{"id":29937,"date":"2025-06-16T17:34:13","date_gmt":"2025-06-16T09:34:13","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29937"},"modified":"2025-06-16T17:34:13","modified_gmt":"2025-06-16T09:34:13","slug":"2025-06-16-%e8%b6%85%e8%b6%8adiffusiondrive%ef%bc%81%e5%8d%8e%e7%a7%91%e6%8f%90%e5%87%barecogdrive%ef%bc%9a%e7%bb%93%e5%90%88%e5%bc%ba%e5%8c%96%e5%ad%a6%e4%b9%a0%e7%9a%84%e4%b8%89%e9%98%b6%e6%ae%b5vla","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/16\/29937\/","title":{"rendered":"2025-06-16 \u8d85\u8d8aDiffusionDrive\uff01\u534e\u79d1\u63d0\u51faReCogDrive\uff1a\u7ed3\u5408\u5f3a\u5316\u5b66\u4e60\u7684\u4e09\u9636\u6bb5VLA\u8bad\u7ec3\u6846\u67b6~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1917710542681908151\">https:\/\/zhuanlan.zhihu.com\/p\/1917710542681908151<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1917710542681908151_0\">1. \u5f15\u8a00<\/h2>\n\n\n\n<p>\u5c3d\u7ba1\u5f53\u524d\u57fa\u4e8e\u7aef\u5230\u7aef\uff08End-to-End\uff09\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\uff08\u5982UniAD\u3001VAD\uff09\u5728NuScenes\u7b49\u5f00\u73af\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u8868\u73b0\u4f18\u5f02\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u5728\u9762\u5bf9\u73b0\u5b9e\u4e16\u754c\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684<strong>\u957f\u5c3e\u573a\u666f<\/strong>\u65f6\uff0c\u5176\u6027\u80fd\u5f80\u5f80<strong>\u663e\u8457\u4e0b\u964d<\/strong>\u3002\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e00\u6311\u6218\uff0c\u8fd1\u671f\u6d8c\u73b0\u51fa\u5927\u91cf\u7814\u7a76\u5de5\u4f5c\u5c1d\u8bd5\u5f15\u5165<strong>\u89c6\u89c9-\u8bed\u8a00\u5927\u6a21\u578b\uff08Vision-Language Models, VLMs\uff09<\/strong>\uff0c\u65e8\u5728\u5229\u7528\u5176<strong>\u4e30\u5bcc\u7684\u4e16\u754c\u77e5\u8bc6<\/strong>\u548c<strong>\u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b<\/strong>\u6765\u89e3\u51b3\u957f\u5c3e\u95ee\u9898\u3002\u4f8b\u5982\uff0cDriveVLM\u3001Senna\u3001DiffVLA\u3001AsyncDriver\u7b49<strong>\u53cc\u7cfb\u7edf\u67b6\u6784<\/strong>\u5c06VLMs\u4e0e\u4f20\u7edf\u7aef\u5230\u7aef\u6a21\u578b\u76f8\u7ed3\u5408\uff1b\u800cEMMA\u3001Omnidrive\u3001Orion\u3001GPT-Driver\u3001LMDrive \u3001Sce2DriveX\u3001Atlas\u3001WiseAD\u7b49<strong>\u5355\u7cfb\u7edf\u6846\u67b6<\/strong>\u5219\u76f4\u63a5\u5229\u7528VLMs\u8fdb\u884c\u8f68\u8ff9\u9884\u6d4b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u9898\u76ee\uff1aReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2506.08052\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2506.08052<\/a><\/li>\n\n\n\n<li>\u4ee3\u7801\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/xiaomi-research\/recogdrive\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/xiaomi-research\/recogdrive<\/a>\uff08\u5c06\u9646\u7eed\u5f00\u6e90\u6a21\u578b\u3001\u4ee3\u7801\u3001\u6743\u91cd\uff09<\/li>\n<\/ul>\n\n\n\n<p>\u7136\u800c\uff0c\u5f53\u524d\u57fa\u4e8eVLMs\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u6a21\u578b\u4e3b\u8981\u5b58\u5728\u4ee5\u4e0b<strong>\u5173\u952e\u7f3a\u9677<\/strong>\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>VLMs\u901a\u5e38\u5728\u5927\u89c4\u6a21\u7684\u4e92\u8054\u7f51\u56fe\u6587\u6570\u636e\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c<strong>\u7f3a\u4e4f\u9a7e\u9a76\u76f8\u5173\u573a\u666f\u548c\u5173\u952e\u7684\u9a7e\u9a76\u76f8\u5173\u77e5\u8bc6<\/strong>\uff0c\u9650\u5236\u4e86\u5176\u5728\u590d\u6742\u591a\u53d8\u771f\u5b9e\u9a7e\u9a76\u73af\u5883\u4e2d\u7684\u5e94\u7528\u3002<br><\/li>\n\n\n\n<li>VLMs\u8f93\u51fa\u7684<strong>\u79bb\u6563\u6587\u672c\u7a7a\u95f4<\/strong>\u4e0e\u81ea\u52a8\u9a7e\u9a76\u6240\u9700\u7684<strong>\u8fde\u7eed\u8f68\u8ff9\u7a7a\u95f4<\/strong>\u4e4b\u95f4\u5b58\u5728\u5de8\u5927\u9e3f\u6c9f\u3002\u540c\u65f6\uff0cVLMs\u7684<strong>\u81ea\u56de\u5f52\u89e3\u7801\u8fc7\u7a0b<\/strong>\u53ef\u80fd\u4ea7\u751f<strong>\u4e0d\u7b26\u5408\u9884\u5b9a\u683c\u5f0f\u7684\u8f68\u8ff9\u6216\u9519\u8bef\u7684\u8f68\u8ff9<\/strong>\uff0c\u8fd9\u5bf9\u4e8e<strong>\u5b89\u5168\u6027\u8981\u6c42\u6781\u9ad8<\/strong>\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u6784\u6210\u4e86\u4e0d\u53ef\u63a5\u53d7\u7684\u98ce\u9669\u3002<br><\/li>\n\n\n\n<li>\u73b0\u6709\u65b9\u6cd5\u5927\u591a\u4e3b\u8981\u4f9d\u8d56\u6a21\u4eff\u5b66\u4e60\uff0c\u5bfc\u81f4\u6a21\u578b\u5f80\u5f80\u6700\u7ec8\u5b66\u5230<strong>\u6b21\u4f18\u7684\u8f68\u8ff9<\/strong>\uff0c\u6a21\u578b\u53ea\u8fdb\u884c\u4e86<strong>\u8bb0\u5fc6\u4e0d\u4f1a\u6cdb\u5316<\/strong>\u3002<br><\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-9290b69ca76f3803979e1adfc37cb812_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6211\u4eec\u63d0\u51fa\u4e86 <strong>ReCogDrive<\/strong>\uff0c\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3002\u5176\u6838\u5fc3\u521b\u65b0\u5728\u4e8e\u5c06\u89c6\u89c9-\u8bed\u8a00\u5927\u6a21\u578b\uff08VLMs\uff09\u7684\u8ba4\u77e5\u80fd\u529b\u4e0e\u5f3a\u5316\u5b66\u4e60\u589e\u5f3a\u7684\u6269\u6563\u89c4\u5212\u5668\uff08diffusion planner\uff09\u878d\u5408\u3002\u4e0d\u540c\u4e8e\u4ee5\u5f80\u7684\u5355\u7cfb\u7edf\u65b9\u6cd5\uff0cReCogDrive \u7ed3\u5408\u4e86 <strong>VLMs \u7684\u6cdb\u5316\u80fd\u529b<\/strong> \u4e0e <strong>\u6269\u6563\u6a21\u578b\u7684\u8f68\u8ff9\u751f\u6210\u80fd\u529b<\/strong>\uff0c\u4ee5\u9884\u6d4b\u5e73\u6ed1\u3001\u8212\u9002\u3001\u5b89\u5168\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u9996\u5148\u7cbe\u5fc3\u6784\u5efa\u4e86\u4e00\u4e2a\u5305\u542b <strong>310 \u4e07\u6761\u9ad8\u8d28\u91cf\u9a7e\u9a76\u95ee\u7b54\u5bf9<\/strong> \u7684\u6570\u636e\u96c6\uff08\u5305\u62ec\u5904\u7406\u5f00\u6e90\u7684\u9a7e\u9a76\u6570\u636e\u96c6\u4ee5\u53ca\u901a\u8fc7\u642d\u5efa\u7684\u81ea\u52a8\u6807\u6ce8\u6d41\u6c34\u7ebf\u8fdb\u884c\u751f\u6210\uff09\uff0c\u7528\u4e8e\u5bf9 VLMs \u8fdb\u884c\u9a7e\u9a76\u9886\u57df\u9884\u8bad\u7ec3\uff0c\u4f7f\u5176\u6df1\u5ea6\u7406\u89e3\u771f\u5b9e\u9a7e\u9a76\u573a\u666f\u3002\u968f\u540e\uff0c\u6211\u4eec\u5f15\u5165\u4e00\u4e2a\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u89c4\u5212\u5668\uff0c\u5b83\u4f5c\u4e3a\u6865\u6881\u6709\u6548\u5f25\u5408\u4e86 <strong>VLMs \u8bed\u8a00\u7a7a\u95f4\u4e0e\u8f66\u8f86\u8fde\u7eed\u52a8\u4f5c\u7a7a\u95f4\u4e4b\u95f4\u7684\u9e3f\u6c9f<\/strong>\uff0c\u5c06\u9ad8\u5c42\u6b21\u7684\u8bed\u4e49\u8868\u5f81\u6620\u5c04\u4e3a\u8fde\u7eed\u7684\u8f68\u8ff9\uff0c\u540c\u65f6\u4fdd\u7559\u4e86 VLMs \u539f\u6709\u7684\u6cdb\u5316\u6027\u3002\u4e3a\u8fdb\u4e00\u6b65\u63d0\u5347\u8f68\u8ff9\u8d28\u91cf\uff0c\u6211\u4eec\u521b\u65b0\u6027\u5730\u901a\u8fc7 <strong>\u6a21\u62df\u5668\u8f85\u52a9\u7684\u5f3a\u5316\u5b66\u4e60\uff08NAVSIM\uff09<\/strong> \u5bf9\u6269\u6563\u6a21\u578b\u8fdb\u884c\u5f3a\u5316\u5fae\u8c03\u3002\u4e0e\u4ec5\u80fd\u590d\u5236\u4e13\u5bb6\u884c\u4e3a\u7684\u6a21\u4eff\u5b66\u4e60\u4e0d\u540c\uff0c\u5f3a\u5316\u5b66\u4e60\u4f7f\u6a21\u578b\u80fd\u591f\u4e3b\u52a8\u63a2\u7d22\u9a7e\u9a76\u884c\u4e3a\uff0c\u5728\u6a21\u62df\u5668\u7684\u53cd\u9988\u5faa\u73af\u4e2d\u8fed\u4ee3\u4f18\u5316\uff0c\u6700\u7ec8\u751f\u6210\u66f4\u5b89\u5168\u3001\u66f4\u7a33\u5b9a\u3001\u66f4\u8212\u9002\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002\u901a\u8fc7\u5728 NAVSIM \u57fa\u51c6\u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u6211\u4eec\u9a8c\u8bc1\u4e86 ReCogDrive \u7684\u6709\u6548\u6027\uff0c\u5176\u8fbe\u5230\u4e86 <strong>89.6 PDMS \u5206\u6570<\/strong>\uff0c\u8d85\u8fc7\u4e4b\u524d\u7eaf\u89c6\u89c9\u7684\u65b9\u6848 <strong>5.6 PDMS<\/strong>\uff0c\u5145\u5206\u8bc1\u660e\u4e86\u8be5\u7cfb\u7edf\u7684\u4f18\u8d8a\u6027\u80fd\u548c\u73b0\u5b9e\u53ef\u884c\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1917710542681908151_1\">2. \u76f8\u5173\u5de5\u4f5c<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1917710542681908151_2\">\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528<\/h3>\n\n\n\n<p>\u6700\u8fd1\u8bb8\u591a\u7814\u7a76\u63a2\u7d22\u5c06\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u7684\u4e16\u754c\u77e5\u8bc6\u5e94\u7528\u5230\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\uff0c\u89e3\u51b3\u73b0\u6709\u6a21\u578b\u7684\u6cdb\u5316\u6027\u95ee\u9898\uff0c\u5f53\u524d\u73b0\u6709\u65b9\u6cd5\u53ef\u5206\u4e3a\u53cc\u7cfb\u7edf\u4e0e\u5355\u7cfb\u7edf\u4e24\u7c7b\u67b6\u6784\uff1a\u53cc\u7cfb\u7edf\u65b9\u6848\uff08\u5982 DriveVLM \u548c Senna\uff09\u5c06 VLMs \u4e0e\u7aef\u5230\u7aef\u9a7e\u9a76\u7cfb\u7edf\u7ed3\u5408\uff0c\u901a\u8fc7 VLMs \u751f\u6210\u4f4e\u9891\u8f68\u8ff9\u6216\u9ad8\u5c42\u6307\u4ee4\u5e76\u7531\u7aef\u5230\u7aef\u6a21\u578b\u8f93\u51fa\u6700\u7ec8\u8f68\u8ff9\uff1b\u5355\u7cfb\u7edf\u65b9\u6848\u4e2d\uff0cGPT-Driver\u3001EMMA \u548c OpenEMMA \u5c06\u8f68\u8ff9\u89c4\u5212\u4efb\u52a1\u91cd\u6784\u4e3a\u8bed\u8a00\u5efa\u6a21\u4efb\u52a1\u5e76\u5f15\u5165\u601d\u7ef4\u94fe\u63a8\u7406\u589e\u5f3a\u53ef\u89e3\u91ca\u6027\uff0cAgent-Driver \u96c6\u6210\u5de5\u5177\u5e93\u4e0e\u8ba4\u77e5\u8bb0\u5fc6\u6a21\u5757\u6269\u5c55\u5927\u8bed\u8a00\u6a21\u578b\u7684\u611f\u77e5-\u51b3\u7b56\u80fd\u529b\uff0cOmniDrive\u3001Orion \u548c Atlas \u901a\u8fc7\u5f15\u5165 3D \u89c6\u89c9\u7279\u5f81\u63d0\u53d6\u5668\u63d0\u5347\u6a21\u578b 3D \u611f\u77e5\u80fd\u529b\uff0cLMDrive \u4e0e WiseAD \u5728\u95ed\u73af\u4e2d\u9a8c\u8bc1 VLMs \u7684\u9a7e\u9a76\u80fd\u529b\uff0cSce2DriveX \u91c7\u7528\u591a\u6a21\u6001\u8054\u5408\u5b66\u4e60\u4f18\u5316 3D \u611f\u77e5\u3002\u800c\u6211\u4eec\u7684 ReCogDrive \u878d\u5408 VLMs \u4e0e\u6269\u6563\u6a21\u578b\uff0c\u5b9e\u73b0\u9884\u6d4b\u7a33\u5b9a\u3001\u5b89\u5168\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1917710542681908151_3\">\u6269\u6563\u6a21\u578b\u5728\u5177\u8eab\u667a\u80fd\u548c\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528<\/h3>\n\n\n\n<p>\u6269\u6563\u6a21\u578b\u5728\u5177\u8eab\u667a\u80fd\u4e0e\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5c55\u73b0\u51fa\u72ec\u7279\u4f18\u52bf\u3002Diffusion Policy \u5c06\u6269\u6563\u6a21\u578b\u6269\u5c55\u81f3\u673a\u5668\u4eba\u9886\u57df\uff0c\u6709\u6548\u5904\u7406\u591a\u6a21\u6001\u52a8\u4f5c\u5206\u5e03\u95ee\u9898\uff0c\u03c00\u3001\u03c00.5\u3001GR00T-N1 \u7b49\u5de5\u4f5c\u5c06 VLMs \u4e0e Flow Matching \u7ed3\u5408\uff0c\u4fdd\u7559 VLMs \u6cdb\u5316\u6027\u7684\u540c\u65f6\u7cbe\u51c6\u5730\u9884\u6d4b\u672a\u6765\u5de5\u4f5c\u8f68\u8ff9\uff1bRDT-1B 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id=\"h_1917710542681908151_4\">\u5f3a\u5316\u5b66\u4e60\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u5e94\u7528<\/h3>\n\n\n\n<p>\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u4f5c\u4e3a\u4e00\u79cd\u5173\u952e\u6280\u672f\uff0c\u5df2\u5728\u5927\u578b\u8bed\u8a00\u6a21\u578b\u548c\u6e38\u620f\u667a\u80fd\u4f53\u4e2d\u9a8c\u8bc1\u5176\u6709\u6548\u6027\uff0c\u5e76\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7279\u5b9a\u573a\u666f\u3002\u73b0\u6709\u65b9\u6cd5\u591a\u5728\u975e\u771f\u5b9e\u611f\u6a21\u62df\u5668\uff08\u5982 CARLA\uff09\u4e2d\u76f4\u63a5\u5b66\u4e60\u63a7\u5236\u7a7a\u95f4\u7b56\u7565\u3002\u4e3a\u5f25\u5408\u4eff\u771f\u4e0e\u73b0\u5b9e\u5dee\u8ddd\uff0cRAD \u5728 3DGS \u73af\u5883\u4e2d\u8bad\u7ec3\u7aef\u5230\u7aef\u9a7e\u9a76\u6a21\u578b\uff1bCarPlanner \u63d0\u51fa\u81ea\u56de\u5f52\u591a\u6a21\u6001\u8f68\u8ff9\u89c4\u5212\u5668\uff0c\u5176 RL \u7b56\u7565\u5728 nuPlan \u6570\u636e\u96c6\u4e0a\u8d85\u8d8a\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\uff1b\u6700\u8fd1\u7531\u4e8e Deepseek-R1 \u7684\u6210\u529f\uff0cGRPO \u7b97\u6cd5\u88ab\u5f15\u5165\u89c4\u5212\u9886\u57df\u2014\u2014AlphaDrive \u9996\u6b21\u96c6\u6210 GRPO \u5f3a\u5316\u5b66\u4e60\u4e0e\u9a7e\u9a76\u591a\u6a21\u6001\u5927\u6a21\u578b\uff0c\u901a\u8fc7\u5f15\u5165\u601d\u8003\u66f4\u51c6\u786e\u5730\u9884\u6d4b\u9ad8\u9636\u6307\u4ee4\uff1bTrajHF \u5219\u6784\u5efa\u4eba\u7c7b\u53cd\u9988\u9a71\u52a8\u7684\u5fae\u8c03\u6846\u67b6\uff0c\u5b9e\u73b0\u751f\u6210\u8f68\u8ff9\u4e0e\u591a\u6837\u5316\u9a7e\u9a76\u504f\u597d\u7684\u5bf9\u9f50\u3002\u800c\u6211\u4eec ReCogDrive \u901a\u8fc7\u4eff\u771f\u5668\u534f\u52a9\u7684\u5f3a\u5316\u5b66\u4e60\u6765\u8ba9\u6a21\u578b\u9884\u6d4b\u66f4\u5b89\u5168\u3001\u8212\u9002\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1917710542681908151_5\">3.\u65b9\u6cd5<\/h2>\n\n\n\n<p>ReCogDrive\u7684\u7ed3\u6784\u4e3b\u8981\u7531\u9a7e\u9a76\u591a\u6a21\u6001\u5927\u6a21\u578b\u548c\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u89c4\u5212\u5668\u7ec4\u6210\uff0c\u63a8\u7406\u65f6\uff0c\u5c06\u524d\u89c6\u56fe\u4ee5\u53ca\u5bfc\u822a\u6307\u4ee4\uff0c\u5386\u53f2\u8f68\u8ff9\uff0c\u4efb\u52a1\u6307\u4ee4\u8f93\u5165\u7ed9\u591a\u6a21\u6001\u5927\u6a21\u578b\uff0c\u591a\u6a21\u6001\u5927\u6a21\u578b\u8f93\u51fa\u9690\u85cf\u7279\u5f81\u4f5c\u4e3aDiffusion\u7684Condition\uff0cDiffusion\u4ece\u566a\u58f0\u4e2d\u9010\u6b65\u53bb\u566a\u751f\u6210\u6700\u7ec8\u8f68\u8ff9\u3002\u8bad\u7ec3\u91c7\u7528\u4e09\u9636\u6bb5\u8bad\u7ec3\u65b9\u5f0f\uff0c\u9996\u5148\uff0c\u6211\u4eec\u6536\u96c6\u4e86\u4e00\u4e2a\u5305\u542b310\u4e07\u6761\u9ad8\u8d28\u91cf\u95ee\u7b54\u5bf9\u7684\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u7528\u4e8e\u8bad\u7ec3\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\uff0c\u5c06\u9a7e\u9a76\u7279\u5b9a\u7684\u8ba4\u77e5\u77e5\u8bc6\u6ce8\u5165\u6a21\u578b\u4e2d\u3002\u63a5\u7740\uff0c\u6211\u4eec\u5c06\u9884\u8bad\u7ec3\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u4e0e\u57fa\u4e8e\u6269\u6563\u7684\u8f68\u8ff9\u89c4\u5212\u5668\u7ed3\u5408\uff0c\u5b9e\u73b0\u7a33\u5b9a\u7684\u8bed\u8a00\u5230\u52a8\u4f5c\u6620\u5c04\uff0c\u5c06\u6f5c\u5728\u7684\u8bed\u8a00\u7a7a\u95f4\u8f6c\u5316\u4e3a\u8fde\u7eed\u52a8\u4f5c\u7a7a\u95f4\u3002\u6700\u540e\uff0c\u6211\u4eec\u5f15\u5165\u4eff\u771f\u8f85\u52a9\u7684\u5f3a\u5316\u5b66\u4e60\uff0c\u5c06\u901a\u8fc7\u591a\u8f68\u8ff9\u63a2\u7d22\u83b7\u5f97\u7684\u6cdb\u5316\u9a7e\u9a76\u8ba4\u77e5\u6574\u5408\u8fdb\u6269\u6563\u89c4\u5212\u5668\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-cdbf59055a6ed36c43655e25853da9b3_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1917710542681908151_6\">3.1 \u9a7e\u9a76\u573a\u666f\u591a\u6a21\u6001\u5927\u6a21\u578b\u8bad\u7ec3<\/h3>\n\n\n\n<p>\u7531\u4e8e\u901a\u7528\u5927\u6a21\u578b\u901a\u5e38\u5728\u4e92\u8054\u7f51\u56fe\u50cf\u6587\u672c\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c<strong>\u76f4\u63a5\u5c06\u591a\u6a21\u6001\u5927\u6a21\u578b\u5e94\u7528\u4e8e\u9a7e\u9a76\u8f68\u8ff9\u9884\u6d4b\u5f88\u56f0\u96be<\/strong>\uff0c\u6211\u4eec\u9996\u5148\u4f7f\u7528310\u4e07\u9ad8\u8d28\u91cf\u9a7e\u9a76\u6570\u636e\u96c6\u6765\u8ba9\u5927\u6a21\u578b\u9002\u5e94\u9a7e\u9a76\u573a\u666f\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u4ece12\u4e2a\u5f00\u6e90\u9a7e\u9a76\u6570\u636e\u96c6\u6536\u96c6\u6570\u636e\uff0c\u8fdb\u884c\u5f52\u4e00\u5316\u5904\u7406\uff0c\u7edf\u4e00\u683c\u5f0f\uff0c\u91cd\u65b0\u6807\u6ce8\u56de\u7b54\uff0c\u6253\u5206\u8fc7\u6ee4\u4f4e\u8d28\u91cf\u6570\u636e\uff0c\u6700\u7ec8\u5f97\u5230230\u4e07\u6761\u9ad8\u8d28\u91cf\u9a7e\u9a76\u95ee\u7b54\u5bf9\uff0c<strong>\u6211\u4eec\u8fd8\u6784\u5efa\u4e86\u4e00\u4e2a\u81ea\u52a8\u6807\u6ce8\u6d41\u6c34\u7ebf\uff0c\u7ed3\u5408 Qwen2.5-VL \u548c\u6570\u636e\u96c6\u6807\u7b7e\uff0c\u751f\u6210\u9ad8\u8d28\u91cf\u7684\u95ee\u7b54\u6570\u636e<\/strong>\uff0c\u6db5\u76d6\u573a\u666f\u63cf\u8ff0\u3001\u5173\u952e\u7269\u4f53\u63cf\u8ff0\u3001\u89c4\u5212\u89e3\u91ca\u7b49\u4efb\u52a1\uff0c\u6b64\u5916\uff0c\u8fd8\u878d\u5408 LLaVA \u6307\u4ee4\u8c03\u4f18\u6570\u636e\uff0c\u4ee5\u4fdd\u6301\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u6307\u4ee4\u9075\u5faa\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"660\" height=\"280\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061601.png\" alt=\"\" class=\"wp-image-29938\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061601.png 660w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061601-300x127.png 300w\" sizes=\"(max-width: 660px) 100vw, 660px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1917710542681908151_7\">3.2 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src=\"https:\/\/picx.zhimg.com\/v2-c49162f06b91979886e655616cf9a2dd_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4ec5\u4f9d\u8d56\u6a21\u4eff\u5b66\u4e60\u8fdb\u884c\u8bad\u7ec3\u5b58\u5728\u5c40\u9650\u6027\uff0c\u56e0\u4e3a\u540c\u4e00\u4e2a\u573a\u666f\u53ef\u80fd\u5b58\u5728\u5f88\u591a\u6761\u4e0d\u76f8\u540c\u7684\u4e13\u5bb6\u8f68\u8ff9\uff0c\u5bfc\u81f4\u4f18\u5316\u5230\u6b21\u4f18\u7684\u8f68\u8ff9\uff0c<strong>\u5982\u56fe\uff08a\uff09\u6240\u793a\uff0c\u5728\u4e00\u4e2a\u4ea4\u53c9\u8def\u53e3\u8f6c\u5f2f\u573a\u666f\u4e2d\uff0c\u5b58\u5728\u591a\u6761\u4e13\u5bb6\u8f68\u8ff9\uff0c\u6a21\u578b\u503e\u5411\u4e8e\u5b66\u4e60\u5e73\u5747\u8f68\u8ff9\u4ee5\u5b9e\u73b0\u5168\u5c40\u6700\u4f18\uff0c\u6700\u7ec8\u53ef\u80fd\u5bfc\u81f4\u9519\u8bef\u6216\u4e0d\u5b89\u5168\u7684\u884c\u9a76\u3002<\/strong><\/p>\n\n\n\n<p>\u66f4\u7b26\u5408\u4eba\u7c7b\u5b66\u4e60\u9a7e\u9a76\u7684\u65b9\u5f0f\u662f\u8ba9\u6a21\u578b\u5728\u4e00\u4e2a\u9a7e\u9a76\u73af\u5883\u4e2d\u81ea\u4e3b\u9a7e\u9a76\uff0c\u6a21\u62df\u771f\u5b9e\u4e16\u754c\u7684\u5b66\u4e60\u8fc7\u7a0b\uff0c\u4f46\u6784\u5efa\u5177\u6709\u4ea4\u4e92\u5f0f\u7684\u771f\u5b9e\u573a\u666f\u95ed\u73af\u4eff\u771f\u5668\u975e\u5e38\u56f0\u96be\uff0c\u56e0\u6b64\u6211\u4eec\u4f7f\u7528 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061604.png 661w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061604-300x172.png 300w\" sizes=\"(max-width: 661px) 100vw, 661px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1917710542681908151_9\">4.\u5b9e\u9a8c<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-241258fdd59f5bb057066697b53d497e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88681 \u5c55\u793a\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u73b0\u6709\u65b9\u6cd5\u5728 NAVSIM \u6570\u636e\u96c6\u4e0a\u7684\u6bd4\u8f83\u7ed3\u679c\u3002<strong>ReCogDrive \u5b9e\u73b0\u4e86 89.6 \u7684 PDMS\uff0c\u8d85\u8fc7\u4e86 DiffusionDrive \u7b49 SOTA \u6a21\u578b<\/strong>\u3002\u800c\u4e14\uff0c\u6211\u4eec\u4ec5\u4f7f\u7528\u524d\u89c6\u76f8\u673a\u6570\u636e\uff0c<strong>ReCogDrive 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