{"id":29589,"date":"2025-06-09T17:32:00","date_gmt":"2025-06-09T09:32:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29589"},"modified":"2025-06-09T17:32:00","modified_gmt":"2025-06-09T09:32:00","slug":"2025-06-09-%cf%800%e5%a6%82%e4%bd%95%e7%94%a8%e4%ba%8e%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%ef%bc%9acvpr25%e7%ab%af%e5%88%b0%e7%ab%af%e4%ba%9a%e5%86%9b%e6%96%b9%e6%a1%88%e8%a7%a3%e8%af%bb%ef%bc%8c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/09\/29589\/","title":{"rendered":"2025-06-09 \u03c00\u5982\u4f55\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\uff1aCVPR&#8217;25\u7aef\u5230\u7aef\u4e9a\u519b\u65b9\u6848\u89e3\u8bfb\uff0c\u6e05\u534e&amp;\u535a\u4e16DiffVLA\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/Rd_KVJbXN5LwRCMZAkJQ-w\">https:\/\/mp.weixin.qq.com\/s\/Rd_KVJbXN5LwRCMZAkJQ-w<\/a><\/p>\n\n\n\n<p><strong>\u4eae\u773c\u6210\u679c<\/strong>\uff1a \u535a\u4e16\u4e2d\u56fd\u7814\u7a76\u9662\u4e0e\u6e05\u534e\u5927\u5b66AIR\u56e2\u961f\u7684\u6700\u65b0\u7814\u7a76&nbsp;<strong>DiffVLA<\/strong>\uff0c\u9996\u6b21\u5c06\u901a\u7528\u673a\u5668\u4eba\u63a7\u5236\u6846\u67b6\u03c00\u7684&#8221;\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c&#8221;\u8303\u5f0f\uff0c\u6210\u529f\u6539\u9020\u4e3a\u9002\u5e94\u81ea\u52a8\u9a7e\u9a76\u4e25\u82db\u8981\u6c42\u7684\u4e13\u7528\u7cfb\u7edf\u3002\u8be5\u6210\u679c\u5728<strong>Autonomous Grand Challenge 2025<\/strong>\u7684navsim-v2 public leaderboard\u4e2d\uff0cDiffVLA\u4ee5<strong>45.0 EPDMS<\/strong>\u7684\u4f18\u5f02\u6210\u7ee9\uff0c\u5c55\u73b0\u4e86\u5728\u771f\u5b9e\u4e0e\u5408\u6210\u590d\u6742\u573a\u666f\u4e0b\u7684\u5f3a\u5927\u9c81\u68d2\u6027\u4e0e\u6cdb\u5316\u80fd\u529b\u3002\u65e0\u8bba\u662f<strong>\u65e0\u8d23\u78b0\u649e\u7387<\/strong>\uff0895.71%\u9636\u6bb5\u4e00\uff0c81.27%\u9636\u6bb5\u4e8c\uff09\u3001<strong>\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u6027<\/strong>\uff0899.29%\u9636\u6bb5\u4e00\uff0c88.84%\u9636\u6bb5\u4e8c\uff09\uff0c\u8fd8\u662f<strong>\u8f66\u9053\u4fdd\u6301<\/strong>\u4e0e<strong>\u8212\u9002\u6027<\/strong>\u6307\u6807\uff0cDiffVLA\u5747\u8868\u73b0\u51fa\u8272\uff01 \u4f20\u7edf\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u5e38\u53d7\u9650\u4e8e\u6602\u8d35\u7684BEV\u8ba1\u7b97\u3001\u52a8\u4f5c\u591a\u6837\u6027\u4e0d\u8db3\u53ca\u590d\u6742\u573a\u666f\u51b3\u7b56\u6b21\u4f18\u7b49\u95ee\u9898\u3002DiffVLA\u901a\u8fc7\u7a00\u758f\u8868\u793a\u3001\u6269\u6563\u6a21\u578b\u4e0eVLM\u7684\u6df1\u5ea6\u878d\u5408\uff0c\u7a81\u7834\u8fd9\u4e9b\u74f6\u9888\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u95ed\u73af\u6027\u80fd\u6811\u7acb\u4e86\u65b0\u6807\u6746\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2505.19381<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"265\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-55-1024x265.png\" alt=\"\" class=\"wp-image-29590\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-55-1024x265.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-55-300x78.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-55-768x199.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-55.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u67b6\u6784\u4f20\u627f\uff1a\u901a\u7528\u673a\u5668\u4eba\u63a7\u5236\u7684\u81ea\u52a8\u9a7e\u9a76\u8fdb\u5316<\/strong><\/p>\n\n\n\n<p>\u03c00\u8bc1\u660e\u4e86\u751f\u6210\u5f0fVLA\uff08Vision-Language-Action\uff09\u6846\u67b6\u5728\u901a\u7528\u673a\u5668\u4eba\u63a7\u5236\u7684\u6f5c\u529b\uff0c\u800cDiffVLA\u9996\u6b21\u5b9e\u73b0\u4e86\u8be5\u8303\u5f0f\u5728\u52a8\u6001\u4ea4\u901a\u573a\u666f\u4e2d\u7684\u5b89\u5168\u843d\u5730\u3002 \u201c\u5982\u679c\u8bf4\u03c00\u662f\u2018\u4f1a\u601d\u8003\u7684\u673a\u5668\u4eba\u2019\uff0cDiffVLA\u5219\u662f\u2018\u61c2\u4ea4\u89c4\u7684\u8001\u53f8\u673a\u2019\uff1a\u5b83\u7ee7\u627f\u4e86\u524d\u8005\u7684\u591a\u6a21\u6001\u7406\u89e3\u80fd\u529b\uff0c\u4f46\u6bcf\u4e00\u6b65\u51b3\u7b56\u90fd\u6234\u7740\u5b89\u5168\u7684\u9563\u94d0\u8df3\u821e\u3002\u201d<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6539\u9020\u96be\u70b9<\/strong>\u00a0\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>\u6311\u62181\uff1a\u8bed\u8a00\u6307\u4ee4\u4e0e\u7269\u7406\u4e16\u754c\u7684\u5272\u88c2<\/strong>\u00a0\uff1a\u901a\u7528\u673a\u5668\u4eba\u73af\u5883\u4e0b\u7684\u201c\u907f\u5f00\u969c\u788d\u7269\u201d\u6307\u4ee4 \u2192 \u751f\u6210\u673a\u68b0\u81c2\u7ed5\u884c\u52a8\u4f5c&#8221;,\u751f\u6210\u65e0\u89c6\u4eba\u7c7b\u4f53\u611f\u7684\u8f66\u901f\u4e0e\u504f\u79fb\u91cf\u7684\u81ea\u7531\u8f68\u8ff9\u3002<\/li>\n\n\n\n<li><strong>\u6311\u62182\uff1a\u5f00\u653e\u73af\u5883\u4e0e\u89c4\u5219\u7ea6\u675f\u7684\u51b2\u7a81<\/strong>\uff1a\u03c00\u4f9d\u8d56\u7eaf\u89c6\u89c9\u7279\u5f81\u611f\u77e5\u4e16\u754c\uff0c\u8fd9\u79cd\u5f00\u653e\u73af\u5883\u4e0b\u7684\u201c\u81ea\u7531\u63a2\u7d22\u201d\u903b\u8f91\uff0c\u5728\u4ea4\u901a\u7cfb\u7edf\u4e2d\u5f15\u53d1\u4e8b\u6545\u9020\u6210\u81f4\u547d\u4e8b\u6545\u3002<\/li>\n\n\n\n<li><strong>\u6311\u62183\uff1a\u751f\u6210\u6a21\u578b\u7684\u52a8\u4f5c\u98ce\u9669\u5931\u63a7<\/strong>\u00a0\u5728\u03c00\u6846\u67b6\u4e2d\uff0c\u6269\u6563\u6a21\u578b\u751f\u6210\u7684\u673a\u68b0\u81c2\u8f68\u8ff9\u5373\u4f7f\u5b58\u5728\u6296\u52a8\uff08\u5982\u00b15cm\u504f\u79fb\uff09\uff0c\u4e5f\u4ec5\u5bfc\u81f4\u6293\u53d6\u5931\u8d25\uff1b\u4f46\u81ea\u52a8\u9a7e\u9a76\u5728<strong>\u9ad8\u5bf9\u6297\u573a\u666f<\/strong>\u4e2d\uff0c\u540c\u7b49\u81ea\u7531\u5ea6\u7684\u8f68\u8ff9\u6269\u6563\u4f1a\u5f15\u53d1\u81f4\u547d\u6a2a\u6446<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p>\u901a\u7528\u673a\u5668\u4eba\u9886\u57df\u7684\u7684\u5e94\u7528\u548c\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528\u4eba\u6709\u5de8\u5927\u7684gap\uff0c\u4e3a\u4e86\u5c06\u6211\u4eec\u5c06\u4ece\u03c00\u67b6\u6784\u8fd0\u7528\u5230\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u6211\u4eec\u5bf9<strong>\u7f16\u7801\u5668\u3001\u89e3\u7801\u5668\u3001\u6570\u636e\u3001\u635f\u5931\u51fd\u6570<\/strong>\u56db\u5927\u652f\u67f1\u5c55\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528\u5f00\u6df1\u5ea6\u5256\u6790\u548c\u6df1\u5ea6\u6539\u8fdb\uff0c\u63ed\u793a\u4ece\u901a\u7528\u673a\u5668\u4eba\u667a\u80fd\u4f53\u5230\u81ea\u52a8\u9a7e\u9a76\u667a\u80fd\u4f53\u7684\u5e95\u5c42\u903b\u8f91\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"927\" height=\"667\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-56.png\" alt=\"\" class=\"wp-image-29591\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-56.png 927w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-56-300x216.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-56-768x553.png 768w\" sizes=\"(max-width: 927px) 100vw, 927px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"274\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/060901.png\" alt=\"\" class=\"wp-image-29592\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/060901.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/060901-300x124.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u4f53\u67b6\u6784<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5df2\u6210\u4e3a\u4e00\u4e2a\u91cd\u8981\u4e14\u5feb\u901f\u53d1\u5c55\u7684\u7814\u7a76\u9886\u57df\u3002\u5f97\u76ca\u4e8e\u5927\u91cf\u4eba\u7c7b\u9a7e\u9a76\u793a\u8303\u6570\u636e\u7684\u53ef\u7528\u6027\uff0c\u4ece\u5927\u89c4\u6a21\u6570\u636e\u96c6\u4e2d\u5b66\u4e60\u7c7b\u4eba\u9a7e\u9a76\u7b56\u7565\u5177\u6709\u5de8\u5927\u6f5c\u529b\u3002\u73b0\u6709\u65b9\u6cd5\u5982UniAD\u3001VAD \u4ee5\u4f20\u611f\u5668\u6570\u636e\u4e3a\u8f93\u5165\uff0c\u901a\u8fc7\u5355\u4e00\u53ef\u4f18\u5316\u6a21\u578b\u56de\u5f52\u5355\u6a21\u8f68\u8ff9\u3002\u8fdb\u4e00\u6b65\u63a2\u7d22\u7a00\u758f\u8868\u793a\uff0c\u63d0\u51fa\u5bf9\u79f0\u7a00\u758f\u611f\u77e5\u6a21\u5757\u548c\u5e73\u884c\u8fd0\u52a8\u89c4\u5212\u5668\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5ffd\u7565\u4e86\u9a7e\u9a76\u884c\u4e3a\u7684\u5185\u5728\u4e0d\u786e\u5b9a\u6027\u548c\u591a\u6a21\u6001\u7279\u6027\u3002\u5229\u7528\u751f\u6210\u9886\u57df\u7684\u5f3a\u5927\u6269\u6563\u6982\u5ff5\uff0c\u65b9\u6cd5\u80fd\u591f\u5efa\u6a21\u591a\u6a21\u6001\u52a8\u4f5c\u5206\u5e03\u3002\u901a\u8fc7\u951a\u5b9a\u9ad8\u65af\u5206\u5e03\u8bbe\u8ba1\u52a0\u901f\u6269\u6563\u8fc7\u7a0b\u3002\u5c06VLM\u4e0e\u7aef\u5230\u7aef\u6a21\u578b\u7ed3\u5408\uff0c\u63d0\u9ad8\u8f68\u8ff9\u89c4\u5212\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u73b0\u6709\u65b9\u6cd5\u5728nuScenes\u3001navsim-v1\u3001nuPlan\u7b49\u77e5\u540d\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u8868\u73b0\u7a33\u5065\uff0c\u4f46\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u5b9e\u73b0\u9c81\u68d2\u6027\u80fd\u5e76\u8d85\u8d8a\u8bb0\u5f55\u72b6\u6001\u4ecd\u662f\u4e00\u5927\u6311\u6218\u3002\u672c\u6587\u91cd\u65b0\u5ba1\u89c6\u7a00\u758f\u6027\u3001\u6269\u6563\u548cVLM\u7684\u6982\u5ff5\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u66f4\u5168\u9762\u7684\u65b9\u6cd5\uff0c\u5e76\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u9a8c\u8bc1\u4e86\u5176\u6027\u80fd\u3002\u6211\u4eec\u7684\u6846\u67b6\u91c7\u7528Encoder-Decoder\u67b6\u6784\uff0c\u5206\u4e3a\u4e09\u4e2a\u5173\u952e\u7ec4\u4ef6\uff1aVLM Encoder\u3001\u7a00\u758f-\u5bc6\u96c6\u6df7\u5408Perception Encoder\u548c\u57fa\u4e8e\u6269\u6563\u7684Planner Decoder\u3002\u6211\u4eec\u5728navsim-v2\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u548c\u8bc4\u4f30\u6211\u4eec\u7684\u65b9\u6cd5\uff0c\u8be5\u6570\u636e\u96c6\u901a\u8fc7\u5f15\u5165\u53cd\u5e94\u6027\u80cc\u666f\u4ea4\u901a\u53c2\u4e0e\u8005\u548c\u903c\u771f\u7684\u5408\u6210\u591a\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\uff0c\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u95ed\u73af\u9c81\u68d2\u6027\u548c\u6cdb\u5316\u80fd\u529b\u8bc4\u4f30\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728navsim v2\u7ade\u8d5b\u7684\u79c1\u6709\u6d4b\u8bd5\u96c6\u4e0a\u53d6\u5f97\u4e8645.0\u7684EPDMS\u8bc4\u5206\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"760\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-57-1024x760.png\" alt=\"\" class=\"wp-image-29593\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-57-1024x760.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-57-300x223.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-57-768x570.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-57.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Encoder<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"741\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/060902.png\" alt=\"\" class=\"wp-image-29594\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/060902.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/060902-274x300.png 274w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p><strong>Decoder<\/strong><\/p>\n\n\n\n<p>\u03c00 \u91c7\u7528\u4e86\u57fa\u4e8escore based\u7684\u751f\u6210\u5f0f\u6a21\u578b\u4f5c\u4e3a\u8f68\u8ff9\u751f\u6210\u65b9\u5f0f\uff0c\u4ee5\u524d\u7f00\u52a8\u4f5c\u5e8f\u5217\u4e3a\u6761\u4ef6\u81ea\u56de\u5f52\u9884\u6d4b\u4e0b\u4e00\u6b65\u64cd\u4f5c\uff08\u5982\u5173\u8282\u626d\u77e9\u6216\u672b\u7aef\u4f4d\u79fb\uff09\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u8fd0\u884c\u573a\u666f\u66f4\u590d\u6742\uff0c\u540c\u4e8b\u6211\u4eec\u8003\u8651\u5230\u81ea\u52a8\u9a7e\u9a76\u7684\u8f68\u8ff9\u9884\u6d4b\u5176\u5b9e\u662f\u53ef\u4ee5\u8fdb\u884c\u5206\u5c42\u5206\u89e3\u7684\u3002\u4eba\u7c7b\u5f00\u8f66\u65f6\u9996\u5148\u53d7\u5230high level\u7684\u4fe1\u606f\u5f71\u54cd\uff0c\u6bd4\u5982\u6211\u9700\u8981\u53bb\u54ea\u91cc\uff0c\u4e0b\u4e2a\u8def\u53e3\u5de6\u8f6c\u8fd8\u662f\u53f3\u8f6c\uff0c\u5176\u6b21\u5173\u6ce8\u5468\u56f4\u73af\u5883\uff0c\u5982\u679c\u73af\u5883\u590d\u6742\u5219\u9700\u8981\u964d\u4f4e\u8f66\u901f\u589e\u52a0\u6ce8\u610f\u529b\uff0c\u6700\u540e\u662f\u786e\u4fdd\u8f66\u8f86\u9075\u5b88\u8f66\u9053\u4ee5\u53ca\u9632\u6b62\u548c\u5176\u4ed6\u8f66\u8f86\u53d1\u751f\u78b0\u649e\u3002\u7684\u53d7\u5230\u4eba\u5f00\u8f66\u7684\u8ba4\u77e5\u884c\u4e3a\u89c4\u8303\u7684\u542f\u53d1\uff0c\u6211\u95e8\u8bbe\u8ba1\u4e86\u5206\u5c42\u7684Transformer\u5bf9\u4e0a\u6e38\u7684Encoder\u7684\u4fe1\u606f\u8fdb\u884c\u5206\u5c42\u8f93\u5165\u63a5\u5165Diffusion Decoder\u7f51\u7edc\u3002\u540c\u6837\u4e3a\u4e86\u8fdb\u4e00\u6b65\u4f7f\u6a21\u578b\u83b7\u5f97\u66f4\u597d\u7684\u591a\u6837\u6027\uff0c\u6211\u4eec\u4f7f\u7528\u4e86diffusion\uff0c\u5c31diffuison policy\u800c\u8a00\uff0c\u6211\u4eec\u4f7f\u7528\u4e86\u622a\u65ad\u6269\u6563\u7b56\u7565\uff0c\u5176\u53bb\u566a\u8fc7\u7a0b\u4e0d\u518d\u4ece\u6807\u51c6\u9ad8\u65af\u5206\u5e03\u5f00\u59cb\uff0c\u800c\u662f\u4ece\u4e00\u4e2a\u951a\u5b9a\u9ad8\u65af\u5206\u5e03\uff08anchored Gaussian distribution\uff09\u5f00\u59cb\u3002\u4e3a\u4e86\u8ba9\u6a21\u578b\u80fd\u591f\u5b66\u4e60\u5982\u4f55\u4ece\u951a\u5b9a\u9ad8\u65af\u5206\u5e03\u53bb\u566a\u5230\u76ee\u6807\u9a7e\u9a76\u7b56\u7565\uff0c\u6211\u4eec\u5728\u8bad\u7ec3\u9636\u6bb5\u622a\u65ad\u4e86\u6269\u6563\u8c03\u5ea6\uff08diffusion schedule\uff09\uff0c\u4ec5\u5411\u951a\u70b9\u6dfb\u52a0\u5c11\u91cf\u7684\u9ad8\u65af\u566a\u58f0\u3002\u7528\u66f4\u201c\u63a5\u8fd1\u771f\u5b9e\u8f68\u8ff9\u201d\u7684\u951a\u70b9\u6765\u66ff\u4ee3\u5b8c\u5168\u968f\u673a\u7684\u8d77\u70b9\uff0c\u4ece\u800c\u964d\u4f4e\u8bad\u7ec3\u548c\u63a8\u7406\u8fc7\u7a0b\u4e2d\u7684\u590d\u6742\u5ea6\uff0c\u5e76\u63d0\u5347\u751f\u6210\u7684\u8f68\u8ff9\u8d28\u91cf\u3002<\/p>\n\n\n\n<p><strong>Data<\/strong><\/p>\n\n\n\n<p>\u03c00 \u91c7\u7528\u4e86pre-training+post fine-tuning\u7684\u65b9\u5f0f\uff0c\u5176\u4e2dpre-training\u9636\u6bb5\u6700\u91cd\u8981\u7684\u5c31\u662fdiversity\uff0c\u7528\u4e86\u4e00\u4e2a<strong>10000\u5c0f\u65f6\u89c4\u6a21<\/strong>\u7684\u6570\u636e\u96c6\u8bad\u7ec3\uff0c\u5176\u4e2d\u6570\u636e\u96c6\u5927\u90e8\u5206\u662f\u81ea\u91c7\u7684\uff08\u91c7\u96c6\u65b9\u5f0f\u4e0b\u4e00\u8282\u4ecb\u7ecd\uff09\uff0c<strong>\u4ec59.1% \u662f\u5f00\u6e90\u7684<\/strong>\uff08Open-emb-x, droid \u7b49\uff09\uff0c\u5e76\u4e14\u5176\u4e2d\u666e\u904d\u90fd\u662f\u6bd4\u8f83\u590d\u6742\u7684\u7b26\u5408\u4efb\u52a1\uff0c\u6240\u4ee5\u5b9e\u8d28\u4e0a\u5305\u542b\u7684\u4efb\u52a1\u66f4\u591a\u3002\u5728post fine-tuning\u9636\u6bb5\u6570\u636e\u7684\u8981\u70b9\u662f\u52a8\u4f5c\u8d28\u91cf\u9ad8\uff0c\u5373\u52a8\u4f5c\u8981\u5b8c\u6210\u5730\u4e00\u81f4\u4e14\u9ad8\u6548\u3002\u6211\u4eec\u91c7\u53d6\u4e86\u548c\u03c00\u7c7b\u4f3c\u7684\u7b56\u7565\uff0c\u540c\u6837\u8fdb\u884c\u4e86pre-training\u548cpost fine-tuning\u90e8\u5206\u3002\u5176\u4e2dVLM Encoder\u6a21\u5757\u7684pre-training\u4f7f\u7528\u4e86\u4e00\u4e2a\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u9884\u8bad\u7ec3\u6570\u636e\u96c6driveX\uff0cPerception Encoder\u6a21\u5757\u5219\u5728nuplan\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u3002\u4f46\u662f\u6211\u4eec\u53d1\u73b0\u5927\u89c4\u6a21\u7684\u9ad8\u8d28\u91cf\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\u5e76\u4e0d\u80fd\u6559\u4f1a\u6a21\u578b\u5982\u4f55\u514b\u670d\u590d\u6742\u573a\u666f\u4e0b\u7684\u884c\u4e3a\u51b3\u7b56\u95ee\u9898\uff0c\u56e0\u4e3a\u5373\u4f7f\u5728navsim\u6570\u636e\u96c6\u4e0b\u5177\u6709\u6311\u6218\u6027\u7684\u9a7e\u9a76\u573a\u666f\u4efb\u7136\u4f7f\u7a00\u5c11\u7684\u3002\u4e3a\u6b64\u5728post fine-tuning\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u9664\u4e86\u4e3b\u8981\u5bf9\u5173\u6ce8\u5bf9\u8f68\u8ff9\u7cbe\u5ea6\u7684\u4f18\u5316\u4ee5\u53ca\u56f0\u96be\u573a\u666f\u7684\u8bad\u7ec3\uff0c\u4e3a\u6b64\u6211\u4eec\u4eceopenscene\u4ee5\u53canuplan\u6570\u636e\u96c6\u4e2d\u989d\u5916\u6311\u9009\u4e86\u4e00\u90e8\u5206\u96be\u4f8b\u6dfb\u52a0\u5230\u6570\u636e\u96c6\u4e2d\u3002<\/p>\n\n\n\n<p><strong>Loss<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"102\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/060903.png\" alt=\"\" class=\"wp-image-29595\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/060903.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/060903-300x46.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"93\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-58-1024x93.png\" alt=\"\" class=\"wp-image-29596\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-58-1024x93.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-58-300x27.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-58-768x70.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-58.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"57\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/060904.png\" alt=\"\" class=\"wp-image-29597\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/060904.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/060904-300x25.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"189\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-59-1024x189.png\" alt=\"\" class=\"wp-image-29598\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-59-1024x189.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-59-300x56.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-59-768x142.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-59.png 1070w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1009\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-60-1009x1024.png\" alt=\"\" class=\"wp-image-29599\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-60-1009x1024.png 1009w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-60-296x300.png 296w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-60-768x779.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-60-986x1000.png 986w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-60.png 1026w\" sizes=\"(max-width: 1009px) 100vw, 1009px\" \/><\/figure>\n\n\n\n<p><strong>\u53ef\u89c6\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"428\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-61-1024x428.png\" alt=\"\" class=\"wp-image-29600\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-61-1024x428.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-61-300x125.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-61-768x321.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-61.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba\u548c\u5c55\u671b<\/strong><\/p>\n\n\n\n<p>\u5c3d\u7ba1\u76f8\u6bd4\u4e8e\u03c00\uff0cDiffVLA\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4ee5\u4e0b\u65b9\u5411\u4ecd\u9700\u6df1\u5165\u63a2\u7d22\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>VLM\u8f7b\u91cf\u5316\u4e0e\u5b9e\u65f6\u90e8\u7f72<\/strong>\uff1a\u5f53\u524dVLM\u7684\u8ba1\u7b97\u5f00\u9500\u96be\u4ee5\u6ee1\u8db3\u8f66\u8f7d\u5e73\u53f0\u4e25\u82db\u7684\u5ef6\u65f6\u4e0e\u80fd\u6548\u7ea6\u675f\u3002\u672a\u6765\u9700\u63a2\u7d22\u6a21\u578b\u538b\u7f29\uff08\u77e5\u8bc6\u84b8\u998f\u3001\u7a00\u758f\u91cf\u5316\uff09\u3001\u786c\u4ef6\u611f\u77e5\u7f16\u8bd1\uff08Transformer\u7b97\u5b50\u52a0\u901f\uff09\u53ca\u8f66-\u4e91\u534f\u540c\u63a8\u7406\u67b6\u6784\uff0c\u4ee5\u5b9e\u73b0VLM\u5728\u5d4c\u5165\u5f0f\u82af\u7247\u7684\u9ad8\u6548\u90e8\u7f72\u3002<\/li>\n\n\n\n<li><strong>LLM\u9a71\u52a8\u7684\u95ed\u73af\u51b3\u7b56\u8303\u5f0f\u9769\u65b0<\/strong>\uff1aDiffVLA\u4e2dVLM\u4ec5\u63d0\u4f9b\u5f00\u73af\u8bed\u4e49\u6307\u4ee4\uff0c\u5c1a\u672a\u53c2\u4e0e\u5b9e\u65f6\u63a7\u5236\u95ed\u73af\u3002\u4e9f\u9700\u7814\u7a76LLM\u5728\u51b3\u7b56-\u89c4\u5212-\u63a7\u5236\u5c42\u7ea7\u7684\u6df1\u5ea6\u8026\u5408\u673a\u5236<\/li>\n\n\n\n<li><strong>\u5b89\u5168\u4e0e\u8bc4\u4f30\u4f53\u7cfb\u5347\u7ea7<\/strong>\uff1a\u8bbe\u8ba1\u52a8\u6001\u5b89\u5168\u8fb9\u754c\uff08\u5982\u5f62\u5f0f\u5316\u9a8c\u8bc1\u6a21\u5757\u8fc7\u6ee4\u98ce\u9669\u6307\u4ee4\uff0c\u5bf9\u6297\u6837\u672c\u9632\u5fa1\u673a\u5236)\uff0c\u6784\u5efa\u878d\u5408\u7269\u7406\u7ea6\u675f\u4e0e\u8bed\u8a00\u63cf\u8ff0\u7684\u95ed\u73af\u8bc4\u6d4b\u57fa\u51c6\uff0c\u5e76\u5f15\u5165VLM\u51b3\u7b56\u5408\u7406\u6027\u91cf\u5316\u6307\u6807<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&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-29589","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/29589"}],"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=29589"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/29589\/revisions"}],"predecessor-version":[{"id":29601,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/29589\/revisions\/29601"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=29589"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=29589"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=29589"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}