{"id":31082,"date":"2025-07-16T17:32:28","date_gmt":"2025-07-16T09:32:28","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31082"},"modified":"2025-07-16T17:32:28","modified_gmt":"2025-07-16T09:32:28","slug":"2025-07-16-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%b8%ad%e8%a7%86%e8%a7%89%e8%af%ad%e8%a8%80%e6%a8%a1%e5%9e%8b%e7%9a%84%e9%bb%91%e7%9b%92%e5%af%b9%e6%8a%97%e6%94%bb%e5%87%bb","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/16\/31082\/","title":{"rendered":"2025-07-16 \u81ea\u52a8\u9a7e\u9a76\u4e2d\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u9ed1\u76d2\u5bf9\u6297\u653b\u51fb"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/www.163.com\/dy\/article\/K4JHNIM105567BBF.html\">https:\/\/www.163.com\/dy\/article\/K4JHNIM105567BBF.html<\/a><\/p>\n\n\n\n<p id=\"3PIQ83L2\">Black-Box Adversarial Attack on Vision Language Models for Autonomous Driving<\/p>\n\n\n\n<p id=\"3PIQ83L3\"><strong>\u81ea\u52a8\u9a7e\u9a76\u4e2d\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u9ed1\u76d2\u5bf9\u6297\u653b\u51fb<\/strong><\/p>\n\n\n\n<p><a href=\"https:\/\/www.arxiv.org\/pdf\/2501.13563\">https:\/\/www.arxiv.org\/pdf\/2501.13563<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fc7f71706j00szha6u00jfd200u000zng00u000zn.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F44b3e95bj00szha6v004fd200iu00vag00iu00va.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83L8\"><strong>\u6458\u8981<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83L9\">\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u901a\u8fc7\u589e\u5f3a\u63a8\u7406\u80fd\u529b\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u5e26\u6765\u4e86\u663e\u8457\u8fdb\u5c55\uff1b\u7136\u800c\uff0c\u8fd9\u4e9b\u6a21\u578b\u4ecd\u7136\u6781\u6613\u53d7\u5230\u5bf9\u6297\u653b\u51fb\u7684\u5f71\u54cd\u3002\u5c3d\u7ba1\u73b0\u6709\u7814\u7a76\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u63a2\u7d22\u4e86\u767d\u76d2\u653b\u51fb\uff0c\u4f46\u66f4\u5177\u73b0\u5b9e\u610f\u4e49\u4e14\u66f4\u5177\u6311\u6218\u6027\u7684\u9ed1\u76d2\u573a\u666f\u2014\u2014\u5373\u6a21\u578b\u7ed3\u6784\u548c\u53c2\u6570\u5747\u672a\u77e5\u7684\u60c5\u51b5\u2014\u2014\u7531\u4e8e\u5176\u56fa\u6709\u7684\u96be\u5ea6\uff0c\u4ecd\u672a\u5f97\u5230\u5145\u5206\u7814\u7a76\u3002\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u9996\u6b21\u5c1d\u8bd5\u8bbe\u8ba1\u4e13\u95e8\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76\u4e2d\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u9ed1\u76d2\u5bf9\u6297\u653b\u51fb\u3002\u6211\u4eec\u8bc6\u522b\u51fa\u5728\u6b64\u80cc\u666f\u4e0b\u5b9e\u73b0\u6709\u6548\u9ed1\u76d2\u653b\u51fb\u7684\u4e24\u4e2a\u5173\u952e\u6311\u6218\uff1a\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u63a8\u7406\u94fe\u4e2d\u7684\u6709\u6548\u6027\uff0c\u4ee5\u53ca\u9a7e\u9a76\u573a\u666f\u7684\u52a8\u6001\u6027\u3002\u4e3a\u5e94\u5bf9\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u7ea7\u8054\u5bf9\u6297\u7834\u574f\uff08Cascading Adversarial Disruption, CAD\uff09\u3002\u8be5\u65b9\u6cd5\u9996\u5148\u5f15\u5165\u201c\u51b3\u7b56\u94fe\u7834\u574f\u201d\uff08Decision Chain Disruption\uff09\uff0c\u901a\u8fc7\u751f\u6210\u5e76\u6ce8\u5165\u5177\u6709\u6b3a\u9a97\u6027\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u4ece\u4f4e\u5c42\u63a8\u7406\u5c42\u9762\u8fdb\u884c\u7834\u574f\uff0c\u786e\u4fdd\u6270\u52a8\u5728\u6574\u4e2a\u51b3\u7b56\u94fe\u4e2d\u4fdd\u6301\u6709\u6548\u6027\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u63d0\u51fa\u201c\u98ce\u9669\u573a\u666f\u8bf1\u5bfc\u201d\uff08Risky Scene Induction\uff09\uff0c\u5229\u7528\u66ff\u4ee3VLM\u6765\u7406\u89e3\u548c\u6784\u5efa\u9ad8\u5c42\u98ce\u9669\u573a\u666f\uff0c\u4ee5\u89e3\u51b3\u52a8\u6001\u9002\u5e94\u95ee\u9898\uff0c\u4ece\u800c\u5728\u5f53\u524d\u9a7e\u9a76\u60c5\u5883\u4e2d\u5f15\u53d1\u4e25\u91cd\u9519\u8bef\u3002\u6211\u4eec\u5728\u591a\u4e2a\u81ea\u52a8\u9a7e\u9a76VLM\u6a21\u578b\u548c\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u7ed3\u679c\u8868\u660eCAD\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u653b\u51fb\u6548\u679c\uff0c\u663e\u8457\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\uff08\u5e73\u5747\u63d0\u5347+13.43%\uff09\u3002\u6b64\u5916\uff0c\u6211\u4eec\u901a\u8fc7\u5728\u57fa\u4e8eVLM\u9a71\u52a8\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4e0a\u5b9e\u65bd\u771f\u5b9e\u4e16\u754c\u653b\u51fb\u9a8c\u8bc1\u4e86\u5176\u5b9e\u9645\u5e94\u7528\u6027\uff0c\u5728\u6b64\u7c7b\u653b\u51fb\u4e0b\uff0c\u8def\u5f84\u5b8c\u6210\u7387\u4e0b\u964d\u4e8661.11%\uff0c\u5e76\u4e14\u8f66\u8f86\u4f1a\u76f4\u63a5\u649e\u5411\u5e26\u6709\u5bf9\u6297\u8865\u4e01\u7684\u969c\u788d\u8f66\u8f86\u3002\u6700\u540e\uff0c\u6211\u4eec\u53d1\u5e03\u4e86CADA\u6570\u636e\u96c6\uff0c\u5305\u542b18,808\u5bf9\u5bf9\u6297\u6027\u7684\u89c6\u89c9\u95ee\u7b54\u6837\u672c\uff0c\u4ee5\u4fc3\u8fdb\u8be5\u5173\u952e\u9886\u57df\u7684\u8fdb\u4e00\u6b65\u8bc4\u4f30\u4e0e\u7814\u7a76\u3002\u6211\u4eec\u7684\u4ee3\u7801\u548c\u6570\u636e\u96c6\u5c06\u5728\u8bba\u6587\u88ab\u63a5\u6536\u540e\u516c\u5f00\u3002<\/p>\n\n\n\n<p id=\"3PIQ83LB\"><strong>1 \u5f15\u8a00<\/strong><br>\u8fd1\u5e74\u6765\uff0c\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09[2, 22, 38, 77] \u5728\u56fe\u50cf\u63cf\u8ff0\u751f\u6210\u3001\u95ee\u7b54\u548c\u591a\u6a21\u6001\u63a8\u7406\u7b49\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u6027\u80fd\uff0c\u4fc3\u4f7f\u5176\u8fc5\u901f\u53d1\u5c55\u5e76\u5728\u5404\u4e2a\u9886\u57df\u5f97\u5230\u5e7f\u6cdb\u5e94\u7528\uff0c\u5305\u62ec\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u3002\u81ea\u52a8\u9a7e\u9a76\u8fd0\u884c\u5728\u9ad8\u5ea6\u590d\u6742\u4e14\u4e0d\u65ad\u53d8\u5316\u7684\u73af\u5883\u4e2d\uff0c\u800cVLM\u6240\u5177\u5907\u7684\u5148\u8fdb\u591a\u6a21\u6001\u63a8\u7406\u80fd\u529b\u53ef\u4ee5\u4f5c\u4e3a\u8ba4\u77e5\u6838\u5fc3\uff0c\u5b9e\u73b0\u9ad8\u7ea7\u611f\u77e5\u3001\u7ec6\u81f4\u51b3\u7b56\u548c\u66f4\u5b89\u5168\u7684\u5bfc\u822a [42, 44, 45, 47, 54, 55]\u3002<\/p>\n\n\n\n<p id=\"3PIQ83LC\">\u5c3d\u7ba1\u8fd9\u4e9b\u6a21\u578b\u53d6\u5f97\u4e86\u663e\u8457\u6210\u529f\uff0c\u4f46\u5927\u91cf\u7814\u7a76\u5df2\u7ecf\u63ed\u793a\u4e86VLM\u5728\u5bf9\u6297\u653b\u51fb\u9762\u524d\u7684\u8106\u5f31\u6027 [26\u201329, 31, 39, 61, 63, 64, 67, 71, 76]\uff0c\u5176\u4e2d\u5fae\u5c0f\u7684\u89c6\u89c9\u6270\u52a8\u5c31\u53ef\u80fd\u5bfc\u81f4\u6a21\u578b\u505a\u51fa\u9519\u8bef\u9884\u6d4b\u3002\u8fd9\u79cd\u8106\u5f31\u6027\u5f15\u53d1\u4e86\u91cd\u5927\u62c5\u5fe7\uff0c\u5c24\u5176\u662f\u5728\u8fd9\u4e9b\u6a21\u578b\u88ab\u90e8\u7f72\u4e8e\u5b89\u5168\u6027\u81f3\u5173\u91cd\u8981\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d [55, 74]\u3002\u63a8\u7406\u9636\u6bb5\u7684\u7ec6\u5fae\u9519\u8bef\u53ef\u80fd\u5f15\u53d1\u4e25\u91cd\u6545\u969c\uff0c\u4f8b\u5982\u5c06\u9700\u8981\u5239\u8f66\u7684\u60c5\u5883\u8bef\u5224\u4e3a\u9700\u8981\u52a0\u901f [10, 11]\u3002\u8981\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u5fc5\u987b\u91c7\u7528\u7cfb\u7edf\u6027\u7684\u65b9\u6cd5\u6765\u8bc4\u4f30\u9a7e\u9a76\u6a21\u578b\u7684\u9c81\u68d2\u6027\u3002\u6709\u6548\u7684\u653b\u51fb\u65b9\u6cd5\u4e0d\u4ec5\u80fd\u591f\u63ed\u793a\u6f5c\u5728\u6f0f\u6d1e\uff0c\u8fd8\u80fd\u63d0\u4f9b\u4e00\u79cd\u5b9e\u7528\u624b\u6bb5\uff0c\u5728\u771f\u5b9e\u6761\u4ef6\u4e0b\u8bc4\u4f30\u5e76\u589e\u5f3a\u6a21\u578b\u7684\u6297\u653b\u51fb\u80fd\u529b [17, 18, 25, 30, 34\u201336, 57, 69, 72, 73]\u3002<\/p>\n\n\n\n<p id=\"3PIQ83LD\">\u5728\u8fd9\u4e00\u9886\u57df\uff0c\u73b0\u6709\u7684\u6709\u9650\u7814\u7a76\u4e3b\u8981\u96c6\u4e2d\u5728\u767d\u76d2\u653b\u51fb [74] \u4e0a\uff0c\u5373\u653b\u51fb\u8005\u5bf9\u76ee\u6807\u6a21\u578b\u5177\u6709\u5b8c\u5168\u7684\u77e5\u8bc6\uff1b\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u66f4\u5177\u73b0\u5b9e\u610f\u4e49\u4e14\u66f4\u5177\u6311\u6218\u6027\u7684\u9ed1\u76d2\u653b\u51fb\u5219\u5c1a\u672a\u5f97\u5230\u5145\u5206\u63a2\u7d22\uff08\u5373\u653b\u51fb\u8005\u4ec5\u62e5\u6709\u6709\u9650\u7684\u6a21\u578b\u8bbf\u95ee\u6743\u9650\uff09\u3002\u7136\u800c\uff0c\u7531\u4e8e\u4ee5\u4e0b\u4e24\u4e2a\u5173\u952e\u6311\u6218\uff0c\u7b80\u5355\u5730\u5c06\u73b0\u6709\u9ed1\u76d2\u653b\u51fb\u65b9\u6cd5 [6] \u6269\u5c55\u5230\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684VLM\u5e76\u975e\u6613\u4e8b\uff1a<br>\u2776 \u653b\u51fb\u5e94\u80fd\u5728\u590d\u6742\u7684\u9a7e\u9a76\u63a8\u7406\u94fe\uff08\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\uff09\u4e2d\u6709\u6548\u4f20\u64ad\u5e76\u653e\u5927\u9519\u8bef\uff0c\u4ece\u800c\u5bf9\u6574\u4e2a\u7cfb\u7edf\u6784\u6210\u8fde\u8d2f\u4e14\u5f3a\u70c8\u7684\u5a01\u80c1\u3002<br>\u2777 \u653b\u51fb\u5e94\u8003\u8651\u5230\u81ea\u52a8\u9a7e\u9a76\u7684\u52a8\u6001\u9a7e\u9a76\u73af\u5883\uff0c\u786e\u4fdd\u6240\u8bf1\u5bfc\u7684\u9519\u8bef\u80fd\u591f\u5728\u7279\u5b9a\u9a7e\u9a76\u60c5\u5883\u4e0b\u5371\u53ca\u884c\u8f66\u5b89\u5168\u3002<\/p>\n\n\n\n<p id=\"3PIQ83LE\">\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u9488\u5bf9VLM\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u9ed1\u76d2\u653b\u51fb\u65b9\u6cd5\u2014\u2014\u7ea7\u8054\u5bf9\u6297\u7834\u574f\uff08Cascading Adversarial Disruption, CAD\uff09\u3002\u6211\u4eec\u7684\u6846\u67b6\u9996\u5148\u5f15\u5165\u201c\u51b3\u7b56\u94fe\u7834\u574f\u201d\uff08Decision Chain Disruption\uff09\uff0c\u901a\u8fc7\u751f\u6210\u5e76\u6ce8\u5165\u5177\u6709\u6b3a\u9a97\u6027\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u4ece\u4f4e\u5c42\u63a8\u7406\u5c42\u9762\u8fdb\u884c\u7834\u574f\uff0c\u786e\u4fdd\u6270\u52a8\u5728\u6574\u4e2a\u51b3\u7b56\u94fe\u4e2d\u4fdd\u6301\u6709\u6548\u6027\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u63d0\u51fa\u201c\u98ce\u9669\u573a\u666f\u8bf1\u5bfc\u201d\uff08Risky Scene Induction\uff09\uff0c\u5229\u7528\u66ff\u4ee3VLM\u6765\u7406\u89e3\u548c\u6784\u5efa\u9ad8\u5c42\u98ce\u9669\u573a\u666f\uff0c\u4ee5\u89e3\u51b3\u52a8\u6001\u9002\u5e94\u95ee\u9898\uff0c\u4ece\u800c\u5728\u5f53\u524d\u9a7e\u9a76\u60c5\u5883\u4e2d\u5f15\u53d1\u4e25\u91cd\u9519\u8bef\u3002\u6700\u540e\uff0c\u901a\u8fc7\u8bed\u4e49\u5dee\u5f02\u6700\u5927\u5316\u4f5c\u4e3a\u8865\u5145\u589e\u5f3a\uff0c\u5e76\u8054\u5408\u4f18\u5316\u5bf9\u6297\u76ee\u6807\uff0cCAD\u751f\u6210\u51fa\u80fd\u5f15\u53d1\u9519\u8bef\u884c\u4e3a\u7684\u5bf9\u6297\u6027\u89c6\u89c9\u8f93\u5165\uff0c\u4ece\u800c\u5b8c\u6210\u4e00\u79cd\u65e0\u76ee\u6807\u653b\u51fb\uff0c\u524a\u5f31VLM\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u4e0e\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<p id=\"3PIQ83LF\">\u6211\u4eec\u5728\u591a\u4e2a\u81ea\u52a8\u9a7e\u9a76\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08Dolphins [42]\u3001DriveLM [55]\u3001LMDrive [54]\uff09\u4ee5\u53ca\u901a\u7528\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08InstructBlip [9]\u3001LLaVA [38]\u3001MiniGPTv4 [77]\u3001GPT-4o [49]\uff09\u7684\u5f00\u73af\u548c\u95ed\u73af\u73af\u5883\u4e2d\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u7ed3\u679c\u663e\u793aCAD\u5728\u5e73\u5747\u653b\u51fb\u6548\u679c\u4e0a\u4f18\u4e8e\u6240\u6709\u57fa\u7ebf\u65b9\u6cd513.43%\u3002\u6b64\u5916\uff0c\u6211\u4eec\u901a\u8fc7\u6210\u529f\u5bf9\u9053\u8def\u4e0a\u57fa\u4e8e\u9002\u914dVLM\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5b9e\u65bd\u9053\u8def\u8ddf\u968f\u4efb\u52a1\u653b\u51fb\uff0c\u5c55\u793a\u4e86\u672c\u65b9\u6cd5\u7684\u6709\u6548\u6027\uff0c\u653b\u51fb\u5bfc\u81f4\u8def\u5f84\u5b8c\u6210\u7387\u4e0b\u964d\u4e8661.11%\uff0c\u5e76\u4e14\u8f66\u8f86\u76f4\u63a5\u649e\u5411\u5e26\u6709\u5bf9\u6297\u8865\u4e01\u7684\u969c\u788d\u8f66\u8f86\u3002\u6700\u540e\uff0c\u6211\u4eec\u53d1\u5e03\u4e86CADA\u6570\u636e\u96c6\uff0c\u5305\u542b18,808\u5bf9\u5bf9\u6297\u6027\u7684\u89c6\u89c9\u95ee\u7b54\u6837\u672c\uff0c\u4ee5\u4fc3\u8fdb\u672a\u6765\u7814\u7a76\u3002\u6211\u4eec\u7684\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n<p id=\"3PIQ83LG\">\u2022 \u636e\u6211\u4eec\u6240\u77e5\uff0c\u6211\u4eec\u63d0\u51fa\u4e86CAD\u653b\u51fb\uff0c\u8fd9\u662f\u9996\u4e2a\u4e13\u95e8\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM AD\uff09\u8bbe\u8ba1\u7684\u9ed1\u76d2\u5bf9\u6297\u653b\u51fb\u65b9\u6cd5\uff0c\u5176\u6838\u5fc3\u57fa\u4e8e\u201c\u98ce\u9669\u573a\u666f\u8bf1\u5bfc\u201d\u548c\u201c\u51b3\u7b56\u94fe\u7834\u574f\u201d\u3002<\/p>\n\n\n\n<p id=\"3PIQ83LH\">\u2022 \u6211\u4eec\u5728\u591a\u4e2a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u8fdb\u884c\u4e86\u5e7f\u6cdb\u5b9e\u9a8c\uff0c\u5e76\u5728\u57fa\u4e8eVLM\u9a71\u52a8\u7684\u771f\u5b9e\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4e0a\u9a8c\u8bc1\u4e86\u653b\u51fb\u6548\u679c\uff0c\u8bc1\u660e\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u4f18\u8d8a\u6027\u3002<\/p>\n\n\n\n<p id=\"3PIQ83LI\">\u2022 \u6211\u4eec\u53d1\u5e03\u4e86CADA\u6570\u636e\u96c6\uff0c\u5305\u542b18,808\u5bf9\u5bf9\u6297\u6027\u7684\u89c6\u89c9\u95ee\u7b54\u6837\u672c\uff0c\u4ee5\u63a8\u52a8\u8be5\u9886\u57df\u7684\u8fdb\u4e00\u6b65\u7814\u7a76\u3002<\/p>\n\n\n\n<p id=\"3PIQ83LK\"><strong>2 \u80cc\u666f\u4e0e\u9884\u5907\u77e5\u8bc6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fce26c4b4j00szha6v006yd200u000clg00u000cl.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F600a0d1ep00szha6w0007d200p20028g00p20028.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fff171d77j00szha6w0038d200u0005tg00u0005t.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F98e68d89p00szha6w0006d200ng001qg00ng001q.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fd4f98862j00szha6x006yd200u000dkg00u000dk.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F62861e88p00szha6x0009d200og002ag00og002a.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F51b50abdp00szha6x0019d200u00029g00u00029.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83LT\"><strong>3 \u5a01\u80c1\u6a21\u578b<\/strong><br><strong>3.1 \u95ee\u9898\u5b9a\u4e49<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F873caaeaj00szha6y004gd200u0007hg00u0007h.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F2fb404f2j00szha6y000vd200qi005mg00qi005m.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83M0\"><strong>3.2 \u81ea\u52a8\u9a7e\u9a76 VLM \u653b\u51fb\u7684\u6311\u6218<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83M1\">\u5c06\u4e3a\u901a\u7528 VLM \u8bbe\u8ba1\u7684\u73b0\u6709\u653b\u51fb\u65b9\u6cd5\u76f4\u63a5\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u9886\u57df\u5b58\u5728\u663e\u8457\u5c40\u9650\u6027\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u8bc6\u522b\u51fa\u4ee5\u4e0b\u4e24\u4e2a\u4e3b\u8981\u6311\u6218\uff1a<\/p>\n\n\n\n<p id=\"3PIQ83M2\"><strong>\u6311\u6218 \u2776\uff1a\u653b\u51fb\u5728\u9a7e\u9a76\u63a8\u7406\u94fe\u4e2d\u7684\u4f20\u64ad\u8fc7\u7a0b\u4e2d\u5e94\u4fdd\u6301\u6709\u6548\u6027 <\/strong>\u3002<br>\u5927\u591a\u6570\u81ea\u52a8\u9a7e\u9a76\u89e3\u51b3\u65b9\u6848\u5305\u542b\u4e00\u4e2a\u96c6\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4e8e\u4e00\u4f53\u7684\u63a8\u7406\u6d41\u7a0b [5, 19\u201321, 59]\uff0c\u5176\u4e2d\u539f\u59cb\u4f20\u611f\u6570\u636e\u5411\u9ad8\u5c42\u51b3\u7b56\u7684\u8f6c\u5316\u662f\u4e0d\u53ef\u907f\u514d\u7684\u3002\u4f20\u7edf\u7684\u89c6\u89c9\u653b\u51fb\u901a\u5e38\u4ec5\u5173\u6ce8\u4e8e\u7834\u574f\u611f\u77e5\u6a21\u5757\uff0c\u4f8b\u5982\u8bf1\u5bfc\u5206\u7c7b\u9519\u8bef\uff0c\u800c\u672a\u7814\u7a76\u8fd9\u4e9b\u521d\u59cb\u6270\u52a8\u5728\u540e\u7eed\u9636\u6bb5\u4f20\u64ad\u65f6\u662f\u5426\u4ecd\u6709\u6548\uff0c\u6216\u662f\u5426\u4f1a\u56e0\u7cfb\u7edf\u7684\u5bb9\u9519\u80fd\u529b\u800c\u88ab\u7f13\u89e3\u3002<\/p>\n\n\n\n<p id=\"3PIQ83M3\">\u4e3a\u4e86\u8bbe\u8ba1\u6709\u6548\u7684\u5bf9\u6297\u653b\u51fb\uff0c\u5fc5\u987b\u8003\u8651\u5728\u611f\u77e5\u9636\u6bb5\u5f15\u5165\u7684\u8bef\u5dee\u5982\u4f55\u5728\u6574\u4e2a\u63a8\u7406\u6d41\u7a0b\u4e2d\u4f20\u64ad\u548c\u7d2f\u79ef\u3002\u901a\u8fc7\u9488\u5bf9\u6574\u4e2a\u63a8\u7406\u6d41\u7a0b\u8fdb\u884c\u653b\u51fb\uff0c\u5bf9\u6297\u653b\u51fb\u53ef\u4ee5\u4ee5\u66f4\u6301\u7eed\u4e14\u4e00\u81f4\u7684\u65b9\u5f0f\u5e72\u6270\u63a8\u7406\u8fc7\u7a0b\uff0c\u4ece\u800c\u5bf9\u6574\u4e2a\u7cfb\u7edf\u6784\u6210\u66f4\u5927\u7684\u5a01\u80c1\u3002<\/p>\n\n\n\n<p id=\"3PIQ83M4\"><strong>\u6311\u6218 \u2777\uff1a\u653b\u51fb\u5e94\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u52a8\u6001\u9a7e\u9a76\u73af\u5883 <\/strong>\u3002\u4e0e\u5728\u9759\u6001\u4e0a\u4e0b\u6587\u4e2d\u8fd0\u884c\u7684\u5e38\u89c1 VLM \u4efb\u52a1\u4e0d\u540c\uff0c\u81ea\u52a8\u9a7e\u9a76\u8fd0\u884c\u5728\u52a8\u6001\u73af\u5883\u4e2d\uff0c\u5b89\u5168\u6027\u7684\u5224\u65ad\u9ad8\u5ea6\u4f9d\u8d56\u4e8e\u5f53\u524d\u573a\u666f\u7684\u5177\u4f53\u4e0a\u4e0b\u6587\u6761\u4ef6\u3002\u4f8b\u5982\uff0c\u5982\u679c\u4e00\u540d\u884c\u4eba\u7a81\u7136\u4ece\u53f3\u4fa7\u8fdb\u5165\u8f66\u9053\uff0c\u6b64\u65f6\u7a81\u7136\u7684\u6025\u8f6c\u5f2f\u53ef\u80fd\u662f\u6700\u4f18\u64cd\u4f5c\u3002\u7136\u800c\uff0c\u5728\u5e38\u89c4\u60c5\u51b5\u4e0b\uff0c\u7a81\u7136\u7684\u64cd\u4f5c\uff08\u5982\u6025\u8f6c\u5f2f\u6216\u6025\u5239\u8f66\uff09\u901a\u5e38\u88ab\u8ba4\u4e3a\u662f\u4e0d\u5b89\u5168\u7684\u3002\u56e0\u6b64\uff0c\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76 VLM \u7684\u5bf9\u6297\u653b\u51fb\u8bbe\u8ba1\u5fc5\u987b\u8003\u8651\u652f\u6491\u5b89\u5168\u9a7e\u9a76\u884c\u4e3a\u7684\u4e0a\u4e0b\u6587\u52a8\u6001\uff0c\u800c\u4e0d\u4ec5\u4ec5\u662f\u89e6\u53d1\u5b64\u7acb\u7684\u6781\u7aef\u884c\u4e3a\u3002\u653b\u51fb\u5e94\u65e8\u5728\u4ee5\u7b26\u5408\u81ea\u52a8\u9a7e\u9a76\u590d\u6742\u6027\u548c\u60c5\u5883\u4f9d\u8d56\u6027\u7684\u65b9\u5f0f\u7834\u574f\u51b3\u7b56\u8fc7\u7a0b\uff0c\u786e\u4fdd\u6240\u5f15\u53d1\u7684\u9519\u8bef\u80fd\u591f\u5728\u7279\u5b9a\u4e0a\u4e0b\u6587\u4e2d\u5371\u53ca\u9a7e\u9a76\u5b89\u5168\u3002<\/p>\n\n\n\n<p id=\"3PIQ83M5\"><strong>3.3 \u5bf9\u6297\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F3c784044j00szha6y002wd200u00047g00u00047.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83M7\"><strong>3.4 \u53ef\u80fd\u7684\u653b\u51fb\u8def\u5f84<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83M8\">\u5728\u5bf9\u81ea\u52a8\u9a7e\u9a76 VLM \u7684\u5bf9\u6297\u653b\u51fb\u4e2d\uff0c\u4e00\u4e2a\u5173\u952e\u95ee\u9898\u662f\uff1a\u8fd9\u4e9b\u653b\u51fb\u5728\u73b0\u5b9e\u4e16\u754c\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u662f\u5426\u53ef\u884c\u4e14\u5177\u6709\u5b9e\u7528\u6027\uff1f\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5b9e\u9645\u7684\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u4e2d\u5c55\u73b0\u51fa\u8f83\u5f3a\u7684\u9002\u7528\u6027\u3002<\/p>\n\n\n\n<p id=\"3PIQ83M9\">\u4e00\u65b9\u9762\uff0c\u653b\u51fb\u8005\u53ef\u4ee5\u5229\u7528\u591a\u79cd\u624b\u6bb5\u5c06\u566a\u58f0\u6ce8\u5165\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u4f20\u611f\u5668\u6240\u91c7\u96c6\u7684\u6570\u636e\u3002\u4f8b\u5982\uff0c\u4ed6\u4eec\u53ef\u4ee5\u5728\u4f20\u611f\u5668\u4e0a\u5b89\u88c5\u5e72\u6270\u8bbe\u5907\uff0c\u76f4\u63a5\u5e72\u6270\u6444\u50cf\u5934\u6240\u6355\u83b7\u7684\u6570\u636e\uff1b\u6216\u8005\u5229\u7528\u9ed1\u5ba2\u6280\u672f\uff0c\u5c06\u5bf9\u6297\u566a\u58f0\u6ce8\u5165\u7cfb\u7edf\u4e2d\u90e8\u7f72\u6a21\u578b\u6240\u5904\u7406\u7684\u56fe\u50cf\u4e2d\u3002<\/p>\n\n\n\n<p id=\"3PIQ83MA\">\u53e6\u4e00\u65b9\u9762\uff0c\u7269\u7406\u4e16\u754c\u4e2d\u7684\u653b\u51fb\u4e5f\u53ef\u4ee5\u901a\u8fc7\u4f7f\u7528\u6211\u4eec\u63d0\u51fa\u7684\u76ee\u6807\u51fd\u6570\u4f18\u5316\u5bf9\u6297\u566a\u58f0\u6216\u8865\u4e01\u6765\u5b9e\u73b0\u3002\u4f8b\u5982\uff0c\u653b\u51fb\u8005\u53ef\u4ee5\u5c06\u5bf9\u6297\u8865\u4e01\u7c98\u8d34\u5728\u4ea4\u901a\u6807\u5fd7\u724c\u4e0a [33]\uff0c\u6216\u5c06\u5bf9\u6297\u566a\u58f0\u5d4c\u5165\u5230\u8def\u8fb9\u5e7f\u544a\u724c\u4e2d [50]\u3002<\/p>\n\n\n\n<p id=\"3PIQ83MB\"><strong>3.5 \u653b\u51fb\u8005\u7684\u9650\u5236\u4e0e\u80fd\u529b<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83MC\">\u5728\u81ea\u52a8\u9a7e\u9a76\u80cc\u666f\u4e0b\uff0c\u6211\u4eec\u4ec5\u5173\u6ce8\u9ed1\u76d2\u653b\u51fb\u573a\u666f\uff0c\u5373\u653b\u51fb\u8005\u65e0\u6cd5\u83b7\u53d6\u53d7\u5bb3\u6a21\u578b\u7684\u4efb\u4f55\u5185\u90e8\u4fe1\u606f\uff08\u4f8b\u5982\u67b6\u6784\u3001\u68af\u5ea6\u6216\u53c2\u6570\uff09\u3002\u7531\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5177\u6709\u5b9e\u65f6\u6027\u8981\u6c42\u4e14\u8bbf\u95ee\u53d7\u9650\uff0c\u56e0\u6b64\u5bf9\u6a21\u578b\u8fdb\u884c\u67e5\u8be2\u5728\u5b9e\u9645\u4e2d\u4e5f\u4e0d\u53ef\u884c\uff1b\u56e0\u6b64\uff0c\u6211\u4eec\u7684\u653b\u51fb\u4e3b\u8981\u4f9d\u8d56\u4e8e\u8fc1\u79fb\u6027\uff08transferability\uff09\u3002<\/p>\n\n\n\n<p id=\"3PIQ83MD\">\u6b64\u5916\uff0c\u653b\u51fb\u8005\u53ea\u80fd\u5bf9\u89c6\u89c9\u8f93\u5165\u8fdb\u884c\u6270\u52a8\uff0c\u4f8b\u5982\u5728\u6570\u5b57\u4e16\u754c\u4e2d\u76f4\u63a5\u6dfb\u52a0\u566a\u58f0\uff08\u89c1\u7b2c5.2\u8282\uff09\uff0c\u6216\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u901a\u8fc7\u7c98\u8d34\u8865\u4e01\u6216\u4fee\u6539\u7269\u4f53\u7eb9\u7406\u6765\u6539\u53d8\u5176\u5916\u89c2\uff08\u89c1\u7b2c5.3\u8282\uff09\u3002<\/p>\n\n\n\n<p id=\"3PIQ83MF\"><strong>4 \u653b\u51fb\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83MG\">\u5982\u56fe2\u6240\u793a\uff0c\u6211\u4eec\u7684\u6846\u67b6\u53ef\u4ee5\u751f\u6210\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08AD VLM\uff09\u7684\u9ed1\u76d2\u89c6\u89c9\u5bf9\u6297\u653b\u51fb\uff0c\u8be5\u6846\u67b6\u7531\u4e24\u4e2a\u7ea7\u8054\u6a21\u5757\u7ec4\u6210\uff1a\u7528\u4e8e\u4f4e\u5c42\u63a8\u7406\u7834\u574f\u7684\u201c\u51b3\u7b56\u94fe\u7834\u574f\u201d\uff08Decision Chain Disruption\uff09\u548c\u7528\u4e8e\u9ad8\u5c42\u52a8\u6001\u9002\u5e94\u7684\u201c\u5371\u9669\u573a\u666f\u8bf1\u5bfc\u201d\uff08Risky Scene Induction\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fffe35b61j00szha6z00d4d200u000gig00u000gi.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>4.1 \u51b3\u7b56\u94fe\u7834\u574f<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83MI\">\u4e3a\u5e94\u5bf9\u6311\u6218\u2776\uff0c\u5373\u5f3a\u8c03\u5728\u9a7e\u9a76\u63a8\u7406\u94fe\u4e2d\u4fdd\u6301\u653b\u51fb\u6709\u6548\u6027\u7684\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u4e13\u95e8\u9488\u5bf9\u611f\u77e5-\u9884\u6d4b-\u89c4\u5212\uff08perception-prediction-plan\uff09\u6d41\u7a0b\u7684\u65b9\u6cd5\u3002\u867d\u7136\u4f20\u7edf\u7684 VLM \u653b\u51fb\u5f80\u5f80\u65e0\u6cd5\u6709\u6548\u5e72\u6270\u8fd9\u4e00\u63a8\u7406\u94fe\u6761\uff0c\u4f46\u6211\u4eec\u7684\u65b9\u6cd5\u5c06\u5bf9\u6297\u566a\u58f0\u4e0e\u5177\u6709\u8fde\u8d2f\u4f46\u6b3a\u9a97\u6027\u8bed\u4e49\u7684\u4f4e\u5c42\u8be6\u7ec6\u6587\u672c\u76f8\u7ed3\u5408\uff0c\u786e\u4fdd\u5728\u611f\u77e5\u9636\u6bb5\u5f15\u5165\u7684\u5e72\u6270\u80fd\u591f\u65e0\u7f1d\u5730\u5728\u6574\u4e2a\u63a8\u7406\u94fe\u4e2d\u4f20\u64ad\u3002<\/p>\n\n\n\n<p id=\"3PIQ83MJ\">\u501f\u52a9\u611f\u77e5-\u9884\u6d4b-\u89c4\u5212\u63a8\u7406\u94fe\u5728\u63d0\u5347\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6709\u6548\u6027\u4e0e\u53ef\u9760\u6027\u65b9\u9762\u7684\u91cd\u8981\u4f5c\u7528 [5, 19\u201321, 59]\uff0c\u6211\u4eec\u5229\u7528\u5bf9\u5176\u7684\u7834\u574f\u624b\u6bb5\uff0c\u751f\u6210\u9488\u5bf9\u9a7e\u9a76 VLM \u7684\u7ec6\u81f4\u6076\u610f\u884c\u4e3a\u3002\u6211\u4eec\u9996\u5148\u8bc6\u522b\u5bf9\u5e94\u4efb\u52a1\u6700\u7ec8\u9636\u6bb5\uff08\u4f8b\u5982\u89c4\u5212 plan\uff09\u4e2d\u7684\u9519\u8bef\uff0c\u7136\u540e\u9006\u5411\u8ffd\u6eaf\uff0c\u63a8\u65ad\u51fa\u53ef\u80fd\u5bfc\u81f4\u65e9\u671f\u9636\u6bb5\u51fa\u73b0\u8fd9\u4e9b\u9519\u8bef\u7684\u56e0\u7d20\uff0c\u4ece\u800c\u6784\u5efa\u51fa\u7b26\u5408\u6d89\u53ca\u610f\u5916\u4ea4\u901a\u884c\u4e3a\u7b49\u771f\u5b9e\u573a\u666f\u7684\u6b3a\u9a97\u6027\u6587\u672c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F2167d7b8p00szha6z0025d200u0003fg00u0003f.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F9f7e75caj00szha70003ed200u00060g00u00060.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fd46fa796j00szha70004ed200u0008ug00u0008u.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fccf7a724p00szha71002ud200u0003fg00u0003f.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>4.2 \u5371\u9669\u573a\u666f\u8bf1\u5bfc<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83MO\">\u5c3d\u7ba1\u7b2c 4.1 \u8282\u6709\u6548\u9488\u5bf9\u4e86\u4f4e\u5c42\u63a8\u7406\u7684\u7834\u574f\uff0c\u4f46\u5b83\u5728\u9002\u5e94\u771f\u5b9e\u9a7e\u9a76\u73af\u5883\u7684\u52a8\u6001\u590d\u6742\u6027\u65b9\u9762\u5b58\u5728\u56f0\u96be\u3002\u4e3a\u5e94\u5bf9\u6311\u6218\u2777\uff08\u5373\u81ea\u52a8\u9a7e\u9a76\u4e2d\u52a8\u6001\u9a7e\u9a76\u4e0a\u4e0b\u6587\u7684\u9002\u5e94\u95ee\u9898\uff09\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u65e8\u5728\u64cd\u63a7\u9ad8\u5c42\u7684\u5b89\u5168\u6027\u8bc4\u4f30\uff0c\u800c\u975e\u4ec5\u4ec5\u9488\u5bf9\u5b64\u7acb\u7684\u64cd\u4f5c\uff0c\u4ece\u800c\u786e\u4fdd\u653b\u51fb\u4e0e\u73b0\u5b9e\u4e16\u754c\u9a7e\u9a76\u60c5\u5883\u7684\u590d\u6742\u6027\u76f8\u4e00\u81f4\u3002<\/p>\n\n\n\n<p id=\"3PIQ83MP\">\u901a\u8fc7\u5e72\u6270\u6a21\u578b\u5bf9\u9a7e\u9a76\u573a\u666f\u5b89\u5168\u6027\u7684\u611f\u77e5\uff0c\u6211\u4eec\u6784\u5efa\u51fa\u6574\u4f53\u6027\u7684\u5371\u9669\u60c5\u5883\uff0c\u4ece\u800c\u524a\u5f31\u6a21\u578b\u57fa\u4e8e\u4e0a\u4e0b\u6587\u8fdb\u884c\u63a8\u7406\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p id=\"3PIQ83MQ\">\u4e3a\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u6211\u4eec\u5229\u7528\u4e00\u7ec4<strong>\u5bf9\u7acb\u63cf\u8ff0\u7b26 <\/strong>D\u6765\u8868\u793a\u9a7e\u9a76\u573a\u666f\u7684\u5b89\u5168\u6027\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u5c06\u9a7e\u9a76\u573a\u666f\u7684\u5b89\u5168\u6027\u5b9a\u4e49\u4e3a\u4e24\u4e2a\u4e92\u8865\u7c7b\u522b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u201c\u5b89\u5168\u9a7e\u9a76\u573a\u666f\u201d\uff08A safe driving scenario\uff09<\/li>\n\n\n\n<li>\u201c\u4e0d\u5b89\u5168\u9a7e\u9a76\u573a\u666f\u201d\uff08An unsafe driving scenario\uff09<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83MT\">\u8fd9\u4e9b\u63cf\u8ff0\u7b26\u6784\u6210\u4e86\u5371\u9669\u573a\u666f\u8bf1\u5bfc\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fdcfa312ej00szha720031d200u0005yg00u0005y.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F525085cfp00szha72000ad200iq002kg00iq002k.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fa14959a0j00szha73006ld200u000cvg00u000cv.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F0bc08fb1j00szha73000zd200j4008cg00j4008c.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83N2\">\u5176\u4e2d\uff0c\u2299\u8868\u793a\u9010\u5143\u7d20\u76f8\u4e58\uff08element-wise multiplication\uff09\uff0c\u7528\u4e8e\u5c06\u63a9\u7801\u5e94\u7528\u4e8e\u5bf9\u5e94\u7684\u6982\u7387\uff1bmean(\u22c5)\u8868\u793a\u8ba1\u7b97\u5e73\u5747\u503c\u3002<\/p>\n\n\n\n<p id=\"3PIQ83N3\">\u6211\u4eec\u4ece<strong>\u4f4e\u5c42\u89c6\u89d2 <\/strong>\u751f\u6210\u8be6\u7ec6\u7684\u6b3a\u9a97\u6027\u6587\u672c\u4ee5\u7834\u574f\u51b3\u7b56\u94fe\uff0c\u5e76\u4ece<strong>\u9ad8\u5c42\u89c6\u89d2 <\/strong>\u8bf1\u5bfc\u4e00\u4e2a\u6574\u4f53\u6027\u7684\u5371\u9669\u573a\u666f\u3002\u8fd9\u4e24\u90e8\u5206\u5171\u540c\u6784\u6210\u4e86\u4e0b\u4e00\u8282\u4e2d\u4f18\u5316\u5bf9\u6297\u6270\u52a8\u7684\u57fa\u7840\u4e0e\u76ee\u6807\u3002<\/p>\n\n\n\n<p><strong>4.3 \u6574\u4f53\u4f18\u5316<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83N4\">\u5728\u524d\u8ff0\u8ba8\u8bba\u7684\u57fa\u7840\u4e0a\uff0c\u672c\u8282\u9610\u8ff0\u5bf9\u6297\u566a\u58f0 \u03b4\u7684\u6574\u4f53\u4f18\u5316\u7b56\u7565\u3002<\/p>\n\n\n\n<p id=\"3PIQ83N5\">\u4e3a\u8fdb\u4e00\u6b65\u5b8c\u5584\u524d\u4e24\u4e2a\u4f18\u5316\u76ee\u6807\uff0c\u6211\u4eec\u5f15\u5165\u7b2c\u4e09\u4e2a\u76ee\u6807\uff1a<strong>\u8bed\u4e49\u5dee\u5f02\u6700\u5927\u5316 <\/strong>\uff08semantic discrepancy maximization\uff09\uff0c\u5373\u6700\u5927\u5316\u5e72\u51c0\u56fe\u50cf\u4e0e\u5bf9\u6297\u56fe\u50cf\u4e4b\u95f4\u7684\u8bed\u4e49\u5dee\u5f02\uff0c\u4ece\u800c\u589e\u5f3a\u6574\u4f53\u653b\u51fb\u6548\u679c\u3002<\/p>\n\n\n\n<p id=\"3PIQ83N6\">\u8be5\u76ee\u6807\u5f15\u5165\u7684\u6270\u52a8\u5728\u50cf\u7d20\u5c42\u9762\u53ef\u80fd\u5fae\u5c0f\uff0c\u4f46\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u5374\u80fd\u5f15\u53d1\u66f4\u663e\u8457\u7684\u504f\u79bb\u3002\u4e3a\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u6211\u4eec\u91c7\u7528\u7b2c 4.1 \u8282\u4e2d\u76f8\u540c\u7684\u89c6\u89c9\u7f16\u7801\u5668 Ev\uff0c\u5e76\u4e0e\u6587\u672c\u7f16\u7801\u5668\u5bf9\u9f50\uff0c\u5c06\u5e72\u51c0\u56fe\u50cf\u548c\u5bf9\u6297\u56fe\u50cf\u6620\u5c04\u5230\u5bf9\u5e94\u7684\u89c6\u89c9\u7279\u5f81\u8868\u793a\u7a7a\u95f4\u3002<\/p>\n\n\n\n<p id=\"3PIQ83N7\">\u8bed\u4e49\u5dee\u5f02\u901a\u8fc7\u4f59\u5f26\u76f8\u4f3c\u5ea6\u8fdb\u884c\u8861\u91cf\uff0c\u7531\u6b64\u5f97\u5230\u5982\u4e0b\u7684\u4f18\u5316\u76ee\u6807\uff0c\u5176\u5f62\u5f0f\u5316\u4e3a\u635f\u5931\u51fd\u6570 Ld\uff0c\u5b9a\u4e49\u5982\u516c\u5f0f (11) \u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F9540c542j00szha73003od200u000blg00u000bl.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83N9\">\u5176\u4e2d\uff0c\u03b1\u3001\u03b2\u548c \u03b3\u662f\u8d85\u53c2\u6570\uff0c\u7528\u4e8e\u63a7\u5236\u5404\u4e2a\u635f\u5931\u9879\u5728\u6574\u4f53\u4f18\u5316\u4e2d\u7684\u76f8\u5bf9\u6743\u91cd\u3002<\/p>\n\n\n\n<p id=\"3PIQ83NA\">\u6211\u4eec\u91c7\u7528\u57fa\u4e8e\u68af\u5ea6\u7684\u4f18\u5316\u6846\u67b6 [43] \u6765\u8fed\u4ee3\u4f18\u5316\u5bf9\u6297\u566a\u58f0 \u03b4\u3002\u6bcf\u6b21\u66f4\u65b0\u540e\uff0c\u6211\u4eec\u5c06\u566a\u58f0\u6295\u5f71\u56de\u5141\u8bb8\u7684\u6270\u52a8\u9884\u7b97 \u03b5\u8303\u56f4\u5185\uff0c\u4ece\u800c\u786e\u4fdd\u5bf9\u6297\u566a\u58f0\u4fdd\u6301\u5fae\u5c0f\u4e14\u96be\u4ee5\u5bdf\u89c9\uff0c\u540c\u65f6\u6700\u5c0f\u5316\u76f8\u5173\u7684\u635f\u5931\u51fd\u6570\u3002<\/p>\n\n\n\n<p id=\"3PIQ83NB\">\u4e3a\u8fdb\u4e00\u6b65\u63d0\u5347\u4f18\u5316\u8fc7\u7a0b\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u52a8\u91cf\u673a\u5236 [12]\uff0c\u4ee5\u5e73\u6ed1\u66f4\u65b0\u8def\u5f84\u5e76\u964d\u4f4e\u9677\u5165\u6b21\u4f18\u5c40\u90e8\u6781\u5c0f\u503c\u7684\u98ce\u9669\u3002<\/p>\n\n\n\n<p id=\"3PIQ83NC\">\u6211\u4eec\u7684 <strong>CAD <\/strong>\u65b9\u6cd5\u7684\u4f2a\u7b97\u6cd5\u4ee3\u7801\u53ef\u5728\u9644\u5f55\u4e2d\u627e\u5230\u3002<\/p>\n\n\n\n<p><strong>5 \u5b9e\u9a8c\u4e0e\u8bc4\u4f30<\/strong> <strong>5.1 \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83ND\"><strong>\u76ee\u6807\u6a21\u578b <\/strong>\uff1a<br>\u5728\u6211\u4eec\u7684\u5b9e\u9a8c\u4e2d\uff0c\u6211\u4eec\u8bc4\u4f30\u4e86\u4e09\u79cd\u6700\u5148\u8fdb\u7684\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08AD VLM\uff09\uff0c\u6db5\u76d6\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u548c\u89c4\u5212\u63a7\u5236\u4efb\u52a1\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Dolphins<\/strong> [42]\uff1a\u57fa\u4e8e OpenFlamingo [2]\uff0c\u7528\u4e8e\u9a7e\u9a76\u76f8\u5173\u7684\u5bf9\u8bdd\uff1b<\/li>\n\n\n\n<li><strong>DriveLM<\/strong> [55]\uff1a\u57fa\u4e8e LLaMA \u7684 GVQA \u6a21\u578b\uff0c\u751a\u81f3\u53ef\u4ee5\u8fdb\u884c\u5750\u6807\u7ea7\u8bc6\u522b\uff1b<\/li>\n\n\n\n<li><strong>LMDrive<\/strong> [54]\uff1a\u57fa\u4e8e LLaMA \u7684\u4ee3\u7406\uff0c\u5728 Carla \u6a21\u62df\u5668 [13] \u4e2d\u5b9e\u73b0\u95ed\u73af\u63a7\u5236\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83NH\">\u6b64\u5916\uff0c\u6211\u4eec\u4e5f\u8bc4\u4f30\u4e86\u51e0\u79cd\u901a\u7528 VLM \u5728 AD \u4efb\u52a1\u4e2d\u7684\u9c81\u68d2\u6027\uff0c\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>InstructBlip [9]<\/li>\n\n\n\n<li>LLaVA [38]<\/li>\n\n\n\n<li>MiniGPTv4 [77]<\/li>\n\n\n\n<li>GPT-4o [49]<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83NM\"><strong>\u6570\u636e\u96c6 <\/strong>\uff1a<br>\u6211\u4eec\u5206\u522b\u5728\u5404\u81ea\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u8bc4\u4f30\u8fd9\u4e09\u4e2a\u4e13\u4e3a\u9a7e\u9a76\u8bbe\u8ba1\u7684\u6a21\u578b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Dolphins Benchmark [42] \u548c DriveLM-NuScenes [55] \u4e3b\u8981\u7531\u95ee\u7b54\u6570\u636e\u7ec4\u6210\uff1b<\/li>\n\n\n\n<li>\u5bf9\u4e8e LMDrive\uff0c\u6211\u4eec\u5728 LangAuto Benchmark-short [54] \u4e0a\u8bc4\u4f30\u5176\u95ed\u73af\u9a7e\u9a76\u63a7\u5236\u6027\u80fd\uff1b<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u901a\u7528 VLM\uff0c\u6211\u4eec\u5c06\u5b83\u4eec\u9002\u914d\u5230\u6210\u719f\u7684 Dolphins Benchmark \u8fdb\u884c\u9c81\u68d2\u6027\u8bc4\u4f30\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83NQ\"><strong>\u8bc4\u4f30\u6307\u6807 <\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u4e8e <strong>Dolphins Benchmark <\/strong>\uff0c\u6211\u4eec\u91c7\u7528\u5176\u539f\u59cb\u8bc4\u4f30\u6307\u6807 [42]\uff1a\u6700\u7ec8\u5f97\u5206\u4e3a\u516d\u4e2a\u4efb\u52a1\u7c7b\u522b\u7684\u5e73\u5747\u5f97\u5206\uff0c\u6bcf\u4e2a\u4efb\u52a1\u901a\u8fc7\u4ee5\u4e0b\u4e09\u4e2a\u6307\u6807\u8bc4\u4f30\uff1a\u51c6\u786e\u7387\uff08Accuracy\uff09\u3001\u8bed\u8a00\u8bc4\u5206\uff08Language Score\uff09\u548c GPT \u8bc4\u5206\uff08GPT Score\uff09\u3002<\/li>\n\n\n\n<li>\u5bf9\u4e8e <strong>DriveLM <\/strong>\uff0c\u6211\u4eec\u6269\u5c55\u4e86\u6587\u732e [55] \u4e2d\u4f7f\u7528\u7684\u8bc4\u4f30\u6307\u6807\u3002\u539f\u59cb\u65b9\u6cd5\u4f7f\u7528\u56db\u79cd\u4e0d\u540c\u95ee\u9898\u7c7b\u578b\u7684\u6307\u6807\uff1a\u51c6\u786e\u7387\uff08Accuracy\uff09\u3001ChatGPT \u8bc4\u5206\uff08ChatGPT Score\uff09\u3001\u5339\u914d\u8bc4\u5206\uff08Match Score\uff09\u548c\u8bed\u8a00\u8bc4\u5206\uff08Language Score\uff09\u3002\u4e3a\u4e86\u66f4\u5168\u9762\u5730\u8bc4\u4f30\uff0c\u6211\u4eec\u8fd8\u5f15\u5165\u4e86\u9488\u5bf9\u4f7f\u7528\u8bed\u8a00\u8bc4\u5206\u7684\u6570\u636e\u5b50\u96c6\u7684 GPT \u8bc4\u5206\uff08\u8868\u793a\u4e3a Lan2GPT\uff09\u3002\u6700\u7ec8\u8bc4\u4f30\u57fa\u4e8e\u6240\u6709\u4e94\u4e2a\u6307\u6807\u7684\u5e73\u5747\u503c\u3002<\/li>\n\n\n\n<li>\u5bf9\u4e8e <strong>LMDrive <\/strong>\uff0c\u6211\u4eec\u91c7\u7528 CARLA Leaderboard [58] \u63d0\u51fa\u7684\u4e09\u4e2a\u5173\u952e\u6307\u6807\uff1a\n<ul class=\"wp-block-list\">\n<li>\u8def\u7ebf\u5b8c\u6210\u7387\uff08Route Completion, RC\uff09<\/li>\n\n\n\n<li>\u8fdd\u89c4\u5206\u6570\uff08Infraction Score, IS\uff09<\/li>\n\n\n\n<li>\u9a7e\u9a76\u8bc4\u5206\uff08Driving Score, DS\uff09<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83O1\">\u5bf9\u4e8e\u8fd9\u4e9b\u6307\u6807\uff0c\u6570\u503c\u8d8a\u4f4e\uff08\u2193\uff09\u8868\u793a\u653b\u51fb\u6548\u679c\u8d8a\u597d\u3002<\/p>\n\n\n\n<p id=\"3PIQ83O2\">\u6709\u5173\u8fd9\u4e9b\u6307\u6807\u7684\u66f4\u591a\u7ec6\u8282\u8bf7\u53c2\u89c1\u9644\u5f55\u3002<\/p>\n\n\n\n<p id=\"3PIQ83O3\"><strong>\u5bf9\u6bd4\u653b\u51fb\u65b9\u6cd5 <\/strong>\uff1a<br>\u7531\u4e8e\u76ee\u524d\u5c1a\u65e0\u4e13\u95e8\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76 VLM \u7684\u9ed1\u76d2\u653b\u51fb\u65b9\u6cd5\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u51e0\u79cd\u901a\u7528\u5bf9\u6297\u653b\u51fb\u65b9\u6cd5\u4f5c\u4e3a\u5bf9\u6bd4\u57fa\u7ebf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9009\u62e9\u4e09\u79cd\u7ecf\u5178\u7684\u5bf9\u6297\u653b\u51fb\u65b9\u6cd5\uff1a\n<ul class=\"wp-block-list\">\n<li>\u57fa\u4e8e\u68af\u5ea6\u7684 FGSM [15] \u548c PGD [43] \u653b\u51fb\uff08\u5229\u7528\u6a21\u578b\u8fc1\u79fb\u6280\u672f\u8fdb\u884c\u9ed1\u76d2\u653b\u51fb\uff09<\/li>\n\n\n\n<li>\u57fa\u4e8e\u67e5\u8be2\u7684 ZOO [6]\uff08\u7ed3\u5408 Adam \u548c Newton \u4f18\u5316\u65b9\u6cd5\uff09<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u8003\u8651\u4e86\u4e09\u79cd\u6709\u6548\u7684\u9488\u5bf9\u901a\u7528 VLM \u89c6\u89c9\u6a21\u6001\u7684\u9ed1\u76d2\u653b\u51fb\u65b9\u6cd5\uff1a\n<ul class=\"wp-block-list\">\n<li>AdvClip [76]<\/li>\n\n\n\n<li>AttackVLM [75]<\/li>\n\n\n\n<li>AnyAttack [70]<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83OB\">\u4ee5\u53ca\u4e24\u79cd\u9488\u5bf9\u53cc\u6a21\u6001\u7684\u653b\u51fb\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>SGA [41]<\/li>\n\n\n\n<li>VLPAttack [14]<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83OE\">\u4e3a\u4e86\u4fdd\u6301\u4e00\u81f4\u6027\uff0c\u6211\u4eec\u4ec5\u4f7f\u7528\u8fd9\u4e24\u79cd\u65b9\u6cd5\u751f\u6210\u89c6\u89c9\u8f93\u5165\u4e0a\u7684\u566a\u58f0\u3002<\/p>\n\n\n\n<p id=\"3PIQ83OF\">\u6211\u4eec\u8fd8\u4e0e\u552f\u4e00\u4e00\u79cd\u9762\u5411 AD VLM \u7684\u767d\u76d2\u653b\u51fb\u65b9\u6cd5 <strong>ADvLM <\/strong>[74] \u7684\u9ed1\u76d2\u8fc1\u79fb\u80fd\u529b\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002<\/p>\n\n\n\n<p id=\"3PIQ83OG\"><strong>\u5b9e\u73b0\u7ec6\u8282 <\/strong>\uff1a<br>\u5728\u6211\u4eec\u7684\u653b\u51fb\u4e2d\uff0c\u6839\u636e\u7b2c 5.4 \u8282\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\uff0c\u5c06\u8d85\u53c2\u6570 \u03b1\u3001\u03b2\u548c \u03b3\u5206\u522b\u8bbe\u4e3a 0.75\u30010.05 \u548c 0.75\u3002<\/p>\n\n\n\n<p id=\"3PIQ83OH\">\u6211\u4eec\u5c06\u6270\u52a8\u9884\u7b97 \u03b5\u5b9a\u4e49\u4e3a \u2113\u221e \u8303\u6570\u4e0b\u7684 0.1\uff0c\u5e76\u5c06\u8fed\u4ee3\u6b21\u6570 N\u8bbe\u4e3a 160\uff0c\u4ee5\u4fdd\u6301\u4e0e\u5bf9\u6bd4\u65b9\u6cd5\u7684\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p id=\"3PIQ83OI\">\u6211\u4eec\u4f7f\u7528 <strong>GPT-4o <\/strong>[49] \u4f5c\u4e3a\u8f85\u52a9 VLM\uff0c\u7528\u4e8e <strong>\u51b3\u7b56\u94fe\u7834\u574f <\/strong>\uff08\u7b2c 4.1 \u8282\uff09\u548c GPT \u8bc4\u5206\u8bc4\u4f30\uff1b<\/p>\n\n\n\n<p id=\"3PIQ83OJ\">\u540c\u65f6\u4f7f\u7528 <strong>CLIP <\/strong>[51] \u4f5c\u4e3a\u9884\u8bad\u7ec3\u7684\u6a21\u6001\u5bf9\u9f50\u6a21\u578b E\uff08\u7b2c 4 \u8282\uff09\u3002<\/p>\n\n\n\n<p id=\"3PIQ83OK\">\u6240\u6709\u4ee3\u7801\u5747\u4f7f\u7528 PyTorch \u5b9e\u73b0\uff0c\u5b9e\u9a8c\u5728 NVIDIA A800-SXM4-80GB GPU \u96c6\u7fa4\u4e0a\u8fdb\u884c\u3002<\/p>\n\n\n\n<p><strong>5.2 \u6570\u5b57\u4e16\u754c\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83OL\">\u6211\u4eec\u9996\u5148\u5728<strong>\u5f00\u73af <\/strong>\uff08\u5373\u6a21\u578b\u72ec\u7acb\u8fd0\u884c\uff0c\u4e0d\u63a5\u6536\u6765\u81ea\u73af\u5883\u7684\u53cd\u9988\uff09\u548c<strong>\u95ed\u73af <\/strong>\uff08\u5373\u6a21\u578b\u4e0e\u73af\u5883\u4ea4\u4e92\uff0c\u5e76\u6839\u636e\u5b9e\u65f6\u53cd\u9988\u8c03\u6574\u5176\u884c\u4e3a\uff09\u8bc4\u4f30\u8bbe\u7f6e\u4e0b\uff0c\u8fdb\u884c\u6570\u5b57\u4e16\u754c\u4e2d\u7684\u653b\u51fb\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<p><strong>\u5f00\u73af\u8bc4\u4f30<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83OM\">\u6211\u4eec\u9996\u5148\u5728\u5f00\u73af\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u8bc4\u4f30\u6211\u4eec\u7684 <strong>CAD \u653b\u51fb <\/strong>\uff0c\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9762\u5411\u9a7e\u9a76\u7684\u6a21\u578b\uff1aDolphins [42] \u548c DriveLM [55]<\/li>\n\n\n\n<li>\u9002\u914d\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u7684\u901a\u7528 VLM\uff1a[9, 38, 49, 77]<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83OP\">\u5bf9\u4e8e\u57fa\u4e8e\u8fc1\u79fb\u7684\u653b\u51fb\u65b9\u6cd5\uff08\u5982 FGSM\u3001PGD\uff09\uff0c\u6211\u4eec\u5206\u522b\u4f7f\u7528 Dolphins \u6216 DriveLM \u4f5c\u4e3a\u66ff\u4ee3\u6a21\u578b\u751f\u6210\u566a\u58f0\uff0c\u7136\u540e\u8fc1\u79fb\u5230\u5176\u4ed6\u6a21\u578b\u4e0a\uff1b\u5bf9\u4e8e\u5176\u4ed6\u9ed1\u76d2\u653b\u51fb\u65b9\u6cd5\uff0c\u5219\u76f4\u63a5\u5bf9\u76ee\u6807\u6a21\u578b\u53d1\u8d77\u653b\u51fb\u3002<\/p>\n\n\n\n<p id=\"3PIQ83OQ\">\u5728\u6b64\u8bbe\u7f6e\u4e0b\uff0c\u6211\u4eec\u5bf9\u6bcf\u4e2a\u5b9e\u9a8c\u8fd0\u884c\u4e09\u6b21\uff0c\u5e76\u8ba1\u7b97\u5e73\u5747\u7ed3\u679c\u3002<\/p>\n\n\n\n<p id=\"3PIQ83OR\">\u5982 <strong>\u88681 <\/strong>\u6240\u793a\uff0c\u6211\u4eec\u53ef\u4ee5\u89c2\u5bdf\u5230\uff1a<\/p>\n\n\n\n<p id=\"3PIQ83OS\">\u2776 \u4e0e\u6240\u6709\u57fa\u7ebf\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u7684 <strong>CAD \u653b\u51fb\u5c55\u73b0\u51fa\u6700\u5f3a\u7684\u5bf9\u6297\u6027\u80fd <\/strong>\uff0c\u5728\u4e24\u4e2a\u9762\u5411\u9a7e\u9a76\u7684 VLM \u548c\u56db\u4e2a\u901a\u7528 VLM \u4e0a\uff0c\u6700\u7ec8\u5f97\u5206\u5e73\u5747\u4e0b\u964d\u4e86 <strong>19.60% <\/strong>\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F095f75caj00szha7500a9d200qo0178g00qo0178.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83OU\">\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u7684\u653b\u51fb\u65b9\u6cd5\u8fd8\u6210\u529f\u5730\u5bf9\u5e7f\u6cdb\u4f7f\u7528\u7684\u5546\u4e1a\u6a21\u578b <strong>GPT-4o <\/strong>[49] \u5b9e\u73b0\u4e86\u6709\u6548\u653b\u51fb\u3002\u53d7\u653b\u51fb\u6a21\u578b\u751f\u6210\u7684\u9519\u8bef\u63a8\u7406\u5b9e\u4f8b\u53ef\u5728\u9644\u5f55\u4e2d\u627e\u5230\u3002\u7279\u522b\u662f\uff0c\u6211\u4eec\u7684 CAD \u653b\u51fb\u5728\u9a7e\u9a76\u6a21\u578b\u7684\u63a8\u7406\u8fc7\u7a0b\u4e2d\u5f15\u53d1\u4e86\u4e25\u91cd\u7684\u903b\u8f91\u4e0d\u4e00\u81f4\uff0c\u5e76\u5bfc\u81f4\u4e86\u91cd\u5927\u7684\u89c4\u5212\u9519\u8bef\u3002<\/p>\n\n\n\n<p id=\"3PIQ83OV\">\u2777 \u5728\u6240\u6709\u653b\u51fb\u65b9\u6cd5\u4e2d\uff0c\u4f20\u7edf\u7684\u5bf9\u6297\u653b\u51fb\uff08\u5982 PGD [43]\uff09\u8868\u73b0\u6700\u5f31\uff0c\u4ec5\u5bfc\u81f4\u5e73\u5747\u6027\u80fd\u4e0b\u964d <strong>4.68% <\/strong>\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cAnyAttack [70] \u662f\u5bf9\u6bd4\u65b9\u6cd5\u4e2d\u6700\u6709\u6548\u7684\uff0c\u5176\u5e73\u5747\u6027\u80fd\u4e0b\u964d\u8fbe\u5230 <strong>13.05% <\/strong>\u3002\u6211\u4eec\u8ba4\u4e3a\u8be5\u65b9\u6cd5\u7684\u6210\u529f\u5f52\u56e0\u4e8e\u5176\u57fa\u4e8e\u751f\u6210\u673a\u5236\u7684\u653b\u51fb\u65b9\u5f0f\uff0c\u5176\u4e2d\u6270\u52a8\u672c\u8eab\u662f\u4e00\u5f20\u56fe\u50cf\uff0c\u80fd\u591f\u81ea\u7136\u5730\u4f20\u8fbe\u660e\u786e\u7684\u4fe1\u606f\u3002\u6b64\u5916\uff0c\u5728\u53cc\u6a21\u6001\u653b\u51fb [14, 41] \u4e2d\u7684\u89c6\u89c9\u7ec4\u4ef6\u6548\u679c\u7565\u900a\u4e8e AnyAttack [70]\uff0c\u5e73\u5747\u6027\u80fd\u4e0b\u964d\u4e3a <strong>4.98% <\/strong>\u3002\u6700\u7ec8\uff0c\u6211\u4eec\u7684 CAD \u653b\u51fb\u4ecd\u6bd4\u767d\u76d2\u653b\u51fb ADvLM [74] \u7684\u8fc1\u79fb\u5f62\u5f0f\u9ad8\u51fa <strong>12.76% <\/strong>\u3002<\/p>\n\n\n\n<p id=\"3PIQ83P0\">\u2778 \u7531\u4e8e Dolphins \u57fa\u51c6\u6d4b\u8bd5\u7684\u95ee\u9898\u4e0e\u7b54\u6848\u6570\u636e\u5177\u6709\u5f00\u653e\u6027\uff0c\u56e0\u6b64\u6211\u4eec\u5728\u6b64\u57fa\u51c6\u4e0a\u8bc4\u4f30\u901a\u7528 VLM\u3002\u6211\u4eec\u62a5\u544a\u4e86\u6bcf\u4e2a\u6a21\u578b\u7684\u6700\u7ec8\u5f97\u5206\uff0c\u4efb\u52a1\u5f97\u5206\u7684\u5b8c\u6574\u5206\u89e3\u89c1\u9644\u5f55\u3002\u6b63\u5982\u88682\u6240\u793a\uff0c\u6211\u4eec\u7684 CAD \u653b\u51fb\u5728\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u7684\u901a\u7528 VLM \u4e0a\u5c55\u73b0\u51fa\u6781\u4f73\u7684\u653b\u51fb\u6548\u679c\uff0c\u5e73\u5747\u6027\u80fd\u4e0b\u964d\u8fbe <strong>20.34% <\/strong>\uff0c\u8fd9\u51f8\u663e\u4e86\u8be5\u65b9\u6cd5\u5728\u4e0d\u540c\u6a21\u578b\u95f4\u7684\u5f3a\u5927\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F9c47b683j00szha750054d200q600mkg00q600mk.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83P2\">LLaVA [38] \u548c GPT-4o [49] \u90fd\u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u63a8\u7406\u80fd\u529b\uff0c\u5373\u4f7f\u6ca1\u6709\u7ecf\u8fc7\u9886\u57df\u7279\u5b9a\u7684\u5fae\u8c03\uff0c\u5b83\u4eec\u7684\u6700\u7ec8\u5f97\u5206\u4e5f\u8d85\u8fc7\u4e86\u539f\u59cb\u7684 Dolphins [42]\u3002\u7136\u800c\uff0c\u5c3d\u7ba1\u5b83\u4eec\u5177\u5907\u8f83\u5f3a\u7684\u5185\u5728\u80fd\u529b\uff0c\u9762\u5bf9\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u5bf9\u6297\u653b\u51fb\u65f6\u4ecd\u7136\u7f3a\u4e4f\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p id=\"3PIQ83P3\">\u2779 \u5728\u5bf9\u6240\u6709\u88ab\u8bc4\u4f30\u6a21\u578b\u8fdb\u884c\u5168\u9762\u5206\u6790\u540e\uff0c\u6211\u4eec\u53d1\u73b0 <strong>Dolphins [42] <\/strong>\u548c <strong>GPT-4o [49] <\/strong>\u5728\u6211\u4eec\u7684 CAD \u653b\u51fb\u4e0b\u8868\u73b0\u51fa\u6700\u5f31\u7684\u5bf9\u6297\u9c81\u68d2\u6027\uff0c\u5e73\u5747\u6027\u80fd\u5206\u522b\u4e0b\u964d <strong>22.75% <\/strong>\u548c <strong>28.80% <\/strong>\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cLLaVA [38] \u548c miniGPTv4 [77] \u5c55\u73b0\u51fa\u76f8\u5bf9\u66f4\u5f3a\u7684\u9c81\u68d2\u6027\uff0c\u5e73\u5747\u6027\u80fd\u4e0b\u964d\u5206\u522b\u4e3a <strong>13.50% <\/strong>\u548c <strong>11.22% <\/strong>\u3002\u6b64\u5916\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\u4e00\u4e2a\u6f5c\u5728\u7684\u8d8b\u52bf\uff1a<strong>\u5185\u5728\u6027\u80fd\u8d8a\u5f3a\u7684\u6a21\u578b\uff0c\u5176\u5bf9\u6297\u9c81\u68d2\u6027\u53cd\u800c\u76f8\u5bf9\u8f83\u5f31 <\/strong>\u3002<\/p>\n\n\n\n<p><strong>\u6a21\u62df\u5668\u4e2d\u7684\u95ed\u73af\u8bc4\u4f30<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83P4\">\u5728\u95ed\u73af\u5b9e\u9a8c\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528\u5f00\u6e90\u7684 CARLA \u6a21\u62df\u5668 [13] \u6784\u5efa\u4eff\u771f\u73af\u5883\uff0c\u5e76\u91c7\u7528\u5f53\u524d\u6700\u5148\u8fdb\u7684\u95ed\u73af\u9a7e\u9a76 VLM \u2014\u2014 <strong>LMDrive [54] <\/strong>\uff08\u6765\u81ea CARLA \u6392\u884c\u699c\uff09\u4f5c\u4e3a\u9a7e\u9a76\u4ee3\u7406\u3002\u653b\u51fb\u914d\u7f6e\u4e0e\u5f00\u73af\u5b9e\u9a8c\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n<p id=\"3PIQ83P5\">\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u7684\u653b\u51fb\u8bc4\u4f30\u6d41\u7a0b\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u542f\u52a8\u7248\u672c\u4e3a 0.9.10.1 \u7684 CARLA \u670d\u52a1\u5668\uff1b<\/li>\n\n\n\n<li>\u4f7f\u7528\u642d\u8f7d LMDrive \u4ee3\u7406\u7684 CARLA \u6392\u884c\u699c\u4ee3\u7801\uff1b<\/li>\n\n\n\n<li>\u6bcf\u9694 50 \u5e27\u5bf9\u6444\u50cf\u5934\u56fe\u50cf\u6267\u884c\u4e00\u6b21 CAD \u653b\u51fb\uff1b<\/li>\n\n\n\n<li>\u8bc4\u4f30\u9a7e\u9a76\u8bc4\u5206\u3002<\/li>\n<\/ol>\n\n\n\n<p id=\"3PIQ83PA\">\u7531\u4e8e\u6a21\u62df\u5668\u4e2d\u4ea4\u901a\u6d41\u5177\u6709\u4e00\u5b9a\u7684\u968f\u673a\u6027\uff0cLangAuto \u57fa\u51c6\u6d4b\u8bd5\u7684\u7ed3\u679c\u5b58\u5728\u6ce2\u52a8\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u6bcf\u7ec4\u5b9e\u9a8c\u8fd0\u884c\u4e09\u6b21\u5e76\u53d6\u5e73\u5747\u7ed3\u679c\uff0c\u4e0e\u6587\u732e [54] \u4e2d\u8bbe\u7f6e\u4e00\u81f4\u3002<\/p>\n\n\n\n<p id=\"3PIQ83PB\">\u5982 <strong>\u88683 <\/strong>\u6240\u793a\uff0c\u6211\u4eec\u7684 CAD \u5728\u95ed\u73af\u5b9e\u9a8c\u4e2d\u8868\u73b0\u51fa\u9ad8\u5ea6\u6709\u6548\u6027\uff0c\u9a7e\u9a76\u8bc4\u5206\u5e73\u5747\u4e0b\u964d <strong>18.87% <\/strong>\uff0c\u800c\u5176\u4ed6\u653b\u51fb\u65b9\u6cd5\u4ec5\u4e3a <strong>6.78% <\/strong>\u3002\u4ece\u8be6\u7ec6\u6307\u6807\u6765\u770b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u8def\u7ebf\u5b8c\u6210\u7387\uff08RC\uff09\u4e0a\u7565\u900a\u4e8e ZOO-Adam [6]\uff0c\u4f46\u5728\u8fdd\u89c4\u5206\u6570\uff08IS\uff09\u65b9\u9762\u8fbe\u5230\u4e86\u6700\u4f4e\u503c\uff0c\u901a\u5e38\u8868\u73b0\u4e3a\u95ef\u7ea2\u706f\u7b49\u4e25\u91cd\u5371\u9669\u884c\u4e3a\uff0c\u4ece\u800c\u5bfc\u81f4\u6574\u4f53\u9a7e\u9a76\u8bc4\u5206\u6700\u4f4e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F3f566555j00szha76004yd200qk00mug00qk00mu.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83PD\">\u6b64\u5916\uff0c\u7531\u4e8e\u9a7e\u9a76\u6a21\u62df\u56fa\u6709\u7684\u4e0d\u7a33\u5b9a\u6027\uff0c\u653b\u51fb\u65b9\u6cd5\u4e4b\u95f4\u7684\u6bd4\u8f83\u7ed3\u679c\u4e0e\u5f00\u73af\u5b9e\u9a8c\u6709\u6240\u4e0d\u540c\uff0c\u53cc\u6a21\u6001\u653b\u51fb\u7684\u89c6\u89c9\u7ec4\u4ef6\u6210\u4e3a\u5bf9\u6bd4\u65b9\u6cd5\u4e2d\u6700\u6709\u6548\u7684\u653b\u51fb\u624b\u6bb5\u3002<\/p>\n\n\n\n<p id=\"3PIQ83PE\">\u6b64\u5916\uff0c\u6211\u4eec\u5728\u56fe3\u4e2d\u53ef\u89c6\u5316\u4e86\u8f66\u8f86\u6cbf <strong>Town 07 Route 79 <\/strong>\u8def\u6bb5\u884c\u9a76\u7684\u8fde\u7eed\u5e27\u56fe\u50cf\uff0c\u5c55\u793a\u4e86\u6211\u4eec\u7684 <strong>CAD \u653b\u51fb <\/strong>\u6240\u5e26\u6765\u7684\u4e25\u91cd\u540e\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F675fb552j00szha7700l5d200qk00log00qk00lo.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83PG\">\u5728\u6b63\u5e38\u60c5\u51b5\u4e0b\uff0c\u9a7e\u9a76\u667a\u80fd\u4f53\u80fd\u591f\u6cbf\u7740\u6307\u5b9a\u8def\u5f84\u7b14\u76f4\u884c\u9a76\uff1b<\/p>\n\n\n\n<p id=\"3PIQ83PH\">\u7136\u800c\uff0c\u5728\u5b9e\u65bd\u6211\u4eec\u7684\u653b\u51fb\u540e\uff0c\u8f66\u8f86\u5411\u5de6\u504f\u79bb\u9884\u5b9a\u9053\u8def\uff0c\u5e76\u649e\u4e0a\u4e86\u8def\u8fb9\u7684\u62a4\u680f\uff0c\u5bfc\u81f4\u6700\u7ec8\u9a7e\u9a76\u8bc4\u5206\u53d7\u5230\u5927\u5e45\u60e9\u7f5a\u3002<\/p>\n\n\n\n<p id=\"3PIQ83PI\">\u66f4\u591a\u793a\u4f8b\u53ef\u5728\u9644\u5f55\u4e2d\u627e\u5230\u3002<\/p>\n\n\n\n<p><strong>5.3 \u771f\u5b9e\u4e16\u754c\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83PJ\">\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u7814\u7a76\u7531\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u9a71\u52a8\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728<strong>\u771f\u5b9e\u4e16\u754c <\/strong>\u4e2d\u7684\u5bf9\u6297\u9c81\u68d2\u6027\u3002VLM \u9a71\u52a8\u7684\u7cfb\u7edf\u6d41\u7a0b\u5982\u56fe 4 \u6240\u793a\u3002<\/p>\n\n\n\n<p><strong>\u771f\u5b9e\u4e16\u754c\u7684\u673a\u5668\u4eba\u8f66\u8f86<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83PK\">\u6211\u4eec\u9009\u62e9\u4e86\u4e24\u6b3e\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u4e0e\u5f00\u53d1\u7684\u5546\u7528\u673a\u5668\u4eba\u8f66\u8f86\u8fdb\u884c\u771f\u5b9e\u4e16\u754c\u653b\u51fb\u5b9e\u9a8c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>JetBot <\/strong>[48]<\/li>\n\n\n\n<li><strong>LIMO <\/strong>[52]<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83PL\">\u8fd9\u4e24\u6b3e\u8f66\u8f86\u5747\u914d\u5907\u4e86\u9ad8\u6e05\u6444\u50cf\u5934\u3001\u96f7\u8fbe\u3001\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u4f20\u611f\u5668\u4ee5\u53ca\u57fa\u672c\u7684\u8fd0\u52a8\u80fd\u529b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>JetBot \u8f66\u8f86 [48] \u62e5\u6709\u66f4\u5f3a\u5927\u7684\u8ba1\u7b97\u8d44\u6e90\uff0c\u4e3b\u8981\u7528\u4e8e\u4eba\u5de5\u667a\u80fd\u548c\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\uff0c\u5e76\u91c7\u7528\u5dee\u901f\u9a71\u52a8\u65b9\u5f0f\u5b9e\u73b0\u79fb\u52a8\uff1b<\/li>\n\n\n\n<li>LIMO \u8f66\u8f86 [52] \u66f4\u504f\u5411\u4e8e\u63a7\u5236\u5c42\u9762\u7684\u5e94\u7528\uff0c\u6211\u4eec\u5728\u5b9e\u9a8c\u4e2d\u9009\u7528\u5176\u963f\u514b\u66fc\u8f6c\u5411\u6a21\u5f0f\uff08Ackermann steering\uff09\u4f5c\u4e3a\u8fd0\u52a8\u65b9\u5f0f\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83PO\">\u5b9e\u9a8c\u73af\u5883\u4e3a\u4e00\u4e2a<strong>\u624b\u52a8\u6784\u5efa\u7684\u9a7e\u9a76\u6a21\u62df\u8d5b\u9053 <\/strong>\u3002<\/p>\n\n\n\n<p><strong>\u7531 VLM \u9a71\u52a8\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83PP\">\u7531\u4e8e\u8fd9\u4e24\u6b3e\u673a\u5668\u4eba\u8f66\u8f86\u672c\u8eab\u5e76\u4e0d\u652f\u6301\u7531 VLM \u9a71\u52a8\u7684\u51b3\u7b56\u4e0e\u63a7\u5236\uff0c\u6211\u4eec\u4f7f\u7528\u5148\u8fdb\u7684 VLM \u6765\u914d\u7f6e\u5b9e\u9a8c\u4efb\u52a1\u3002<\/p>\n\n\n\n<p id=\"3PIQ83PQ\">\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u5c06\u8f66\u8f86\u7684\u4efb\u52a1\u5b9a\u4e49\u4e3a<strong>\u9075\u5b88\u4ea4\u901a\u89c4\u5219\u7684\u9053\u8def\u8ddf\u968f <\/strong>\u4efb\u52a1\uff0c\u5e76\u4f7f\u7528\u4e13\u4e3a\u9a7e\u9a76\u8bbe\u8ba1\u7684 Dolphins \u6a21\u578b [42] \u8fdb\u884c\u51b3\u7b56\u3002<\/p>\n\n\n\n<p id=\"3PIQ83PR\">\u8be5\u6a21\u578b\u751f\u6210\u9ad8\u5c42\u6307\u4ee4\uff08\u4f8b\u5982\u201c\u7ee7\u7eed\u76f4\u884c\u201d\uff09\uff0c\u968f\u540e\u5c06\u8fd9\u4e9b\u6307\u4ee4\u4f20\u9012\u7ed9 LLaMA \u6a21\u578b [60]\u3002<\/p>\n\n\n\n<p id=\"3PIQ83PS\">LLaMA \u6a21\u578b\u6839\u636e\u8f66\u8f86\u7684\u8fd0\u52a8\u6a21\u578b\uff08\u5373\u5dee\u901f\u9a71\u52a8\u6216\u963f\u514b\u66fc\u8f6c\u5411\uff09\u5c06\u9ad8\u5c42\u6307\u4ee4\u8f6c\u6362\u4e3a\u5177\u4f53\u7684\u63a7\u5236\u6307\u4ee4\uff0c\u5982\u8f6e\u901f\u548c\u8f6c\u5411\u89d2\u3002<\/p>\n\n\n\n<p id=\"3PIQ83PT\">\u8fd9\u4e24\u4e2a\u6a21\u578b<strong>\u65e0\u9700\u989d\u5916\u8bad\u7ec3 <\/strong>\uff0c\u800c\u662f\u4f9d\u8d56\u57fa\u4e8e\u63d0\u793a\uff08prompt-based\uff09\u7684\u6280\u672f\u6765\u5b8c\u6210\u9053\u8def\u8ddf\u968f\u4efb\u52a1\u3002<\/p>\n\n\n\n<p id=\"3PIQ83PU\">\u8f66\u8f86\u4e0e\u6a21\u578b\u4e4b\u95f4\u7684\u901a\u4fe1\u901a\u8fc7<strong>\u5957\u63a5\u5b57\uff08sockets\uff09 <\/strong>\u5b9e\u73b0\u3002\u66f4\u591a\u4efb\u52a1\u8bbe\u7f6e\u7ec6\u8282\u8bf7\u53c2\u89c1\u9644\u5f55\u3002<\/p>\n\n\n\n<p><strong>\u653b\u51fb\u7684\u5b9e\u65bd<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83PV\">\u4e3a\u4e86\u8bc4\u4f30\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u771f\u5b9e\u4e16\u754c\u573a\u666f\u4e2d\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u4ee5<strong>\u5bf9\u6297\u8865\u4e01 <\/strong>\uff08adversarial patches\uff09[33] \u7684\u5f62\u5f0f\u5b9e\u65bd CAD \u653b\u51fb\u3002<\/p>\n\n\n\n<p id=\"3PIQ83Q0\">\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u4f7f\u7528\u4e00\u4e2a<strong>\u5546\u7528\u7684\u4e09\u7ef4\u5b9e\u4f53\u505c\u8f66\u6807\u5fd7 <\/strong>\uff0c\u4ee5\u53ca\u4e00\u8f86\u4f5c\u4e3a\u969c\u788d\u7269\u7684 LIMO \u8f66\u8f86\uff0c\u4f5c\u4e3a\u5bf9\u6297\u8865\u4e01\u7684\u8f7d\u4f53\u3002<\/p>\n\n\n\n<p id=\"3PIQ83Q1\">\u5728\u751f\u6210\u5bf9\u6297\u8865\u4e01\u65f6\uff0c\u6211\u4eec\u9996\u5148\u5206\u522b\u5728\u6a21\u62df\u8d5b\u9053\u4e0a\u62cd\u6444\u8865\u4e01\u8f7d\u4f53\u7684\u7167\u7247\uff0c\u4f5c\u4e3a\u5e72\u51c0\u80cc\u666f\u56fe\u50cf\uff1b<\/p>\n\n\n\n<p id=\"3PIQ83Q2\">\u7136\u540e\u5c06\u5bf9\u6297\u8865\u4e01\u968f\u673a\u521d\u59cb\u5316\u4e3a\u539f\u59cb\u56fe\u50cf\u5927\u5c0f\u7684 12%\uff0c\u5e76\u53e0\u52a0\u5230\u56fe\u50cf\u4e0a\uff1b<\/p>\n\n\n\n<p id=\"3PIQ83Q3\">\u63a5\u7740\uff0c\u6839\u636e\u7b2c 4.3 \u8282\u4e2d\u5b9a\u4e49\u7684\u76ee\u6807\u51fd\u6570\uff0c\u5728<strong>\u65e0\u6270\u52a8\u7ea6\u675f <\/strong>\u7684\u60c5\u51b5\u4e0b\u5bf9\u8865\u4e01\u8fdb\u884c\u4f18\u5316\u3002<\/p>\n\n\n\n<p id=\"3PIQ83Q4\">\u6240\u6709\u5176\u4ed6\u53c2\u6570\u4e0e\u7b2c 5.1 \u8282\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n<p id=\"3PIQ83Q5\">\u6700\u7ec8\uff0c\u6211\u4eec\u5c06\u751f\u6210\u7684\u8865\u4e01\u6253\u5370\u51fa\u6765\uff0c\u5e76\u7c98\u8d34\u5728\u4e09\u7ef4\u4ea4\u901a\u6807\u5fd7\u548c\u969c\u788d\u8f66\u8f86\u4e0a\uff0c\u6bd4\u8f83\u6709\u65e0\u8865\u4e01\u60c5\u51b5\u4e0b\u7684\u653b\u51fb\u6548\u679c\u3002<\/p>\n\n\n\n<p id=\"3PIQ83Q6\">\u6211\u4eec\u7684\u5b9e\u9a8c\u573a\u666f\u53ca\u6253\u5370\u51fa\u7684\u5bf9\u6297\u8865\u4e01\u5982\u56fe 5 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F982a554dj00szha78009rd200pw00d2g00pw00d2.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83Q8\">\u6211\u4eec\u4e3a\u6bcf\u8f86\u8f66\u9009\u62e9\u4e09\u6761\u4e0d\u540c\u7684\u9a7e\u9a76\u8def\u7ebf\uff0c\u5e76\u5206\u522b\u6267\u884c<strong>\u653b\u51fb <\/strong>\u4e0e<strong>\u975e\u653b\u51fb <\/strong>\u8fd0\u884c\u3002<\/p>\n\n\n\n<p id=\"3PIQ83Q9\">\u6bcf\u4e2a\u573a\u666f\u91cd\u590d\u4e09\u6b21\uff0c\u603b\u5171\u8fdb\u884c\u4e86 36 \u6b21\u8fd0\u884c\u3002<\/p>\n\n\n\n<p id=\"3PIQ83QA\">\u6211\u4eec\u5c06\u4e00\u6b21\u6210\u529f\u7684\u8fd0\u884c\u5b9a\u4e49\u4e3a\uff1a\u8f66\u8f86\u5728<strong>\u6ca1\u6709\u53d1\u751f\u4efb\u4f55\u78b0\u649e <\/strong>\u7684\u60c5\u51b5\u4e0b\u5b8c\u6210\u8def\u7ebf\u3002<\/p>\n\n\n\n<p id=\"3PIQ83QB\">\u8f66\u8f86\u7684\u8868\u73b0\u5982\u8868 4 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fed698e69j00szha78001id200ps009yg00ps009y.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83QD\">\u5728<strong>\u975e\u653b\u51fb\u573a\u666f <\/strong>\u4e0b\uff0c\u4e24\u8f86\u8f66\u5728\u6211\u4eec\u7684\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u6210\u529f\u5b8c\u6210\u7387\u8fbe\u5230 <strong>72.22% <\/strong>\uff0c\u8868\u660e\u6211\u4eec\u57fa\u4e8e VLM \u7684\u9a7e\u9a76\u65b9\u6cd5\u662f\u6709\u6548\u7684\u3002<\/p>\n\n\n\n<p id=\"3PIQ83QE\">\u6b64\u5916\uff0c\u5728\u6b63\u5e38\u60c5\u51b5\u4e0b\uff0cJetBot \u8f66\u8f86 [48] \u7684\u884c\u9a76\u66f4\u4e3a\u5e73\u7a33\uff0c\u4efb\u52a1\u5b8c\u6210\u7387\u4e5f\u9ad8\u4e8e LIMO [52]\u3002<\/p>\n\n\n\n<p id=\"3PIQ83QF\">\u800c\u5728\u5e94\u7528\u5bf9\u6297\u8865\u4e01\u540e\uff0c\u4e24\u8f86\u8f66\u7684\u6210\u529f\u5b8c\u6210\u7387\u4e0b\u964d\u81f3 <strong>11.11% <\/strong>\uff0c\u6709\u6548\u9a8c\u8bc1\u4e86\u6211\u4eec\u7684\u653b\u51fb\u5728\u771f\u5b9e\u4e16\u754c\u5e94\u7528\u4e2d\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p id=\"3PIQ83QG\">\u56fe 6 \u5c55\u793a\u4e86\u5728\u53d7\u5230\u653b\u51fb\u65f6\uff0c\u4e24\u8f86\u7531 VLM \u9a71\u52a8\u7684\u8f66\u8f86\u51fa\u73b0\u9519\u8bef\u884c\u4e3a\u7684\u8fde\u7eed\u5e27\u56fe\u50cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F6ee4e3ebj00szha7900cxd200pi00i8g00pi00i8.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83QI\">\u4e24\u8f86\u8f66\u90fd\u65e0\u6cd5\u6b63\u786e\u7406\u89e3\u6240\u9700\u7684\u9a7e\u9a76\u64cd\u4f5c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>JetBot \u8f66\u8f86 [48] \u7ed5\u8fc7\u4e86\u505c\u8f66\u6807\u5fd7\uff1b<\/li>\n\n\n\n<li>LIMO \u8f66\u8f86 [52] \u5219\u76f4\u63a5\u649e\u5411\u5e26\u6709\u5bf9\u6297\u8865\u4e01\u7684\u969c\u788d\u8f66\u8f86\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>5.4 \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83QL\">\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u7814\u7a76\u4e86\u53ef\u80fd\u5f71\u54cd CAD \u653b\u51fb\u6027\u80fd\u7684\u82e5\u5e72\u5173\u952e\u56e0\u7d20\uff0c\u4ece\u800c\u63d0\u4f9b\u5168\u9762\u7684\u6d1e\u5bdf\uff0c\u5e76\u4fc3\u8fdb\u5bf9\u6211\u4eec\u7684\u653b\u51fb\u7b56\u7565\u7684\u6df1\u5165\u7406\u89e3\u3002<\/p>\n\n\n\n<p id=\"3PIQ83QM\">\u672c\u90e8\u5206\u6240\u6709\u5b9e\u9a8c\u5747\u4f7f\u7528 <strong>Dolphins [42] <\/strong>\u76ee\u6807\u6a21\u578b\uff0c\u5728 <strong>Dolphins Benchmark <\/strong>\u4e0a\u8fdb\u884c\u3002<\/p>\n\n\n\n<p><strong>\u51b3\u7b56\u94fe\u7834\u574f\u3001\u5371\u9669\u573a\u666f\u8bf1\u5bfc\u4e0e\u8bed\u4e49\u5dee\u5f02\u6700\u5927\u5316\u7684\u5173\u952e\u4f5c\u7528<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83QN\">\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5206\u6790\u6211\u4eec\u653b\u51fb\u8bbe\u8ba1\u4e2d\u5404\u4e2a\u7ec4\u4ef6\u7684\u8d21\u732e\uff0c\u6211\u4eec\u901a\u8fc7\u8c03\u6574\u635f\u5931\u6743\u91cd\u5bf9\u5e94\u7684\u8d85\u53c2\u6570\u6765\u8fdb\u884c\u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<p id=\"3PIQ83QO\">\u5177\u4f53\u6765\u8bf4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7b2c 4.1 \u8282\u4e2d\u7684\u201c <strong>\u51b3\u7b56\u94fe\u7834\u574f<\/strong> \u201d\u548c\u7b2c 4.2 \u8282\u4e2d\u7684\u201c <strong>\u5371\u9669\u573a\u666f\u8bf1\u5bfc<\/strong> \u201d\u7684\u5f71\u54cd\u5206\u522b\u7531\u8d85\u53c2\u6570 \u03b1 \u548c \u03b2 \u63a7\u5236\uff1b<\/li>\n\n\n\n<li>\u7b2c 4.3 \u8282\u4e2d\u7684\u201c <strong>\u8bed\u4e49\u5dee\u5f02\u6700\u5927\u5316<\/strong> \u201d\u7684\u5f71\u54cd\u5219\u7531 \u03b3 \u63a7\u5236\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83QR\">\u6211\u4eec\u91c7\u7528<strong>\u63a7\u5236\u53d8\u91cf\u6cd5 <\/strong>\u8fdb\u884c\u5b9e\u9a8c\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u9996\u5148\u5c06\u4e09\u4e2a\u53c2\u6570\u5747\u8bbe\u4e3a 1.0\uff1b<\/li>\n\n\n\n<li>\u7136\u540e\u4f9d\u6b21\u8c03\u6574\u5176\u4e2d\u4e00\u4e2a\u53c2\u6570\uff0c\u89c2\u5bdf\u5176\u5bf9\u653b\u51fb\u6548\u679c\u7684\u5f71\u54cd\uff0c\u4ee5\u786e\u5b9a\u6700\u4f73\u914d\u7f6e\uff1b<\/li>\n\n\n\n<li>\u5728\u786e\u5b9a\u5f53\u524d\u88ab\u6d88\u878d\u53c2\u6570\u7684\u6700\u4f73\u4e24\u4e2a\u8bbe\u7f6e\u540e\uff0c\u7ee7\u7eed\u5bf9\u4e0b\u4e00\u4e2a\u53c2\u6570\u5728\u8fd9\u4e24\u4e2a\u8bbe\u7f6e\u4e0b\u8fdb\u884c\u6d88\u878d\u5b9e\u9a8c\uff1b<\/li>\n\n\n\n<li>\u6b64\u5916\uff0c\u6211\u4eec\u4e5f\u5bf9\u6bcf\u4e2a\u7ec4\u4ef6\u8fdb\u884c\u4e86\u5b8c\u5168\u6d88\u878d\u5b9e\u9a8c\uff0c\u5373\u5c06\u5176\u5bf9\u5e94\u7684\u53c2\u6570\u8bbe\u4e3a 0\u3002<\/li>\n<\/ol>\n\n\n\n<p id=\"3PIQ83R0\">\u5b9e\u9a8c\u7ed3\u679c\u5982\u56fe 7 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fa188b8d4j00szha7a005pd200qc00ygg00qc00yg.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83R2\">\u5728\u9010\u6b65\u6d88\u878d\u5b9e\u9a8c\u4e2d\u53ef\u4ee5\u660e\u663e\u770b\u51fa\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53\u67d0\u4e2a\u7279\u5b9a\u7ec4\u4ef6\uff08\u5373\u51b3\u7b56\u94fe\u7834\u574f\u3001\u5371\u9669\u573a\u666f\u8bf1\u5bfc\u6216\u8bed\u4e49\u5dee\u5f02\u6700\u5927\u5316\uff09\u88ab <strong>\u5b8c\u5168\u79fb\u9664<\/strong> \u65f6\uff0c\u653b\u51fb\u6027\u80fd\u663e\u8457\u4e0b\u964d\uff0c\u5e73\u5747\u653b\u51fb\u6027\u80fd\u5206\u522b\u4e0b\u964d <strong>19.66%\u300113.94% \u548c 15.22%<\/strong> \u3002<\/li>\n\n\n\n<li>\u5728\u5bfb\u627e\u6700\u4f18\u8bbe\u7f6e\u7684\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u53d1\u73b0\u5404\u76ee\u6807\u635f\u5931\u7684\u6743\u91cd\u5bf9\u6700\u7ec8\u7ed3\u679c <strong>\u5e76\u975e\u5355\u8c03\u5f71\u54cd<\/strong> \u3002\u5177\u4f53\u800c\u8a00\uff0c\u8fc7\u5927\u7684\u6743\u91cd\u6216\u8fc7\u5c0f\u7684\u6743\u91cd\u90fd\u4f1a\u5bfc\u81f4\u653b\u51fb\u6548\u679c\u51cf\u5f31\u3002<\/li>\n\n\n\n<li>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u8c03\u6574\u53c2\u6570 \u03b2 \u65f6\uff0c\u6700\u4f18\u8bbe\u7f6e\u5e76\u672a\u4e0e\u524d\u4e00\u53c2\u6570\uff08\u5373 \u03b1=0.05,\u03b3=1.0 \uff09\u6240\u83b7\u5f97\u7684\u6700\u4f73\u8bbe\u7f6e\u4e00\u81f4\uff0c\u800c\u662f\u5bf9\u5e94\u4e8e\u4e00\u4e2a\u6b21\u4f18\u7ed3\u679c\uff08\u5373 \u03b1=0.05,\u03b3=0.75 \uff09\u3002\u8fd9\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u8bf4\u660e\uff0c\u201c <strong>\u5371\u9669\u573a\u666f\u8bf1\u5bfc<\/strong> \u201d\u6bd4\u201c\u8bed\u4e49\u5dee\u5f02\u6700\u5927\u5316\u201d\u5728\u6574\u4f53\u653b\u51fb\u4e2d\u8d77\u5230\u4e86\u66f4\u5173\u952e\u7684\u4f5c\u7528\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u9884\u8bad\u7ec3\u6a21\u6001\u5bf9\u9f50\u6a21\u578b\u7684\u9009\u62e9<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83R6\">\u4e3a\u4e86\u63a2\u7a76\u54ea\u79cd\u9884\u8bad\u7ec3\u6a21\u6001\u5bf9\u9f50\u6a21\u578b\u6700\u6709\u52a9\u4e8e\u63d0\u5347\u6211\u4eec\u7684\u653b\u51fb\u6548\u679c\uff0c\u6211\u4eec\u4f7f\u7528\u4e94\u79cd\u4e0d\u540c\u7684\u524d\u6cbf\u6a21\u578b\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CLIP [51]<\/li>\n\n\n\n<li>ALBEF [24]<\/li>\n\n\n\n<li>VLMo [3]<\/li>\n\n\n\n<li>CoCa [68]<\/li>\n\n\n\n<li>BLIP [23]<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83RC\">\u6240\u6709\u53c2\u6570\u8bbe\u7f6e\u4e0e\u7b2c 5.1 \u8282\u4e00\u81f4\u3002<\/p>\n\n\n\n<p id=\"3PIQ83RD\">\u5982\u8868 5 \u6240\u793a\uff0c<strong>CLIP [51] <\/strong>\u7684\u8868\u73b0\u4f18\u4e8e\u5176\u4ed6\u6240\u6709\u6a21\u578b\uff0c\u9a8c\u8bc1\u4e86\u5176\u901a\u8fc7\u5bf9\u6bd4\u5b66\u4e60\u6709\u6548\u5bf9\u9f50\u56fe\u50cf\u4e0e\u6587\u672c\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F15035830j00szha7a0030d200q800eyg00q800ey.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83RF\">CoCa [68] \u548c BLIP [23] \u7565\u900a\u4e8e CLIP\uff0c\u800c VLMo [3] \u548c ALBEF [24] \u5728\u6211\u4eec\u7684\u653b\u51fb\u4efb\u52a1\u4e2d\u8868\u73b0\u8f83\u5f31\u3002<\/p>\n\n\n\n<p id=\"3PIQ83RG\">\u8fd9\u4e9b\u7ed3\u679c\u7a81\u51fa\u4e86 CLIP \u6a21\u578b<strong>\u7ed3\u6784\u7b80\u5355\u4f46\u80fd\u529b\u5f3a\u5927 <\/strong>\u7684\u6a21\u6001\u5bf9\u9f50\u80fd\u529b\uff0c\u4e5f\u9a8c\u8bc1\u4e86\u6211\u4eec\u5c06\u5176\u4f5c\u4e3a\u6846\u67b6\u4e2d\u9884\u8bad\u7ec3\u6a21\u578b\u9009\u62e9\u7684\u5408\u7406\u6027\u3002<\/p>\n\n\n\n<p><strong>\u6270\u52a8\u9884\u7b97\u4e0e\u8fed\u4ee3\u6b21\u6570\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83RH\">\u6211\u4eec\u5728\u4e0d\u540c\u6270\u52a8\u9884\u7b97\uff08\u5373 \u2113\u221e \u8303\u6570\u53d6\u503c\u4e3a 0.02\u30010.04\u30010.08\u30010.1\u30010.15\u30010.2\uff0c\u8fed\u4ee3\u6b21\u6570\u56fa\u5b9a\u4e3a 160\uff09\u4ee5\u53ca\u4e0d\u540c\u8fed\u4ee3\u6b21\u6570\uff08\u5373 20\u300140\u300180\u3001120\u3001160\u3001200\uff0c\u6270\u52a8\u9884\u7b97 \u03b5 \u56fa\u5b9a\u4e3a 0.1\uff09\u4e0b\u8bc4\u4f30\u4e86\u653b\u51fb\u6548\u679c\u3002<\/p>\n\n\n\n<p id=\"3PIQ83RI\">\u7ed3\u679c\u5982\u56fe 8 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Fa704a1a5j00szha7b003td200q400jwg00q400jw.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83RK\">\u6211\u4eec\u62a5\u544a\u4e86\u6bcf\u79cd\u914d\u7f6e\u4e0b\u7684\u6700\u7ec8\u5f97\u5206\uff0c\u5e76\u6bd4\u8f83\u4e86\u4e0e\u524d\u4e00\u8bbe\u7f6e\u76f8\u6bd4\u7684\u6027\u80fd\u4e0b\u964d\u60c5\u51b5\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u66f4\u5927\u7684\u6270\u52a8\u9884\u7b97\u4f1a\u5bfc\u81f4\u66f4\u4f4e\u7684\u5f97\u5206\uff0c\u8fd9\u7b26\u5408\u76f4\u89c2\u9884\u671f\uff1b<\/li>\n\n\n\n<li>\u7279\u522b\u662f\u5f53 \u03b5=0.1 \u65f6\uff0c\u76f8\u8f83\u4e8e\u524d\u4e00\u8bbe\u7f6e\uff0c\u89c2\u5bdf\u5230\u6700\u9ad8\u7684\u6027\u80fd\u4e0b\u964d\u6bd4\u4f8b\uff08 <strong>8.19%<\/strong> \uff09\uff1b<\/li>\n\n\n\n<li>\u5173\u4e8e\u8fed\u4ee3\u6b21\u6570\uff0c\u7ed3\u679c\u6ca1\u6709\u5448\u73b0\u4e25\u683c\u4e00\u81f4\u7684\u8d8b\u52bf\uff0c\u4f46\u603b\u4f53\u6765\u770b\uff0c <strong>\u66f4\u591a\u7684\u8fed\u4ee3\u6b21\u6570\u5f80\u5f80\u80fd\u5e26\u6765\u66f4\u5f3a\u7684\u653b\u51fb\u6548\u679c<\/strong> \u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>6 \u9488\u5bf9 CAD \u653b\u51fb\u7684\u9632\u5fa1\u63aa\u65bd<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83RO\">\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u63a2\u8ba8\u4e86\u591a\u79cd\u9632\u5fa1\u7b56\u7565\uff0c\u4ee5\u51cf\u8f7b CAD \u653b\u51fb\u53ef\u80fd\u5e26\u6765\u7684\u8d1f\u9762\u793e\u4f1a\u5f71\u54cd\u3002\u6211\u4eec\u4ece<strong>\u8f93\u5165\u9884\u5904\u7406 <\/strong>\u5230<strong>\u8f93\u51fa\u540e\u5904\u7406 <\/strong>\u7b49\u591a\u4e2a\u5c42\u9762\u5f15\u5165\u4e86\u591a\u79cd\u6210\u719f\u7684\u9632\u5fa1\u6280\u672f\uff1b\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u4e13\u95e8\u8bbe\u8ba1\u4e86\u4e00\u79cd<strong>\u6587\u672c\u589e\u5f3a\u9632\u5fa1\u7b56\u7565 <\/strong>\u6765\u5e94\u5bf9\u6211\u4eec\u7684\u653b\u51fb\u3002\u653b\u51fb\u8bbe\u7f6e\u4e0e\u7b2c 5.1 \u8282\u4e2d\u63cf\u8ff0\u7684\u4e00\u81f4\u3002<\/p>\n\n\n\n<p><strong>\u56fe\u50cf\u53d8\u6362\uff08Image Transformation, I.T\uff09<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83RP\">\u56fe\u50cf\u53d8\u6362\u662f\u5728\u6a21\u578b\u8f93\u5165\u4e4b\u524d\u5e94\u7528\u4e00\u7cfb\u5217\u56fe\u50cf\u53d8\u6362\u64cd\u4f5c [16]\uff0c\u65e8\u5728<strong>\u6d88\u9664\u6216\u524a\u5f31 <\/strong>\u5bf9\u6297\u653b\u51fb\u4e2d\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u6270\u52a8\uff0c\u4ece\u800c\u663e\u8457\u964d\u4f4e\u5176\u5bf9\u6a21\u578b\u7684\u7834\u574f\u6027\u5f71\u54cd\u3002<\/p>\n\n\n\n<p id=\"3PIQ83RQ\">\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u4e3a\u8be5\u9632\u5fa1\u65b9\u6cd5\u9009\u62e9\u4e86\u4e09\u79cd\u7ecf\u5178\u7684\u56fe\u50cf\u53d8\u6362\u64cd\u4f5c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>JPEG \u538b\u7f29 <\/strong>[16]<\/li>\n\n\n\n<li><strong>\u4e2d\u503c\u6ee4\u6ce2 <\/strong>\uff08Median Smoothing\uff09 [8]<\/li>\n\n\n\n<li><strong>\u5168\u53d8\u5206\u6700\u5c0f\u5316 <\/strong>\uff08TVM, Total Variation Minimization\uff09 [16]<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5bf9\u6297\u68c0\u6d4b\uff08Adversarial Detection, A.D\uff09<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83RR\">\u5bf9\u6297\u68c0\u6d4b\u901a\u8fc7\u8bc6\u522b\u5177\u6709\u5f02\u5e38\u7279\u5f81\u7684\u8f93\u5165\u6765\u7f13\u89e3\u5bf9\u6297\u653b\u51fb\u7684\u5f71\u54cd\u3002\u5982\u679c\u68c0\u6d4b\u5230\u5bf9\u6297\u6837\u672c\uff0c\u7cfb\u7edf\u53ef\u4ee5<strong>\u62d2\u7edd\u8be5\u8f93\u5165 <\/strong>\u6216\u91c7\u53d6<strong>\u4fee\u6b63\u63aa\u65bd <\/strong>\u3002<\/p>\n\n\n\n<p id=\"3PIQ83RS\">\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u91c7\u7528 [65] \u4e2d\u63d0\u51fa\u7684<strong>\u4f4d\u6df1\u538b\u7f29 <\/strong>\uff08bit-depth compression\uff09\u65b9\u6cd5\u8fdb\u884c\u68c0\u6d4b\u3002\u4e00\u65e6\u68c0\u6d4b\u5230\u5bf9\u6297\u8f93\u5165\uff0c\u5c31\u5c06\u5176\u66ff\u6362\u4e3a\u5e72\u51c0\u6837\u672c\u3002<\/p>\n\n\n\n<p><strong>\u56fe\u50cf\u53bb\u566a\uff08Image Denoising, I.T\uff09<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83RT\">\u56fe\u50cf\u53bb\u566a\u901a\u5e38\u662f\u5728\u6a21\u578b\u63a8\u7406\u524d\u5f15\u5165\u9884\u5904\u7406\u5668\uff0c\u4ee5<strong>\u53bb\u9664\u5bf9\u6297\u566a\u58f0 <\/strong>\uff0c\u6216\u4f7f\u7528\u56fe\u50cf\u91cd\u5efa\u6280\u672f\u6765<strong>\u6d88\u9664\u56fe\u50cf\u4e2d\u7684\u5bf9\u6297\u7279\u5f81 <\/strong>\u3002<\/p>\n\n\n\n<p id=\"3PIQ83RU\">\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u91c7\u7528 <strong>NRP <\/strong>\uff08Neural Representation Purification\uff09[46] \u65b9\u6cd5\uff0c\u5728\u5c06\u56fe\u50cf\u8f93\u5165\u81ea\u52a8\u9a7e\u9a76\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08AD VLM\uff09\u8fdb\u884c\u63a8\u7406\u4e4b\u524d\u5bf9\u5176\u8fdb\u884c\u53bb\u566a\u5904\u7406\u3002<\/p>\n\n\n\n<p><strong>\u8f93\u51fa\u540e\u5904\u7406\uff08Output Post-processing, O.P\uff09<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83RV\">\u8f93\u51fa\u540e\u5904\u7406\u4fa7\u91cd\u4e8e\u5bf9\u6a21\u578b\u8f93\u51fa\u8fdb\u884c<strong>\u51c0\u5316\u5904\u7406 <\/strong>\u3002\u53d7 AAA [7] \u7684\u542f\u53d1\uff08\u8be5\u65b9\u6cd5\u63d0\u51fa\u901a\u8fc7\u540e\u5904\u7406\u6765\u5bf9\u6297\u9ed1\u76d2\u67e5\u8be2\u653b\u51fb\uff09\uff0c\u6211\u4eec\u5c06\u8fd9\u4e00\u601d\u8def\u5e94\u7528\u4e8e<strong>\u5bf9\u6297 AD VLM \u4e0a\u7684\u5bf9\u6297\u653b\u51fb\u9632\u5fa1 <\/strong>\u3002<\/p>\n\n\n\n<p id=\"3PIQ83S0\">\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u91c7\u7528\u57fa\u4e8e\u89c4\u5219\u7684<strong>\u8fc7\u6ee4\u4e0e\u4fee\u6b63\u673a\u5236 <\/strong>\u6765\u5904\u7406 AD VLM \u7684\u8f93\u51fa\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728 Dolphins [42] \u548c DriveLM [55] \u7684 VQA \u4efb\u52a1\u4e2d\uff0c\u6211\u4eec\u4f1a\u5728\u8f93\u51fa\u4e2d <strong>\u641c\u7d22\u6781\u7aef\u9a7e\u9a76\u884c\u4e3a<\/strong> \uff0c\u5e76\u5c06\u5176\u66ff\u6362\u4e3a\u66f4\u5b89\u5168\u7684\u9a7e\u9a76\u64cd\u4f5c\uff0c\u4f8b\u5982\u4fdd\u6301\u5e73\u7a33\u7684\u884c\u9a76\u8f68\u8ff9\uff1b<\/li>\n\n\n\n<li>\u5728\u95ed\u73af\u63a7\u5236\u6a21\u578b LMDrive [54] \u4e2d\uff0c\u6211\u4eec <strong>\u76f4\u63a5\u68c0\u6d4b\u6781\u7aef\u63a7\u5236\u6307\u4ee4<\/strong> \uff08\u5982\u8f6c\u5411\u89d2\uff09\uff0c\u5e76\u5c06\u5176\u9650\u5236\u5728\u66f4\u5b89\u5168\u3001\u66f4\u5e73\u6ed1\u7684\u8303\u56f4\u5185\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u6587\u672c\u589e\u5f3a\uff08Textual Enhancement, T.E\uff09<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83S3\">\u4e0a\u8ff0\u9632\u5fa1\u65b9\u6cd5\u4e3b\u8981\u96c6\u4e2d\u5728<strong>\u8f93\u5165\u5c42\u9762\u7684\u89c6\u89c9\u57df <\/strong>\u6216\u901a\u8fc7<strong>\u8f93\u51fa\u8fc7\u6ee4 <\/strong>\u6765\u7f13\u89e3\u653b\u51fb\uff0c\u4f46\u5b83\u4eec\u7f3a\u4e4f\u9488\u5bf9<strong>\u8f93\u5165\u5c42\u9762\u6587\u672c\u57df <\/strong>\u7684\u9632\u5fa1\u673a\u5236\u3002<\/p>\n\n\n\n<p id=\"3PIQ83S4\">\u4e3a\u4e86\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u9632\u5fa1\u8bc4\u4f30\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u9632\u5fa1\u673a\u5236\uff1a<strong>\u6587\u672c\u589e\u5f3a <\/strong>\uff08Textual Enhancement\uff09\u3002\u6211\u4eec\u7684\u76ee\u6807\u662f\u8bbe\u8ba1\u4e00\u79cd\u76f4\u63a5\u9488\u5bf9\u6211\u4eec\u653b\u51fb\u65b9\u6cd5\u7684\u9632\u5fa1\u7b56\u7565\u3002<\/p>\n\n\n\n<p id=\"3PIQ83S5\">\u53d7\u6587\u672c\u76f8\u5173\u8bbe\u8ba1\u7684\u542f\u53d1\uff0c\u6211\u4eec\u5728\u6587\u672c\u8f93\u5165\u4e2d\u5f15\u5165<strong>\u6709\u76ca\u63d0\u793a <\/strong>\uff08beneficial prompts\uff09\uff0c\u4ee5\u524a\u5f31\u76f8\u5e94\u7684\u7834\u574f\u6027\u8bed\u4e49\u3002<\/p>\n\n\n\n<p id=\"3PIQ83S6\">\u5177\u4f53\u6765\u8bf4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u4e8e\u4f4e\u5c42\u7684\u201c <strong>\u51b3\u7b56\u94fe\u7834\u574f<\/strong> \u201d\uff08Decision Chain Disruption\uff09\uff0c\u6211\u4eec\u5728\u539f\u59cb\u63d0\u793a\u4e2d\u5f3a\u8c03\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u94fe\u6761\u4e4b\u95f4\u7684 <strong>\u903b\u8f91\u4e00\u81f4\u6027<\/strong> \uff08\u4f8b\u5982\u51c6\u786e\u8bc6\u522b\u73af\u5883\u4e2d\u6f5c\u5728\u7684\u610f\u5916\u969c\u788d\u7269\u53ca\u5176\u672a\u6765\u72b6\u6001\uff09\uff0c\u4ece\u800c\u6784\u5efa\u6709\u5229\u7684\u63d0\u793a\u7ebf\u7d22\u3002\u8fd9\u79cd\u65b9\u6cd5\u6709\u52a9\u4e8e\u524a\u5f31\u90a3\u4e9b\u4e0e\u6b63\u5e38\u9a7e\u9a76\u63a8\u7406\u4e0d\u4e00\u81f4\u7684\u6b3a\u9a97\u6027\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u9ad8\u5c42\u7684\u201c <strong>\u5371\u9669\u573a\u666f\u8bf1\u5bfc<\/strong> \u201d\uff08Risky Scene Induction\uff09\uff0c\u6211\u4eec\u5728\u539f\u59cb\u63d0\u793a\u4e2d\u52a0\u5165\u4e0e\u5b89\u5168\u76f8\u5173\u7684\u7ea6\u675f\u548c\u6307\u5bfc\u539f\u5219\uff08\u4f8b\u5982\u907f\u514d\u78b0\u649e\u98ce\u9669\uff09\uff0c\u4ee5\u6784\u5efa\u6709\u76ca\u63d0\u793a\u3002\u8fd9\u4e9b\u63d0\u793a\u65e8\u5728\u5f15\u5bfc\u6a21\u578b\u505a\u51fa\u4ee5\u6574\u4f53\u5b89\u5168\u6027\u4e3a\u5bfc\u5411\u7684\u51b3\u7b56\uff0c\u800c\u4e0d\u4ec5\u4ec5\u5c06\u9a7e\u9a76\u52a8\u4f5c\u672c\u8eab\u89c6\u4e3a\u5b89\u5168\u6807\u51c6\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83S9\">\u6211\u4eec\u5c06\u8fd9\u4e24\u79cd\u7b56\u7565\u5206\u522b\u79f0\u4e3a <strong>Text-Chain <\/strong>\u548c <strong>Text-Scene <\/strong>\u3002<\/p>\n\n\n\n<p><strong>\u7ed3\u679c\u4e0e\u8ba8\u8bba<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83SA\">\u5c3d\u7ba1\u6211\u4eec\u7684\u653b\u51fb\u5e26\u6765\u4e86\u663e\u8457\u7684\u6311\u6218\uff0c\u4f46\u6240\u63d0\u51fa\u7684\u9632\u5fa1\u7b56\u7565\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u4ecd\u80fd\u7f13\u89e3\u5176\u8d1f\u9762\u5f71\u54cd\uff0c\u5982\u88686\u6240\u793a\u3002\u5b8c\u6574\u7684\u7ed3\u679c\u5206\u89e3\u89c1\u9644\u5f55\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2F77c6fb96j00szha7c003kd200sy00ngg00sy00ng.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"3PIQ83SC\">\u5177\u4f53\u800c\u8a00\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u53bb\u566a\u65b9\u6cd5<\/strong> \uff08Image Denoising\uff09\u5728\u6240\u6709\u9632\u5fa1\u624b\u6bb5\u4e2d\u8868\u73b0\u6700\u4e3a\u7a81\u51fa\uff0c\u5728\u4e09\u79cd\u6a21\u578b\u4e0a\u9762\u5bf9 CAD \u653b\u51fb\u65f6\u5206\u522b\u63d0\u5347\u4e86 <strong>14.25%\u30010.91% \u548c 18.70%<\/strong> \u7684\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u5728\u5176\u4ed6\u9632\u5fa1\u65b9\u6cd5\u4e2d\uff0c\u57fa\u4e8e\u56fe\u50cf\u53d8\u6362\u7684\u9632\u5fa1\u6548\u679c\u6700\u5f31\uff0c\u6709\u4e9b\u751a\u81f3\u4ea7\u751f\u4e86 <strong>\u53cd\u5411\u9632\u5fa1\u6548\u5e94<\/strong> \uff08\u5373\u9632\u5fa1\u540e\u6027\u80fd\u66f4\u5dee\uff09\u3002\u6211\u4eec\u8ba4\u4e3a\u8fd9\u662f\u7531\u4e8e\u56fe\u50cf\u53d8\u6362\u867d\u7136\u51cf\u8f7b\u4e86\u5bf9\u6297\u6270\u52a8\u7684\u5f71\u54cd\uff0c\u4f46\u4e5f\u5f15\u5165\u4e86\u989d\u5916\u7684\u56fe\u50cf\u4fe1\u606f\u635f\u5931\uff0c\u4ece\u800c\u635f\u5bb3\u4e86\u6574\u4f53\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u57fa\u4e8e\u68c0\u6d4b\u548c\u540e\u5904\u7406\u7684\u9632\u5fa1\u65b9\u6cd5\u8868\u73b0\u51fa\u66f4\u6709\u524d\u666f\u7684\u6548\u679c\uff0c\u663e\u793a\u51fa\u66f4\u5f3a\u7684\u5bf9\u6297\u653b\u51fb\u62b5\u5fa1\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u63d0\u51fa\u7684\u6587\u672c\u589e\u5f3a\u65b9\u6cd5\u4e5f\u63d0\u4f9b\u4e86\u67d0\u79cd\u7a0b\u5ea6\u7684\u9632\u5fa1\u4f5c\u7528\uff0c\u5c24\u5176\u662f <strong>Text-Scene<\/strong> \uff0c\u4f46\u603b\u4f53\u6548\u679c\u4ecd\u4e0d\u5982\u53bb\u566a\u65b9\u6cd5\u3002\u8fd9\u8868\u660e\u9700\u8981\u5f00\u53d1\u66f4\u590d\u6742\u7684\u673a\u5236\u6765\u6709\u6548\u5e94\u5bf9\u6211\u4eec\u7684\u653b\u51fb\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83SH\">\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u7531\u4e8e VLM \u9886\u57df\u4e2d\u5bf9\u6297\u8bad\u7ec3\u7684\u8ba1\u7b97\u5f00\u9500\u8f83\u9ad8\u4e14\u76f8\u5173\u7814\u7a76\u8f83\u5c11\uff0c\u6211\u4eec\u5728\u672c\u6587\u4e2d\u672a\u5c06\u5176\u4f5c\u4e3a\u9632\u5fa1\u65b9\u6cd5\u7eb3\u5165\u3002\u6211\u4eec\u5c06\u6b64\u4f5c\u4e3a\u672a\u6765\u7684\u7814\u7a76\u65b9\u5411\u3002<\/p>\n\n\n\n<p><strong>7 CADA \u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83SI\">\u6570\u636e\u96c6\u5728\u63a8\u52a8\u6a21\u578b\u7814\u7a76\u65b9\u9762\u8d77\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\uff0c\u5c24\u5176\u662f\u5728\u7f3a\u4e4f\u4e13\u7528\u57fa\u51c6\u6216\u6570\u636e\u91c7\u96c6\u6210\u672c\u9ad8\u6602\u7684\u9886\u57df\u3002\u9274\u4e8e\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e00\u4e2a\u4e13\u95e8\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08AD VLM\uff09\u7684\u5b89\u5168\u8bc4\u4f30\u6570\u636e\u96c6\uff0c\u65e8\u5728\u4fc3\u8fdb\u66f4\u5177\u9c81\u68d2\u6027\u7684 AD VLM \u7684\u53d1\u5c55\u3002<\/p>\n\n\n\n<p><strong>7.1 \u6784\u5efa\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83SJ\">\u6211\u4eec\u7684 <strong>CAD \u653b\u51fb\u6570\u636e\u96c6 <\/strong>\uff08CADA\uff09\u5305\u62ec\u4e24\u4e2a\u90e8\u5206\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Scene-CADA <\/strong>\uff1a\u5bf9\u5e94\u573a\u666f\u7ea7\u5bf9\u6297\u6270\u52a8\uff1b<\/li>\n\n\n\n<li><strong>Obj-CADA <\/strong>\uff1a\u5bf9\u5e94\u5bf9\u8c61\u7ea7\u5bf9\u6297\u6270\u52a8\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u6570\u636e\u6536\u96c6<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Scene-CADA <\/strong>\uff1a\u6211\u4eec\u4e3b\u8981\u8003\u8651\u5728\u9a7e\u9a76\u573a\u666f\uff08\u5373\u89c6\u9891\u548c\u56fe\u50cf\uff09\u4e0a\u6ce8\u5165\u5bf9\u6297\u6270\u52a8\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u5728 Dolphins Benchmark [42] \u548c DriveLM-nuScenes [55] \u6570\u636e\u96c6\u7684\u89c6\u89c9\u56fe\u50cf\/\u89c6\u9891\u4e0a\u5e94\u7528\u6211\u4eec\u7684 CAD \u653b\u51fb\u65b9\u6cd5\u3002\u4e0e\u4e3b\u5b9e\u9a8c\u4e0d\u540c\u7684\u662f\uff0c\u5728\u751f\u6210\u566a\u58f0\u7684\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u5c06\u5bf9\u8f85\u52a9 VLM \u7684\u67e5\u8be2\u6b21\u6570\u589e\u52a0\u5230 5 \u6b21\uff0c\u5e76\u5728\u201c\u51b3\u7b56\u94fe\u7834\u574f\u201d\u7684\u4f18\u5316\u8fed\u4ee3\u4e2d\u4f7f\u7528\u6240\u6709\u67e5\u8be2\u7ed3\u679c\u7684\u805a\u5408\u7ed3\u679c\uff1b\u540c\u65f6\uff0c\u5728\u201c\u5371\u9669\u573a\u666f\u8bf1\u5bfc\u201d\u9636\u6bb5\uff0c\u6211\u4eec\u5c06\u5bf9\u7acb\u5b89\u5168\u63cf\u8ff0\u7b26\u96c6\u5408\u6269\u5c55\u4e3a 5 \u7ec4\u4e0d\u540c\u7684\u7c7b\u522b\uff0c\u4ee5\u63d0\u4f9b\u66f4\u5e7f\u6cdb\u7684\u5339\u914d\u4efb\u52a1\u57fa\u7840\u3002\u8fd9\u79cd\u589e\u5f3a\u65b9\u5f0f\u63d0\u5347\u4e86\u5bf9\u6297\u6837\u672c\u7684\u591a\u6837\u6027\u4e0e\u590d\u6742\u6027\uff0c\u786e\u4fdd\u5bf9\u6a21\u578b\u8106\u5f31\u6027\u8fdb\u884c\u66f4\u5168\u9762\u7684\u8bc4\u4f30\u3002<\/li>\n\n\n\n<li><strong>Obj-CADA <\/strong>\uff1a\u4e3a\u4e86\u6784\u5efa\u66f4\u5177\u5b9e\u7528\u4ef7\u503c\u7684\u6570\u636e\u96c6\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u7531\u5e26\u6709\u5bf9\u6297\u8865\u4e01\u7684\u4ea4\u901a\u6807\u5fd7\u7ec4\u6210\u7684 Obj-CADA\uff0c\u7075\u611f\u6765\u6e90\u4e8e\u7b2c 5.3 \u8282\u4e2d\u7684\u771f\u5b9e\u4e16\u754c\u5b9e\u9a8c\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u4ece\u4e92\u8054\u7f51\u4e0a\u7684\u516c\u5f00\u8d44\u6e90\u4e2d\u6536\u96c6\u4e86 140 \u5f20\u4ea4\u901a\u6807\u5fd7\u56fe\u50cf\uff0c\u6bcf\u5f20\u5c3a\u5bf8\u4e3a 224 \u00d7 224\u3002\u8fd9\u4e9b\u56fe\u50cf\u65e2\u5305\u62ec\u7eaf\u56fe\u6807\u56fe\u50cf\uff0c\u4e5f\u5305\u62ec\u771f\u5b9e\u9053\u8def\u573a\u666f\u56fe\u50cf\uff0c\u6db5\u76d6\u4e86\u5e38\u89c1\u7684\u6307\u793a\u6807\u5fd7\u3001\u7981\u4ee4\u6807\u5fd7\u548c\u8b66\u544a\u6807\u5fd7\u3002\u5229\u7528\u8fd9\u4e9b\u56fe\u50cf\u4f5c\u4e3a\u539f\u59cb\u6570\u636e\u96c6\uff0c\u6211\u4eec\u5e94\u7528 CAD \u653b\u51fb\u751f\u6210\u5bf9\u6297\u8865\u4e01\u3002\u653b\u51fb\u8bbe\u7f6e\u4e0e\u7b2c 5.3 \u8282\u4e2d\u63cf\u8ff0\u7684\u4e00\u81f4\uff0c\u5e76\u5c06\u751f\u6210\u7684\u8865\u4e01\u7c98\u8d34\u5230\u5bf9\u5e94\u7684\u5e72\u51c0\u56fe\u50cf\u4e0a\uff0c\u5f62\u6210\u53ef\u7528\u4e8e\u6253\u5370\u7684\u5bf9\u6297\u6027\u4ea4\u901a\u6807\u5fd7\u56fe\u50cf\u3002<strong>VQA \u5bf9\u6784\u5efa<\/strong><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5bf9\u4e8e Scene-CADA <\/strong>\uff1a<br>\u6211\u4eec\u5c06\u6bcf\u7ec4\u5e26\u6709\u566a\u58f0\u7684\u89c6\u9891\u6216\u56fe\u50cf\u4e0e\u6765\u81ea Dolphins Benchmark [42] \u548c DriveLM [55] \u6570\u636e\u96c6\u4e2d\u7684\u539f\u59cb\u95ee\u7b54\uff08QA\uff09\u5bf9\u8fdb\u884c\u5339\u914d\u3002<\/li>\n\n\n\n<li><strong>\u5bf9\u4e8e Obj-CADA <\/strong>\uff1a<br>\u6211\u4eec\u4e13\u95e8\u8bbe\u8ba1\u5e76\u751f\u6210\u4e86\u65b0\u7684\u95ee\u7b54\u5bf9\uff0c\u4ee5\u652f\u6301\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u6d4b\u8bd5\u3002<br>\u4e0d\u540c\u4e8e\u4ec5\u8be2\u95ee\u4ea4\u901a\u6807\u5fd7\u542b\u4e49\u7684\u4f20\u7edf\u95ee\u9898\uff0c\u6211\u4eec\u7684\u95ee\u9898\u66f4\u4fa7\u91cd\u4e8e\u8f66\u8f86\u5728\u9762\u5bf9\u8fd9\u4e9b\u4ea4\u901a\u6807\u5fd7\u65f6\u5e94\u91c7\u53d6\u7684<strong>\u6b63\u786e\u9a7e\u9a76\u884c\u4e3a <\/strong>\uff0c\u800c\u7b54\u6848\u5219\u5177\u4f53\u63cf\u8ff0\u4e86\u5bf9\u5e94\u7684\u8f66\u8f86\u64cd\u4f5c\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83SV\">\u76f8\u5173\u793a\u4f8b\u53ef\u5728\u56fe 9 \u4e2d\u627e\u5230\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2025%2F0716%2Ff49c4650j00szha7d00b1d200te00keg00te00ke.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u8d28\u91cf\u63a7\u5236\u6d41\u7a0b<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83T1\">\u4e3a\u4e86\u786e\u4fdd Obj-CADA \u7684\u6570\u636e\u8d28\u91cf\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e00\u79cd\u7c7b\u4f3c\u4e8e\u8bb8\u591a VQA \u6570\u636e\u96c6\u6240\u4f7f\u7528\u7684\u8d28\u91cf\u63a7\u5236\u6d41\u7a0b [55, 66]\u3002<\/p>\n\n\n\n<p id=\"3PIQ83T2\">\u5177\u4f53\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5229\u7528 GPT [49]\uff0c\u6211\u4eec\u4e3a\u6bcf\u4e2a\u89c6\u89c9\u6570\u636e\u5b9e\u4f8b\u57fa\u4e8e\u7ed3\u6784\u5316\u6a21\u677f\u751f\u6210\u4e09\u7ec4\u4e0d\u540c\u8868\u8fbe\u5f62\u5f0f\u7684\u95ee\u7b54\u5bf9\uff1b<\/li>\n\n\n\n<li>\u968f\u540e\uff0c\u7531\u4eba\u7c7b\u4e13\u5bb6\u6807\u6ce8\u5458\u6309\u7167\u7edf\u4e00\u7684\u6807\u51c6\u5bf9\u8fd9\u4e9b\u95ee\u7b54\u5bf9\u8fdb\u884c\u8bc4\u4f30\uff0c\u5e76\u901a\u8fc7\u4fee\u6b63\u8fdb\u4e00\u6b65\u4f18\u5316\uff1b<\/li>\n\n\n\n<li>\u6700\u7ec8\u4ece\u4e2d\u6311\u9009\u51fa\u8d28\u91cf\u6700\u4f73\u7684\u4e00\u7ec4\u95ee\u7b54\u5bf9\u7eb3\u5165\u6570\u636e\u96c6\u3002<\/li>\n<\/ol>\n\n\n\n<p id=\"3PIQ83T6\">\u4e3a\u786e\u4fdd\u51c6\u786e\u6027\uff0c\u6211\u4eec\u5c06\u6807\u6ce8\u4eba\u5458\u5206\u4e3a\u4e09\u4e2a\u5c0f\u7ec4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6bcf\u4e2a\u89c6\u89c9\u95ee\u7b54\u5bf9\u88ab\u968f\u673a\u5206\u914d\u7ed9\u5176\u4e2d\u4e24\u4e2a\u5c0f\u7ec4\u8fdb\u884c\u521d\u6b65\u8bc4\u5ba1\uff1b<\/li>\n\n\n\n<li>\u7b2c\u4e09\u7ec4\u8d1f\u8d23\u6700\u7ec8\u786e\u8ba4\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83T9\"><strong>7.2 \u6570\u636e\u5c5e\u6027<\/strong><\/p>\n\n\n\n<p><strong>\u4e25\u91cd\u7a0b\u5ea6\u5206\u7ea7<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83TA\">\u6211\u4eec\u7684\u6570\u636e\u96c6\u7cfb\u7edf\u6027\u5730\u5212\u5206\u4e3a <strong>4 \u4e2a\u4e0d\u540c\u7684\u4e25\u91cd\u7a0b\u5ea6\u7b49\u7ea7 <\/strong>\uff080 \u5230 4\uff0c\u5176\u4e2d\u201c0\u201d\u8868\u793a\u5e72\u51c0\u6837\u672c\uff09\uff0c\u4f7f\u5f97\u5bf9\u6297\u6837\u672c\u7684\u6570\u91cf\u8fbe\u5230\u539f\u59cb\u5e72\u51c0\u6570\u636e\u96c6\u7684 <strong>4 \u500d <\/strong>\uff0c\u4ece\u800c\u80fd\u591f\u5728\u4e0d\u540c\u5f3a\u5ea6\u7684\u5bf9\u6297\u6270\u52a8\u4e0b\u8fdb\u884c\u66f4\u5168\u9762\u7684\u8bc4\u4f30\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u4e8e <strong>Scene-CADA <\/strong>\uff1a<br>\u6211\u4eec\u6839\u636e \u2113\u221e \u8303\u6570\u5f15\u5165\u4e86 4 \u79cd\u4e0d\u540c\u7684\u6270\u52a8\u5f3a\u5ea6\uff1a0.02\u30010.04\u30010.06 \u548c 0.08\uff0c\u5206\u522b\u5bf9\u5e94 4 \u4e2a\u4e25\u91cd\u7ea7\u522b\u3002<\/li>\n\n\n\n<li>\u5bf9\u4e8e <strong>Obj-CADA <\/strong>\uff1a<br>\u6211\u4eec\u57fa\u4e8e\u5bf9\u6297\u8865\u4e01\u7684\u5927\u5c0f\u5bf9\u4e25\u91cd\u7a0b\u5ea6\u8fdb\u884c\u5206\u7c7b\uff0c\u5bf9\u5e94\u7684\u8865\u4e01\u5c3a\u5bf8\u5206\u522b\u4e3a\u4ea4\u901a\u6807\u5fd7\u56fe\u50cf\u539f\u59cb\u8fb9\u957f\u7684 10%\u300115%\u300120% \u548c 25%\u3002\u6bcf\u4e2a\u8865\u4e01\u5728\u56fe\u50cf\u4e2d\u968f\u673a\u653e\u7f6e\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u89c4\u6a21<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Scene-CADA<\/strong> \u5305\u542b\uff1a\n<ul class=\"wp-block-list\">\n<li>486 \u7ec4\u5e72\u51c0\u89c6\u9891\u95ee\u7b54\u5bf9 + 1,944 \u7ec4\u5bf9\u6297\u89c6\u9891\u95ee\u7b54\u5bf9\uff1b<\/li>\n\n\n\n<li>4,076 \u7ec4\u5e72\u51c0\u56fe\u50cf\u95ee\u7b54\u5bf9 + 16,304 \u7ec4\u5bf9\u6297\u56fe\u50cf\u95ee\u7b54\u5bf9\uff1b<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83TG\">\u6db5\u76d6\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5173\u952e\u4efb\u52a1\uff0c\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u573a\u666f\u63cf\u8ff0<\/li>\n\n\n\n<li>\u4ea4\u901a\u7269\u4f53\u8bc6\u522b<\/li>\n\n\n\n<li>\u8fd0\u52a8\u9884\u6d4b<\/li>\n\n\n\n<li>\u51b3\u7b56\u89c4\u5212<\/li>\n\n\n\n<li>\u884c\u4e3a\u89e3\u91ca<\/li>\n\n\n\n<li><strong>Obj-CADA <\/strong>\u5305\u542b\uff1a\n<ul class=\"wp-block-list\">\n<li>140 \u7ec4\u5e72\u51c0\u4ea4\u901a\u6807\u5fd7\u56fe\u50cf\u95ee\u7b54\u5bf9 + 560 \u7ec4\u5bf9\u6297\u56fe\u50cf\u95ee\u7b54\u5bf9\uff1b<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83TO\">\u4e3b\u8981\u805a\u7126\u4e8e\u5206\u6790\u7531\u4ea4\u901a\u6807\u5fd7\u89e3\u8bfb\u6240\u7ea6\u675f\u7684\u9a7e\u9a76\u884c\u4e3a\u3002<\/p>\n\n\n\n<p id=\"3PIQ83TP\">\u6574\u4f53\u6765\u770b\uff0c\u6211\u4eec\u7684\u6570\u636e\u96c6\u5171\u5305\u542b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>2,430 \u6bb5\u89c6\u9891\u95ee\u7b54\u5bf9<\/strong><\/li>\n\n\n\n<li><strong>21,080 \u5f20\u56fe\u50cf\u95ee\u7b54\u5bf9<\/strong><\/li>\n\n\n\n<li>\u5176\u4e2d <strong>18,808 \u7ec4\u4e3a\u5bf9\u6297\u89c6\u89c9\u95ee\u7b54\u5bf9<\/strong><\/li>\n<\/ul>\n\n\n\n<p><strong>7.3 \u521d\u6b65\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83TR\">\u6211\u4eec\u5728\u672c\u6570\u636e\u96c6\u4e0a\u8fdb\u4e00\u6b65\u8bc4\u4f30\u4e86\u81ea\u52a8\u9a7e\u9a76\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08AD VLM\uff09[42] \u7684\u8868\u73b0\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Dolphins [42]<\/strong> \u548c <strong>DriveLM [55]<\/strong> \u5206\u522b\u5728\u5176\u5bf9\u5e94\u7684 Scene-CADA \u5b50\u96c6\u4e0a\u8fdb\u884c\u8bc4\u4f30\uff1b<\/li>\n\n\n\n<li>\u7531\u4e8e Dolphins \u62e5\u6709\u51fa\u8272\u7684\u96f6\u6837\u672c\u80fd\u529b\uff0c\u6211\u4eec\u8fd8\u901a\u8fc7 GPT Score\uff08\u5f97\u5206\u8d8a\u9ad8\u8868\u793a\u6027\u80fd\u8d8a\u597d\uff09\u5bf9\u5176\u5728 Obj-CADA \u4e0a\u7684\u8868\u73b0\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83TU\">\u5982\u8868 7 \u6240\u793a\uff0c\u6211\u4eec\u53ef\u4ee5\u5f97\u51fa\u4ee5\u4e0b\u7ed3\u8bba\uff1a<\/p>\n\n\n\n<p id=\"3PIQ83TV\">\u2776 <strong>Scene-CADA \u548c Obj-CADA \u90fd\u5bf9 AD VLM \u6784\u6210\u4e86\u663e\u8457\u5a01\u80c1 <\/strong>\uff0c\u5206\u522b\u5bfc\u81f4\u6700\u5927\u6027\u80fd\u4e0b\u964d <strong>16.53% <\/strong>\u548c <strong>17.72% <\/strong>\u3002<\/p>\n\n\n\n<p id=\"3PIQ83U0\">\u2777 <strong>\u968f\u7740\u5bf9\u6297\u6270\u52a8\u4e25\u91cd\u7a0b\u5ea6\u7684\u589e\u52a0\uff0c\u4e24\u4e2a\u6a21\u578b\u5747\u8868\u73b0\u51fa\u660e\u663e\u7684\u6027\u80fd\u4e0b\u964d\u8d8b\u52bf <\/strong>\uff0c\u5728\u7b2c 4 \u7ea7\u522b\u7684\u5e73\u5747\u6a21\u578b\u6027\u80fd\u6bd4\u7b2c 1 \u7ea7\u522b\u4f4e <strong>9.57% <\/strong>\u3002<\/p>\n\n\n\n<p id=\"3PIQ83U1\">\u2778 <strong>Obj-CADA \u6240\u5f15\u53d1\u7684\u6027\u80fd\u4e0b\u964d\u9ad8\u4e8e Scene-CADA <\/strong>\uff0c\u8fd9\u7a81\u663e\u4e86\u5728\u771f\u5b9e\u4e16\u754c\u5e94\u7528\u4e2d\u4f18\u5148\u9632\u5fa1\u7269\u7406\u653b\u51fb\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<p id=\"3PIQ83U2\">\u8fd9\u4e9b\u53d1\u73b0\u5f3a\u8c03\u4e86\u5f00\u53d1\u66f4\u5148\u8fdb\u8bad\u7ec3\u7b56\u7565\u548c\u9c81\u68d2\u9632\u5fa1\u673a\u5236\u7684\u5fc5\u8981\u6027\u3002\u6211\u4eec\u9f13\u52b1\u672a\u6765\u7684\u7814\u7a76\u57fa\u4e8e\u6211\u4eec\u7684 <strong>CADA \u6570\u636e\u96c6 <\/strong>\u6765\u8bc4\u4f30\u5176\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p><strong>8 \u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83U4\">\u5bf9\u6297\u653b\u51fb\u6700\u65e9\u7531 Szegedy \u7b49\u4eba [56] \u63d0\u51fa\uff0c\u662f\u6307\u8bbe\u8ba1\u7528\u4e8e\u8bef\u5bfc\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u7684\u8f93\u5165\uff0c\u901a\u5e38\u5728\u89c6\u89c9\u4e0a\u5bf9\u4eba\u7c7b\u6765\u8bf4\u662f\u96be\u4ee5\u5bdf\u89c9\u7684\u3002\u6700\u521d\uff0c\u5bf9\u6297\u653b\u51fb\u4e3b\u8981\u9488\u5bf9\u89c6\u89c9\u6a21\u578b\uff0c\u4ee5\u8bf1\u5bfc\u9519\u8bef\u5206\u7c7b\u6216\u5176\u4ed6\u9884\u6d4b\u9519\u8bef [4, 15, 33, 37, 43]\u3002<\/p>\n\n\n\n<p id=\"3PIQ83U5\">\u968f\u7740\u7814\u7a76\u7684\u6df1\u5165\uff0c\u653b\u51fb\u7b56\u7565\u4e0d\u65ad\u88ab\u4f18\u5316\uff0c\u5305\u62ec\u57fa\u4e8e\u68af\u5ea6\u7684\u65b9\u6cd5\u5982 FGSM [15] \u548c PGD [43]\uff0c\u4ee5\u53ca\u65e8\u5728\u7834\u574f\u8bed\u4e49\u4e00\u81f4\u6027\u7684\u611f\u77e5\u6027\u653b\u51fb [32, 33, 37, 40, 62]\u3002<\/p>\n\n\n\n<p id=\"3PIQ83U6\">\u4e00\u822c\u6765\u8bf4\uff0c\u6839\u636e\u653b\u51fb\u8005\u6240\u638c\u63e1\u7684\u4fe1\u606f\u7a0b\u5ea6\uff0c\u5bf9\u6297\u653b\u51fb\u53ef\u5206\u4e3a<strong>\u767d\u76d2\u653b\u51fb <\/strong>\u548c<strong>\u9ed1\u76d2\u653b\u51fb <\/strong>\u4e24\u7c7b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728 <strong>\u767d\u76d2\u653b\u51fb<\/strong> \u4e2d\uff0c\u653b\u51fb\u8005\u53ef\u4ee5\u8bbf\u95ee\u6a21\u578b\u7684\u7ed3\u6784\u548c\u68af\u5ea6\u4fe1\u606f\uff0c\u4ece\u800c\u8bbe\u8ba1\u66f4\u5177\u9488\u5bf9\u6027\u7684\u653b\u51fb\uff1b<\/li>\n\n\n\n<li>\u800c\u5728 <strong>\u9ed1\u76d2\u653b\u51fb<\/strong> \u4e2d\uff0c\u653b\u51fb\u53ea\u80fd\u57fa\u4e8e\u53ef\u89c2\u6d4b\u7684\u6a21\u578b\u8f93\u51fa\u6765\u6784\u9020\u6270\u52a8\uff0c\u800c\u65e0\u6cd5\u4e86\u89e3\u6a21\u578b\u5185\u90e8\u673a\u5236\u3002<\/li>\n<\/ul>\n\n\n\n<p id=\"3PIQ83U9\">\u5728\u4f20\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u80cc\u666f\u4e0b\uff0c\u5bf9\u6297\u653b\u51fb\u5df2\u88ab\u7528\u4e8e\u63ed\u793a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u5173\u952e\u611f\u77e5\u6a21\u5757\u7684\u6f0f\u6d1e\u3002<\/p>\n\n\n\n<p id=\"3PIQ83UA\">\u4f8b\u5982\uff0cWang \u7b49\u4eba [62] \u63d0\u51fa\u4e86\u4e00\u79cd\u9488\u5bf9\u8f66\u8f86\u68c0\u6d4b\u7cfb\u7edf\u7684\u5bf9\u6297\u653b\u51fb\uff0c\u5c55\u793a\u4e86\u5bf9\u6297\u4f2a\u88c5\u5982\u4f55\u7834\u574f\u5bf9\u5b89\u5168\u6027\u81f3\u5173\u91cd\u8981\u7684\u8f66\u8f86\u8bc6\u522b\uff1b<\/p>\n\n\n\n<p id=\"3PIQ83UB\">Sato \u7b49\u4eba [53] \u5219\u63d0\u51fa\u4e86\u4e00\u79cd\u4e13\u95e8\u8bef\u5bfc\u8f66\u9053\u68c0\u6d4b\u7cfb\u7edf\u7684\u5bf9\u6297\u56fe\u6848\uff0c\u524a\u5f31\u4e86\u8f66\u8f86\u4fdd\u6301\u884c\u9a76\u8f68\u8ff9\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p id=\"3PIQ83UC\">\u7136\u800c\uff0c\u8fd9\u4e9b\u653b\u51fb\u4ec5\u9650\u4e8e\u4f20\u7edf\u6a21\u578b\uff0c\u5e76\u672a\u6d89\u53ca\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u6240\u5e26\u6765\u7684\u65b0\u5174\u6311\u6218\u3002<\/p>\n\n\n\n<p id=\"3PIQ83UD\">\u5728\u81ea\u52a8\u9a7e\u9a76 VLM \u9886\u57df\uff0cZhang \u7b49\u4eba [74] \u63d0\u51fa\u4e86 ADvLM\uff0c\u8fd9\u662f\u9996\u4e2a\u4e13\u95e8\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76 VLM \u7684<strong>\u767d\u76d2\u5bf9\u6297\u653b\u51fb\u65b9\u6cd5<\/strong>\u3002\u8be5\u7814\u7a76\u901a\u8fc7\u5206\u6790\u653b\u51fb\u6765\u6e90\uff0c\u5e76\u5c06\u6f5c\u5728\u653b\u51fb\u7a7a\u95f4\u6269\u5c55\u81f3\u6587\u672c\u4e0e\u56fe\u50cf\u53cc\u6a21\u6001\uff0c\u63ed\u793a\u4e86\u81ea\u52a8\u9a7e\u9a76 VLM \u7cfb\u7edf\u4e2d\u7684\u56fa\u6709\u6f0f\u6d1e\u3002<\/p>\n\n\n\n<p id=\"3PIQ83UE\">\u672c\u6587\u4e0e\u4ee5\u5f80\u7814\u7a76\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\uff1a<\/p>\n\n\n\n<p id=\"3PIQ83UF\">ADvLM [74] \u662f\u76ee\u524d\u81ea\u52a8\u9a7e\u9a76 VLM \u9886\u57df\u4e2d\u552f\u4e00\u63d0\u51fa\u7684\u5bf9\u6297\u653b\u51fb\u65b9\u6cd5\uff0c\u4f46\u5176\u4e13\u4e3a\u9700\u8981\u76ee\u6807\u6a21\u578b\u68af\u5ea6\u7684<strong>\u767d\u76d2\u653b\u51fb <\/strong>\u8bbe\u8ba1\uff1b<\/p>\n\n\n\n<p id=\"3PIQ83UG\">\u800c\u672c\u6587\u5219\u63d0\u51fa\u4e86<strong>\u9996\u4e2a\u4e13\u95e8\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76 VLM \u7684\u9ed1\u76d2\u5bf9\u6297\u653b\u51fb\u65b9\u6cd5 <\/strong>\uff0c\u65e0\u9700\u8bbf\u95ee\u76ee\u6807\u6a21\u578b\u7684\u68af\u5ea6\u4fe1\u606f\u3002<\/p>\n\n\n\n<p><strong>9 \u7ed3\u8bba\u4e0e\u672a\u6765\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83UI\">\u672c\u6587\u63d0\u51fa\u4e86 <strong>CAD <\/strong>\uff0c\u8fd9\u662f\u9996\u4e2a\u4e13\u95e8\u9488\u5bf9\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff08AD\uff09\u8bbe\u8ba1\u7684\u9ed1\u76d2\u5bf9\u6297\u653b\u51fb\u65b9\u6cd5\uff0c\u5176\u6838\u5fc3\u601d\u60f3\u57fa\u4e8e<strong>\u51b3\u7b56\u94fe\u7834\u574f <\/strong>\u548c<strong>\u5371\u9669\u573a\u666f\u8bf1\u5bfc <\/strong>\u3002\u6211\u4eec\u5728\u81ea\u52a8\u9a7e\u9a76 VLM\u3001\u901a\u7528 VLM \u4ee5\u53ca\u7531 VLM \u9a71\u52a8\u7684\u771f\u5b9e\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4e0a\u8fdb\u884c\u4e86\u5927\u91cf\u5b9e\u9a8c\uff0c\u9a8c\u8bc1\u4e86\u6211\u4eec\u653b\u51fb\u65b9\u6cd5\u7684\u4f18\u8d8a\u6027\u3002<\/p>\n\n\n\n<p id=\"3PIQ83UJ\">\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u53d1\u5e03\u4e86 <strong>CADA \u6570\u636e\u96c6 <\/strong>\uff0c\u5305\u542b <strong>18,808 \u5bf9\u5bf9\u6297\u6027\u89c6\u89c9\u95ee\u7b54\u5bf9 <\/strong>\uff0c\u4ee5\u63a8\u52a8\u76f8\u5173\u9886\u57df\u7684\u7814\u7a76\u3002<\/p>\n\n\n\n<p><strong>\u5c40\u9650\u6027\u4e0e\u672a\u6765\u65b9\u5411<\/strong><\/p>\n\n\n\n<p id=\"3PIQ83UK\">\u5c3d\u7ba1\u672c\u7814\u7a76\u53d6\u5f97\u4e86\u4e00\u5b9a\u6210\u679c\uff0c\u4f46\u4ecd\u5b58\u5728\u591a\u4e2a\u503c\u5f97\u8fdb\u4e00\u6b65\u63a2\u7d22\u7684\u65b9\u5411\uff1a<\/p>\n\n\n\n<p id=\"3PIQ83UL\">\u2776 \u6211\u4eec\u5e0c\u671b\u62d3\u5c55\u5bf9<strong>\u6587\u672c\u57df <\/strong>\u7684\u7814\u7a76\uff0c\u6784\u5efa\u66f4\u52a0\u5168\u9762\u7684\u653b\u51fb\u6846\u67b6\uff1b<\/p>\n\n\n\n<p id=\"3PIQ83UM\">\u2777 \u6211\u4eec\u8ba1\u5212\u5f15\u5165\u66f4\u5177\u9690\u853d\u6027\u7684\u89c6\u89c9\u653b\u51fb\u8bbe\u8ba1\uff0c\u4f8b\u5982<strong>\u4f2a\u88c5\u653b\u51fb <\/strong>\uff08camouflage attacks\uff09\uff1b<\/p>\n\n\n\n<p id=\"3PIQ83UN\">\u2778 \u672a\u6765\u5c06\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u8be5\u653b\u51fb\u65b9\u6cd5\u5bf9<strong>\u5546\u7528\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf <\/strong>\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/www.arxiv.org\/pdf\/2501.13563\">https:\/\/www.arxiv.org\/pdf\/2501.13563<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.163.co 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