{"id":29340,"date":"2025-06-04T17:32:45","date_gmt":"2025-06-04T09:32:45","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29340"},"modified":"2025-06-04T17:33:40","modified_gmt":"2025-06-04T09:33:40","slug":"2025-06-04-%e7%ab%af%e5%88%b0%e7%ab%af%e6%96%b0sota%ef%bc%81diffe2e%ef%bc%9adiffusion%e9%87%8d%e5%a1%91%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/04\/29340\/","title":{"rendered":"2025-06-04 \u7aef\u5230\u7aef\u65b0SOTA\uff01DiffE2E\uff1aDiffusion\u91cd\u5851\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1913399452405851810\">https:\/\/zhuanlan.zhihu.com\/p\/1913399452405851810<\/a><\/p>\n\n\n\n<p>\u4e3a\u4e86\u907f\u514d\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u63a7\u5404\u4e2a\u6a21\u5757\u4e4b\u95f4\u7684\u4fe1\u606f\u4f20\u9012\u635f\u5931\uff0c\u7aef\u5230\u7aef\u53ef\u8c13\u662f\u5f53\u4e0b\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u6700\u4e3b\u6d41\u7684\u6280\u672f\u65b9\u5411\uff0c\u6ca1\u6709\u4e4b\u4e00\u3002\u73b0\u5728\u4e3b\u6d41\u73a9\u6cd5\u662f\u7528\u663e\u5f0f\u76d1\u7763\u5b66\u4e60\uff0c\u76f4\u63a5\u4ece\u6d77\u91cf\u9a7e\u9a76\u6570\u636e\u91cc\u5b66\u600e\u4e48\u628a\u73af\u5883\u4fe1\u606f\u53d8\u6210\u65b9\u5411\u76d8\u548c\u6cb9\u95e8\u63a7\u5236\u3002\u4e0d\u8fc7\u8fd9\u8def\u5b50\u4e5f\u6709\u4e24\u4e2a\u8f83\u5927\u7684\u786c\u4f24\uff1a\u5f00\u8f66\u672c\u6765\u5c31\u6709\u591a\u79cd\u53ef\u80fd\u6027\uff08\u6bd4\u5982\u9047\u5230\u969c\u788d\u53ef\u4ee5\u7ed5\u5de6\u6216\u7ed5\u53f3\uff09\uff0c\u4f46\u76d1\u7763\u5b66\u4e60\u53ea\u4f1a\u5b66\u4e2a&#8221;\u5e73\u5747\u52a8\u4f5c&#8221;\uff0c\u7ed3\u679c\u7ecf\u5e38\u6574\u51fa\u522b\u626d\u64cd\u4f5c\uff1b\u800c\u4e14\u9047\u5230\u8bad\u7ec3\u6570\u636e\u91cc\u6ca1\u89c1\u8fc7\u7684\u5947\u8469\u8def\u51b5\uff0c\u6a21\u578b\u5c31\u76f4\u63a5\u61f5\u4e86\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2505.19516\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2505.19516<\/a><\/li>\n<\/ul>\n\n\n\n<p>\u8bbe\u60f3\u4e00\u4e0b\uff0c\u9047\u5230\u4e00\u4e2a\u5341\u5b57\u8def\u53e3\uff0c\u8001\u53f8\u673a\u53ef\u80fd\u6709\u4e94\u516d\u4e2a\u5408\u7406\u9009\u62e9\uff0c\u800c\u73b0\u5728\u7684AI\u53ea\u4f1a\u9009\u4e2a\u76f8\u5bf9\u6bd4\u8f83\u6298\u4e2d\u65b9\u6848\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6700\u8fd1\u4e5f\u6709\u4eba\u7528\u79bb\u6563\u8f68\u8ff9\u96c6\u5408\u6765\u5e94\u5bf9\u591a\u6a21\u6001\u95ee\u9898\uff0c\u4f46\u8fd9\u79cd\u786c\u7f16\u7801\u7684\u65b9\u5f0f\u5c31\u50cf\u628a\u6d3b\u4eba\u624b\u811a\u7ed1\u4f4f\uff0c\u628a\u7075\u6d3b\u7684\u51b3\u7b56\u53d8\u6210\u56fa\u5b9a\u9009\u9879\u9009\u62e9\u9898\uff0c\u9047\u5230\u7a81\u53d1\u72b6\u51b5\u5c31\u6293\u778e\u3002\u8fd9\u65f6\u5019\u6269\u6563\u6a21\u578b\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258550978&amp;content_type=Article&amp;match_order=1&amp;q=Diffusion+Models&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Diffusion Models<\/a>\uff09\u5c31\u53ef\u4ee5\u5927\u5c55\u8eab\u624b\u4e86\uff01\u8fd9\u9879\u6280\u672f\u5176\u5b9e\u5728AI\u4f5c\u753b\u5708\u5df2\u7ecf\u5c01\u795e\uff0c\u9760&#8221;\u5148\u52a0\u566a\u518d\u53bb\u566a&#8221;\u7684\u5957\u8def\u80fd\u751f\u6210\u5343\u53d8\u4e07\u5316\u7684\u56fe\u7247\u3002\u673a\u5668\u4eba\u8fd0\u52a8\u89c4\u5212\u9886\u57df\u4e5f\u9a8c\u8bc1\u4e86\u5b83\u80fd\u641e\u5b9a\u590d\u6742\u52a8\u4f5c\u5e8f\u5217\u3002\u4f46\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u8981\u66f4\u4e3a\u56f0\u96be\u2014\u2014\u65e2\u8981\u5b9e\u65f6\u54cd\u5e94\uff0c\u53c8\u8981\u786e\u4fdd\u8f68\u8ff9\u7b26\u5408\u4ea4\u89c4\uff0c\u8fd8\u5f97\u8eb2\u5f00\u4e71\u7a9c\u7684\u884c\u4eba\u548c\u8f66\u6d41\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u539f\u6587\u94fe\u63a5\uff1a<\/strong><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s\/UlKDkQsYWqKBRYorjqjhOQ\" target=\"_blank\" rel=\"noreferrer noopener\">\u7aef\u5230\u7aef\u65b0SOTA\uff01DiffE2E\uff1aDiffusion\u91cd\u5851\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/a><\/p>\n<\/blockquote>\n\n\n\n<p>\u6240\u4ee5\uff0c\u6700\u8fd1\u6709\u4e9b\u56e2\u961f\u8bd5\u6c34\u7528\u6269\u6563\u6a21\u578b\u505a\u8def\u5f84\u89c4\u5212\u548c\u7aef\u5230\u7aef\u63a7\u5236\uff0c\u7528\u4e86<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258550978&amp;content_type=Article&amp;match_order=1&amp;q=DDIM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DDIM<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258550978&amp;content_type=Article&amp;match_order=1&amp;q=DPM-Solver&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DPM-Solver<\/a>\u8fd9\u4e9b\u52a0\u901f\u6280\u672f\uff0c\u6548\u679c\u786e\u5b9e\u60ca\u8273\u3002\u4e0d\u8fc7\u73b0\u5728\u591a\u6570\u65b9\u6cd5\u53ea\u662f\u628a\u6269\u6563\u6a21\u578b\u5f53&#8221;\u540e\u5904\u7406\u63d2\u4ef6&#8221;\uff08\u5982\u56fe1(b)\uff09\uff0c\u5728\u4f20\u7edf\u89c4\u5212\u6a21\u5757\u540e\u9762\u52a0\u4e2a\u6269\u6563\u4f18\u5316\u3002\u8fd9\u76f8\u5f53\u4e8e\u6234\u7740\u9563\u94d0\u8df3\u821e\u2014\u2014\u65e2\u4e22\u4e86\u539f\u59cb\u611f\u77e5\u6570\u636e\u7684\u7ec6\u8282\uff0c\u53c8\u88ab\u524d\u9762\u7684\u6a21\u5757\u9650\u5236\u53d1\u6325\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-3bc9a330baf6b3b0fc16ef87777230ec_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u57fa\u4e8e\u8fd9\u6837\u7684\u80cc\u666f\u4e4b\u4e0b\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u7684\u65b9\u6848\u2014\u2014 <strong>DiffE2E<\/strong> \u6846\u67b6\uff08\u5982\u56fe2\u6240\u793a\uff09\u3002\u9996\u5148\u7528\u53cc\u5411\u8de8\u6ce8\u610f\u529b\u8ba9\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u7684\u6570\u636e\u5bf9\u9f50\uff0c\u628a\u4e0d\u540c\u4f20\u611f\u5668\u7684\u4fe1\u606f\u878d\u5408\u5230\u4e00\u8d77\u3002\u7136\u540e\u9001\u8fdb<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258550978&amp;content_type=Article&amp;match_order=1&amp;q=Transformer%E6%9E%B6%E6%9E%84&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Transformer\u67b6\u6784<\/a>\u7684\u6df7\u5408\u89e3\u7801\u5668\uff0c\u8ba9\u6269\u6563\u6a21\u578b\u548c\u4f20\u7edf\u76d1\u7763\u5b66\u4e60\u7ec4\u961f\u6253\u914d\u5408\uff1a\u6269\u6563\u6a21\u578b\u8d1f\u8d23\u5929\u9a6c\u884c\u7a7a\u5730\u60f3\u8c61\u5404\u79cd\u53ef\u80fd\u8f68\u8ff9\uff0c\u76d1\u7763\u5b66\u4e60\u5219\u76ef\u7d27\u8f66\u901f\u3001\u5468\u56f4\u8f66\u8f86\u52a8\u6001\u8fd9\u4e9b\u786c\u6307\u6807\u3002\u8fd9\u4fe9\u901a\u8fc7\u8de8\u6ce8\u610f\u529b\u673a\u5236\u5b9e\u65f6\u4ea4\u6362\u4fe1\u606f\uff0c\u6700\u540e\u751f\u6210\u65e2\u7075\u6d3b\u53c8\u9760\u8c31\u7684\u9a7e\u9a76\u65b9\u6848\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-26b2f217868f3c01f9d642229b2515bc_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913399452405851810_1\">\u76f8\u5173\u7814\u7a76<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913399452405851810_2\">\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/h3>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8fd1\u5e74\u6765\u5728\u8de8\u6a21\u6001\u611f\u77e5\u878d\u5408\u4e0e\u51b3\u7b56\u89c4\u5212\u65b9\u9762\u7a81\u98de\u731b\u8fdb\u3002UniAD \u6784\u5efa\u4e86\u5168\u6808Transformer\u67b6\u6784\uff0c\u5c06\u611f\u77e5-\u9884\u6d4b-\u89c4\u5212\u4efb\u52a1\u7edf\u4e00\u7f16\u6392\uff1bVAD \u63d0\u51fa\u77e2\u91cf\u5316\u573a\u666f\u8868\u5f81\u63d0\u5347\u89c4\u5212\u6548\u7387\uff1bVADv2 \u901a\u8fc7\u8f68\u8ff9\u8bcd\u5e93\u5efa\u6a21\u52a8\u4f5c\u7a7a\u95f4\u5206\u5e03\uff1bSparseDrive \u63d0\u51fa\u7a00\u758f\u8f68\u8ff9\u8868\u5f81\u5b9e\u73b0\u65e0BEV\u7684\u9ad8\u6548\u9a7e\u9a76\uff1b<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258550978&amp;content_type=Article&amp;match_order=1&amp;q=Hydra-MDP&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Hydra-MDP<\/a>\u7cfb\u5217\u8bbe\u8ba1\u591a\u6559\u5e08\u84b8\u998f\u6846\u67b6\uff0c\u5c06\u89c4\u5219\u7cfb\u7edf\u4e0e\u4eba\u7c7b\u9a7e\u9a76\u77e5\u8bc6\u76f8\u878d\u5408\u3002Transfuser \u901a\u8fc7 Transformer \u878d\u5408\u76f8\u673a\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u5e94\u5bf9\u8def\u53e3\u51b3\u7b56\uff1bTCP \u8054\u5408\u8bad\u7ec3\u8f68\u8ff9\u4e0e\u63a7\u5236\u9884\u6d4b\uff1bInterFuser \u5f15\u5165\u5b89\u5168\u601d\u7ef4\u56fe\u8c31\u5b9e\u73b0\u591a\u89c6\u89d2\u8de8\u6a21\u6001\u878d\u5408\uff1bTF++ \u5219\u901a\u8fc7\u89e3\u7801\u5668\u589e\u5f3a\u4e0e\u89e3\u8026\u901f\u5ea6\u9884\u6d4b\u63d0\u5347\u6027\u80fd\u3002\u4e0d\u8fc7\u8fd9\u4e9b\u663e\u5f0f\u76d1\u7763\u65b9\u6cd5\u5e38\u5c06\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\u538b\u7f29\u4e3a\u5355\u4e00\u786e\u5b9a\u6027\u8f93\u51fa\uff0c\u5728\u591a\u9009\u62e9\u573a\u666f\u4e2d\u5bb9\u6613\u4ea7\u751f&#8221;\u5e73\u5747\u5316&#8221;\u51b3\u7b56\u3002\u867d\u7136\u5728\u7279\u5b9a\u573a\u666f\u8868\u73b0\u4eae\u773c\uff0c\u4f46\u9762\u5bf9\u8d85\u51fa\u8bad\u7ec3\u6570\u636e\u7684\u590d\u6742\u8def\u51b5\u65f6\u6cdb\u5316\u80fd\u529b\u660e\u663e\u53d7\u9650\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913399452405851810_3\">\u6269\u6563\u6a21\u578b\u5728\u4ea4\u901a\u4e0e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528<\/h3>\n\n\n\n<p>\u6269\u6563\u6a21\u578b\u6b63\u4ee5\u5f3a\u5927\u7684\u591a\u6a21\u6001\u751f\u6210\u80fd\u529b\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u3002Diffusion-ES \u521b\u65b0\u5730\u5c06\u8fdb\u5316\u7b56\u7565\u4e0e\u6269\u6563\u6a21\u578b\u7ed3\u5408\uff0c\u5728nuPlan\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u96f6\u6837\u672c\u6027\u80fd\u78be\u538b\u4f20\u7edf\u65b9\u6cd5\uff1bVBD \u7528\u535a\u5f08\u8bba\u6307\u5bfc\u5bf9\u6297\u573a\u666f\u751f\u6210\uff0c\u63d0\u5347\u4eff\u771f\u771f\u5b9e\u6027\uff1bMotionDiffuser \u63d0\u51fa\u7f6e\u6362\u4e0d\u53d8\u67b6\u6784\u5b9e\u73b0\u7ea6\u675f\u6761\u4ef6\u4e0b\u7684\u591a\u667a\u80fd\u4f53\u8f68\u8ff9\u91c7\u6837\uff0c\u4fdd\u8bc1\u4ea4\u4e92\u4e00\u81f4\u6027\uff1bDiffusion Planner \u5229\u7528 DPM-Solver \u548c\u5206\u7c7b\u5668\u5f15\u5bfc\uff0c\u5b9e\u73b0\u95ed\u73af\u89c4\u5212\u4e2d\u5feb\u901f\u3001\u5b89\u5168\u3001\u4e2a\u6027\u5316\u7684\u8f68\u8ff9\u751f\u6210\u3002\u4e0d\u8fc7\u8fd9\u4e9b\u65b9\u6cd5\u591a\u57fa\u4e8e\u5b8c\u7f8e\u611f\u77e5\u5047\u8bbe\uff0c\u5ffd\u89c6\u4e86\u5b9e\u9645\u5e94\u7528\u4e2d\u611f\u77e5\u4e0d\u786e\u5b9a\u6027\u5e26\u6765\u7684\u72b6\u6001\u4f30\u8ba1\u8bef\u5dee\u3002<\/p>\n\n\n\n<p>\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u6269\u6563\u6a21\u578b\u7684\u5e94\u7528\u5df2\u5d2d\u9732\u5934\u89d2\uff1aDiffusionDrive \u9996\u6b21\u5c06\u6269\u6563\u6a21\u578b\u5f15\u5165\u7aef\u5230\u7aef\u9a7e\u9a76\uff0c\u91c7\u7528\u951a\u70b9\u7b56\u7565\u5e73\u8861\u5b9e\u65f6\u6027\u4e0e\u591a\u6837\u6027\uff1bHE-Drive \u901a\u8fc7\u6761\u4ef6 DDPM \u548c\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u6253\u5206\uff0c\u751f\u6210\u62df\u4eba\u5316\u7684\u65f6\u7a7a\u4e00\u81f4\u8f68\u8ff9\uff1bGoalFlow 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alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913399452405851810_6\">\u591a\u6a21\u6001\u878d\u5408\u611f\u77e5\u6a21\u5757<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-92c4abe96c44aa33f0050308b2a208a9_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913399452405851810_7\">\u6df7\u5408\u6269\u6563\u548c\u76d1\u7763\u6a21\u5757<\/h3>\n\n\n\n<p>\u5728\u591a\u6a21\u6001\u878d\u5408\u611f\u77e5\u6a21\u5757\u5b8c\u6210\u4e0d\u540c\u4f20\u611f\u5668\u6570\u636e\u7684\u6574\u5408\u540e\uff0c\u672c\u6587\u63d0\u51fa\u7684DiffE2E\u6846\u67b6\u91c7\u7528\u4e86\u4e00\u79cd\u521b\u65b0\u7684\u67b6\u6784\u3002\u901a\u8fc7\u5f15\u5165\u57fa\u4e8eTransformer\u7684\u6df7\u5408\u6269\u6563-\u76d1\u7763\u89e3\u7801\u5668\uff0c\u5e76\u91c7\u7528\u534f\u4f5c\u8bad\u7ec3\u673a\u5236\uff0c\u65e0\u7f1d\u6574\u5408\u4e86\u6269\u6563\u7b56\u7565\u548c\u76d1\u7763\u7b56\u7565\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-e983aa4586a5302c920e2de1fdcfd121_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-0ae9ac8768eaf10b1c791aa345d6940d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-935e1ea4180815352f588019783a4db2_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913399452405851810_8\">\u6269\u6563\u548c\u76d1\u7763\u5b66\u4e60\u5199\u4f5c\u8bad\u7ec3\u7b56\u7565<\/h3>\n\n\n\n<p>\u57fa\u4e8e\u4e0a\u8ff0\u6df7\u5408\u6269\u6563\u548c\u76d1\u7763\u89e3\u7801\u5668\u7ed3\u6784\uff0c\u8bba\u6587\u4e2d\u63d0\u51fa\u4e86\u57fa\u4e8e\u6269\u6563\u751f\u6210\u548c\u76d1\u7763\u5b66\u4e60\u7684\u534f\u4f5c\u8bad\u7ec3\u7b56\u7565\u3002\u8be5\u7b56\u7565\u7684\u6838\u5fc3\u5728\u4e8e\u7ed3\u5408\u6269\u6563\u6a21\u578b\u7684\u751f\u6210\u80fd\u529b\u548c\u663e\u5f0f\u76d1\u7763\u7684\u7cbe\u786e\u6027\uff0c\u5f62\u6210\u4e92\u8865\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-becda5e10d05782583bdb7627f689c57_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913399452405851810_9\">\u5b9e\u9a8c\u53ca\u7ed3\u8bba<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913399452405851810_10\"><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258550978&amp;content_type=Article&amp;match_order=1&amp;q=CARLA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CARLA<\/a><\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913399452405851810_10\">\u4e2d\u7684\u5b9e\u9a8c\u7ed3\u679c<\/h3>\n\n\n\n<p>\u8bba\u6587\u4e2d\u4e3b\u8981\u4f7f\u7528CARLA\u6a21\u62df\u5668\u7684\u95ed\u73af\u57fa\u51c6\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u8bba:<\/strong> \u5982\u88681\u6240\u793a\uff0cDiffE2E\u5728CARLA Longest6\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u8868\u73b0\u51fa\u8272\u3002\u5728\u4e09\u4e2a\u5173\u952e\u8bc4\u4f30\u6307\u6807\u4e2d\uff0cDiffE2E\u5747\u6392\u540d\u9996\u4f4d\uff1aDS\u4e3a83\uff08\u6bd4TF++WP\u9ad8\u51fa13.7%\uff09\uff0cIS\u4e3a0.86\uff08\u6bd4DriveAdapter+TCP\u9ad8\u51fa2.3%\uff09\uff0cRC\u4e3a96\uff0c\u63a5\u8fd1\u6700\u4f18\u3002\u603b\u4f53\u800c\u8a00\uff0cDiffE2E\u63d0\u4f9b\u4e86\u7a33\u5065\u3001\u9ad8\u6548\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-24e9d8ca6f3520ccb8f364d5b1a3a140_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u7ed3\u679c\u5206\u6790:<\/strong> \u56fe3\u5c55\u793a\u4e86\u5728\u4e00\u4e2a\u5178\u578b\u7684\u53f3\u8f6c\u573a\u666f\u4e2d\u7684\u6bd4\u8f83\u3002\u6700\u521d\uff0cTF++\u548cDiffE2E\u90fd\u8ba1\u5212\u901a\u8fc7\u5148\u5411\u53f3\u5408\u5e76\u6765\u89c4\u5212\u8def\u5f84\u3002\u5f53\u51fa\u73b0\u4e00\u8f86\u8f66\u65f6\uff0cTF++\u575a\u6301\u5176\u9884\u8bbe\u8def\u5f84\u5e76\u53d1\u751f\u78b0\u649e\uff0c\u800cDiffE2E\u901a\u8fc7\u6682\u65f6\u5411\u524d\u884c\u9a76\uff0c\u7136\u540e\u5728\u8f66\u8f86\u901a\u8fc7\u540e\u5b89\u5168\u5408\u5e76\uff0c\u4ece\u800c\u9002\u5e94\u73af\u5883\u3002\u8fd9\u8868\u660eDiffE2E\u5728\u52a8\u6001\u4ea4\u901a\u4e2d\u5177\u6709\u4f18\u8d8a\u7684\u591a\u6a21\u6001\u751f\u6210\u80fd\u529b\u548c\u5b9e\u65f6\u9002\u5e94\u6027\uff0c\u6709\u6548\u907f\u514d\u4e86\u78b0\u649e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-51f6eb46dba8f41d0fbe03a4dae8d8e1_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913399452405851810_11\">NAVSIM \u4e2d\u7684\u5b9e\u9a8c\u7ed3\u679c<\/h3>\n\n\n\n<p>\u8bba\u6587\u4e2d\u57fa\u4e8eNAVSIM\u7684navtrain\u6570\u636e\u96c6\u6784\u5efa\u4e86\u6a21\u578b\u8bad\u7ec3\u6846\u67b6\u3002\u4e0eCARLA\u8bbe\u7f6e\u4e0d\u540c\uff0c\u4f5c\u8005\u5728NAVSIM\u4e2d\u91c7\u7528VovNetV2-99\u4f5c\u4e3a\u7279\u5f81\u63d0\u53d6\u9aa8\u5e72\u7f51\u7edc\u3002\u4f7f\u7528\u9884\u6d4b\u9a7e\u9a76\u5458\u6a21\u578b\u5206\u6570\uff08PDMS\uff09\u4f5c\u4e3a\u7efc\u5408\u6307\u6807\uff0c\u901a\u8fc7\u52a0\u6743\u6574\u5408\u5173\u952e\u9a7e\u9a76\u7ef4\u5ea6\uff1a<strong>\u65e0\u8d23\u4efb\u78b0\u649e\uff08NC\uff09\u3001\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u6027\uff08DAC\uff09\u3001\u65f6\u95f4\u5230\u78b0\u649e\uff08TTC\uff09\u3001\u8212\u9002\u6027\uff08C\uff09\u548c\u81ea\u8eab\u8fdb\u5ea6\uff08EP\uff09<\/strong>\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c\u5206\u6790:<\/strong> 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-1c3c0c627afb1bee8a776be13922e3de_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u7ed3\u679c\u5206\u6790:<\/strong> 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