{"id":30060,"date":"2025-06-18T17:33:10","date_gmt":"2025-06-18T09:33:10","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30060"},"modified":"2025-06-18T17:33:10","modified_gmt":"2025-06-18T09:33:10","slug":"2025-06-18-%e5%bc%80%e9%97%ad%e7%8e%af%e5%8f%8csota%ef%bc%81%e5%8c%97%e8%88%aafocalad%ef%bc%9a%e5%b1%80%e9%83%a8%e4%ba%a4%e4%ba%92%e6%84%9f%e7%9f%a5%e7%ab%af%e5%88%b0%e7%ab%af%e8%a7%84%e5%88%92","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/18\/30060\/","title":{"rendered":"2025-06-18 \u5f00\u95ed\u73af\u53ccSOTA\uff01\u5317\u822aFocalAD\uff1a\u5c40\u90e8\u4ea4\u4e92\u611f\u77e5\u7aef\u5230\u7aef\u89c4\u5212\u65b0\u6846\u67b6\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u8d85\u8fc740%~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/QjfzUeM0MS42Fs6MXCL_jA\">https:\/\/mp.weixin.qq.com\/s\/QjfzUeM0MS42Fs6MXCL_jA<\/a><\/p>\n\n\n\n<p>\u5728\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u8fd0\u52a8\u9884\u6d4b\u5728\u81ea\u8f66\u89c4\u5212\u4e2d\u8d77\u7740\u5173\u952e\u4f5c\u7528\u3002\u7136\u800c\uff0c\u73b0\u6709\u65b9\u6cd5\u901a\u5e38\u4f9d\u8d56\u4e8e\u5168\u5c40\u805a\u5408\u7684\u8fd0\u52a8\u7279\u5f81\uff0c\u5ffd\u89c6\u4e86\u89c4\u5212\u51b3\u7b56\u4e3b\u8981\u53d7\u4e00\u5c0f\u90e8\u5206\u5c40\u90e8\u4ea4\u4e92\u4ee3\u7406\u5f71\u54cd\u7684\u4e8b\u5b9e\u3002\u672a\u80fd\u5173\u6ce8\u8fd9\u4e9b\u5173\u952e\u7684\u5c40\u90e8\u4ea4\u4e92\u53ef\u80fd\u4f1a\u63a9\u76d6\u6f5c\u5728\u98ce\u9669\u5e76\u524a\u5f31\u89c4\u5212\u7684\u53ef\u9760\u6027\u3002\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86FocalAD\uff0c\u4e00\u79cd\u65b0\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u4e13\u6ce8\u4e8e\u5173\u952e\u7684\u5c40\u90e8\u90bb\u5c45\uff0c\u5e76\u901a\u8fc7\u589e\u5f3a\u5c40\u90e8\u8fd0\u52a8\u8868\u793a\u6765\u4f18\u5316\u89c4\u5212\u3002\u5177\u4f53\u800c\u8a00\uff0cFocalAD\u5305\u542b\u4e24\u4e2a\u6838\u5fc3\u6a21\u5757\uff1aEgo-Local-Agents Interactor\uff08ELAI\uff09\u548cFocal-Local-Agents Loss\uff08FLA Loss\uff09\u3002ELAI\u6267\u884c\u57fa\u4e8e\u56fe\u7684\u81ea\u8f66\u4e2d\u5fc3\u4ea4\u4e92\u8868\u793a\uff0c\u6355\u6349\u4e0e\u5c40\u90e8\u90bb\u5c45\u7684\u8fd0\u52a8\u52a8\u6001\uff0c\u4ee5\u589e\u5f3a\u81ea\u8f66\u89c4\u5212\u548c\u4ee3\u7406\u8fd0\u52a8\u67e5\u8be2\u3002FLA 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class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2506.11419<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u5df2\u6210\u4e3a\u4e00\u79cd\u6709\u524d\u666f\u7684\u8303\u5f0f\uff0c\u5b83\u901a\u8fc7\u5b8c\u5168\u53ef\u5fae\u5206\u7684\u7edf\u4e00\u6a21\u578b\u76f4\u63a5\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u5230\u9a7e\u9a76\u52a8\u4f5c\u3002\u5728\u4f20\u7edf\u7684\u6a21\u5757\u5316\u6d41\u6c34\u7ebf\u4e2d\uff0c\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u901a\u5e38\u4f5c\u4e3a\u72ec\u7acb\u7ec4\u4ef6\u5904\u7406\uff0c\u5f80\u5f80\u5bfc\u81f4\u6a21\u5757\u4e4b\u95f4\u8bef\u5dee\u7684\u7d2f\u79ef\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u7aef\u5230\u7aef\u6846\u67b6\u80fd\u591f\u5b9e\u73b0\u5168\u5c40\u4f18\u5316\uff0c\u4ece\u800c\u63d0\u9ad8\u9c81\u68d2\u6027\u548c\u53ef\u89e3\u91ca\u6027\uff0c\u5e76\u5e26\u6765\u66f4\u7b80\u6d01\u7684\u67b6\u6784\u3002<\/p>\n\n\n\n<p>\u5728\u6b64\u8303\u5f0f\u4e2d\uff0c\u81ea\u8f66\u8f68\u8ff9\u89c4\u5212\u4ecd\u7136\u662f\u6838\u5fc3\u4e14\u6700\u5177\u6311\u6218\u6027\u7684\u4efb\u52a1\uff0c\u751f\u6210\u7684\u8f68\u8ff9\u8d28\u91cf\u4e25\u91cd\u4f9d\u8d56\u4e8e\u5bf9\u5468\u56f4\u4ea4\u901a\u4ee3\u7406\u8fd0\u52a8\u7684\u51c6\u786e\u5efa\u6a21\u3002\u8fd9\u4e00\u9700\u6c42\u4fc3\u4f7f\u4e86\u5404\u79cd\u4e0d\u540c\u7684\u6846\u67b6\u7684\u4ea7\u751f\uff0c\u5b83\u4eec\u5728\u7ed3\u6784\u9884\u6d4b\u548c\u89c4\u5212\u7684\u65b9\u5f0f\u4e0a\u6709\u6240\u4e0d\u540c\u3002\u987a\u5e8f\u8303\u5f0f\u9996\u5148\u57fa\u4e8e\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\u9884\u6d4b\u5468\u56f4\u4ee3\u7406\u7684\u672a\u6765\u8fd0\u52a8\uff0c\u7136\u540e\u5c06\u8fd9\u4e9b\u9884\u6d4b\u4f20\u9012\u7ed9\u5355\u72ec\u7684\u89c4\u5212\u6a21\u5757\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5e76\u884c\u6846\u67b6\u5219\u901a\u8fc7\u5229\u7528\u5171\u4eab\u7684\u611f\u77e5\u7279\u5f81\u540c\u65f6\u751f\u6210\u89c4\u5212\u548c\u9884\u6d4b\u8f68\u8ff9\u3002\u8fd9\u79cd\u8bbe\u8ba1\u5141\u8bb8\u8fd0\u52a8\u9884\u6d4b\u548c\u81ea\u8f66\u89c4\u5212\u4e4b\u95f4\u66f4\u52a0\u7d27\u5bc6\u7684\u8026\u5408\uff0c\u4f7f\u5f97\u5728\u52a8\u6001\u73af\u5883\u4e2d\u505a\u51fa\u66f4\u52a0\u4e00\u81f4\u7684\u51b3\u7b56\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"516\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-251-1024x516.png\" alt=\"\" class=\"wp-image-30061\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-251-1024x516.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-251-300x151.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-251-768x387.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-251.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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Loss\uff09\u5f15\u5165\u4e86\u4e00\u79cd\u7126\u70b9\u76d1\u7763\u673a\u5236\uff0c\u5c06\u6a21\u578b\u6ce8\u610f\u529b\u5f15\u5411\u51b3\u7b56\u5173\u952e\u7684\u4ee3\u7406\u3002\u901a\u8fc7\u5229\u7528\u6765\u81ea\u6709\u5f71\u54cd\u529b\u7684\u90bb\u5c45\u7684\u8fd0\u52a8\u7ebf\u7d22\uff0c\u5b83\u5728\u8bad\u7ec3\u4e2d\u5f3a\u5316\u9ad8\u5f71\u54cd\u7684\u4ea4\u4e92\uff0c\u4ee5\u4f18\u5148\u8003\u8651\u90a3\u4e9b\u663e\u8457\u5f71\u54cd\u81ea\u8f66\u8f66\u8f86\u672a\u6765\u8f68\u8ff9\u7684\u4ee3\u7406\u3002\u8fd9\u79cd\u8868\u793a\u548c\u76d1\u7763\u4e4b\u95f4\u7684\u534f\u540c\u4f5c\u7528\u63d0\u9ad8\u4e86\u8fd0\u52a8\u7406\u89e3\uff0c\u4ece\u800c\u6539\u5584\u4e86\u89c4\u5212\u7684\u5b89\u5168\u6027\u548c\u53ef\u89e3\u91ca\u6027\u3002<\/p>\n\n\n\n<p>\u5728nuScenes\u548cBench2Drive\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cFocalAD\u4f18\u4e8e\u57fa\u7ebf\u3002\u91cd\u8981\u7684\u662f\uff0c\u5728\u5177\u6709\u6311\u6218\u6027\u548c\u590d\u6742\u6027\u7684Adv-nuScenes\u6570\u636e\u96c6\u4e0a\uff0cFocalAD\u5c06\u78b0\u649e\u7387\u76f8\u5bf9\u4e8eDiffusionDrive\u964d\u4f4e\u4e8641.9%\uff0c\u76f8\u5bf9\u4e8eSparseDrive\u964d\u4f4e\u4e8615.6%\uff0c\u7a81\u51fa\u4e86\u5176\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u5353\u8d8a\u9c81\u68d2\u6027\u3002\u8fd9\u4e9b\u7ed3\u679c\u9a8c\u8bc1\u4e86\u6211\u4eec\u4ee5\u7126\u70b9\u4ea4\u4e92\u4e3a\u4e2d\u5fc3\u7684\u8bbe\u8ba1\u7684\u6709\u6548\u6027\uff0c\u5e76\u5f3a\u8c03\u4e86\u4ea4\u4e92\u611f\u77e5\u5b66\u4e60\u5728\u5b89\u5168\u548c\u7a33\u5065\u7684\u81ea\u4e3b\u89c4\u5212\u4e2d\u7684\u4ef7\u503c\u3002<\/p>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u53d6\u5f97\u4e86\u5feb\u901f\u8fdb\u5c55\uff0c\u7814\u7a76\u91cd\u70b9\u9010\u6e10\u4ece\u7edf\u4e00\u7684\u611f\u77e5-\u63a7\u5236\u5b66\u4e60\u8f6c\u5411\u4efb\u52a1\u89e3\u8026\u548c\u6a21\u5757\u5316\u7684\u7aef\u5230\u7aef\u8bbe\u8ba1\u3002\u57fa\u4e8eTransformer\u7684\u67b6\u6784\u901a\u8fc7\u5c06\u591a\u89c6\u89d2\u56fe\u50cf\u6295\u5c04\u5230\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7a7a\u95f4\uff0c\u663e\u8457\u6539\u8fdb\u4e86\u7279\u5f81\u8868\u793a\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u7edf\u4e00\u4e14\u9ad8\u6548\u7684\u573a\u666f\u7406\u89e3\u3002<\/p>\n\n\n\n<p>ThinkTwice\u5f3a\u8c03\u4e86\u89e3\u7801\u5668\u5728\u573a\u666f\u9884\u6d4b\u548c\u98ce\u9669\u8bc4\u4f30\u7b49\u4efb\u52a1\u4e2d\u7684\u88ab\u5ffd\u89c6\u4f5c\u7528\uff0c\u63d0\u51fa\u4e86\u7ea7\u8054\u89e3\u7801\u5668\u8bbe\u8ba1\uff0c\u4f46\u4ecd\u7136\u7f3a\u4e4f\u5b8c\u6574\u7684\u7aef\u5230\u7aef\u96c6\u6210\u3002UniAD\u901a\u8fc7\u57fa\u4e8e\u5bc6\u96c6BEV\u8868\u793a\u7684\u89c4\u5212\u5bfc\u5411\u7aef\u5230\u7aef\u6846\u67b6\u5b9e\u73b0\u4e86\u611f\u77e5\u548c\u89c4\u5212\u7684\u8054\u5408\u4f18\u5316\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4fc3\u8fdb\u4e86\u5404\u9636\u6bb5\u4e4b\u95f4\u7684\u4fe1\u606f\u6d41\u52a8\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u89c4\u5212\u7684\u6574\u4f53\u6027\u80fd\u3002\u9664\u4e86\u57fa\u4e8e\u5bc6\u96c6BEV\u7684\u6846\u67b6\uff0cVAD\u5f15\u5165\u4e86\u4e00\u79cd\u77e2\u91cf\u5316\u573a\u666f\u8868\u793a\u65b9\u6cd5\uff0c\u5c06\u9053\u8def\u8fb9\u754c\u3001\u8f66\u9053\u6807\u8bb0\u548c\u4ee3\u7406\u8f68\u8ff9\u7f16\u7801\u4e3a\u7ed3\u6784\u5316\u5411\u91cf\uff0c\u63d0\u9ad8\u4e86\u53ef\u89e3\u91ca\u6027\u548c\u53ef\u63a7\u6027\uff0c\u540c\u65f6\u51cf\u5c11\u4e86\u5197\u4f59\u3002SparseDrive\u5f15\u5165\u4e86\u4e00\u79cd\u7a00\u758f\u5bf9\u79f0\u611f\u77e5\u67b6\u6784\uff0c\u4ec5\u7f16\u7801\u5173\u952e\u4ee3\u7406\u548c\u5730\u56fe\u5143\u7d20\uff0c\u5e76\u91c7\u7528\u5e76\u884c\u8fd0\u52a8\u89c4\u5212\u6d41\u6c34\u7ebf\uff0c\u5728\u4e0d\u727a\u7272\u6027\u80fd\u7684\u60c5\u51b5\u4e0b\u51cf\u5c11\u8ba1\u7b97\u5f00\u9500\u3002\u9664\u4e86\u67b6\u6784\u4e0a\u7684\u5e76\u884c\u6027\uff0cPPAD\u901a\u8fc7\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u4ea4\u9519\u89c4\u5212\u548c\u9884\u6d4b\u5f15\u5165\u4e86\u65f6\u95f4\u5e76\u884c\u6027\uff0c\u5b9e\u73b0\u4e86\u53cc\u5411\u8026\u5408\uff0c\u8003\u8651\u4e86\u4e0d\u65ad\u6f14\u53d8\u7684\u4ee3\u7406\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u589e\u5f3a\u591a\u6a21\u6001\u8f68\u8ff9\u4f18\u5316\uff0cVADv2\u5f15\u5165\u4e86\u4e00\u79cd\u6982\u7387\u89c4\u5212\u673a\u5236\uff0c\u5c06\u805a\u7c7b\u7684\u4eba\u7c7b\u8f68\u8ff9\u5efa\u6a21\u4e3a\u5206\u5e03\uff0c\u63d0\u9ad8\u4e86\u672a\u6765\u573a\u666f\u7684\u591a\u6837\u6027\u548c\u9884\u6d4b\u80fd\u529b\u3002DiffusionDrive\u5728\u6269\u6563\u6846\u67b6\u5185\u4f7f\u7528\u951a\u5b9a\u9ad8\u65af\u5148\u9a8c\u548c\u4e24\u9636\u6bb5\u53bb\u566a\uff0c\u4ee5\u63d0\u9ad8\u7aef\u5230\u7aef\u9a7e\u9a76\u4e2d\u8f68\u8ff9\u7684\u51c6\u786e\u6027\u548c\u53ef\u63a7\u6027\u3002GenAD\u901a\u8fc7\u4f7f\u7528\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08VAE\uff09\u6784\u5efa\u7ed3\u6784\u5316\u6f5c\u5728\u7a7a\u95f4\uff0c\u5e76\u91c7\u7528\u65f6\u95f4GRU\u66f4\u597d\u5730\u5efa\u6a21\u4ea4\u4e92\u52a8\u6001\uff0c\u5c06\u8f68\u8ff9\u9884\u6d4b\u548c\u89c4\u5212\u5236\u5b9a\u4e3a\u4e00\u4e2a\u7edf\u4e00\u7684\u751f\u6210\u5efa\u6a21\u4efb\u52a1\u3002\u5728\u4ea4\u4e92\u611f\u77e5\u573a\u666f\u7406\u89e3\u7684\u80cc\u666f\u4e0b\uff0cGraphAD\u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u57fa\u4e8e\u56fe\u7684\u6846\u67b6\uff0c\u6a21\u62df\u81ea\u8f66\u8f66\u8f86\u3001\u5468\u56f4\u4ee3\u7406\u548c\u5730\u56fe\u5143\u7d20\u4e4b\u95f4\u7684\u7a7a\u95f4\u5173\u7cfb\u3002\u8fd9\u79cd\u8bbe\u8ba1\u589e\u5f3a\u4e86\u4ea4\u4e92\u63a8\u7406\u5e76\u6539\u5584\u4e86\u51b3\u7b56\u8d28\u91cf\u3002\u6b64\u5916\uff0cFASIONAD++\u53d7\u8ba4\u77e5\u53cc\u8fc7\u7a0b\u7406\u8bba\uff08\u201c\u5feb\u4e0e\u6162\u601d\u7ef4\u201d\uff09\u7684\u542f\u53d1\uff0c\u5f15\u5165\u4e86\u4e00\u79cd\u53cc\u91cd\u7cfb\u7edf\u67b6\u6784\uff0c\u7ed3\u5408\u4e86\u5feb\u901f\u7aef\u5230\u7aef\u89c4\u5212\u5668\u548c\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u7684\u8f83\u6162\u903b\u8f91\u6a21\u5757\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u5148\u524d\u7684\u5de5\u4f5c\u5927\u5e45\u63d0\u5347\u4e86\u89c4\u5212\u6027\u80fd\uff0c\u4f46\u5927\u591a\u6570\u6846\u67b6\u4ecd\u4f9d\u8d56\u5168\u5c40\u805a\u5408\u7684\u8fd0\u52a8\u7279\u5f81\u8fdb\u884c\u8f68\u8ff9\u751f\u6210\u3002\u7136\u800c\uff0c\u5ffd\u7565\u5c40\u90e8\u4ea4\u4e92\u53ef\u80fd\u4f1a\u63a9\u76d6\u5173\u952e\u98ce\u9669\uff0c\u5bfc\u81f4\u6b21\u4f18\u6216\u4e0d\u5b89\u5168\u7684\u8ba1\u5212\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u5f15\u5165\u4e86FocalAD\uff0c\u8fd9\u662f\u4e00\u79cd\u7aef\u5230\u7aef\u6846\u67b6\uff0c\u5229\u7528\u6765\u81ea\u5173\u952e\u5c40\u90e8\u4ea4\u4e92\u7684\u8fd0\u52a8\u4fe1\u606f\u6765\u4f18\u5316\u89c4\u5212\u51b3\u7b56\u3002<\/p>\n\n\n\n<p><strong>\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>\u6846\u67b6\u6982\u8ff0\u3002\u4e0e\u4ee5\u5f80\u4f9d\u8d56\u5168\u5c40\u805a\u5408\u8fd0\u52a8\u7279\u5f81\u7684\u65b9\u6cd5\u4e0d\u540c\uff0c\u6211\u4eec\u7684 FocalAD \u805a\u7126\u4e8e\u4e00\u5c0f\u90e8\u5206\u5c40\u90e8\u4ee3\u7406\uff0c\u8fd9\u4e9b\u4ee3\u7406\u7684\u884c\u4e3a\u5bf9\u81ea\u8f66\u89c4\u5212\u5177\u6709\u5373\u65f6\u4e14\u663e\u8457\u7684\u5f71\u54cd\u3002\u4e3a\u4e86\u6355\u6349\u5e76\u5f3a\u8c03\u8fd9\u4e9b\u5c40\u90e8\u4ea4\u4e92\uff0cFocalAD \u5efa\u7acb\u4e86\u4e00\u79cd\u4ea4\u4e92\u9a71\u52a8\u7684\u673a\u5236\uff0c\u8be5\u673a\u5236\u5c06\u7279\u5f81\u8868\u793a\u4e0e\u635f\u5931\u76d1\u7763\u76f8\u7ed3\u5408\u3002\u5982\u56fe 2 \u6240\u793a\uff0cFocalAD \u5305\u542b\u4e24\u4e2a\u6838\u5fc3\u6a21\u5757\uff1a(1) Ego-Local-Agents Interactor, ELAI\u901a\u8fc7\u56fe\u7ed3\u6784\u663e\u5f0f\u5efa\u6a21\u81ea\u8f66\u4e2d\u5fc3\u7684\u4ea4\u4e92\u3002\u5b83\u6355\u6349\u4e86\u81ea\u8f66\u4e0e\u5176\u6700\u76f8\u5173\u7684 Top-k \u90bb\u5c45\u4e4b\u95f4\u7684\u52a8\u6001\uff0c\u4ece\u800c\u4e3a\u8fd0\u52a8\u548c\u8ba1\u5212\u67e5\u8be2\u751f\u6210\u7ed3\u6784\u4e30\u5bcc\u7684\u7279\u5f81\u3002(2) Focal-Local-Agents Loss, FLA Loss\u6839\u636e\u90bb\u5c45\u7684\u4ea4\u4e92\u5f97\u5206\u548c\u7d22\u5f15\u4e3a\u5176\u5206\u914d\u7126\u70b9\u6743\u91cd\uff0c\u5e76\u5e94\u7528\u4ea4\u4e92\u5f15\u5bfc\u7684\u76d1\u7763\u6765\u4f18\u5316\u90bb\u5c45\u8fd0\u52a8\u7279\u5f81\u7684\u5b66\u4e60\u3002\u8fd9\u5f62\u6210\u4e86\u4e00\u79cd\u4ea4\u4e92\u611f\u77e5\u673a\u5236\uff0c\u901a\u8fc7\u5c06\u6a21\u578b\u6ce8\u610f\u529b\u4e0e\u51b3\u7b56\u5173\u952e\u7684\u8fd0\u52a8\u7ebf\u7d22\u5bf9\u9f50\uff0c\u6301\u7eed\u4f18\u5316\u8fd0\u52a8\u548c\u89c4\u5212\u8868\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"737\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-252-1024x737.png\" alt=\"\" class=\"wp-image-30064\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-252-1024x737.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-252-300x216.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-252-768x553.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-252.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u4e9b\u7ec4\u4ef6\u5171\u540c\u589e\u5f3a\u4e86 FocalAD \u63a8\u7406\u5c40\u90e8\u98ce\u9669\u548c\u7406\u89e3\u52a8\u6001\u9a7e\u9a76\u73af\u5883\u7684\u80fd\u529b\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u8f68\u8ff9\u9884\u6d4b\u7cbe\u5ea6\u3001\u89c4\u5212\u9c81\u68d2\u6027\u548c\u6574\u4f53\u53ef\u89e3\u91ca\u6027\u3002<\/p>\n\n\n\n<p><strong>Ego-Local-Agents Interactor<\/strong><\/p>\n\n\n\n<p>\u81ea\u8f66-\u5c40\u90e8\u4ee3\u7406\u4ea4\u4e92\u5668\uff08ELAI\uff09\u65e8\u5728\u663e\u5f0f\u5efa\u6a21\u81ea\u8f66\u4e0e\u5176\u5468\u56f4\u4ee3\u7406\u4e4b\u95f4\u7684\u5c40\u90e8\u4ea4\u4e92\uff0c\u5b9e\u73b0\u4ea4\u4e92\u611f\u77e5\u7684\u81ea\u8f66\u89c4\u5212\u3002\u5982\u56fe 3 \u6240\u793a\uff0cELAI \u5305\u542b\u56db\u4e2a\u4e3b\u8981\u6b65\u9aa4\uff1a\u72b6\u6001\u63d0\u53d6\u3001\u56fe\u5d4c\u5165\u3001\u4ea4\u4e92\u5f97\u5206\u548c K-\u90bb\u5c45\u9009\u62e9\u3002<\/p>\n\n\n\n<p><strong>\u72b6\u6001\u63d0\u53d6<\/strong><\/p>\n\n\n\n<p>\u8fc7\u7a0b\u5f00\u59cb\u65f6\uff0c\u4ece\u68c0\u6d4b\u8f93\u51fa\u4e2d\u63d0\u53d6\u81ea\u8f66\u548c\u4ee3\u7406\u7684\u52a8\u6001\u72b6\u6001\u3002\u6bcf\u4e2a\u4ee3\u7406\uff08\u5305\u62ec\u81ea\u8f66\uff09\u7531\u5176\u8fd0\u52a8\u5b66\u548c\u4f4d\u7f6e\u7279\u5f81\u8868\u793a\uff0c\u8fd9\u4e9b\u7279\u5f81\u4f5c\u4e3a\u4ea4\u4e92\u5efa\u6a21\u7684\u521d\u59cb\u8f93\u5165\u3002<\/p>\n\n\n\n<p><strong>\u56fe\u5d4c\u5165<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"151\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061801.png\" alt=\"\" class=\"wp-image-30065\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061801.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061801-300x67.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"782\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-253-1024x782.png\" alt=\"\" class=\"wp-image-30066\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-253-1024x782.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-253-300x229.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-253-768x587.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-253.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=\"676\" height=\"101\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061802.png\" alt=\"\" class=\"wp-image-30067\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061802.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061802-300x45.png 300w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p><strong>\u4ea4\u4e92\u5f97\u5206<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"269\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061803.png\" alt=\"\" class=\"wp-image-30068\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061803.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061803-300x119.png 300w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p><strong>K-\u90bb\u5c45\u9009\u62e9<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"368\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061804.png\" alt=\"\" class=\"wp-image-30069\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061804.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061804-300x163.png 300w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p><strong>Focal-Local-Agents Loss<\/strong><\/p>\n\n\n\n<p>\u5728\u524d\u9762\u7684\u6a21\u5757\u4e2d\uff0c\u6211\u4eec\u83b7\u5f97\u4e86 Top-k \u5173\u952e\u90bb\u5c45\u7684\u4fe1\u606f\u8868\u793a\u3002\u5982\u56fe 4 \u6240\u793a\uff0c\u63d0\u51fa\u7684\u7126\u70b9-\u5c40\u90e8\u4ee3\u7406\u635f\u5931\uff08FLA Loss\uff09\u5f15\u5165\u4e86\u4e00\u79cd\u4ea4\u4e92\u611f\u77e5\u7684\u8bad\u7ec3\u7b56\u7565\uff0c\u5c06\u8fd0\u52a8\u76d1\u7763\u4e0e\u90bb\u5c45\u7279\u5f81\u5b66\u4e60\u8054\u7cfb\u8d77\u6765\uff0c\u5f15\u5bfc\u6a21\u578b\u5173\u6ce8\u4e0e\u51b3\u7b56\u76f8\u5173\u7684\u4ee3\u7406\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"507\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-254-1024x507.png\" alt=\"\" class=\"wp-image-30070\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-254-1024x507.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-254-300x149.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-254-768x380.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-254.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=\"401\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061805.png\" alt=\"\" class=\"wp-image-30071\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061805.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061805-300x179.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u4e0e\u8bc4\u4f30\u6307\u6807<\/strong><\/p>\n\n\n\n<p><strong>nuScenes<\/strong>\u3002\u5bf9\u4e8e\u5f00\u73af\u8bc4\u4f30\uff0c\u6211\u4eec\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b 1,000 \u4e2a 20 \u79d2\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u5e76\u4ee5 2 Hz \u7684\u9891\u7387\u8fdb\u884c\u6807\u6ce8\u3002\u5b83\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u591a\u6a21\u6001\u4f20\u611f\u5668\u6570\u636e\uff0c\u5305\u62ec\u6bcf\u4e2a\u5173\u952e\u5e27\u7684\u516d\u4e2a\u76f8\u673a\u89c6\u89d2\u30013D \u7269\u4f53\u68c0\u6d4b\u6807\u7b7e\u548c\u9ad8\u7cbe\u5ea6\u8bed\u4e49\u5730\u56fe\u3002<\/p>\n\n\n\n<p><strong>Bench2Drive<\/strong>\u3002\u95ed\u73af\u8bc4\u4f30\u662f\u5728 Bench2Drive\u4e0a\u8fdb\u884c\u7684\uff0c\u8fd9\u662f\u4e00\u4e2a\u57fa\u4e8e CARLA \u6a21\u62df\u5668\u5728 CARLA Leaderboard 2.0 \u534f\u8bae\u4e0b\u6784\u5efa\u7684\u5927\u89c4\u6a21\u57fa\u51c6\u6d4b\u8bd5\u5e73\u53f0\u3002\u5b83\u5305\u542b\u4e86\u8d85\u8fc7 200 \u4e07\u5e27\uff0c\u6db5\u76d6 44 \u79cd\u4ea4\u4e92\u573a\u666f\u548c 23 \u79cd\u5929\u6c14\u6761\u4ef6\uff0c\u5141\u8bb8\u5728\u590d\u6742\u73af\u5883\u4e2d\u5bf9\u7aef\u5230\u7aef\u89c4\u5212\u8fdb\u884c\u771f\u5b9e\u4e14\u7ec6\u7c92\u5ea6\u7684\u8bc4\u4f30\u3002\u6211\u4eec\u4f7f\u7528\u5b98\u65b9\u63d0\u4f9b\u7684 220 \u6761\u8def\u7ebf\u8fdb\u884c\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p><strong>Adv-nuSc<\/strong>\u3002\u9664\u4e86\u5e38\u89c4\u7684\u5f00\u73af\u548c\u95ed\u73af\u8bc4\u4f30\u5916\uff0c\u6211\u4eec\u8fd8\u5728 Adv-nuSc \u6570\u636e\u96c6\u4e0a\u8fdb\u4e00\u6b65\u8bc4\u4f30\u4e86\u6a21\u578b\u7684\u9c81\u68d2\u6027\uff0c\u8be5\u6570\u636e\u96c6\u662f\u4f7f\u7528 Challenger \u6846\u67b6\u6784\u5efa\u7684\u3002\u8fd9\u4e2a\u6269\u5c55\u7684\u6570\u636e\u96c6\u57fa\u4e8e nuScenes \u6784\u5efa\uff0c\u4e13\u95e8\u8bbe\u8ba1\u7528\u4e8e\u63ed\u793a\u590d\u6742\u4ea4\u901a\u6761\u4ef6\u4e0b\u89c4\u5212\u4e2d\u7684\u8106\u5f31\u6027\u3002Challenger \u6846\u67b6\u751f\u6210\u4e86\u4e00\u7cfb\u5217\u6fc0\u8fdb\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u4f8b\u5982\u7a81\u7136\u5207\u5165\u3001\u6025\u8f6c\u5f2f\u3001\u5c3e\u968f\u548c\u76f2\u533a\u4fb5\u5165\uff0c\u5e76\u5c06\u8fd9\u4e9b\u573a\u666f\u6e32\u67d3\u6210\u5e26\u6709 3D \u6ce8\u91ca\u7684\u903c\u771f\u591a\u89c6\u89d2\u89c6\u9891\u3002Adv-nuSc \u5305\u542b 156 \u4e2a\u5b89\u5168\u5173\u952e\u573a\u666f\uff08\u5171 6,115 \u4e2a\u6837\u672c\uff09\uff0c\u6bcf\u4e2a\u573a\u666f\u90fd\u65e8\u5728\u6a21\u62df\u9ad8\u98ce\u9669\u4ea4\u4e92\uff0c\u4ee5\u8003\u9a8c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u51b3\u7b56\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\u89c4\u5212\u8bc4\u4f30\u6307\u6807<\/strong>\u3002\u5bf9\u4e8e\u89c4\u5212\u8bc4\u4f30\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e24\u4e2a\u5e38\u7528\u7684\u6307\u6807\uff1aL2 \u4f4d\u79fb\u8bef\u5dee (L2) \u548c\u78b0\u649e\u7387\uff0c\u4e24\u8005\u5747\u6309\u7167 SparseDrive\u4e2d\u5b9a\u4e49\u7684\u534f\u8bae\u8ba1\u7b97\uff0c\u4ee5\u786e\u4fdd\u4e0e\u4e4b\u524d\u5de5\u4f5c\u7684\u53ef\u6bd4\u6027\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u6355\u6349\u81ea\u8f66\u5468\u56f4\u7684\u52a8\u6001\u548c\u9759\u6001\u5b9e\u4f8b\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e00\u4e2a\u57fa\u4e8e SparseDrive\u7684\u7a00\u758f\u611f\u77e5\u6a21\u5757\u3002\u591a\u89c6\u89d2\u56fe\u50cf\u7531 ResNet-50\u9aa8\u5e72\u7f51\u7edc\u5904\u7406\uff0c\u8f93\u5165\u56fe\u50cf\u5927\u5c0f\u4e3a 256\u00d7704\u3002\u63d0\u53d6\u7684\u7279\u5f81\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u88ab\u805a\u5408\u4e3a\u4ea4\u901a\u4ee3\u7406\u548c\u5730\u56fe\u5143\u7d20\u7684\u5b9e\u4f8b\u7ea7\u8868\u793a\u3002\u5bf9\u4e8e\u4ea4\u4e92\u5efa\u6a21\uff0c\u9ed8\u8ba4\u60c5\u51b5\u4e0b\u9009\u62e9\u7684 Top-k \u6700\u76f8\u5173\u90bb\u5c45\u6570\u91cf\u8bbe\u7f6e\u4e3a 5\uff0c\u9664\u975e\u53e6\u6709\u8bf4\u660e\u3002\u4e3a\u4e86\u8bc4\u4f30\u9c81\u68d2\u6027\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5728\u6807\u51c6 nuScenes \u8bad\u7ec3\u96c6\u4e0a\u6309\u7167\u5e38\u89c4\u5b9e\u8df5\u8fdb\u884c\u8bad\u7ec3\uff0c\u7136\u540e\u5206\u522b\u5728\u5bf9\u6297\u6027\u7684 Adv-nuSc \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u8bc4\u4f30\uff0c\u4ee5\u6d4b\u8bd5\u5176\u5728\u6311\u6218\u6027\u6761\u4ef6\u4e0b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>nuScenes \u7ed3\u679c<\/strong>\u3002\u5982\u8868 1(a) \u6240\u793a\uff0cFocalAD \u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u53d6\u5f97\u4e86\u6700\u4f73\u7684\u6574\u4f53\u8fd0\u52a8\u9884\u6d4b\u6027\u80fd\uff0c\u5c06 minADE\u3001minFDE \u548c MR \u5206\u522b\u964d\u4f4e\u81f3 0.61m\u30010.95m \u548c 0.134\u3002\u6b64\u5916\uff0cFocalAD \u8fbe\u5230\u4e86\u6700\u9ad8\u7684 EPA \u503c 0.494\uff0c\u4f18\u4e8e\u6240\u6709\u5f3a\u57fa\u7ebf\u65b9\u6cd5\u3002\u8fd9\u4e9b\u7ed3\u679c\u7a81\u51fa\u4e86\u6211\u4eec\u5c40\u90e8\u4ea4\u4e92\u5efa\u6a21\u7684\u6709\u6548\u6027\uff0c\u4f7f\u5f97\u80fd\u591f\u66f4\u51c6\u786e\u548c\u81ea\u4fe1\u5730\u8fdb\u884c\u591a\u667a\u80fd\u4f53\u8f68\u8ff9\u9884\u6d4b\u3002\u8868 1(b) \u8fdb\u4e00\u6b65\u663e\u793a\uff0cFocalAD \u5b9e\u73b0\u4e86\u6700\u4f4e\u7684\u5e73\u5747\u89c4\u5212\u8bef\u5dee 0.60m\uff0c\u4ee5\u53ca\u6781\u4f4e\u7684\u5e73\u5747\u78b0\u649e\u7387 0.09%\uff0c\u5c55\u793a\u4e86\u4e0e\u6700\u4f73\u57fa\u7ebf\u76f8\u5f53\u7684\u6027\u80fd\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cFocalAD \u5728\u65e9\u671f\u89c4\u5212\u9636\u6bb5\u8868\u73b0\u51fa\u8272\uff0c\u5728 1s \u548c 2s \u65f6\u8fbe\u5230\u4e86\u6700\u4f4e\u7684 L2 \u8bef\u5dee\uff0c\u5e76\u5b8c\u5168\u6d88\u9664\u4e86 1s \u65f6\u7684\u78b0\u649e\u3002\u5c3d\u7ba1\u5176 3s \u6027\u80fd\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u7565\u900a\u4e8e SparseDrive \u548c DiffusionDrive\uff0c\u4f46\u4ecd\u5177\u6709\u7ade\u4e89\u529b\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\uff0cFocalAD \u663e\u8457\u63d0\u9ad8\u4e86\u5c40\u90e8\u4ea4\u4e92\u573a\u666f\u4e2d\u7684\u89c4\u5212\u6027\u80fd\u548c\u5b89\u5168\u6027\uff0c\u7279\u522b\u662f\u5728\u77ed\u671f\u51b3\u7b56\u4efb\u52a1\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"294\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-255-1024x294.png\" alt=\"\" class=\"wp-image-30072\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-255-1024x294.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-255-300x86.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-255-768x220.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-255.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Bench2Drive \u7ed3\u679c<\/strong>\u3002\u5728\u591a\u80fd\u529b\u57fa\u51c6\u6d4b\u8bd5\uff08\u8868 2\uff09\u4e2d\uff0cFocalAD \u5728\u6240\u6709\u4e94\u4e2a\u5173\u952e\u9a7e\u9a76\u4efb\u52a1\u4e0a\u5747\u4f18\u4e8e UniAD-Base\u3001VAD \u548c SparseDrive\uff0c\u8fbe\u5230\u4e86\u6700\u9ad8\u7684\u5e73\u5747\u80fd\u529b\u5f97\u5206 20.53%\u3002\u5b83\u5728\u5408\u5e76\u3001\u8d85\u8f66\u3001\u8ba9\u884c\u548c\u4ea4\u901a\u6807\u5fd7\u8bc6\u522b\u4efb\u52a1\u4e2d\u59cb\u7ec8\u6392\u540d\u7b2c\u4e00\uff0c\u5728\u7d27\u6025\u5236\u52a8\u4efb\u52a1\u4e2d\u6392\u540d\u7b2c\u4e8c\u3002\u5728\u57fa\u4e8e\u6307\u6807\u7684\u8bc4\u4f30\uff08\u8868 3\uff09\u4e2d\uff0cFocalAD \u5b9e\u73b0\u4e86\u6700\u4f73\u6574\u4f53\u6027\u80fd\uff0c\u5f00\u73af L2 \u8bef\u5dee\u6700\u4f4e\uff080.85\uff09\uff0c\u9a7e\u9a76\u8bc4\u5206\u6700\u9ad8\uff0845.77\uff09\uff0c\u6210\u529f\u7387\uff0817.30%\uff09\u548c\u6548\u7387\uff08174.01\uff09\u3002\u76f8\u6bd4 SparseDrive\uff0cFocalAD \u5c06\u9a7e\u9a76\u8bc4\u5206\u63d0\u9ad8\u4e86 +1.23\uff0c\u6210\u529f\u7387\u63d0\u9ad8\u4e86 +0.59%\uff0cL2 \u8bef\u5dee\u964d\u4f4e\u4e86 0.02m\u3002\u8fd9\u4e9b\u7ed3\u679c\u7a81\u51fa\u4e86\u5efa\u6a21\u5c40\u90e8\u4ea4\u4e92\u5bf9\u4e8e\u63d0\u9ad8\u89c4\u5212\u6027\u80fd\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"511\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-256-1024x511.png\" alt=\"\" class=\"wp-image-30073\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-256-1024x511.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-256-300x150.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-256-768x383.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-256.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u9c81\u68d2\u6027\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u5c3d\u7ba1\u5927\u89c4\u6a21\u6570\u636e\u96c6\u5982 nuScenes\u3001NAVSIM\u548c Bench2Drive\u5df2\u7ecf\u63a8\u52a8\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u5404\u79cd\u573a\u666f\u4e2d\u7684\u8bc4\u4f30\u53d6\u5f97\u91cd\u5927\u8fdb\u5c55\uff0c\u4f46\u5b83\u4eec\u4e3b\u8981\u7531\u81ea\u7136\u4ea4\u901a\u6d41\u7ec4\u6210\u3002\u56e0\u6b64\uff0c\u5b83\u4eec\u7f3a\u4e4f\u5bf9\u7f55\u89c1\u4f46\u81f3\u5173\u91cd\u8981\u7684\u4ea4\u4e92\u7684\u8986\u76d6\uff0c\u8fd9\u5bf9\u89c4\u5212\u548c\u51b3\u7b56\u63d0\u51fa\u4e86\u663e\u8457\u6311\u6218\u3002\u8fd9\u4e00\u5c40\u9650\u6027\u963b\u788d\u4e86\u5728\u9ad8\u98ce\u9669\u6216\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e0b\u5bf9\u6a21\u578b\u9c81\u68d2\u6027\u7684\u7cfb\u7edf\u8bc4\u4f30\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u5728 Adv-nuSc \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u989d\u5916\u7684\u8bc4\u4f30\u3002\u6211\u4eec\u5c06\u6a21\u578b\u5728\u539f\u59cb nuScenes \u9a8c\u8bc1\u96c6\u548c Adv-nuSc \u6570\u636e\u96c6\u4e0a\u7684\u6027\u80fd\u8fdb\u884c\u6bd4\u8f83\uff0c\u4ee5\u8bc4\u4f30\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u9762\u5bf9\u6fc0\u8fdb\u3001\u610f\u5916\u6216\u9ad8\u5ea6\u4e92\u52a8\u7684\u9a7e\u9a76\u884c\u4e3a\u65f6\u4fdd\u6301\u89c4\u5212\u53ef\u9760\u6027\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u8868 4 \u6bd4\u8f83\u4e86\u4e0d\u540c\u65b9\u6cd5\u5728 Adv-nuSc\u2020 \u6570\u636e\u96c6\u4e0a\u7684\u8fd0\u52a8\u9884\u6d4b\u6027\u80fd\uff0c\u57fa\u4e8e\u5b98\u65b9\u53d1\u5e03\u7684\u68c0\u67e5\u70b9\u3002FocalAD \u5728\u6240\u6709\u8bc4\u4f30\u6307\u6807\u4e0a\u5747\u4f18\u4e8e SparseDrive \u548c DiffusionDrive\uff0c\u5c55\u793a\u4e86\u66f4\u9ad8\u7684\u51c6\u786e\u6027\u3001\u66f4\u4f4e\u7684\u9057\u6f0f\u7387\u548c\u66f4\u597d\u7684\u7ec8\u70b9\u5bf9\u9f50\u3002\u8868 5 \u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cFocalAD \u5728\u590d\u6742\u6216\u5177\u6709\u6311\u6218\u6027\u7684\u4ea4\u901a\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u4f18\u8d8a\u7684\u89c4\u5212\u6027\u80fd\uff0c\u4e0e DiffusionDrive \u76f8\u6bd4\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u4e86 41.9%\u3002\u5177\u4f53\u800c\u8a00\uff0cFocalAD \u7684\u5e73\u5747\u78b0\u649e\u7387\u4ece nuScenes \u4e0a\u7684 0.09% \u4e0a\u5347\u5230 Adv-nuSc \u4e0a\u7684 0.97%\uff0c\u8fd9\u662f\u6240\u6709\u8bc4\u4f30\u65b9\u6cd5\u4e2d\u6700\u4f4e\u7684\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6700\u5148\u8fdb\u7684\u57fa\u7ebf\u65b9\u6cd5\u5982 SparseDrive \u548c DiffusionDrive \u8868\u73b0\u51fa\u66f4\u663e\u8457\u7684\u9000\u5316\uff0c\u5e73\u5747\u78b0\u649e\u7387\u5206\u522b\u4ece 0.10% \u4e0a\u5347\u5230 1.03% \u548c 0.09% \u4e0a\u5347\u5230 1.67%\u3002VAD \u7684\u4e0a\u5347\u5e45\u5ea6\u6700\u5927\uff0c\u4ece 0.26% \u4e0a\u5347\u5230 7.05%\uff0c\u800c UniAD \u5219\u4ece 0.63% \u4e0a\u5347\u5230 3.95%\u3002\u8fd9\u4e9b\u589e\u52a0\u7684\u66f4\u76f4\u89c2\u6bd4\u8f83\u5982\u56fe 5 \u6240\u793a\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cFocalAD \u4ece nuScenes \u5230 Adv-nuSc \u7684\u78b0\u649e\u7387\u589e\u52a0\u56e0\u5b50\u6700\u5c0f\uff0c\u4ec5\u4e3a 10.8 \u500d\uff0c\u8fdb\u4e00\u6b65\u8bc1\u660e\u4e86\u5176\u5728\u6311\u6218\u6027\u4ea4\u901a\u573a\u666f\u4e2d\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e9b\u7ed3\u679c\u8bc1\u5b9e\u4e86 FocalAD \u4e0d\u4ec5\u5728\u6807\u51c6\u6761\u4ef6\u4e0b\u4fdd\u6301\u4e86\u5f3a\u5927\u7684\u89c4\u5212\u6027\u80fd\uff0c\u800c\u4e14\u5728\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\u4e5f\u8868\u73b0\u51fa\u663e\u8457\u66f4\u597d\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u7a81\u51fa\u4e86\u5176\u5728\u52a8\u6001\u57ce\u5e02\u73af\u5883\u4e2d\u7684\u5353\u8d8a\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"487\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-257-1024x487.png\" alt=\"\" class=\"wp-image-30074\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-257-1024x487.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-257-300x143.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-257-768x366.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-257.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u6bcf\u4e2a\u63d0\u51fa\u7ec4\u4ef6\u7684\u8d21\u732e\uff0c\u6211\u4eec\u5728 nuScenes \u548c Adv-nuSc \u9a8c\u8bc1\u96c6\u4e0a\u8fdb\u884c\u4e86\u6d88\u878d\u7814\u7a76\uff0c\u7ed3\u679c\u5982\u8868 6 \u6240\u793a\u3002<\/p>\n\n\n\n<p><strong>nuScenes \u9a8c\u8bc1\u96c6<\/strong>\u3002\u6211\u4eec\u9996\u5148\u8bc4\u4f30\u4e86 ELAI \u6a21\u5757\u7684\u5f71\u54cd\u3002\u5f53\u5355\u72ec\u542f\u7528 ELAI\uff08\u4e0d\u4f7f\u7528 FLA Loss\uff09\u65f6\uff0c\u6a21\u578b\u5728\u89c4\u5212\u51c6\u786e\u6027\u548c\u5b89\u5168\u6027\u65b9\u9762\u5747\u4e00\u81f4\u5730\u4f18\u4e8e\u57fa\u7ebf\uff0c\u5c06\u5e73\u5747 L2 \u8bef\u5dee\u964d\u4f4e\u81f3 0.62m\uff0c\u5e73\u5747\u78b0\u649e\u7387\u964d\u4f4e\u81f3 0.12%\u3002\u8fd9\u4e00\u7ed3\u679c\u7a81\u51fa\u4e86\u663e\u5f0f\u5efa\u6a21\u4e0e\u5c40\u90e8\u4ee3\u7406\u7684\u81ea\u8f66\u4e2d\u5fc3\u4ea4\u4e92\u7684\u4ef7\u503c\u3002\u5f15\u5165 FLA Loss \u540e\uff0c\u6027\u80fd\u8fdb\u4e00\u6b65\u63d0\u5347\uff0c\u5c24\u5176\u662f\u5728\u5b89\u5168\u6027\u65b9\u9762\u3002\u5f53 Top-k=5 \u65f6\uff0c\u78b0\u649e\u7387\u964d\u81f3 0.09%\uff0c\u5e73\u5747 L2 \u8bef\u5dee\u964d\u81f3 0.60m\u3002\u8fd9\u8868\u660e FLA Loss \u6709\u6548\u5730\u5f15\u5bfc\u6a21\u578b\u5173\u6ce8\u51b3\u7b56\u5173\u952e\u7684\u90bb\u5c45\uff0c\u901a\u8fc7\u4ea4\u4e92\u611f\u77e5\u76d1\u7763\u589e\u5f3a\u4e86\u8fd0\u52a8\u548c\u89c4\u5212\u8868\u793a\u3002\u4e3a\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u6b64\u914d\u7f6e\uff0c\u6211\u4eec\u5c1d\u8bd5\u4e86\u4e0d\u540c\u7684 Top-k \u503c\uff0c\u53d1\u73b0 Top-k=5 \u59cb\u7ec8\u63d0\u4f9b\u6700\u4f73\u7684\u6574\u4f53\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>Adv-nuSc \u9a8c\u8bc1\u96c6<\/strong>\u3002\u5728\u6d89\u53ca\u66f4\u591a\u590d\u6742\u548c\u98ce\u9669\u573a\u666f\u7684 Adv-nuSc \u6570\u636e\u96c6\u4e0a\u89c2\u5bdf\u5230\u4e86\u7c7b\u4f3c\u7684\u8d8b\u52bf\u3002ELAI \u548c FLA Loss \u7ed3\u5408\u4f7f\u7528 Top-k=5 \u65f6\u5b9e\u73b0\u4e86\u6700\u4f4e\u7684\u5e73\u5747\u78b0\u649e\u7387\uff080.97%\uff09\uff0c\u4f18\u4e8e\u6240\u6709\u5176\u4ed6\u53d8\u4f53\u3002Adv-nuSc \u4e0a\u66f4\u5927\u7684\u6027\u80fd\u5dee\u8ddd\u8fdb\u4e00\u6b65\u7a81\u51fa\u4e86\u5404\u7ec4\u4ef6\u5728\u6311\u6218\u6027\u6761\u4ef6\u4e0b\u7684\u66f4\u5f3a\u8d21\u732e\uff0c\u63d0\u4f9b\u4e86\u66f4\u6709\u8bf4\u670d\u529b\u7684\u8bc1\u636e\uff0c\u786e\u8ba4\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u9c81\u68d2\u6027\u548c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"584\" height=\"672\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-258.png\" alt=\"\" class=\"wp-image-30075\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-258.png 584w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-258-261x300.png 261w\" sizes=\"(max-width: 584px) 100vw, 584px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u66f4\u597d\u5730\u7406\u89e3 SparseDrive \u548c\u6211\u4eec\u63d0\u51fa\u7684 FocalAD \u6a21\u578b\u4e4b\u95f4\u7684\u884c\u4e3a\u5dee\u5f02\uff0c\u6211\u4eec\u5728 Adv-nuScenes \u6570\u636e\u96c6\u7684\u4ee3\u8868\u6027\u573a\u666f\u4e2d\u8fdb\u884c\u4e86\u5b9a\u6027\u5206\u6790\u3002\u5728\u56fe 6(a) \u4e2d\uff0cSparseDrive \u672a\u80fd\u6355\u6349\u5c40\u90e8\u4ee3\u7406\u4ea4\u4e92\uff0c\u5ffd\u89c6\u4e86\u73af\u5883\u4e2d\u7684\u6f5c\u5728\u98ce\u9669\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cFocalAD \u51c6\u786e\u5730\u5efa\u6a21\u4e86\u9644\u8fd1\u7684\u4ee3\u7406\uff0c\u4e3a\u89c4\u5212\u63d0\u4f9b\u4e86\u66f4\u5e7f\u6cdb\u7684\u98ce\u9669\u610f\u8bc6\u3002\u5728\u56fe 6(b) \u4e2d\uff0c\u4e00\u8f86\u90bb\u8fd1\u7684\u516c\u4ea4\u8f66\u5728\u4e00\u4e2a\u4ea4\u53c9\u53e3\u5f00\u59cb\u53f3\u8f6c\u3002SparseDrive \u672a\u80fd\u8ba9\u884c\uff0c\u751f\u6210\u4e86\u4e00\u6761\u51b2\u7a81\u7684\u8f68\u8ff9\uff0c\u800c FocalAD \u6210\u529f\u9884\u5224\u4e86\u516c\u4ea4\u8f66\u7684\u610f\u56fe\u5e76\u76f8\u5e94\u5730\u8c03\u6574\u4e86\u8ba1\u5212\u3002\u5728\u56fe 6(c) \u4e2d\uff0c\u4e00\u8f86\u90bb\u8fd1\u8f66\u8f86\u7a81\u7136\u5207\u5165\u3002SparseDrive \u7ef4\u6301\u4e86\u539f\u6709\u7684\u8def\u5f84\uff0c\u9762\u4e34\u78b0\u649e\u98ce\u9669\uff0c\u800c FocalAD \u8fc5\u901f\u8bc6\u522b\u4e86\u8fd9\u4e00\u52a8\u4f5c\u5e76\u8c03\u6574\u4e86\u8f68\u8ff9\u4ee5\u786e\u4fdd\u5b89\u5168\u3002\u8fd9\u4e9b\u5bf9\u6bd4\u8868\u660e\uff0cFocalAD \u901a\u8fc7\u663e\u5f0f\u5efa\u6a21\u5c40\u90e8\u4ee3\u7406\u4ea4\u4e92\uff0c\u63d0\u9ad8\u4e86\u89c4\u5212\u7684\u5b89\u5168\u6027\u548c\u53ef\u89e3\u91ca\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"846\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-259-1024x846.png\" alt=\"\" class=\"wp-image-30076\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-259-1024x846.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-259-300x248.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-259-768x634.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-259.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86 FocalAD\uff0c\u8fd9\u662f\u4e00\u79cd\u901a\u8fc7\u663e\u5f0f\u5efa\u6a21\u5173\u952e\u5c40\u90e8\u8fd0\u52a8\u4ea4\u4e92\u6765\u589e\u5f3a\u89c4\u5212\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u3002\u4e0e\u4f9d\u8d56\u5168\u5c40\u805a\u5408\u7279\u5f81\u7684\u5148\u524d\u65b9\u6cd5\u4e0d\u540c\uff0cFocalAD 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\u5728\u9ad8\u98ce\u9669\u4ea4\u4e92\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u5f3a\u5927\u7684\u9c81\u68d2\u6027\uff0c\u7a81\u51fa\u4e86\u5173\u6ce8\u51b3\u7b56\u5173\u952e\u7684\u5c40\u90e8\u4ee3\u7406\u7684\u6709\u6548\u6027\u3002\u672a\u6765\u7684\u5de5\u4f5c\u5c06\u63a2\u7d22\u751f\u6210\u5f0f\u89c4\u5212\u6846\u67b6\u548c\u8f68\u8ff9\u4f18\u5316\u7b56\u7565\uff0c\u4ee5\u8fdb\u4e00\u6b65\u63d0\u9ad8\u8f68\u8ff9\u591a\u6837\u6027\u5e76\u589e\u5f3a\u89c4\u5212\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] FocalAD Local Motion Planning for End-to-End Autonomous Driving<\/p>\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-30060","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\/30060"}],"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=30060"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30060\/revisions"}],"predecessor-version":[{"id":30077,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30060\/revisions\/30077"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=30060"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=30060"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=30060"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}