{"id":31352,"date":"2025-07-28T17:32:22","date_gmt":"2025-07-28T09:32:22","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31352"},"modified":"2025-07-28T17:32:22","modified_gmt":"2025-07-28T09:32:22","slug":"2025-07-28-%e4%ba%8c%e6%ae%b5%e5%bc%8f%e7%ab%af%e5%88%b0%e7%ab%af%e6%96%b0sota%ef%bc%81%e6%b8%af%e7%a7%91%e5%a4%a7fim%ef%bc%9a%e4%bb%8eplanning%e7%9a%84%e8%a7%92%e5%ba%a6%e9%87%8d%e6%96%b0%e6%80%9d","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/28\/31352\/","title":{"rendered":"2025-07-28 \u4e8c\u6bb5\u5f0f\u7aef\u5230\u7aef\u65b0SOTA\uff01\u6e2f\u79d1\u5927FiM\uff1a\u4ecePlanning\u7684\u89d2\u5ea6\u91cd\u65b0\u601d\u8003\u8f68\u8ff9\u9884\u6d4b\uff08ICCV&#8217;25\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/rS4s1hHIvUfG77TkeTjAwg\">https:\/\/mp.weixin.qq.com\/s\/rS4s1hHIvUfG77TkeTjAwg<\/a><\/p>\n\n\n\n<p>\u9884\u6d4b\u884c\u9a76\u4e2d\u7684\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u8f68\u8ff9\u8fd0\u52a8\uff0c\u5bf9\u4e8e\u786e\u4fdd\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u800c\u8a00\uff0c\u65e2\u662f\u4e00\u9879\u91cd\u5927\u6311\u6218\uff0c\u4e5f\u662f\u4e00\u9879\u81f3\u5173\u91cd\u8981\u7684\u9700\u6c42\u3002\u4e0e\u5927\u591a\u6570\u73b0\u6709\u7684\u3001\u76f4\u63a5\u9884\u6d4b\u672a\u6765\u8f68\u8ff9\u7684\u6570\u636e\u9a71\u52a8\u65b9\u6cd5\u4e0d\u540c\uff0c\u6211\u4eec\u4ece<strong>\u89c4\u5212\uff08planning\uff09\u7684\u89c6\u89d2<\/strong>\u91cd\u65b0\u601d\u8003\u8fd9\u4e00\u4efb\u52a1\uff0c\u63d0\u51fa\u4e00\u79cd\u201c<strong>\u5148\u63a8\u7406\uff0c\u540e\u9884\u6d4b\uff08First Reasoning, Then Forecasting\uff09<\/strong>\u201d\u7684\u7b56\u7565\uff0c\u8be5\u7b56\u7565\u663e\u5f0f\u5730\u5c06\u884c\u4e3a\u610f\u56fe\u4f5c\u4e3a\u8f68\u8ff9\u9884\u6d4b\u7684\u7a7a\u95f4\u5f15\u5bfc\u3002\u4e3a\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u8fdb\u4e00\u6b65\u5f15\u5165\u4e86\u4e00\u79cd\u53ef\u89e3\u91ca\u7684\u3001\u57fa\u4e8e\u5956\u52b1\u7684\u610f\u56fe\u63a8\u7406\u5668\uff08intention reasoner\uff09\uff0c\u5176\u5efa\u7acb\u5728\u4e00\u79cd\u65b0\u9896\u7684<strong>\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u9006\u5f3a\u5316\u5b66\u4e60\uff08query-centric Inverse Reinforcement Learning, IRL\uff09<\/strong>\u6846\u67b6\u4e4b\u4e0a\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u9996\u5148\u5c06\u4ea4\u901a\u53c2\u4e0e\u8005\u548c\u573a\u666f\u5143\u7d20\u7f16\u7801\u4e3a\u7edf\u4e00\u7684\u5411\u91cf\u5316\u8868\u793a\uff0c\u7136\u540e\u901a\u8fc7\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u8303\u5f0f\u805a\u5408\u4e0a\u4e0b\u6587\u7279\u5f81\u3002\u8fdb\u800c\u63a8\u5bfc\u51fa\u4e00\u4e2a<strong>\u5956\u52b1\u5206\u5e03\uff08reward distribution\uff09<\/strong>\u2014\u2014\u4e00\u79cd\u7d27\u51d1\u4f46\u4fe1\u606f\u4e30\u5bcc\u7684\u8868\u793a\uff0c\u7528\u4e8e\u523b\u753b\u76ee\u6807\u53c2\u4e0e\u8005\u5728\u7ed9\u5b9a\u573a\u666f\u4e0a\u4e0b\u6587\u4e2d\u7684\u884c\u4e3a\u3002\u5728\u8be5\u5956\u52b1\u542f\u53d1\u5f0f\uff08reward heuristic\uff09\u7684\u5f15\u5bfc\u4e0b\uff0c\u6211\u4eec\u8fdb\u884c\u7b56\u7565 rollout\uff0c\u4ee5\u63a8\u7406\u591a\u79cd\u53ef\u80fd\u7684\u610f\u56fe\uff0c\u4ece\u800c\u4e3a\u540e\u7eed\u7684\u8f68\u8ff9\u751f\u6210\u63d0\u4f9b\u6709\u4ef7\u503c\u7684\u5148\u9a8c\u4fe1\u606f\u3002\u6700\u540e\u5f00\u53d1\u4e86\u4e00\u79cd\u96c6\u6210<strong>\u53cc\u5411\u9009\u62e9\u6027\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08bidirectional selective state space models\uff09<\/strong>\u7684\u5206\u5c42DETR-like\u89e3\u7801\u5668\uff0c\u4ee5\u751f\u6210\u7cbe\u786e\u7684\u672a\u6765\u8f68\u8ff9\u53ca\u5176\u5bf9\u5e94\u7684\u6982\u7387\u3002\u5728\u5927\u89c4\u6a21\u7684Argoverse\u548cnuScenes\u8fd0\u52a8\u9884\u6d4b\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u663e\u8457\u63d0\u5347\u4e86\u8f68\u8ff9\u9884\u6d4b\u7684\u7f6e\u4fe1\u5ea6\uff0c\u5728\u6027\u80fd\u4e0a\u8fbe\u5230\u4e86\u4e0e\u5f53\u524d\u6700\u5148\u8fdb\u65b9\u6cd5\u76f8\u5f53\u751a\u81f3\u66f4\u4f18\u7684\u6c34\u5e73\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2507.12083<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>\u8f68\u8ff9\u9884\u6d4b\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5173\u952e\u7ec4\u6210\u90e8\u5206\uff0c\u5b83\u8fde\u63a5\u4e86\u4e0a\u6e38\u7684\u611f\u77e5\u6a21\u5757\u548c\u4e0b\u6e38\u7684\u89c4\u5212\u6a21\u5757\u3002\u51c6\u786e\u9884\u6d4b\u5468\u56f4\u4ea4\u901a\u53c2\u4e0e\u8005\u672a\u6765\u7684\u8fd0\u52a8\uff0c\u9700\u8981\u5bf9\u672a\u77e5\u7684\u610f\u56fe\u8fdb\u884c\u63a8\u7406\uff0c\u56e0\u4e3a\u9a7e\u9a76\u884c\u4e3a\u672c\u8d28\u4e0a\u5177\u6709\u4e0d\u786e\u5b9a\u6027\u548c\u591a\u6a21\u6001\u7279\u6027\u3002<\/p>\n\n\n\n<p>\u5927\u591a\u6570\u73b0\u6709\u7684\u6570\u636e\u9a71\u52a8\u8fd0\u52a8\u9884\u6d4b\u6a21\u578b\u91c7\u7528\u6a21\u4eff\u5b66\u4e60\uff08imitative\uff09\u65b9\u6cd5\uff0c\u8981\u4e48\u76f4\u63a5\u56de\u5f52\u8f68\u8ff9\uff0c\u8981\u4e48\u57fa\u4e8e\u8bad\u7ec3\u6570\u636e\u96c6\u4e2d\u7684\u6570\u636e\u5206\u5e03\u5bf9\u7ec8\u70b9\u8fdb\u884c\u5206\u7c7b\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u5bf9\u9a7e\u9a76\u884c\u4e3a\u7684\u8003\u8651\u4e0d\u8db3\uff0c\u9650\u5236\u4e86\u5176\u53ef\u89e3\u91ca\u6027\u548c\u53ef\u9760\u6027\u3002\u5c3d\u7ba1\u8bb8\u591a\u65b9\u6cd5\u5728\u57fa\u51c6\u6d4b\u8bd5\u6307\u6807\u4e0a\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u5f88\u5c11\u6709\u65b9\u6cd5\u80fd\u663e\u5f0f\u5730\u5bf9\u672a\u6765\u7684\u610f\u56fe\u8fdb\u884c\u63a8\u7406\uff0c\u8fd9\u5728\u73b0\u5b9e\u5e94\u7528\u4e2d\u751f\u6210\u53ef\u89e3\u91ca\u4e14\u9c81\u68d2\u7684\u591a\u6a21\u6001\u9884\u6d4b\u65f6\uff0c\u5f62\u6210\u4e86\u4e00\u4e2a\u5173\u952e\u74f6\u9888\u3002<\/p>\n\n\n\n<p>\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u4eba\u7c7b\u9a7e\u9a76\u5458\u901a\u5e38\u4ee5\u5206\u5c42\u7684\u65b9\u5f0f\u64cd\u63a7\u8f66\u8f86\uff0c\u5148\u505a\u51fa\u9ad8\u5c42\u6b21\u51b3\u7b56\uff08\u4f8b\u5982\u53d8\u9053\u6216\u8d85\u8f66\uff09\uff0c\u518d\u6267\u884c\u5177\u4f53\u7684\u8fd0\u52a8\u7b56\u7565\u3002\u6211\u4eec\u53ef\u4ee5\u5c06\u81ea\u8f66\uff08ego vehicle\uff09\u7684\u9884\u6d4b\u6a21\u5757\u89c6\u4e3a\u5728\u4e3a\u5176\u4ed6\u53c2\u4e0e\u8005\u8fdb\u884c\u89c4\u5212\uff0c\u524d\u63d0\u662f\u5047\u8bbe\u9053\u8def\u4f7f\u7528\u8005\u7684\u884c\u4e3a\u662f\u7406\u6027\u7684\u3002\u5c3d\u7ba1\u8f68\u8ff9\u9884\u6d4b\u4e0e\u89c4\u5212\u4e4b\u95f4\u5b58\u5728\u5185\u5728\u8054\u7cfb\uff0c\u4f46\u5f88\u5c11\u6709\u7814\u7a76\u63a2\u7d22\u6765\u81ea\u89c4\u5212\u9886\u57df\u7684\u6d1e\u89c1\u3002\u53d7\u8fd9\u4e9b\u89c2\u5bdf\u7684\u542f\u53d1\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u5173\u952e\u95ee\u9898\uff1a<strong>\u80fd\u5426\u4ece\u89c4\u5212\u7684\u89c6\u89d2\u6765\u5904\u7406\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\uff0c\u5e76\u901a\u8fc7\u5f15\u5165\u610f\u56fe\u63a8\u7406\u80fd\u529b\u6765\u52a0\u4ee5\u589e\u5f3a\uff1f<\/strong><\/p>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e00\u79cd\u201c<strong>\u5148\u63a8\u7406\uff0c\u540e\u9884\u6d4b\uff08First Reasoning, Then Forecasting\uff09<\/strong>\u201d\u7684\u7b56\u7565\uff0c\u5176\u4e2d\u884c\u4e3a\u610f\u56fe\u63a8\u7406\u4e3a\u51c6\u786e\u4e14\u53ef\u4fe1\u7684\u591a\u6a21\u6001\u8fd0\u52a8\u9884\u6d4b\u63d0\u4f9b\u4e86\u5173\u952e\u7684\u5148\u9a8c\u6307\u5bfc\u3002\u4ee5\u8d85\u8f66\u573a\u666f\u4e3a\u4f8b\uff1a\u4e00\u4e2a\u80fd\u591f\u63d0\u524d\u663e\u5f0f\u63a8\u7406\u51fa\u201c\u8d85\u8f66\u201d\u548c\u201c\u4fdd\u6301\u8f66\u9053\u201d\u4e24\u79cd\u610f\u56fe\u7684\u6a21\u578b\uff0c\u76f8\u6bd4\u6ca1\u6709\u8fdb\u884c\u63a8\u7406\u800c\u76f4\u63a5\u9884\u6d4b\u7684\u6a21\u578b\uff0c\u80fd\u591f\u751f\u6210\u66f4\u53ef\u9760\u7684\u9884\u6d4b\u7ed3\u679c\uff0c\u5982\u56fe1\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"990\" height=\"854\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-425.png\" alt=\"\" class=\"wp-image-31353\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-425.png 990w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-425-300x259.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-425-768x662.png 768w\" sizes=\"(max-width: 990px) 100vw, 990px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u7ed3\u5408\u66f4\u957f\u671f\u7684\u610f\u56fe\u63a8\u7406\u53ef\u4ee5\u8fdb\u4e00\u6b65\u63d0\u5347\u9884\u6d4b\u7684\u7f6e\u4fe1\u5ea6\uff08\u89c1\u88682\uff09\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u7531\u4e8e\u9a7e\u9a76\u573a\u666f\u56fa\u6709\u7684\u590d\u6742\u6027\uff0c\u4ec5\u4f9d\u8d56\u624b\u5de5\u8bbe\u8ba1\u7684\u89c4\u5219\u6216\u9884\u5b9a\u4e49\u7684\u89c4\u5212\u5668\u6765\u8fdb\u884c\u672a\u6765\u610f\u56fe\u63a8\u7406\u4ecd\u7136\u5177\u6709\u6311\u6218\u6027\u3002\u4e00\u79cd\u6709\u524d\u666f\u7684\u66ff\u4ee3\u65b9\u6848\u662f\u5229\u7528<strong>\u5927\u578b\u63a8\u7406\u6a21\u578b\uff08Large Reasoning Models, LRMs\uff09<\/strong>\uff08\u5982OpenAI-o1\uff09\u5728\u8f68\u8ff9\u9884\u6d4b\u5668\u4e2d\u5b9e\u73b0\u610f\u56fe\u63a8\u7406\u3002\u7136\u800c\uff0c\u5b83\u4eec\u5de8\u5927\u7684\u8ba1\u7b97\u9700\u6c42\u4f7f\u5176\u5728\u8f66\u8f7d\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u4e0d\u5207\u5b9e\u9645\u3002\u5e78\u8fd0\u7684\u662f\uff0cLRMs\u7684\u6700\u65b0\u8fdb\u5c55\u8868\u660e\uff0c\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u6280\u672f\u5728\u6570\u5b66\u548c\u7f16\u7a0b\u7b49\u9886\u57df\u5c55\u73b0\u4e86\u5353\u8d8a\u7684\u63a8\u7406\u80fd\u529b\uff0c\u8fd9\u5f15\u53d1\u4e86\u4e00\u4e2a\u6709\u8da3\u7684\u95ee\u9898\uff1a<strong>\u80fd\u5426\u5229\u7528\u57fa\u4e8eRL\u7684\u8303\u5f0f\u6765\u63a8\u7406\u8f68\u8ff9\u9884\u6d4b\u4e2d\u53c2\u4e0e\u8005\u7684\u672a\u6765\u610f\u56fe\uff1f<\/strong><\/p>\n\n\n\n<p>\u5728\u8fd9\u65b9\u9762\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u5c06RL\u8303\u5f0f\u5e94\u7528\u4e8e\u5efa\u6a21\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u53c2\u4e0e\u8005\u884c\u4e3a\u63a8\u7406\u7684\u53ef\u884c\u6027\u3002\u6211\u4eec\u5c06\u4efb\u52a1\u5f62\u5f0f\u5316\u4e3a\u4e00\u4e2a<strong>\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b\uff08Markov Decision Process, MDP\uff09<\/strong>\uff0c\u5e76\u636e\u6b64\u5b9a\u4e49\u76ee\u6807\u53c2\u4e0e\u8005\u7684\u884c\u4e3a\u610f\u56fe\u3002\u4e3a\u4e86\u5728\u6027\u80fd\u548c\u8ba1\u7b97\u6548\u7387\u4e4b\u95f4\u53d6\u5f97\u5e73\u8861\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u4e00\u4e2a<strong>\u7f51\u683c\u7ea7\u56fe\uff08grid-level graph\uff09<\/strong>\u6765\u8868\u793a\u573a\u666f\u5e03\u5c40\uff0c\u5176\u4e2d\u610f\u56fe\u88ab\u5b9a\u4e49\u4e3a\u5728\u79bb\u6563\u7f51\u683c\u4e16\u754c\u4e2d\u7684\u4e00\u7cfb\u5217\u51b3\u7b56\uff0c\u7c7b\u4f3c\u4e8e\u4f20\u7edfRL\u8bed\u5883\u4e2d\u7684\u201c\u89c4\u5212\u201d\u3002\u672c\u6587\u5c06\u8fd9\u79cd\u610f\u56fe\u5e8f\u5217\u79f0\u4e3a<strong>\u57fa\u4e8e\u7f51\u683c\u7684\u63a8\u7406\u904d\u5386\uff08Grid-based Reasoning Traversal, GRT\uff09<\/strong>\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5c06RL\u5e94\u7528\u4e8e\u8f68\u8ff9\u9884\u6d4b\u7684\u4e00\u4e2a\u6839\u672c\u6027\u6311\u6218\u5728\u4e8e\u5982\u4f55\u5efa\u6a21\u5956\u52b1\uff08reward\uff09\uff0c\u56e0\u4e3a\u53c2\u4e0e\u8005\u7684\u610f\u56fe\u662f\u672a\u77e5\u7684\u3002<\/p>\n\n\n\n<p>\u4e3a\u514b\u670d\u8fd9\u4e00\u6311\u6218\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e<strong>\u6700\u5927\u71b5\u9006\u5f3a\u5316\u5b66\u4e60\uff08Maximum Entropy Inverse Reinforcement Learning, MaxEnt IRL\uff09<\/strong>\u7684\u5956\u52b1\u9a71\u52a8\u610f\u56fe\u63a8\u7406\u5668\u3002\u8be5\u6846\u67b6\u9996\u5148\u901a\u8fc7IRL\uff0c\u4ece\u4e13\u5bb6\u793a\u8303\uff08demonstrations\uff09\u548c\u76f8\u5173\u9a7e\u9a76\u4e0a\u4e0b\u6587\u4e2d\u5b66\u4e60\u53c2\u4e0e\u8005\u7279\u5b9a\u7684\u5956\u52b1\u5206\u5e03\u3002\u6240\u5b66\u4e60\u5230\u7684\u5956\u52b1\u4f5c\u4e3a\u4e00\u79cd<strong>\u7d27\u51d1\u7684\u8868\u793a<\/strong>\uff0c\u6355\u6349\u4e86\u53c2\u4e0e\u8005\u7684\u53ef\u89c2\u6d4b\u884c\u4e3a\u53ca\u5176\u6f5c\u5728\u610f\u56fe\u3002\u5229\u7528\u8fd9\u4e9b\u63a8\u65ad\u51fa\u7684\u5956\u52b1\u4f5c\u4e3a\u542f\u53d1\u5f0f\u4fe1\u606f\uff0c\u6211\u4eec\u968f\u540e\u8fdb\u884c\u7b56\u7565rollout\uff0c\u4ee5\u91c7\u6837\u591a\u79cd\u53ef\u80fd\u7684GRT\uff0c\u5e76\u63d0\u53d6\u5176\u5bf9\u5e94\u7684\u3001\u4ee5\u610f\u56fe\u4e3a\u6307\u5bfc\u7684\u7279\u5f81\uff0c\u4ece\u800c\u4e3a\u8f68\u8ff9\u9884\u6d4b\u63d0\u4f9b\u5148\u9a8c\u6307\u5bfc\uff0c\u8fdb\u800c\u63d0\u9ad8\u9884\u6d4b\u7684\u51c6\u786e\u6027\u548c\u7f6e\u4fe1\u5ea6\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u4e3a\u4e86\u8fdb\u4e00\u6b65\u589e\u5f3a\u4ece\u573a\u666f\u4e0a\u4e0b\u6587\u4e2d\u63d0\u53d6\u7279\u5f81\u7684\u80fd\u529b\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684<strong>\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684IRL\u6846\u67b6\uff08Query-centric IRL, QIRL\uff09<\/strong>\uff0c\u8be5\u6846\u67b6\u5c06IRL\u4e0e\u4e00\u79cd\u57fa\u4e8e\u67e5\u8be2\u7684\u7f16\u7801\u673a\u5236\u76f8\u7ed3\u5408\u3002QIRL\u80fd\u591f\u9ad8\u6548\u4e14\u7075\u6d3b\u5730\u5c06\u5411\u91cf\u5316\u573a\u666f\u4e0a\u4e0b\u6587\u7279\u5f81\u805a\u5408\u5230\u7c7b\u4f3c\u7a7a\u95f4\u7f51\u683c\u7684token\u4e2d\uff0c\u4fbf\u4e8e\u8fdb\u884c\u7ed3\u6784\u5316\u63a8\u7406\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u8fd9\u79cd\u5bc6\u96c6\u7684\u7f51\u683c\u8868\u793a\uff0c\u6211\u4eec\u5728\u6a21\u578b\u4e2d\u589e\u52a0\u4e86\u4e00\u4e2a\u8f85\u52a9\u7684<strong>\u5360\u7528\u7f51\u683c\u56fe\uff08Occupancy Grid Map, OGM\uff09<\/strong>\u9884\u6d4b\u5934\uff0c\u8be5\u6a21\u5757\u80fd\u591f\u5bf9\u573a\u666f\u4e2d\u6bcf\u4e2a\u53c2\u4e0e\u8005\u672a\u6765\u7684\u65f6\u7a7a\u5360\u7528\u8fdb\u884c\u5bc6\u96c6\u9884\u6d4b\u3002\u8fd9\u4e00\u8f85\u52a9\u4efb\u52a1\u901a\u8fc7\u6355\u6349\u53c2\u4e0e\u8005\u4e4b\u95f4\u7684\u672a\u6765\u4ea4\u4e92\uff0c\u6709\u6548\u589e\u5f3a\u4e86\u7279\u5f81\u878d\u5408\u8fc7\u7a0b\uff0c\u4ece\u800c\u63d0\u5347\u4e86\u6574\u4f53\u9884\u6d4b\u6027\u80fd\uff08\u89c1\u88687\uff09\u3002<\/p>\n\n\n\n<p>\u6700\u540e\u4e3a\u4e86\u5145\u5206\u5229\u7528\u610f\u56fe\u63a8\u7406\u5668\u63d0\u4f9b\u7684\u7279\u5f81\uff0c\u5f00\u53d1\u4e86\u4e00\u79cd\u5206\u5c42\u7684DETR-like\u8f68\u8ff9\u89e3\u7801\u5668\u3002\u4e00\u4e2a\u65e0\u951a\u70b9\uff08anchor-free\uff09\u7684\u8f68\u8ff9token\u9996\u5148\u57fa\u4e8eGRT\u63a8\u5bfc\u51fa\u7684\u7279\u5f81\u751f\u6210\u521d\u59cb\u63d0\u8bae\uff08proposals\uff09\uff0c\u8fd9\u4e9b\u63d0\u8bae\u968f\u540e\u4f5c\u4e3a\u6700\u7ec8\u8f68\u8ff9\u89e3\u7801\u7684\u521d\u59cb\u5316\u951a\u70b9\u3002\u8003\u8651\u5230\u8f68\u8ff9\u72b6\u6001\u56fa\u6709\u7684\u5e8f\u5217\u6027\u8d28\uff0c\u4ee5\u53ca<strong>\u9009\u62e9\u6027\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08Mamba\uff09<\/strong>\u5728\u957f\u65f6\u7a0b\u3001\u7ed3\u6784\u5316\u52a8\u6001\u5efa\u6a21\u65b9\u9762\u7684\u6700\u65b0\u8fdb\u5c55\uff0c\u5f15\u5165\u4e86\u4e00\u79cd\u53cc\u5411\u53d8\u4f53\u2014\u2014<strong>Bi-Mamba<\/strong>\uff0c\u4ee5\u6709\u6548\u6355\u6349\u8f68\u8ff9\u72b6\u6001\u7684\u5e8f\u5217\u4f9d\u8d56\u5173\u7cfb\u3002\u8fd9\u4e00\u589e\u5f3a\u663e\u8457\u63d0\u5347\u4e86\u9884\u6d4b\u7684\u51c6\u786e\u6027\u548c\u7f6e\u4fe1\u5ea6\uff08\u89c1\u88686\uff09\u3002<\/p>\n\n\n\n<p><strong>\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u201c\u5148\u63a8\u7406\uff0c\u540e\u9884\u6d4b\u201d\u7684\u7b56\u7565\uff0c\u4ece\u89c4\u5212\u7684\u89c6\u89d2\u91cd\u65b0\u601d\u8003\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u3002<\/li>\n\n\n\n<li>\u4e3a\u8fd0\u52a8\u9884\u6d4b\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u5956\u52b1\u9a71\u52a8\u610f\u56fe\u63a8\u7406\u5668\uff0c\u5176\u4e2dQIRL\u6a21\u5757\u5728\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u6846\u67b6\u4e0b\uff0c\u96c6\u6210\u4e86MaxEnt IRL\u8303\u5f0f\u548c\u5411\u91cf\u5316\u4e0a\u4e0b\u6587\u8868\u793a\u3002<\/li>\n\n\n\n<li>\u5f00\u53d1\u4e86\u4e00\u79cd\u96c6\u6210\u53cc\u5411\u9009\u62e9\u6027\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08Bi-Mamba\uff09\u7684\u5206\u5c42DETR-like\u89e3\u7801\u5668\uff0c\u4ee5\u63d0\u9ad8\u9884\u6d4b\u7684\u51c6\u786e\u6027\u548c\u7f6e\u4fe1\u5ea6\u3002<\/li>\n\n\n\n<li>\u7684\u65b9\u6cd5\u663e\u8457\u63d0\u5347\u4e86\u9884\u6d4b\u7f6e\u4fe1\u5ea6\uff0c\u5e76\u5728Argoverse\u548cnuScenes\u8fd0\u52a8\u9884\u6d4b\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u53d6\u5f97\u4e86\u6781\u5177\u7ade\u4e89\u529b\u7684\u6027\u80fd\uff0c\u8d85\u8d8a\u4e86\u5176\u4ed6\u6700\u5148\u8fdb\u7684\u6a21\u578b\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u8f68\u8ff9\u9884\u6d4b<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7684\u8f68\u8ff9\u9884\u6d4b\u5df2\u7814\u7a76\u6570\u5341\u5e74\u3002\u8be5\u9886\u57df\u7684\u65e9\u671f\u5de5\u4f5c\u4e3b\u8981\u4f9d\u8d56\u4e8e\u624b\u5de5\u8bbe\u8ba1\u7684\u57fa\u4e8e\u89c4\u5219\u6216\u57fa\u4e8e\u7269\u7406\u7684\u65b9\u6cd5\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u96be\u4ee5\u5904\u7406\u590d\u6742\u573a\u666f\uff0c\u4e14\u7f3a\u4e4f\u8fdb\u884c\u957f\u671f\u9884\u6d4b\u7684\u80fd\u529b\u3002\u8fd1\u5e74\u6765\uff0c\u7814\u7a76\u65b9\u6cd5\u5df2\u8f6c\u5411\u57fa\u4e8e\u5b66\u4e60\u7684\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u5229\u7528\u6df1\u5ea6\u795e\u7ecf\u7f51\u7edc\u6765\u7f16\u7801\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u8fd0\u52a8\u5386\u53f2\uff0c\u540c\u65f6\u6574\u5408\u9ad8\u7cbe\u5730\u56fe\uff08HD maps\uff09\u7684\u62d3\u6251\u548c\u8bed\u4e49\u4fe1\u606f\u3002\u8fd9\u4e9b\u5730\u56fe\u901a\u5e38\u4ee5\u5149\u6805\u5316\uff08rasterized\uff09\u6216\u5411\u91cf\u5316\uff08vectorized\uff09\u683c\u5f0f\u8868\u793a\u3002\u5149\u6805\u5316\u8868\u793a\u901a\u5e38\u4f7f\u7528\u9e1f\u77b0\u56fe\uff08Bird\u2019s-Eye-View, BEV\uff09\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u800c\u5411\u91cf\u5316\u8868\u793a\u5219\u4f9d\u8d56\u4e8e\u53c2\u4e0e\u8005\u548c\u5730\u56fe\u7684\u6298\u7ebf\uff08polylines\uff09\u4f5c\u4e3a\u8f93\u5165\u3002\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNNs\uff09\u548c\u56fe\u795e\u7ecf\u7f51\u7edc\uff08GNNs\uff09\u88ab\u5e7f\u6cdb\u7528\u4f5c\u8fd9\u4e9b\u683c\u5f0f\u7684\u7279\u5f81\u63d0\u53d6\u5668\uff0c\u5728\u7f16\u7801\u573a\u666f\u4e0a\u4e0b\u6587\u65b9\u9762\u53d1\u6325\u7740\u5173\u952e\u4f5c\u7528\u3002\u6700\u8fd1\uff0c\u57fa\u4e8eTransformer\u7684\u67b6\u6784\u56e0\u5176\u80fd\u591f\u63d0\u5347\u6574\u4f53\u9884\u6d4b\u6027\u80fd\u800c\u53d7\u5230\u5e7f\u6cdb\u5173\u6ce8\u3002\u987a\u5e94\u8fd9\u4e00\u8d8b\u52bf\uff0c\u6211\u4eec\u7684\u5de5\u4f5c\u91c7\u7528\u4e86\u5411\u91cf\u5316\u8868\u793a\uff0c\u5e76\u5229\u7528\u57fa\u4e8e\u67e5\u8be2\u7684Transformer\u7f16\u7801\u5668-\u89e3\u7801\u5668\u7ed3\u6784\u6765\u8fdb\u884c\u7279\u5f81\u805a\u5408\u548c\u8f68\u8ff9\u751f\u6210\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fd9\u4e9b\u8fdb\u5c55\uff0c\u4f46\u5728\u4f7f\u8f68\u8ff9\u9884\u6d4b\u5bf9\u5206\u5e03\u5916\uff08out-of-distribution\uff09\u573a\u666f\u5177\u6709\u9c81\u68d2\u6027\uff0c\u4ee5\u53ca\u5bf9\u672a\u89c1\u8fc7\u7684\u73af\u5883\u5177\u6709\u53ef\u6cdb\u5316\u6027\u65b9\u9762\uff0c\u6311\u6218\u4f9d\u7136\u5b58\u5728\u3002\u6211\u4eec\u7684\u5de5\u4f5c\u901a\u8fc7\u4ece<strong>\u89c4\u5212\u7684\u89c6\u89d2<\/strong>\u91cd\u65b0\u601d\u8003\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\uff0c\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u5956\u52b1\u7684\u610f\u56fe\u63a8\u7406\u5668\uff0c\u4ee5\u63d0\u4f9b\u884c\u4e3a\u6307\u5bfc\u548c\u4e0a\u4e0b\u6587\u4e30\u5bcc\u7684\u5148\u9a8c\u4fe1\u606f\uff0c\u4ece\u800c\u63a8\u8fdb\u8f68\u8ff9\u9884\u6d4b\uff0c\u6765\u89e3\u51b3\u8fd9\u4e9b\u4e0d\u8db3\u3002<\/p>\n\n\n\n<p><strong>\u5956\u52b1\uff08Reward\uff09<\/strong><\/p>\n\n\n\n<p>\u5956\u52b1\u662f\u89c4\u5212\uff08planning\uff09\u548c\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u4e2d\u7684\u4e00\u4e2a\u57fa\u7840\u6982\u5ff5\uff0c\u5b83\u4f5c\u4e3a\u4e00\u79cd\u5f15\u5bfc\u4fe1\u53f7\uff0c\u5851\u9020\u4e86\u667a\u80fd\u4f53\u7684\u884c\u4e3a\u548c\u51b3\u7b56\u8fc7\u7a0b\u3002\u5728\u89c4\u5212\u4e2d\uff0c\u5956\u52b1\u901a\u5e38\u88ab\u8bbe\u8ba1\u4e3a\u4e0e\u9ad8\u5c42\u76ee\u6807\u5bf9\u9f50\uff0c\u4f8b\u5982\u5728\u907f\u5f00\u969c\u788d\u7269\u7684\u540c\u65f6\u5230\u8fbe\u76ee\u6807\u70b9\u3002\u901a\u5e38\uff0c\u5956\u52b1\u51fd\u6570\u662f\u624b\u5de5\u8bbe\u8ba1\u7684\uff0c\u6216\u901a\u8fc7\u5206\u5c42\u6846\u67b6\u8fdb\u884c\u5851\u9020\uff0c\u5176\u4e2d\u9ad8\u5c42\u89c4\u5212\u5668\u4e3a\u4f4e\u5c42\u63a7\u5236\u5668\u63d0\u4f9b\u7b56\u7565\u6307\u5bfc\u3002\u5173\u4e8e\u5956\u52b1\u5851\u9020\uff08reward shaping\uff09\u7684\u7814\u7a76\u8868\u660e\uff0c\u901a\u8fc7\u4fee\u6539\u5956\u52b1\u7ed3\u6784\u6765\u5f3a\u8c03\u7279\u5b9a\u884c\u4e3a\u6216\u91cc\u7a0b\u7891\uff0c\u53ef\u4ee5\u52a0\u901f\u5b66\u4e60\u8fc7\u7a0b\u5e76\u63d0\u9ad8\u7b56\u7565\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u4e2d\uff0c\u5956\u52b1\u51fd\u6570\u626e\u6f14\u7740\u6838\u5fc3\u89d2\u8272\uff0c\u5b83\u5b9a\u4e49\u4e86\u667a\u80fd\u4f53\u7684\u76ee\u6807\uff0c\u5e76\u5f15\u5bfc\u5176\u6267\u884c\u80fd\u591f\u968f\u65f6\u95f4\u6700\u5927\u5316\u7d2f\u79ef\u5956\u52b1\u7684\u52a8\u4f5c\u3002\u5956\u52b1\u51fd\u6570\u7684\u8bbe\u8ba1\u5728\u89c4\u5212\u548cRL\u4e2d\u90fd\u81f3\u5173\u91cd\u8981\uff1b\u7136\u800c\uff0c\u4e3a\u590d\u6742\u4efb\u52a1\uff08\u5982\u81ea\u52a8\u9a7e\u9a76\uff09\u8bbe\u8ba1\u6709\u6548\u7684\u5956\u52b1\u51fd\u6570\u6781\u5177\u6311\u6218\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\uff0c\u9006\u5f3a\u5316\u5b66\u4e60\uff08Inverse RL, IRL\uff09\u88ab\u63d0\u51fa\u3002IRL\u4e13\u6ce8\u4e8e\u4ece\u89c2\u5bdf\u5230\u7684\u4e13\u5bb6\u793a\u8303\uff08expert demonstrations\uff09\u4e2d\u63a8\u65ad\u51fa\u5956\u52b1\u51fd\u6570\uff0c\u8fd9\u5728\u76f4\u63a5\u5b9a\u4e49\u5956\u52b1\u51fd\u6570\u4e0d\u53ef\u884c\u7684\u573a\u666f\u4e2d\u5c24\u5176\u6709\u4ef7\u503c\u3002\u4f8b\u5982\uff0c\u6700\u5927\u71b5\u9006\u5f3a\u5316\u5b66\u4e60\uff08MaxEnt IRL\uff09\u5df2\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5b66\u4e60\u80fd\u591f\u6355\u6349\u4e13\u5bb6\u884c\u4e3a\u6f5c\u5728\u610f\u56fe\u7684\u5956\u52b1\u51fd\u6570\uff0c\u4ece\u800c\u4f7f\u667a\u80fd\u4f53\u80fd\u591f\u5728\u89c4\u5212\u4efb\u52a1\u4e2d\u590d\u5236\u7ec6\u81f4\u5165\u5fae\u3001\u7c7b\u4f3c\u4eba\u7c7b\u7684\u51b3\u7b56\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1IRL\u975e\u5e38\u6709\u7528\uff0c\u4f46\u73b0\u6709\u7684\u9ad8\u6548IRL\u7b97\u6cd5\u901a\u5e38\u9488\u5bf9\u7ed3\u6784\u5316\u548c\u7f51\u683c\u72b6\u73af\u5883\u8fdb\u884c\u5b9a\u5236\uff0c\u8fd9\u9650\u5236\u4e86\u5b83\u4eec\u5728\u66f4\u590d\u6742\u9886\u57df\u4e2d\u7684\u7075\u6d3b\u6027\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e00\u5c40\u9650\u6027\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684<strong>\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u6846\u67b6<\/strong>\uff08query-centric framework\uff09\uff0c\u8be5\u6846\u67b6\u589e\u5f3a\u4e86MaxEnt IRL\u5728\u6211\u4eec\u57fa\u4e8e\u5956\u52b1\u7684\u610f\u56fe\u63a8\u7406\u5668\u4e2d\u7684\u9002\u7528\u6027\u548c\u7075\u6d3b\u6027\u3002\u901a\u8fc7\u5229\u7528\u8fd9\u4e00\u8303\u5f0f\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u63d0\u4f9b\u4e86\u6709\u4ef7\u503c\u7684\u5956\u52b1\u542f\u53d1\u5f0f\u4fe1\u606f\uff0c\u80fd\u591f\u6709\u6548\u63a8\u7406\u672a\u6765\u884c\u4e3a\u7684\u610f\u56fe\uff0c\u4e3a\u89e3\u51b3\u8fd0\u52a8\u9884\u6d4b\u4efb\u52a1\u56fa\u6709\u7684\u590d\u6742\u6027\u63d0\u4f9b\u4e86\u4fe1\u606f\u4e30\u5bcc\u7684\u5148\u9a8c\u3002<\/p>\n\n\n\n<p><strong>\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>\u95ee\u9898\u5b9a\u4e49<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"234\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/072801.png\" alt=\"\" class=\"wp-image-31354\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072801.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072801-300x105.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u6846\u67b6\u6982\u8ff0<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\uff0c\u6211\u4eec\u7684\u8fd0\u52a8\u9884\u6d4b\u65b9\u6cd5\u91c7\u7528\u4e86\u4e00\u79cd\u7f16\u7801\u5668-\u89e3\u7801\u5668\u7ed3\u6784\uff0c\u8be5\u7ed3\u6784\u5305\u542b\u4e00\u4e2a\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u573a\u666f\u4e0a\u4e0b\u6587\u7f16\u7801\u5668\u3001\u4e00\u4e2a\u7531Mamba\u589e\u5f3a\u7684\u5206\u5c42\u8f68\u8ff9\u89e3\u7801\u5668\uff0c\u4ee5\u53ca\u4e00\u4e2a\u5956\u52b1\u9a71\u52a8\u7684\u610f\u56fe\u63a8\u7406\u5668\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"704\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-426-1024x704.png\" alt=\"\" class=\"wp-image-31355\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-426-1024x704.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-426-300x206.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-426-768x528.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-426.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u9996\u5148\u4ee5\u5411\u91cf\u5316\u683c\u5f0f\u8868\u793a\u9a7e\u9a76\u4e0a\u4e0b\u6587\uff0c\u5e76\u5229\u7528\u53c2\u4e0e\u8005\u548c\u5730\u56fe\u7f16\u7801\u5668\u63d0\u53d6\u573a\u666f\u7279\u5f81\u3002\u7136\u540e\uff0c\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u5c06\u8fd9\u4e9b\u878d\u5408\u540e\u7684\u7279\u5f81\u805a\u5408\u5230\u7a7a\u95f4\u7f51\u683ctoken\u4e2d\u3002\u63a5\u7740\uff0c\u5728QIRL\u6a21\u5757\u4e2d\uff0c\u5229\u7528\u4e00\u79cd\u57fa\u4e8e\u7f51\u683c\u7684MaxEnt IRL\u7b97\u6cd5\u63a8\u65ad\u5956\u52b1\u5206\u5e03\uff0c\u4ece\u800c\u901a\u8fc7\u7b56\u7565rollout\u57282D\u7f51\u683c\u5730\u56fe\u4e0a\u63a8\u7406\u51fa\u591a\u79cd\u53ef\u80fd\u7684\u610f\u56fe\u5e8f\u5217\uff08\u5373GRTs\uff09\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u7528\u4e8e\u65f6\u7a7a\u5360\u7528\u7f51\u683c\u56fe\uff08S-T OGM\uff09\u7684\u5bc6\u96c6\u9884\u6d4b\u5934\uff0c\u4ee5\u5efa\u6a21\u53c2\u4e0e\u8005\u4e4b\u95f4\u7684\u672a\u6765\u4ea4\u4e92\u3002\u6700\u540e\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u5206\u5c42\u7684DETR-like\u8f68\u8ff9\u89e3\u7801\u5668\uff0c\u8be5\u89e3\u7801\u5668\u751f\u6210\u8f68\u8ff9\u63d0\u8bae\uff0c\u8fd9\u4e9b\u63d0\u8bae\u7ecf\u8fc7\u8fdb\u4e00\u6b65\u7684\u805a\u7c7b\u548c\u4f18\u5316\uff0c\u6700\u7ec8\u751f\u6210\u7531Bi-Mamba\u67b6\u6784\u589e\u5f3a\u7684\u591a\u6a21\u6001\u672a\u6765\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u4e0a\u4e0b\u6587\u7f16\u7801<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"278\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/072802.png\" alt=\"\" class=\"wp-image-31356\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072802.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072802-300x124.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>\u5956\u52b1\u9a71\u52a8\u7684\u610f\u56fe\u63a8\u7406<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"643\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/072803.png\" alt=\"\" class=\"wp-image-31357\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072803.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072803-300x287.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>Mamba\u589e\u5f3a\u7684\u8f68\u8ff9\u89e3\u7801<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"464\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/072804.png\" alt=\"\" class=\"wp-image-31358\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072804.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072804-300x207.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"838\" height=\"914\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-427.png\" alt=\"\" class=\"wp-image-31359\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-427.png 838w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-427-275x300.png 275w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-427-768x838.png 768w\" sizes=\"(max-width: 838px) 100vw, 838px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"271\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/072805.png\" alt=\"\" class=\"wp-image-31360\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072805.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072805-300x121.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"318\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/072806.png\" alt=\"\" class=\"wp-image-31361\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072806.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/072806-300x142.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u6570\u636e\u96c6\uff08Datasets\uff1aArgoverse 1\u3001Argoverse 2\u548cnuScenes\u3002<\/p>\n\n\n\n<p><strong>\u4e0eSOTA\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728Argoverse 1\u3001Argoverse 2\u548cnuScenes\u8fd0\u52a8\u9884\u6d4b\u6570\u636e\u96c6\u4e0a\uff0c\u5bf9\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u5168\u9762\u7684\u6bd4\u8f83\u3002\u4e3a\u7b80\u6d01\u8d77\u89c1\uff0c\u6211\u4eec\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u7b80\u79f0\u4e3a<strong>FiM<\/strong>\uff08Foresight in Motion\uff09\u3002<\/p>\n\n\n\n<p><strong>Argoverse 1<\/strong>\u3002\u88681\u5c55\u793a\u4e86\u5728Argoverse 1\u6d4b\u8bd5\u96c6\u4e0a\u7684\u5b9a\u91cf\u7ed3\u679c\u3002\u6211\u4eec\u5c06\u6211\u4eec\u7684FiM\u4e0e\u5728\u6b64\u5177\u6709\u6311\u6218\u6027\u7684\u57fa\u51c6\u4e0a\u8bc4\u4f30\u7684\u51e0\u4e2a\u4ee3\u8868\u6027\u5df2\u53d1\u8868\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u6839\u636e\u5355\u6a21\u578b\u7ed3\u679c\uff08\u4e0a\u534a\u90e8\u5206\uff09\uff0cFiM\u76f8\u8f83\u4e8e\u5f3a\u5927\u7684\u57fa\u7ebf\u65b9\u6cd5\uff08\u5305\u62ec\u76f4\u63a5\u8f68\u8ff9\u9884\u6d4b\u6a21\u578b\u5982HiVT\u548cSceneTransformer\uff0c\u4ee5\u53ca\u57fa\u4e8e\u76ee\u6807\u7684\u6a21\u578b\u5982DSP\u548cDenseTNT\uff09\u90fd\u53d6\u5f97\u4e86\u6781\u5177\u7ade\u4e89\u529b\u7684\u6027\u80fd\u3002FiM\u5728Brier\u5206\u6570\u3001brier-minFDE6\u548cMR6\u65b9\u9762\u8868\u73b0\u5c24\u4e3a\u51fa\u8272\uff0c\u7a81\u663e\u4e86\u5176\u5f3a\u5927\u7684\u9884\u6d4b\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"336\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-428-1024x336.png\" alt=\"\" class=\"wp-image-31362\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-428-1024x336.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-428-300x98.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-428-768x252.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-428.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u8fd8\u5e94\u7528\u4e86\u6a21\u578b\u96c6\u6210\u6280\u672f\u6765\u8fdb\u4e00\u6b65\u63d0\u5347\u6574\u4f53\u6027\u80fd\u3002\u96c6\u6210\u7ed3\u679c\uff08\u4e0b\u534a\u90e8\u5206\uff09\u663e\u793a\u51fa\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\uff0c\u8868\u660e\u4e86\u6211\u4eec\u6240\u63d0\u51fa\u6846\u67b6\u7684\u5de8\u5927\u6f5c\u529b\u548c\u4e0a\u9650\u80fd\u529b\u3002\u4e0eHPNet\u548cWayformer\u7b49\u5176\u4ed6\u9886\u5148\u7684\u5df2\u53d1\u8868\u65b9\u6cd5\u76f8\u6bd4\uff0cFiM\u5728\u5404\u9879\u8bc4\u4f30\u6307\u6807\u4e0a\u5747\u4fdd\u6301\u4e86\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd\uff0c\u5c24\u5176\u662f\u5728Brier\u5206\u6570\u4e0a\u8868\u73b0\u7a81\u51fa\u3002\u8fd9\u4e00\u7ed3\u679c\u5f3a\u8c03\u4e86\u6211\u4eec\u901a\u8fc7\u63a8\u7406\u589e\u5f3a\u7684\u9884\u6d4b\u5668\u80fd\u591f\u6709\u6548\u5730\u751f\u6210\u66f4\u53ef\u9760\u3001\u66f4\u81ea\u4fe1\u7684\u9884\u6d4b\u3002<\/p>\n\n\n\n<p><strong>Argoverse 2<\/strong>\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u6211\u4eec\u610f\u56fe\u63a8\u7406\u7b56\u7565\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u57fa\u4e8eArgoverse 2\u7684\u9a8c\u8bc1\u96c6\u6784\u5efa\u4e86\u4e00\u4e2a\u5b9a\u5236\u7684\u8bc4\u4f30\u57fa\u51c6\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4efb\u52a1\u8981\u6c42\u9884\u6d4b\u524d30\u4e2a\u672a\u6765\u4f4d\u7f6e\uff0c\u800c\u5728\u8bad\u7ec3\u671f\u95f4\uff0c\u6a21\u578b\u53ef\u4ee5\u5c06\u540e\u7eed\u768430\u4e2a\u4f4d\u7f6e<strong>\u4e13\u95e8<\/strong>\u7528\u4f5c\u8f85\u52a9\u7684\u610f\u56fe\u76d1\u7763\u4fe1\u53f7\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6240\u6709\u6a21\u578b\u5728\u8bad\u7ec3\u8f68\u8ff9\u751f\u6210\u65f6\uff0c\u5176\u76d1\u7763\u4fe1\u53f7\u90fd\u4e25\u683c\u9650\u5b9a\u5728\u524d30\u4e2a\u672a\u6765\u4f4d\u7f6e\u3002\u8fd9\u79cd\u8bbe\u7f6e\u6a21\u62df\u4e86\u5b9e\u9645\u5e94\u7528\u4e2d\u957f\u671f\u8def\u5f84\u53ef\u7528\u4e8e\u610f\u56fe\u5b66\u4e60\u7684\u573a\u666f\u3002\u9274\u4e8e\u6211\u4eec\u63d0\u51fa\u7684QIRL\u6a21\u5757\u5bf9\u76d1\u7763\u683c\u5f0f\uff08\u65e0\u8bba\u662f\u8f68\u8ff9\u8fd8\u662f\u8def\u5f84\uff09\u662f\u65e0\u611f\u7684\uff0c\u6211\u4eec\u5f00\u53d1\u4e86\u4e09\u4e2a\u6a21\u578b\u53d8\u4f53\uff0c\u5b83\u4eec\u5728GRT\u8bad\u7ec3\u4e2d\u5f15\u5165\u4e86\u4e0d\u540c\u65f6\u95f4\u8303\u56f4\u7684\u672a\u6765\u76d1\u7763\u3002\u8fd9\u4e9b\u53d8\u4f53\u5206\u522b\u8bb0\u4e3aGRT-S\u3001GRT-M\u548cGRT-L\uff0c\u5bf9\u5e94\u7684\u63a8\u7406\u6a21\u5757\u5206\u522b\u4f7f\u752830\u300145\u548c60\u4e2a\u672a\u6765\u65f6\u95f4\u6233\u8fdb\u884c\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u5c06\u6211\u4eec\u7684FiM\u4e0eArgoverse 2\u6392\u884c\u699c\u4e0a\u8868\u73b0\u6700\u597d\u7684\u4e24\u4e2a\u5f00\u6e90\u6a21\u578bDeMo\u548cQCNet\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u5982\u88682\u6240\u793a\uff0c\u6240\u6709FiM\u53d8\u4f53\u90fd\u8d85\u8d8a\u4e86\u8fd9\u4e24\u4e2a\u5f3a\u5927\u7684\u57fa\u7ebf\u6a21\u578b\uff0c\u8bc1\u660e\u4e86\u610f\u56fe\u63a8\u7406\u6a21\u5757\u5e26\u6765\u7684\u663e\u8457\u589e\u76ca\u3002\u6b64\u5916\uff0c\u7ed3\u679c\u8fdb\u4e00\u6b65\u8868\u660e\uff0c\u66f4\u957f\u671f\u7684\u610f\u56fe\u76d1\u7763\u80fd\u663e\u8457\u589e\u5f3a\u9884\u6d4b\u7f6e\u4fe1\u5ea6\uff0c\u4ece\u800c\u4fc3\u8fdb\u66f4\u53ef\u9760\u7684\u8f68\u8ff9\u9884\u6d4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"268\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-429-1024x268.png\" alt=\"\" class=\"wp-image-31363\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-429-1024x268.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-429-300x79.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-429-768x201.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-429.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>nuScenes<\/strong>\u3002\u6211\u4eec\u8fd8\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u4e86FiM\uff0c\u7ed3\u679c\u5982\u88683\u6240\u793a\u3002\u6211\u4eec\u7684\u6a21\u578b\u5728\u6b64\u9884\u6d4b\u57fa\u51c6\u4e0a\u8868\u73b0\u51fa\u9876\u7ea7\u6027\u80fd\uff0c\u8d85\u8d8a\u4e86\u6392\u884c\u699c\u4e0a\u6240\u6709\u5f53\u524d\u7684\u6761\u76ee\uff0c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u6211\u4eec\u6240\u63d0\u51fa\u6846\u67b6\u5728\u5e94\u5bf9\u590d\u6742\u8fd0\u52a8\u9884\u6d4b\u6311\u6218\u65b9\u9762\u7684\u9c81\u68d2\u6027\u548c\u5148\u8fdb\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728Argoverse\u9a8c\u8bc1\u96c6\u4e0a\u8fdb\u884c\u4e86\u6df1\u5165\u7684\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u8bc4\u4f30\u6211\u4eec\u65b9\u6cd5\u4e2d\u5173\u952e\u7ec4\u4ef6\u7684\u6709\u6548\u6027\uff0c\u6240\u6709\u5b9e\u9a8c\u8bbe\u7f6e\u4fdd\u6301\u4e00\u81f4\u4ee5\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\u3002<\/p>\n\n\n\n<p><strong>\u5956\u52b1\u542f\u53d1\u5f0f\u7684\u6548\u679c\uff08Effects of Reward Heuristics\uff09<\/strong>\u3002\u6211\u4eec\u9996\u5148\u901a\u8fc7\u4ece\u6d41\u7a0b\u4e2d\u79fb\u9664\u63a8\u7406\u5206\u652f\u6765\u68c0\u9a8c\u5956\u52b1\u9a71\u52a8\u610f\u56fe\u63a8\u7406\u5668\u7684\u6709\u6548\u6027\u3002\u5982\u88684\u6240\u793a\uff0c\u4e0e\u6211\u4eec\u7684\u5b8c\u6574\u6a21\u578b\u76f8\u6bd4\uff0c\u57fa\u7840\u67b6\u6784\uff08Vanilla\uff09\u7684\u6027\u80fd\u663e\u8457\u4e0b\u964d\uff0c\u8fd9\u7a81\u663e\u4e86\u63a8\u7406\u8fc7\u7a0b\u5bf9\u6574\u4f53\u6027\u80fd\u7684\u5173\u952e\u8d21\u732e\u3002\u6b64\u5916\uff0c\u6211\u4eec\u901a\u8fc7\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u5757\u66ff\u6362QIRL\u6a21\u5757\u6765\u63a2\u7a76\u5176\u7279\u5b9a\u5f71\u54cd\u3002\u88684\u7684\u7ed3\u679c\u663e\u793a\uff0c\u6211\u4eec\u7684QIRL\u6a21\u5757\u8fdc\u4f18\u4e8e\u8fd9\u79cd\u66ff\u4ee3\u65b9\u6848\uff0c\u8bc1\u660e\u4e86QIRL\u80fd\u591f\u6709\u6548\u6536\u96c6\u5173\u952e\u7684\u610f\u56fe\u5148\u9a8c\uff0c\u5e76\u4e3a\u540e\u7eed\u7684\u8fd0\u52a8\u9884\u6d4b\u63d0\u4f9b\u6709\u76ca\u7684\u6307\u5bfc\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"912\" height=\"630\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-430.png\" alt=\"\" class=\"wp-image-31364\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-430.png 912w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-430-300x207.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-430-768x531.png 768w\" sizes=\"(max-width: 912px) 100vw, 912px\" \/><\/figure>\n\n\n\n<p><strong>OGM\u4e0e\u4f18\u5316\u6a21\u5757\u7684\u6548\u679c\uff08Effects of the OGM &amp; Refinement\uff09<\/strong>\u3002\u6211\u4eec\u8fdb\u4e00\u6b65\u901a\u8fc7\u5206\u522b\u6d88\u878d\u8f85\u52a9\u7684\u65f6\u7a7a\u5360\u7528\u7f51\u683c\u56fe\uff08S-T OGM\uff09\u6a21\u5757\u548c\u4f18\u5316\u6a21\u5757\u6765\u8bc4\u4f30\u5176\u5f71\u54cd\uff0c\u5982\u88685\u6240\u793a\u3002\u8fd9\u4e24\u4e2a\u6a21\u5757\u90fd\u5bf9\u6700\u7ec8\u6027\u80fd\u505a\u51fa\u4e86\u663e\u8457\u8d21\u732e\u3002\u7279\u522b\u662f\uff0cOGM\u5e26\u6765\u7684\u6027\u80fd\u63d0\u5347\u8bc1\u5b9e\u4e86\u5efa\u6a21\u672a\u6765\u4ea4\u4e92\u80fd\u591f\u589e\u5f3a\u9884\u6d4b\u8d28\u91cf\uff0c\u7a81\u663e\u4e86\u610f\u56fe\u63a8\u7406\u5bf9\u4e8e\u6539\u8fdb\u8f68\u8ff9\u9884\u6d4b\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"930\" height=\"960\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-431.png\" alt=\"\" class=\"wp-image-31365\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-431.png 930w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-431-291x300.png 291w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-431-768x793.png 768w\" sizes=\"(max-width: 930px) 100vw, 930px\" \/><\/figure>\n\n\n\n<p><strong>Mamba\u89e3\u7801\u5668\u7ec4\u4ef6\u7684\u6548\u679c\uff08Effects of Components in Mamba-Based Decoder\uff09<\/strong>\u3002\u6211\u4eec\u5bf9\u5404\u79cd\u89e3\u7801\u5668\u7ec4\u4ef6\u8fdb\u884c\u4e86\u6d88\u878d\u5206\u6790\uff0c\u4ee5\u68c0\u9a8cMamba-like\u7ed3\u6784\u76f8\u5bf9\u4e8e\u4f20\u7edf\u65b9\u6cd5\u7684\u4f18\u52bf\u3002\u6b64\u5206\u6790\u6709\u52a9\u4e8e\u786e\u5b9a\u8be5\u8bbe\u8ba1\u662f\u5426\u4e3a\u8f68\u8ff9\u89e3\u7801\u5e26\u6765\u4e86\u6709\u610f\u4e49\u7684\u7279\u5f81\u63d0\u53d6\u589e\u5f3a\uff0c\u8fd8\u662f\u6784\u6210\u4e86\u8fc7\u5ea6\u8bbe\u8ba1\u3002\u88686\u7684\u7ed3\u679c\u7a81\u663e\u4e86\u8fd9\u4e00\u8bbe\u8ba1\u7684\u4f18\u52bf\u3002\u4e0e\u4f7f\u7528MLP\u4f5c\u4e3a\u56de\u5f52\u548c\u5206\u7c7b\u5934\u76f8\u6bd4\uff0cBi-Mamba\u67b6\u6784\u548c\u4e0d\u540c\u6a21\u6001\u95f4\u7684\u81ea\u6ce8\u610f\u529b\u673a\u5236\u90fd\u663e\u8457\u63d0\u5347\u4e86\u9884\u6d4b\u6027\u80fd\u548c\u7f6e\u4fe1\u5ea6\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7814\u7a76\u4e86\u4e3a\u5206\u7c7b\u63d0\u51fa\u7684\u53cc\u6a21\u6001token\u7684\u6548\u679c\uff0c\u5e76\u5c06\u5176\u4e0e\u4e00\u4e2a\u4f7f\u7528\u5355\u4e2a\u6a21\u6001token\u6765\u805a\u5408\u8f68\u8ff9\u67e5\u8be2\u7279\u5f81\u7684\u5355\u5411Mamba\u6a21\u578b\u8fdb\u884c\u6bd4\u8f83\u3002\u5982\u88687\u6240\u793a\uff0cBi-Mamba\u6a21\u578b\u8868\u73b0\u66f4\u4f18\uff0c\u5f97\u76ca\u4e8e\u5176\u524d\u5411-\u540e\u5411\u626b\u63cf\u673a\u5236\uff0c\u8be5\u673a\u5236\u80fd\u6709\u6548\u5730\u5c06\u8f68\u8ff9\u7279\u5f81\u878d\u5408\u5230\u4e24\u4e2a\u5206\u7c7b\uff08CLS\uff09token\u4e2d\uff0c\u9a8c\u8bc1\u4e86\u8be5\u8bbe\u8ba1\u7684\u597d\u5904\u3002\u6211\u4eec\u8fd8\u8003\u5bdf\u4e86\u4e0d\u540cMamba\u5c42\u6570\u6df1\u5ea6\u7684\u5f71\u54cd\uff0c\u5982\u88688\u6240\u793a\u3002\u7ed3\u679c\u8868\u660e\uff0c\u66f4\u6df1\u7684\u5c42\u6570\u53ef\u80fd\u4f1a\u5f15\u5165\u4e0d\u5fc5\u8981\u7684\u8ba1\u7b97\u5f00\u9500\uff0c\u5e76\u4e14\u7531\u4e8e\u8fc7\u62df\u5408\u4e5f\u53ef\u80fd\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\uff0c\u8fd9\u51f8\u663e\u4e86\u9009\u62e9\u6700\u4f18\u5c42\u6570\u914d\u7f6e\u4ee5\u5b9e\u73b0\u5f3a\u5927\u6027\u80fd\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9a\u6027\u7ed3\u679c<\/strong><\/h3>\n\n\n\n<p>\u6211\u4eec\u5728Argoverse\u9a8c\u8bc1\u96c6\u7684\u591a\u79cd\u4ea4\u901a\u573a\u666f\u4e2d\u5c55\u793a\u4e86\u6211\u4eec\u6240\u63d0\u51fa\u65b9\u6cd5\u7684\u53ef\u89c6\u5316\u7ed3\u679c\uff0c\u5982\u56fe4\u6240\u793a\u3002\u8fd9\u4e9b\u5b9a\u6027\u7ed3\u679c\u5f3a\u8c03\u4e86\u6211\u4eec\u7684\u6a21\u578b\u5728\u5404\u79cd\u6761\u4ef6\u4e0b\uff08\u5305\u62ec\u590d\u6742\u8def\u53e3\u548c\u957f\u8ddd\u79bb\u9884\u6d4b\u573a\u666f\uff09\u751f\u6210\u51c6\u786e\u3001\u53ef\u884c\u4e14\u591a\u6a21\u6001\u7684\u672a\u6765\u8f68\u8ff9\u7684\u5f3a\u5927\u80fd\u529b\uff0c\u8fd9\u4e9b\u8f68\u8ff9\u4e0e\u573a\u666f\u5e03\u5c40\u4fdd\u6301\u4e86\u826f\u597d\u7684\u5bf9\u9f50\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"581\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-432-1024x581.png\" alt=\"\" class=\"wp-image-31366\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-432-1024x581.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-432-300x170.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-432-768x436.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-432.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u4ece\u89c4\u5212\u7684\u89c6\u89d2\u91cd\u65b0\u6784\u60f3\u4e86\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u201c\u5148\u63a8\u7406\uff0c\u540e\u9884\u6d4b\u201d\u7684\u7b56\u7565\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u4e14\u53ef\u89e3\u91ca\u7684\u5956\u52b1\u9a71\u52a8\u610f\u56fe\u63a8\u7406\u5668\uff0c\u8be5\u63a8\u7406\u5668\u8bbe\u8ba1\u4e8e\u4e00\u4e2a\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u9006\u5f3a\u5316\u5b66\u4e60\uff08QIRL\uff09\u6846\u67b6\u4e4b\u5185\u3002\u8be5\u6846\u67b6\u901a\u8fc7\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u6d41\u7a0b\uff0c\u5c06\u6700\u5927\u71b5\u9006\u5f3a\u5316\u5b66\u4e60\uff08MaxEnt IRL\uff09\u8303\u5f0f\u4e0e\u5411\u91cf\u5316\u4e0a\u4e0b\u6587\u8868\u793a\u76f8\u7ed3\u5408\uff0c\u4ece\u800c\u4e3a\u540e\u7eed\u7684\u8f68\u8ff9\u751f\u6210\u6709\u6548\u5730\u63d0\u4f9b\u4e86\u4fe1\u606f\u4e30\u5bcc\u7684\u610f\u56fe\u5148\u9a8c\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u96c6\u6210\u4e86<strong>\u53cc\u5411\u9009\u62e9\u6027\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff08Bi-Mamba\uff09<\/strong>\u7684\u5206\u5c42DETR-like\u8f68\u8ff9\u89e3\u7801\u5668\u3002\u8be5\u89e3\u7801\u5668\u80fd\u591f\u6355\u6349\u8f68\u8ff9\u72b6\u6001\u7684\u5e8f\u5217\u4f9d\u8d56\u5173\u7cfb\uff0c\u663e\u8457\u63d0\u5347\u4e86\u9884\u6d4b\u7684\u51c6\u786e\u6027\u548c\u7f6e\u4fe1\u5ea6\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684\u63a8\u7406\u589e\u5f3a\u578b\u9884\u6d4b\u5668\u5177\u5907\u5f3a\u5927\u7684\u80fd\u529b\uff0c\u80fd\u591f\u751f\u6210\u4e0e\u573a\u666f\u5e03\u5c40\u9ad8\u5ea6\u543b\u5408\u7684\u3001\u81ea\u4fe1\u4e14\u53ef\u9760\u7684\u672a\u6765\u8f68\u8ff9\uff0c\u5e76\u5728\u6027\u80fd\u4e0a\u8fbe\u5230\u4e86\u4e0e\u73b0\u6709\u6700\u5148\u8fdb\u6a21\u578b\u76f8\u5f53\u751a\u81f3\u66f4\u4f18\u7684\u6c34\u5e73\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u5de5\u4f5c\u5f3a\u8c03\u4e86\u610f\u56fe\u63a8\u7406\u5728\u8fd0\u52a8\u9884\u6d4b\u4e2d\u7684\u5173\u952e\u4f5c\u7528\uff0c\u8bc1\u5b9e\u4e86\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u8303\u5f0f\u5728\u5efa\u6a21\u9a7e\u9a76\u884c\u4e3a\u65b9\u9762\u7684\u53ef\u884c\u6027\uff0c\u5e76\u4e3a\u672a\u6765\u5728\u8f68\u8ff9\u9884\u6d4b\u9886\u57df\u7684\u7814\u7a76\u5efa\u7acb\u4e86\u4e00\u4e2a\u6781\u5177\u524d\u666f\u7684\u57fa\u7ebf\u6a21\u578b\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-31352","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\/31352"}],"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=31352"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31352\/revisions"}],"predecessor-version":[{"id":31367,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31352\/revisions\/31367"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=31352"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=31352"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=31352"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}