{"id":29432,"date":"2025-06-05T17:32:29","date_gmt":"2025-06-05T09:32:29","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29432"},"modified":"2025-06-05T17:33:04","modified_gmt":"2025-06-05T09:33:04","slug":"2025-06-05-%e9%97%ad%e7%8e%af%e8%a7%84%e5%88%92%e6%9a%b4%e5%8a%9b%e6%8f%90%e5%8d%8719%ef%bc%81%e4%b8%ad%e7%a7%91%e9%99%a2reasonplan%ef%bc%9a%e9%97%ad%e7%8e%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\/05\/29432\/","title":{"rendered":"2025-06-05 \u95ed\u73af\u89c4\u5212\u66b4\u529b\u63d0\u534719%\uff01\u4e2d\u79d1\u9662ReasonPlan\uff1a\u95ed\u73af\u81ea\u52a8\u9a7e\u9a76\u7684\u7edf\u4e00\u573a\u666f\u9884\u6d4b\u4e0e\u51b3\u7b56\u63a8\u7406~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1913741845315445250\">https:\/\/zhuanlan.zhihu.com\/p\/1913741845315445250<\/a><\/p>\n\n\n\n<p>\u4e2d\u79d1\u9662\u56e2\u961f\u7684\u5de5\u4f5c\uff0c\u63d0\u51fa\u4e86\u540d\u4e3aReasonPlan\u7684\u7b97\u6cd5\uff0c\u5728Bench2Drive\u4e0a\u53d6\u5f97\u4e86\u8fd8\u4e0d\u9519\u7684\u6548\u679c\u3002\u4e3b\u8981\u6709\u4e24\u70b9\u503c\u5f97\u501f\u9274\uff1a\u81ea\u76d1\u7763\u7684\u4e0b\u4e00\u573a\u666f\u9884\u6d4b\u4efb\u52a1\u548c\u76d1\u7763\u51b3\u7b56\u601d\u7ef4\u94fe\u8fc7\u7a0b\uff0c\u540c\u65f6\u8f93\u51fa\u7ed3\u679c\u5177\u5907\u4e00\u5b9a\u7684\u7a7a\u95f4\u7406\u89e3\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u7531\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E5%A4%A7%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b<\/a>\uff08MLLMs\uff09\u5177\u6709\u5f3a\u5927\u7684\u89c6\u89c9-\u8bed\u8a00\u63a8\u7406\u548c\u6cdb\u5316\u80fd\u529b\uff0c\u5728\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5f15\u8d77\u4e86\u5e7f\u6cdb\u5173\u6ce8\u3002\u7136\u800c\u5b83\u4eec\u5728\u95ed\u73af\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u4ecd\u9c9c\u6709\u63a2\u7d22\uff0c\u5e76\u4e14\u5f53\u524d\u57fa\u4e8eMLLM\u7684\u65b9\u6cd5\u5c1a\u672a\u663e\u793a\u51fa\u6bd4\u4e3b\u6d41\u7684E2E\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u660e\u663e\u4f18\u8d8a\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86ReasonPlan\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u9896\u7684MLLM\u5fae\u8c03\u6846\u67b6\uff0c\u4e13\u4e3a\u901a\u8fc7\u6574\u4f53\u63a8\u7406\u8fdb\u884c\u95ed\u73af\u9a7e\u9a76\u800c\u8bbe\u8ba1\uff0c\u7ed3\u5408\u4e86\u81ea\u76d1\u7763\u7684\u4e0b\u4e00\u573a\u666f\u9884\u6d4b\u4efb\u52a1\u548c\u76d1\u7763\u51b3\u7b56\u601d\u7ef4\u94fe\u8fc7\u7a0b\u3002\u8fd9\u79cd\u53cc\u91cd\u673a\u5236\u9f13\u52b1\u6a21\u578b\u5c06\u89c6\u89c9\u8868\u793a\u4e0e\u53ef\u64cd\u4f5c\u7684\u9a7e\u9a76\u4e0a\u4e0b\u6587\u5bf9\u9f50\uff0c\u540c\u65f6\u4fc3\u8fdb\u53ef\u89e3\u91ca\u4e14\u56e0\u679c\u5173\u7cfb\u660e\u786e\u7684\u51b3\u7b56\u5236\u5b9a\u3002\u6211\u4eec\u6574\u7406\u4e86\u4e00\u4e2a\u9762\u5411\u89c4\u5212\u7684\u51b3\u7b56\u63a8\u7406\u6570\u636e\u96c6\uff0c\u5373<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=PDR&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">PDR<\/a>\uff0c\u5176\u4e2d\u5305\u542b21\u4e07\u4e2a\u591a\u6837\u4e14\u9ad8\u8d28\u91cf\u7684\u6837\u672c\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728Bench2Drive\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u4ee519% L2\u8bef\u5dee\u548c16.1\u9a7e\u9a76\u5206\u6570\u7684\u4f18\u52bf\u8d85\u8d8a\u4e86\u4e3b\u6d41\u7684E2E\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u3002\u6b64\u5916\uff0cReasonPlan\u5728\u672a\u89c1\u8fc7\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=DOS&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DOS<\/a>\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u8868\u73b0\u51fa\u5f3a\u5927\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\uff0c\u7a81\u663e\u4e86\u5176\u5904\u7406\u96f6\u6837\u672c\u8fb9\u7f18\u60c5\u51b5\u7684\u9002\u5e94\u6027\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\/abs\/2505.20024\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.20024<\/a><\/li>\n\n\n\n<li>\u4ee3\u7801\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/Liuxueyi\/ReasonPlan\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/Liuxueyi\/ReasonPlan<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913741845315445250_1\"><strong>\u5f15\u8a00<\/strong><\/h2>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u5c55\u73b0\u4e86\u4e00\u79cd\u53ef\u6269\u5c55\u7684\u3001\u6570\u636e\u9a71\u52a8\u7684\u8303\u5f0f\uff0c\u5438\u5f15\u4e86\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\u3002\u5c3d\u7ba1\u5176\u5728\u7b80\u5316\u9a7e\u9a76\u6d41\u7a0b\u65b9\u9762\u5177\u6709\u4f18\u52bf\uff0c\u4f46\u5927\u591a\u6570\u73b0\u6709\u7684 E2E \u65b9\u6cd5\u4f9d\u8d56\u4e8e\u6a21\u4eff\u5b66\u4e60\uff0c\u5e76\u4e14\u5728\u590d\u6742\u7684\u95ed\u73af\u73af\u5883\u4e2d\u8868\u73b0\u51fa\u5c40\u9650\u6027\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5b83\u4eec\u5728\u4ea4\u4e92\u6848\u4f8b\u4e2d\u7ecf\u5e38\u51fa\u73b0\u56e0\u679c\u6df7\u6dc6\uff0c\u5e76\u4e14\u96be\u4ee5\u63a8\u5e7f\u5230\u5206\u5e03\u5916\u573a\u666f\u3002\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08MLLMs\uff09\u7684\u6700\u65b0\u8fdb\u5c55\u5b9e\u73b0\u4e86\u89c6\u89c9-\u8bed\u8a00\u63a8\u7406\u548c\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\uff0c\u4e3a E2E \u81ea\u52a8\u9a7e\u9a76\u63d0\u4f9b\u4e86\u65b0\u7684\u673a\u9047\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\u7684\u7814\u7a76\u63a2\u7d22\u4e86\u53cc\u7cfb\u7edf\u6846\u67b6\u3001\u7528\u4e8e\u589e\u5f3a E2E \u9a7e\u9a76\u7684 LLM \u84b8\u998f\u4ee5\u53ca\u4ee5\u6587\u672c\u5f62\u5f0f\u8fdb\u884c\u8f68\u8ff9\u9884\u6d4b\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u663e\u793a\u51fa\u4e00\u5b9a\u7684\u524d\u666f\uff0c\u4f46\u5b83\u4eec\u4e3b\u8981\u5728\u5f00\u73af\u8bbe\u7f6e\u4e0b\u8fd0\u884c\uff0c\u6216\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002\u8fd9\u79cd\u5c40\u9650\u6027\u6e90\u4e8e\u5b83\u4eec\u65e0\u6cd5\u5728\u9700\u8981\u52a8\u6001\u9002\u5e94\u73af\u5883\u53d8\u5316\u7684\u95ed\u73af\u573a\u666f\u4e2d\u8fdb\u884c\u60c5\u5883\u611f\u77e5\u63a8\u7406\u548c\u7a33\u5065\u89c4\u5212\u3002\u6211\u4eec\u603b\u7ed3\u51fa\u4e09\u4e2a\u5173\u952e\u6311\u6218\u9650\u5236\u4e86 MLLMs \u63a8\u7406\u80fd\u529b\u7684\u5145\u5206\u5229\u7528\uff1a(1) \u4ec5\u4f7f\u7528\u5355\u6a21\u6001\u6587\u672c\u76d1\u7763\u3002\u73b0\u6709\u65b9\u6cd5\u4f7f\u7528\u4ec5\u6587\u672c\u6765\u76d1\u7763\u611f\u77e5\u548c\u51b3\u7b56\u8fc7\u7a0b\uff0c\u5bfc\u81f4\u573a\u666f\u7406\u89e3\u4e0d\u8db3\u548c\u60c5\u5883\u610f\u8bc6\u6709\u9650\u3002(2) \u6ca1\u6709\u660e\u786e\u7684\u63a8\u7406\u8fc7\u7a0b\u3002\u5148\u524d\u7684\u5de5\u4f5c\u5229\u7528\u591a\u8f6e\u95ee\u7b54\u5fae\u8c03 LLM \u6765\u589e\u5f3a\u6307\u4ee4\u8ddf\u968f\u80fd\u529b\uff0c\u4f46\u672a\u80fd\u5145\u5206\u53d1\u6325\u6a21\u578b\u7684\u94fe\u5f0f\u63a8\u7406\uff08CoT\uff09\u80fd\u529b\u3002(3) \u7f3a\u4e4f\u9762\u5411\u89c4\u5212\u7684\u9ad8\u8d28\u91cf\u63a8\u7406\u6570\u636e\u96c6\u3002\u56e0\u6b64\uff0cMLLM \u5728 E2E \u95ed\u73af\u89c4\u5212\u4e2d\u7684\u6f5c\u529b\u4ecd\u672a\u88ab\u5145\u5206\u6316\u6398\uff0c\u5f53\u524d\u57fa\u4e8e MLLM \u7684\u65b9\u6cd5\u5c1a\u672a\u5728\u95ed\u73af\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u663e\u793a\u51fa\u6bd4\u6a21\u4eff\u5b66\u4e60\u6280\u672f\u660e\u663e\u7684\u4f18\u52bf \u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-afaad40330cf8d1b43123b13cdab1e7c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0c\u6211\u4eec\u4ece\u6a21\u578b\u67b6\u6784\u548c\u8bad\u7ec3\u6570\u636e\u96c6\u4e24\u65b9\u9762\u8fdb\u884c\u4e86\u63a2\u7d22\u3002\u4ece\u6a21\u578b\u89d2\u5ea6\u6765\u770b\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684 MLLM \u5fae\u8c03\u6846\u67b6\uff0c\u5373 ReasonPlan\uff0c\u8be5\u6846\u67b6\u80fd\u591f\u6709\u6548\u589e\u5f3a\u590d\u6742\u95ed\u73af\u573a\u666f\u4e2d\u7684\u6574\u4f53\u63a8\u7406\u80fd\u529b\u3002ReasonPlan \u5305\u62ec\u4e00\u4e2a\u81ea\u76d1\u7763\u7684\u4e0b\u4e00\u573a\u666f\u9884\u6d4b\uff08NSP\uff09\u4efb\u52a1\u548c\u4e00\u4e2a\u53d7\u76d1\u7763\u7684\u51b3\u7b56\u94fe\u5f0f\u63a8\u7406\uff08DeCoT\uff09\u8fc7\u7a0b\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u53d7\u5230\u573a\u666f\u7406\u89e3\u548c\u751f\u6210\u5efa\u6a21\u6700\u65b0\u8fdb\u5c55\u7684\u542f\u53d1\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u65f6\u95f4\u4e0a\u7684 NSP \u4efb\u52a1\uff0c\u6839\u636e\u81ea\u6211\u4e0a\u4e0b\u6587\u6761\u4ef6\u6765\u9884\u6d4b\u672a\u6765\u7684\u89c6\u89c9\u89c2\u5bdf\u7ed3\u679c\u3002\u8fd9\u4e00\u76ee\u6807\u7ea6\u675f\u4e86\u6f5c\u5728\u7a7a\u95f4\u4e2d\u7684\u56fe\u50cf\u6807\u8bb0\u8868\u793a\uff0c\u4e30\u5bcc\u4e86\u6a21\u578b\u5bf9\u9a7e\u9a76\u573a\u666f\u7684\u4e0a\u4e0b\u6587\u7406\u89e3\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5229\u7528\u5728\u95ed\u73af\u548c\u5206\u5e03\u5916\u8bc4\u4f30\u4e2d\u7684\u63a8\u7406\u548c\u6cdb\u5316\u80fd\u529b\uff0c\u6211\u4eec\u5728 DeCoT \u8fc7\u7a0b\u4e2d\u5f15\u5165\u4e86\u660e\u786e\u7684\u6587\u672c\u76d1\u7763\u3002<\/p>\n\n\n\n<p>\u4ece\u6570\u636e\u96c6\u89d2\u5ea6\u6765\u770b\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u4e00\u4e2a\u5927\u89c4\u6a21\u7684\u3001\u9488\u5bf9\u95ed\u73af\u89c4\u5212\u7684\u6307\u4ee4\u6570\u636e\u96c6\uff0c\u79f0\u4e3a PDR\uff0c\u5176\u4e2d\u5305\u542b 203,353 \u4e2a\u8bad\u7ec3\u6837\u672c\u548c 11,047 \u4e2a\u6d4b\u8bd5\u6837\u672c\u3002\u901a\u8fc7\u81ea\u52a8\u5316\u6807\u6ce8\u6d41\u6c34\u7ebf\uff0cPDR \u6355\u83b7\u4e86 Bench2Drive\u4e0a\u8bad\u7ec3\u573a\u666f\u4e2d\u7684\u5b8c\u6574\u51b3\u7b56\u63a8\u7406\u8fc7\u7a0b\uff0c\u5305\u62ec\u4ee5\u4e0b\u9636\u6bb5\uff1a\u573a\u666f\u7406\u89e3\u3001\u4ea4\u901a\u6807\u5fd7\u8bc6\u522b\u3001\u98ce\u9669\u8bc4\u4f30\u7684\u5173\u952e\u5bf9\u8c61\u8bc6\u522b\u548c\u5143\u52a8\u4f5c\u3002\u4e3a\u786e\u4fdd\u6570\u636e\u96c6\u7684\u8d28\u91cf\u548c\u53ef\u9760\u6027\uff0c\u6240\u6709\u63a8\u7406\u6b65\u9aa4\u90fd\u7ecf\u8fc7\u5f7b\u5e95\u7684\u4eba\u5de5\u9a8c\u8bc1\u3002\u8be5\u6570\u636e\u96c6\u5c06\u516c\u5f00\u53d1\u5e03\uff0c\u4f5c\u4e3a\u5b66\u4e60\u7ed3\u6784\u5316\u4e14\u56e0\u679c\u5173\u7cfb\u660e\u786e\u7684\u51b3\u7b56\u63a8\u7406\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n<p>ReasonPlan \u5728 Bench2Drive \u4e0a\u53d6\u5f97\u4e86 64.01 \u7684\u9a7e\u9a76\u5206\u6570\uff0c\u5e76\u5c06 L2 \u8bef\u5dee\u964d\u4f4e\u4e86 16.44%\uff0c\u4f18\u4e8e\u4e4b\u524d\u7684\u6700\u5148\u8fdb E2E \u6a21\u4eff\u5b66\u4e60\u6a21\u578b\u3002\u6b64\u5916\uff0c\u5b83\u5728 DOS \u4e0a\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\uff0c\u7a81\u663e\u4e86\u5176\u5728\u51b3\u7b56\u5173\u952e\u8fb9\u7f18\u60c5\u51b5\u4e0b\u7684\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86 ReasonPlan\uff0c\u8fd9\u662f\u4e00\u79cd\u7528\u4e8e\u590d\u6742\u95ed\u73af\u9a7e\u9a76\u573a\u666f\u7684\u65b0\u9896 MLLM \u5fae\u8c03\u6846\u67b6\u3002\u7ed3\u5408\u81ea\u76d1\u7763 NSP \u548c\u53d7\u76d1\u7763 DeCoT\uff0c\u6709\u6548\u5730\u8026\u5408\u4e86\u89c6\u89c9\u548c\u8bed\u8a00\u6a21\u6001\uff0c\u4f7f\u5168\u9762\u7684\u51b3\u7b56\u63a8\u7406\u8fc7\u7a0b\u6210\u4e3a\u53ef\u80fd\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u81ea\u52a8\u5316\u6807\u6ce8\u6d41\u6c34\u7ebf\u6784\u5efa\u4e86\u5927\u89c4\u6a21\u7684\u51b3\u7b56\u63a8\u7406\u6570\u636e\u96c6 PDR\uff0c\u5305\u542b 210k \u591a\u6837\u4e14\u9ad8\u8d28\u91cf\u7684\u6837\u672c\u3002<\/li>\n\n\n\n<li>\u5982\u56fe 1 \u6240\u793a\uff0cReasonPlan \u5728 Bench2Drive \u7684\u5f00\u73af\u548c\u95ed\u73af\u8bbe\u7f6e\u4e2d\u5747\u8868\u73b0\u51fa\u8272\uff0c\u5e76\u5728 DOS \u573a\u666f\u4e2d\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913741845315445250_2\"><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_3\"><strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong><\/h3>\n\n\n\n<p>\u5f53\u524d\u4e3b\u6d41\u7684\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u76f4\u63a5\u57fa\u4e8e\u6a21\u4eff\u5b66\u4e60\uff08IL\uff09\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u4e3a\u8f68\u8ff9\u3002\u4ee3\u8868\u6027\u7684\u5de5\u4f5c\u5982 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=UniAD&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">UniAD<\/a>\u548c <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=VAD&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">VAD<\/a>\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7edf\u4e00\u5230\u4e00\u4e2a\u6846\u67b6\u4e2d\uff0c\u5b9e\u73b0\u4e86\u6574\u4e2a\u6d41\u7a0b\u7684\u8054\u5408\u4f18\u5316\u3002\u4e3a\u4e86\u5e94\u5bf9\u89c4\u5212\u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\uff0c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=SparseDrive&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SparseDrive<\/a>\u5728\u591a\u6a21\u6001\u89c4\u5212\u6846\u67b6\u4e2d\u91c7\u7528\u7a00\u758f\u8868\u793a\uff0c\u800c UncAD\u5219\u6574\u5408\u4e86\u5177\u6709\u4e0d\u786e\u5b9a\u610f\u8bc6\u7684\u5728\u7ebf\u5730\u56fe\u3002VADv2\u5bf9\u52a8\u4f5c\u4e0a\u7684\u6982\u7387\u5206\u5e03\u8fdb\u884c\u5efa\u6a21\uff0c\u901a\u8fc7\u52a8\u4f5c\u91c7\u6837\u589e\u5f3a\u4e86\u9c81\u68d2\u6027\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u5f00\u73af\u8bbe\u7f6e\u4e0b\u8fdb\u884c\u8bc4\u4f30\u65f6\uff0c\u6a21\u578b\u5bb9\u6613\u8fc7\u62df\u5408\u7279\u5b9a\u7684\u81ea\u8f66\u72b6\u6001 \u3002<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=DiffusionDrive&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DiffusionDrive<\/a>\u548c <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=GoalFlow&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">GoalFlow<\/a>\u63a2\u7d22\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u751f\u6210\u8303\u5f0f\uff0c\u5229\u7528\u6269\u6563\u6a21\u578b\u5728 Navsim\u4e2d\u9884\u6d4b\u591a\u6837\u5316\u7684\u672a\u6765\u8f68\u8ff9\u3002\u5176\u4ed6\u4e00\u4e9b\u7814\u7a76\u5728 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=CARLA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CARLA<\/a>\u4e2d\u91c7\u7528\u4e86\u95ed\u73af\u8bc4\u4f30\u6765\u8bc4\u4f30\u9a7e\u9a76\u9c81\u68d2\u6027\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u57fa\u4e8e IL \u7684 E2E \u65b9\u6cd5\u4ecd\u7136\u5b58\u5728\u663e\u8457\u7684\u56e0\u679c\u6df7\u6dc6\u548c\u6709\u9650\u7684\u6cdb\u5316\u80fd\u529b\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e MLLM \u7684 E2E \u5fae\u8c03\u6846\u67b6\uff0c\u65e8\u5728\u5229\u7528\u5176\u9884\u8bad\u7ec3\u7684\u4e16\u754c\u77e5\u8bc6\u548c\u63a8\u7406\u80fd\u529b\u6765\u89e3\u51b3\u95ed\u73af\u9a7e\u9a76\u4e2d\u7684\u6311\u6218\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_4\"><strong>\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b<\/strong><\/h3>\n\n\n\n<p>MLLMs \u5728\u8de8\u8bed\u8a00\u3001\u89c6\u89c9\u548c\u673a\u5668\u4eba\u9886\u57df\u7684\u573a\u666f\u7406\u89e3\u548c\u9ad8\u5c42\u63a8\u7406\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u4fc3\u4f7f\u5b83\u4eec\u88ab\u96c6\u6210\u5230\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u3002\u6700\u8fd1\u7684\u7814\u7a76\u901a\u8fc7\u53cc\u7cfb\u7edf\u67b6\u6784\u548c\u77e5\u8bc6\u84b8\u998f\u5c06 MLLMs \u5f15\u5165 E2E \u6846\u67b6\u3002<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=DriveVLM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DriveVLM<\/a>\u548c <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=Senna&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Senna<\/a>\u5229\u7528 MLLMs \u751f\u6210\u9ad8\u5c42\u6b21\u7684\u9a7e\u9a76\u610f\u56fe\uff0c\u968f\u540e\u7531\u4f4e\u7ea7\u7b56\u7565\u6a21\u5757\u8fdb\u4e00\u6b65\u7ec6\u5316\u4ee5\u751f\u6210\u6700\u7ec8\u8f68\u8ff9\u3002<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=VLP&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">VLP<\/a>\u548c <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=DiMA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DiMA<\/a>\u5c06 E2E \u7cfb\u7edf\u7684\u5173\u952e\u7ec4\u4ef6\u4e0e MLLMs \u5bf9\u9f50\uff0c\u5c06\u62bd\u8c61\u63a8\u7406\u80fd\u529b\u63d0\u70bc\u6210\u8f7b\u91cf\u7ea7\u7684\u89c4\u5212\u5934\u3002\u5176\u4ed6\u65b9\u6cd5\u91c7\u7528\u7b80\u5355\u7684\u95ee\u7b54\u5fae\u8c03\u6765\u751f\u6210\u6587\u672c\u8f68\u8ff9\u3002\u4f8b\u5982\uff0c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=258595333&amp;content_type=Article&amp;match_order=1&amp;q=Reason2Drive&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Reason2Drive<\/a>\u901a\u8fc7 CoT \u6570\u636e\u96c6\u548c\u7ed3\u6784\u5316\u6807\u8bb0\u5316\u589e\u5f3a\u573a\u666f\u7406\u89e3\uff0c\u800c TOKEN\u901a\u8fc7\u7ed3\u5408\u5bf9\u8c61\u7ea7\u522b\u7684\u611f\u77e5\u548c\u57fa\u4e8e LLM \u7684\u63a8\u7406\u6765\u6539\u8fdb\u957f\u5c3e\u89c4\u5212\u3002\u5c3d\u7ba1\u7ed3\u679c\u4ee4\u4eba\u9f13\u821e\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u4ec5\u9650\u4e8e\u5f00\u73af\u8bc4\u4f30\u3002\u867d\u7136\u6709\u4e9b\u65b9\u6cd5\u63a2\u7d22\u4e86\u95ed\u73af\u8bbe\u7f6e\uff0c\u4f46\u5b83\u4eec\u901a\u5e38\u4f9d\u8d56\u4e8e\u7b80\u5316\u7684\u57fa\u51c6\u6d4b\u8bd5\uff0c\u5982 Town05Long\u6216 HighwayEnv\u3002LMDrive\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u8bed\u8a00\u7684\u95ed\u73af\u6846\u67b6\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\uff0c\u7f3a\u4e4f\u7ed3\u6784\u5316\u7684\u63a8\u7406\u4efb\u52a1\u3002SimLingo\u57fa\u4e8e CarLLaVA\u5f15\u5165\u4e86\u4e00\u4e2a\u52a8\u4f5c\u68a6\u60f3\u4efb\u52a1\uff0c\u4ee5\u8fde\u63a5\u8bed\u8a00\u548c\u63a7\u5236\u52a8\u4f5c\u7a7a\u95f4\u3002\u4e3a\u4e86\u5145\u5206\u5229\u7528 MLLMs \u5728\u590d\u6742\u4ea4\u4e92\u573a\u666f\u4e2d\u7684\u63a8\u7406\u6f5c\u529b\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u6846\u67b6\uff0c\u7d27\u5bc6\u96c6\u6210\u89c6\u89c9\u548c\u6587\u672c\u6a21\u6001\uff0c\u4f7f\u95ed\u73af\u573a\u666f\u4e2d\u7684\u7efc\u5408\u51b3\u7b56\u63a8\u7406\u548c\u96f6\u6837\u672c\u6cdb\u5316\u6210\u4e3a\u53ef\u80fd\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913741845315445250_5\"><strong>\u65b9\u6cd5\u8be6\u89e3<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_6\"><strong>\u6982\u8ff0<\/strong><\/h3>\n\n\n\n<p>ReasonPlan\u7684\u6574\u4f53\u6d41\u7a0b\u5982\u56fe2\u6240\u793a\u3002\u5177\u4f53\u6765\u8bf4\uff0cReasonPlan\u5305\u542b\u4e24\u4e2a\u7ec4\u4ef6\uff1a(a) \u81ea\u76d1\u7763\u7684\u4e0b\u4e00\u573a\u666f\u9884\u6d4b\u4efb\u52a1\uff0c\u65e8\u5728\u589e\u5f3a\u573a\u666f\u8868\u793a\u548c\u7406\u89e3\uff1b(b) \u53d7\u76d1\u7763\u7684\u51b3\u7b56\u94fe\u5f0f\u63a8\u7406\u8fc7\u7a0b\uff0c\u7528\u4e8e\u63a8\u7406\u548c\u53ef\u89e3\u91ca\u7684\u89c4\u5212\u3002\u6b64\u5916(c) \u8be5\u6846\u67b6\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\u8fdb\u884c\u4f18\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-a53b8bf863c346a82f85fabae5bd84e8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_7\"><strong>\u81ea\u76d1\u7763\u7684\u4e0b\u4e00\u573a\u666f\u9884\u6d4b\uff08NSP\uff09<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-41d49ca9622ecb8444f49614d32bb2ad_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-b55bd1a69c9332a7024e90fcc9994547_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-f6e72a0ede650420273d030d195897d1_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_8\"><strong>\u51b3\u7b56\u94fe\u5f0f\u63a8\u7406\uff08DeCoT\uff09<\/strong><\/h3>\n\n\n\n<p>\u5728NSP\u4efb\u52a1\u4e4b\u540e\uff0c\u6587\u672c\u7a7a\u95f4\u4e2d\u7684DeCoT\u8fc7\u7a0b\u5728\u6211\u4eec\u7684\u6846\u67b6\u4e2d\u81f3\u5173\u91cd\u8981\u3002ReasonPlan\u5229\u7528LLM\u7684\u9884\u8bad\u7ec3\u77e5\u8bc6\uff0c\u7ed3\u5408\u89c6\u89c9\u6807\u8bb0\u548c\u6587\u672c\u6307\u4ee4\uff0c\u751f\u6210\u53ef\u89e3\u91ca\u7684\u51b3\u7b56\u8fc7\u7a0b\uff0c\u5e76\u4ee5\u6587\u672c\u5f62\u5f0f\u751f\u6210\u53ef\u6267\u884c\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-ee0661945694b8c53d1853400ba9d1fa_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<pre class=\"wp-block-code\"><code>\u7528\u6237:{velocity}{acceleration}{navigation command}{image tokens} t{prompt}.\n\u52a9\u624b: &#91;BOS]&#91;BOI]{image tokens} t+3&#91;EOI]&#91;BOT]{reasoning steps}&#91;EOT]\n{generated trajectory}&#91;EOS].\n<\/code><\/pre>\n\n\n\n<p>\u5176\u4e2d[BOS]\u548c[EOS]\u662f\u6587\u672c\u6807\u8bb0\u5668\u4e2d\u7684\u539f\u59cb\u7279\u6b8a\u6807\u8bb0\uff0c[BOI]\u548c[EOI]\u6807\u8bb0\u56fe\u50cf\u6807\u8bb0\u7684\u5f00\u59cb\u548c\u7ed3\u675f\u3002\u540c\u6837\uff0c[BOT]\u548c[EOT]\u8868\u793a\u63a8\u7406\u8fc7\u7a0b\u7684\u5f00\u59cb\u548c\u7ed3\u675f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-6e841c65fc9a9c6d6c2ba9091b18d48f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-7cc5abaae096393b78db57ed1cfac739_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-d9d6fcb655eebdf14bf6930094952b68_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e0e\u4f20\u7edf\u7684\u591a\u8f6e\u95ee\u7b54\u8303\u5f0f\u4e0d\u540c\uff0cReasonPlan\u5728\u4e00\u6b21\u524d\u5411\u4f20\u9012\u4e2d\u6267\u884c\u591a\u6b65\u63a8\u7406\uff0c\u6709\u6548\u5730\u5229\u7528\u4e86LLM\u7684\u5e38\u8bc6\u63a8\u7406\u80fd\u529b\u6765\u5904\u7406\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_9\"><strong>\u8bad\u7ec3\u7b56\u7565<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-b34975bb175a036a800f76b74d489755_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913741845315445250_10\"><strong>PDR\uff1a\u9762\u5411\u89c4\u5212\u7684\u51b3\u7b56\u63a8\u7406\u6570\u636e\u96c6<\/strong><\/h2>\n\n\n\n<p>\u5c3d\u7ba1\u5df2\u6709\u591a\u79cd\u95ee\u7b54\uff08QA\uff09\u6570\u636e\u96c6\u88ab\u5f15\u5165\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u4f46\u5b83\u4eec\u4e3b\u8981\u9488\u5bf9\u573a\u666f\u7406\u89e3\u548c\u5f00\u73af\u8bc4\u4f30\u8bbe\u8ba1\uff0c\u65e0\u6cd5\u6709\u6548\u8bc4\u4f30\u95ed\u73af\u9a7e\u9a76\u4e2d\u7684\u5b9e\u9645\u9a7e\u9a76\u6027\u80fd\u3002\u4e3a\u5f25\u8865\u8fd9\u4e00\u5dee\u8ddd\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u4e00\u4e2a\u5927\u89c4\u6a21\u3001\u9ad8\u8d28\u91cf\u7684\u51b3\u7b56\u63a8\u7406\u6570\u636e\u96c6\u2014\u2014PDR\uff08Planning-oriented Decision Reasoning Dataset\uff09\uff0c\u8be5\u6570\u636e\u96c6\u4e13\u6ce8\u4e8e\u8f68\u8ff9\u89c4\u5212\uff0c\u5305\u542b21\u4e07\u4e2a\u591a\u6837\u4e14\u9ad8\u8d28\u91cf\u7684\u6837\u672c\u3002\u6211\u4eec\u5f00\u53d1\u4e86\u4e00\u6761\u4e13\u4e3a\u590d\u6742\u95ed\u73af\u51b3\u7b56\u573a\u666f\u8bbe\u8ba1\u7684\u81ea\u52a8\u5316\u6807\u6ce8\u6d41\u6c34\u7ebf\uff0c\u65e8\u5728\u5229\u7528\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u5728\u52a8\u6001\u9a7e\u9a76\u73af\u5883\u4e2d\u7684\u63a8\u7406\u548c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u4e3a\u6784\u5efa\u4e00\u4e2a\u53ef\u9760\u7684\u63a8\u7406\u6570\u636e\u96c6\uff0c\u6211\u4eec\u5c06Bench2Drive [26] \u63d0\u4f9b\u7684\u771f\u5b9e\u6807\u6ce8\u4fe1\u606f\u6269\u5c55\u4e3a\u7ed3\u6784\u5316\u7684\u63a8\u7406\u6807\u7b7e\u3002\u6bcf\u4e2a\u63a8\u7406\u8f68\u8ff9\u90fd\u7ecf\u8fc7\u5f7b\u5e95\u7684\u4eba\u5de5\u9a8c\u8bc1\uff0c\u4ee5\u786e\u4fdd\u5176\u4e00\u81f4\u6027\u4e0e\u53ef\u89e3\u91ca\u6027\u3002\u5982\u56fe4\u6240\u793a\uff0c\u63a8\u7406\u8fc7\u7a0b\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u9636\u6bb5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u573a\u666f\u7406\u89e3<\/strong>\uff1a\u786e\u5b9a\u81ea\u8f66\u53ef\u901a\u8fc7\u5de6\u53d8\u9053\u5230\u8fbe\u7684\u8f66\u9053\uff0c\u8f66\u9053\u65b9\u5411\u4e0e\u81ea\u8f66\u4e00\u81f4\uff1b\u540c\u65f6\u6ce8\u610f\u540e\u65b9\u8f66\u8f86\uff0c\u5f53\u524d\u65e0\u53f3\u53d8\u9053\u53ef\u80fd\u3002<\/li>\n\n\n\n<li><strong>\u4ea4\u901a\u6807\u5fd7\u8bc6\u522b<\/strong>\uff1a\u8bc6\u522b\u5230\u4ea4\u901a\u8b66\u544a\u6807\u5fd7\uff0c\u5e76\u636e\u6b64\u8c03\u6574\u884c\u9a76\u7b56\u7565\u3002<\/li>\n\n\n\n<li><strong>\u98ce\u9669\u8bc4\u4f30\u5173\u952e\u5bf9\u8c61\u8bc6\u522b<\/strong>\uff1a\u8bc6\u522b\u8ddd\u79bb\u81ea\u8f66\u5468\u56f49.96\u7c73\u7684\u9759\u6001\u9525\u5f62\u7b52\uff0c\u9884\u5224\u5176\u5bf9\u540e\u7eed\u79fb\u52a8\u7684\u5f71\u54cd\u3002<\/li>\n\n\n\n<li><strong>\u5143\u52a8\u4f5c\u89c4\u5212<\/strong>\uff1a\u57fa\u4e8e\u4e0a\u8ff0\u4fe1\u606f\uff0c\u51b3\u5b9a\u52a0\u901f\u5e76\u5de6\u53d8\u9053\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-7df43a24be9cf3283d5f78b5dabd5786_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-494ee9a5ce46185ffeee4ed9417cbfa3_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913741845315445250_11\"><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_12\"><strong>\u57fa\u51c6\u6d4b\u8bd5\u4e0e\u8bc4\u4f30\u6307\u6807<\/strong><\/h3>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528 Bench2Drive\u6765\u8bc4\u4f30 ReasonPlan \u7684\u95ed\u73af\u9a7e\u9a76\u6027\u80fd\uff0c\u8be5\u57fa\u51c6\u57fa\u4e8e Carla \u9886\u5bfc\u699c v2 \u63d0\u4f9b\u4e86\u5177\u6709\u6311\u6218\u6027\u7684\u4ea4\u4e92\u5f0f\u573a\u666f\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u8bc4\u4f30\u5176\u63a8\u7406\u80fd\u529b\uff0c\u6211\u4eec\u8fd8\u5728 DriveOcclusionSim (DOS) \u4e0a\u8fdb\u884c\u4e86\u96f6\u6837\u672c\u8bc4\u4f30\uff0c\u8fd9\u662f\u4e00\u5957\u590d\u6742\u7684\u573a\u666f\uff0c\u8981\u6c42\u6a21\u578b\u4ece\u52a8\u6001\u9a7e\u9a76\u73af\u5883\u4e2d\u63a8\u65ad\u5168\u5c40\u4e0a\u4e0b\u6587\u3002\u5bf9\u4e8e\u6d88\u878d\u7814\u7a76\uff0c\u7531\u4e8e\u8bc4\u4f30 Bench2Drive \u7684 220 \u6761\u8def\u7ebf\u53ef\u80fd\u9700\u8981\u51e0\u5929\u65f6\u95f4\uff0c\u6211\u4eec\u4f7f\u7528 Dev10\u8fdb\u884c\u5feb\u901f\u9a8c\u8bc1\u3002<\/p>\n\n\n\n<p>\u5b9e\u73b0\u7ec6\u8282\uff1a\u6211\u4eec\u7684\u6846\u67b6\u5904\u7406\u516d\u4e2a\u73af\u7ed5\u89c6\u56fe\u56fe\u50cf\uff0c\u8fd9\u4e9b\u56fe\u50cf\u7684\u539f\u59cb\u5206\u8fa8\u7387\u4e3a 1600\u00d7900\uff0c\u5e76\u901a\u8fc7 AnyRes \u7b56\u7565\u8c03\u6574\u5927\u5c0f\u5e76\u7f16\u7801\u4ee5\u751f\u6210\u5341\u4e2a\u5c3a\u5bf8\u4e3a 384\u00d7384 \u7684\u7a7a\u95f4\u7f51\u683c\u3002\u6211\u4eec\u7684\u6846\u67b6\u91c7\u7528 SigLIP\u4f5c\u4e3a\u89c6\u89c9\u7f16\u7801\u5668\u3002\u5bf9\u4e8e\u8bed\u8a00\u6a21\u578b\uff0c\u6211\u4eec\u91c7\u7528 Qwen-0.5B\uff0c\u8fd9\u662f\u4e00\u79cd\u8f7b\u91cf\u7ea7\u4f46\u529f\u80fd\u5f3a\u5927\u7684\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\uff0c\u5728\u6548\u7387\u548c\u63a8\u7406\u80fd\u529b\u4e4b\u95f4\u53d6\u5f97\u4e86\u5e73\u8861\u3002\u5b66\u4e60\u7387\u56fa\u5b9a\u4e3a 5e-5\uff0cLimage \u548c Ltext \u7684\u6743\u91cd\u5747\u8bbe\u7f6e\u4e3a 1.0\u3002\u66f4\u591a\u7ec6\u8282\u89c1\u9644\u5f55 C\u3002<\/p>\n\n\n\n<p>\u8bc4\u4f30\u6307\u6807\uff1a\u5bf9\u4e8e\u5f00\u73af\u60c5\u51b5\uff0c\u6211\u4eec\u62a5\u544a\u9884\u6d4b\u8f68\u8ff9\u4e0e\u4e13\u5bb6\u8f68\u8ff9\u4e4b\u95f4\u7684 L2 \u8ddd\u79bb\u3002\u5bf9\u4e8e\u95ed\u73af\u60c5\u51b5\uff0c\u6211\u4eec\u91c7\u7528 \u6307\u6807\uff1a(1) \u8def\u5f84\u5b8c\u6210\u7387 (RC)\uff1a\u5b8c\u6210\u8def\u5f84\u7684\u767e\u5206\u6bd4\uff1b(2) \u8fdd\u89c4\u5f97\u5206 (IS)\uff1a\u4ea4\u901a\u8fdd\u89c4\u5904\u7f5a\u5f97\u5206\uff1b(3) \u9a7e\u9a76\u5f97\u5206 (DS)\uff1aRC \u00d7 IS\uff08\u603b\u4f53\u6027\u80fd\u6307\u6807\uff09\uff1b(4) \u6210\u529f\u7387 (SR)\uff1a\u65e0\u8fdd\u89c4\u4e14\u53ca\u65f6\u5b8c\u6210\u7684\u7247\u6bb5\u767e\u5206\u6bd4\uff1b(5) \u6548\u7387 (Effi)\uff1a\u76f8\u5bf9\u4e8e\u5468\u56f4\u8f66\u8f86\u5e73\u5747\u901f\u5ea6\u7684\u81ea\u8f66\u901f\u5ea6\uff1b(6) \u8212\u9002\u5ea6 (Comf)\uff1a\u7b26\u5408\u8fd0\u52a8\u5e73\u6ed1\u9608\u503c\u7684\u7a0b\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-0f77954060254fe6fa70b1f1e1a0335a_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_13\"><strong>\u4e0eSOTA\u5bf9\u6bd4<\/strong><\/h3>\n\n\n\n<p>\u5982\u8868 1 \u6240\u793a\uff0cReasonPlan \u5728\u5f00\u73af\u6027\u80fd\u4e0a\u8868\u73b0\u6700\u4f73\uff0c\u5c06 L2 \u8bef\u5dee\u964d\u4f4e\u81f3 0.61\uff0c\u5c55\u793a\u4e86\u4f18\u8d8a\u7684\u672a\u6765\u8f68\u8ff9\u9884\u6d4b\u51c6\u786e\u6027\u3002\u6b64\u5916\uff0c\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\uff0cReasonPlan \u76f8\u8f83\u4e8e\u4f7f\u7528\u7279\u6743\u4e13\u5bb6\u7279\u5f81\u84b8\u998f\u7684 SOTA \u65b9\u6cd5 DriveAdapter\u8868\u73b0\u51fa\u4e86\u7ade\u4e89\u529b\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5b83\u5b9e\u73b0\u4e86 64.01 \u7684 DS\uff0c\u663e\u8457\u4f18\u4e8e\u975e\u84b8\u998f\u7684\u57fa\u4e8e IL \u7684 SOTA \u65b9\u6cd5 MomAD\uff0c\u63d0\u5347\u4e86 16.1% (+33.6%)\u3002\u6b64\u5916\uff0cReasonPlan \u76f8\u8f83\u4e8e MomAD\u63d0\u9ad8\u4e86 16.44% (+90.78%) \u7684\u6210\u529f\u7387\u3002ReasonPlan \u5728\u6240\u6709\u8bc4\u4f30\u65b9\u6cd5\u4e2d\u4e5f\u8fbe\u5230\u4e86\u6700\u9ad8\u7684\u6548\u7387\u5f97\u5206180.64\uff0c\u663e\u793a\u4e86\u4e00\u79cd\u6709\u6548\u4e14\u79ef\u6781\u7684\u9a7e\u9a76\u7b56\u7565\u300225.63\u7684\u8212\u9002\u5ea6\u5f97\u5206\u53cd\u6620\u4e86\u8f68\u8ff9\u654f\u6377\u6027\u548c\u5e73\u6ed1\u6027\u4e4b\u95f4\u7684\u5e38\u89c1\u6743\u8861\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u8212\u9002\u5ea6\u8fb9\u9645\u4ecd\u5728\u53ef\u63a5\u53d7\u8303\u56f4\u5185\uff0c\u53ef\u4ee5\u901a\u8fc7\u540e\u5e73\u6ed1\u6216\u4f4e\u7ea7\u63a7\u5236\u5668\u8c03\u4f18\u8fdb\u4e00\u6b65\u4f18\u5316\u3002<\/p>\n\n\n\n<p>\u8868 1 \u8fd8\u5c55\u793a\u4e86 ReasonPlan \u5728\u591a\u79cd\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u591a\u80fd\u529b\u8bc4\u4f30\u6027\u80fd\u3002ReasonPlan \u7684\u5e73\u5747\u80fd\u529b\u5f97\u5206\u4e3a 36.66%\uff0c\u663e\u8457\u4f18\u4e8e\u6240\u6709\u672a\u5229\u7528\u4efb\u4f55\u4e13\u5bb6\u7279\u5f81\u84b8\u998f\u7684 E2E \u57fa\u7ebf\u65b9\u6cd5\u3002\u8fd9\u4e9b\u7ed3\u679c\u7a81\u663e\u4e86\u6a21\u578b\u5728\u4e0d\u540c\u9a7e\u9a76\u610f\u56fe\u4e0a\u7684\u5f3a\u5927\u63a8\u7406\u80fd\u529b\uff0c\u5e76\u9a8c\u8bc1\u4e86\u5176\u5728\u590d\u6742\u591a\u610f\u56fe\u573a\u666f\u4e0b\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u590d\u6742\u63a8\u7406\u573a\u666f\u4e2d\u7684\u5f3a\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\uff1a\u4e3a\u4e86\u8bc4\u4f30 ReasonPlan \u7684\u5206\u5e03\u5916\u6cdb\u5316\u80fd\u529b\uff0c\u6211\u4eec\u5728 DOS \u57fa\u51c6\u4e0a\u8fdb\u884c\u4e86\u96f6\u6837\u672c\u95ed\u73af\u8bc4\u4f30\uff0c\u5982\u8868 2 \u6240\u793a\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6ca1\u6709\u65b9\u6cd5\u662f\u5728 DOS \u4e0a\u8bad\u7ec3\u7684\uff0c\u786e\u4fdd\u4e86\u4e00\u4e2a\u7eaf\u7cb9\u7684\u96f6\u6837\u672c\u8bbe\u7f6e\u3002ReasonPlan \u5728\u8fd9\u4e9b\u6761\u4ef6\u4e0b\u8868\u73b0\u51fa\u4e00\u81f4\u4e14\u4f18\u8d8a\u7684\u6027\u80fd\uff0c\u5e73\u5747 DS \u8fbe\u5230 78.02\u3002\u8fd9\u4e9b\u7ed3\u679c\u7a81\u663e\u4e86 ReasonPlan \u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u7531\u5176\u6574\u4f53\u63a8\u7406\u7ba1\u9053\u9a71\u52a8\uff0c\u5373\u4f7f\u5728\u672a\u89c1\u8fc7\u7684\u573a\u666f\u4e2d\u4e5f\u80fd\u5b9e\u73b0\u7a33\u5065\u5b89\u5168\u7684\u51b3\u7b56\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_14\"><strong>\u5b9a\u6027\u7ed3\u679c<\/strong><\/h3>\n\n\n\n<p>\u56fe 5 \u5c55\u793a\u4e86 ReasonPlan \u5728\u4e24\u4e2a\u4ee3\u8868\u6027\u95ed\u73af\u8bc4\u4f30\u573a\u666f\u4e2d\u7684\u5b9a\u6027\u7ed3\u679c\u3002\u56fe\u4e2d\u5c55\u793a\u4e86 DeCoT \u63a8\u7406\u8fc7\u7a0b\u548c\u76f8\u5e94\u7684\u9884\u6d4b\u8f68\u8ff9\u3002\u4e0e\u57fa\u7ebf\u65b9\u6cd5\u76f8\u6bd4\uff0cReasonPlan \u5728\u5bfc\u822a\u590d\u6742\u4ea4\u53c9\u53e3\u548c\u5904\u7406\u672a\u89c1\u8fc7\u7684\u573a\u666f\u65b9\u9762\u8868\u73b0\u51fa\u8272\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-2fc704ea03f19629257bd64de68152f7_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1913741845315445250_15\"><strong>\u6d88\u878d\u7814\u7a76\u4e0e\u5206\u6790<\/strong><\/h3>\n\n\n\n<p>\u672c\u8282\u901a\u8fc7\u8be6\u7ec6\u7684\u6d88\u878d\u7814\u7a76\uff0c\u9a8c\u8bc1\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u548c\u6570\u636e\u96c6\u7684\u6709\u6548\u6027\uff0c\u5305\u62ec\u6a21\u578b\u548c\u63a8\u7406\u6b65\u9aa4\u7684\u6d88\u878d\u3002<\/p>\n\n\n\n<p>NSP \u6709\u6548\u5730\u5efa\u6a21\u52a8\u6001\u573a\u666f\u8f6c\u6362\u5e76\u589e\u5f3a\u7a7a\u95f4\u89c4\u5212\uff1aNSP \u6a21\u5757\u901a\u8fc7\u5bf9\u56fe\u50cf\u6807\u8bb0\u65bd\u52a0\u5bc6\u96c6\u76d1\u7763\u6765\u5f15\u5165\u7ec6\u7c92\u5ea6\u7684\u89c6\u89c9\u7406\u89e3\u3002\u901a\u8fc7\u65f6\u95f4\u9884\u6d4b\u4efb\u52a1\uff0c\u5b83\u4fc3\u8fdb\u4e86\u6539\u8fdb\u7684 3D \u7a7a\u95f4\u63a8\u7406\u5e76\u589e\u5f3a\u4e86\u4e0b\u6e38\u89c4\u5212\u6027\u80fd\uff08\u8868 3a ID 2\uff09\u3002\u7136\u800c\uff0c\u5982\u679c\u6ca1\u6709\u5bf9\u51b3\u7b56\u8fdb\u884c\u660e\u786e\u7684\u63a8\u7406\uff0c\u4ec5 NSP \u65e0\u6cd5\u786e\u4fdd\u4ea4\u901a\u5408\u89c4\uff0c\u5bfc\u81f4\u8f83\u4f4e\u7684 IS\u3002<\/p>\n\n\n\n<p>DeCoT \u901a\u8fc7\u7ed3\u6784\u5316\u63a8\u7406\u6301\u7eed\u4fc3\u8fdb\u89c4\u5212\uff1aDeCoT \u5c06\u590d\u6742\u7684\u51b3\u7b56\u5206\u89e3\u4e3a\u53ef\u89e3\u91ca\u7684\u63a8\u7406\u6b65\u9aa4\uff0c\u5e76\u901a\u8fc7\u76f4\u63a5\u76d1\u7763\u63d0\u9ad8\u6a21\u578b\u5904\u7406\u590d\u6742\u573a\u666f\u7684\u80fd\u529b\uff08\u8868 3a ID 3\uff09\u3002<\/p>\n\n\n\n<p>NSP \u548c DeCoT \u662f\u4e92\u8865\u4e14\u534f\u540c\u7684\uff1a\u6574\u5408 NSP \u548c DeCoT \u53ef\u5b9e\u73b0\u6700\u4f73\u7684\u6574\u4f53\u6027\u80fd\uff08\u8868 3a ID 4\uff09\uff0c\u56e0\u4e3a NSP \u63d0\u4f9b\u4e30\u5bcc\u7684\u89c6\u89c9\u80cc\u666f\u7528\u4e8e\u89c4\u5212\uff0c\u800c DeCoT \u901a\u8fc7\u7ed3\u6784\u5316\u63a8\u7406\u8c03\u8282\u9a7e\u9a76\u884c\u4e3a\u3002\u8fd9\u4e9b\u7ec4\u4ef6\u4f7f ReasonPlan \u80fd\u591f\u5728\u590d\u6742\u573a\u666f\u4e2d\u6267\u884c\u7edf\u4e00\u3001\u53ef\u89e3\u91ca\u4e14\u6709\u6548\u7684\u7aef\u5230\u7aef\u89c4\u5212\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-1450b10f505800b5f18181a1efb724fd_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u7ed3\u6784\u5316\u548c\u5b8c\u6574\u7684\u63a8\u7406\u6b65\u9aa4\u5e26\u6765\u4e86\u6700\u4f73\u7684\u9a7e\u9a76\u6027\u80fd\uff1a\u5982\u8868 3b \u6240\u793a\uff0c\u4ece\u5b8c\u6574\u63a8\u7406\u7ba1\u9053\u4e2d\u79fb\u9664\u4efb\u4f55\u5355\u4e00\u7ec4\u4ef6\u90fd\u4f1a\u964d\u4f4e\u6a21\u578b\u5904\u7406\u590d\u6742\u573a\u666f\u7684\u80fd\u529b\u3002\u7279\u522b\u662f\uff0c\u7701\u7565\u4ee3\u8868\u9a7e\u9a76\u51b3\u7b56\u7684\u5143\u52a8\u4f5c\u6b65\u9aa4\u4f1a\u5bfc\u81f4 DS \u663e\u8457\u4e0b\u964d\u3002\u8fd9\u4e9b\u7ed3\u679c\u5f3a\u8c03\u4e86\u7ec6\u7c92\u5ea6\u63a8\u7406\u5728\u5b89\u5168\u7a33\u5065\u51b3\u7b56\u4e2d\u7684\u91cd\u8981\u6027\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u53d1\u73b0\u7a81\u663e\u4e86\u7531\u6211\u4eec\u81ea\u52a8\u5316\u6807\u6ce8\u6d41\u6c34\u7ebf\u751f\u6210\u7684 PDR \u6570\u636e\u96c6\u7684\u8d28\u91cf\u548c\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913741845315445250_16\"><strong>\u7ed3\u8bba<\/strong><\/h2>\n\n\n\n<p>\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 ReasonPlan\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u9896\u7684\u5fae\u8c03\u6846\u67b6\uff0c\u65e8\u5728\u5c06\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08MLLMs\uff09\u5e94\u7528\u4e8e\u590d\u6742\u7684\u95ed\u73af\u573a\u666f\u3002ReasonPlan \u5f15\u5165\u4e86\u4e00\u79cd\u65f6\u95f4\u4e0a\u7684\u81ea\u76d1\u7763\u4e0b\u4e00\u573a\u666f\u9884\u6d4b\u4efb\u52a1\uff0c\u5e76\u5bf9\u51b3\u7b56\u94fe\u5f0f\u601d\u7ef4\u8fc7\u7a0b\u65bd\u52a0\u4e86\u663e\u5f0f\u7684\u76d1\u7763\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u89c6\u89c9\u548c\u6587\u672c\u6a21\u6001\u7684\u7edf\u4e00\u6574\u5408\uff0c\u4ee5\u652f\u6301\u53ef\u89e3\u91ca\u7684\u89c4\u5212\u3002\u901a\u8fc7\u5728 Bench2Drive \u548c DOS \u4e0a\u7684\u5168\u9762\u8bc4\u4f30\uff0cReasonPlan \u5728\u5f00\u73af\u548c\u95ed\u73af\u8bbe\u7f6e\u4e0b\u5747\u8868\u73b0\u51fa\u8272\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5b83\u5728\u672a\u89c1\u8fc7\u7684\u4efb\u52a1\u4e0a\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\uff0c\u7a81\u51fa\u4e86\u5176\u5728\u73b0\u5b9e\u4e16\u754c\u90e8\u7f72\u4e2d\u7684\u7a33\u5065\u6027\u548c\u6f5c\u529b\u3002\u6211\u4eec\u7684\u7ed3\u679c\u8868\u660e\uff0c\u57fa\u4e8e MLLM \u7684\u6846\u67b6\u5728\u5f25\u5408\u9ad8\u5c42\u63a8\u7406\u4e0e\u4f4e\u5c42\u89c4\u5212\u4e4b\u95f4\u7684\u5dee\u8ddd\u65b9\u9762\u5177\u6709\u5de8\u5927\u524d\u666f\uff0c\u4e3a\u66f4\u5177\u8ba4\u77e5\u6027\u548c\u901a\u7528\u6027\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u94fa\u5e73\u4e86\u9053\u8def\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1913741845315445250_17\"><strong>\u5c40\u9650\u6027<\/strong><\/h2>\n\n\n\n<p>\u9996\u5148\uff0c\u5c3d\u7ba1 ReasonPlan \u5229\u7528\u5f3a\u5927\u7684\u63a8\u7406\u80fd\u529b\u89e3\u51b3\u4e86\u590d\u6742\u63a8\u7406\u548c\u5206\u5e03\u5916\u573a\u666f\u4e2d\u7684\u6311\u6218\uff0c\u4f46\u5176\u4f9d\u8d56\u4e8e MLLMs\uff0c\u8fd9\u5e26\u6765\u4e86\u4e0d\u53ef\u5ffd\u89c6\u7684\u63a8\u7406\u5ef6\u8fdf\u3002\u867d\u7136\u76ee\u524d 0.5B \u89c4\u6a21\u7684 LLM \u5728\u5b9e\u65f6\u90e8\u7f72\u4e0a\u662f\u53ef\u4ee5\u63a5\u53d7\u7684\uff0c\u4f46\u66f4\u5927\u7684\u89c4\u6a21\u5982 7B \u4ecd\u96be\u4ee5\u5b9e\u73b0\u5b9e\u65f6\u90e8\u7f72\u3002\u7136\u800c\uff0c\u65b0\u5174\u7684\u6f5c\u5728\u7a7a\u95f4\u63a8\u7406\u6280\u672f\u4e3a\u63d0\u9ad8\u6846\u67b6\u7684\u6548\u7387\u548c\u54cd\u5e94\u80fd\u529b\u63d0\u4f9b\u4e86\u6709\u5e0c\u671b\u7684\u65b9\u5411\u3002\u6b64\u5916\uff0c\u50cf o1 \u6216 DeepSeek-R1 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