{"id":29832,"date":"2025-06-13T17:37:20","date_gmt":"2025-06-13T09:37:20","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29832"},"modified":"2025-06-13T17:37:20","modified_gmt":"2025-06-13T09:37:20","slug":"2025-06-13-%e8%b0%88%e8%b0%88diffusion%e6%89%a9%e6%95%a3%e6%a8%a1%e5%9e%8b-%e4%bb%8e%e5%9b%be%e5%83%8f%e7%94%9f%e6%88%90%e5%88%b0%e7%ab%af%e5%88%b0%e7%ab%af%e8%bd%a8%e8%bf%b9%e8%a7%84%e5%88%92","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/13\/29832\/","title":{"rendered":"2025-06-13 \u8c08\u8c08Diffusion\u6269\u6563\u6a21\u578b — \u4ece\u56fe\u50cf\u751f\u6210\u5230\u7aef\u5230\u7aef\u8f68\u8ff9\u89c4\u5212~"},"content":{"rendered":"\n

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\u4e00\u3001 \u6269\u6563\u6a21\u578b\u539f\u7406<\/strong><\/p>\n\n\n\n

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\u6b63\u5411\u6269\u6563\u8fc7\u7a0b<\/strong><\/p>\n\n\n\n

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

\u56fe \u6b63\u5411-\u53cd\u5411diffusion\u8fc7\u7a0b<\/p>\n\n\n\n

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

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

\u56fe  U-net\u67b6\u6784\u56fe<\/p>\n\n\n\n

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

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

    \u56fe \u751f\u6210\u5bf9\u6297\u7f51\u7edc\u7684\u52a0\u566a\u8fc7\u7a0b<\/p>\n\n\n\n

    \u751f\u6210\u5bf9\u6297\u7f51\u7edc\uff08GAN\uff09\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528\u51e0\u4e4e\u548c\u6269\u6563\u6a21\u578b\u91cd\u5408\uff0c\u4e3b\u8981\u6db5\u76d6\u6570\u636e\u751f\u6210\u3001\u573a\u666f\u4eff\u771f\u3001\u611f\u77e5\u589e\u5f3a\u548c\u51b3\u7b56\u4f18\u5316\u7b49\u65b9\u9762\u3002\u6bd4\u5982SurfelGAN\uff08Google\uff09\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u6570\u636e\u751f\u6210\u903c\u771f\u7684\u76f8\u673a\u56fe\u50cf\uff0c\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u6a21\u578b\u8bad\u7ec3\u3002<\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u50cf”\u8003\u53e4\u4fee\u590d”\uff08\u4ece\u788e\u7247\u8fd8\u539f\u6587\u7269\uff09\uff0cGAN\u50cf”\u9020\u5047\u5927\u5e08”\uff08\u4e0d\u65ad\u6539\u8fdb\u4f2a\u9020\u6280\u672f\uff09\u3002<\/p>\n\n\n\n

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

    \u76ee\u524d\u770b\u6269\u6563\u6a21\u578b\u4f3c\u4e4e\u6bd4\u751f\u6210\u5bf9\u6297\u7f51\u7edc\u66f4\u53d7\u6b22\u8fce\uff0c\u4e00\u4e2a\u539f\u56e0\u662f\u751f\u6210\u5bf9\u6297\u7f51\u7edc\u9700\u8981\u8bad\u7ec3\u81f3\u5c11\u4e24\u4e2a\u795e\u7ecf\u7f51\u7edc\uff1a\u751f\u6210\u5668\u548c\u5224\u522b\u5668\uff0c\u8ba1\u7b97\u91cf\u5f88\u5927\uff0c\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u4f53\u79ef\u4e5f\u5927\u3002<\/p>\n\n\n\n

    \u4f46\u662f\u751f\u6210\u5bf9\u6297\u7f51\u7edc\u4e5f\u6709\u4f18\u52bf\uff0c\u5c31\u662f\u5176\u52a0\u566a\u8fc7\u7a0b\u5f80\u5f80\u878d\u5408\u591a\u79cd\u5206\u5e03\u7c7b\u578b\u7684\u566a\u97f3\uff0c\u53e0\u52a0\u7684\u566a\u97f3\u66f4\u590d\u6742\uff1b\u800c\u4e0d\u50cf\u57fa\u4e8e\u9a6c\u5c14\u53ef\u592b\u94fe\u52a0\u566a\u7684\u6269\u6563\u6a21\u578b\uff0c\u566a\u97f3\u5206\u5e03\u7c7b\u578b\u5728\u4e00\u822c\u60c5\u51b5\u4e0b\u4e0d\u53d8\uff0c\u53ea\u662f\u53d8\u5316\u5206\u5e03\u53c2\u6570\u3002<\/p>\n\n\n\n

    \u4e09\u3001 \u6269\u6563\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528<\/strong><\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u7531\u4e8e\u5176\u53bb\u566a\u7684\u672c\u8d28\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5e94\u7528\u4e3b\u8981\u96c6\u4e2d\u5728\u6570\u636e\u751f\u6210\u3001\u573a\u666f\u9884\u6d4b\u3001\u611f\u77e5\u589e\u5f3a\u548c\u8def\u5f84\u89c4\u5212\u7b49\u65b9\u9762\u3002\u9700\u8981\u8bf4\u660e\uff0c\u6269\u6563\u6a21\u578b\u4e0d\u4ec5\u53ef\u4ee5\u7528\u6765\u5bf9\u8fde\u7eed\u5206\u5e03\u566a\u97f3\u8fdb\u884c\u53bb\u566a\uff0c\u4e5f\u53ef\u4ee5\u5bf9\u79bb\u6563\u5206\u5e03\u566a\u97f3\uff08\u548c\u6570\u636e\uff09\u53bb\u566a\uff0c\u6240\u4ee5\u5b83\u4e5f\u53ef\u4ee5\u7528\u4e8e\u79bb\u6563\u95ee\u9898\uff0c\u6bd4\u5982\u51b3\u7b56\u89c4\u5212\u3002<\/p>\n\n\n\n

    \u4ee5\u4e0b\u662f\u5177\u4f53\u7684\u5e94\u7528\u573a\u666f\u548c\u6280\u672f\u4f18\u52bf\uff1a<\/p>\n\n\n\n

    1. \u5408\u6210\u6570\u636e\u751f\u6210<\/strong><\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u80fd\u591f\u751f\u6210\u9ad8\u5ea6\u903c\u771f\u7684\u9a7e\u9a76\u573a\u666f\u6570\u636e\uff0c\u89e3\u51b3\u771f\u5b9e\u6570\u636e\u4e0d\u8db3\u6216\u6807\u6ce8\u6210\u672c\u9ad8\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n

    \u7f55\u89c1\u573a\u666f\u751f\u6210\uff0c\u5982\u6781\u7aef\u5929\u6c14\uff08\u66b4\u96e8\u3001\u5927\u96fe\uff09\u3001\u7a81\u53d1\u969c\u788d\u7269\uff08\u884c\u4eba\u6a2a\u7a7f\u3001\u8f66\u8f86\u9006\u884c\uff09\u7b49\uff0c\u63d0\u5347\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n

    \u800c\u4e14\u8fd9\u79cd\u751f\u6210\u662f\u53ef\u63a7\u7684\uff0c\u901a\u8fc7\u6761\u4ef6\u63a7\u5236\uff08\u5982BEV\u5e03\u5c40\u30013D\u6807\u6ce8\uff09\u751f\u6210\u7279\u5b9a\u573a\u666f\uff0c\u4f8b\u5982NuScenes\u548cKITTI\u6570\u636e\u96c6\u7684\u6269\u5c55\u3002<\/p>\n\n\n\n

    \u6bd4\u5982SynDiff-AD\uff0c\u57fa\u4e8e\u6f5c\u5728\u6269\u6563\u6a21\u578b\u7684\u6570\u636e\u751f\u6210pipeline\uff0c\u663e\u8457\u63d0\u5347\u6a21\u578b\u5728\u4f4e\u5149\u7167\u3001\u6781\u7aef\u5929\u6c14\u7b49\u6761\u4ef6\u4e0b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

    2. \u573a\u666f\u9884\u6d4b\u4e0e\u89c6\u9891\u751f\u6210<\/strong><\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u53ef\u7528\u4e8e\u9884\u6d4b\u672a\u6765\u9a7e\u9a76\u573a\u666f\u7684\u52a8\u6001\u53d8\u5316\uff0c<\/p>\n\n\n\n

    \u5305\u62ec\u591a\u6a21\u6001\u9884\u6d4b\uff0c\u4e5f\u5c31\u662f\u751f\u6210\u53ef\u80fd\u7684\u4ea4\u901a\u53c2\u4e0e\u8005\u884c\u4e3a\uff08\u5982\u8f66\u8f86\u53d8\u9053\u3001\u884c\u4eba\u8f68\u8ff9\uff09\uff0c\u652f\u6301\u51b3\u7b56\u7cfb\u7edf\u3002\u8fd8\u6709\u89c6\u9891\u751f\u6210\uff0c\u6bd4\u5982DriveGenVLM\u7ed3\u5408\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u751f\u6210\u771f\u5b9e\u9a7e\u9a76\u89c6\u9891\uff0c\u7528\u4e8e\u4eff\u771f\u6d4b\u8bd5\u3002<\/p>\n\n\n\n

    3. \u611f\u77e5\u4efb\u52a1\u4f18\u5316<\/strong><\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u5728\u611f\u77e5\u4efb\u52a1\u4e2d\u53ef\u53bb\u9664\u566a\u58f0\u5e76\u589e\u5f3a\u6570\u636e\u8d28\u91cf\uff1a<\/p>\n\n\n\n

    BEV\u53bb\u566a\uff1a\u5229\u7528\u6269\u6563\u6a21\u578b\u6e05\u7406\u9e1f\u77b0\u56fe\uff08BEV\uff09\u4e2d\u7684\u566a\u58f0\uff0c\u63d0\u5347\u76ee\u6807\u68c0\u6d4b\u7cbe\u5ea6\u3002<\/p>\n\n\n\n

    \u591a\u4f20\u611f\u5668\u878d\u5408\uff1a\u751f\u6210\u4e00\u81f4\u7684\u96f7\u8fbe\u4e0e\u6444\u50cf\u5934\u6570\u636e\uff0c\u6539\u5584\u611f\u77e5\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n

    4. \u8def\u5f84\u89c4\u5212\u4e0e\u51b3\u7b56<\/strong><\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u901a\u8fc7\u6982\u7387\u5efa\u6a21\u652f\u6301\u591a\u6a21\u6001\u8def\u5f84\u751f\u6210\uff1a<\/p>\n\n\n\n

    Diffusion Planner\uff1a\u6e05\u534eAIR\u56e2\u961f\u63d0\u51fa\u7684\u89c4\u5212\u7b97\u6cd5\uff0c\u5229\u7528\u6269\u6563\u6a21\u578b\u7684\u5f15\u5bfc\u673a\u5236\u9002\u5e94\u590d\u6742\u8def\u51b5\uff0c\u63d0\u5347\u5b89\u5168\u6027\u548c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n

    \u5b9e\u65f6\u7aef\u5230\u7aef\u63a7\u5236\uff1aDiffusionDrive\u901a\u8fc7\u622a\u65ad\u6269\u6563\u6b65\u9aa4\u5b9e\u73b0\u5b9e\u65f6\u51b3\u7b56\uff0c\u76f4\u63a5\u4ece\u4eba\u7c7b\u9a7e\u9a76\u6570\u636e\u5b66\u4e60\u3002<\/p>\n\n\n\n

    \u5176\u4e2d\u6240\u8c13\u622a\u65ad\u6269\u6563\u5c31\u662f\u8df3\u8dc3\u6027\u5730\u53bb\u566a\uff0c\u672c\u6765\u53bb\u566a\u8981\u50cf\u52a0\u566a\u8fc7\u7a0b\u4e00\u6837\u7ecf\u8fc7\u591a\u6b65\u6253\u78e8\uff0c\u73b0\u5728\u5219\u662f\u76f4\u63a5\u8d8a\u8fc7\u51e0\u6b65\uff0c\u53bb\u566a\u65f6\u901a\u8fc7\u91c7\u6837\u6765\u6a21\u62df\u591a\u6b65\u52a0\u566a\u7684\u53e0\u52a0\u5206\u5e03\uff0c\u81f3\u4e8e\u8d8a\u8fc7\u51e0\u6b65\u4e3a\u597d\u5219\u662f\u8c03\u53c2\u7684\u827a\u672f\u3002<\/p>\n\n\n\n

    5. \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong><\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u76f4\u63a5\u5b66\u4e60\u9a7e\u9a76\u7b56\u7565\uff0c\u7b80\u5316\u4f20\u7edf\u6a21\u5757\u5316\u6d41\u7a0b\u3002<\/p>\n\n\n\n

    \u6bd4\u5982\u52a8\u4f5c\u5206\u5e03\u5efa\u6a21\uff0c\u4e5f\u5c31\u662f\u5904\u7406\u591a\u6a21\u5f0f\u9a7e\u9a76\u884c\u4e3a\uff08\u5982\u907f\u969c\u6216\u53d8\u9053\uff09\uff0c\u907f\u514d\u4f20\u7edf\u65b9\u6cd5\u7684\u5355\u4e00\u8f93\u51fa\u9650\u5236\u3002<\/p>\n\n\n\n

    6. \u5c0f\u4f17\u5e94\u7528<\/strong><\/p>\n\n\n\n

    \u9664\u4e86\u76f4\u63a5\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u6269\u6563\u6a21\u578b\uff0c\u8fd8\u53ef\u4ee5\u7528\u4e8e\u4f18\u5316\u7b97\u6cd5\uff08\u4e5f\u5c31\u662f\u6c42\u6700\u5927\u6216\u6700\u5c0f\u503c\uff09\uff0c\u4ece\u800c\u95f4\u63a5\u670d\u52a1\u4e8e\u81ea\u52a8\u9a7e\u9a76\u3002<\/p>\n\n\n\n

    \u81ea\u52a8\u9a7e\u9a76\u6709\u8bb8\u591a\u6700\u5c0f\u5316\u4f18\u5316\u95ee\u9898\uff0c\u6bd4\u5982\u6700\u5c0f\u80fd\u91cf\u6d88\u8017\u8def\u5f84\uff0c\u5728\u5546\u7528\u8f66\u91cd\u5361\u9886\u57df\u7528\u7684\u975e\u5e38\u591a\u3002\u5176\u76ee\u6807\u51fd\u6570\u662f\uff1a<\/p>\n\n\n\n

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

    \u5176\u4e2dF\u51fd\u6570\u5f0f\u8f66\u8f86\u5728\u901f\u5ea6vi\u4e0b\u7684\u5355\u4f4d\u8ddd\u79bb\u80fd\u8017\u3002<\/p>\n\n\n\n

    \u800cDiffusion-ES\uff08Diffusion Evolution Strategy\uff09 \u662f\u4e00\u79cd\u5c06\u6269\u6563\u6a21\u578b\uff08Diffusion Model\uff09\u4e0e\u8fdb\u5316\u7b56\u7565\uff08Evolution Strategy, ES\uff09\u76f8\u7ed3\u5408\u7684\u4f18\u5316\u7b97\u6cd5\uff0c\u65e8\u5728\u5229\u7528\u6269\u6563\u6a21\u578b\u5f3a\u5927\u7684\u751f\u6210\u80fd\u529b\u548c\u8fdb\u5316\u7b56\u7565\u7684\u5168\u5c40\u641c\u7d22\u80fd\u529b\uff0c\u9ad8\u6548\u6c42\u89e3\u590d\u6742\u4f18\u5316\u95ee\u9898\uff0c\u6bd4\u5982\u4e0a\u9762\u7684\u6700\u5c0f\u80fd\u91cf\u6d88\u8017\u8def\u5f84\u6c42\u89e3\u3002<\/p>\n\n\n\n

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

    \u6280\u672f\u4f18\u52bf\u603b\u7ed3<\/strong><\/p>\n\n\n\n

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

    \u56db\u3001\u603b\u7ed3<\/strong><\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528\u4ecd\u5904\u4e8e\u5feb\u901f\u53d1\u5c55\u9636\u6bb5\uff0c\u672a\u6765\u53ef\u80fd\u4e0eBEV\u3001\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u8fdb\u4e00\u6b65\u7ed3\u5408\uff0c\u63a8\u52a8\u5168\u6808\u6280\u672f\u9769\u65b0\u3002<\/p>\n\n\n\n

    \u4e1a\u754c\u548c\u5b66\u672f\u591a\u6709\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u6280\u672f\u65b9\u6848\uff0c\u672c\u6587\u66f4\u504f\u91cd\u4f01\u4e1a\u65b9\u6848\uff0c\u5217\u4e3e\u4e09\u4e2a\uff1a<\/p>\n\n\n\n

    \u6beb\u672b\u667a\u884c\u57282025 \u5e74 1 \u6708 28 \u65e5\uff0c\u6beb\u672b\u667a\u884c\u8054\u5408\u6e05\u534e\u5927\u5b66 AIR \u667a\u80fd\u4ea7\u4e1a\u7814\u7a76\u9662\u7b49\u673a\u6784\u5728 ICLR 2025 \u4e0a\u53d1\u5e03\u4e86 Diffusion Planner\u3002\u8be5\u7b97\u6cd5\u57fa\u4e8e Diffusion Transformer\uff0c\u80fd\u9ad8\u6548\u5904\u7406\u590d\u6742\u573a\u666f\u8f93\u5165\uff0c\u8054\u5408\u5efa\u6a21\u5468\u8f66\u8fd0\u52a8\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212\u4e2d\u7684\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\u3002\u901a\u8fc7\u6269\u6563\u6a21\u578b\u5f3a\u5927\u7684\u6570\u636e\u5206\u5e03\u62df\u5408\u80fd\u529b\uff0c\u7cbe\u51c6\u6355\u6349\u590d\u6742\u573a\u666f\u4e2d\u5468\u8f66\u4e0e\u81ea\u8f66\u7684\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\uff0c\u5b9e\u73b0\u5468\u8f66\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212\u7684\u8054\u5408\u5efa\u6a21\u3002\u5728\u5927\u89c4\u6a21\u771f\u5b9e\u6570\u636e\u96c6 nuPlan \u7684\u95ed\u73af\u8bc4\u4f30\u4e2d\u53d6\u5f97 SOTA \u7ea7\u8868\u73b0\uff0c\u5927\u5e45\u964d\u4f4e\u4e86\u5bf9\u540e\u5904\u7406\u7684\u4f9d\u8d56\uff0c\u5e76\u5728 200 \u5c0f\u65f6\u7269\u6d41\u5c0f\u8f66\u6570\u636e\u4e0a\u9a8c\u8bc1\u4e86\u591a\u79cd\u9a7e\u9a76\u98ce\u683c\u4e0b\u7684\u9c81\u68d2\u6027\u548c\u8fc1\u79fb\u80fd\u529b\u3002\u76ee\u524d\uff0c\u6beb\u672b\u56e2\u961f\u5df2\u8fdb\u5165\u5b9e\u8f66\u6d4b\u8bd5\u9636\u6bb5\uff0c\u7387\u5148\u5b9e\u73b0\u7aef\u5230\u7aef\u65b9\u6848\u5728\u672b\u7aef\u7269\u6d41\u81ea\u52a8\u914d\u9001\u573a\u666f\u7684\u5e94\u7528\u843d\u5730\u3002<\/p>\n\n\n\n

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    \u7406\u60f3\u6c7d\u8f66\u5728 2025 \u5e74\u63a8\u51fa\u7684\u4e0b\u4e00\u4ee3\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784 MindVLA\uff0c\u6574\u5408\u4e86\u7a7a\u95f4\u667a\u80fd\u3001\u8bed\u8a00\u667a\u80fd\u548c\u884c\u4e3a\u667a\u80fd\u3002\u8be5\u6280\u672f\u57fa\u4e8e\u7aef\u5230\u7aef\u548c VLM \u53cc\u7cfb\u7edf\u67b6\u6784\uff0c\u901a\u8fc7 3D \u7a7a\u95f4\u7f16\u7801\u5668\u548c\u903b\u8f91\u63a8\u7406\u751f\u6210\u5408\u7406\u7684\u9a7e\u9a76\u51b3\u7b56\uff0c\u5e76\u5229\u7528\u6269\u6563\u6a21\u578b\u4f18\u5316\u9a7e\u9a76\u8f68\u8ff9\u3002MindVLA \u91c7\u7528 3D \u9ad8\u65af\u4f5c\u4e3a\u4e2d\u95f4\u8868\u5f81\uff0c\u5229\u7528\u6d77\u91cf\u6570\u636e\u8fdb\u884c\u81ea\u76d1\u7763\u8bad\u7ec3\uff0c\u5176 LLM \u57fa\u5ea7\u6a21\u578b\u91c7\u7528 MoE \u6df7\u5408\u4e13\u5bb6\u67b6\u6784\u548c\u7a00\u758f\u6ce8\u610f\u529b\u6280\u672f\u3002\u901a\u8fc7 Diffusion \u6a21\u578b\u5c06\u52a8\u4f5c\u8bcd\u5143\u89e3\u7801\u4e3a\u4f18\u5316\u8f68\u8ff9\uff0c\u5e76\u7ed3\u5408\u81ea\u8f66\u884c\u4e3a\u751f\u6210\u548c\u4ed6\u8f66\u8f68\u8ff9\u9884\u6d4b\uff0c\u63d0\u5347\u590d\u6742\u4ea4\u901a\u73af\u5883\u4e2d\u7684\u535a\u5f08\u80fd\u529b\u3002<\/p>\n\n\n\n

    \u6700\u540e\uff0c\u672c\u6587\u5217\u4e3e\u4e00\u4e2a\u6709\u4ee3\u8868\u610f\u4e49\u7684\u5b66\u672f\u65b9\u6848\u3002<\/p>\n\n\n\n

    \u57282024\u5e74\u673a\u5668\u4eba\u9876\u4f1a CoRL \u4e0a\uff0c\u300aOne Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits\u300b\u4e00\u6587\u7684\u4f5c\u8005\u4eecFranck Djeumou\u7b49\u63d0\u51fa\u5229\u7528\u5305\u542b\u591a\u79cd\u8f66\u8f86\u5728\u591a\u6837\u73af\u5883\u4e0b\u884c\u9a76\u8f68\u8ff9\u7684\u672a\u6807\u8bb0\u6570\u636e\u96c6\uff0c\u8bad\u7ec3\u4e00\u4e2a\u9ad8\u6027\u80fd\u8f66\u8f86\u63a7\u5236\u7684\u6761\u4ef6\u6269\u6563\u6a21\u578b\u3002\u6761\u4ef6\u6269\u6563\u6a21\u578b\uff08Conditional Diffusion Models, CDMs\uff09\u662f\u4e00\u7c7b\u57fa\u4e8e\u6269\u6563\u8fc7\u7a0b\u7684\u751f\u6210\u6a21\u578b\uff0c\u5728\u751f\u6210\u8fc7\u7a0b\u4e2d\u5f15\u5165\u4e86\u989d\u5916\u7684\u6761\u4ef6\u4fe1\u606f\uff0c\u4ece\u800c\u80fd\u591f\u751f\u6210\u66f4\u4e3a\u7b26\u5408\u7279\u5b9a\u9700\u6c42\u7684\u6837\u672c\uff0c\u4f8b\u5982\u751f\u6210\u7b26\u5408\u7279\u5b9a\u6587\u672c\u63cf\u8ff0\u3001\u7c7b\u522b\u6807\u7b7e\u6216\u5176\u4ed6\u5148\u9a8c\u4fe1\u606f\u7684\u56fe\u50cf\u3002<\/p>\n\n\n\n

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