{"id":30348,"date":"2025-06-26T17:37:31","date_gmt":"2025-06-26T09:37:31","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30348"},"modified":"2025-06-27T16:12:11","modified_gmt":"2025-06-27T08:12:11","slug":"sota%e7%ab%af%e5%88%b0%e7%ab%af%e7%ae%97%e6%b3%95%e5%a6%82%e4%bd%95%e8%ae%be%e8%ae%a1%ef%bc%9fcvpr25-wod%e7%ba%af%e8%a7%86%e8%a7%89%e7%ab%af%e5%88%b0%e7%ab%af%e6%af%94","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/26\/30348\/","title":{"rendered":"2025-06-26 SOTA\u7aef\u5230\u7aef\u7b97\u6cd5\u5982\u4f55\u8bbe\u8ba1\uff1fCVPR&#8217;25 WOD\u7eaf\u89c6\u89c9\u7aef\u5230\u7aef\u6bd4"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1921338757665235869\">https:\/\/zhuanlan.zhihu.com\/p\/1921338757665235869<\/a><\/p>\n\n\n\n<p>\u51a0\u519b\uff1a\u6765\u81eaEPFL\u56e2\u961f\uff0c\u53c2\u8003<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259558626&amp;content_type=Article&amp;match_order=1&amp;q=DiffusionDrive&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DiffusionDrive<\/a>\uff0c\u7528\u4e86<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259558626&amp;content_type=Article&amp;match_order=1&amp;q=nuPlan&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuPlan<\/a>\u7684\u6570\u636e + ensembling \u7684\u7b56\u7565\uff1b<\/p>\n\n\n\n<p>\u4e9a\u519b\uff1aNvidia &amp; Tubingen\u56e2\u961f\uff0c\u53c2\u8003DiffusionDrive \u548c SmartRefine\uff0c\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259558626&amp;content_type=Article&amp;match_order=1&amp;q=CARLA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CARLA<\/a>\u3001NaviSim, WOD-P, <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259558626&amp;content_type=Article&amp;match_order=1&amp;q=WOD-E2E&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">WOD-E2E<\/a><\/p>\n\n\n\n<p>\u7b49 4 \u4e2a\u6570\u636e\u96c6\uff0c\u5b9e\u9a8c\u5bf9\u6bd4\u4e86\u4e0d\u540c\u9636\u6bb5\u7528\u4e0d\u540c\u6570\u636e\u8bad\u7ec3\u7684\u6548\u679c\uff0c\u8bc1\u660e\u8bad\u7ec3\u6570\u636e\u5faa\u5e8f\u7684\u91cd\u8981\u6027\uff08\u5b9e\u9a8c\u4e5f\u7528\u4e86 ensembling\u7b56\u7565\uff0c\u6709\u63d0\u5347\u4f46\u4e0d\u591a\uff09\uff1apre-training\u53ef\u4ee5\u591a\u4f46\u8d28\u91cf\u5dee\u4e00\u4e9b\u7684\u6570\u636e\uff0cpost-trainig \u5f97\u7528\u9ad8\u8d28\u91cf\u7684\u6570\u636e<\/p>\n\n\n\n<p>\u5b63\u519b\uff1a\u97e9\u56fd\u6c49\u9633\u5927\u5b66\u56e2\u961f\uff0c\u4e3b\u6253\u4e00\u4e2a\u7ed3\u6784\u7b80\u6d01\uff0c\u8f93\u5165\u53ea\u7528\u524d\u89c6\u56fe+\u81ea\u8f66\u72b6\u6001\uff0c\u6700\u540e\u7528\u4e00\u4e2a trajectory-decoder \u8f93\u51fa\u7ed3\u679c<\/p>\n\n\n\n<p>\u7279\u522b\u5956\uff1a\u503c\u5f97\u4e00\u63d0\u662f\u8fd9\u4e2a\u7279\u522b\u5956\uff0c\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259558626&amp;content_type=Article&amp;match_order=1&amp;q=QWen2.5-VL&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">QWen2.5-VL<\/a><\/p>\n\n\n\n<p>\uff0c\u7528 72B \u7684\u6a21\u578b\u751f\u6210 CoT\u6570\u636e\uff0c\u6700\u540e\u5728 3B \u6a21\u578b\u4e0a\u8bad\u7ec3~<\/p>\n\n\n\n<p>\u7279\u522b\u5956\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/storage.googleapis.com\/waymo-uploads\/files\/research\/2025%2520Technical%2520Reports\/2025%2520WOD%2520E2E%2520Driving%2520Challenge%2520-%2520Special%2520Mention%2520-%2520Poutine.pdf%23page%3D2.94\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/storage.googleapis.com\/waymo-uploads\/files\/research\/2025%20Technical%20Reports\/2025%20WOD%20E2E%20Driving%20Challenge%20-%20Special%20Mention%20-%20Poutine.pdf#page=2.94<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1921338757665235869_0\">\u51a0\u519b\u65b9\u6848<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_1\">\u5f15\u8a00<\/h3>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4f20\u7edf\u4e0a\u91c7\u7528\u6a21\u5757\u5316\u67b6\u6784\uff0c\u5305\u62ec\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u72ec\u7acb\u7ec4\u4ef6\u3002\u7136\u800c\u968f\u7740\u5f3a\u5927\u57fa\u7840\u6a21\u578b\u7684\u51fa\u73b0\uff0c\u4eba\u4eec\u5bf9\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u5174\u8da3\u65e5\u76ca\u589e\u52a0\u3002\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u4ee5\u76f4\u63a5\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u4e3a\u9a7e\u9a76\u7684\u884c\u4e3a\u52a8\u4f5c\uff0c\u5728\u9c81\u68d2\u6027\u548c\u63a8\u7406\u80fd\u529b\u65b9\u9762\u5c55\u73b0\u51fa\u826f\u597d\u7684\u524d\u666f\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u8fd9\u4e9b\u65b9\u6cd5\u5728\u5904\u7406\u590d\u6742\u73b0\u5b9e\u4e16\u754c\u6311\u6218\u65f6\u7684\u6709\u6548\u6027\uff0c2025\u5e74Waymo\u5f00\u653e\u6570\u636e\u96c6\u57fa\u4e8e\u89c6\u89c9\u7684\u7aef\u5230\u7aef\uff08WOD-E2E\uff09\u9a7e\u9a76\u6311\u6218\u8d5b\u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u7684\u57fa\u51c6\uff0c\u91cd\u70b9\u5173\u6ce8\u957f\u5c3e\u9a7e\u9a76\u573a\u666f\u2014\u2014\u5373\u7f55\u89c1\u4f46\u5f71\u54cd\u91cd\u5927\u7684\u60c5\u51b5\uff0c\u4f8b\u5982\u7ed5\u8fc7\u9a6c\u62c9\u677e\u6bd4\u8d5b\u3001\u4e0e\u6454\u5012\u7684\u6ed1\u677f\u8f66\u9a91\u884c\u8005\u53d1\u751f\u78b0\u649e\uff0c\u6216\u4e0e\u7d27\u6025\u8f66\u8f86\u4e92\u52a8\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b4021\u4e2a20\u79d2\u7684\u9a7e\u9a76\u7247\u6bb5\uff0c\u5176\u4e2d2037\u4e2a\u7528\u4e8e\u8bad\u7ec3\uff0c479\u4e2a\u7528\u4e8e\u9a8c\u8bc1\u3002\u6d4b\u8bd5\u96c6\u4ec5\u5305\u542b\u90e8\u5206\u89c2\u6d4b\u6570\u636e\u7528\u4e8e\u9884\u6d4b\u3002\u53c2\u8d5b\u8005\u9700\u8981\u4f7f\u7528\u6765\u81ea8\u4e2a\u5468\u56f4\u6444\u50cf\u5934\u3001\u8fc7\u5f80\u8f66\u8f86\u59ff\u6001\u548c\u8def\u7ebf\u89c4\u5212\u7684\u8f93\u5165\uff0c\u5728\u9e1f\u77b0\u56fe\u5750\u6807\u7cfb\u4e0b\u9884\u6d4b5\u79d2\u7684\u8def\u5f84\u70b9\u8f68\u8ff9\u3002\u63d0\u4ea4\u7ed3\u679c\u4e3b\u8981\u901a\u8fc7\u201c\u8bc4\u5206\u53cd\u9988\u5f97\u5206\u201d\uff08Rater Feedback Score, RFS\uff09\u8fdb\u884c\u8bc4\u5206\uff0c\u201c\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\u201d\uff08Average Displacement Error, ADE\uff09\u4f5c\u4e3a\u5e73\u5c40\u5224\u5b9a\u6807\u51c6\u3002<\/p>\n\n\n\n<p>\u5728\u672c\u62a5\u544a\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86<strong>UniPlan<\/strong>\uff0c\u8fd9\u662f\u4e00\u79cd\u7edf\u4e00\u7684\u7aef\u5230\u7aef\u89c4\u5212\u6846\u67b6\uff0c\u5229\u7528\u4e86WOD-E2E\u6570\u636e\u96c6\u4e4b\u5916\u7684\u5927\u89c4\u6a21\u516c\u5171\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u4ee5\u63d0\u9ad8\u5728\u7f55\u89c1\u957f\u5c3e\u573a\u666f\u4e2d\u7684\u6cdb\u5316\u80fd\u529b\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u57282025\u5e74\u6311\u6218\u8d5b\u6392\u884c\u699c\u4e0a\u83b7\u5f97\u7b2c\u4e09\u540d\uff0c\u4e14\u672a\u4f9d\u8d56\u6602\u8d35\u7684\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\uff08MLLM\uff09\u81ea\u52a8\u6807\u6ce8\u6280\u672f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_2\">\u65b9\u6cd5<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-8b13fd14caaf33b55679cdc4436e2a34_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_3\">\u6a21\u578b\u67b6\u6784<\/h3>\n\n\n\n<p>\u6211\u4eec\u7684\u6a21\u578b\u57fa\u4e8e<strong>DiffusionDrive<\/strong>\uff0c\u5b83\u5f15\u5165\u4e86\u4e00\u79cd\u622a\u65ad\u6269\u6563\u7b56\u7565\uff0c\u7528\u4e8e\u9ad8\u6548\u4e14\u591a\u6837\u5316\u7684\u8f68\u8ff9\u751f\u6210\u3002\u5176\u67b6\u6784\u5982\u56fe1\u6240\u793a\u3002\u4e0d\u540c\u4e8e\u4ece\u968f\u673a\u9ad8\u65af\u566a\u58f0\u4e2d\u53bb\u566a\u7684\u4f20\u7edf\u6269\u6563\u65b9\u6cd5\uff0cDiffusionDrive\u4ece\u4e00\u4e2a\u951a\u5b9a\u7684\u9ad8\u65af\u5206\u5e03\uff08\u56f4\u7ed5\u5148\u9a8c\u7684\u591a\u6a21\u5f0f\u8f68\u8ff9\u951a\u70b9\u751f\u6210\uff09\u5f00\u59cb\uff0c\u5e76\u4ec5\u5e94\u7528\u4e24\u6b21\u53bb\u566a\u6b65\u9aa4\u6765\u751f\u6210\u6700\u7ec8\u7684\u8f68\u8ff9\u9884\u6d4b\u3002\u5176\u5173\u952e\u4f18\u52bf\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u663e\u8457\u51cf\u5c11\u53bb\u566a\u6b65\u9aa4\uff082\u6b21\u800c\u975e20\u6b21\uff09\uff0c\u5b9e\u73b0\u5b9e\u65f6\u63a8\u7406\u3002<\/li>\n\n\n\n<li>\u951a\u70b9\u5f15\u5bfc\u91c7\u6837\u786e\u4fdd\u6a21\u5f0f\u591a\u6837\u6027\u5e76\u907f\u514d\u6a21\u5f0f\u5d29\u6e83\u3002<\/li>\n\n\n\n<li>\u7ea7\u8054\u6269\u6563\u89e3\u7801\u5668\u5728\u6bcf\u6b21\u53bb\u566a\u6b65\u9aa4\u4e2d\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u5bf9BEV\u548c\u667a\u80fd\u4f53\/\u5730\u56fe\u67e5\u8be2\u8fdb\u884c\u7ec6\u5316\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u6bcf\u4e2a\u5e26\u566a\u58f0\u7684\u8f68\u8ff9\u90fd\u4e0e\u5176\u951a\u70b9\u914d\u5bf9\uff0c\u5e76\u4f7f\u7528\u57fa\u4e8eTransformer\u7684\u6269\u6563\u89e3\u7801\u5668\u8fdb\u884c\u53bb\u566a\uff0c\u8be5\u89e3\u7801\u5668\u4ee5\u573a\u666f\u4e0a\u4e0b\u6587\u4e3a\u6761\u4ef6\u3002\u6a21\u578b\u8f93\u51fa\u8f68\u8ff9\u5750\u6807\u548c\u7f6e\u4fe1\u5ea6\u5206\u6570\u3002<\/p>\n\n\n\n<p><strong>\u6269\u6563\u89e3\u7801\u5668\uff08Diffusion Decoder\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"353\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/0626001.png\" alt=\"\" class=\"wp-image-30349\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626001.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626001-300x159.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_4\">\u6570\u636e\u5904\u7406<\/h3>\n\n\n\n<p><strong>nuPlan\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528\u6ed1\u52a8\u7a97\u53e3\uff089\u79d2\uff0c4\u79d2\u5386\u53f2+5\u79d2\u672a\u6765\uff09\u6bcf1\u79d2\u91c7\u6837\u4e00\u6b21\uff0c\u4ece100\u5c0f\u65f6\u7684nuPlan\u6570\u636e\u96c6\u4e2d\u6784\u5efa\u4e86\u4e00\u4e2a\u5305\u542b9\u4e07\u4e2a\u6837\u672c\u7684\u6570\u636e\u96c6\u3002\u4fdd\u7559\u90a3\u4e9b\u5e38\u901f\u6a21\u578b\u9884\u6d4b\u7684\u6700\u7ec8\u4f4d\u79fb\u8bef\u5dee\u5927\u4e8e0.5\u7c73\u7684\u6837\u672c\uff0c\u5e76\u670910%\u7684\u6982\u7387\u4fdd\u7559\u4f4d\u79fb\u8bef\u5dee\u5c0f\u4e8e0.5\u7c73\u7684\u6837\u672c\u4ee5\u63d0\u5347\u6570\u636e\u591a\u6837\u6027\u3002<\/p>\n\n\n\n<p><strong>WOD-E2E\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528\u7c7b\u4f3c\u7684\u8fc7\u6ee4\u7b56\u7565\u521b\u5efa\u4e8635k\u8bad\u7ec3\u6837\u672c\u548c10k\u9a8c\u8bc1\u6837\u672c\uff0c\u4ee5\u57fa\u4e8eWOD-E2E\u6570\u636e\u751f\u6210\u65b0\u7684\u951a\u70b9\uff0c\u7528\u4e8e\u6a21\u578b\u7684\u8bad\u7ec3\u548c\u63a8\u7406\u3002<\/p>\n\n\n\n<p>DiffusionDrive\u6700\u521d\u662f\u5728Navsim\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u63d0\u51fa\u7684\uff0c\u4e3a\u4e86\u9002\u914dWOD-E2E\u6311\u6218\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6211\u4eec\u4f7f\u7528K-Means\u805a\u7c7b\uff0820\u7c07\uff09\u57fa\u4e8eWOD-E2E\u6570\u636e\u751f\u6210\u65b0\u7684\u89c4\u5212\u5668\u951a\u70b9\uff0c\u7528\u4e8e5\u79d2\u9884\u6d4b\u8303\u56f4\uff08nuPlan\u4e3a4\u79d2\uff09\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528\u539f\u59cb\u81ea\u8f66\u72b6\u6001\u7279\u5f81\u5411\u91cf\uff08\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u3001\u547d\u4ee4\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u673a\u7279\u5f81\u5bf9\u9f50<\/strong><\/p>\n\n\n\n<p>nuPlan\u56fe\u50cf\uff081920\u00d71120\uff09\u88c1\u526a\uff08L0\u3001F0\u3001R0\u89c6\u89d2\uff09\uff0c\u62fc\u63a5\u62104:1\u5bbd\u9ad8\u6bd4\u56fe\u50cf\uff0c\u5e76\u7f29\u653e\u81f31024\u00d7256\u3002WOD-E2E\u76f8\u673a\u6570\u636e\u5219\u76f4\u63a5\u62fc\u63a5\u524d\u4e09\u4e2a\u6444\u50cf\u5934\u5e76\u7f29\u653e\u5230\u76f8\u540c\u5c3a\u5bf8\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_5\">\u8bad\u7ec3\u8bbe\u7f6e<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"661\" height=\"227\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/0626002.png\" alt=\"\" class=\"wp-image-30350\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626002.png 661w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626002-300x103.png 300w\" sizes=\"(max-width: 661px) 100vw, 661px\" \/><\/figure>\n\n\n\n<p><strong>\u8ba1\u7b97\u65f6\u95f4<\/strong><\/p>\n\n\n\n<p>\u8054\u5408\u8bad\u7ec3\uff08WOD-E2E + nuPlan\uff09\u5927\u7ea6\u8017\u65f66\u5c0f\u65f6\u3002\u5355\u72ec\u4f7f\u7528WOD-E2E\u8bad\u7ec3\u97001.5\u5c0f\u65f6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_6\">\u63a8\u7406\u7b56\u7565<\/h3>\n\n\n\n<p>\u6211\u4eec\u8bad\u7ec3\u4e864\u4e2aDiffusionDrive\u6a21\u578b\uff0c\u4f7f\u7528\u4e0d\u540c\u79cd\u5b50\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e00\u4e2a\u6a21\u578b\u5728\u5b8c\u6574\u6570\u636e\u96c6\uff08WOD-E2E + nuPlan \/ WOD-E2E-only\uff09\u4e0a\u8bad\u7ec3<\/li>\n\n\n\n<li>\u4e09\u4e2a\u6a21\u578b\u5728\u5b8c\u6574\u6570\u636e\u96c6\u768480%\u968f\u673a\u5b50\u96c6\u4e0a\u8bad\u7ec3<\/li>\n<\/ul>\n\n\n\n<p>\u5728\u63a8\u7406\u9636\u6bb5\uff0c\u6bcf\u4e2a\u6a21\u578b\u4ece\u951a\u5b9a\u9ad8\u65af\u5206\u5e03\u4e2d\u751f\u621020\u4e2a\u5019\u9009\u8f68\u8ff9\uff0c\u4f7f\u75282\u6b21\u53bb\u566a\u6b65\u9aa4\uff0c\u5982\u539f\u8bba\u6587\u6240\u8ff0\u3002\u8fd9\u4e9b\u8f68\u8ff9\u901a\u8fc7\u6a21\u578b\u7684\u7f6e\u4fe1\u5ea6\u5934\u6253\u5206\u3002\u603b\u5171\u6536\u96c680\u4e2a\u5019\u9009\u8f68\u8ff9\uff0c\u9009\u53d6\u5f97\u5206\u6700\u9ad8\u7684\u8f68\u8ff9\u4f5c\u4e3a\u6700\u7ec8\u8f93\u51fa\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_7\">\u5b9e\u9a8c<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_8\">\u8bbe\u7f6e<\/h3>\n\n\n\n<p>\u6211\u4eec\u8bc4\u4f30\u4ee5\u4e0b\u4e09\u79cd\u914d\u7f6e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>Setting A<\/strong>\uff1a\u4ec5\u4f7f\u7528WOD-E2E\u8bad\u7ec3\uff0c\u4e0d\u4f7f\u7528\u96c6\u6210<\/li>\n\n\n\n<li><strong>Setting B<\/strong>\uff1a\u4ec5\u4f7f\u7528WOD-E2E\u8bad\u7ec3\uff0c\u4f7f\u7528\u96c6\u6210<\/li>\n\n\n\n<li><strong>Setting C<\/strong>\uff1a\u8054\u5408\u8bad\u7ec3WOD-E2E\u548cnuPlan\uff0c\u4f7f\u7528\u96c6\u6210<\/li>\n<\/ol>\n\n\n\n<p>\u6027\u80fd\u901a\u8fc7WOD-E2E\u6311\u6218\u6392\u884c\u699c\u4e0a\u7684Rater Feedback Score\uff08RFS\uff09\u548cADE\u8fdb\u884c\u8861\u91cf\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_9\">\u7ed3\u679c\u4e0e\u5206\u6790<\/h3>\n\n\n\n<p>\u7ed3\u679c\u5217\u4e8e\u88681\u3002\u6211\u4eec\u7684\u5b9e\u9a8c\u5f97\u51fa\u4ee5\u4e0b\u7ed3\u8bba\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6a21\u578b\u96c6\u6210\u663e\u8457\u63d0\u5347\u4e86RFS\uff0c\u8868\u660e\u805a\u5408\u591a\u4e2a\u6a21\u578b\u9884\u6d4b\u7684\u597d\u5904\u3002<\/li>\n\n\n\n<li>\u8054\u5408\u8bad\u7ec3nuPlan\u6570\u636e\u6574\u4f53\u4e0a\u5c0f\u5e45\u63d0\u9ad8\u4e86\u5e73\u5747RFS\uff0c\u5c24\u5176\u5728\u67d0\u4e9b\u957f\u5c3e\u7c7b\u522b\u4e0a\u6709\u660e\u663e\u6539\u5584\u3002<\/li>\n\n\n\n<li>\u660e\u663e\u63d0\u5347\u7684\u7c7b\u522b\u5305\u62ec\uff1a\u9a91\u81ea\u884c\u8f66\u8005\u4ea4\u4e92\u3001\u5207\u5165\u884c\u4e3a\u3001\u5355\u8f66\u9053\u8c03\u6574\u3001\u7279\u6b8a\u8f66\u8f86\u4ea4\u4e92\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-0f64433ecb76d49afb143eb38fb5db78_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_10\">\u7ed3\u8bba<\/h3>\n\n\n\n<p>\u6211\u4eec\u63d0\u51fa\u4e86<strong>UniPlan<\/strong>\uff0c\u4e00\u79cd\u901a\u8fc7\u5229\u7528\u5927\u89c4\u6a21\u516c\u5171\u9a7e\u9a76\u6570\u636e\u96c6\u5b9e\u73b0\u53ef\u6269\u5c55\u7aef\u5230\u7aef\u89c4\u5212\u7684\u7edf\u4e00\u6846\u67b6\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728WOD-E2E\u957f\u5c3e\u6311\u6218\u4e2d\u53d6\u5f97\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u7ed3\u679c\uff0c\u800c\u65e0\u9700\u4f9d\u8d56\u6602\u8d35\u7684\u57fa\u7840\u6a21\u578b\u3002\u7ed3\u679c\u7a81\u51fa\u4e86\u4ee5\u6570\u636e\u4e3a\u4e2d\u5fc3\u7684\u65b9\u6cd5\u5728\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u9c81\u68d2\u6027\u65b9\u9762\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_11\">\u66f4\u591a\u8bad\u7ec3\u7ec6\u8282<\/h3>\n\n\n\n<p>\u6211\u4eec\u63d0\u4f9b\u4e86\u66f4\u591a\u8bad\u7ec3\u7ec6\u8282\uff0c\u4ee5\u4fbf\u590d\u73b0\u699c\u5355\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-d6237398cf1f6c48d4eb3a53c032aeb5_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1921338757665235869_12\">\u4e9a\u519b\u65b9\u6848<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_13\">\u6458\u8981<\/h3>\n\n\n\n<p>\u73b0\u6709\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\uff08Autonomous Vehicle, AV\uff09\u6570\u636e\u96c6\u7684\u788e\u7247\u5316\u963b\u788d\u4e86\u80fd\u591f\u5904\u7406\u590d\u6742\u548c\u7f55\u89c1\u4e8b\u4ef6\u7684\u901a\u7528\u9a7e\u9a76\u7b56\u7565\u7684\u53d1\u5c55\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 Open-X AV\uff08OXAV\uff09\uff0c\u65e8\u5728\u6574\u5408\u591a\u79cdAV\u6570\u636e\u96c6\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u4ece\u8fd9\u4e9b\u591a\u6837\u5316\u7684\u6765\u6e90\u4e2d\u5b66\u4e60\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u4e24\u9636\u6bb5\u8bad\u7ec3\u6d41\u7a0b\uff1a\u7b2c\u4e00\u9636\u6bb5\u4f7f\u7528\u611f\u77e5\u5bfc\u5411\u6570\u636e\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u7b2c\u4e8c\u9636\u6bb5\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u89c4\u5212\u5bfc\u5411\u573a\u666f\u4e0a\u8fdb\u884c\u540e\u8bad\u7ec3\u3002\u6211\u4eec\u7684\u65b9\u6cd5 DiffusionLTF \u662f\u4e00\u4e2a\u57fa\u4e8e OXAV \u7684\u7b80\u5355\u7aef\u5230\u7aef\u7b56\u7565\uff0c\u5728 2025 \u5e74 Waymo \u89c6\u89c9\u9a71\u52a8\u6311\u6218\u8d5b\u4e2d\u6392\u540d\u7b2c\u4e8c\uff0c\u5c55\u793a\u4e86\u591a\u6837\u5316\u805a\u5408\u6570\u636e\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-c530e41cd3b632e8a1bddd30c4c51e58_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_14\">\u5f15\u8a00<\/h3>\n\n\n\n<p>\u5927\u89c4\u6a21\u3001\u591a\u6837\u5316\u7684\u6570\u636e\u96c6\u5bf9\u4e8e\u6784\u5efa\u5177\u5907\u6cdb\u5316\u80fd\u529b\u7684\u4eba\u5de5\u667a\u80fd\u7cfb\u7edf\u81f3\u5173\u91cd\u8981\u3002\u5c3d\u7ba1\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\uff08AVs\uff09\u53ef\u4ee5\u4ece\u8fd9\u79cd\u6570\u636e\u96c6\u4e2d\u53d7\u76ca\u532a\u6d45\uff0c\u4f46\u76ee\u524d\u516c\u5f00\u53ef\u7528\u7684\u6570\u636e\u96c6\u4ecd\u9ad8\u5ea6\u788e\u7247\u5316\u3002\u6bcf\u4e2a\u6570\u636e\u96c6\u901a\u5e38\u4fa7\u91cd\u4e8e\u67d0\u4e00\u7279\u5b9a\u9886\u57df\uff0c\u4f8b\u5982\u5e26\u6709\u7cbe\u786e\u6807\u7b7e\u7684\u611f\u77e5\u6570\u636e\u3001\u7528\u4e8e\u4eff\u771f\u7684\u5408\u6210\u6570\u636e\uff0c\u6216\u5bf9\u89c4\u5212\u81f3\u5173\u91cd\u8981\u7684\u5927\u89c4\u6a21\u81ea\u52a8\u6807\u6ce8\u6570\u636e\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u4e13\u4e1a\u5316\u9650\u5236\u4e86\u4ec5\u5728\u5355\u4e00\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u7684\u7aef\u5230\u7aef\u7cfb\u7edf\u6709\u6548\u5e94\u5bf9\u590d\u6742\u3001\u7f55\u89c1\u4e8b\u4ef6\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u672c\u5de5\u4f5c\u65e8\u5728\u901a\u8fc7\u63a8\u52a8\u8de8\u5e73\u53f0\u3001\u591a\u6570\u636e\u96c6\u7684\u5b66\u4e60\u6765\u5f25\u8865\u8fd9\u4e00\u5dee\u8ddd\u3002\u501f\u9274\u673a\u5668\u4eba\u9886\u57df\u7684\u7c7b\u4f3c\u52aa\u529b\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 Open-X AV\uff08OXAV\uff09\uff0c\u65e8\u5728\u6574\u5408\u591a\u6837\u5316\u7684 AV \u6570\u636e\u96c6\uff0c\u4ee5\u4fc3\u8fdb\u901a\u7528\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u7814\u7a76\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u4e24\u9636\u6bb5\u8bad\u7ec3\u6d41\u7a0b\uff0c\u5229\u7528\u4e0d\u540c\u6570\u636e\u6e90\u7684\u72ec\u7279\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u521d\u59cb\u9884\u8bad\u7ec3\u9636\u6bb5<\/strong>\uff1a\u5728\u5927\u89c4\u6a21\u611f\u77e5\u5bfc\u5411\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0c\u53ef\u80fd\u5305\u542b\u5927\u91cf\u5408\u6210\u6570\u636e\uff0c\u5efa\u7acb\u5f3a\u5927\u7684\u8868\u5f81\u57fa\u7840\u3002<\/li>\n\n\n\n<li><strong>\u540e\u7eed\u540e\u8bad\u7ec3\u9636\u6bb5<\/strong>\uff1a\u805a\u7126\u7ecf\u8fc7\u7b56\u5212\u7684\u89c4\u5212\u5bfc\u5411\u6570\u636e\u96c6\uff0c\u4f7f\u6a21\u578b\u66b4\u9732\u4e8e\u5177\u6709\u6311\u6218\u6027\u4e14\u5c11\u89c1\u7684\u9a7e\u9a76\u573a\u666f\u4e2d\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u5728\u9996\u6b21\u53d1\u5e03\u4e2d\uff0cOXAV \u4ed3\u5e93\u652f\u6301\u5728\u56fe1\u6240\u793a\u7684\u56db\u4e2a\u4e0d\u540c\u6570\u636e\u96c6\u4e0a\u8054\u5408\u8bad\u7ec3\uff0c\u8fd9\u4e9b\u6570\u636e\u96c6\u7279\u610f\u9009\u62e9\u4ee5\u4f53\u73b0\u611f\u77e5\u4e0e\u89c4\u5212\u4e4b\u95f4\u7684\u4e92\u8865\u6027\u3002\u4e3a\u4e86\u9a8c\u8bc1\u6b64\u7c7b\u805a\u5408\u6570\u636e\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5728 OXAV \u4e0a\u8bad\u7ec3\u4e86\u7b80\u5355\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6a21\u578b\uff0c\u5e76\u53c2\u4e0e Waymo \u57fa\u4e8e\u89c6\u89c9\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6311\u6218\u3002\u6211\u4eec\u7684\u6a21\u578b\u5728\u5b98\u65b9\u6392\u884c\u699c\u4e0a\u53d6\u5f97\u4e86\u9ad8\u6392\u540d\uff0c\u5373\u4f7f\u53ea\u4f7f\u7528\u4e86\u4e00\u4e2a ResNet34 \u9aa8\u5e72\u7f51\u7edc \uff0c\u5e76\u4e14\u4ec5\u9700\u4e00\u5757 A100 GPU \u8bad\u7ec3\u4e00\u5929\u5373\u53ef\u5b8c\u6210\u8bad\u7ec3\u3002\u6211\u4eec\u53d1\u73b0 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259558626&amp;content_type=Article&amp;match_order=1&amp;q=Waymo+Open+Dataset&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Waymo Open Dataset<\/a><\/p>\n\n\n\n<p>-Perception \u5206\u5272 \u5728\u9884\u8bad\u7ec3\u9636\u6bb5\u7279\u522b\u6709\u6548\u3002\u8be5\u7ed3\u679c\u521d\u6b65\u8bc1\u660e\u4e86\u8de8\u6570\u636e\u96c6\u5b66\u4e60\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5f00\u53d1\u4e2d\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_15\">Open X-AV<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_16\">\u4efb\u52a1<\/h3>\n\n\n\n<p>Waymo \u57fa\u4e8e\u89c6\u89c9\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6311\u6218\u662f\u4e00\u4e2a\u5f00\u653e\u56de\u8def\u57fa\u51c6\u6d4b\u8bd5\uff0c\u8981\u6c42\u6839\u636e\u4f20\u611f\u5668\u8f93\u5165\u548c\u8f66\u8f86\u8fd0\u52a8\u4fe1\u606f\u9884\u6d4b\u672a\u6765\u7684\u8f66\u8f86\u8f68\u8ff9\uff0c\u5305\u62ec\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u4f9b360\u00b0\u73af\u5883\u611f\u77e5\u7684\u6444\u50cf\u5934\u56fe\u50cf\uff1b<\/li>\n\n\n\n<li>\u5386\u53f2\u8f66\u8f86\u72b6\u6001\uff1b<\/li>\n\n\n\n<li>\u79bb\u6563\u5bfc\u822a\u6307\u4ee4\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e0e\u4ee5\u5f80\u7684\u5f00\u653e\u56de\u8def\u57fa\u51c6\u4e0d\u540c\uff0c\u672c\u6b21\u6311\u6218\u6240\u7528\u6570\u636e\u96c6\u7ecf\u8fc7\u7cbe\u5fc3\u7b56\u5212\uff0c\u5305\u542b\u957f\u5c3e\u9a7e\u9a76\u573a\u666f\u3002\u53c2\u8d5b\u56e2\u961f\u9700\u8981\u9884\u6d4b5\u79d2\u672a\u6765\u8def\u5f84\u70b9\u8f68\u8ff9\uff0c\u5e76\u4ee5\u9e1f\u77b0\u56fe\u5750\u6807\u8868\u793a\uff0c\u8bc4\u5206\u91c7\u7528\u65b0\u7684\u201c\u8bc4\u5206\u53cd\u9988\u5f97\u5206\u201d\uff08Rater Feedback Score, RFS\uff09\u3002\u6211\u4eec\u7684\u7814\u7a76\u63a2\u7d22\u4e86\u8de8\u6570\u636e\u96c6\u5b66\u4e60\u5728\u6b64\u4efb\u52a1\u4e0a\u7684\u5e94\u7528\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_17\">\u6570\u636e\u96c6<\/h3>\n\n\n\n<p>\u6211\u4eec\u7684\u65b9\u6cd5\u76ee\u524d\u5229\u7528\u4e86\u56db\u4e2a\u591a\u6837\u5316\u7684\u6570\u636e\u96c6\u8fdb\u884c\u8de8\u6570\u636e\u96c6\u5b66\u4e60\uff0c\u5982\u88681\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-54a641ac37fef7b413e047a45925d829_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>**Waymo Open Dataset &#8211; Vision-Based E2E (WOD-E2E) **\uff1a\u662f\u672c\u6b21\u6311\u6218\u7684\u4e3b\u8981\u8bc4\u4f30\u6570\u636e\u96c6\u3002WOD-E2E \u5305\u542b 4,021 \u4e2a 20 \u79d2\u7247\u6bb5\uff0c\u4e13\u95e8\u9488\u5bf9\u65e5\u5e38\u9a7e\u9a76\u4e2d\u53d1\u751f\u9891\u7387\u4f4e\u4e8e 0.003% \u7684\u957f\u5c3e\u4e8b\u4ef6\u3002<\/li>\n\n\n\n<li><strong>CARLA<\/strong>\uff1a\u662f\u4e00\u4e2a\u6a21\u62df\u5668\uff0c\u53ef\u4f7f\u7528 WOD-E2E \u7684\u76f8\u673a\u6807\u5b9a\u53c2\u6570\u751f\u6210\u5408\u6210\u8bad\u7ec3\u6570\u636e\u3002\u6211\u4eec\u4f7f\u7528 PDM-Lite \u4f5c\u4e3a\u4e13\u5bb6\u7b56\u7565\uff0c\u5728 Town01-10\u300112 \u548c 13 \u4e0a\u6536\u96c6\u9a7e\u9a76\u6f14\u793a\u3002<\/li>\n\n\n\n<li><strong>NAVSIM<\/strong>\uff1a\u6765\u81ea OpenScene\uff0c\u662f\u5bf9 nuPlan \u6570\u636e\u96c6\u7684\u518d\u5206\u53d1\uff0c\u5305\u542b 120 \u5c0f\u65f6\u771f\u5b9e\u4e16\u754c\u9a7e\u9a76\u6570\u636e\uff0c\u91c7\u6837\u9891\u7387\u4e3a 2Hz\u3002\u6211\u4eec\u4f7f\u7528 nav-train \u5b50\u96c6\uff0c\u8fc7\u6ee4\u6389\u90a3\u4e9b\u7b80\u5355\u57fa\u7ebf\u5c31\u80fd\u8868\u73b0\u826f\u597d\u7684\u5e73\u51e1\u573a\u666f\u3002<\/li>\n\n\n\n<li>**Waymo Open Dataset &#8211; Perception (WOD-P)**\uff1a\u63d0\u4f9b 3D \u8fb9\u754c\u6846\u548c\u9ad8\u6e05\u5730\u56fe\u3002\u6211\u4eec\u5c06\u540e\u8005\u8f6c\u6362\u4e3a BEV \u8bed\u4e49\u5206\u5272\u63a9\u7801\u4ee5\u5339\u914d\u7684\u683c\u5f0f\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e3a\u7f13\u89e3\u8bad\u7ec3\u6570\u636e\u7edf\u4e00\u5bf9\u9f50\u7684\u95ee\u9898\uff0c\u6211\u4eec\u88c1\u526a\u56fe\u50cf\u4ee5\u5bf9\u9f50\u7126\u8ddd\u5927\u5c0f\uff0c\u5e76\u901a\u8fc7\u586b\u5145\u5e38\u6570\u50cf\u7d20\u7f13\u89e3\u76f8\u673a\u9ad8\u5ea6\u5dee\u5f02\u3002\u7136\u800c\uff0c\u5176\u4ed6\u76f8\u673a\u53c2\u6570\uff08\u5982\u7578\u53d8\u7cfb\u6570\u548c\u5b89\u88c5\u4f4d\u7f6e\uff09\u4ecd\u5b58\u5728\u5dee\u5f02\uff0c\u8fd9\u53ef\u80fd\u5f71\u54cd\u8de8\u6570\u636e\u96c6\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_18\">\u57fa\u7ebf\u65b9\u6cd5<\/h3>\n\n\n\n<p>\u4e3a\u4e86\u5904\u7406\u5177\u6709\u6311\u6218\u6027\u7684\u6d4b\u8bd5\u6570\u636e\u7684\u591a\u6a21\u6001\u7279\u6027\uff0c\u6211\u4eec\u5728\u5b9e\u9a8c\u4e2d\u8003\u8651\u4e86\u51e0\u79cd\u57fa\u7ebf\u65b9\u6cd5\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>**Latent TransFuser (LTF)**\uff1a\u4f5c\u4e3a\u6211\u4eec\u7684\u7b2c\u4e00\u4e2a\u57fa\u7ebf\u67b6\u6784\u3002\u539f\u59cb TransFuser \u6a21\u578b\u878d\u5408\u4e86 LiDAR BEV \u8868\u793a\u548c RGB \u900f\u89c6\u56fe \uff0c\u800c LTF \u5219\u5c06 LiDAR \u8f93\u5165\u66ff\u6362\u4e3a\u5e38\u91cf\uff0c\u4f7f\u5f97 LiDAR \u5206\u652f\u53d8\u4e3a Transformer-based \u4f20\u611f\u5668\u878d\u5408\u7684\u53ef\u5b66\u4e60\u67e5\u8be2\uff0c\u5b9e\u73b0\u7eaf\u89c6\u89c9\u7aef\u5230\u7aef\u9a7e\u9a76\u3002<\/li>\n\n\n\n<li>**Diffusion Latent TransFuser (DiffusionLTF)**\uff1a\u6269\u5c55\u4e86 LTF \u57fa\u7ebf\uff0c\u5f15\u5165\u57fa\u4e8e\u6269\u6563\u7684\u8f68\u8ff9\u751f\u6210\u5934\u3002\u501f\u9274 DiffusionDrive \u548c SmartRefine\u7684\u601d\u60f3\uff0c\u6211\u4eec\u91c7\u7528\u622a\u65ad\u6269\u6563\u7b56\u7565\uff0c\u65e2\u80fd\u751f\u6210\u591a\u6837\u8f68\u8ff9\uff0c\u53c8\u80fd\u4fdd\u6301\u5feb\u901f\u63a8\u7406\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>DiffusionLTF \u67b6\u6784\u7ec6\u8282<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"274\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/0626003.png\" alt=\"\" class=\"wp-image-30351\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626003.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626003-300x124.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-448c951683382e19237f9ca13a252f8f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_19\">\u5b9e\u9a8c<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_20\">\u6a21\u578b\u5206\u6790<\/h3>\n\n\n\n<p>\u5bf9\u4e8e\u6700\u7ec8\u6d4b\u8bd5\u96c6\u63d0\u4ea4\uff0c\u6211\u4eec\u8bad\u7ec3\u4e86 LTF \u548c DiffusionLTF \u7684\u8def\u5f84\u70b9\u89e3\u7801\u5668\u5171\u4eab\u9aa8\u5e72\u7f51\u7edc\u3002\u4e24\u79cd\u89c4\u5212\u5668\u7684\u6027\u80fd\u6982\u89c8\u89c1\u88682\u3002\u6211\u4eec\u53d1\u73b0\u6df7\u5408\u96c6\u6210\u65b9\u6cd5\u663e\u8457\u4f18\u4e8e\u5355\u4e2a\u6a21\u578b\u7ec4\u4ef6\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u4ece DiffusionLTF \u4e2d\u91c7\u683710\u4e2a\u63d0\u6848\uff0c\u8fd9\u4e9b\u63d0\u6848\u53ef\u80fd\u5c5e\u4e8e\u4e0d\u540c\u6a21\u5f0f\u5e76\u6309\u6a21\u5f0f\u5206\u7ec4\u3002\u5728\u6bcf\u7ec4\u5185\uff0c\u6211\u4eec\u5e73\u5747\u8f68\u8ff9\u5e76\u6c42\u548c\u5176\u5bf9\u5e94\u7684logits\u3002\u6700\u540e\uff0c\u9009\u62e9logit\u6700\u9ad8\u7684\u6a21\u5f0f\u7ec4\u7684\u5e73\u5747\u8f68\u8ff9\uff0c\u5e76\u518d\u6b21\u4e0e LTF \u7684\u786e\u5b9a\u6027\u89c4\u5212\u8f93\u51fa\u8fdb\u884c\u5e73\u5747\uff0c\u5f97\u5230\u6700\u7ec8\u9884\u6d4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-324315f8f1307db37beafc80c0ed00f4_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_21\">\u7ed3\u8bba<\/h3>\n\n\n\n<p>\u6211\u4eec\u7684\u7814\u7a76\u8868\u660e\uff0c\u8de8\u6570\u636e\u96c6\u5b66\u4e60\u53ef\u4ee5\u63d0\u5347\u7aef\u5230\u7aef\u9a7e\u9a76\u6027\u80fd\uff0c\u9884\u8bad\u7ec3\u4e8e\u591a\u6837\u5316 OXAV \u96c6\u5408\u7684\u6a21\u578b\u5728 WOD-E2E \u57fa\u51c6\u4e0a\u8868\u73b0\u51fa\u8272\u3002\u66f4\u91cd\u8981\u7684\u662f\uff0c\u6211\u4eec\u7684\u5206\u6790\u8868\u660e\uff0c\u867d\u7136\u989d\u5916\u6570\u636e\u96c6\u59cb\u7ec8\u5e26\u6765\u597d\u5904\uff0c\u4f46\u5728\u9009\u62e9\u6570\u636e\u6e90\u65f6\u8d28\u91cf\u80dc\u8fc7\u6570\u91cf\u3002\u50cf WOD-P \u8fd9\u6837\u7684\u9ad8\u8d28\u91cf\u6570\u636e\u96c6\u53ef\u4ee5\u80dc\u8fc7\u590d\u6742\u7684\u6570\u636e\u96c6\u7ec4\u5408\uff0c\u6570\u636e\u96c6\u96c6\u6210\u7684\u65b9\u5f0f\u4e5f\u5f88\u91cd\u8981\u3002\u8f85\u52a9\u6570\u636e\u5728\u9884\u8bad\u7ec3\u9636\u6bb5\u6709\u76ca\uff0c\u4f46\u5728\u540e\u8bad\u7ec3\u9636\u6bb5\u53ef\u80fd\u4f1a\u964d\u4f4e\u6027\u80fd\u3002\u8fd9\u4e9b\u53d1\u73b0\u8868\u660e\uff0c\u6218\u7565\u6027\u5730\u9009\u62e9\u6570\u636e\u96c6\u5e76\u8c28\u614e\u5730\u5c06\u5176\u96c6\u6210\u5230\u8bad\u7ec3\u4e2d\uff0c\u4e0e\u6570\u636e\u96c6\u672c\u8eab\u7684\u591a\u6837\u6027\u4e00\u6837\u91cd\u8981\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1921338757665235869_22\">\u5b63\u519b\u65b9\u6848<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_23\">\u6458\u8981<\/h3>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65e8\u5728\u76f4\u63a5\u4ece\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u4e2d\u9884\u6d4b\u8fd0\u52a8\u89c4\u5212\u6216\u63a7\u5236\u6307\u4ee4\u3002\u5c3d\u7ba1\u6700\u8fd1\u7684\u65b9\u6cd5\u901a\u5e38\u7ed3\u5408\u4e86\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u6216\u8f85\u52a9\u4efb\u52a1\uff0c\u6211\u4eec\u91c7\u53d6\u4e86\u4e00\u79cd\u6781\u7b80\u4e3b\u4e49\u65b9\u6cd5\u2014\u2014\u79f0\u4e3a <strong><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259558626&amp;content_type=Article&amp;match_order=1&amp;q=Swin-Trajectory&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Swin-Trajectory<\/a><\/strong><\/p>\n\n\n\n<p>\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e Transformer \u7684\u8def\u5f84\u70b9\u9884\u6d4b\u5668\uff0c\u4ec5\u4f7f\u7528\u5355\u4e2a\u524d\u7f6e\u6444\u50cf\u5934\u548c\u7ed3\u6784\u5316\u7684\u81ea\u8f66\u5386\u53f2\u4fe1\u606f\u3002\u6211\u4eec\u91c7\u7528\u8f7b\u91cf\u7ea7\u7684 Swin Transformer \u4f5c\u4e3a\u9aa8\u5e72\u7f51\u7edc\u6765\u63d0\u53d6\u5bc6\u96c6\u56fe\u50cf\u7279\u5f81\uff0c\u5e76\u5728\u8fd9\u4e9b\u7279\u5f81\u4e0e\u8def\u5f84\u70b9\u67e5\u8be2\u4e4b\u95f4\u4f7f\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u2014\u2014\u8def\u5f84\u70b9\u67e5\u8be2\u6765\u6e90\u4e8e\u5386\u53f2\u8f68\u8ff9\u548c\u81ea\u8f66\u72b6\u6001\u2014\u2014\u4ee5\u6355\u6349\u7528\u4e8e\u8f68\u8ff9\u9884\u6d4b\u7684\u7a7a\u95f4-\u65f6\u95f4\u4e0a\u4e0b\u6587\u3002\u6211\u4eec\u7684\u6a21\u578b\u5728 RTX 4090 \u4e0a\u8fd0\u884c\u901f\u5ea6\u4e3a 14ms\uff0c\u5e76\u5728\u6311\u6218\u8d5b\u4e2d\u5b9e\u73b0\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_24\">\u5f15\u8a00<\/h3>\n\n\n\n<p>\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u662f\u4e00\u79cd\u65b0\u5174\u8303\u5f0f\uff0c\u5176\u4e2d\u9a7e\u9a76\u884c\u4e3a\u901a\u8fc7\u7edf\u4e00\u6a21\u578b\u76f4\u63a5\u4ece\u4f20\u611f\u5668\u8f93\u5165\u4e2d\u63a8\u65ad\u51fa\u6765\u3002\u76f8\u6bd4\u4f20\u7edf\u6a21\u5757\u5316\u65b9\u6cd5\uff0cE2E \u65b9\u6cd5\u56e0\u5176\u80fd\u591f\u5bf9\u6574\u4e2a\u9a7e\u9a76\u7cfb\u7edf\u8fdb\u884c\u6574\u4f53\u4f18\u5316\u800c\u53d7\u5230\u5e7f\u6cdb\u5173\u6ce8\uff0c\u4ece\u800c\u663e\u8457\u63d0\u5347\u5b89\u5168\u6027\u4e0e\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\u7684\u7aef\u5230\u7aef\uff08E2E\uff09\u65b9\u6cd5\u901a\u8fc7\u5f15\u5165\u8f85\u52a9\u611f\u77e5\u4efb\u52a1\u5e76\u8fdb\u4e00\u6b65\u5229\u7528\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u53d6\u5f97\u4e86\u4f18\u5f02\u8868\u73b0\uff0c\u4f8b\u5982 EMMA\uff0c\u5b83\u5229\u7528\u5176\u63a8\u7406\u80fd\u529b\u5904\u7406\u66f4\u5177\u6311\u6218\u6027\u7684\u573a\u666f\u3002\u7136\u800c\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u4e0d\u53ef\u907f\u514d\u5730\u5bfc\u81f4\u66f4\u5927\u7684\u3001\u66f4\u590d\u6742\u7684\u6a21\u578b\u67b6\u6784\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u91c7\u7528\u4e00\u79cd\u6781\u7b80\u4e3b\u4e49\u65b9\u6cd5\uff1a\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u3001\u9002\u5408\u90e8\u7f72\u7684\u6a21\u578b\uff0c\u4ec5\u901a\u8fc7\u8f68\u8ff9\u76d1\u7763\u8fdb\u884c\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u7684\u6a21\u578b <strong>Swin-Trajectory<\/strong> \u662f\u4e00\u4e2a\u7cbe\u7b80\u7684 E2E \u89c4\u5212\u5668\uff0c\u4ec5\u4f7f\u7528\u5355\u4e2a\u524d\u89c6\u76f8\u673a\u548c\u81ea\u8f66\u72b6\u6001\uff0c\u65e0\u9700\u4efb\u4f55\u989d\u5916\u76d1\u7763\u3002\u901a\u8fc7\u7cbe\u5fc3\u8bbe\u8ba1\u4ee5\u907f\u514d\u6377\u5f84\u5b66\u4e60\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5728\u51c6\u786e\u6027\u548c\u8ba1\u7b97\u6548\u7387\u4e4b\u95f4\u8fbe\u5230\u4e86\u4ee4\u4eba\u6ee1\u610f\u7684\u5e73\u8861\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_25\">\u65b9\u6cd5<\/h3>\n\n\n\n<p>\u4e3a\u4e86\u9884\u6d4b\u8f66\u8f86\u5750\u6807\u7cfb\u4e0b\u7684\u672a\u6765\u8def\u5f84\u70b9\u5e8f\u5217\uff0c\u6211\u4eec\u4f7f\u7528\u5355\u4e2a\u524d\u7f6e\u6444\u50cf\u5934\u548c\u7ed3\u6784\u5316\u7684\u8def\u5f84\u70b9\u67e5\u8be2\u3002\u5982\u56fe 1 \u6240\u793a\uff0c\u6211\u4eec\u7684\u67b6\u6784\u7531\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\uff1a\u7279\u5f81\u63d0\u53d6\u5668\u3001\u81ea\u8f66\u4fe1\u606f\u7f16\u7801\u5668\u548c\u8f68\u8ff9\u89e3\u7801\u6a21\u5757\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-4b375fdbcb2b86521ff4b6796722a229_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_26\">\u7279\u5f81\u63d0\u53d6<\/h3>\n\n\n\n<p>\u6211\u4eec\u9996\u5148\u4f7f\u7528 Swin Transformer\u4f5c\u4e3a\u9aa8\u5e72\u7f51\u7edc\u4ece\u8f93\u5165\u56fe\u50cf\u4e2d\u63d0\u53d6\u89c6\u89c9\u7279\u5f81\u3002\u4e3a\u4e86\u4e3a\u5bc6\u96c6\u56fe\u50cf\u7279\u5f81\u63d0\u4f9b\u51e0\u4f55\u57fa\u7840\uff0c\u6211\u4eec\u4f7f\u7528\u4e09\u7ef4\u4f4d\u7f6e\u7f16\u7801\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u4ece\u7279\u5f81\u56fe\u7f51\u683c\u4e2d\u91c7\u6837\u5bc6\u96c6\u50cf\u7d20\u4f4d\u7f6e\uff0c\u5e76\u4f7f\u7528\u4e00\u7ec4\u9884\u5b9a\u4e49\u7684\u6df1\u5ea6\u533a\u95f4\u5c06\u6bcf\u4e2a\u50cf\u7d20\u6295\u5f71\u5230\u4e09\u7ef4\u7a7a\u95f4\u3002\u7136\u540e\u5bf9\u5f97\u5230\u7684\u4e09\u7ef4\u5750\u6807\u8fdb\u884c\u5f52\u4e00\u5316\uff0c\u5e76\u901a\u8fc7\u7ebf\u6027\u4f4d\u7f6e\u7f16\u7801\u5668\u83b7\u5f97\u4e09\u7ef4\u4f4d\u7f6e\u7f16\u7801\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_27\">\u81ea\u8f66\u4fe1\u606f\u7f16\u7801\u5668<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"689\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/0626004.png\" alt=\"\" class=\"wp-image-30352\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626004.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626004-290x300.png 290w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_30\">\u5b9e\u9a8c<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_31\">\u6570\u636e\u96c6\u4e0e\u8bc4\u4f30\u6307\u6807<\/h3>\n\n\n\n<p>\u6211\u4eec\u5728\u5b9e\u9a8c\u4e2d\u4f7f\u7528 <strong>Waymo \u5f00\u653e\u6570\u636e\u96c6\u7528\u4e8e\u7aef\u5230\u7aef\u9a7e\u9a76\uff08WOD-E2E\uff09<\/strong>\u3002\u6bcf\u4e2a\u6570\u636e\u6837\u672c\u5305\u542b\u591a\u89c6\u89d2\u6444\u50cf\u5934\u56fe\u50cf\u3001\u8fc7\u53bb\u8f68\u8ff9\u548c\u81ea\u8f66\u72b6\u6001\u3002\u9884\u6d4b\u76ee\u6807\u662f\u5728\u5f00\u73af\u8bbe\u7f6e\u4e0b\u9884\u6d4b 5 \u79d2\u5185\u7684\u672a\u6765\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>\u8bc4\u5206\u53cd\u9988\u5206\u6570\uff08RFS\uff09<\/strong> \u901a\u8fc7\u6d4b\u91cf\u5728\u9884\u5b9a\u4e49\u4fe1\u4efb\u533a\u57df\u5185\u7684\u9884\u6d4b\u8f68\u8ff9\u4e0e\u4eba\u7c7b\u8bc4\u5206\u8005\u8f68\u8ff9\u4e4b\u95f4\u7684\u504f\u5dee\u6765\u8bc4\u4f30\u8f68\u8ff9\u9884\u6d4b\u3002\u5728 t=3 \u548c t=5 \u79d2\u65f6\uff0c\u6839\u636e\u6a2a\u5411\u548c\u7eb5\u5411\u9608\u503c\u5bf9\u9884\u6d4b\u8fdb\u884c\u8bc4\u5206\uff0c\u9608\u503c\u6309\u81ea\u8f66\u521d\u59cb\u901f\u5ea6\u7f29\u653e\u3002\u5728\u533a\u57df\u5185\u7ed9\u4e88\u6ee1\u5206\uff0c\u800c\u504f\u79bb\u5219\u4ea7\u751f\u6307\u6570\u60e9\u7f5a\u3002\u6700\u7ec8\u5f97\u5206\u9650\u5236\u5728 4 \u5230 10 \u4e4b\u95f4\uff0c\u60e9\u7f5a\u8ba1\u7b97\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"114\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/0626006.png\" alt=\"\" class=\"wp-image-30354\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626006.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626006-300x51.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_32\">\u91c7\u6837\u7b56\u7565<\/h3>\n\n\n\n<p>\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u56fe\u50cf\u5e8f\u5217\u7684\u5e27\u7387\u662f10 Hz\u3002\u6211\u4eec\u89c2\u5bdf\u5230\u91cd\u8981\u7684\u9a7e\u9a76\u573a\u666f\u901a\u5e38\u51fa\u73b0\u5728\u5e8f\u5217\u4e2d\u95f4\u3002\u56e0\u6b64\uff0c\u4f7f\u7528\u6240\u6709\u53ef\u7528\u5e27\u4f1a\u5bfc\u81f4\u5e38\u89c1\u573a\u666f\u4e2d\u7684\u663e\u8457\u5197\u4f59\uff0c\u524a\u5f31\u6a21\u578b\u6709\u6548\u5904\u7406\u7f55\u89c1\u4f46\u5173\u952e\u60c5\u51b5\u7684\u80fd\u529b\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u6bcf\u9694 15 \u5e27\u91c7\u6837\u4e00\u6b21\u5e27\uff0c\u4ee5\u51cf\u5c11\u5197\u4f59\u548c\u8bad\u7ec3\u6210\u672c\u3002<\/p>\n\n\n\n<p>\u51fa\u4e8e\u76f8\u540c\u539f\u56e0\uff0c\u5728\u8bc4\u4f30\u4e2d\u4f7f\u7528\u6bcf\u4e00\u5e27\u4f1a\u5bfc\u81f4\u4e0d\u51c6\u786e\u7684\u8bc4\u5206\uff0c\u56e0\u4e3a\u8bb8\u591a\u5e27\u5bf9\u5e94\u4e8e\u8f83\u4e0d\u590d\u6742\u7684\u9a7e\u9a76\u60c5\u51b5\uff0c\u8fd9\u53ef\u80fd\u4f1a\u63a9\u76d6\u6a21\u578b\u5728\u66f4\u5173\u952e\u6216\u66f4\u5177\u6311\u6218\u6027\u573a\u666f\u4e2d\u7684\u8868\u73b0\u3002\u6211\u4eec\u91c7\u7528\u4e24\u79cd\u91c7\u6837\u7b56\u7565\uff1a\u9009\u62e9\u6bcf\u6bb5\u4e2d\u7684\u4e00\u4e2a\u4ee3\u8868\u6027\u5e27\u2014\u2014\u5373\u6bcf\u6bb5\u7ed3\u675f\u524d 80 \u5e27\uff0c\u5e76\u4ece\u6574\u4e2a\u9a8c\u8bc1\u96c6\u4e2d\u6bcf\u9694 20 \u5e27\u91c7\u6837\u4e00\u6b21\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-39720e844a2f082e387e21963be8f912_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_33\">\u5b9e\u73b0\u7ec6\u8282<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"213\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/0626007.png\" alt=\"\" class=\"wp-image-30355\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626007.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/0626007-300x96.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_34\">\u7ed3\u679c<\/h3>\n\n\n\n<p>\u5982\u8868 1 \u6240\u793a\uff0c\u589e\u52a0\u8f68\u8ff9\u89e3\u7801\u5757\u7684\u6570\u91cf\u53ef\u4ee5\u63d0\u9ad8\u6027\u80fd\u3002\u6ca1\u6709\u8bed\u4e49\u8f93\u5165\u7684\u4e09\u5757\u53d8\u4f53\u5728\u6d4b\u8bd5\u4e2d\u83b7\u5f97\u4e86\u6700\u9ad8\u5f97\u5206\uff0c\u9a8c\u8bc1\u4e86\u6211\u4eec\u6781\u7b80\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p>\u4f5c\u4e3a\u8865\u5145\u5b9e\u9a8c\uff0c\u6211\u4eec\u7814\u7a76\u4e86\u5f15\u5165\u8bed\u4e49\u4fe1\u606f\u662f\u5426\u80fd\u8fdb\u4e00\u6b65\u63d0\u5347\u6027\u80fd\u3002\u6211\u4eec\u4f7f\u7528\u9884\u8bad\u7ec3\u8bed\u4e49\u5206\u5272\u6a21\u578b\u7684\u8f93\u51fa\uff0c\u5e76\u5728 RGB \u8f93\u5165\u524d\u6dfb\u52a0\u4e00\u4e2a\u901a\u9053\u7684\u8bed\u4e49\u5148\u9a8c\uff0c\u5f62\u6210\u56db\u901a\u9053\u56fe\u50cf\u3002\u867d\u7136\u8fd9\u79cd\u53d8\u4f53\u5728\u9a8c\u8bc1\u96c6\u4e0a\u8868\u73b0\u66f4\u597d\uff0c\u4f46\u5728\u6d4b\u8bd5\u96c6\u4e2d\u8868\u73b0\u8f83\u5dee\u2014\u2014\u53ef\u80fd\u662f\u7531\u4e8e\u5206\u5272\u8f93\u51fa\u4e2d\u7684\u566a\u58f0\u548c\u57df\u5dee\u8ddd\u3002<\/p>\n\n\n\n<p>\u6bd4\u8f83\u5355\u6444\u50cf\u5934\u4e0e\u4e09\u6444\u50cf\u5934\u8bbe\u7f6e\u65f6\uff0c\u6211\u4eec\u53d1\u73b0\u5c3d\u7ba1\u4e09\u6444\u50cf\u5934\u914d\u7f6e\u8ba1\u7b97\u6210\u672c\u66f4\u9ad8\uff0c\u4f46\u6574\u4f53\u6027\u80fd\u53cd\u800c\u4e0b\u964d\u3002\u6211\u4eec\u8ba4\u4e3a\u8fd9\u662f\u7531\u4e8e\u6a21\u578b\u5bb9\u91cf\u6709\u9650\uff0836M \u53c2\u6570\uff09\uff0c\u96be\u4ee5\u89e3\u8026\u56e0\u5c55\u5e73\u548c\u8054\u5408\u7f16\u7801\u591a\u4e2a\u89c6\u56fe\u800c\u5f15\u5165\u7684\u5197\u4f59\u6216\u9519\u4f4d\u7279\u5f81\u3002\u8fd9\u4e00\u89c2\u5bdf\u8868\u660e\uff0c\u4ec5\u589e\u52a0\u8f93\u5165\u89c6\u56fe\u6570\u91cf\u5e76\u4e0d\u80fd\u4fdd\u8bc1\u66f4\u597d\u7684\u6027\u80fd\u3002\u76f8\u53cd\uff0c\u5b83\u5f3a\u8c03\u4e86\u9002\u5e94\u6027\u548c\u5185\u5bb9\u611f\u77e5\u7684\u591a\u89c6\u56fe\u878d\u5408\u7b56\u7565\u7684\u91cd\u8981\u6027\uff0c\u4ee5\u9009\u62e9\u6027\u5730\u63d0\u53d6\u5404\u89c6\u56fe\u95f4\u7684\u4e92\u8865\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u5982\u8868 2 \u548c\u56fe 2 \u6240\u793a\uff0c\u67d0\u4e9b\u573a\u666f\u7c7b\u578b\uff08\u5982\u65bd\u5de5\u533a\u57df\uff09\u4e2d\u4e09\u6444\u50cf\u5934\u8bbe\u7f6e\u660e\u663e\u4f18\u4e8e\u5355\u6444\u50cf\u5934\u53d8\u4f53\u3002\u8fd9\u8868\u660e\u9644\u52a0\u89c6\u56fe\u53ef\u4ee5\u5e26\u6765\u76ca\u5904\uff0c\u652f\u6301\u591a\u89c6\u56fe\u8f93\u5165\u5177\u6709\u5f3a\u5927\u6f5c\u529b\u7684\u89c2\u70b9\uff0c\u4f46\u5176\u6210\u529f\u53d6\u51b3\u4e8e\u4fe1\u606f\u6574\u5408\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-f7a7efce8bc77728e20a37109982ace0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-11417601cf4766a3307281ac263180ff_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1921338757665235869_35\">\u7ed3\u8bba<\/h3>\n\n\n\n<p>\u5728\u672c\u62a5\u544a\u4e2d\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86 <strong>Swin-Trajectory<\/strong>\uff0c\u8fd9\u662f\u4e00\u4e2a\u4e13\u4e3a Waymo \u89c6\u89c9\u7aef\u5230\u7aef\u9a7e\u9a76\u6311\u6218\u8bbe\u8ba1\u7684\u8f7b\u91cf\u7ea7\u6781\u7b80\u7aef\u5230\u7aef\u9a7e\u9a76\u6a21\u578b\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4ec5\u4f9d\u8d56\u4e8e\u4e00\u4e2a\u524d\u7f6e\u6444\u50cf\u5934\u548c\u7ed3\u6784\u5316\u7684\u81ea\u8f66\u8f93\u5165\uff0c\u907f\u514d\u4e86\u5bf9\u8bed\u4e49\u6807\u7b7e\u6216\u9ad8\u7cbe\u5730\u56fe\u7684\u4f9d\u8d56\u3002\u5c3d\u7ba1\u7ed3\u6784\u7b80\u5355\uff0cSwin-Trajectory 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\u9a8c\u8bc1\u96c6\u548c\u6d4b\u8bd5\u96c6\u4e0a\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684\u67b6\u6784\u5728\u4f4e\u5ef6\u8fdf\u548c\u4f4e\u8ba1\u7b97\u6210\u672c\u4e0b\u5b9e\u73b0\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u7ed3\u679c\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u5728\u5355\u6444\u50cf\u5934\u8bbe\u7f6e\u4e2d\u589e\u52a0\u89e3\u7801\u5757\u6570\u91cf\u53ef\u663e\u8457\u63d0\u5347\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u4e09\u76ee\u76f8\u673a\u5728\u67d0\u4e9b\u573a\u666f\uff08\u5982\u65bd\u5de5\u533a\u57df\uff09\u4e2d\u8868\u73b0\u51fa\u4f18\u52bf\uff0c\u4f46\u6211\u4eec\u7684\u7ed3\u679c\u8868\u660e\uff0c\u591a\u89c6\u56fe\u878d\u5408\u9700\u8981\u66f4\u7cbe\u7ec6\u7684\u5904\u7406\u624d\u80fd\u6301\u7eed\u4f18\u4e8e\u5355\u89c6\u56fe\u57fa\u7ebf\u3002\u672a\u6765\u7684\u5de5\u4f5c\u53ef\u80fd\u63a2\u7d22\u81ea\u9002\u5e94\u878d\u5408\u7b56\u7565\u548c\u5916\u90e8\u5148\u9a8c\u7684\u6574\u5408\u4ee5\u8fdb\u4e00\u6b65\u63d0\u5347\u6027\u80fd\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z 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