{"id":30685,"date":"2025-07-08T17:34:48","date_gmt":"2025-07-08T09:34:48","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30685"},"modified":"2025-07-08T17:34:48","modified_gmt":"2025-07-08T09:34:48","slug":"2025-07-08-%e5%88%86%e9%92%9f%e7%ba%a7%e9%95%bf%e8%a7%86%e9%a2%91%e7%94%9f%e6%88%90%ef%bc%81%e5%9c%b0%e5%b9%b3%e7%ba%bfepona%ef%bc%9a%e8%87%aa%e5%9b%9e%e5%bd%92%e6%89%a9%e6%95%a3%e5%bc%8f%e7%9a%84","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/08\/30685\/","title":{"rendered":"2025-07-08 \u5206\u949f\u7ea7\u957f\u89c6\u9891\u751f\u6210\uff01\u5730\u5e73\u7ebfEpona\uff1a\u81ea\u56de\u5f52\u6269\u6563\u5f0f\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\uff08ICCV&#8217;25\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/Htms0tdyka0-1tTn4kLGCw\">https:\/\/mp.weixin.qq.com\/s\/Htms0tdyka0-1tTn4kLGCw<\/a><\/p>\n\n\n\n<p>\u6269\u6563\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u89c6\u9891\u751f\u6210\u4e2d\u5df2\u7ecf\u5c55\u73b0\u51fa\u6bd4\u8f83\u6709\u524d\u666f\u7684\u89c6\u89c9\u751f\u6210\u8d28\u91cf\u3002\u7136\u800c\uff0c\u73b0\u6709\u7684\u57fa\u4e8e\u89c6\u9891\u6269\u6563\u7684\u4e16\u754c\u6a21\u578b\u5728\u7075\u6d3b\u957f\u5ea6\u3001\u957f\u65f6\u5e8f\u9884\u6d4b\u4ee5\u53ca\u8f68\u8ff9\u89c4\u5212\u65b9\u9762\u4ecd\u5b58\u5728\u4e0d\u8db3\u3002\u8fd9\u662f\u56e0\u4e3a\u4f20\u7edf\u89c6\u9891\u6269\u6563\u6a21\u578b\u4f9d\u8d56\u4e8e\u5bf9\u56fa\u5b9a\u957f\u5ea6\u5e27\u5e8f\u5217\u7684\u5168\u5c40\u8054\u5408\u5206\u5e03\u5efa\u6a21\uff0c\u800c\u975e\u9010\u6b65\u6784\u5efa\u6bcf\u4e2a\u65f6\u95f4\u4e0b\u7684\u5c40\u90e8\u5316\u5206\u5e03\u3002\u672c\u7814\u7a76\u63d0\u51fa&nbsp;<strong>Epona<\/strong>\uff0c\u4e00\u79cd\u81ea\u56de\u5f52\u6269\u6563\u4e16\u754c\u6a21\u578b\uff0c\u901a\u8fc7\u4e24\u9879\u5173\u952e\u521b\u65b0\u5b9e\u73b0\u5c40\u90e8\u65f6\u7a7a\u5206\u5e03\u5efa\u6a21\uff1a1\uff09<strong>\u89e3\u8026\u7684\u65f6\u7a7a\u5206\u89e3<\/strong>\uff0c\u5c06\u65f6\u95f4\u52a8\u6001\u5efa\u6a21\u4e0e\u7ec6\u7c92\u5ea6\u672a\u6765\u4e16\u754c\u751f\u6210\u5206\u79bb\uff1b2\uff09<strong>\u6a21\u5757\u5316\u7684\u8f68\u8ff9\u4e0e\u89c6\u9891\u9884\u6d4b<\/strong>\uff0c\u901a\u8fc7\u7aef\u5230\u7aef\u6846\u67b6\u65e0\u7f1d\u6574\u5408\u8fd0\u52a8\u89c4\u5212\u4e0e\u89c6\u89c9\u5efa\u6a21\u3002\u672c\u6587\u7684\u67b6\u6784\u901a\u8fc7\u5f15\u5165\u4e00\u79cd\u65b0\u7684\u201c\u94fe\u5f0f\u524d\u5411\u8bad\u7ec3\u7b56\u7565\u201d\uff08chain-of-forward training strategy\uff09\uff0c\u5728\u5b9e\u73b0\u9ad8\u5206\u8fa8\u7387\u3001\u957f\u6301\u7eed\u65f6\u95f4\u751f\u6210\u7684\u540c\u65f6\u89e3\u51b3\u4e86\u81ea\u56de\u5f52\u5faa\u73af\u4e2d\u7684\u8bef\u5dee\u7d2f\u79ef\u95ee\u9898\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u73b0\u6709\u65b9\u6cd5\u76f8\u6bd4\uff0cEpona\u5728FVD\u6307\u6807\u4e0a\u63d0\u53477.4%\uff0c\u9884\u6d4b\u65f6\u957f\u53ef\u8fbe\u6570\u5206\u949f\u3002\u8be5\u4e16\u754c\u6a21\u578b\u8fdb\u4e00\u6b65\u53ef\u4f5c\u4e3a\u5b9e\u65f6\u7aef\u5230\u7aef\u89c4\u5212\u5668\uff0c\u5728NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u4f18\u4e8e\u73b0\u6709\u7aef\u5230\u7aef\u89c4\u5212\u5668\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aEpona: Autoregressive Diffusion World Model for Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2506.24113<\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/kevin-thu.github.io\/Epona\/<\/li>\n\n\n\n<li>GitHub\u5730\u5740\uff1ahttps:\/\/github.com\/Kevin-thu\/Epona\/<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"656\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-137-1024x656.png\" alt=\"\" class=\"wp-image-30686\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-137-1024x656.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-137-300x192.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-137-768x492.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-137.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7814\u7a76\u52a8\u673a\u5256\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u6269\u6563 or 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class=\"wp-block-list\">\n<li><strong>\u57fa\u4e8e\u89c6\u9891\u6269\u6563\u7684\u4e16\u754c\u6a21\u578b<\/strong>\uff08\u5982 GAIA-2\u3001Vista\uff09\uff1a\u80fd\u751f\u6210\u9ad8\u8d28\u91cf\u8fde\u7eed\u89c6\u9891\uff0c\u4f46\u4ec5\u9650\u56fa\u5b9a\u957f\u5ea6\u3001\u7f3a\u4e4f\u65f6\u5e8f\u56e0\u679c\u6027\u5efa\u6a21\uff0c\u96be\u4ee5\u6269\u5c55\u81f3\u7075\u6d3b\u957f\u5ea6\u957f\u89c6\u9891\u751f\u6210\u548c\u8f68\u8ff9\u89c4\u5212\u4efb\u52a1\uff1b<\/li>\n\n\n\n<li><strong>\u57fa\u4e8e\u81ea\u56de\u5f52Transformer\u7c7b\u6a21\u578b<\/strong>\uff08\u5982 GAIA-1\u3001DrivingWorld\uff09\uff1a\u901a\u8fc7\u79bb\u6563token\u81ea\u56de\u5f52\u5efa\u6a21\u5b9e\u73b0\u957f\u5e8f\u5217\u9884\u6d4b\uff0c\u652f\u6301\u95ed\u73af\u63a7\u5236\u548c\u89c6\u9891\u8f68\u8ff9\u8054\u5408\u751f\u6210\uff0c\u4f46\u727a\u7272\u4e86\u8fde\u7eed\u56fe\u50cf\u8d28\u91cf\u548c\u771f\u5b9e\u8f68\u8ff9\u5efa\u6a21\u80fd\u529b\uff0c\u4e14\u81ea\u56de\u5f52\u957f\u65f6\u5e8f\u63a8\u7406\u5b58\u5728\u4e25\u91cd\u8bef\u5dee\u7d2f\u79ef\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u8fd9\u4e24\u7c7b\u65b9\u6cd5\u5404\u6709\u4f18\u52a3\uff0c\u957f\u671f\u4ee5\u6765\u7f3a\u4e4f\u4e00\u79cd\u7edf\u4e00\u4e14\u5b9e\u7528\u7684\u89e3\u51b3\u65b9\u6848\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u7b49\u5e94\u7528\u4e2d\uff0c\u5927\u5bb6\u5e0c\u671b\u6a21\u578b\u65e2\u5177\u5907<strong>\u9ad8\u8d28\u91cf\u957f\u65f6\u5e8f\u7684\u9884\u6d4b\u63a8\u7406\u80fd\u529b<\/strong>\uff0c\u53c8\u80fd\u8fdb\u884c<strong>\u5b9e\u65f6\u8fd0\u52a8\u89c4\u5212\u4e0e\u8f68\u8ff9\u63a7\u5236<\/strong>\uff0c\u56e0\u6b64\u5982\u4f55\u9769\u65b0<strong>\u4e16\u754c\u6a21\u578b\u7684\u57fa\u7840\u67b6\u6784\u8bbe\u8ba1<\/strong>\u6210\u4e3a\u9650\u5236\u4e16\u754c\u6a21\u578b\u53d1\u5c55\u7684\u5173\u952e\u6311\u6218\u3002<\/p>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u6784\u5efa\u771f\u5b9e\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u8fd1\u5e74\u6765\u53d7\u5230\u5e7f\u6cdb\u5173\u6ce8\uff0c\u5176\u4e2d\u4ee5\u89c6\u89c9\u4e3a\u4e2d\u5fc3\u7684\u65b9\u6cd5\u56e0\u5176\u4f20\u611f\u5668\u7075\u6d3b\u6027\u3001\u6570\u636e\u53ef\u8bbf\u95ee\u6027\u4ee5\u53ca\u66f4\u63a5\u8fd1\u4eba\u7c7b\u7684\u8868\u5f81\u5f62\u5f0f\u800c\u5360\u636e\u4e3b\u5bfc\u5730\u4f4d\u3002\u65e9\u671f\u7814\u7a76\u4e3b\u8981\u96c6\u4e2d\u5728\u901a\u8fc7\u5fae\u8c03\u5c06\u9884\u8bad\u7ec3\u6269\u6563\u6a21\u578b\uff08\u5982 Stable Diffusion\uff09\u9002\u914d\u5230\u9a7e\u9a76\u573a\u666f\u4e2d\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u8981\u4e48\u7f3a\u4e4f\u5173\u952e\u7684\u89c4\u5212\u6a21\u5757\uff0c\u8981\u4e48\u53d7\u9650\u4e8e\u4f4e\u5206\u8fa8\u7387\u548c\u77ed\u65f6\u751f\u6210\uff0c\u96be\u4ee5\u6ee1\u8db3\u957f\u671f\u4e00\u81f4\u9884\u6d4b\u548c\u5b9e\u65f6\u89c4\u5212\u7684\u9700\u6c42\u3002<\/p>\n\n\n\n<p>\u8fd1\u671f\u7814\u7a76\u63a2\u7d22\u4e86\u91c7\u7528GPT\u98ce\u683c\u67b6\u6784\u6765\u7edf\u4e00\u89c6\u89c9\u4e0e\u52a8\u4f5c\u5efa\u6a21\uff0c\u5e76\u5b9e\u73b0\u4e86\u957f\u5e8f\u5217\u81ea\u56de\u5f52\u751f\u6210\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u9700\u8981\u5c06\u56fe\u50cf\u548c\u8f68\u8ff9\u7f16\u7801\u4e3a\u79bb\u6563token\uff0c\u663e\u8457\u964d\u4f4e\u4e86\u89c6\u89c9\u8d28\u91cf\u548c\u8f68\u8ff9\u7cbe\u5ea6\u3002\u540c\u6837\uff0c\u65b0\u53d1\u5e03\u7684Cosmos\u57fa\u7840\u6a21\u578b\u867d\u53ef\u4f5c\u4e3a\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\uff0c\u4f46\u5e76\u672a\u5f15\u5165\u65b0\u6846\u67b6\uff0c\u4ecd\u9762\u4e34\u4e0e\u524d\u8ff0\u65b9\u6cd5\u76f8\u540c\u7684\u5c40\u9650\u6027\u3002\u6b64\u5916\uff0c\u5176\u5e9e\u5927\u7684\u53c2\u6570\u91cf\u548c\u8ba1\u7b97\u9700\u6c42\u4e5f\u9650\u5236\u4e86\u5b9e\u7528\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u81ea\u52a8\u9a7e\u9a76\u81ea\u56de\u5f52\u6269\u6563\u4e16\u754c\u6a21\u578b\u6846\u67b6\uff0c\u652f\u6301\u8fde\u7eed\u89c6\u89c9\u4e0e\u8f68\u8ff9\u8868\u5f81\u4e0b\u7684\u957f\u5e8f\u5217\u81ea\u56de\u5f52\u751f\u6210\u3002<\/p>\n\n\n\n<p><strong>\u957f\u89c6\u9891\u751f\u6210<\/strong><\/p>\n\n\n\n<p>\u957f\u65f6\u5e8f\u9884\u6d4b\u4e0d\u4ec5\u662f\u5f53\u524d\u89c6\u9891\u751f\u6210\u6a21\u578b\u7684\u5173\u952e\u6311\u6218\uff0c\u4e5f\u662f\u4e16\u754c\u6a21\u578b\u9c81\u68d2\u6cdb\u5316\u7684\u6838\u5fc3\u80fd\u529b\uff0c\u56e0\u4e3a\u5b83\u53cd\u6620\u4e86\u6a21\u578b\u5b66\u4e60\u73af\u5883\u52a8\u6001\u5e76\u51c6\u786e\u6a21\u62df\u65f6\u95f4\u8fdb\u7a0b\u7684\u80fd\u529b\u3002\u7531\u4e8e\u539f\u59cb\u89c6\u9891\u6269\u6563\u6a21\u578b\uff08\u5982SVD\uff09\u4ec5\u80fd\u751f\u6210\u56fa\u5b9a\u957f\u5ea6\u7684\u77ed\u7247\u6bb5\uff0c\u65e9\u671f\u65b9\u6cd5\u901a\u8fc7\u566a\u58f0\u91cd\u8c03\u5ea6\u3001\u91cd\u53e0\u751f\u6210\u6216\u5206\u5c42\u751f\u6210\u6269\u5c55\u89c6\u9891\u957f\u5ea6\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u6280\u672f\u672a\u80fd\u89e3\u51b3\u6a21\u578b\u56fa\u6709\u9650\u5236\uff0c\u5e38\u5bfc\u81f4\u957f\u89c6\u9891\u4e2d\u51fa\u73b0\u4e0d\u4e00\u81f4\u6027\u548c\u7a81\u53d8\u89c6\u89c9\u6548\u679c\u3002<\/p>\n\n\n\n<p>\u81ea\u56de\u5f52\u65b9\u6cd5\u5929\u7136\u652f\u6301\u53d8\u957f\u751f\u6210\uff0c\u4f46\u56e0\u6559\u5e08\u5f3a\u5236\u8bad\u7ec3\uff08teacher-forcing\uff09\u4e0e\u91c7\u6837\u9636\u6bb5\u8bef\u5dee\u7d2f\u79ef\u4e4b\u95f4\u7684\u9886\u57df\u504f\u79fb\uff08domain shift\uff09\uff0c\u5bfc\u81f4\u751f\u6210\u8d28\u91cf\u663e\u8457\u4e0b\u964d\u3002GameNGen\u548cDrivingWorld\u901a\u8fc7\u8bad\u7ec3\u4e2d\u5f15\u5165\u566a\u58f0\u589e\u5f3a\u548c\u968f\u673atoken\u4e22\u5f03\u7f13\u89e3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4f46\u5374\u53d7\u9650\u4e8e\u7279\u5b9a\u6a21\u578b\u67b6\u6784\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u901a\u7528\u7684\u201c\u94fe\u5f0f\u524d\u5411\u8bad\u7ec3\u7b56\u7565\u201d\uff08chain-of-forward strategy\uff09\uff0c\u4f7f\u6a21\u578b\u5728\u8bad\u7ec3\u4e2d\u76f4\u63a5\u5b66\u4e60\u63a8\u7406\u8bef\u5dee\uff0c\u6709\u6548\u51cf\u5c11\u81ea\u56de\u5f52\u6f02\u79fb\u3002<\/p>\n\n\n\n<p>\u8fd1\u671f\u7814\u7a76\u5982Diffusion Forcing\u548cFIFO-Diffusion\u901a\u8fc7\u8c03\u6574\u5e27\u7ea7\u566a\u58f0\u6c34\u5e73\u548c\u5229\u7528\u56e0\u679c\u7f51\u7edc\u8bbe\u8ba1\uff0c\u63a2\u7d22\u4e86\u89c6\u9891\u6269\u6563\u4e2d\u7684\u81ea\u56de\u5f52\u751f\u6210\u3002Epona\u91c7\u7528\u4e86\u7c7b\u4f3c\u7684\u56e0\u679c\u65f6\u95f4\u5efa\u6a21\u7b56\u7565\uff0c\u4f46\u5c06\u67b6\u6784\u91cd\u65b0\u5b9a\u4e49\u4e3a\u4e24\u9636\u6bb5\u7aef\u5230\u7aef\u6846\u67b6\uff0c\u652f\u6301\u8fd0\u52a8\u89c4\u5212\u4e0e\u4e0b\u4e00\u5e27\u56fe\u50cf\u7684\u8054\u5408\u751f\u6210\u3002<\/p>\n\n\n\n<p><strong>\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>\u91cd\u65b0\u601d\u8003\u4e16\u754c\u6a21\u578b\u7684\u5efa\u6a21\u65b9\u5f0f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"248\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-138-1024x248.png\" alt=\"\" class=\"wp-image-30688\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-138-1024x248.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-138-300x73.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-138-768x186.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-138.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=\"283\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/070801.png\" alt=\"\" class=\"wp-image-30689\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070801.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070801-300x127.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"472\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-139-1024x472.png\" alt=\"\" class=\"wp-image-30690\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-139-1024x472.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-139-300x138.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-139-768x354.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-139.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u6b64\u8bbe\u8ba1\u57fa\u7840\u4e0a\uff0cEpona \u5f15\u5165\u4e09\u9879\u5173\u952e\u8bbe\u8ba1\u521b\u65b0\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u89e3\u8026\u65f6\u7a7a\u5efa\u6a21<\/strong><\/h3>\n\n\n\n<p><strong>\u5b9e\u73b0\u7075\u6d3b\u957f\u5ea6\u7684\u9ad8\u8d28\u91cf\u957f\u65f6\u5e8f\u89c6\u9891\u751f\u6210<\/strong><\/p>\n\n\n\n<p>\u4f20\u7edf\u89c6\u9891\u6269\u6563\u6a21\u578b\u5efa\u6a21\u56fa\u5b9a\u957f\u5ea6\u5e8f\u5217\u7684\u8054\u5408\u5206\u5e03\uff0c\u96be\u4ee5\u652f\u6301\u957f\u89c6\u9891\u751f\u6210\u548c\u7075\u6d3b\u63a7\u5236\u3002Epona \u9996\u6b21\u5728\u6269\u6563\u4e16\u754c\u6a21\u578b\u4e2d<strong>\u663e\u5f0f\u89e3\u8026\u65f6\u95f4\u5efa\u6a21\u4e0e\u7a7a\u95f4\u751f\u6210<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u65f6\u5e8f\u5efa\u6a21<\/strong>\uff1a\u4f7f\u7528\u591a\u6a21\u6001\u65f6\u7a7a Transformer\uff08MST\uff09\u901a\u8fc7\u4ea4\u9519\u7684 causal temporal attention \u548c spatial attention \u7f16\u7801\u5386\u53f2\u89c6\u89c9\u4e0e\u8f68\u8ff9\u5e8f\u5217\uff0c\u63d0\u53d6\u7d27\u51d1\u7684\u65f6\u5e8f\u6f5c\u53d8\u91cf\uff1b<\/li>\n\n\n\n<li><strong>\u7a7a\u95f4\u751f\u6210<\/strong>\uff1a\u57fa\u4e8e\u65f6\u5e8f\u6f5c\u53d8\u91cf\u6761\u4ef6\uff0c\u4f7f\u7528\u53cc-\u5355\u6d41\u7ed3\u6784\u7684 DiT \u9884\u6d4b\u672a\u6765\u8f68\u8ff9\u548c\u9a7e\u9a76\u573a\u666f\uff0c\u652f\u6301\u9010\u5e27\u81ea\u56de\u5f52\u751f\u6210\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u4e00\u7ed3\u6784\u663e\u5f0f\u5efa\u6a21\u4e86\u65f6\u5e8f\u4fe1\u606f\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u6a21\u578b\u7684\u65f6\u95f4\u7ef4\u5ea6\u53ef\u6269\u5c55\u6027\uff0c\u5141\u8bb8\u6839\u636e\u6761\u4ef6\u7075\u6d3b\u751f\u6210<strong>\u4efb\u610f\u957f\u5ea6\u7684\u89c6\u9891<\/strong>\uff0c\u540c\u65f6\u4fdd\u6301\u6bcf\u4e00\u5e27\u7684\u9ad8\u5206\u8fa8\u7387\u4e0e\u7ec6\u8282\u4e00\u81f4\u6027\u3002\u5b9e\u9a8c\u4e2d\uff0cEpona \u53ef\u5728 NuPlan \u4e0a<strong>\u751f\u6210\u8d85\u8fc7 2\u5206\u949f\uff08600\u5e27\uff09\u7684\u9ad8\u8d28\u91cf\u9a7e\u9a76\u89c6\u9891<\/strong>\u3002<\/p>\n\n\n\n<p><strong>\u89e3\u8026\u8f68\u8ff9\u4e0e\u56fe\u50cf\u751f\u6210<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"317\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/070802.png\" alt=\"\" class=\"wp-image-30691\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070802.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070802-300x142.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>Chain-of-Forward \u8bad\u7ec3\u7b56\u7565<\/strong><\/p>\n\n\n\n<p><strong>\u7f13\u89e3\u81ea\u56de\u5f52\u8bef\u5dee\u79ef\u7d2f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"772\" height=\"381\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-140.png\" alt=\"\" class=\"wp-image-30692\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-140.png 772w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-140-300x148.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-140-768x379.png 768w\" sizes=\"(max-width: 772px) 100vw, 772px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"430\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/070803.png\" alt=\"\" class=\"wp-image-30693\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070803.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/070803-300x191.png 300w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1925687958033405126_9\">\u5b9e\u9a8c\u7ed3\u679c<\/h2>\n\n\n\n<p>Epona \u5728 NuPlan\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=260033269&amp;content_type=Article&amp;match_order=1&amp;q=nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuScenes<\/a>\u6570\u636e\u96c6\u4e0a\u4ece\u5934\u8bad\u7ec3\uff0c\u8f93\u5165\u56fe\u50cf\u5c3a\u5bf8\u4e3a 512\u00d71024\uff0c\u6a21\u578b\u603b\u53c2\u6570\u91cf\u7ea6 2.5B\uff0c\u91c7\u7528 Rectified Flow \u76ee\u6807\u7aef\u5230\u7aef\u4f18\u5316\u3002\u63a8\u7406\u9636\u6bb5\u53ef\u5728\u5355\u5f20 4090 GPU \u4e0a\u8fdb\u884c\uff0c\u5355\u5f20 4090 \u4e0a\u56fe\u50cf\u751f\u6210\u7ea6 2s\/\u5e27\uff0c\u8f68\u8ff9\u9884\u6d4b\u652f\u6301 20Hz \u5b9e\u65f6\u8fd0\u884c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1925687958033405126_10\">\u5206\u949f\u7ea7\u957f\u89c6\u9891\u751f\u6210<\/h3>\n\n\n\n<p>\u4e0e SoTA \u7684\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b Vista \u548c NVIDIA Cosmos (v1-AR-4B)\u5bf9\u6bd4\uff0cEpona \u5927\u5927\u63d0\u9ad8\u4e86\u53ef\u751f\u6210\u89c6\u9891\u7684\u957f\u5ea6\uff0c\u5728 NuPlan \u6570\u636e\u96c6\u4e0a\u53ef\u751f\u6210\u957f\u8fbe 2 \u5206\u949f\uff08600\u5e27\uff09\u7684\u9a7e\u9a76\u89c6\u9891\uff0c\u5177\u6709\u663e\u8457\u4f18\u52bf\uff1a assets\/comparison1.mp4 assets\/comparison2.mp4 assets\/comparison3.mp4<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1925687958033405126_11\">\u8f68\u8ff9\u63a7\u5236\u89c6\u9891\u751f\u6210<\/h3>\n\n\n\n<p>Epona \u652f\u6301\u7ec6\u7c92\u5ea6\u7684\u8f68\u8ff9\u63a7\u5236\uff0c\u53ef\u6839\u636e\u6307\u5b9a\u8f68\u8ff9\u751f\u6210\u5b9a\u5236\u5316\u7684\u9a7e\u9a76\u89c6\u9891\uff1a assets\/control.mp4<\/p>\n\n\n\n<p>\u89c6\u9891\u751f\u6210\u7ed3\u679c\u5bf9\u6bd4\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-48a19e39766c0330657fc0b0c9b10180_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1925687958033405126_12\">\u7aef\u5230\u7aef\u8f68\u8ff9\u9884\u6d4b<\/h3>\n\n\n\n<p>Epona \u652f\u6301\u7aef\u5230\u7aef\u8f68\u8ff9\u9884\u6d4b\uff0c\u53ef\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u8fd0\u52a8\u89c4\u5212\uff0c\u76f8\u8f83\u4e13\u4e3a\u8fd0\u52a8\u89c4\u5212\u8bbe\u8ba1\u7684\u7aef\u5230\u7aef\u7f51\u7edc\uff0c\u5728 nuScenes \u548c NAVSIM\u57fa\u51c6\u4e0a\u5747\u53d6\u5f97\u6709\u7ade\u4e89\u6027\u7684\u7ed3\u679c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-128903d7ab4c61b96be388e213f6955e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-00469b5d83eb21481d2ecdad334f9edd_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1925687958033405126_13\">\u4e0e\u5176\u4ed6\u5de5\u4f5c\u7684\u5bf9\u6bd4&amp;\u8ba8\u8bba<\/h2>\n\n\n\n<p>\u8fd1\u6765AR+Diffusion\u7684\u8bbe\u8ba1\u601d\u60f3\u53d7\u5230\u5e7f\u6cdb\u5173\u6ce8\uff0c\u8fd9\u91cc\u4e5f\u5206\u4eab\u4e0b\u7b14\u8005\u7684\u4e2a\u4eba\u7406\u89e3\uff0c\u7b80\u8981\u5bf9\u6bd4Epona\u7684\u8bbe\u8ba1\u601d\u60f3\u4e0e\u76f8\u5173\u5de5\u4f5c\u7684\u4e0d\u540c\u4e4b\u5904\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Transfusion, JanusFlow , Bagel\u7b49\u5de5\u4f5c\u5c06 token-by-token \u7684\u6587\u672c\u81ea\u56de\u5f52\u4e0e\u56fe\u50cf\u6269\u6563\u7ed3\u5408\uff0c\u4e3b\u8981\u805a\u7126\u4e8e\u7edf\u4e00\u5927\u6a21\u578b\u4e2d\u56fe\u50cf\u7684\u8bed\u4e49\u7406\u89e3\u548c\u751f\u6210\uff1b\u800c Epona \u5c06 frame-by-frame \u7684\u65f6\u5e8f\u6f5c\u53d8\u91cf\u81ea\u56de\u5f52\u4e0e\u591a\u6a21\u6001\u6269\u6563\u751f\u6210\u76f8\u7ed3\u5408\uff0c\u805a\u7126\u4e8e\u89e3\u51b3\u89c6\u9891\u751f\u6210\u4e2d\u7684\u65f6\u5e8f\u5efa\u6a21\u4e0e\u52a8\u6001\u4e00\u81f4\u6027\u95ee\u9898\u3002<\/li>\n\n\n\n<li>MAR, NOVA, VideoMAR\u7b49\u5de5\u4f5c\u901a\u8fc7 Diffusion Loss \u5efa\u6a21\u8fde\u7eed token \u7684\u5206\u5e03\uff0c\u6446\u8131\u4e86\u4f20\u7edf\u81ea\u56de\u5f52\u6a21\u578b\u4e2d VQ \u79bb\u6563\u5316\u7684\u9700\u6c42\uff0c\u4f46\u5f53\u524d\u5728\u89c6\u9891\u751f\u6210\u4e0a\u7684\u63a2\u7d22\u4ecd\u5904\u5728\u521d\u6b65\u9636\u6bb5\uff0c\u5c40\u9650\u4e8e\u751f\u6210\u77ed\u65f6\u5e8f\u3001\u52a8\u6001\u6027\u5c0f\u7684\u89c6\u9891\uff0c\u5728\u4e16\u754c\u6a21\u578b\u957f\u65f6\u5e8f\u3001\u9ad8\u52a8\u6001\u7684\u89c6\u9891\u751f\u6210\u4e2d\u7684\u80fd\u529b\u5c1a\u5f85\u63a2\u7d22\u3002<\/li>\n\n\n\n<li>CausVid, Self Forcing, Vid2World\u7b49\u5de5\u4f5c\u901a\u8fc7\u4fee\u6539\u73b0\u6709\u7684\u89c6\u9891\u6269\u6563\u6a21\u578b\u67b6\u6784\u5f15\u5165\u65f6\u5e8f\u5efa\u6a21\u548c\u9010\u5e27\u751f\u6210\u80fd\u529b\uff0c\u4f46\u4ecd\u53d7\u9650\u4e8e\u89c6\u9891\u6269\u6563\u6a21\u578b\u672c\u8eab\u8bad\u7ec3\u7684\u89c6\u9891\u957f\u5ea6\uff1bEpona \u5219\u91cd\u65b0\u8bbe\u8ba1\u4e86\u4e16\u754c\u6a21\u578b\u67b6\u6784\uff0c\u5c06\u65f6\u5e8f\u5efa\u6a21\u548c\u9010\u5e27\u7a7a\u95f4\u5efa\u6a21\u663e\u5f0f\u89e3\u8026\uff0c\u4e14\u652f\u6301\u56fe\u50cf\u3001\u8f68\u8ff9\u591a\u6a21\u6001\u751f\u6210\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1925687958033405126_14\">\u603b\u7ed3<\/h2>\n\n\n\n<p>Epona 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[&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-30685","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30685"}],"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=30685"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30685\/revisions"}],"predecessor-version":[{"id":30694,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30685\/revisions\/30694"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=30685"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=30685"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=30685"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}