{"id":30185,"date":"2025-06-20T17:34:14","date_gmt":"2025-06-20T09:34:14","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30185"},"modified":"2025-06-20T17:34:14","modified_gmt":"2025-06-20T09:34:14","slug":"2025-06-20-cvpr25%e7%ab%af%e5%88%b0%e7%ab%af%e5%86%a0%e5%86%9b%e6%96%b9%e6%a1%88%ef%bc%81gtrs%ef%bc%9a%e5%8f%af%e6%b3%9b%e5%8c%96%e5%a4%9a%e6%a8%a1%e6%80%81%e7%ab%af%e5%88%b0%e7%ab%af%e8%bd%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/20\/30185\/","title":{"rendered":"2025-06-20 CVPR&#8217;25\u7aef\u5230\u7aef\u51a0\u519b\u65b9\u6848\uff01GTRS\uff1a\u53ef\u6cdb\u5316\u591a\u6a21\u6001\u7aef\u5230\u7aef\u8f68\u8ff9\u89c4\u5212\uff08\u82f1\u4f1f\u8fbe&amp;\u590d\u65e6\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1919180283481167798\">https:\/\/zhuanlan.zhihu.com\/p\/1919180283481167798<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-f9a4f64215085817a1ceb21b1b69d8c0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2506.06664\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2506.06664<\/a><\/p>\n\n\n\n<p>Github\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/NVlabs\/GTRS\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/NVlabs\/GTRS<\/a><\/p>\n\n\n\n<p>NVIDIA\u6280\u672f\u535a\u5ba2\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/blogs.nvidia.com\/blog\/auto-research-cvpr-2025\/%3Fncid%3Dso-nvsh-677066\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/blogs.nvidia.com\/blog\/auto-research-cvpr-2025\/?ncid=so-nvsh-677066<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259310161&amp;content_type=Article&amp;match_order=1&amp;q=CVPR+2025&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CVPR 2025<\/a><\/p>\n\n\n\n<p>Autonomous Grand Challenge: <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/opendrivelab.com\/legacy\/challenge2025\/index.html\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/opendrivelab.com\/legacy\/challenge2025\/index.html<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1919180283481167798_0\">\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6311\u6218\u8d5b\u80cc\u666f<\/h2>\n\n\n\n<p>NAVSIM v2 \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6311\u6218\u8d5b\u662f CVPR 2025 Autonomous Grand Challenge \u7684\u91cd\u8981\u8d5b\u4e8b\u4e4b\u4e00\uff0c\u5ef6\u7eed\u4e86\u5bf9\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u53ef\u6269\u5c55\u6027\u4e0e\u6cdb\u5316\u80fd\u529b\u7684\u6df1\u5165\u8bc4\u4f30\u3002\u4eca\u5e74\u7684\u6bd4\u8d5b\u8fdb\u4e00\u6b65\u5347\u7ea7\uff0c\u6240\u4f7f\u7528\u7684\u6d4b\u8bd5\u96c6\u4e2d\u5305\u542b\u4e86\u56f0\u96be\u7684\u9a7e\u9a76\u573a\u666f\u4ee5\u53ca\u8fd9\u4e9b\u573a\u666f\u5728 3D \u6e32\u67d3\u4e0b\u7684\u5ef6\u7533\uff0c\u91cd\u70b9\u8003\u9a8c\u6a21\u578b\u5728\u590d\u6742\u9a7e\u9a76\u60c5\u5883\u4e0b\u7684\u51b3\u7b56\u9c81\u68d2\u6027\u4e0e\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-221c97396cad2a4c0cb8730d4709e560_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe\u7247 1 NAVSIM v2 \u6311\u6218\u8d5b\u6392\u884c\u699c<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u4eca\u5e74\u7684\u6bd4\u8d5b\u4e2d\uff0c\u7531\u6211\u4eec <strong>NVIDIA\u3001\u590d\u65e6\u5927\u5b66<\/strong>\u7ec4\u6210\u7684\u56e2\u961f\u518d\u5ea6\u83b7\u5f97\u4e86\u6bd4\u8d5b\u7684\u51a0\u519b \u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1919180283481167798_1\">\u4ece\u6a21\u4eff\u5b66\u4e60\u5230\u57fa\u4e8e\u89c4\u5219\u7684\u77e5\u8bc6\u84b8\u998f<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-a5cccfa84efa083cfeda8de72bf4f08a_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe\u7247 2 \u57fa\u4e8e\u6a21\u4eff\u5b66\u4e60\u7684\u6269\u6563\u6a21\u578b<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u4ecb\u7ecd\u6211\u4eec\u7684\u65b9\u6848\u4e4b\u524d\uff0c\u6211\u4eec\u5148\u4ee5\u6269\u6563\u6a21\u578b\u4e3a\u4f8b\uff0c\u7b80\u8981\u56de\u987e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5b66\u4e60\u4e2d\u7684\u6a21\u4eff\u5b66\u4e60\u8303\u5f0f\u3002\u6269\u6563\u6a21\u578b\u8fd1\u5e74\u6765\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u83b7\u5f97\u5e7f\u6cdb\u5e94\u7528\uff0c\u5176\u6838\u5fc3\u601d\u60f3\u662f\u4ece\u4ee5\u73af\u5883\u7279\u5f81\u4e3a\u6761\u4ef6\uff0c\u901a\u8fc7\u52a0\u5165\u566a\u58f0\u4e0e\u9010\u6b65\u53bb\u566a\u7684\u8fc7\u7a0b\u751f\u6210\u591a\u6a21\u6001\u7684\u672a\u6765\u8f68\u8ff9\u5019\u9009\uff0c\u5177\u5907\u8f83\u5f3a\u7684\u8f68\u8ff9\u591a\u6837\u6027\u4e0e\u62df\u5408\u80fd\u529b\u3002\u4f46\u8fd9\u7c7b\u57fa\u4e8e\u6a21\u4eff\u5b66\u4e60\u8303\u5f0f\u7684\u6838\u5fc3\u95ee\u9898\u5728\u4e8e\u5176\u8fc7\u5ea6\u4f9d\u8d56\u4eba\u7c7b\u6f14\u793a\u6570\u636e\u3002\u867d\u7136\u5b83\u53ef\u4ee5\u901a\u8fc7\u6a21\u4eff\u4eba\u7c7b\u884c\u4e3a\u8fbe\u5230\u8f83\u4f4e\u7684\u8bef\u5dee\uff08\u5982 L2 \u8ddd\u79bb\uff09\uff0c\u4f46\u7531\u4e8e\u53ea\u80fd\u5b66\u4e60\u4eba\u7c7b\u5c55\u793a\u8fc7\u7684\u884c\u4e3a\u8f68\u8ff9\uff0c\u5b83\u5728\u9762\u5bf9\u672a\u590d\u6742\u9a7e\u9a76\u60c5\u5883\u65f6\uff0c\u96be\u4ee5\u505a\u51fa\u9c81\u68d2\u7684\u51b3\u7b56\uff0c\u540c\u65f6\u5728\u672a\u89c1\u8fc7\u7684\u65b0\u573a\u666f\u4e0b\u7684\u6cdb\u5316\u80fd\u529b\u4e5f\u5b58\u5728\u4e0d\u8db3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-3c810a7c4230b91f62958ddfaa89cd2f_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe\u7247 3 Hydra-MDP\uff1a\u57fa\u4e8e\u89c4\u5219\u7684\u77e5\u8bc6\u84b8\u998f\u8303\u5f0f<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u53bb\u5e74\u7684\u6bd4\u8d5b\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 Hydra-MDP \u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u3002\u8be5\u6846\u67b6\u4e0d\u518d\u4f9d\u8d56\u5355\u4e00 \u8def\u5f84\u7684\u6a21\u4eff\uff0c\u800c\u662f\u4f7f\u7528\u5927\u91cf\u591a\u6a21\u5f0f\u7684\u8f68\u8ff9\u5019\u9009\uff0c\u5e76\u901a\u8fc7\u4e0e\u73af\u5883\u7684\u4ea4\u4e92\u83b7\u5f97\u57fa\u4e8e\u89c4\u5219\u7684\u5956\u52b1\u4fe1\u53f7\u3002\u6211\u4eec\u4f7f\u7528\u8fd9\u4e9b\u5956\u52b1\u6765\u8bad\u7ec3\u51fa\u4e00\u4e2a\u80fd\u591f\u5bf9\u4e0d\u540c\u89c4\u5219\u7ef4\u5ea6\u8fdb\u884c\u6253\u5206\u7684\u8f68\u8ff9\u8bc4\u5206\u6a21\u578b\u3002\u76f8\u6bd4\u4e8e\u4ec5\u4f9d\u8d56\u4eba\u7c7b\u6f14\u793a\u7684\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\uff0c\u8be5\u6846\u67b6\u66f4\u5f3a\u8c03\u8f68\u8ff9\u4e0e\u73af\u5883\u4e4b\u95f4\u7684\u53cd\u9988\u5173\u7cfb\uff0c\u80fd\u591f\u5728\u590d\u6742\u573a\u666f\u4e2d\u66f4\u597d\u8bc4\u4f30\u548c\u9009\u62e9\u5b89\u5168\u7684\u9a7e\u9a76\u884c\u4e3a\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u9ad8\u7684\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1919180283481167798_2\">GTRS \u6846\u67b6<\/h2>\n\n\n\n<p>\u4e3a\u5e94\u5bf9\u6311\u6218\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 GTRS\uff08Generalized Trajectory Scoring\uff09\u6846\u67b6\uff0c\u878d\u5408\u4e86\u52a8 \u6001\u751f\u6210\u4e0e\u9759\u6001\u8bcd\u8868\u4e24\u7c7b\u8f68\u8ff9\u8bc4\u5206\u7b56\u7565\uff0c\u5168\u9762\u63d0\u5347\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u6cdb\u5316\u4e0e\u5224\u522b\u80fd\u529b\u3002 GTRS \u6846\u67b6\u5305\u542b\u4e09\u5927\u6838\u5fc3\u7ec4\u4ef6\uff1a<\/p>\n\n\n\n<p>\uff081\uff09\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u8f68\u8ff9\u751f\u6210\u5668\uff0c\u63d0\u4f9b\u4e30\u5bcc\u7ec6\u81f4\u7684\u52a8\u6001\u8f68\u8ff9\u5019\u9009\uff1b\uff082\uff09\u8d85\u5bc6\u96c6\u8f68\u8ff9\u8bcd\u8868\u7ed3\u5408 Dropout \u6cdb\u5316\u7b56\u7565\uff0c\u5f3a\u5316\u8bc4\u5206\u5668\u5bf9\u591a\u6837\u8f68\u8ff9\u5206\u5e03\u7684 \u9002\u5e94\u6027\uff1b\uff083\uff09\u4f20\u611f\u5668\u89c6\u89d2\u6270\u52a8\u4e0e\u7cbe\u7ec6\u5316\u8bc4\u5206\u6a21\u5757\uff0c\u589e\u5f3a\u5bf9\u957f\u5c3e\u573a\u666f\u4e0e\u5fae\u5c0f\u884c\u4e3a\u5dee\u5f02\u7684\u8fa8\u8bc6\u80fd\u529b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1919180283481167798_3\">\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u8f68\u8ff9\u751f\u6210<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-cdce844a76fb5e205f85c45adc5695c0_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe\u7247 4 \u8f68\u8ff9\u8bc4\u5206\u5668\u4e0e\u6269\u6563\u6a21\u578b\u7684\u7ed3\u5408<\/figcaption><\/figure>\n\n\n\n<p>\u5728 Hydra-MDP \u4f7f\u7528\u7684\u9759\u6001\u8f68\u8ff9\u8bcd\u8868\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u7531\u6269\u6563\u6a21\u578b\u52a8\u6001\u751f\u6210\u7684\u3001\u4e0e\u5f53\u524d\u9a7e\u9a76\u573a\u666f\u9ad8\u5ea6\u76f8\u5173\u7684\u8f68\u8ff9\u5019\u9009\u3002\u8fd9\u4e9b\u52a8\u6001\u8f68\u8ff9\u80fd\u591f\u5f25\u8865\u9759\u6001\u8bcd\u8868\u5728\u884c\u4e3a\u591a\u6837\u6027\u4e0a\u7684\u4e0d\u8db3\uff0c\u901a\u8fc7\u878d\u5408\u9759\u6001\u4e0e\u52a8\u6001\u8f68\u8ff9\uff0c\u5e76\u4f7f\u7528\u6211\u4eec\u7684\u8f68\u8ff9\u8bc4\u5206\u5668\u8fdb\u884c\u7edf\u4e00\u8bc4\u4f30\uff0c\u8be5\u6df7\u5408\u7b56\u7565\u663e\u8457\u63d0\u5347\u4e86\u8f68\u8ff9\u7a7a\u95f4\u7684\u8986\u76d6\u80fd\u529b\u3002\u5728\u5b9e\u9645\u6d4b\u8bd5\u4e2d\uff0c\u8fd9\u4e00\u65b9\u6cd5\u5728 EPDMS \u6307\u6807\u4e0a\u5e26\u6765\u4e86+1.1%\u7684\u6027\u80fd\u63d0\u5347\uff0c\u9a8c\u8bc1\u4e86\u6269\u6563\u8f68\u8ff9\u5bf9\u9759\u6001\u8bcd\u8868\u7684\u6709\u6548\u8865\u5145\u4f5c\u7528\u3002\u8fd9\u4e5f\u4ece\u4fa7\u9762\u8bf4\u660e\u8f68\u8ff9\u8bc4\u5206\u5668\u6709\u826f\u597d\u7684\u6cdb\u5316\u6027\uff0c\u80fd\u591f\u5904\u7406\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u672a\u89c1\u8fc7\u7684\u6269\u6563\u6a21\u578b\u8f68\u8ff9\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1919180283481167798_4\">\u8f68\u8ff9\u8bc4\u5206\u5668\uff1aGTRS-Dense<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-7d31df7cb437964e3bcfcaab9115b93d_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe\u7247 5 GTRS-Dense \u67b6\u6784<\/figcaption><\/figure>\n\n\n\n<p>\u9664\u4e86\u8f68\u8ff9\u751f\u6210\u7aef\uff0c\u6211\u4eec\u5728\u8f68\u8ff9\u8bc4\u5206\u7aef\u4f7f\u7528 GTRS-Dense \u6a21\u578b\u8fdb\u884c\u66f4\u6709\u6548\u7684\u8f68\u8ff9\u8bc4\u4f30\u3002\u8be5\u6a21\u578b\u5728\u8bad\u7ec3\u65f6\u4f7f\u7528\u4e86\u4e00\u4e2a\u8d85\u5bc6\u96c6\u7684\u8f68\u8ff9\u96c6\u5408\uff0c\u4ee5\u63d0\u5347\u8bc4\u5206\u5668\u5bf9\u591a\u6837\u8f68\u8ff9\u5206\u5e03\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u4f7f\u5176\u5177\u5907\u66f4\u5f3a\u7684\u8f68\u8ff9\u8bc4\u5206\u80fd\u529b\u3002\u4e3a\u4e86\u9632\u6b62\u6a21\u578b\u8fc7\u62df\u5408\u7279\u5b9a\u7684\u8f68\u8ff9\u6a21\u5f0f\uff0c\u6211\u4eec\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5f15\u5165\u4e86\u968f\u673a Dropout \u7b56\u7565\u2014\u2014\u6bcf\u6b21\u4ec5\u4fdd\u7559\u4e00\u534a\u7684\u8f68\u8ff9\u8fdb\u884c\u8bad\u7ec3\uff0c\u4ece\u800c\u5b9e\u73b0\u6709\u6548\u7684\u6b63\u5219\u5316\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8be5 Dropout \u7b56\u7565\u5e26\u6765\u4e86+1.4% EPDMS\u7684\u6027\u80fd\u63d0\u5347\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u6a21\u578b\u5728\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u6cdb\u5316\u8868\u73b0\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1919180283481167798_5\">\u8f68\u8ff9\u8bc4\u5206\u5668\uff1aGTRS-Aug<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-02ecb64beae6c4b1f8d8d5413d15838f_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe\u7247 6 GTRS-Aug \u67b6\u6784\uff0c\u6765\u81ea\u4e8e\u6211\u4eec\u7684\u65b0\u5de5\u4f5c 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