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class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2507.05227<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f7f\u8f66\u8f86\u80fd\u591f\u611f\u77e5\u5176\u5373\u65f6\u73af\u5883\uff0c\u9884\u6d4b\u9644\u8fd1\u7269\u4f53\u7684\u79fb\u52a8\uff0c\u5e76\u8ba1\u5212\u9002\u5f53\u7684\u884c\u52a8\u3002\u8fd9\u4e9b\u7cfb\u7edf\u53ef\u4ee5\u5206\u4e3a\u4e24\u7c7b\uff1a\u7528\u4e8e\u95ee\u7b54\u4efb\u52a1\u7684\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u548c\u7528\u4e8e\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6a21\u578b\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4e3b\u8981\u4f9d\u8d56\u4e8e\u4ee3\u7406\u6216\u73af\u5883\u5728\u89c6\u91ce\u8303\u56f4\u5185\u7684\u8f93\u51fa\uff08\u901a\u5e38\u5728100\u81f3150\u7c73\uff09\uff0c\u8fd9\u5bfc\u81f4\u5728\u7eb3\u5165\u7c7b\u4eba\u957f\u671f\u89c4\u5212\u6240\u9700\u7684\u5168\u5c40\u4e0a\u4e0b\u6587\u4fe1\u606f\u65f6\u5b58\u5728\u4e00\u4e2a\u5173\u952e\u7f3a\u53e3\u3002\u8fd9\u79cd\u9650\u5236\u5236\u7ea6\u4e86VLMs\u548c\u7aef\u5230\u7aef\u6a21\u578b\u7684\u80fd\u529b\uff0c\u963b\u788d\u4e86\u5b83\u4eec\u8fdb\u884c\u524d\u77bb\u6027\u63a8\u7406\u548c\u9002\u5e94\u964c\u751f\u573a\u666f\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<figure 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"350\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/2025-07-16-16-26-46\u5c4f\u5e55\u622a\u56fe.png\" alt=\"\" class=\"wp-image-31090\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-26-46\u5c4f\u5e55\u622a\u56fe.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-26-46\u5c4f\u5e55\u622a\u56fe-300x156.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u6587\u672c\u751f\u6210<\/strong><\/p>\n\n\n\n<p>\u867d\u7136\u89c6\u89c9\u751f\u6210\uff08\u56fe2\u4e2d\u7684A\u90e8\u5206\uff09\u5c06\u5b8c\u6574\u7684\u5bfc\u822a\u89c6\u9891\u4e0eVLM\u6216\u7aef\u5230\u7aef\u67b6\u6784\u96c6\u6210\u9762\u4e34\u5bf9\u9f50\u56f0\u96be\u7684\u91cd\u5927\u6311\u6218\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u5c40\u9650\u6027\uff0c\u6211\u4eec\u4f7f\u7528VLMs\uff08\u56fe2\u4e2d\u7684B\u90e8\u5206\uff09\u5c06\u8fde\u7eed\u56fe\u50cf\u8f6c\u6362\u4e3a\u81ea\u7136\u8bed\u8a00\u5bfc\u822a\u63cf\u8ff0\u3002\u5bf9\u4e8e\u6bcf\u7ec4\u5e27\u5e8f\u5217\uff0c\u6211\u4eec\u901a\u8fc7\u56fe2\u4e2d\u663e\u793a\u7684\u7279\u5b9a\u63d0\u793a\u751f\u6210N\u4e2a\u5019\u9009\u5bfc\u822a\u65b9\u6848\u3002\u8be5\u63d0\u793a\u9996\u5148\u5206\u6790\u4ea4\u53c9\u8def\u53e3\u6216\u4e92\u901a\u53e3\u4ee5\u786e\u5b9a\u884c\u9a76\u65b9\u5411\uff0c\u7136\u540e\u6839\u636e\u5e27\u95f4\u9694\u4f30\u8ba1\u8ddd\u79bb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"291\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-54-1024x291.png\" alt=\"\" class=\"wp-image-31091\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-54-1024x291.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-54-300x85.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-54-768x218.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-54.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"626\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/2025-07-16-16-27-13\u5c4f\u5e55\u622a\u56fe.png\" alt=\"\" class=\"wp-image-31092\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-27-13\u5c4f\u5e55\u622a\u56fe.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-27-13\u5c4f\u5e55\u622a\u56fe-300x279.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>\u5bfc\u822a\u5f15\u5bfc\u63a8\u7406<\/strong><\/p>\n\n\n\n<p>\u5728\u4f20\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u95ee\u7b54\u4efb\u52a1\u4e2d\uff0c\u591a\u89c6\u89d2\u56fe\u50cf\u6216\u89c6\u9891\u4e0e\u95ee\u9898\u4e00\u8d77\u4f5c\u4e3a\u8f93\u5165\u63d0\u4f9b\u7ed9\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\uff0c\u5982\u56fe3a\u6240\u793a\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u63a8\u7406\u8303\u5f0f\u5c40\u9650\u4e8e\u89c6\u91ce\u8303\u56f4\u5185\u7684\u4fe1\u606f\uff0c\u5ffd\u7565\u4e86\u5bf9\u4e8e\u957f\u671f\u89c4\u5212\u81f3\u5173\u91cd\u8981\u7684\u8d85\u51fa\u89c6\u89c9\u8303\u56f4\uff08BVR\uff09\u4fe1\u606f\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u9650\u5236\uff0c\u6211\u4eec\u5728\u63d0\u793a\u65b9\u6cd5\u4e2d\u5f15\u5165\u4e86\u5bfc\u822a\u6307\u5bfc\uff08\u5982\u56fe3b\u6240\u793a\uff09\uff0c\u4ece\u800c\u4e30\u5bcc\u4e86\u5305\u542b\u5fc5\u8981\u5168\u5c40\u4fe1\u606f\u7684\u63a8\u7406\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"994\" height=\"546\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-55.png\" alt=\"\" class=\"wp-image-31093\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-55.png 994w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-55-300x165.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-55-768x422.png 768w\" sizes=\"(max-width: 994px) 100vw, 994px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"155\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/2025-07-16-16-27-43\u5c4f\u5e55\u622a\u56fe.png\" alt=\"\" class=\"wp-image-31094\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-27-43\u5c4f\u5e55\u622a\u56fe.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-27-43\u5c4f\u5e55\u622a\u56fe-300x69.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u5bfc\u822a\u5f15\u5bfc\u504f\u597d\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"906\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/2025-07-16-16-28-10\u5c4f\u5e55\u622a\u56fe.png\" alt=\"\" class=\"wp-image-31095\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-28-10\u5c4f\u5e55\u622a\u56fe.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-28-10\u5c4f\u5e55\u622a\u56fe-223x300.png 223w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p>\u5728\u6211\u4eec\u63d0\u51fa\u7684NPO\u65b9\u6cd5\u4e2d\uff0c\u6211\u4eec\u4e3a\u5956\u52b1\u6a21\u578b\u548c\u53c2\u8003\u6a21\u578b\u5f15\u5165\u4e86\u4e00\u4e2a\u8f85\u52a9\u4efb\u52a1\u2014\u2014\u5bfc\u822a\u5f15\u5bfc\u6587\u672c\u6458\u8981\u3002\u8fd9\u4e00\u6218\u7565\u6027\u6dfb\u52a0\u5f15\u5bfc\u5956\u52b1\u6a21\u578b\u5173\u6ce8\u4e0e\u6307\u5bfc\u76f8\u5173\u7684\u77e5\u8bc6\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u5176\u751f\u6210\u4e0e\u9a7e\u9a76\u76f8\u5173\u4e14\u7b80\u6d01\u7684\u56de\u7b54\u7684\u80fd\u529b\uff0c\u540c\u65f6\u4fdd\u7559\u4e86\u7b26\u5408\u5bfc\u822a\u9700\u6c42\u7684\u5173\u952e\u4fe1\u606f\u3002\u5f53\u4e0e\u7aef\u5230\u7aef\u9a7e\u9a76\u6a21\u578b\u96c6\u6210\u65f6\uff0c\u8fd9\u4e00\u8303\u5f0f\u663e\u8457\u63d0\u9ad8\u4e86\u6574\u4e2a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\u5bfc\u822a\u5f15\u5bfc\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"467\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/2025-07-16-16-28-38\u5c4f\u5e55\u622a\u56fe.png\" alt=\"\" class=\"wp-image-31096\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-28-38\u5c4f\u5e55\u622a\u56fe.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/2025-07-16-16-28-38\u5c4f\u5e55\u622a\u56fe-300x209.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1004\" height=\"560\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-56.png\" alt=\"\" class=\"wp-image-31097\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-56.png 1004w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-56-300x167.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-56-768x428.png 768w\" sizes=\"(max-width: 1004px) 100vw, 1004px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"990\" height=\"246\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-57.png\" alt=\"\" class=\"wp-image-31098\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-57.png 990w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-57-300x75.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-57-768x191.png 768w\" sizes=\"(max-width: 990px) 100vw, 990px\" \/><\/figure>\n\n\n\n<p><strong>\u95ee\u7b54\u4efb\u52a1\u7684\u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5728\u88681\u4e2d\uff0c\u6211\u4eec\u5c06\u901a\u8fc7NSFT\u548cNPO\u540e\u8bad\u7ec3\u7684VLMs\u4e0e\u4ec5\u4f7f\u7528DriveLM\u7684\u57fa\u7ebf\u6a21\u578b\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u6db5\u76d6\u4e86\u4e09\u4e2a\u5f00\u6e90\u7684VLMs\u3002\u6309\u7167DriveLM\u7684\u8bc4\u4f30\u534f\u8bae\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u5305\u62ecBLEU-4\u3001METEOR\u3001CIDEr\u3001ROUGE_L[22]\u548cSPICE\u5728\u5185\u7684\u6307\u6807\uff0c\u4ee5\u53caGPT\u8bc4\u5206\u548c\u5b8c\u6574\u6027(Comp.)\u3002\u7ed3\u679c\u663e\u793a\uff0cNavigScene\u663e\u8457\u63d0\u5347\u4e86\u6240\u6709\u8fd9\u4e9bVLMs\u5728\u4e0e\u9a7e\u9a76\u76f8\u5173\u7684\u54cd\u5e94\u8d28\u91cf\u3002<\/p>\n\n\n\n<p>\u5728\u88682\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86NuInstruct\u7684\u7ed3\u679c\uff0c\u5c06\u57fa\u7ebfVLMs\u4e0e\u901a\u8fc7NavigScene\u540e\u8bad\u7ec3\u7684\u6a21\u578b\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u6839\u636eNuInstruct\u7684\u8bc4\u4f30\u534f\u8bae\uff0c\u6211\u4eec\u901a\u8fc7\u6d4b\u91cf\u8ddd\u79bb(Dis)\u3001\u901f\u5ea6(Spe)\u3001\u5b9e\u4f8b\u6570\u91cf(Ins)\u3001\u6700\u8fd1\u7269\u4f53\u8bc6\u522b(Clo)\u3001\u72b6\u6001\u8bc6\u522b(Sta)\u548c\u540c\u8f66\u9053\u68c0\u6d4b(SaR)\u7b49\u5b50\u4efb\u52a1\u6765\u8bc4\u4f30\u611f\u77e5\u80fd\u529b\u3002\u5bf9\u4e8e\u9884\u6d4b\u4efb\u52a1\uff0c\u6211\u4eec\u8bc4\u4f30\u4e86\u8fd0\u52a8\u8f68\u8ff9(Mot)\u548c\u672a\u6765\u72b6\u6001(Sta)\u7684\u9884\u6d4b\u3002\u98ce\u9669\u8bc4\u4f30\u5219\u5728\u516d\u4e2a\u7ef4\u5ea6\u4e0a\u8fdb\u884c\uff1a\u63a5\u8fd1(App)\u3001\u6362\u9053(Lan)\u3001\u6b63\u5728\u8fdb\u884c\u7684\u64cd\u4f5c(Onc)\u3001\u8fc7\u9a6c\u8def(Cro)\u3001\u8d85\u8f66(Ove)\u548c\u5236\u52a8(Bra)\u3002\u7ed3\u679c\u8868\u660e\uff0cNavigScene\u663e\u8457\u63d0\u9ad8\u4e86\u6240\u6709\u6d4b\u8bd5\u7684VLMs\u5728\u9a7e\u9a76\u76f8\u5173\u95ee\u7b54\u4efb\u52a1\u4e2d\u7684\u63a8\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"174\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-58-1024x174.png\" alt=\"\" class=\"wp-image-31099\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-58-1024x174.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-58-300x51.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-58-768x131.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-58.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u95ee\u7b54\u4efb\u52a1\u7684\u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5728\u56fe5\u548c\u56fe6\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u6574\u5408NavigScene\u524d\u540eVLM\u54cd\u5e94\u7684\u4f8b\u5b50\u3002NavigScene\u63d0\u4f9b\u7684\u8d85\u51fa\u89c6\u91ce\u8303\u56f4(BVR)\u77e5\u8bc6\u663e\u8457\u589e\u5f3a\u4e86VLM\u7684\u63a8\u7406\u80fd\u529b\uff0c\u4ea7\u751f\u4e86\u66f4\u52a0\u5b8c\u6574\u548c\u51c6\u786e\u7684\u7b54\u6848\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"508\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-59-1024x508.png\" alt=\"\" class=\"wp-image-31100\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-59-1024x508.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-59-300x149.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-59-768x381.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-59.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u9a7e\u9a76\u7684\u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5728\u88683\u4e2d\uff0c\u6211\u4eec\u6bd4\u8f83\u4e86\u5404\u79cd\u6574\u5408\u4e0d\u540cVLA\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u914d\u7f6e\u4e0e\u539f\u59cb\u7aef\u5230\u7aef\u6a21\u578b\u5728\u5f00\u73af\u548c\u95ed\u73af\u89c4\u5212\u4e2d\u7684\u8868\u73b0\u3002\u5bf9\u4e8e\u5f00\u73af\u8bc4\u4f30\uff0c\u6211\u4eec\u53bb\u9664\u4e86\u81ea\u8f66\u72b6\u6001\u5e76\u91c7\u7528UniAD\u7684\u8bc4\u6d4b\u65b9\u6cd5\u3002\u6211\u4eec\u7684\u7ed3\u679c\u8868\u660e\uff0c\u5c06\u7aef\u5230\u7aef\u6a21\u578b\u4e0eVLMs\u548cNavigScene\u7ed3\u5408\u663e\u8457\u63d0\u9ad8\u4e86\u6027\u80fd\uff0c\u7279\u522b\u662fQwen2.5-7B\u5728L2\u548c\u78b0\u649e\u7387\u6307\u6807\u4e0a\u8868\u73b0\u51fa\u663e\u8457\u7684\u63d0\u5347\u3002\u5bf9\u4e8e\u95ed\u73af\u8bc4\u4f30\uff0c\u6211\u4eec\u4f7f\u7528\u591a\u4e2a\u6307\u6807\u8bc4\u4f30\u89c4\u5212\u6027\u80fd\uff1a\u65e0\u8d23\u4efb\u78b0\u649e(NC)\u3001\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4(DAC)\u3001\u78b0\u649e\u65f6\u95f4(TTC)\u3001\u8212\u9002\u5ea6(Comf.)\u3001\u81ea\u6211\u8fdb\u5c55\u5b50\u8bc4\u5206(EP)\u548c\u9884\u6d4b\u9a7e\u9a76\u5458\u6a21\u578b\u5f97\u5206(PDMS)\uff0c\u6240\u6709\u7ed3\u679c\u5747\u4ee5\u767e\u5206\u6bd4\u5f62\u5f0f\u62a5\u544a\u3002\u5c06VLMs\u4e0eNavigScene\u7ed3\u5408\u663e\u8457\u63d0\u9ad8\u4e86\u7cfb\u7edf\u6027\u80fd\uff0c\u7279\u522b\u662f\u5728DAC\u3001EP\u548cPDMS\u6307\u6807\u4e0a\uff0c\u8fd9\u4e9b\u6307\u6807\u4e0e\u7c7b\u4eba\u9a7e\u9a76\u80fd\u529b\u548c\u51c6\u786e\u7684\u5bfc\u822a\u89e3\u91ca\u5bc6\u5207\u76f8\u5173\u3002\u8fd9\u4e9b\u7ed3\u679c\u7a81\u51fa\u4e86\u5728\u95ed\u73af\u89c4\u5212\u4e2d\u6574\u5408BVR\u77e5\u8bc6\u7684\u91cd\u8981\u6027\u3002\u8fd9\u4e9b\u7ed3\u679c\u57fa\u4e8eDriveLM\uff0c\u4f7f\u7528NuInstruct\u7684\u9644\u52a0\u7ed3\u679c\u53ef\u5728SM\u4e2d\u627e\u5230\u3002<\/p>\n\n\n\n<p>\u5728\u88684\u4e2d\uff0c\u6211\u4eec\u6bd4\u8f83\u4e86\u5404\u79cd\u7aef\u5230\u7aef\u9a7e\u9a76\u914d\u7f6e\u5728\u68c0\u6d4b\u3001\u8ddf\u8e2a\u3001\u6620\u5c04\u548c\u8fd0\u52a8\u9884\u6d4b\u4efb\u52a1\u4e2d\u7684\u8868\u73b0\u3002\u6211\u4eec\u89c2\u5bdf\u5230NavigScene\u751a\u81f3\u5728\u975e\u89c4\u5212\u4efb\u52a1\u5982\u68c0\u6d4b\u4e2d\u4e5f\u63d0\u9ad8\u4e86\u9a7e\u9a76\u7cfb\u7edf\u7684\u6027\u80fd\u3002\u7279\u522b\u662f\uff0c\u5728\u4f7f\u7528Qwen2.5-7B\u8fdb\u884c\u68c0\u6d4bmAP\u65f6\uff0c\u6211\u4eec\u5728VAD\u7684\u57fa\u7840\u4e0a\u63d0\u9ad8\u4e860.09\uff0c\u5728SparseDrive\u7684\u57fa\u7840\u4e0a\u63d0\u9ad8\u4e860.04\u3002\u4f7f\u7528NuInstruct\u7684\u9644\u52a0\u7ed3\u679c\u53ef\u5728SM\u4e2d\u627e\u5230\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"482\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-60-1024x482.png\" alt=\"\" class=\"wp-image-31101\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-60-1024x482.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-60-300x141.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-60-768x361.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-60.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-61-1024x599.png\" alt=\"\" class=\"wp-image-31102\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-61-1024x599.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-61-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-61-768x449.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-61.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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\u6ca1\u6709NSFT\u548cNPO\uff0c\u5176\u4e2dVLM\u662f\u5728\u6ca1\u6709NavigScene\u7684\u60c5\u51b5\u4e0b\u8fdb\u884c\u5fae\u8c03\uff1b(2) \u53ea\u6709NSFT\uff0c\u5176\u4e2dVLM\u4f7f\u7528NavigScene\u8fdb\u884c\u5fae\u8c03\uff1b(3) \u53ea\u6709NPO\uff0c\u5176\u4e2dVLM\u9996\u5148\u5728\u6ca1\u6709NavigScene\u7684\u60c5\u51b5\u4e0b\u8fdb\u884c\u5fae\u8c03\uff0c\u7136\u540e\u4f7f\u7528NPO\u548cNavigScene\u8fdb\u884c\u8bad\u7ec3\uff1b\u4ee5\u53ca(4) \u540c\u65f6\u4f7f\u7528NSFT\u548cNPO\uff0c\u5176\u4e2dVLM\u9996\u5148\u4f7f\u7528NavigScene\u8fdb\u884c\u5fae\u8c03\uff0c\u968f\u540e\u4f7f\u7528NPO\u548cNavigScene\u8fdb\u884c\u8bad\u7ec3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"982\" height=\"342\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-62.png\" alt=\"\" class=\"wp-image-31103\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-62.png 982w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-62-300x104.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-62-768x267.png 768w\" sizes=\"(max-width: 982px) 100vw, 982px\" 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"663\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/image-63-1024x663.png\" alt=\"\" class=\"wp-image-31104\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-63-1024x663.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-63-300x194.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-63-768x497.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/image-63.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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\u540c\u65f6\u4f7f\u7528NSFT\u548cNPO\uff0c\u5176\u4e2dVLM\u9996\u5148\u4f7f\u7528NavigScene\u8fdb\u884c\u5fae\u8c03\uff0c\u968f\u540e\u4f7f\u7528NPO\u548cNavigScene\u8fdb\u884c\u8bad\u7ec3\u3002\u6240\u6709VLM\u90fd\u88ab\u51bb\u7ed3\uff0c\u7136\u540e\u4e0e\u7aef\u5230\u7aef\u6a21\u578b\u8fde\u63a5\uff0c\u6784\u5efa\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684VLA\u6a21\u578b\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u88687\u4e2d\u7684\u6d88\u878d\u7814\u7a76\uff0c\u65e0\u8bba\u662f\u5728\u5f00\u73af\u8fd8\u662f\u95ed\u73af\u89c4\u5212\u4e2d\uff0c\u6574\u5408NSFT\u548cNPO\u6280\u672f\u90fd\u80fd\u5e26\u6765\u660e\u663e\u7684\u6027\u80fd\u63d0\u5347\uff0c\u8fd9\u5728VAD\u548cSparseDrive\u7aef\u5230\u7aef\u6a21\u578b\u4e2d\u5747\u6709\u4f53\u73b0\u3002\u6211\u4eec\u89c2\u5bdf\u5230SparseDrive\u603b\u4f53\u4e0a\u4f18\u4e8eVAD\uff0c\u800cQwen2.5-7B\u5728\u6240\u6709\u914d\u7f6e\u4e2d\u59cb\u7ec8\u4f18\u4e8eLlama-Adapter\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5373\u4f7f\u662f\u6ca1\u6709\u6574\u5408VLM\u7684\u57fa\u7ebf\u7cfb\u7edf(&#8220;None&#8221;)\u4e5f\u8868\u73b0\u5f97\u76f8\u5f53\u4e0d\u9519\uff0c\u4f46\u901a\u8fc7\u9002\u5f53\u7684\u540e\u8bad\u7ec3\u6280\u672f\uff08NSFT+NPO\uff09\u6574\u5408VLM\u63d0\u4f9b\u4e86\u663e\u8457\u7684\u63d0\u5347\uff0c\u7279\u522b\u662f\u5728\u964d\u4f4e\u78b0\u649e\u7387\u548c\u63d0\u9ad8\u8f68\u8ff9\u51c6\u786e\u6027\u65b9\u9762\u3002NSFT\u548cNPO\u7684\u534f\u540c\u6548\u5e94\u8868\u660e\uff0c\u9488\u5bf9\u5bfc\u822a\u7684\u5fae\u8c03\u63a5\u7740\u8fdb\u884c\u504f\u597d\u4f18\u5316\u53ef\u4ee5\u521b\u5efa\u6700\u6709\u6548\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u9a7e\u9a76\u7684\u8de8\u57ce\u5e02\u6cdb\u5316<\/strong><\/p>\n\n\n\n<p>\u5728\u88688\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u5728nuScenes\u6570\u636e\u96c6\u4e2d\u4e24\u4e2a\u57ce\u5e02\u7684\u8de8\u57ce\u5e02\u6cdb\u5316\u7ed3\u679c\u3002\u6211\u4eec\u68c0\u67e5\u4e86\u4e24\u79cd\u8f6c\u79fb\u4efb\u52a1\uff1a\u6ce2\u58eb\u987f\u2192\u65b0\u52a0\u5761\u548c\u65b0\u52a0\u5761\u2192\u6ce2\u58eb\u987f\u3002\u5728\u7b2c\u4e00\u4e2a\u4efb\u52a1\u4e2d\uff0c\u6a21\u578b\u5728\u6ce2\u58eb\u987f\u6570\u636e\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0c\u5e76\u5728\u65b0\u52a0\u5761\u6570\u636e\u4e0a\u4ee5\u96f6\u6837\u672c\u7684\u65b9\u5f0f\u8fdb\u884c\u8bc4\u4f30\uff0c\u800c\u5728\u7b2c\u4e8c\u4e2a\u4efb\u52a1\u4e2d\uff0c\u8fd9\u4e00\u8fc7\u7a0b\u76f8\u53cd\u3002\u9644\u52a0\u7ed3\u679c\u5c55\u793a\u5728SM\u4e2d\u3002<\/p>\n\n\n\n<figure 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