{"id":30105,"date":"2025-06-19T17:31:51","date_gmt":"2025-06-19T09:31:51","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30105"},"modified":"2025-06-19T17:31:51","modified_gmt":"2025-06-19T09:31:51","slug":"2025-06-19-ucla%e6%9c%80%e6%96%b0%ef%bc%81%e5%bc%80%e9%97%ad%e7%8e%afautovla%ef%bc%9a%e5%bc%ba%e5%8c%96%e5%ad%a6%e4%b9%a0%e5%be%ae%e8%b0%83%e8%87%aa%e9%80%82%e5%ba%94%e6%8e%a8%e7%90%86%e5%a6%82","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/19\/30105\/","title":{"rendered":"2025-06-19 UCLA\u6700\u65b0\uff01\u5f00\u95ed\u73afAutoVLA\uff1a\u5f3a\u5316\u5b66\u4e60\u5fae\u8c03&amp;\u81ea\u9002\u5e94\u63a8\u7406\u5982\u4f55\u6253\u9020\u9ad8\u6548\u7aef\u5230\u7aef\u89c4\u5212\uff1f"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1918817076363125456\">https:\/\/zhuanlan.zhihu.com\/p\/1918817076363125456<\/a><\/p>\n\n\n\n<p>\u6700\u8fd1\uff0c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c(VLA)\u6a21\u578b\u7684\u53d1\u5c55\u5c55\u793a\u4e86\u901a\u8fc7\u5229\u7528\u4e16\u754c\u77e5\u8bc6\u548c\u63a8\u7406\u80fd\u529b\u8fdb\u884c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u524d\u666f\u3002\u7136\u800c\uff0c\u5f53\u524d\u7684VLA\u6a21\u578b\u5728\u7269\u7406\u4e0a\u4e0d\u53ef\u884c\u7684\u52a8\u4f5c\u8f93\u51fa\u3001\u590d\u6742\u7684\u6a21\u578b\u7ed3\u6784\u6216\u4e0d\u5fc5\u8981\u7684\u957f\u63a8\u7406\u65b9\u9762\u5e38\u5e38\u9047\u5230\u56f0\u96be\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684VLA\u6a21\u578b\u2014\u2014AutoVLA\uff0c\u5b83\u5728\u4e00\u4e2a\u5355\u4e00\u7684\u81ea\u56de\u5f52\u751f\u6210\u6a21\u578b\u4e2d\u7edf\u4e00\u4e86\u63a8\u7406\u548c\u52a8\u4f5c\u751f\u6210\uff0c\u7528\u4e8e\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u3002AutoVLA\u80fd\u591f\u76f4\u63a5\u4ece\u539f\u59cb\u89c6\u89c9\u8f93\u5165\u548c\u8bed\u8a00\u6307\u4ee4\u4e2d\u8fdb\u884c\u8bed\u4e49\u63a8\u7406\u548c\u8f68\u8ff9\u89c4\u5212\u3002\u6211\u4eec\u5c06\u8fde\u7eed\u8f68\u8ff9\u6807\u8bb0\u5316\u4e3a\u79bb\u6563\u3001\u53ef\u884c\u7684\u52a8\u4f5c\uff0c\u4f7f\u5176\u53ef\u4ee5\u76f4\u63a5\u96c6\u6210\u5230\u8bed\u8a00\u6a21\u578b\u4e2d\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u91c7\u7528\u76d1\u7763\u5fae\u8c03\u6765\u8d4b\u4e88\u6a21\u578b\u4e24\u79cd\u601d\u8003\u6a21\u5f0f\uff1a\u5feb\u901f\u601d\u8003\uff08\u4ec5\u8f68\u8ff9\uff09\u548c\u6162\u901f\u601d\u8003\uff08\u589e\u5f3a\u94fe\u5f0f\u63a8\u7406\uff09\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u9ad8\u89c4\u5212\u6027\u80fd\u548c\u6548\u7387\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u7ec4\u76f8\u5bf9\u7b56\u7565\u4f18\u5316(GRPO)\u7684\u5f3a\u5316\u5fae\u8c03\u65b9\u6cd5\uff0c\u4ee5\u51cf\u5c11\u5728\u7b80\u5355\u573a\u666f\u4e2d\u7684\u4e0d\u5fc5\u8981\u63a8\u7406\u3002\u5e7f\u6cdb\u7684\u5b9e\u9a8c\u8de8\u8d8a\u73b0\u5b9e\u4e16\u754c\u548c\u6a21\u62df\u6570\u636e\u96c6\u53ca\u57fa\u51c6\u6d4b\u8bd5\uff0c\u5305\u62ecnuPlan\u3001nuScenes\u3001Waymo\u548cCARLA\uff0c\u8bc1\u660e\u4e86AutoVLA\u5728\u5f00\u73af\u548c\u95ed\u73af\u8bbe\u7f6e\u4e2d\u7684\u7ade\u4e89\u6027\u80fd\u3002\u5b9a\u6027\u7ed3\u679c\u5c55\u793a\u4e86AutoVLA\u5728\u5404\u79cd\u573a\u666f\u4e0b\u7684\u81ea\u9002\u5e94\u63a8\u7406\u548c\u7cbe\u786e\u89c4\u5212\u80fd\u529b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2506.13757<\/li>\n\n\n\n<li>\u9879\u76ee\u94fe\u63a5\uff1ahttps:\/\/autovla.github.io\/<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"726\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-260-1024x726.png\" alt=\"\" class=\"wp-image-30106\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-260-1024x726.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-260-300x213.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-260-768x545.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-260.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u901a\u5e38\u91c7\u7528\u6a21\u5757\u5316\u8303\u5f0f\uff0c\u5c06\u9a7e\u9a76\u4efb\u52a1\u5206\u89e3\u4e3a\u4e0d\u540c\u7684\u5b50\u6a21\u5757\uff0c\u5982\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u3002\u867d\u7136\u8fd9\u79cd\u8bbe\u8ba1\u5141\u8bb8\u7ed3\u6784\u5316\u7684\u5f00\u53d1\uff0c\u4f46\u5b83\u53ef\u80fd\u5bfc\u81f4\u9519\u8bef\u79ef\u7d2f\u548c\u8de8\u6a21\u5757\u7f3a\u4e4f\u8054\u5408\u4f18\u5316\uff0c\u4ece\u800c\u5bfc\u81f4\u6b21\u4f18\u6027\u80fd\u3002\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7531\u4e8e\u5176\u7edf\u4e00\u7684\u6a21\u578b\u67b6\u6784\u800c\u53d7\u5230\u91cd\u89c6\uff0c\u8be5\u67b6\u6784\u76f4\u63a5\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u5230\u6700\u7ec8\u7684\u9a7e\u9a76\u52a8\u4f5c\u3002\u8fd9\u4e9b\u6a21\u578b\u662f\u5728\u4eba\u7c7b\u9a7e\u9a76\u6570\u636e\u4e0a\u8bad\u7ec3\u7684\uff0c\u589e\u5f3a\u4e86\u53ef\u6269\u5c55\u6027\u548c\u7c7b\u4eba\u884c\u4e3a\u3002\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\u56e0\u5176\u7ecf\u6d4e\u5b9e\u60e0\u548c\u6613\u4e8e\u90e8\u7f72\u800c\u5f15\u8d77\u4e86\u5e7f\u6cdb\u5173\u6ce8\u3002<\/p>\n\n\n\n<p>\u7136\u800c\u4f20\u7edf\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u4e3b\u8981\u5173\u6ce8\u6a21\u4eff\u4e13\u5bb6\u8f68\u8ff9\uff0c\u7f3a\u4e4f\u5bf9\u5468\u56f4\u73af\u5883\u7406\u89e3\u548c\u63a8\u7406\u7684\u57fa\u672c\u4e16\u754c\u77e5\u8bc6\uff0c\u7279\u522b\u662f\u5728\u957f\u5c3e\u6216\u590d\u6742\u573a\u666f\u4e2d\u3002\u8fd1\u671f\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b(VLMs)\u7684\u53d1\u5c55\u5f15\u8d77\u4e86\u5e7f\u6cdb\u5173\u6ce8\uff0c\u56e0\u4e3a\u5b83\u4eec\u5f15\u5165\u4e86\u80fd\u591f\u5229\u7528\u5e7f\u6cdb\u4e16\u754c\u77e5\u8bc6\u548c\u5f3a\u5927\u63a8\u7406\u80fd\u529b\u7684\u6a21\u578b\u3002\u8fd9\u4e9b\u6a21\u578b\u5728\u591a\u6837\u5316\u7684\u9a7e\u9a76\u573a\u666f\u4e2d\u5c55\u793a\u51fa\u63d0\u5347\u9002\u5e94\u6027\u548c\u53ef\u6269\u5c55\u6027\u7684\u5de8\u5927\u6f5c\u529b\u3002\u5728VLMs\u7684\u57fa\u7840\u4e0a\uff0c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c(VLA)\u6a21\u578b\u6269\u5c55\u4e86\u8fd9\u4e00\u80fd\u529b\u5230\u52a8\u4f5c\u751f\u6210\uff0c\u4f7f\u5f97\u5177\u8eab\u4ee3\u7406\uff0c\u5982\u673a\u5668\u4eba\u548c\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\uff0c\u80fd\u591f\u6839\u636e\u89c6\u89c9\u89c2\u5bdf\u548c\u8bed\u8a00\u6307\u4ee4\u4ea7\u751f\u53ef\u884c\u7684\u7269\u7406\u52a8\u4f5c\u3002<\/p>\n\n\n\n<figure 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-262-300x237.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-262-768x606.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-262.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6a21\u578b\u8f93\u5165<\/strong><\/p>\n\n\n\n<p>AutoVLA\u63a5\u6536\u6765\u81ea\u8f66\u8f7d\u6444\u50cf\u5934\u7684\u591a\u89c6\u89d2\u3001\u591a\u5e27\u76f8\u673a\u6570\u636eC\uff0c\u9ad8\u7ea7\u5bfc\u822a\u6307\u4ee4I\u4ee5\u53ca\u81ea\u8f66\u72b6\u6001S\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u8fdb\u884c\u573a\u666f\u63a8\u7406\u548c\u8f68\u8ff9\u89c4\u5212\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u4f7f\u7528\u5b89\u88c5\u5728\u8f66\u8f86\u524d\u90e8\u3001\u524d\u5de6\u548c\u524d\u53f3\u7684\u4e09\u4e2aRGB\u6444\u50cf\u5934\u3002\u6bcf\u4e2a\u76f8\u673a\u6d41ci=[cti\u22123, cti\u22122, cti\u22121, cti]\u4ee52 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061901.png\" alt=\"\" class=\"wp-image-30110\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061901.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061901-300x95.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>\u5f3a\u5316\u5fae\u8c03<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"582\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061902.png\" alt=\"\" class=\"wp-image-30111\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061902.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061902-300x259.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"602\" height=\"718\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-264.png\" alt=\"\" class=\"wp-image-30112\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-264.png 602w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-264-252x300.png 252w\" sizes=\"(max-width: 602px) 100vw, 602px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p>\u6bcf\u4e2a\u52a8\u4f5c\u6807\u8bb0\u5bf9\u5e940.5\u79d2\u7684\u79fb\u52a8\uff0c\u89c4\u5212\u89c6\u91ce\u8bbe\u7f6e\u4e3a5\u79d2\u3002\u56e0\u6b64\uff0c\u6a21\u578b\u8f93\u51fa10\u4e2a\u52a8\u4f5c\u6807\u8bb0\uff0c\u4ece\u4e2d\u53ef\u4ee5\u89e3\u7801\u51fa5\u79d2\u7684\u8f68\u8ff9\u3002\u5bf9\u4e8eSFT\uff0c\u6211\u4eec\u4f7f\u75281 \u00d7 10^-5\u7684\u5b66\u4e60\u7387\u548cFSDP\u8bad\u7ec3\u7b56\u7565\u3002\u6a21\u578b\u57288\u5757NVIDIA L40S 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"582\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-265-1024x582.png\" alt=\"\" class=\"wp-image-30115\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-265-1024x582.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-265-300x171.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-265-768x437.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-265.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6570\u636e\u6269\u5c55\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728nuPlan\u548cnuScenes\u6570\u636e\u96c6\u7684\u6df7\u5408\u6570\u636e\u4e0a\u8bad\u7ec3AutoVLA\uff0c\u4f7f\u7528\u4e0d\u540c\u7684\u8bad\u7ec3\u96c6\u5927\u5c0f\uff0810k\u300150k\u3001100k\u548c\u5b8c\u6574\u7684185k\u6837\u672c\uff09\uff0c\u5e76\u4f7f\u7528\u4ec5\u52a8\u4f5c\u76d1\u7763\u6216\u6dfb\u52a0\u989d\u5916\u7684CoT\u63a8\u7406\u76d1\u7763\u3002\u6a21\u578b\u5728\u5404\u81ea\u7684\u6807\u51c6\u5316\u6d4b\u8bd5\u96c6\u4e0a\u8fdb\u884c\u8bc4\u4f30\uff0c\u7ed3\u679c\u5982\u56fe4\u6240\u793a\u3002\u6211\u4eec\u89c2\u5bdf\u5230\uff0c\u589e\u52a0\u8bad\u7ec3\u6570\u636e\u91cf\u6301\u7eed\u63d0\u5347\u4e86\u4e24\u4e2a\u6570\u636e\u96c6\u4e0a\u7684\u89c4\u5212\u6027\u80fd\u3002\u5728nuPlan\u6570\u636e\u96c6\u4e2d\uff0c\u5f53\u4f7f\u7528\u5c11\u4e8e50k\u7684\u8bad\u7ec3\u6837\u672c\u65f6\uff0cCoT\u63a8\u7406\u5728PDMS\u548c\u78b0\u649e\u5f97\u5206\u4e0a\u672a\u4f18\u4e8e\u4ec5\u52a8\u4f5c\u65b9\u6cd5\u3002\u8fd9\u53ef\u80fd\u662f\u7531\u4e8e\u6709\u9650\u6570\u636e\u5b66\u4e60\u7ed3\u6784\u5316\u63a8\u7406\u7684\u96be\u5ea6\u8f83\u5927\u3002\u7136\u800c\uff0c\u968f\u7740\u8bad\u7ec3\u96c6\u89c4\u6a21\u7684\u589e\u52a0\uff0c\u4f7f\u7528CoT\u63a8\u7406\u8bad\u7ec3\u7684\u6a21\u578b\u8d85\u8fc7\u4e86\u4ec5\u52a8\u4f5c\u76d1\u7763\u7684\u6a21\u578b\uff0c\u7a81\u51fa\u4e86\u63a8\u7406\u589e\u5f3a\u5b66\u4e60\u7684\u53ef\u6269\u5c55\u6027\u4f18\u52bf\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e2d\uff0c\u4ec5\u52a8\u4f5c\u76d1\u7763\u5728L2\u8ddd\u79bb\u548c\u78b0\u649e\u7387\u4e0a\u8868\u73b0\u66f4\u597d\u3002\u8fd9\u53ef\u80fd\u662f\u56e0\u4e3anuScenes\u5305\u542b\u7684\u5927\u591a\u662f\u4e0d\u9700\u8981\u590d\u6742\u63a8\u7406\u7684\u7b80\u5355\u573a\u666f\uff0c\u4f7f\u5f97CoT\u8bad\u7ec3\u5728\u6b64\u60c5\u51b5\u4e0b\u6536\u76ca\u4e0d\u5927\u3002<\/p>\n\n\n\n<p><strong>RFT\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5c06RFT\u5e94\u7528\u4e8e\u901a\u8fc7SFT\u8bad\u7ec3\u7684\u5b8c\u6574\u6570\u636eCoT\u63a8\u7406\u6a21\u578b\uff0c\u4ee5\u589e\u5f3a\u5176\u89c4\u5212\u6027\u80fd\u3002\u5982\u56fe5(a)\u6240\u793a\uff0cRFT\u5728NAVSIM\u6d4b\u8bd5\u96c6\u4e0a\u4f7fPDMS\u63d0\u9ad8\u4e8610.6%\uff0c\u5e76\u5728\u5e73\u5747500\u4e2a\u6d4b\u8bd5\u573a\u666f\u4e2d\u5c06\u8fd0\u884c\u65f6\u95f4\u51cf\u5c11\u4e8666.8%\u3002\u56fe5(b)\u4e2d\u7684\u5956\u52b1\u66f2\u7ebf\u5c55\u793a\u4e86\u6a21\u578b\u5728RFT\u671f\u95f4\u7b56\u7565\u7684\u9010\u6b65\u6539\u8fdb\u3002\u4e0d\u540cGRPO\u7ec4\u6837\u672c\u5927\u5c0f\u7684\u5b9e\u9a8c\u8868\u660e\uff0c\u8f83\u5927\u7684\u7ec4\u901a\u8fc7\u4fc3\u8fdb\u66f4\u5e7f\u6cdb\u7684\u8bad\u7ec3\u6837\u672c\u63a2\u7d22\u5e26\u6765\u4e86\u66f4\u597d\u7684\u6027\u80fd\u3002\u5982\u56fe5(c)\u6240\u793a\uff0cRFT\u4e5f\u51cf\u5c11\u4e86\u7b80\u5355\u573a\u666f\u4e2d\u4e0d\u5fc5\u8981\u7684\u7f13\u6162\u63a8\u7406\uff0c\u8fd9\u662f\u7531CoT\u957f\u5ea6\u60e9\u7f5a\u9a71\u52a8\u7684\uff0c\u9f13\u52b1\u5728\u7b80\u5355\u9a7e\u9a76\u6848\u4f8b\u4e2d\u5feb\u901f\u601d\u8003\u3002\u5b9a\u6027\u6bd4\u8f83\u663e\u793a\uff0cSFT\u6a21\u578b\u7531\u4e8e\u751f\u6210\u8fc7\u7a0b\u4e2d\u7684\u8bef\u5dee\u79ef\u7d2f\u4ea7\u751f\u4e86\u6b21\u4f18\u8ba1\u5212\uff0c\u800cRFT\u6a21\u578b\uff08\u901a\u8fc7\u57fa\u4e8ePDMS\u7684\u5956\u52b1\u4f18\u5316\uff09\u751f\u6210\u4e86\u66f4\u597d\u7684\u89c4\u5212\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>nuPlan\u57fa\u51c6\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728NAVSIM\u57fa\u51c6\u4e0a\u8bc4\u4f30\u4e86AutoVLA\u4e0e\u73b0\u6709\u6700\u5148\u8fdb\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6a21\u578b\u7684\u8868\u73b0\uff0c\u7ed3\u679c\u89c1\u88681\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"373\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-266-1024x373.png\" alt=\"\" class=\"wp-image-30116\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-266-1024x373.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-266-300x109.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-266-768x279.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-266.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Waymo E2E\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728Waymo\u7aef\u5230\u7aef\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30AutoVLA\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b\u4e86\u957f\u5c3e\u548c\u590d\u6742\u7684\u9a7e\u9a76\u573a\u666f\u3002\u6a21\u578b\u5728\u4e0d\u540c\u8bad\u7ec3\u8bbe\u7f6e\u4e0b\u7684\u6d4b\u8bd5\u96c6\u8868\u73b0\u5982\u56fe6\u6240\u793a\u3002\u7ed3\u679c\u663e\u793a\uff0c\u5728nuPlan\u548cnuScenes\u6570\u636e\u96c6\u4e0a\u9884\u8bad\u7ec3\u663e\u8457\u63d0\u5347\u4e86\u6027\u80fd\uff0c\u8868\u660e\u901a\u8fc7\u63a5\u89e6\u66f4\u591a\u6837\u5316\u7684\u8bad\u7ec3\u6570\u636e\u589e\u5f3a\u4e86\u573a\u666f\u7406\u89e3\u80fd\u529b\u3002\u5728\u8bad\u7ec3\u4e2d\u52a0\u5165CoT\u63a8\u7406\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u89c4\u5212\u6027\u80fd\uff0c\u76f8\u6bd4\u4ec5\u52a8\u4f5c\u8bad\u7ec3\u6709\u6240\u6539\u5584\u3002\u4f7f\u7528ADE\u4f5c\u4e3a\u5956\u52b1\u51fd\u6570\u7684RFT\u540e\u8bad\u7ec3\u5728\u6574\u4f53RFS\u6307\u6807\u4e0a\u8fbe\u5230\u4e86\u6700\u4f73\u8868\u73b0\u3002\u4e00\u4e2a\u5728\u65bd\u5de5\u533a\u57df\u7684\u60c5\u666f\u5b9a\u6027\u793a\u4f8b\u5c55\u793a\u4e86\u6a21\u578b\u5728\u906e\u6321\u63a8\u7406\u548c\u751f\u6210\u6709\u6548\u7ed5\u884c\u8ba1\u5212\u65b9\u9762\u7684\u80fd\u529b\u5efa\u8bbe\u3002\u66f4\u591a\u7ed3\u679c\u8bf7\u53c2\u89c1\u8865\u5145\u6750\u6599\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"316\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-267-1024x316.png\" alt=\"\" class=\"wp-image-30117\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-267-1024x316.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-267-300x93.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-267-768x237.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-267.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-268-1024x336.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-268-300x98.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-268-768x252.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-268.png 1036w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"576\" height=\"254\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-269.png\" alt=\"\" class=\"wp-image-30119\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-269.png 576w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-269-300x132.png 300w\" sizes=\"(max-width: 576px) 100vw, 576px\" 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