{"id":29646,"date":"2025-06-10T17:37:00","date_gmt":"2025-06-10T09:37:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29646"},"modified":"2025-06-11T16:46:01","modified_gmt":"2025-06-11T08:46:01","slug":"2025-06-10-waymo-s4-driver%ef%bc%9a%e5%91%8a%e5%88%ab%e7%9b%91%e7%9d%a3%ef%bc%8c%e6%b5%b7%e9%87%8f%e6%97%a0%e6%a0%87%e6%b3%a8%e6%95%b0%e6%8d%ae%e8%a7%a3%e9%94%813d%e6%97%b6%e7%a9%ba%e6%8e%a8%e7%90%86","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/10\/29646\/","title":{"rendered":"2025-06-10 Waymo S4-Driver\uff1a\u544a\u522b\u76d1\u7763\uff0c\u6d77\u91cf\u65e0\u6807\u6ce8\u6570\u636e\u89e3\u95013D\u65f6\u7a7a\u63a8\u7406\u80fd\u529b~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/eg35bEIrXwvXOZ_2jZQY8g\">https:\/\/mp.weixin.qq.com\/s\/eg35bEIrXwvXOZ_2jZQY8g<\/a><\/p>\n\n\n\n<p>\u867d\u7136\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff0c\u8fd1\u4e24\u5e74\u88ab\u7092\u7684\u706b\u70ed\uff0c\u4f46\u662f\u5176\u5b9e\u63a2\u7d22\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u5386\u53f2\u53ef\u4ee5\u8ffd\u6eaf\u523020\u4e16\u7eaa80\u5e74\u4ee3\u3002\u5f53\u65f6\u7684\u8fd0\u52a8\u89c4\u5212\u6a21\u578b\u76f4\u63a5\u6839\u636e\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u9884\u6d4b\u63a7\u5236\u4fe1\u53f7\uff0c\u4e0d\u8fc7\u7531\u4e8e\u9c81\u68d2\u6027\u7684\u95ee\u9898\uff0c\u65e9\u671f\u7684\u4e00\u4e9b\u5c1d\u8bd5\uff0c\u5728\u590d\u6742\u7684\u57ce\u5e02\u73af\u5883\u96be\u4ee5\u6cdb\u5316\u3002\u6700\u8fd1\u98ce\u9761\u4e00\u65f6\u7684\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08MLLMs\uff09\u6070\u597d\u5177\u6709\u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u5c06\u8fd9\u4e24\u8005\u7ed3\u5408\uff0c\u4f3c\u4e4e\u6210\u4e86\u52bf\u4e0d\u53ef\u6321\u7684\u8d8b\u52bf\u3002\u7136\u800c\uff0c\u5c06MLLMs\u76f4\u63a5\u5e94\u7528\u4e8e\u7aef\u5230\u7aef\u8fd0\u52a8\u89c4\u5212\u5f88\u96be\u53d1\u6325\u5176\u5f3a\u5927\u7684\u89c6\u89c9\u7406\u89e3\u548c\u63a8\u7406\u80fd\u529b\uff0c\u56e0\u4e3a\u8fd0\u52a8\u89c4\u5212\u548cMLLM\u9884\u8bad\u7ec3\u4efb\u52a1\u4e4b\u95f4\u5b58\u5728\u663e\u8457\u5dee\u5f02\uff0c\u5bfc\u81f4\u89c4\u5212\u6027\u80fd\u8f83\u5dee\u3002<\/p>\n\n\n\n<figure 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Self-Supervised Driving Multimodal Large Language Model with Spatio-Temporal Visual Representation<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2505.24139<\/p>\n\n\n\n<p>\u9996\u5148\uff0c\u4f5c\u8005\u786e\u5b9a\u4e86\u4ee5\u4e0b\u4e24\u4e2a\u4e3b\u8981\u969c\u788d\uff1a<\/p>\n\n\n\n<ul 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benchmark\uff0c\u5e76\u7ed3\u5408\u4e86\u5185\u90e8\u76f8\u673a\u4f20\u611f\u5668\u6570\u636e\u3002\u8be5 benchmark \u5927\u7ea6\u6bd4nuScenes\u5927100\u500d\uff0c\u56e0\u6b64\u5b83\u53ef\u4ee5\u4f5c\u4e3a\u4e00\u4e2a\u66f4\u5168\u9762\u7684\u57fa\u51c6\u3002<\/p>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p><strong>\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b (MLLMs)<\/strong><\/p>\n\n\n\n<p>\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08MLLMs\uff09\u540c\u65f6\u5305\u542b\u8bed\u8a00\u548c\u56fe\u50cf\u6a21\u6001\uff0c\u4ee5\u5f80\u7684\u7814\u7a76\u4e3b\u8981\u96c6\u4e2d\u5728\u5c06\u5f3a\u5927\u7684\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u4e0e\u5148\u8fdb\u7684\u56fe\u50cf\u7f16\u7801\u5668\uff08\u4f8b\u5982LLaVA\u3001PaLI\u3001PaliGemma\u4ee5\u53caInstructBLIP\uff09\u8fdb\u884c\u6574\u5408\u3002\u901a\u8fc7\u6307\u4ee4\u5fae\u8c03\u6216\u591a\u6a21\u6001\u5fae\u8c03\uff0c\u8fd9\u4e9b\u6a21\u578b\u5728\u591a\u6a21\u6001\u7406\u89e3\u548c\u63a8\u7406\u65b9\u9762\u5c55\u73b0\u51fa\u4e86\u4e0d\u9519\u7684\u6027\u80fd\u3002\u5f53\u524d\u7684\u53d1\u5c55\u8d8b\u52bf\u662f\u5229\u7528\u8d8a\u6765\u8d8a\u5927\u7684\u591a\u6a21\u6001\u6570\u636e\u96c6\u6765\u8fdb\u4e00\u6b65\u63d0\u5347\u5b83\u4eec\u5728\u590d\u6742\u611f\u77e5\u548c\u6cdb\u5316\u4efb\u52a1\u4e2d\u7684\u80fd\u529b\u3002\u7136\u800c\uff0c\u5c3d\u7ba1\u8fd9\u4e9b\u6a21\u578b\u5177\u6709\u8bf8\u591a\u4f18\u52bf\uff0c\u4f46\u5b83\u4eec\u57283D\u7a7a\u95f4\u63a8\u7406\u65b9\u9762\u4ecd\u5b58\u5728\u5c40\u9650\u6027\uff0c\u8fd9\u7ed9\u5b83\u4eec\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528\u5e26\u6765\u4e86\u4e00\u4e9b\u6311\u6218\u3002<\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u51cf\u5c11\u4f20\u7edf\u7684\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u7684\u5404\u6a21\u5757\u95f4\u7684\u4fe1\u606f\u4e22\u5931\u548c\u8bef\u5dee\u7d2f\u79ef\uff0c\u7aef\u5230\u7aef\u9a7e\u9a76\u7cfb\u7edf\u5229\u7528\u7edf\u4e00\u7684\u6a21\u578b\u76f4\u63a5\u4ece\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u9884\u6d4b\u81ea\u8eab\u8f66\u8f86\u672a\u6765\u7684\u822a\u70b9\u6216\u63a7\u5236\u4fe1\u53f7\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u7cfb\u7edf\u4f18\u5148\u8003\u8651\u89c4\u5212\uff0c\u4f46\u5b83\u4eec\u901a\u5e38\u4ecd\u4f1a\u6574\u5408\u611f\u77e5\u548c\u9884\u6d4b\u6a21\u5757\uff0c\u8fd8\u662f\u9700\u8981\u5bf9\u6bcf\u4e2a\u6a21\u5757\u8fdb\u884c\u660e\u786e\u7684\u76d1\u7763\u3002\u5c3d\u7ba1\u4e00\u4e9b\u65e9\u671f\u7684\u5de5\u4f5c\u5df2\u7ecf\u63a2\u7d22\u4e86\u65e0\u9700\u4efb\u4f55\u4e2d\u95f4\u4efb\u52a1\u7684\u7eaf\u8fd0\u52a8\u89c4\u5212\uff0c\u4f46\u7531\u4e8e\u5efa\u6a21\u80fd\u529b\u6709\u9650\uff0c\u5b83\u4eec\u5728\u590d\u6742\u7684\u57ce\u5e02\u573a\u666f\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002<\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684 MLLMs<\/strong><\/p>\n\n\n\n<p>\u5927\u578b\u6a21\u578b\u7684\u5353\u8d8a\u63a8\u7406\u548c\u6cdb\u5316\u80fd\u529b\u6b63\u662f\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5e94\u7528\u9700\u8981\u7684\u80fd\u529b\u3002\u4e00\u4e9b\u7814\u7a76\u5c06\u9a7e\u9a76\u573a\u666f\u8f6c\u5316\u4e3a\u5927\u578b\u8bed\u8a00\u6a21\u578b\u7684\u6587\u672c\u63d0\u793a\uff0c\u6216\u8005\u76f4\u63a5\u7528\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5904\u7406\u76f8\u673a\u56fe\u50cf\u3002\u7136\u800c\uff0c\u5b83\u4eec\u7684\u6f5c\u529b\u53d7\u5230\u73b0\u6709benchmark\u6570\u636e\u91cf\u7684\u9650\u5236\uff0c\u4ec5\u5141\u8bb8\u8fdb\u884c\u90e8\u5206\u5fae\u8c03\u3002\u540c\u65f6\uff0c\u95ed\u73af\u6a21\u62df\u5668\u5728\u4e3a\u7aef\u5230\u7aef\u4efb\u52a1\u63d0\u4f9b\u903c\u771f\u7684\u4f20\u611f\u5668\u6570\u636e\u65b9\u9762\u4e5f\u9762\u4e34\u6311\u6218\u3002\u56e0\u6b64\uff0c\u591a\u4efb\u52a1\u8054\u5408\u5fae\u8c03\u6216\u601d\u7ef4\u94fe\u63a8\u7406\uff08CoT\uff09\u88ab\u5e7f\u6cdb\u91c7\u7528\uff0c\u6765\u7b80\u5316\u63a8\u7406\u8fc7\u7a0b\u3002\u53e6\u4e00\u79cd\u601d\u8def\uff0c\u4e00\u4e9b\u5de5\u4f5c\u6574\u5408\u4e86\u9884\u8bad\u7ec3\u7684\u611f\u77e5\u6a21\u578b\uff0c\u4ee5\u63d0\u53d6\u9e1f\u77b0\u56fe\u7279\u5f81\uff0c\u5e76\u5c06\u5176\u4f5c\u4e3a\u89c6\u89c9token\u53d1\u9001\u7ed9\u8bed\u8a00\u6a21\u578b\u3002\u6700\u8fd1\uff0cEMMA\u5229\u7528\u5f3a\u5927\u7684Gemini\u8fdb\u884c\u81ea\u76d1\u7763\u8fd0\u52a8\u89c4\u5212\u3002\u6b64\u5916\uff0c\u5b83\u4eec\u8fd8\u5f00\u53d1\u4e86\u4e00\u7ec4\u8bad\u7ec3\u4efb\u52a1\uff0c\u5305\u62ec\u8fd0\u52a8\u89c4\u5212\u30013D\u76ee\u6807\u68c0\u6d4b\u548c\u9053\u8def\u5143\u7d20\u8bc6\u522b\uff0c\u4ee5\u53ca\u7528\u4e8e\u8f68\u8ff9\u751f\u6210\u7684\u4e00\u4e9b\u63a8\u7406\u8fc7\u7a0b\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u4f5c\u8005\u7684\u5de5\u4f5c\u4e13\u6ce8\u4e8e\u5728\u65e0\u9700\u989d\u5916\u4eba\u7c7b\u6807\u7b7e\u7684\u60c5\u51b5\u4e0b\u589e\u5f3a\u81ea\u76d1\u7763\u8fd0\u52a8\u89c4\u5212\u3002<\/p>\n\n\n\n<p><strong>\u5177\u4f53\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p><strong>Vanilla PaLI as Planner<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"485\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-97-1024x485.png\" alt=\"\" class=\"wp-image-29648\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-97-1024x485.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-97-300x142.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-97-768x364.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-97.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=\"277\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061001.png\" alt=\"\" class=\"wp-image-29649\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061001.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061001-300x124.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=\"955\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-98-955x1024.png\" alt=\"\" class=\"wp-image-29650\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-98-955x1024.png 955w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-98-280x300.png 280w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-98-768x824.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-98-933x1000.png 933w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-98.png 1078w\" sizes=\"(max-width: 955px) 100vw, 955px\" \/><\/figure>\n\n\n\n<p><strong>Hierarchical Planning with Meta-Decision<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"292\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061002.png\" alt=\"\" class=\"wp-image-29651\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061002.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061002-300x130.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>Scene Representation in 3D Space<\/strong><\/p>\n\n\n\n<p>\u9ad8\u8d28\u91cf\u7684\u8fd0\u52a8\u89c4\u5212\u9700\u8981\u5bf9\u5468\u56f4 3D \u573a\u666f\u6709\u4e00\u4e2a\u7a33\u5065\u7684\u7406\u89e3\uff0c\u5305\u62ec\u9759\u6001\u548c\u52a8\u6001\u5143\u7d20\u3002\u867d\u7136\u4f20\u7edf\u4e0a\u662f\u901a\u8fc7\u5355\u72ec\u7684\u611f\u77e5\u548c\u9884\u6d4b\u6a21\u5757\u6765\u5b9e\u73b0\u7684\uff0c\u4f46\u4f5c\u8005\u7684\u81ea\u76d1\u7763\u7aef\u5230\u7aef\u6846\u67b6\u4f9d\u8d56\u4e8e MLLM \u6765\u9690\u5f0f\u5730\u5b66\u4e60\u8fd9\u79cd\u7406\u89e3\uff0c\u800c\u65e0\u9700\u660e\u786e\u7684\u76d1\u7763\u3002\u7136\u800c\uff0c\u5c3d\u7ba1\u5177\u6709\u5f3a\u5927\u7684 2D \u63a8\u7406\u80fd\u529b\uff0cMLLMs \u5728 3D \u7a7a\u95f4\u63a8\u7406\u65b9\u9762\u5b58\u5728\u56f0\u96be\u3002<\/p>\n\n\n\n<p><strong>3D Visual Representation with Dense Volumes<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"678\" height=\"384\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061003.png\" alt=\"\" class=\"wp-image-29652\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061003.png 678w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061003-300x170.png 300w\" sizes=\"(max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<p><strong>Sparse Volume Representation<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"533\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061004.png\" alt=\"\" class=\"wp-image-29653\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061004.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061004-300x237.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>Local Feature Aggregation in 3D Space<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"320\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061005.png\" alt=\"\" class=\"wp-image-29654\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061005.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061005-300x143.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>Multi-frame Temporal Fusion<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"310\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061006.png\" alt=\"\" class=\"wp-image-29655\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061006.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061006-300x138.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>Voting for Planning via Multi-Decoding<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"199\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061007.png\" alt=\"\" class=\"wp-image-29656\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061007.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061007-300x90.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>Scaling to Large-scale Raw Driving Logs<\/strong><\/p>\n\n\n\n<p>\u81ea\u76d1\u7763\u8bad\u7ec3\u4f7f\u5f97\u4f5c\u8005\u63d0\u51fa\u7684S4-Driver\u80fd\u591f\u6269\u5c55\u5230\u5927\u89c4\u6a21\u9a7e\u9a76logs\uff0c\u65e0\u9700\u4eba\u5de5\u6807\u6ce8\u3002\u4e3a\u4e86\u53d1\u6325\u57fa\u4e8eMLLM\u7684\u89c4\u5212\u5668\u7684\u6f5c\u529b\uff0c\u4f5c\u8005\u5728\u5185\u90e8\u6570\u636e\u96c6\u4e0a\u5bf9\u6a21\u578b\u8fdb\u884c\u9884\u8bad\u7ec3\u3002\u56fe3\u4e2d\u7684\u7ed3\u679c\u8868\u660e\uff0c\u7531\u4e8e\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\uff0cS4-Driver\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u5c3e\u90e8\u884c\u4e3a\u4e0a\u53d6\u5f97\u4e86\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002<\/p>\n\n\n\n<p><strong>Waymo Open Motion Dataset for Planning<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u5927\u89c4\u6a21\u8bad\u7ec3\u548c\u8bc4\u4f30\u5177\u6709\u5927\u578b\u6a21\u578b\u7684\u89c4\u5212\u7b97\u6cd5\uff0c\u4f5c\u8005\u57fa\u4e8eWOMD\u6570\u636e\u96c6\u8bbe\u8ba1\u4e86\u4e00\u4e2aWOMD-Planning-ADE\u57fa\u51c6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"334\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-99-1024x334.png\" alt=\"\" class=\"wp-image-29657\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-99-1024x334.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-99-300x98.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-99-768x250.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-99.png 1050w\" 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=\"497\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061008.png\" alt=\"\" class=\"wp-image-29658\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061008.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061008-300x222.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=\"905\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-100-1024x905.png\" alt=\"\" class=\"wp-image-29659\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-100-1024x905.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-100-300x265.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-100-768x679.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-100.png 1070w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u53ca\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p><strong>\u6a21\u578b\u548c\u5fae\u8c03<\/strong>\uff1a\u4f5c\u8005\u7684\u6a21\u578b\u57fa\u4e8e\u9884\u8bad\u7ec3\u7684 PaLI3-5B \u6a21\u578b\u6784\u5efa\uff0c\u8be5\u6a21\u578b\u5305\u62ec\u4e00\u4e2a ViT-G\uff082B\uff09\u89c6\u89c9\u7f16\u7801\u5668\u548c\u4e00\u4e2a 3B \u7684\u591a\u6a21\u6001\u7f16\u7801\u5668 &#8211; \u89e3\u7801\u5668\u3002\u4f5c\u8005\u51bb\u7ed3\u4e86 ViT \u7f16\u7801\u5668\uff0c\u4ec5\u5bf9\u63d2\u5165\u7684\u6a21\u5757\u548c\u591a\u6a21\u6001\u7f16\u7801\u5668 &#8211; \u89e3\u7801\u5668\u8fdb\u884c\u5fae\u8c03\u3002<\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6<\/strong>\uff1a\u4f5c\u8005\u5728 nuScenes \u548c \u4e0a\u8ff0 WOMD-Planning-ADE \u57fa\u51c6\u6d4b\u8bd5\u4e0a\u8bc4\u4f30 S4-Driver\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c\u53ca\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p><strong>nuScenes \u6570\u636e\u96c6<\/strong>\uff1a\u8868 2 \u663e\u793a\uff0cS4-Driver \u663e\u8457\u4f18\u4e8e\u6240\u6709\u5148\u524d\u7684\u7b97\u6cd5\u3002\u4e0e\u73b0\u6709\u65b9\u6cd5\u4e0d\u540c\uff0cS4-Driver \u4e0d\u9700\u8981\u4efb\u4f55\u611f\u77e5\u9884\u8bad\u7ec3\u6216\u4eba\u7c7b\u6807\u6ce8\u3002\u8fd9\u79cd\u81ea\u76d1\u7763\u7279\u6027\u4f7f\u5f97 S4-Driver \u80fd\u591f\u5229\u7528\u6240\u6709\u53ef\u83b7\u53d6\u7684\u539f\u59cb\u8f68\u8ff9\u6570\u636e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"501\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-101-1024x501.png\" alt=\"\" class=\"wp-image-29660\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-101-1024x501.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-101-300x147.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-101-768x375.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-101.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>WOMD-Planning-ADE \u57fa\u51c6\u6d4b\u8bd5<\/strong>\uff1a\u5728\u8868 3 \u4e2d\uff0c\u4f5c\u8005\u4e3b\u8981\u5c06 S4-Driver \u4e0e\u539f\u59cb PaLI3-5B \u57fa\u7ebf\u548c\u6a21\u5757\u5316\u7b97\u6cd5 MotionLM \u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u4e0e\u539f\u59cb PaLI3-5B \u76f8\u6bd4\uff0c\u6837\u672c\u6307\u6807\u548c\u884c\u4e3a\u6307\u6807\u4e4b\u95f4\u5b58\u5728\u663e\u8457\u5dee\u8ddd\u3002\u4e3a\u4e86\u5bf9\u6bd4\uff0c\u4f5c\u8005\u8fd8\u5c06\u6700\u65b0\u8fd0\u52a8\u9884\u6d4b\u7b97\u6cd5 MotionLM\uff08\u5185\u90e8\u589e\u5f3a\u7684\u590d\u73b0\u7248\u672c\uff09\u9002\u5e94\u4e8e\u89c4\u5212\u4efb\u52a1\uff0c\u4ec5\u9884\u6d4b\u81ea\u8eab\u8f66\u8f86\u7684\u672a\u6765\u8f68\u8ff9\uff0c\u5e76\u5c06\u9ad8\u7ea7\u6307\u4ee4\u6ce8\u5165\u6a21\u578b\u4e2d\u3002\u56e0\u4e3a\u5b83\u4f7f\u7528\u4e86\u9ad8\u8d28\u91cf\u7684\u5bf9\u8c61\u3001\u8f68\u8ff9\u548c\u9053\u8def\u56fe\u4fe1\u53f7\u4f5c\u4e3a\u6a21\u578b\u8f93\u5165\uff0c\u6240\u4ee5\u76f4\u63a5\u4e0e\u4f5c\u8005\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u5e76\u4e0d\u516c\u5e73\u3002\u7136\u800c\uff0c\u5982\u8868 3 \u6240\u793a\uff0c\u5373\u4f7f S4-Driver \u4ec5\u4f7f\u7528\u539f\u59cb\u76f8\u673a\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u4e0e MotionLM \u76f8\u6bd4\uff0cS4-Driver \u4ecd\u7136\u53d6\u5f97\u4e86\u6709\u5229\u7684\u6027\u80fd\uff0c\u5c24\u5176\u662f\u5728\u884c\u4e3a\u6307\u6807\u65b9\u9762\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"279\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-102-1024x279.png\" alt=\"\" class=\"wp-image-29661\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-102-1024x279.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-102-300x82.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-102-768x209.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-102.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u4e00\u4e9b\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u5b9a\u6027\u7ed3\u679c<\/strong>\uff1a\u56fe 6 \u53ef\u89c6\u5316\u4e86\u5728\u591a\u6837\u5316\u573a\u666f\u4e2d\u7684\u89c4\u5212\u7ed3\u679c\u3002\u4f5c\u8005\u63d0\u51fa\u7684 S4-Driver \u80fd\u591f\u6839\u636e\u4ea4\u901a\u706f\u548c\u9053\u8def\u8f66\u9053\u786e\u5b9a\u672a\u6765\u81ea\u8eab\u884c\u4e3a\uff0c\u53ef\u4ee5\u5e94\u5bf9\u4e0d\u540c\u7684\u5149\u7167\u6761\u4ef6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"813\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-103-1024x813.png\" alt=\"\" class=\"wp-image-29662\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-103-1024x813.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-103-300x238.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-103-768x609.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-103.png 1046w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5143\u51b3\u7b56\u53ef\u9760\u6027<\/strong>\uff1a\u56fe 7 \u5c55\u793a\u4e86\u5728 WOMDPlanning-ADE \u9a8c\u8bc1\u96c6\u4e0a\u5143\u51b3\u7b56\u9884\u6d4b\u7684\u51c6\u786e\u6027\u3002\u5728\u6240\u6709\u884c\u4e3a\u4e2d\uff0c\u6a21\u578b\u63d0\u4f9b\u4e86\u53ef\u9760\u7684\u5143\u51b3\u7b56\u4f30\u8ba1\u3002\u5728\u6ca1\u6709\u4efb\u4f55\u4eba\u7c7b\u6807\u6ce8\u7684\u60c5\u51b5\u4e0b\uff0c\u8fd9\u4e00\u521d\u6b65\u9884\u6d4b\u53ef\u4ee5\u7b80\u5316\u6570\u503c\u8fd0\u52a8\u89c4\u5212\u7684\u63a8\u5bfc\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"678\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-104-1024x678.png\" alt=\"\" class=\"wp-image-29663\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-104-1024x678.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-104-300x199.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-104-768x509.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-104.png 1042w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7a00\u758f\u4f53\u79ef\u5206\u5e03<\/strong>\uff1a\u4f5c\u8005\u5728\u56fe 8 \u4e2d\u53ef\u89c6\u5316\u4e86\u6cbf x \u8f74\u548c y \u8f74\u7684\u81ea\u76d1\u7763\u5b66\u4e60\u7a00\u758f\u4f53\u79ef\u7684\u5206\u5e03\u3002\u4ece\u540e\u5230\u524d\uff0c\u7a00\u758f\u4f53\u79ef\u96c6\u4e2d\u5728\u524d\u9762\u533a\u57df\u3002\u4ece\u5de6\u5230\u53f3\uff0c\u7a00\u758f\u4f53\u79ef\u8986\u76d6\u4e86\u6240\u6709\u533a\u57df\uff0c\u56e0\u4e3a\u5b58\u5728\u8f6c\u5f2f\u573a\u666f\uff0c\u4f46\u5927\u591a\u6570\u4f53\u79ef\u96c6\u4e2d\u5728\u4e2d\u95f4\u533a\u57df\u3002\u8fd9\u4e9b\u5206\u5e03\u4e0e\u4eba\u7c7b\u9a7e\u9a76\u7ecf\u9a8c\u4e00\u81f4\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>MLLM \u8f93\u5165<\/strong>\uff1a\u5728\u8868 5 \u4e2d\uff0c\u4f5c\u8005\u5206\u522b\u5bf9\u6bd4\u5206\u6790\u4e86\u76f8\u673a\u56fe\u50cf\u548c\u5386\u53f2\u81ea\u8eab\u72b6\u6001\u7684\u4f5c\u7528\u3002\u4f5c\u8005\u5047\u8bbe WOMD-Planning-ADE \u6db5\u76d6\u4e86\u66f4\u591a\u591a\u6837\u5316\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u5305\u62ec\u8bb8\u591a\u6bd4\u8f83\u5927\u7684\u901f\u5ea6\u548c\u65b9\u5411\u53d8\u5316\uff0c\u8fd9\u4f7f\u5f97\u4f20\u611f\u5668\u6570\u636e\u53d8\u5f97\u91cd\u8981\u3002\u8fd9\u4e5f\u5c55\u793a\u4e86 WOMDPlanning-ADE \u5728\u5168\u9762\u8bc4\u4f30\u65b9\u9762\u7684\u4f18\u52bf\u3002\u8868 5 \u8fd8\u663e\u793a\uff0c\u5982\u679c\u6ca1\u6709 MLLM \u9884\u8bad\u7ec3\uff0c\u968f\u673a\u521d\u59cb\u5316\u7684\u6a21\u578b\u65e0\u6cd5\u6536\u655b\u3002\u8bf4\u660e\uff1a\u5c3d\u7ba1\u9886\u57df\u4e0d\u540c\uff0cS4Driver \u4ecd\u53ef\u4ece\u5927\u89c4\u6a21 MLLM \u5728\u4e00\u822c\u4efb\u52a1\u4e0a\u7684\u9884\u8bad\u7ec3\u4e2d\u53d7\u76ca\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"974\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-105-974x1024.png\" alt=\"\" class=\"wp-image-29664\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-105-974x1024.png 974w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-105-285x300.png 285w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-105-768x807.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-105-952x1000.png 952w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-105.png 1062w\" sizes=\"(max-width: 974px) 100vw, 974px\" \/><\/figure>\n\n\n\n<p><strong>MLLM \u80fd\u529b<\/strong>\uff1a\u9664\u4e86\u5728\u5176\u4ed6\u90e8\u5206\u4e2d\u4f7f\u7528\u7684 PaLI3-5B \u5916\uff0c\u4f5c\u8005\u8fd8\u9488\u5bf9\u8fd0\u52a8\u89c4\u5212\u4f7f\u7528\u4e86 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