{"id":31196,"date":"2025-07-21T17:32:08","date_gmt":"2025-07-21T09:32:08","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31196"},"modified":"2025-07-21T17:32:08","modified_gmt":"2025-07-21T09:32:08","slug":"2025-07-21-%e6%b8%af%e4%b8%ad%e6%96%87%e6%9c%80%e6%96%b0%ef%bc%81real-ad%ef%bc%9a%e8%bf%88%e5%90%91%e7%b1%bb%e4%ba%ba%e6%8e%a8%e7%90%86%e7%9a%84%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8%e9%a9%be","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/21\/31196\/","title":{"rendered":"2025-07-21 \u6e2f\u4e2d\u6587\u6700\u65b0\uff01ReAL-AD\uff1a\u8fc8\u5411\u7c7b\u4eba\u63a8\u7406\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff0c\u8f68\u8ff9\u6027\u80fd\u63d0\u534730%\uff08ICCV&#8217;25\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a 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class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2507.12499<\/li>\n\n\n\n<li>\u4e3b\u9875\u94fe\u63a5\uff1ahttps:\/\/4dvlab.github.io\/project_page\/realad<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u56e0\u5176\u4f18\u52bf\uff0c\u5982\u6700\u5c0f\u5316\u4fe1\u606f\u635f\u5931\u548c\u7b80\u5316\u7cfb\u7edf\u67b6\u6784\uff0c\u53d7\u5230\u4e86\u5e7f\u6cdb\u5173\u6ce8\u3002\u7136\u800c\uff0c\u73b0\u6709\u65b9\u6cd5\u9762\u4e34\u6839\u672c\u6027\u7684\u5c40\u9650\u3002\u6700\u663e\u8457\u7684\u662f\uff0c\u5b83\u4eec\u4f9d\u8d56\u4e8e\u56fa\u5b9a\u4e14\u7a00\u758f\u7684\u8f68\u8ff9\u76d1\u7763\uff0c\u8fd9\u65e0\u6cd5\u590d\u5236\u4eba\u7c7b\u9a7e\u9a76\u5458\u5185\u5728\u7684\u7ed3\u6784\u5316\u8ba4\u77e5\u63a8\u7406\u8fc7\u7a0b\u2014\u2014\u8fd9\u4e00\u8fc7\u7a0b\u6d89\u53ca\u5bf9\u60c5\u5883\u5173\u7cfb\uff08\u4f8b\u5982\uff0c\u4ea4\u901a\u89c4\u5219\u3001\u4ea4\u4e92\u610f\u56fe\uff09\u7684\u5206\u5c42\u7406\u89e3\u4ee5\u53ca\u9002\u5e94\u6027\u51b3\u7b56\u5c42\u6b21\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\u7684\u7814\u7a76\u5f15\u5165\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\uff0c\u65e8\u5728\u901a\u8fc7\u5229\u7528\u5176\u8bed\u4e49\u63a8\u7406\u80fd\u529b\u548c\u8de8\u6a21\u6001\u5bf9\u9f50\u6765\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\u3002\u5927\u591a\u6570\u7814\u7a76\u5c06VLMs\u89c6\u4e3a\u8f85\u52a9\u6a21\u5757\uff0c\u63d0\u4f9b\u989d\u5916\u7684\u8bed\u4e49\u7ebf\u7d22\u4ee5\u589e\u5f3a\u611f\u77e5\u548c\u89c4\u5212\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5c06\u8bed\u4e49\u63a8\u7406\u89c6\u4e3a\u4e00\u4e2a\u5b64\u7acb\u7684\u9884\u5904\u7406\u6b65\u9aa4\uff0c\u800c\u4e0d\u662f\u6709\u673a\u5730\u5d4c\u5165\u5230\u51b3\u7b56\u5c42\u6b21\u4e2d\uff0c\u5728\u8be5\u5c42\u6b21\u4e2d\uff0c\u6218\u7565\u89c4\u5212\u3001\u9a7e\u9a76\u51b3\u7b56\u548c\u64cd\u4f5c\u63a7\u5236\u534f\u540c\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p>\u8fd9\u79cd\u7f3a\u4e4f\u7ed3\u6784\u5316\u591a\u9636\u6bb5\u63a8\u7406\u7684\u73b0\u8c61\u963b\u788d\u4e86\u6cdb\u5316\u80fd\u529b\uff0c\u5e76\u9650\u5236\u4e86\u5f53\u524d\u57fa\u4e8eVLM\u7684\u89e3\u51b3\u65b9\u6848\u5728\u591a\u6837\u5316\u7684\u73b0\u5b9e\u4e16\u754c\u573a\u666f\u4e2d\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure 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c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u57fa\u4e8e\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u7684\u7c7b\u4eba\u63a8\u7406\u589e\u5f3a\u5b66\u4e60\u6846\u67b6\uff0c\u5c06\u4e09\u5c42\u4eba\u7c7b\u8ba4\u77e5\u6a21\u578b\u2014\u2014\u9a7e\u9a76\u7b56\u7565\u3001\u9a7e\u9a76\u51b3\u7b56\u548c\u9a7e\u9a76\u64cd\u4f5c\u2014\u2014\u6574\u5408\u5230\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u3002\u9996\u5148\u56de\u987e\u4f20\u7edf\u7aef\u5230\u7aef\u89c4\u5212\u7cfb\u7edf\u7684\u64cd\u4f5c\u8303\u5f0f\u3002\u4e3a\u4e86\u5f15\u5165\u7c7b\u4eba\u63a8\u7406\u6a21\u5f0f\uff0c\u6211\u4eec\u5f00\u53d1\u4e86\u4ee5\u4e0b\u4e09\u4e2a\u6a21\u5757\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>Strategic Reasoning Injector<\/strong>\uff1a\u901a\u8fc7\u89e3\u91ca\u6765\u81eaVLM\u751f\u6210\u7684\u590d\u6742\u4ea4\u901a\u60c5\u5883\u89c1\u89e3\uff0c\u5236\u5b9a\u9ad8\u5c42\u6b21\u7684\u9a7e\u9a76\u7b56\u7565\uff1b<\/li>\n\n\n\n<li><strong>Tactical Reasoning Integrator<\/strong>\uff1a\u5c06\u6218\u7565\u610f\u56fe\u7ec6\u5316\u4e3a\u53ef\u89e3\u91ca\u7684\u9a7e\u9a76\u9009\u62e9\uff1b<\/li>\n\n\n\n<li><strong>Hierarchical Trajectory Decoder<\/strong>\uff1a\u901a\u8fc7\u5c42\u6b21\u5316\u89c4\u5212\u2014\u2014\u9996\u5148\u5efa\u7acb\u7c97\u7565\u7684\u8fd0\u52a8\u6a21\u5f0f\uff0c\u7136\u540e\u7ec6\u5316\u8be6\u7ec6\u7684\u8f68\u8ff9\u2014\u2014\u6a21\u62df\u4eba\u7c7b\u76f4\u89c9\u7684\u7cbe\u70bc\u8fc7\u7a0b\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u521d\u6b65\u77e5\u8bc6<\/strong><\/p>\n\n\n\n<p>\u5728\u57fa\u4e8e\u89c6\u89c9\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u591a\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\u6d41\u9996\u5148\u7531\u56fe\u50cf\u4e3b\u5e72\u7f51\u7edc\uff08\u4f8b\u5982ResNet\uff09\u5904\u7406\uff0c\u4ee5\u63d0\u53d62D\u89c6\u89c9\u7279\u5f81\u3002\u8fd9\u4e9b\u7279\u5f81\u968f\u540e\u901a\u8fc7\u89c6\u56fe\u8f6c\u6362\u6a21\u5757\u88ab\u8f6c\u6362\u4e3a3D\u6216\u9e1f\u77b0\u56fe\uff08BEV\uff09\u573a\u666f\u8868\u793a\uff0c\u6355\u6349\u9053\u8def\u5e03\u5c40\u3001\u667a\u80fd\u4f53\u4f4d\u7f6e\u548c\u8f66\u9053\u62d3\u6251\u7b49\u573a\u666f\u51e0\u4f55\u4fe1\u606f\u3002\u57fa\u4e8eTransformer\u7684\u4efb\u52a1\u7279\u5b9a\u89e3\u7801\u5668\u4f7f\u4efb\u52a1\u67e5\u8be2\uff08\u4f8b\u5982\u667a\u80fd\u4f53\u67e5\u8be2\u3001\u5730\u56fe\u67e5\u8be2\uff09\u80fd\u591f\u4e0e\u573a\u666f\u7279\u5f81\u4ea4\u4e92\uff0c\u5efa\u6a21\u4e0e\u89c4\u5212\u76f8\u5173\u7684\u8868\u793a\u3002\u89c4\u5212\u6a21\u5757\u521d\u59cb\u5316\u4e00\u4e2a\u81ea\u8f66\u67e5\u8be2\u5d4c\u5165\uff0c\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u5c42\u5173\u6ce8\u573a\u666f\u7279\u5f81\u548c\u4efb\u52a1\u67e5\u8be2\uff0c\u6784\u5efa\u81ea\u8f66\u7279\u5f81\uff0c\u4f7f\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u80fd\u591f\u7406\u89e3\u5176\u72b6\u6001\u3002\u6700\u540e\uff0c\u8f68\u8ff9\u89e3\u7801\u5668\uff08\u901a\u5e38\u662f\u4e00\u4e2a\u591a\u5c42\u611f\u77e5\u673aMLP\uff09\u901a\u8fc7\u4ece\u81ea\u8f66\u7279\u5f81\u56de\u5f52\u6765\u9884\u6d4b\u672a\u6765\u7684\u8def\u5f84\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"495\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-332-1024x495.png\" alt=\"\" class=\"wp-image-31198\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-332-1024x495.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-332-300x145.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-332-768x371.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-332.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Strategic Reasoning Injector<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"520\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/72101.png\" alt=\"\" class=\"wp-image-31199\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/72101.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/72101-300x234.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>Tactical Reasoning Integrator<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"836\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/72102.png\" alt=\"\" class=\"wp-image-31200\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/72102.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/72102-241x300.png 241w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>Hierarchical Trajectory Decoder<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"816\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/72103.png\" alt=\"\" class=\"wp-image-31201\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/72103.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/72103-248x300.png 248w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>\u635f\u5931\u51fd\u6570<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"639\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/72104.png\" alt=\"\" class=\"wp-image-31202\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/72104.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/72104-300x289.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>\u57fa\u7ebf\u6a21\u578b<\/strong>\uff1a\u6211\u4eec\u7684\u65b9\u6cd5\u652f\u6301\u4e0d\u540c\u7684\u7aef\u5230\u7aef\u89c4\u5212\u7f51\u7edc\u548c\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u3002\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528&nbsp;<strong>VAD<\/strong>&nbsp;\u548c&nbsp;<strong>UniAD<\/strong>&nbsp;\u4f5c\u4e3a\u57fa\u7ebf\uff0c\u5e76\u9009\u62e9&nbsp;<strong>MiniCPM-Llama3-2.5V<\/strong>&nbsp;\u548c&nbsp;<strong>Qwen-VL<\/strong>&nbsp;\u4f5c\u4e3aVLMs\u3002<\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6<\/strong>\uff1a\u6211\u4eec\u5728&nbsp;<strong>nuScenes\u6570\u636e\u96c6<\/strong>&nbsp;\u4e0a\u8bc4\u4f30\u5f00\u73af\u89c4\u5212\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b1,000\u4e2a20\u79d2\u7684\u573a\u666f\uff0c\u4ee52Hz\u6807\u6ce8\uff0c\u662f\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u5173\u952e\u57fa\u51c6\u3002\u5bf9\u4e8e\u5f00\u73af\u548c\u95ed\u73af\u8bc4\u4f30\uff0c\u6211\u4eec\u4f7f\u7528&nbsp;<strong>Bench2Drive<\/strong>\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b\u6765\u81ea44\u79cd\u573a\u666f\u300123\u79cd\u5929\u6c14\u6761\u4ef6\u548c12\u4e2aCARLA v2\u57ce\u9547\u768413,638\u4e2a\u7247\u6bb5\u7684200\u4e07\u5e27\u3002\u5176\u4e25\u683c\u7684\u95ed\u73af\u534f\u8bae\u5728220\u6761\u8def\u7ebf\u4e0a\u8bc4\u4f30E2E-AD\u6a21\u578b\uff0c\u786e\u4fdd\u4e86\u516c\u5e73\u548c\u5168\u9762\u7684\u6027\u80fd\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p><strong>\u8bc4\u4f30\u6307\u6807<\/strong>\uff1a\u5bf9\u4e8e\u5f00\u73af\u8bc4\u4f30\uff0c\u6211\u4eec\u4f7f\u7528&nbsp;<strong>L2\u8bef\u5dee<\/strong>&nbsp;\u548c&nbsp;<strong>\u78b0\u649e\u7387<\/strong>\u3002L2\u8bef\u5dee\u8861\u91cf\u89c4\u5212\u8f68\u8ff9\u4e0e\u5730\u9762\u771f\u5b9e\u8f68\u8ff9\u4e4b\u95f4\u7684\u8ddd\u79bb\uff0c\u800c\u78b0\u649e\u7387\u5219\u91cf\u5316\u4e0e\u4ea4\u901a\u53c2\u4e0e\u8005\u78b0\u649e\u7684\u60c5\u51b5\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u4f7f\u7528VAD\u6307\u6807\u57281\u79d2\u30012\u79d2\u548c3\u79d2\u65f6\u8fdb\u884c\u8bc4\u4f30\u3002\u5bf9\u4e8e\u95ed\u73af\u8bc4\u4f30\uff0c\u6211\u4eec\u4f7f\u7528&nbsp;<strong>\u9a7e\u9a76\u8bc4\u5206\uff08Driving Score\uff09<\/strong>&nbsp;\u548c&nbsp;<strong>\u6210\u529f\u7387\uff08Success Rate\uff09<\/strong>\u3002\u9a7e\u9a76\u8bc4\u5206\u53cd\u6620\u4e86\u8def\u7ebf\u5b8c\u6210\u60c5\u51b5\uff0c\u540c\u65f6\u8003\u8651\u8fdd\u89c4\u60c5\u51b5\uff0c\u800c\u6210\u529f\u7387\u5219\u662f\u65e0\u8fdd\u89c4\u5b8c\u6210\u8def\u7ebf\u7684\u767e\u5206\u6bd4\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong>\uff1a\u5bf9\u4e8e\u57fa\u7ebf\u6a21\u578b\uff0c\u6211\u4eec\u4f7f\u7528\u5b98\u65b9\u4ee3\u7801\u5e76\u9075\u5faa\u5176\u5b98\u65b9\u5b9e\u73b0\u4e2d\u6307\u5b9a\u7684\u8d85\u53c2\u6570\u3002\u03bb\u2080\u3001\u03bb\u2081\u3001\u03bb\u2082\u3001\u03bb\u2083 \u5206\u522b\u8bbe\u7f6e\u4e3a1.0\u30010.5\u30010.5\u548c1.0\uff1b\u03b2c\u8bbe\u4e3a0.5\uff0c\u03b2f\u8bbe\u4e3a1.0\u3002\u6a21\u578b\u57288\u5757NVIDIA A40 GPU\u62164\u5757NVIDIA 4090 GPU\u4e0a\u4f7f\u7528PyTorch\u6846\u67b6\u8fdb\u884c\u8bad\u7ec3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"591\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-333-591x1024.png\" alt=\"\" class=\"wp-image-31203\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-333-591x1024.png 591w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-333-173x300.png 173w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-333-768x1331.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-333-577x1000.png 577w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-333.png 846w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><\/figure>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5f00\u73af\u8bc4\u4f30<\/strong>\uff1a\u4e3a\u4e86\u66f4\u597d\u5730\u8bc4\u4f30\u6211\u4eec\u6846\u67b6\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5728&nbsp;<strong>nuScenes<\/strong>&nbsp;\u548c&nbsp;<strong>Bench2Drive<\/strong>&nbsp;\u6570\u636e\u96c6\u4e0a\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u51e0\u79cd\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u5982\u88681\u548c\u88682\u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u76f8\u8f83\u4e8e\u57fa\u7ebf\u65b9\u6cd5&nbsp;<strong>VAD<\/strong>&nbsp;\u548c&nbsp;<strong>UniAD<\/strong>&nbsp;\u5b9e\u73b0\u4e86\u663e\u8457\u6539\u8fdb\uff0c\u5c24\u5176\u662f\u5728&nbsp;<strong>L2\u8bef\u5dee<\/strong>&nbsp;\u548c&nbsp;<strong>\u78b0\u649e\u7387<\/strong>&nbsp;\u4e0a\uff0c\u6539\u8fdb\u5e45\u5ea6\u8d85\u8fc730%\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u7684\u6027\u80fd\u4e5f\u4f18\u4e8e\u5176\u4ed6\u57fa\u4e8eVLM\u7684\u65b9\u6cd5\uff0c\u4f8b\u5982\u4f7f\u7528\u76f8\u540c\u57fa\u7ebf\u7684&nbsp;<strong>VLP<\/strong>&nbsp;\u548c&nbsp;<strong>VLM-AD<\/strong>\uff0c\u5728nuScenes\u4e0a\u5b9e\u73b0\u4e86\u6700\u4f4e\u7684\u5e73\u5747L2\u8bef\u5dee\uff080.48\u7c73\uff09\u548c\u78b0\u649e\u7387\uff080.15%\uff09\uff0c\u5728Bench2Drive\u4e0a\u8fbe\u5230\u4e860.84\u7c73\u548c0.12%\u3002\u8fd9\u8868\u660e\u5f15\u5165\u4eba\u7c7b\u51b3\u7b56\u8fc7\u7a0b\u4f7f\u7f51\u7edc\u5728\u5b66\u4e60\u9a7e\u9a76\u80fd\u529b\u65b9\u9762\u66f4\u52a0\u6709\u6548\u3002<\/p>\n\n\n\n<p><strong>\u95ed\u73af\u8bc4\u4f30<\/strong>\uff1a\u5c3d\u7ba1\u5f00\u73af\u6307\u6807\u63d0\u4f9b\u4e86\u90e8\u5206\u6027\u80fd\u7ed3\u679c\uff0c\u6211\u4eec\u5728&nbsp;<strong>Bench2Drive<\/strong>&nbsp;\u4e0a\u8fdb\u884c\u4e86\u95ed\u73af\u8bc4\u4f30\u4ee5\u8bc4\u4f30\u5b9e\u9645\u5e94\u7528\u80fd\u529b\u3002\u7ed3\u679c\u8868\u660e\uff0c\u5728\u96c6\u6210\u6211\u4eec\u7684\u6846\u67b6\u540e\uff0c\u9a7e\u9a76\u8bc4\u5206\u548c\u5b8c\u6210\u8def\u5f84\u6570\u91cf\u90fd\u76f8\u8f83\u4e8e\u57fa\u7ebf\u6709\u4e86\u663e\u8457\u63d0\u5347\uff0c\u8868\u660e\u5f15\u5165\u4eba\u7c7b\u601d\u7ef4\u8fc7\u7a0b\u6210\u529f\u63d0\u9ad8\u4e86\u9a7e\u9a76\u638c\u63e1\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"674\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-334-1024x674.png\" alt=\"\" class=\"wp-image-31204\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-334-1024x674.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-334-300x198.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-334-768x506.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-334.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"398\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-335-1024x398.png\" alt=\"\" class=\"wp-image-31205\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-335-1024x398.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-335-300x117.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-335-768x299.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-335.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728&nbsp;<strong>Bench2Drive\u9a8c\u8bc1\u96c6<\/strong>&nbsp;\u4e0a\u8fdb\u884c\u4e86\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u8bc4\u4f30\u6211\u4eec\u63d0\u51fa\u7684\u6a21\u5757\u3002\u53c2\u8003VAD\uff0c\u6211\u4eec\u5728\u6b64\u91c7\u7528\u4e24\u9636\u6bb5\u8bad\u7ec3\u7b56\u7565\u4ee5\u52a0\u901f\u5b9e\u9a8c\u3002\u6240\u6709\u6d88\u878d\u6a21\u578b\u5171\u4eab\u76f8\u540c\u7684\u9636\u6bb51\u68c0\u67e5\u70b9\u4ee5\u8fdb\u884c\u516c\u5e73\u6bd4\u8f83\uff0c\u6240\u6709\u5b9e\u9a8c\u5747\u4f7f\u7528NVIDIA 4090 GPU\uff0c\u5e76\u57fa\u4e8eVAD-base\u548cMiniCPM-Llama3-2.5V\u57fa\u7ebf\u3002<\/p>\n\n\n\n<p><strong>\u6218\u7565\u63a8\u7406\u6ce8\u5165\u5668\u7684\u6709\u6548\u6027<\/strong>\uff1a\u4e3a\u4e86\u8bc4\u4f30\u6218\u7565\u63a8\u7406\u6ce8\u5165\u5668\u6a21\u5757\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u6d88\u878d\u7814\u7a76\uff0c\u901a\u8fc7\u79fb\u9664\u8be5\u7ec4\u4ef6\u8fdb\u884c\u5b9e\u9a8c\u3002\u5982\u88683\uff08\u8bbe\u7f6e0\u548c1\uff09\u6240\u793a\uff0c\u5176\u7f3a\u5931\u5bfc\u81f4\u5e73\u5747L2\u8bef\u5dee\u589e\u52a0\u4e86\u7ea612%\uff0c\u5e73\u5747\u78b0\u649e\u7387\u589e\u52a0\u4e8619%\u3002\u8fd9\u8868\u660e\u6218\u7565\u51b3\u7b56\u5f15\u5bfc\u4e86\u81ea\u67e5\u8be2\u5efa\u6a21\uff0c\u4f7f\u5176\u80fd\u591f\u81ea\u9002\u5e94\u5730\u4f18\u5148\u8003\u8651\u4e0e\u5f53\u524d\u573a\u666f\u51b3\u7b56\u8fc7\u7a0b\u76f8\u5173\u7684\u4fe1\u606f\uff0c\u4ece\u800c\u63d0\u9ad8\u6574\u4f53\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"331\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-336-1024x331.png\" alt=\"\" class=\"wp-image-31206\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-336-1024x331.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-336-300x97.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-336-768x248.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-336.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Effectiveness of Strategic Reasoning Injector<\/strong>\uff1a\u5982\u88683\u6240\u793a\uff0c\u8bbe\u7f6e2\u548c6\u9a8c\u8bc1\u4e86\u8be5\u6a21\u5757\u7684\u6709\u6548\u6027\u3002\u5728\u8bbe\u7f6e2\u4e2d\uff0c\u6211\u4eec\u5c06\u5d4c\u5165\u7684\u547d\u4ee4\u7279\u5f81\u4e0e\u5efa\u6a21\u7684\u81ea\u67e5\u8be2\u7279\u5f81\u8fde\u63a5\uff0c\u5e76\u901a\u8fc7\u89e3\u7801\u5668\u83b7\u5f97\u6700\u7ec8\u8f93\u51fa\u3002\u6bd4\u8f83\u8bbe\u7f6e0\u548c2\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\u5e73\u5747L2\u8bef\u5dee\u51cf\u5c11\u4e860.14\u7c73\uff0c\u5e73\u5747\u78b0\u649e\u7387\u51cf\u5c11\u4e860.05%\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\uff0c\u6218\u672f\u547d\u4ee4\u6bd4\u6218\u7565\u51b3\u7b56\u66f4\u63a5\u8fd1\u89c4\u5212\u7684\u6307\u5bfc\uff0c\u964d\u4f4e\u4e86\u5b66\u4e60\u7a7a\u95f4\u7684\u590d\u6742\u6027\uff0c\u5e76\u4f7f\u7f51\u7edc\u80fd\u591f\u505a\u51fa\u66f4\u6709\u6839\u636e\u7684\u51b3\u7b56\u3002<\/p>\n\n\n\n<p><strong>\u5c42\u6b21\u5316\u8f68\u8ff9\u89e3\u7801\u5668\u7684\u6709\u6548\u6027<\/strong>\uff1a\u4e3a\u4e86\u7a81\u51fa\u5c42\u6b21\u5316\u8f68\u8ff9\u89e3\u7801\u5668\u7684\u91cd\u8981\u6027\uff0c\u6211\u4eec\u7528\u76f4\u63a5\u57fa\u4e8e\u81ea\u7279\u5f81\u9884\u6d4b\u672a\u6765\u8f68\u8ff9\u7684MLP\u66ff\u6362\u4e86\u5b83\u3002\u8fd9\u79cd\u4fee\u6539\u5bfc\u81f4L2\u8bef\u5dee\u589e\u52a00.07\u7c73\uff0c\u78b0\u649e\u7387\u4e0a\u53470.07%\uff08\u8bbe\u7f6e0 vs. 3\uff09\uff0c\u8868\u660e\u76f4\u63a5\u89e3\u7801\u7ec6\u7c92\u5ea6\u8f68\u8ff9\u7684\u6311\u6218\u6027\u3002\u7f3a\u4e4f\u4ece\u6613\u5230\u96be\u3001\u4ece\u7c97\u5230\u7ec6\u7684\u5206\u5c42\u89e3\u7801\u963b\u788d\u4e86\u6a21\u578b\u7ec6\u5316\u8f68\u8ff9\u9884\u6d4b\u7684\u80fd\u529b\uff0c\u6700\u7ec8\u5bfc\u81f4\u6027\u80fd\u6b21\u4f18\u3002<\/p>\n\n\n\n<p><strong>\u66f4\u591a\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u5206\u6790\u4e86\u5728&nbsp;<strong>Bench2Drive\u9a8c\u8bc1\u96c6<\/strong>&nbsp;\u4e0a\u8bbe\u8ba1\u7684\u6a21\u5757\u3002\u8bbe\u7f6e\u4e0e\u6d88\u878d\u7814\u7a76\u4e2d\u7684\u8bbe\u7f6e\u4e00\u81f4\u3002\u66f4\u591a\u5206\u6790\u5b9e\u9a8c\u548c\u7528\u4e8e\u5b9a\u6027\u8bc4\u4f30\u6027\u80fd\u548c\u53ef\u89e3\u91ca\u6027\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u5728\u9644\u5f55\u4e2d\u63d0\u4f9b\u3002<\/p>\n\n\n\n<p><strong>\u5173\u4e8e\u7f16\u7801\u9a7e\u9a76\u7b56\u7565\u7279\u5f81\u7684\u76f8\u4f3c\u6027\u635f\u5931\u7684\u8ba8\u8bba<\/strong>\uff1a\u5982\u88684\u6240\u793a\uff0c\u6211\u4eec\u79fb\u9664\u4e86\u7f16\u7801\u5730\u9762\u771f\u5b9e\u8f68\u8ff9\u548c\u76f8\u4f3c\u6027\u635f\u5931\u7684\u7ec4\u4ef6\u3002\u6211\u4eec\u53ef\u4ee5\u89c2\u5bdf\u5230L2\u635f\u5931\u548c\u78b0\u649e\u7387\u90fd\u589e\u52a0\u4e86\uff0c\u8fd9\u53ef\u4ee5\u5f52\u56e0\u4e8e\u7531VLM\u6587\u672c\u7f16\u7801\u5668\u7f16\u7801\u7684\u6218\u7565\u7b56\u7565\u6587\u672c\u7279\u5f81\u4e0e\u7aef\u5230\u7aef\u7f51\u7edc\u4e2d\u4f7f\u7528\u7684\u611f\u77e5\u7279\u5f81\u4e4b\u95f4\u7684\u5dee\u8ddd\u3002\u76f8\u4f3c\u6027\u635f\u5931\u5e2e\u52a9\u9002\u914d\u5668\u5f25\u5408\u8fd9\u4e00\u5dee\u8ddd\uff0c\u4f7f\u6587\u672c\u7279\u5f81\u66f4\u63a5\u8fd1\u8f68\u8ff9\u9884\u6d4b\u6240\u9700\u7684\u7279\u5f81\u3002\u8fd9\u53cd\u8fc7\u6765\u66f4\u597d\u5730\u5f15\u5bfc\u4e86\u81ea\u67e5\u8be2\u7684\u5b66\u4e60\uff0c\u63d0\u9ad8\u4e86\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"862\" height=\"604\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-337.png\" alt=\"\" class=\"wp-image-31207\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-337.png 862w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-337-300x210.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-337-768x538.png 768w\" sizes=\"(max-width: 862px) 100vw, 862px\" \/><\/figure>\n\n\n\n<p><strong>\u5173\u4e8e\u5c42\u6b21\u5316\u8f68\u8ff9\u89e3\u7801\u5668\u4e2d\u4e0d\u540c\u5c42\u6570\u7684\u8ba8\u8bba<\/strong>\uff1a\u5982\u88685\u6240\u793a\uff0c\u6211\u4eec\u5728\u89e3\u7801\u5668\u4e2d\u5c1d\u8bd5\u4e86\u4e0d\u540c\u7684\u5c42\u6570\u3002\u4e00\u5c42\u8868\u793a\u7ec6\u7c92\u5ea6\u8f68\u8ff9\u7684\u76f4\u63a5\u8f93\u51fa\uff0c\u800c\u4e24\u5c42\u9075\u5faa\u63cf\u8ff0\u7684\u65b9\u6cd5\u3002\u5728\u4e09\u5c42\u8bbe\u7f6e\u4e2d\uff0c\u6211\u4eec\u8c03\u6574\u89e3\u7801\u5668\u4e3a\u4e09\u5c42\uff0c\u5e76\u4f7f\u7528\u8d1d\u585e\u5c14\u66f2\u7ebf\u62df\u5408\u7c97\u7565\u8f68\u8ff9\u751f\u6210\u66f4\u7c97\u7684\u5730\u9762\u771f\u5b9e\u503c\u8fdb\u884c\u8054\u5408\u76d1\u7763\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u4ece\u4e00\u5c42\u589e\u52a0\u5230\u4e24\u5c42\u663e\u8457\u63d0\u9ad8\u4e86\u6027\u80fd\uff0c\u4f46\u8fc7\u591a\u7684\u5c42\u6570\u5f15\u5165\u4e86\u4e0d\u5fc5\u8981\u7684\u590d\u6742\u6027\uff0c\u5bfc\u81f4\u8fc7\u62df\u5408\u548c\u4e22\u5931\u5bf9\u51c6\u786e\u9884\u6d4b\u81f3\u5173\u91cd\u8981\u7684\u7ec6\u7c92\u5ea6\u7ec6\u8282\u3002<\/p>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86 ReAL-AD\uff0c\u8fd9\u662f\u4e00\u79cd\u63a8\u7406\u589e\u5f3a\u5b66\u4e60\u6846\u67b6\uff0c\u901a\u8fc7\u5229\u7528\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u5728\u7b56\u7565\u3001\u51b3\u7b56\u548c\u64cd\u4f5c\u5c42\u9762\u4e0a\u7684\u7ed3\u6784\u5316\u63a8\u7406\uff0c\u589e\u5f3a\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002\u901a\u8fc7\u6a21\u62df\u7c7b\u4eba\u7684\u5c42\u6b21\u5316\u51b3\u7b56\u8fc7\u7a0b\uff0cReAL-AD \u5c06\u6218\u7565\u51b3\u7b56\u4e0e\u6218\u672f\u547d\u4ee4\u4ee5\u53ca\u8f68\u8ff9\u4f18\u5316\u76f8\u7ed3\u5408\u3002\u5728 NuScenes \u548c Bench2Drive \u6570\u636e\u96c6\u4e0a\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8868\u660e\uff0c\u5176\u5728\u8f68\u8ff9\u89c4\u5212\u51c6\u786e\u6027\u548c\u9a7e\u9a76\u5b89\u5168\u6027\u65b9\u9762\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-31196","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31196"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=31196"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31196\/revisions"}],"predecessor-version":[{"id":31208,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31196\/revisions\/31208"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=31196"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=31196"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=31196"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}