{"id":31538,"date":"2025-08-05T17:32:28","date_gmt":"2025-08-05T09:32:28","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31538"},"modified":"2025-08-05T17:32:28","modified_gmt":"2025-08-05T09:32:28","slug":"2025-08-05-%e9%9d%a2%e5%90%91%e9%87%8f%e4%ba%a7vla%e6%96%b9%e6%a1%88%ef%bc%81fastdrivevla%ef%bc%9a%e5%8d%b3%e6%8f%92%e5%8d%b3%e7%94%a8%e5%89%aa%e6%9e%9d%e6%a8%a1%e5%9d%97%ef%bc%8c%e6%8e%a8%e7%90%86","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/05\/31538\/","title":{"rendered":"2025-08-05 \u9762\u5411\u91cf\u4ea7VLA\u65b9\u6848\uff01FastDriveVLA\uff1a\u5373\u63d2\u5373\u7528\u526a\u679d\u6a21\u5757\uff0c\u63a8\u7406\u52a0\u901f\u8fd14\u500d\uff08\u5317\u5927&amp;\u5c0f\u9e4f\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/1xdmSfRAAsIhHK4GAXdHOg\">https:\/\/mp.weixin.qq.com\/s\/1xdmSfRAAsIhHK4GAXdHOg<\/a><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u8fdb\u5c55\u795e\u901f\uff0c\u5404\u5bb6\u4e5f\u90fd\u5728\u5982\u706b\u5982\u837c\u7684\u5ba3\u4f20\u81ea\u5bb6\u7684\u7aef\u5230\u7aef\u65b9\u6848\u3002\u4e0e\u4f20\u7edf\u6a21\u5757\u5316\u65b9\u6848\uff08\u611f\u77e5\u2192\u9884\u6d4b\u2192\u89c4\u5212\uff09\u4e0d\u540c\uff0c\u7aef\u5230\u7aef\u65b9\u6cd5\u5728\u540c\u4e00\u4e2a\u6a21\u578b\u4e2d\u5b8c\u6210\u5168\u90e8\u611f\u77e5\u5230\u89c4\u5212\u7684\u8fc7\u7a0b\uff0c\u6709\u6548\u51cf\u5c11\u4e86\u4e0d\u540c\u6a21\u5757\u4e4b\u95f4\u7684\u4fe1\u606f\u635f\u5931\uff0c\u4e5f\u4ece\u67d0\u79cd\u89d2\u5ea6\u7b80\u5316\u4e86\u7cfb\u7edf\u67b6\u6784\u3002\u4f46\u662f\u6280\u672f\u7684\u8fdb\u6b65\u4e0d\u6b62\u4e8e\u6b64\uff0c\u968f\u7740\u89c6\u89c9-\u8bed\u8a00\u5927\u6a21\u578b\uff08VLM\uff09\u5728\u89c6\u89c9\u95ee\u7b54\u4efb\u52a1\u4e2d\u5c55\u73b0\u51fa\u4ee4\u4eba\u79f0\u5947\u7684\u63a8\u7406\u80fd\u529b\uff0c\u5f88\u591a\u7814\u7a76\u4eba\u5458\u53ca\u7b97\u6cd5\u56e2\u961f\u5f00\u59cb\u5c06\u5176\u6269\u5c55\u81f3\u5177\u8eab\u667a\u80fd\u548c\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u901a\u8fc7\u5f15\u5165\u52a8\u4f5c\u751f\u6210\u529f\u80fd\uff0c\u5f62\u6210\u4e86\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u3002\u76f8\u8f83\u4f20\u7edf\u6a21\u5757\u5316\u65b9\u6848\uff0cVLA \u6a21\u578b\u5728\u590d\u6742\u573a\u666f\u7406\u89e3\u4e0e\u51b3\u7b56\u65b9\u9762\u8868\u73b0\u66f4\u4f18\uff0c\u5df2\u7ecf\u88ab\u8d8a\u6765\u8d8a\u591a\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u91c7\u7528\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/www.arxiv.org\/pdf\/2507.23318<\/li>\n<\/ul>\n\n\n\n<p>\u4e0d\u8fc7\uff0cVLM\/VLA \u6a21\u578b\u901a\u5e38\u5c06\u8f93\u5165\u56fe\u50cf\u7f16\u7801\u4e3a\u5927\u91cf\u89c6\u89c9\uff0c\u4f1a\u5e26\u6765\u9ad8\u6602\u7684\u8ba1\u7b97\u5f00\u9500\u4e0e\u63a8\u7406\u5ef6\u8fdf\uff0c\u5728\u8f66\u8f7d\u82af\u7247\u4e0a\u5b9e\u9645\u90e8\u7f72\u65f6\u6709\u7740\u8f83\u9ad8\u7684\u65f6\u5ef6\u538b\u529b\u3002\u4e3a\u7f13\u89e3\u8fd9\u4e00\u95ee\u9898\uff0c\u73b0\u6709\u7814\u7a76\u4e3b\u8981\u4ece\u4e24\u4e2a\u65b9\u5411\u8fdb\u884c\u89c6\u89c9 token \u526a\u679d\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6ce8\u610f\u529b\u673a\u5236\u5bfc\u5411\u65b9\u6cd5<\/strong><br>\u4f9d\u636e\u6587\u672c token \u4e0e\u89c6\u89c9 token \u4e4b\u95f4\u7684\u6ce8\u610f\u529b\u6743\u91cd\u8fdb\u884c\u7b5b\u9009\u3002\u4f46\u662f\u56e0\u4e3a\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u6587\u672c\u6307\u4ee4\u5f80\u5f80\u56fa\u5b9a\u4e14\u7b80\u77ed\uff0c\u63d0\u4f9b\u7684\u76d1\u7763\u4fe1\u606f\u6709\u9650\uff0c\u5bfc\u81f4\u526a\u679d\u6548\u679c\u4e0d\u4f73\u3002<\/li>\n\n\n\n<li><strong>\u76f8\u4f3c\u5ea6\u5bfc\u5411\u65b9\u6cd5<\/strong><br>\u901a\u8fc7\u5ea6\u91cf\u89c6\u89c9 token \u95f4\u7684\u5197\u4f59\u5ea6\u8fdb\u884c\u53bb\u91cd\u3002\u9a7e\u9a76\u573a\u666f\u901a\u5e38\u5305\u542b\u660e\u786e\u7684\u524d\u666f\u533a\u57df\uff08\u8f66\u9053\u3001\u8f66\u8f86\u3001\u884c\u4eba\u7b49\uff09\uff0c\u6b64\u7c7b\u65b9\u6cd5\u6613\u8bef\u5220\u5173\u952e\u524d\u666f token \u800c\u4fdd\u7559\u65e0\u5173\u80cc\u666f token\uff0c\u96be\u4ee5\u6ee1\u8db3\u4efb\u52a1\u9700\u6c42\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u9488\u5bf9\u4e0a\u8ff0\u7684\u5c40\u9650\u6027 (\u53c2\u8003\u56fe 1)\uff0c\u4f5c\u8005\u63d0\u51fa&nbsp;<strong>FastDriveVLA<\/strong>\u2014\u2014\u4e00\u79cd\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684<strong>\u91cd\u5efa\u5f0f\u89c6\u89c9 token \u526a\u679d\u6846\u67b6<\/strong>\u3002\u5176\u6838\u5fc3\u601d\u60f3\u6765\u6e90\u4e8e\u4eba\u7c7b\u9a7e\u9a76\u884c\u4e3a\uff1a\u9a7e\u9a76\u5458\u4e3b\u8981\u5173\u6ce8\u4e0e\u51b3\u7b56\u76f4\u63a5\u76f8\u5173\u7684\u524d\u666f\u533a\u57df\uff0c\u80cc\u666f\u533a\u57df\u51e0\u4e4e\u5bf9\u9a7e\u9a76\u51b3\u7b56\u6ca1\u4ec0\u4e48\u5f71\u54cd\u3002\u56e0\u6b64\uff0c\u4fdd\u7559\u7f16\u7801\u524d\u666f\u4fe1\u606f\u7684 token \u5373\u53ef\u5728\u4fdd\u8bc1\u6027\u80fd\u7684\u540c\u65f6\u663e\u8457\u964d\u4f4e\u8ba1\u7b97\u6210\u672c\u3002<\/p>\n\n\n\n<p>FastDriveVLA \u5305\u542b\u4e00\u4e2a<strong>\u5373\u63d2\u5373\u7528\u7684\u526a\u679d\u5668 ReconPruner<\/strong>\uff0c\u901a\u8fc7 MAE \u98ce\u683c\u7684\u50cf\u7d20\u91cd\u5efa\u4efb\u52a1\u8fdb\u884c\u8bad\u7ec3\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u805a\u7126\u4e8e\u524d\u666f\u533a\u57df\u5e76\u4e3a\u5305\u542b\u5173\u952e\u4fe1\u606f\u7684 token \u8d4b\u4e88\u66f4\u9ad8\u663e\u8457\u6027\u5206\u6570\u3002\u4e3a\u9632\u6b62\u6a21\u578b\u9677\u5165\u201c\u6240\u6709 token \u90fd\u9ad8\u5206\u201d\u7684\u9000\u5316\u89e3\uff0c\u4f5c\u8005\u8fdb\u4e00\u6b65\u5f15\u5165<strong>\u5bf9\u6297\u5f0f\u524d\u666f-\u80cc\u666f\u91cd\u5efa\u7b56\u7565<\/strong>\uff1a\u5728\u5229\u7528\u9ad8\u5206 token \u91cd\u5efa\u524d\u666f\u7684\u540c\u65f6\uff0c\u5f3a\u5236\u4f4e\u5206 token \u91cd\u5efa\u80cc\u666f\uff0c\u4ece\u800c\u589e\u5f3a\u6a21\u578b\u5bf9\u524d\u666f\u4e0e\u80cc\u666f\u7684\u533a\u5206\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u8bad\u7ec3\u5b8c\u6210\u540e\uff0cReconPruner \u53ef\u76f4\u63a5\u5d4c\u5165\u4efb\u4f55\u5171\u4eab\u76f8\u540c\u89c6\u89c9\u7f16\u7801\u5668\u7684 VLA \u6a21\u578b\uff0c\u65e0\u9700\u91cd\u65b0\u8bad\u7ec3\u3002\u4e3a\u652f\u6301 ReconPruner \u7684\u8bad\u7ec3\uff0c\u4f5c\u8005\u6784\u5efa\u4e86\u5927\u89c4\u6a21\u6570\u636e\u96c6&nbsp;<strong>nuScenes-FG<\/strong>\uff0c\u57fa\u4e8e nuScenes \u5e76\u4f7f\u7528 GroundedSAM \u8fdb\u884c\u524d\u666f\u5206\u5272\u6807\u6ce8\uff0c\u5171\u8ba1 24.1 \u4e07\u5f20\u56fe\u50cf-mask \u5bf9\uff0c\u6db5\u76d6\u516d\u4e2a\u8f66\u8f7d\u6444\u50cf\u5934\u89c6\u89d2\u3002<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u770b\uff0c\u672c\u6587\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u91cd\u5efa\u5f0f\u89c6\u89c9 token \u526a\u679d\u6846\u67b6 FastDriveVLA\uff1b<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u5373\u63d2\u5373\u7528\u526a\u679d\u5668 ReconPruner\uff0c\u5e76\u5f15\u5165\u5bf9\u6297\u5f0f\u524d\u666f-\u80cc\u666f\u91cd\u5efa\u7b56\u7565\uff1b<\/li>\n\n\n\n<li>\u6784\u5efa\u5e76\u53d1\u5e03 nuScenes-FG \u6570\u636e\u96c6\uff0c\u63d0\u4f9b\u7ec6\u7c92\u5ea6\u524d\u666f\u5206\u5272\u6807\u6ce8\uff1b<\/li>\n\n\n\n<li>\u5728 nuScenes \u95ed\u73af\u89c4\u5212\u57fa\u51c6\u4e0a\u53d6\u5f97 SOTA \u7ed3\u679c\uff0c\u9a8c\u8bc1\u65b9\u6cd5\u6709\u6548\u6027\u4e0e\u5b9e\u7528\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"325\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-1024x325.png\" alt=\"\" class=\"wp-image-31539\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-1024x325.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-300x95.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-768x244.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong><\/p>\n\n\n\n<p>\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u9075\u5faa\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u7684\u5206\u6a21\u5757 pipeline\u3002\u4e0e\u4e4b\u76f8\u6bd4\uff0c\u7aef\u5230\u7aef\u65b9\u6cd5\u5c1d\u8bd5\u5728\u5355\u4e00\u7f51\u7edc\u4e2d\u76f4\u63a5\u5b66\u4e60\u4ece\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u5230\u63a7\u5236\u6307\u4ee4\u7684\u6620\u5c04\u3002\u65e9\u671f PilotNet \u7528\u5377\u79ef\u7f51\u7edc\u8bc1\u660e\u4e86\u8fd9\u4e00\u601d\u8def\u7684\u53ef\u884c\u6027\uff0c\u4f46\u968f\u540e\u7684\u884c\u4e3a\u514b\u9686\u65b9\u6cd5\u906d\u9047\u4e86\u56e0\u679c\u6df7\u6dc6\u4e0e\u534f\u53d8\u91cf\u504f\u79fb\u7b49\u96be\u9898\u3002\u4e3a\u7f13\u89e3\u4e0a\u8ff0\u95ee\u9898\uff0c\u540e\u7eed\u7814\u7a76\u5f15\u5165\u9ad8\u5c42\u5bfc\u822a\u6307\u4ee4\u4f5c\u4e3a\u6761\u4ef6\uff08CIL\uff09\uff0c\u6216\u91c7\u7528 Transformer \u67b6\u6784\u878d\u5408\u591a\u6a21\u6001\u4f20\u611f\u5668\u4fe1\u606f\uff08TransFuser\uff09\u3002\u8fd1\u671f\uff0cSOLVE\u3001OpenDriveVLA \u7b49\u5de5\u4f5c\u8fdb\u4e00\u6b65\u7ed3\u5408\u5927\u6a21\u578b\uff0c\u5728\u590d\u6742\u573a\u666f\u4e0b\u540c\u65f6\u63d0\u5347\u6027\u80fd\u4e0e\u53ef\u89e3\u91ca\u6027\u3002<\/p>\n\n\n\n<p><strong>\u9a7e\u9a76\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u5927\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u7684\u5174\u8d77\u50ac\u5316\u884d\u751f\u4e86 VLA \u6a21\u578b\uff0c\u5176\u76ee\u6807\u662f\u901a\u8fc7\u81ea\u7136\u8bed\u8a00\u589e\u5f3a\u8f66\u8f86\u7684\u63a8\u7406\u80fd\u529b\u4e0e\u957f\u5c3e\u573a\u666f\u5904\u7406\u80fd\u529b\u3002DriveGPT4 \u7387\u5148\u5c06 LLM \u7528\u4e8e\u8fd0\u52a8\u89c4\u5212\u4e0e\u8f66\u8f86\u63a7\u5236\uff1b\u968f\u540e\uff0cOpenDriveVLA\u3001Impromptu VLA \u7b49\u5f00\u6e90\u65b9\u6848\u5c55\u793a\u4e86\u5982\u4f55\u5728\u5927\u89c4\u6a21\u6570\u636e\u4e0a\u8bad\u7ec3\u53ef\u76f4\u63a5\u8f93\u51fa\u7ec6\u7c92\u5ea6\u63a7\u5236\u91cf\u7684 VLA \u6a21\u578b\u3002\u4e3a\u652f\u6301\u8fd9\u7c7b\u6570\u636e\u9a71\u52a8\u65b9\u6cd5\uff0cOmniDrive \u7b49\u6570\u636e\u96c6\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u89c6\u89c9-\u8bed\u8a00\u6807\u6ce8\u53ca\u53cd\u4e8b\u5b9e\u573a\u666f\uff0c\u52a9\u529b\u6a21\u578b\u7406\u89e3\u590d\u6742\u9a7e\u9a76\u73af\u5883\u3002<\/p>\n\n\n\n<p><strong>\u89c6\u89c9 Token \u526a\u679d<\/strong><\/p>\n\n\n\n<p>\u73b0\u6709 VLM\/VLA \u6a21\u578b\u5c06\u56fe\u50cf\u7f16\u7801\u4e3a\u5927\u91cf\u89c6\u89c9 token\uff0c\u5bfc\u81f4\u9ad8\u6602\u8ba1\u7b97\u5f00\u9500\u3002\u8fd1\u671f\u7814\u7a76\u63a2\u7d22\u4e86\u65e0\u9700\u91cd\u8bad\u7684\u5373\u63d2\u5373\u7528\u526a\u679d\u7b56\u7565\uff0c\u5927\u81f4\u5206\u4e3a\u4e24\u7c7b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6ce8\u610f\u529b\u673a\u5236\u6cd5<\/strong>\uff08FastV\u3001SparseVLM\uff09\uff1a\u5229\u7528\u6587\u672c token \u5bf9\u89c6\u89c9 token \u7684\u6ce8\u610f\u529b\u6253\u5206\u8fdb\u884c\u7b5b\u9009\u3002\u7136\u800c\uff0c\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u6587\u672c\u63d0\u793a\u901a\u5e38\u7b80\u77ed\u4e14\u56fa\u5b9a\uff0c\u96be\u4ee5\u63d0\u4f9b\u8db3\u591f\u6307\u5bfc\uff0c\u526a\u679d\u6548\u679c\u53d7\u9650\u3002<\/li>\n\n\n\n<li><strong>\u76f8\u4f3c\u5ea6\u6cd5<\/strong>\uff08VisPruner\u3001DivPrune\uff09\uff1a\u901a\u8fc7\u5ea6\u91cf token \u95f4\u5197\u4f59\u5ea6\u8fdb\u884c\u591a\u6837\u6027\u91c7\u6837\u3002\u4f46\u9a7e\u9a76\u573a\u666f\u524d\u666f\u533a\u57df\u660e\u786e\uff0c\u6b64\u7c7b\u65b9\u6cd5\u6613\u8bef\u7559\u80cc\u666f token\uff0c\u5f71\u54cd\u4efb\u52a1\u6027\u80fd\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e0e\u4e0a\u8ff0\u65b9\u6cd5\u4e0d\u540c\uff0c\u672c\u6587\u63d0\u51fa\u7684&nbsp;<strong>\u91cd\u5efa\u5f0f\u526a\u679d<\/strong>&nbsp;\u4ee5\u201c\u80fd\u5426\u91cd\u5efa\u5173\u952e\u524d\u666f\u201d\u4f5c\u4e3a token \u91cd\u8981\u6027\u5224\u636e\uff0c\u66f4\u5951\u5408\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u7279\u6027\uff0c\u4e14\u65e0\u9700\u4f9d\u8d56\u6587\u672c\u6216\u7b80\u5355\u76f8\u4f3c\u5ea6\u5ea6\u91cf\u3002<\/p>\n\n\n\n<p><strong>\u65b9\u6cd5\u8bba<\/strong><\/p>\n\n\n\n<p><strong>nuScenes-FG \u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u53d7\u4eba\u7c7b\u9a7e\u9a76\u884c\u4e3a\u7684\u542f\u53d1\uff0c\u4f5c\u8005\u9996\u5148\u5c06\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684&nbsp;<strong>\u201c\u524d\u666f\u201d<\/strong>&nbsp;\u5b9a\u4e49\u4e3a\u5305\u542b\u4eba\u3001\u9053\u8def\u3001\u8f66\u8f86\u3001\u4ea4\u901a\u6807\u5fd7\uff08\u542b\u4ea4\u901a\u706f\uff09\u4ee5\u53ca\u4ea4\u901a\u969c\u788d\u7269\uff08\u4f4d\u4e8e\u9053\u8def\u6216\u8def\u4fa7\u3001\u53ef\u80fd\u5f71\u54cd\u9a7e\u9a76\u7684\u7269\u4f53\uff09\u7684\u533a\u57df\uff1b\u5176\u4f59\u533a\u57df\u2014\u2014\u5982\u5efa\u7b51\u7269\u3001\u5929\u7a7a\u3001\u8def\u8fb9\u6811\u6728\u2014\u2014\u5219\u88ab\u89c6\u4e3a&nbsp;<strong>\u80cc\u666f<\/strong>\uff0c\u5373\u4fbf\u88ab\u5b8c\u5168\u906e\u6321\uff0c\u4e5f\u51e0\u4e4e\u4e0d\u5f71\u54cd\u4eba\u7c7b\u9a7e\u9a76\u51b3\u7b56\u3002<\/p>\n\n\n\n<p>nuScenes \u539f\u59cb\u6570\u636e\u96c6\u4e3a\u4eba\u4e0e\u8f66\u8f86\u63d0\u4f9b\u4e86 3D \u8fb9\u754c\u6846\u6807\u6ce8\uff0c\u4f46\u7531\u4e8e\u8f74\u5bf9\u9f50\u7684\u8fb9\u754c\u672c\u8eab\u8f83\u4e3a\u7c97\u7cd9\uff0c\u4e0d\u53ef\u907f\u514d\u5730\u4f1a\u5f15\u5165\u5927\u91cf\u65e0\u5173\u80cc\u666f\u3002\u867d\u7136\u540e\u7eed\u53d1\u5e03\u7684\u5730\u56fe\u6269\u5c55\u5305\u5305\u542b 11 \u4e2a\u8bed\u4e49\u6807\u6ce8\uff0c\u4f46\u4ecd\u65e0\u6cd5\u5168\u9762\u8986\u76d6\u6240\u6709\u76f8\u5173\u533a\u57df\u3002\u4e3a\u6b64\uff0c\u4f5c\u8005\u4f7f\u7528 Grounded-SAM \u5bf9\u6574\u4e2a nuScenes \u573a\u666f\u8fdb\u884c\u4e00\u81f4\u4e14\u7cbe\u7ec6\u7684\u524d\u666f\u5206\u5272\uff0c\u6700\u7ec8\u5f97\u5230 nuScenes-FG \u6570\u636e\u96c6\u3002\u8be5\u6570\u636e\u96c6\u5171\u5305\u542b 24.1 \u4e07\u5f20\u56fe\u50cf-\u63a9\u7801\u5bf9\uff0c\u8986\u76d6\u516d\u4e2a\u8f66\u8f7d\u6444\u50cf\u5934\u89c6\u89d2\uff0c\u793a\u4f8b\u89c1\u56fe 2\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"742\" height=\"749\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-1.png\" alt=\"\" class=\"wp-image-31540\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-1.png 742w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-1-297x300.png 297w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-1-150x150.png 150w\" sizes=\"(max-width: 742px) 100vw, 742px\" \/><\/figure>\n\n\n\n<p><strong>ReconPruner\uff1a\u57fa\u4e8e\u91cd\u5efa\u7684\u526a\u679d\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"662\" height=\"175\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/080501.png\" alt=\"\" class=\"wp-image-31541\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080501.png 662w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080501-300x79.png 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"876\" height=\"713\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-2.png\" alt=\"\" class=\"wp-image-31542\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-2.png 876w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-2-300x244.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-2-768x625.png 768w\" sizes=\"(max-width: 876px) 100vw, 876px\" \/><\/figure>\n\n\n\n<p><strong>\u524d\u5411\u6d41\u7a0b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"191\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/080502.png\" alt=\"\" class=\"wp-image-31543\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080502.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080502-300x85.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>MAE-\u98ce\u683c\u524d\u666f\u91cd\u5efa<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u4f7f ReconPruner \u80fd\u591f\u51c6\u786e\u8bc6\u522b\u5e76\u4fdd\u7559\u5305\u542b\u5173\u952e\u524d\u666f\u4fe1\u606f\u7684\u89c6\u89c9 token\uff0c\u4f5c\u8005\u501f\u9274\u63a9\u7801\u56fe\u50cf\u5efa\u6a21\uff08MIM\uff09\u65b9\u6cd5\uff0c\u8bbe\u8ba1 MAE-\u98ce\u683c\u7684\u50cf\u7d20\u91cd\u5efa\u7b56\u7565\u3002\u8bad\u7ec3\u65f6\uff0c\u4f9d\u636e ReconPruner \u9884\u6d4b\u7684\u663e\u8457\u6027\u5206\u6570\uff0c\u9009\u53d6\u5206\u6570\u6700\u9ad8\u7684\u5b50\u96c6\u89c6\u89c9 token\uff0c\u7528\u4e8e\u88ab\u906e\u6321\u524d\u666f\u533a\u57df\u7684\u91cd\u5efa\u3002\u8be5\u91cd\u5efa\u635f\u5931\u4f5c\u4e3a\u76d1\u7763\u4fe1\u53f7\uff0c\u4fc3\u4f7f ReconPruner \u4e3a\u771f\u6b63\u5bf9\u5e94\u524d\u666f\u5185\u5bb9\u7684 token \u8d4b\u4e88\u66f4\u9ad8\u7684\u663e\u8457\u6027\u5206\u6570\u3002<\/p>\n\n\n\n<p><strong>\u5bf9\u6297\u5f0f\u524d\u666f-\u80cc\u666f\u91cd\u5efa\u7b56\u7565<\/strong><\/p>\n\n\n\n<p><strong>Adversarial Foreground-Background Reconstruction Strategy<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"649\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/080503.png\" alt=\"\" class=\"wp-image-31544\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080503.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080503-300x290.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u635f\u5931<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"609\" height=\"183\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/080504-1.png\" alt=\"\" class=\"wp-image-31547\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080504-1.png 609w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080504-1-300x90.png 300w\" sizes=\"(max-width: 609px) 100vw, 609px\" \/><\/figure>\n\n\n\n<p><strong>\u63a8\u7406\u9636\u6bb5\u7684\u526a\u679d<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"189\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/080505.png\" alt=\"\" class=\"wp-image-31546\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080505.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/080505-300x85.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u53ca\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>\u6a21\u578b<\/strong><br>\u4f5c\u8005\u9009\u7528\u5f53\u524d\u6700\u5148\u8fdb\u7684\u7aef\u5230\u7aef VLA \u6a21\u578b Impromptu-VLA \u4f5c\u4e3a\u57fa\u7ebf\uff0c\u5176\u7ed3\u6784\u57fa\u4e8e Qwen2.5-VLs\u3002\u7531\u4e8e\u539f\u59cb\u8bad\u7ec3\u51bb\u7ed3\u4e86\u89c6\u89c9\u7f16\u7801\u5668\uff0c\u56e0\u6b64\u5176\u53c2\u6570\u4e0e Qwen2.5-VL \u5b8c\u5168\u4e00\u81f4\u3002\u91cd\u5efa\u4efb\u52a1\u672c\u8eab\u662f\u975e\u56e0\u679c\u7684\uff0c\u6240\u4ee5\u4f5c\u8005\u5728 ReconPruner \u53ca\u91cd\u5efa\u89e3\u7801\u5668\u4e2d\u5747\u5c06\u56e0\u679c\u6ce8\u610f\u529b\u66ff\u6362\u4e3a\u5168\u6ce8\u610f\u529b\u3002<\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u4e0e\u8bc4\u6d4b\u6307\u6807<\/strong><br>\u5728 nuScenes \u4e0a\u8fdb\u884c\u8bc4\u4f30\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b 1 000 \u6bb5\u57ce\u5e02\u9a7e\u9a76\u573a\u666f\uff0c\u6bcf\u6bb5\u7ea6 20 \u79d2\u3002\u6309\u7167 Impromptu-VLA \u7684\u5b98\u65b9\u8bc4\u6d4b\u534f\u8bae\uff0c\u5171\u4f7f\u7528 6 019 \u6761\u6d4b\u8bd5\u6837\u672c\u3002\u6cbf\u7528\u5148\u524d\u5de5\u4f5c\uff0c\u4f5c\u8005\u91c7\u7528\u4e09\u9879\u5f00\u73af\u89c4\u5212\u6307\u6807\uff1a\u8f68\u8ff9\u9884\u6d4b\u7684 L2 \u8bef\u5dee\u3001\u78b0\u649e\u7387\u3001\u4e0e\u9053\u8def\u8fb9\u754c\u7684\u4ea4\u53c9\u53e3\u7387<\/p>\n\n\n\n<p><strong>\u57fa\u7ebf\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6ce8\u610f\u529b\u7c7b\uff1aFastV\u3001SparseVLM<\/li>\n\n\n\n<li>\u76f8\u4f3c\u5ea6\u7c7b\uff1aVisPruner\u3001DivPrune<\/li>\n<\/ul>\n\n\n\n<p><strong>\u8bad\u7ec3\u914d\u7f6e<\/strong><br>FastDriveVLA \u4ee5 2e-5 \u7684\u5b66\u4e60\u7387\u3001\u4f59\u5f26\u8c03\u5ea6\u5668\u8bad\u7ec3 10 \u4e2a epoch\uff0c\u6574\u4e2a\u8fc7\u7a0b\u5728 2 \u5f20 H800 GPU \u4e0a\u4ec5\u9700 3 \u5c0f\u65f6\u3002<\/p>\n\n\n\n<p><strong>nuScenes \u8bc4\u6d4b\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u8f93\u5165\u56fe\u50cf\u5206\u8fa8\u7387 1596\u00d71596\uff0c\u5171 3249 \u4e2a\u89c6\u89c9 token\u3002\u4f5c\u8005\u8bc4\u4f30 25 %\u300150 %\u300175 % \u4e09\u79cd\u526a\u679d\u6bd4\u4f8b\uff1b\u7531\u4e8e\u9a7e\u9a76\u4efb\u52a1\u5bf9\u5b89\u5168\u6027\u8981\u6c42\u6781\u9ad8\uff0c\u6240\u4ee5\u5e76\u6ca1\u6709\u91c7\u7528\u66f4\u6fc0\u8fdb\u7684\u526a\u679d\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"606\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-3-1024x606.png\" alt=\"\" class=\"wp-image-31548\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-3-1024x606.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-3-300x178.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-3-768x454.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-3.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u57fa\u4e8e\u4e0a\u8ff0\u7684\u7ed3\u679c\u8868\u683c\uff0c\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728 25 % \u526a\u679d\u6bd4\u4f8b\u4e0b\uff0cFastDriveVLA \u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\uff0c\u4e14\u5728 L2 \u4e0e\u78b0\u649e\u7387\u4e0a<strong>\u8d85\u8fc7\u672a\u526a\u679d\u57fa\u7ebf<\/strong>\uff08\u5206\u522b\u63d0\u5347 0.1 % \u4e0e 1.0 %\uff09\u3002<\/li>\n\n\n\n<li>50 % \u526a\u679d\u6bd4\u4f8b\u4e0b\uff0c\u5404\u9879\u6307\u6807\u53d6\u5f97\u66f4\u5747\u8861\u7684\u8868\u73b0\uff0c\u63a8\u8350\u5b9e\u9645\u90e8\u7f72\u65f6\u91c7\u7528\u8be5\u6bd4\u4f8b\u3002<\/li>\n\n\n\n<li>75 % \u526a\u679d\u6bd4\u4f8b\u4e0b\uff0c\u7531\u4e8e\u78b0\u649e\u7387\u4e0e\u4ea4\u53c9\u53e3\u7387\u7edd\u5bf9\u503c\u8f83\u5c0f\uff0c\u53d7\u566a\u58f0\u5f71\u54cd\u51fa\u73b0\u8f7b\u5fae\u6ce2\u52a8\uff0c\u4f46 FastDriveVLA \u4ecd\u4fdd\u6301\u9886\u5148\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u8868 2 \u5206\u522b\u8003\u5bdf\u4e86\u50cf\u7d20\u91cd\u5efa\u4e0e\u5bf9\u6297\u5f0f\u524d\u666f-\u80cc\u666f\u91cd\u5efa\uff08AFBR\uff09\u7b56\u7565\u5bf9\u65b9\u6cd5\u6027\u80fd\u7684\u8d21\u732e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4ec5\u4f7f\u7528\u524d\u666f\u63a9\u7801\u9884\u6d4b<\/strong>\uff08\u53bb\u9664\u50cf\u7d20\u91cd\u5efa\uff09\u65f6\uff0c\u6240\u6709\u6307\u6807\u5747\u4e0b\u964d\u3002\u539f\u56e0\u5728\u4e8e\u63a9\u7801\u9884\u6d4b\u76ee\u6807\u4ec5\u533a\u5206\u524d\u666f\/\u80cc\u666f\uff0c\u65e0\u6cd5\u5bf9\u524d\u666f\u5185\u90e8\u7684\u590d\u6742\u5bf9\u8c61\u8d4b\u4e88\u5dee\u5f02\u5316\u6743\u91cd\u3002<\/li>\n\n\n\n<li><strong>\u4ec5\u4f7f\u7528\u524d\u666f\u50cf\u7d20\u91cd\u5efa<\/strong>\uff08\u53bb\u9664 AFBR \u7b56\u7565\uff09\u65f6\uff0c\u526a\u679d\u6027\u80fd\u663e\u8457\u6076\u5316\uff0c\u8bf4\u660e\u7f3a\u4e4f\u5bf9\u6297\u76d1\u7763\u65f6\uff0cReconPruner \u96be\u4ee5\u6709\u6548\u533a\u5206\u524d\u666f\u4e0e\u80cc\u666f\u5185\u5bb9\u3002<\/li>\n\n\n\n<li><strong>\u4e24\u8005\u7ed3\u5408<\/strong>\uff08\u50cf\u7d20\u91cd\u5efa + AFBR\uff09\u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u53d6\u5f97\u6700\u4f73\u7ed3\u679c\uff0c\u9a8c\u8bc1\u4e86\u4e8c\u8005\u7f3a\u4e00\u4e0d\u53ef\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"193\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-4-1024x193.png\" alt=\"\" class=\"wp-image-31549\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-4-1024x193.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-4-300x57.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-4-768x145.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-4.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u4e0e\u524d\u666f\u63a9\u7801\u526a\u679d\u7684\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u4ee5\u91cd\u5efa\u65b9\u5f0f\u5b9e\u73b0\u89c6\u89c9 token \u526a\u679d\uff0c\u4e00\u79cd\u76f4\u89c2\u7684\u601d\u8def\u662f\uff1a\u5c06\u524d\u666f\u63a9\u7801\u76f4\u63a5\u4e0b\u91c7\u6837\u5230\u89c6\u89c9 token \u7684\u7a7a\u95f4\u5206\u8fa8\u7387\uff0c\u5e76\u5728\u5bf9\u5e94\u4f4d\u7f6e\u8fdb\u884c token \u4fdd\u7559\u6216\u4e22\u5f03\u3002\u7136\u800c\uff0c\u8be5\u65b9\u6cd5\u9762\u4e34\u4e24\u5927\u6311\u6218\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u63a9\u7801\u4ec5\u63d0\u4f9b\u4e8c\u5143\u4fe1\u606f<\/strong>\uff0c\u65e0\u6cd5\u91cf\u5316\u5355\u4e2a\u89c6\u89c9 token \u7684\u663e\u8457\u6027\uff0c\u56e0\u800c\u65e0\u6cd5\u6309\u4efb\u610f\u6bd4\u4f8b\u7075\u6d3b\u6392\u5e8f\u4e0e\u526a\u679d\uff1b<\/li>\n\n\n\n<li><strong>\u7a7a\u95f4\u5bf9\u9f50\u8bef\u5dee<\/strong>\uff0c\u5df2\u6709\u7814\u7a76\uff08Darcet et al. 2023\uff09\u8868\u660e\uff0c\u89c6\u89c9\u7f16\u7801\u5668\u751f\u6210\u7684 token \u4f4d\u7f6e\u4e0e\u539f\u59cb\u56fe\u50cf\u5757\u4e4b\u95f4\u5e38\u5b58\u5728\u7a7a\u95f4\u9519\u4f4d\uff0c\u76f4\u63a5\u4f7f\u7528\u63a9\u7801\u4f1a\u5bfc\u81f4\u9519\u8bef\u526a\u679d\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e3a\u5bf9\u6bd4\u57fa\u4e8e\u524d\u666f\u63a9\u7801\u7684\u526a\u679d\u65b9\u6cd5\uff0c\u4f5c\u8005\u91c7\u7528\u6587\u672c\u6ce8\u610f\u529b\u4f30\u8ba1 token \u663e\u8457\u6027\uff0c\u5e76\u4f18\u5148\u4fdd\u7559\u4f4d\u4e8e\u524d\u666f\u63a9\u7801\u533a\u57df\u5185\u7684 token\uff1b\u540c\u65f6\u8bbe\u7f6e\u4ec5\u4f9d\u8d56\u6587\u672c\u6ce8\u610f\u529b\u7684\u57fa\u7ebf\u3002\u8868 3 \u7ed3\u679c\u663e\u793a\uff0c\u524d\u666f\u63a9\u7801\u6307\u5bfc\u7684\u526a\u679d\u663e\u8457\u4f18\u4e8e\u7eaf\u6587\u672c\u6ce8\u610f\u529b\u526a\u679d\uff0c\u8868\u660e\u524d\u666f\u89c6\u89c9 token \u66f4\u5177\u4fe1\u606f\u91cf\u3002\u7136\u800c\uff0c\u8be5\u65b9\u6cd5\u4ecd\u4e0d\u53ca FastDriveVLA\uff0c\u4e14\u4f7f\u7528 Grounded-SAM \u751f\u6210\u5355\u5f20\u56fe\u50cf\u7684\u524d\u666f\u63a9\u7801\u8017\u65f6\u7ea6 3 \u79d2\uff0c\u5b9e\u65f6\u90e8\u7f72\u4ee3\u4ef7\u8fc7\u9ad8\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"186\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-5-1024x186.png\" alt=\"\" class=\"wp-image-31550\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-5-1024x186.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-5-300x54.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-5-768x139.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-5.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6548\u7387\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1 FastDriveVLA \u7684\u63a8\u7406\u6548\u7387\uff0c\u4f5c\u8005\u5bf9\u6bd4\u4e86\u4e0d\u540c\u526a\u679d\u65b9\u6cd5\u5728 FLOPs \u4e0e CUDA \u5ef6\u8fdf\u4e0a\u7684\u5dee\u5f02\u3002\u5982\u8868 4 \u6240\u793a\uff0c\u5f53\u89c6\u89c9 token \u6570\u91cf\u4ece 3249 \u6761\u51cf\u5c11\u81f3 812 \u6761\u65f6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>FLOPs<\/strong>\uff1aFastDriveVLA \u964d\u4f4e\u7ea6\u00a0<strong>7.5\u00d7<\/strong>\uff1b<\/li>\n\n\n\n<li><strong>Prefill \u5ef6\u8fdf<\/strong>\uff1a\u51cf\u5c11\u00a0<strong>3.7\u00d7<\/strong>\uff1b<\/li>\n\n\n\n<li><strong>Decode \u5ef6\u8fdf<\/strong>\uff1a\u51cf\u5c11\u00a0<strong>1.3\u00d7<\/strong>\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5c3d\u7ba1 ReconPruner \u5f15\u5165\u4e86\u5c11\u91cf\u53ef\u5b66\u4e60\u53c2\u6570\uff0c\u5bfc\u81f4 FLOPs \u7565\u9ad8\u4e8e\u90e8\u5206\u65e0\u53c2\u6570\u65b9\u6cd5\uff0c\u4f46\u5176\u8f7b\u91cf\u7ea7\u8bbe\u8ba1\u4ecd\u4f7f CUDA \u5ef6\u8fdf\u4f4e\u4e8e\u82e5\u5e72\u540c\u7c7b\u65b9\u6848\uff0c\u663e\u8457\u63d0\u5347\u4e86\u5b9e\u9645\u90e8\u7f72\u7684\u63a8\u7406\u6548\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"606\" height=\"294\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-6.png\" alt=\"\" class=\"wp-image-31551\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-6.png 606w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-6-300x146.png 300w\" sizes=\"(max-width: 606px) 100vw, 606px\" \/><\/figure>\n\n\n\n<p><strong>\u53ef\u89c6\u5316\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4e3a\u76f4\u89c2\u9a8c\u8bc1\u91cd\u5efa\u5f0f\u526a\u679d\u7684\u6709\u6548\u6027\uff0c\u4f5c\u8005\u5c55\u793a\u4e86\u524d\u666f\u4e0e\u80cc\u666f\u91cd\u5efa\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u3002\u5982\u56fe 4 \u6240\u793a\uff0cReconPruner \u80fd\u591f\u7cbe\u786e\u4fdd\u7559\u4e0e\u524d\u666f\u7269\u4f53\u76f8\u5173\u7684 token\uff0c\u5e76\u6e05\u6670\u533a\u5206\u80cc\u666f\u533a\u57df\uff0c\u5728\u663e\u8457\u964d\u4f4e token \u5197\u4f59\u7684\u540c\u65f6\uff0c\u4ecd\u80fd\u9ad8\u8d28\u91cf\u5730\u91cd\u5efa\u5173\u952e\u89c6\u89c9\u4fe1\u606f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"635\" height=\"586\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-7.png\" alt=\"\" class=\"wp-image-31552\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-7.png 635w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-7-300x277.png 300w\" sizes=\"(max-width: 635px) 100vw, 635px\" \/><\/figure>\n\n\n\n<p>\u8fdb\u4e00\u6b65\u5bf9\u6bd4\u4e0d\u540c\u526a\u679d\u65b9\u6cd5\u6240\u4fdd\u7559\u7684 token\uff08\u56fe 5\uff09\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>FastV<\/strong>\uff08\u6ce8\u610f\u529b\u6cd5\uff09\u5bb9\u6613\u9057\u6f0f\u8f66\u8f86\uff1b<\/li>\n\n\n\n<li><strong>DivPrune<\/strong>\uff08\u76f8\u4f3c\u5ea6\u6cd5\uff09\u4fdd\u7559\u4e86\u66f4\u591a\u5206\u6563 token\uff0c\u4f46\u5bf9\u8f66\u9053\u533a\u57df\u5173\u6ce8\u4e0d\u8db3\uff1b<\/li>\n\n\n\n<li><strong>FastDriveVLA<\/strong>\uff08\u672c\u6587\u65b9\u6cd5\uff09\u5219\u5b8c\u6574\u4fdd\u7559\u4e86\u8f66\u9053\u533a\u57df\uff0c\u5e76\u6709\u6548\u805a\u7126\u4e8e\u8f66\u8f86\u4e0e\u4ea4\u901a\u6807\u5fd7\uff0c\u9a8c\u8bc1\u4e86\u91cd\u5efa\u5f0f\u526a\u679d\u7684\u4f18\u8d8a\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"631\" height=\"609\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-8.png\" alt=\"\" class=\"wp-image-31553\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-8.png 631w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-8-300x290.png 300w\" sizes=\"(max-width: 631px) 100vw, 631px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684<strong>\u91cd\u5efa\u5f0f\u89c6\u89c9 token \u526a\u679d\u6846\u67b6 FastDriveVLA<\/strong>\uff0c\u76f8\u6bd4\u4f20\u7edf\u7684\u6ce8\u610f\u529b\u5bfc\u5411\u4e0e\u76f8\u4f3c\u5ea6\u5bfc\u5411\u526a\u679d\u65b9\u6cd5\uff0c\u66f4\u9002\u7528\u4e8e\u5177\u6709\u660e\u786e\u524d\u666f\u533a\u57df\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u3002\u901a\u8fc7 MAE \u98ce\u683c\u7684\u50cf\u7d20\u91cd\u5efa\u4efb\u52a1\uff0c\u4f5c\u8005\u8bad\u7ec3\u51fa\u5373\u63d2\u5373\u7528\u7684 ReconPruner\uff0c\u5e76\u8fdb\u4e00\u6b65\u5f15\u5165<strong>\u5bf9\u6297\u5f0f\u524d\u666f\u2013\u80cc\u666f\u91cd\u5efa\u7b56\u7565<\/strong>\uff0c\u589e\u5f3a\u5176\u5bf9\u524d\u666f token \u7684\u8fa8\u8bc6\u80fd\u529b\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u6784\u5efa\u4e86\u5305\u542b 24.1 \u4e07\u5f20\u524d\u666f\u5206\u5272\u63a9\u7801\u7684\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u6570\u636e\u96c6 nuScenes-FG\uff0c\u53ef\u4e3a\u540e\u7eed\u7814\u7a76\u63d0\u4f9b\u901a\u7528\u57fa\u51c6\u3002\u603b\u4f53\u800c\u8a00\uff0c\u672c\u5de5\u4f5c\u4e0d\u4ec5\u4e3a VLA \u6a21\u578b\u7684\u9ad8\u6548\u63a8\u7406\u63d0\u4f9b\u4e86\u65b0\u7684\u526a\u679d\u8303\u5f0f\uff0c\u4e5f\u4e3a\u9762\u5411\u7279\u5b9a\u4efb\u52a1\u7684 token \u526a\u679d\u7b56\u7565\u63d0\u4f9b\u4e86\u501f\u9274\u610f\u4e49\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-31538","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31538"}],"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=31538"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31538\/revisions"}],"predecessor-version":[{"id":31554,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31538\/revisions\/31554"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=31538"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=31538"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=31538"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}