206\u5272\u7b49\u611f\u77e5\u4efb\u52a1\u3002<\/li>\n\n\n\n
    2. \u4e34\u65f6\u4ea4\u901a\u89c4\u5219\u53d8\u5316\uff08Temporary traffic rule changes\uff09:<\/strong>\u00a0\u6807\u51c6\u4ea4\u901a\u89c4\u5219\u56e0\u65bd\u5de5\u533a\u3001\u4eba\u5de5\u4ea4\u901a\u6307\u6325\u5458\u6216\u4e34\u65f6\u6807\u5fd7\u800c\u6682\u65f6\u6539\u53d8\u7684\u52a8\u6001\u60c5\u51b5\uff0c\u8981\u6c42\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u9002\u5e94\u975e\u5bfb\u5e38\u7684\u6307\u4ee4\u548c\u9053\u8def\u5e03\u5c40\u3002<\/li>\n\n\n\n
    3. \u975e\u5e38\u89c4\u52a8\u6001\u969c\u788d\u7269\uff08Unconventional dynamic obstacles\uff09:<\/strong>\u00a0\u5728\u5178\u578b\u57ce\u5e02\u9a7e\u9a76\u4e2d\u4e0d\u5e38\u89c1\u7684\u52a8\u6001\u7269\u4f53\u6216\u969c\u788d\u7269\uff0c\u9700\u8981\u4e13\u95e8\u7684\u4ea4\u4e92\u7b56\u7565\u3002\u4f8b\u5982\uff0c\u5927\u578b\u6216\u4e0d\u89c4\u5219\u884c\u9a76\u7684\u8f66\u8f86\u3001\u51fa\u73b0\u5728\u610f\u5916\u4f4d\u7f6e\u7684\u5f31\u52bf\u9053\u8def\u4f7f\u7528\u8005\uff0c\u6216\u8005\u906d\u9047\u52a8\u7269\uff0c\u6240\u6709\u8fd9\u4e9b\u90fd\u6784\u6210\u4e86\u7a81\u53d1\u5371\u9669\u3002<\/li>\n\n\n\n
    4. \u6311\u6218\u6027\u8def\u51b5\uff08Challenging road conditions\uff09:<\/strong>\u00a0\u5305\u62ec\u6076\u52a3\u8def\u9762\uff08\u5982\u5751\u6d3c\u3001\u6ce5\u571f\u3001\u96ea\u3001\u51b0\uff09\u6216\u73af\u5883\u6761\u4ef6\uff08\u5982\u96fe\u3001\u5927\u96e8\u3001\u5f31\u5149\u3001\u7729\u5149\uff09\u4e25\u91cd\u5f71\u54cd\u80fd\u89c1\u5ea6\u6216\u8f66\u8f86\u884c\u9a76\u7684\u573a\u666f\uff0c\u4f7f\u5371\u9669\u611f\u77e5\u548c\u5b89\u5168\u5bfc\u822a\u590d\u6742\u5316\u3002<\/li>\n<\/ol>\n\n\n\n

      2.3 \u6570\u636e\u5904\u7406\u548c\u6807\u6ce8<\/strong><\/p>\n\n\n\n

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

      \u56fe 2\uff1a\u6570\u636e\u5904\u7406\u548c\u6807\u6ce8\u6d41\u7a0b<\/p>\n\n\n\n

      \u5173\u952e\u7247\u6bb5\u9009\u62e9\u548c\u7a33\u5b9a\u6027\u8fc7\u6ee4\uff08Keyclip Selection and Stability Filtering\uff09<\/strong>: \u6240\u6709\u6536\u96c6\u5230\u7684\u5e8f\u5217\u9996\u5148\u88ab\u6807\u51c6\u5316\u4e3a\u7edf\u4e00\u7684 2Hz<\/strong> \u65f6\u95f4\u901f\u7387\uff0c\u89e3\u51b3\u4e86\u6765\u81ea\u4e0d\u540c\u6765\u6e90\u7684\u4e0d\u4e00\u81f4\u6027\u3002\u7814\u7a76\u56e2\u961f\u5c06\u7247\u6bb5\u914d\u7f6e\u4e0e NAVSIM  \u5bf9\u9f50<\/strong>\uff0c\u4fdd\u7559\u8fc7\u53bb1.5\u79d2\u548c\u672a\u67655\u79d2<\/strong>\u7684\u6570\u636e\uff0c\u5e76\u4ece\u6bcf\u4e2a\u5305\u4e2d\u9009\u62e9\u4e2d\u5fc3\u5173\u952e\u7247\u6bb5\u8fdb\u884c\u6807\u6ce8\u3002<\/p>\n\n\n\n

      \u901a\u8fc7 CoT \u63d0\u793a\u8fdb\u884c\u573a\u666f\u5206\u7c7b\u548c\u7ed3\u6784\u5316\u4fe1\u606f\u63d0\u53d6\uff08Scene Classification and Structured Information Extraction via CoT prompting\uff09<\/strong>: \u9009\u5b9a\u7684\u5173\u952e\u7247\u6bb5\u4f7f\u7528 Qwen2.5-VL 72B  \u548c\u601d\u7ef4\u94fe\uff08CoT\uff09\u63d0\u793a\u8fdb\u884c\u5206\u7c7b\uff0c\u4ee5\u63d0\u53d6\u8d85\u8d8a\u7b80\u5355\u63cf\u8ff0\u7684\u4e30\u5bcc\u7ed3\u6784\u5316\u4fe1\u606f\u3002\u8fd9\u79cd\u5c42\u6b21\u63a8\u7406\u8fc7\u7a0b\u5206\u6790\u4e86\u6574\u4f53\u573a\u666f\u63cf\u8ff0\u3001\u9759\u6001\u9053\u8def\u7279\u5f81\u3001\u53ef\u79fb\u52a8\u7269\u4f53\uff0c\u5e76\u6700\u7ec8\u5206\u914d\u5230\u56db\u4e2a\u975e\u7ed3\u6784\u5316\u573a\u666f\u7c7b\u522b\u4e4b\u4e00\u3002<\/p>\n\n\n\n

      \u591a\u4efb\u52a1\u6807\u6ce8\u751f\u6210\uff08Multi-Task Annotation Generation\uff09<\/strong>: \u5229\u7528\u573a\u666f\u7c7b\u522b\u548c\u5728 CoT \u8fc7\u7a0b\u4e2d\u63d0\u53d6\u7684\u7ed3\u6784\u5316\u4fe1\u606f\uff0c\u7814\u7a76\u56e2\u961f\u8fdb\u4e00\u6b65\u4e30\u5bcc\u4e86\u6bcf\u4e2a\u5173\u952e\u7247\u6bb5\uff0c\u63d0\u4f9b\u4e86\u591a\u6837\u5316\u7684\u4efb\u52a1\u7279\u5b9a\u6807\u6ce8\uff0c\u8fd9\u5f97\u76ca\u4e8e Senna  \u7b49\u7efc\u5408\u6807\u6ce8\u6846\u67b6\u7684\u542f\u53d1\u3002\u8fd9\u79cd\u591a\u4efb\u52a1\u6807\u6ce8\u662f\u901a\u8fc7\u89c4\u5219\u548cLLM\u7ed3\u5408\u7684\u65b9\u6cd5\u5b9e\u73b0\u7684\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u7814\u7a76\u56e2\u961f\u4e3a\u6bcf\u4e2a\u9009\u5b9a\u7684\u5173\u952e\u7247\u6bb5\u751f\u6210\u4e86\u4ee5\u4e0b\u6807\u6ce8\uff1a<\/p>\n\n\n\n

        \n
      1. \u573a\u666f\u63cf\u8ff0\uff08Scene Description\uff09:<\/strong>\u00a0\u901a\u8fc7\u5bf9 VLM \u8fdb\u884c\u6709\u9488\u5bf9\u6027\u7684\u67e5\u8be2\uff0c\u751f\u6210\u6355\u83b7\u6574\u4f53\u73af\u5883\u4e0a\u4e0b\u6587\u3001\u65f6\u95f4\u3001\u5929\u6c14\u548c\u4ea4\u901a\u72b6\u51b5\u7684\u5168\u9762\u63cf\u8ff0\u3002<\/li>\n\n\n\n
      2. \u4ea4\u901a\u4fe1\u53f7\u68c0\u6d4b\uff08Traffic Signal Detection\uff09<\/strong>: \u901a\u8fc7\u8fdb\u4e00\u6b65\u7684 VLM \u67e5\u8be2\uff0c\u8bc6\u522b\u6d3b\u52a8\u4ea4\u901a\u4fe1\u53f7\u7684\u5b58\u5728\u72b6\u6001\u548c\u7c7b\u578b\u3002<\/li>\n\n\n\n
      3. \u5f31\u52bf\u9053\u8def\u4f7f\u7528\u8005\uff08VRU\uff09\u8bc6\u522b\uff08Vulnerable Road User (VRU) Identification\uff09<\/strong>: \u5173\u4e8e VRU \u7684\u4fe1\u606f\uff0c\u5305\u62ec\u5176\u5b58\u5728\u3001\u7c7b\u578b\uff08\u4f8b\u5982\uff0c\u884c\u4eba\u3001\u9a91\u81ea\u884c\u8f66\u8005\uff09\u4ee5\u53ca\u4e0e\u81ea\u8f66\u8ddd\u79bb\uff0c\u5747\u4ece\u771f\u5b9e\u6570\u636e\u4e2d\u83b7\u53d6\u3002<\/li>\n\n\n\n
      4. \u8fd0\u52a8\u610f\u56fe\u9884\u6d4b\uff08Motion Intention Prediction\uff09<\/strong>: \u4e3a\u4e86\u6355\u83b7\u52a8\u6001\u65b9\u9762\uff0c\u573a\u666f\u4e2d\u5173\u952e\u53c2\u4e0e\u8005\u7684\u9884\u6d4b\u8fd0\u52a8\u610f\u56fe\u7531 VLM \u751f\u6210\u3002<\/li>\n\n\n\n
      5. \u5143\u52a8\u4f5c\u89c4\u5212\uff08Meta-action Planning\uff09<\/strong>: \u4e3a\u81ea\u8f66\u5236\u5b9a\u9ad8\u5c42\u8ba1\u5212\uff08\u4f8b\u5982\uff0c\u52a0\u901f-\u5de6\u8f6c\u3001\u4fdd\u6301\u76f4\u884c\uff09\uff0c\u901a\u5e38\u901a\u8fc7\u57fa\u4e8e\u573a\u666f\u4e0a\u4e0b\u6587\u7684 VLM \u63d0\u793a\u6765\u5b9e\u73b0\u3002<\/li>\n\n\n\n
      6. \u89c4\u5212\u89e3\u91ca\uff08Planning Explanation\uff09<\/strong>: \u7531 VLM \u751f\u6210\u6587\u672c\u89e3\u91ca\uff0c\u5408\u7406\u5316\u81ea\u8f66\u5728\u573a\u666f\u4e2d\u6f5c\u5728\u6216\u5b9e\u9645\u7684\u673a\u52a8\u884c\u4e3a\u3002<\/li>\n\n\n\n
      7. \u7aef\u5230\u7aef\u8f68\u8ff9\u9884\u6d4b\uff08End-to-End Trajectory Prediction\uff09<\/strong>: \u901a\u8fc7\u5728\u771f\u5b9e\u6570\u636e\u4e2d\u6784\u5efa\u8fc7\u53bb\u8f66\u8f86\u72b6\u6001\u548c\u76f8\u5e94\u7684\u672a\u6765\u76ee\u6807\u8f68\u8ff9\u6765\u7b56\u5212\u652f\u6301\u6b64\u4efb\u52a1\u7684\u6570\u636e\u3002<\/li>\n<\/ol>\n\n\n\n

        \u5168\u9762\u4eba\u5de5\u9a8c\u8bc1\uff08Comprehensive Human Verification\uff09<\/strong>: \u6240\u6709\u751f\u6210\u7684\u6807\u6ce8\u2014\u2014\u65e0\u8bba\u662f\u4e3b\u8981\u7684\u975e\u7ed3\u6784\u5316\u573a\u666f\u7c7b\u522b\u8fd8\u662f\u540e\u7eed\u7684\u591a\u4efb\u52a1\u6807\u7b7e\u2014\u2014\u90fd\u7ecf\u8fc7\u4e86\u7ec6\u81f4\u7684\u4eba\u5de5\u9a8c\u8bc1\u8fc7\u7a0b<\/strong>\u3002\u6807\u6ce8\u5458\u5ba1\u67e5\u6bcf\u4e2a\u5173\u952e\u7247\u6bb5\u53ca\u5176\u76f8\u5173\u6807\u7b7e\uff0c\u63d0\u4f9b\u4e8c\u5143\u5224\u65ad\uff08\u63a5\u53d7\/\u62d2\u7edd\uff09\u6216\u5728\u5fc5\u8981\u65f6\u8fdb\u884c\u5c0f\u7684\u4fee\u6b63\u6765\u786e\u4fdd\u6574\u4e2a\u6570\u636e\u96c6\u7684\u9ad8\u4fdd\u771f\u5ea6\u3002\u4e3a\u4e86\u5728\u8fdb\u884c\u5e7f\u6cdb\u4eba\u5de5\u5ba1\u67e5\u4e4b\u524d\u5b9a\u91cf\u8bc4\u4f30 VLM \u5728\u6211\u4eec\u5b9a\u4e49\u7684\u975e\u7ed3\u6784\u5316\u7c7b\u522b\u4e0a\u7684\u573a\u666f\u5206\u7c7b\u6027\u80fd\uff0c\u7814\u7a76\u56e2\u961f\u5728\u4ece nuScenes \u6570\u636e\u96c6\u4e2d\u95f4\u9694\u91c7\u6837\u7684200\u5f20\u56fe\u50cf\u5b50\u96c6\u4e0a\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u5c06 VLM \u5206\u7c7b\u7ed3\u679c\u4e0e\u4e13\u5bb6\u624b\u52a8\u6807\u7b7e\u8fdb\u884c\u6bd4\u8f83\uff0c\u7ed3\u679c\u663e\u793a\u51e0\u4e2a\u7c7b\u522b\u83b7\u5f97\u4e86\u8f83\u9ad8\u7684F1\u5206\u6570\uff1a\u201c\u4e34\u65f6\u4ea4\u901a\u89c4\u5219\u53d8\u5316\u201d\u4e3a0.90 \uff0c\u201c\u975e\u5e38\u89c4\u52a8\u6001\u969c\u788d\u7269\u201d\u4e3a0.81 \uff0c\u201c\u6311\u6218\u6027\u8def\u51b5\u201d\u4e3a0.91\u3002\u7531\u4e8e\u201c\u9053\u8def\u8fb9\u754c\u4e0d\u6e05\u6670\u201d\u7c7b\u522b\u5728 nuScenes \u5b50\u96c6\u4e2d\u8fc7\u4e8e\u7a00\u6709\uff0c\u56e0\u6b64\u65e0\u6cd5\u8fdb\u884c\u6709\u610f\u4e49\u7684F1\u5206\u6570\u8ba1\u7b97\u3002\u8fd9\u4e9b\u9a8c\u8bc1\u7ed3\u679c\u4e3a\u6211\u4eec\u6807\u6ce8\u6d41\u6c34\u7ebf\u4e2d\u57fa\u4e8e VLM \u7684\u9636\u6bb5\u63d0\u4f9b\u4e86\u4fe1\u5fc3\u3002<\/p>\n\n\n\n

        2.4 \u6570\u636e\u96c6\u7edf\u8ba1\uff08Dataset Statistics\uff09<\/strong><\/p>\n\n\n\n

        \u6700\u7ec8\u7684 Impromptu VLA \u6570\u636e\u96c6\u5305\u542b\u5927\u91cf\u7ecf\u8fc7\u6807\u6ce8\u7684\u7247\u6bb5\uff0c\u8fd9\u4e9b\u7247\u6bb5\u4e13\u95e8\u9488\u5bf9\u5176\u975e\u7ed3\u6784\u5316\u9053\u8def\u7279\u6027\u8fdb\u884c\u4e86\u7b56\u5212\u3002\u56fe 3<\/strong>\u00a0\u5c55\u793a\u4e86\u4ece\u6bcf\u4e2a\u6e90\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7684\u8fd9\u4e9b\u7247\u6bb5\u7684\u603b\u6570\uff0c\u8fd9\u4e9b\u7247\u6bb5\u5728\u56db\u79cd\u975e\u7ed3\u6784\u5316\u573a\u666f\u7c7b\u522b\uff08\u7b2c2.2\u8282\u4e2d\u4ecb\u7ecd\uff09\u4e2d\u7684\u6574\u4f53\u5206\u5e03\uff0cImpromptu VLA\u6570\u636e\u96c6\u548c\u539f\u59cb\u6570\u636e\u96c6\u7684\u8f68\u8ff9\u5206\u5e03\u60c5\u51b5\u6bd4\u8f83\uff0c\u4ee5\u53ca\u6570\u636e\u96c6\u4e2d\u6765\u81ea\u4e0d\u540c\u6e90\u6570\u636e\u96c6\u7684\u4e0d\u540c\u7c7b\u522b\u7684\u573a\u666f\u3002<\/p>\n\n\n\n

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

        \u56fe 3\uff1aImpromptu VLA \u6570\u636e\u96c6\u7279\u5f81<\/p>\n\n\n\n

        \u4e3a\u4e86\u6700\u5927\u9650\u5ea6\u5730\u63d0\u9ad8\u8be5\u6570\u636e\u96c6\u5728\u8bad\u7ec3\u548c\u8bc4\u4f30\u611f\u77e5\u548c\u89c4\u5212\u6a21\u578b\u65b9\u9762\u7684\u6548\u7528\uff0c\u4e3a\u6bcf\u4e2a\u7247\u6bb5\u751f\u6210\u7684\u4e30\u5bcc\u591a\u4efb\u52a1\u6807\u6ce8\uff08\u5982\u7b2c2.3\u8282\u6240\u8be6\u8ff0\uff09\u88ab\u7ed3\u6784\u5316\u4e3a\u9762\u5411\u89c4\u5212\u7684\u95ee\u7b54\uff08Q&A\uff09\u5bf9<\/strong>\u3002\u8fd9\u79cd\u683c\u5f0f\uff0c\u7075\u611f\u6765\u81ea DriveVLM \u00a0\u6216 EMMA \u00a0\u7b49\u6846\u67b6\uff0c\u5c06\u89c6\u89c9\u8f93\u5165\u3001\u6587\u672c\u8f93\u51fa\u548c\u52a8\u4f5c\u8f68\u8ff9\u9884\u6d4b\u76f4\u63a5\u5173\u8054\u5230 LLMs \u7684\u5e8f\u5217\u7a7a\u95f4\u4e2d\u3002\u4e3a\u4e86\u6807\u51c6\u5316\u8bc4\u4f30\uff0c\u6574\u4e2a\u6570\u636e\u96c6\u7684\u7b56\u5212\u7247\u6bb5\uff0c\u8de8\u8d8a\u6240\u6709\u56db\u79cd\u975e\u7ed3\u6784\u5316\u7c7b\u522b\uff0c\u7814\u7a76\u56e2\u961f\u5c06\u6570\u636e\u6309\u716780:20\u7684\u6bd4\u4f8b\u5212\u5206\u4e3a\u8bad\u7ec3\u96c6\u548c\u9a8c\u8bc1\u96c6<\/strong>\u3002\u8fd9\u79cd\u5206\u5c42\u5728\u6bcf\u4e2a\u7c7b\u522b\u5185\u8fdb\u884c\uff0c\u4ee5\u786e\u4fdd\u9a8c\u8bc1\u96c6\u4fdd\u7559\u4e86\u6240\u6709\u5b9a\u4e49\u7684\u975e\u7ed3\u6784\u5316\u9053\u8def\u6311\u6218\u7684\u4ee3\u8868\u6027\u5206\u5e03\u3002<\/p>\n\n\n\n

        \u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

        \u672c\u8282\u901a\u8fc7\u5b9e\u8bc1\u9a8c\u8bc1 Impromptu VLA \u6570\u636e\u96c6\u5bf9\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u53d1\u5c55\u7684\u5f71\u54cd\u3002\u6211\u4eec\u65e8\u5728\u56de\u7b54\u4ee5\u4e0b\u95ee\u9898\uff1a<\/p>\n\n\n\n

          \n
        1. \u7528\u6211\u4eec\u7684\u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\u662f\u5426\u80fd\u6539\u5584\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b (VLM) \u5728\u73b0\u6709\u57fa\u51c6\u6d4b\u8bd5\uff08\u5305\u62ec\u95ed\u73af\u548c\u5f00\u73af<\/strong>\uff09\u4e0a\u7684\u6027\u80fd\uff1f<\/li>\n\n\n\n
        2. Impromptu VLA \u6570\u636e\u96c6\u5728\u54ea\u4e9b\u5177\u4f53\u65b9\u9762\uff08\u611f\u77e5\u3001\u9884\u6d4b\u6216\u89c4\u5212\uff09\u589e\u5f3a\u4e86 VLM \u6027\u80fd\uff1f\u6211\u4eec\u7684\u9a8c\u8bc1\u96c6\u53ca\u5176\u8be6\u7ec6\u7684\u9762\u5411\u89c4\u5212\u7684\u95ee\u7b54 (Q&A) \u5982\u4f55\u6709\u6548\u5730\u4f5c\u4e3a\u8bca\u65ad\u57fa\u51c6\uff0c\u4ee5\u67e5\u660e\u8fd9\u4e9b\u8d21\u732e\u5e76\u8bc4\u4f30\u6a21\u578b\u5728\u8fd9\u4e9b\u4e0d\u540c\u4efb\u52a1\u4e2d\u7684\u80fd\u529b\uff1f<\/li>\n<\/ol>\n\n\n\n

          3.1 \u63a8\u52a8\u73b0\u6709\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u57fa\u51c6\u7684\u8fb9\u754c<\/strong><\/p>\n\n\n\n

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

          \u56fe 4: \u95ed\u73af\u8bc4\u4f30\u53ef\u89c6\u5316<\/p>\n\n\n\n

          \u5f00\u73af\u8bc4\u4f30<\/strong>\u3002\u9664\u4e86\u95ed\u73af\u4eff\u771f\uff0c\u6211\u4eec\u8fd8\u8fdb\u884c\u5f00\u73af\u8bc4\u4f30\uff0c\u4ee5\u4e13\u95e8\u8bc4\u4f30\u00a0Impromptu VLA \u5bf9 VLM \u8f68\u8ff9\u9884\u6d4b\u51c6\u786e\u6027<\/strong>\u7684\u63d0\u5347\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u540c\u6837\u4f7f\u7528 nuScenes \u6570\u636e\u96c6 \uff0c\u91cd\u70b9\u5173\u6ce8\u7aef\u5230\u7aef\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u3002\u6027\u80fd\u4e3b\u8981\u901a\u8fc7\u9884\u6d4b\u8f68\u8ff9\u4e0e\u771f\u5b9e\u8f68\u8ff9\u5728\u672a\u67651\u79d2\u30012\u79d2\u548c3\u79d2\u65f6\u95f4\u8303\u56f4\u5185\u7684L2\u8ddd\u79bb<\/strong>\uff08\u5355\u4f4d\uff1a\u7c73\uff09\u4ee5\u53ca\u5e73\u5747L2\u8bef\u5dee\u6765\u8861\u91cf\u3002\u5b9e\u9a8c\u65b9\u6cd5\u4e0e\u95ed\u73af\u6d4b\u8bd5\u4e2d\u4f7f\u7528\u7684\u6bd4\u8f83\u65b9\u6cd5\u76f8\u540c\u3002\u6211\u4eec\u6bd4\u8f83\u4e86 Qwen2.5VL 3B \u548c 7B VLM \u7684\u4e24\u79cd\u4e3b\u8981\u8bad\u7ec3\u7b56\u7565\uff1a(1) \u201cBase+nuScenes\u201d\uff0c\u5176\u4e2d\u57fa\u7840 VLM \u76f4\u63a5\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5fae\u8c03 \uff1b(2) \u201cBase+Impromptu+nuScenes\u201d\uff0c\u5176\u4e2d\u57fa\u7840 VLM \u9996\u5148\u5728\u6211\u4eec\u7684 Impromptu VLA \u4e0a\u8fdb\u884c\u5fae\u8c03\uff0c\u7136\u540e\u5728\u6b64\u57fa\u7840\u4e0a\u8fdb\u4e00\u6b65\u5728 nuScenes \u4e0a\u5bf9\u8be5\u9002\u5e94\u6a21\u578b\u8fdb\u884c\u5fae\u8c03\u3002\u8fd9\u79cd\u6bd4\u8f83\u65e8\u5728\u5206\u79bb\u51fa\u5728\u6211\u4eec\u7684\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\u5bf9\u5728\u4e0d\u540c\u573a\u666f\u4e2d\u8fdb\u884c\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u6240\u5e26\u6765\u7684\u76ca\u5904\u3002\u7ed3\u679c\u4e0e\u51e0\u79cd\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\uff0c\u8be6\u89c1\u00a0\u8868 3<\/strong>\u3002<\/p>\n\n\n\n

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

          \u8868 3\uff1a\u5f00\u73af\u8bc4\u4f30\u7ed3\u679c<\/p>\n\n\n\n

          nuScenes \u57fa\u51c6\u4e0a\u7684\u5f00\u73af\u8f68\u8ff9\u9884\u6d4b\u7ed3\u679c\u8868\u660e\uff0c\u5f53\u6a21\u578b\u5728 Impromptu VLA \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\u65f6\uff0c\u6027\u80fd\u663e\u8457\u63d0\u9ad8\u3002\u57281\u79d2\u30012\u79d2\u548c3\u79d2\u9884\u6d4b\u65f6\u95f4\u8303\u56f4\u5185\uff0c\u8f68\u8ff9\u9884\u6d4b\u51c6\u786e\u6027\u7684\u63d0\u5347\u59cb\u7ec8\u5982\u4e00\u3002\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u662f\uff0c\u8fd9\u79cd\u589e\u5f3a\u4f7f\u6211\u4eec\u9002\u5e94\u540e\u7684 3B\/7B \u6a21\u578b\u6027\u80fd\u8fbe\u5230\u4e86\u4e0e\u00a0EMMA+ \u7b49\u9886\u5148\u65b9\u6cd5<\/strong>\uff08\u5e73\u5747L2\u8bef\u5dee\u4e3a0.29\u7c73\uff09\u5177\u6709\u7ade\u4e89\u529b\u7684\u6c34\u5e73<\/strong>\u00a0\uff0c\u5c3d\u7ba1 EMMA+ \u53d7\u76ca\u4e8e Waymo \u5f15\u5165\u7684\u5305\u542b\u6570\u767e\u4e07\u4e2a\u573a\u666f\u7684\u66f4\u5927\u89c4\u6a21\u5185\u90e8\u6570\u636e\u96c6\u7684\u8bad\u7ec3\u3002\u8fd9\u51f8\u663e\u4e86 Impromptu VLA \u6570\u636e\u96c6\uff0880K\u7247\u6bb5\uff09\u5728\u663e\u8457\u63d0\u5347\u8f68\u8ff9\u9884\u6d4b\u80fd\u529b\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

          3.2 \u5bf9 Impromptu VLA \u4e0a VLM \u80fd\u529b\u7684\u8bca\u65ad\u6027\u8bc4\u4f30<\/strong><\/p>\n\n\n\n

          \u4e3a\u4e86\u56de\u7b54\u7b2c\u4e8c\u4e2a\u95ee\u9898\u2014\u2014\u63a2\u7a76 Impromptu VLA \u6570\u636e\u96c6\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u54ea\u4e9b\u5177\u4f53\u65b9\u9762\uff08\u611f\u77e5\u3001\u9884\u6d4b\u6216\u89c4\u5212\uff09\u5f97\u5230\u4e86\u589e\u5f3a\uff0c\u4ee5\u53ca\u6211\u4eec\u7684\u9a8c\u8bc1\u96c6\u5982\u4f55\u4f5c\u4e3a\u8bca\u65ad\u57fa\u51c6\u2014\u2014\u6211\u4eec\u4f7f\u7528\u5176\u9762\u5411\u89c4\u5212\u7684\u95ee\u7b54\u4efb\u52a1\u8fdb\u884c\u4e86\u4e00\u7cfb\u5217\u8bc4\u4f30\u3002\u8fd9\u5305\u62ec\u6bd4\u8f83\u57fa\u7840\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b (VLM) \u4e0e\u5728\u6211\u4eec\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4efb\u52a1\u5bfc\u5411\u5fae\u8c03\u7684\u7248\u672c\u4e4b\u95f4\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

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

          \u8868 4\uff1aVLM\u80fd\u529b\u8bc4\u6d4b<\/p>\n\n\n\n

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