{"id":32025,"date":"2025-08-12T17:33:12","date_gmt":"2025-08-12T09:33:12","guid":{"rendered":"http:\/\/192.168.10.115\/?p=32025"},"modified":"2025-08-12T17:33:12","modified_gmt":"2025-08-12T09:33:12","slug":"2025-08-12-%e9%97%ad%e7%8e%af%e7%a2%b0%e6%92%9e%e7%8e%87%e7%88%86%e9%99%8d50%ef%bc%81distilldrive%ef%bc%9a%e5%bc%82%e6%9e%84%e5%a4%9a%e6%a8%a1%e6%80%81%e8%92%b8%e9%a6%8f%e7%ab%af%e5%88%b0%e7%ab%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/12\/32025\/","title":{"rendered":"2025-08-12 \u95ed\u73af\u78b0\u649e\u7387\u7206\u964d50%\uff01DistillDrive\uff1a\u5f02\u6784\u591a\u6a21\u6001\u84b8\u998f\u7aef\u5230\u7aef\u65b0\u65b9\u6848"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/XdcOvMQiDvXYXbQDcjBBhw\">https:\/\/mp.weixin.qq.com\/s\/XdcOvMQiDvXYXbQDcjBBhw<\/a><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8fd1\u5e74\u6765\u53d1\u5c55\u8fc5\u901f\uff0c\u5bf9\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u5747\u4ea7\u751f\u4e86\u6df1\u8fdc\u5f71\u54cd\u3002\u7136\u800c\u73b0\u6709\u5de5\u4f5c\u8fc7\u5ea6\u5173\u6ce8\u5c06\u81ea\u8f66\u72b6\u6001\uff08ego-vehicle status\uff09\u4f5c\u4e3a\u5176\u552f\u4e00\u7684\u5b66\u4e60\u76ee\u6807\uff0c\u7f3a\u4e4f\u9762\u5411\u89c4\u5212\u7684\u7406\u89e3\u80fd\u529b\uff0c\u8fd9\u9650\u5236\u4e86\u6574\u4f53\u51b3\u7b56\u8fc7\u7a0b\u7684\u9c81\u68d2\u6027\u3002\u4e3a\u6b64\u534e\u7406\u548cSenseAuto\u7684\u56e2\u961f\u63d0\u51fa\u4e86 DistillDrive\uff0c\u4e00\u79cd\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u5229\u7528\u591a\u6837\u5316\u7684\u5b9e\u4f8b\u6a21\u4eff\uff08diversified instance imitation\uff09\u6765\u589e\u5f3a\u591a\u6a21\u6001\u8fd0\u52a8\u7279\u5f81\u5b66\u4e60\u3002\u5177\u4f53\u800c\u8a00\uff0c\u91c7\u7528\u4e00\u79cd\u57fa\u4e8e\u7ed3\u6784\u5316\u573a\u666f\u8868\u793a\u7684\u89c4\u5212\u6a21\u578b\u4f5c\u4e3a\u6559\u5e08\u6a21\u578b\uff08teacher model\uff09\uff0c\u5229\u7528\u5176\u591a\u6837\u5316\u7684\u89c4\u5212\u5b9e\u4f8b\u4f5c\u4e3a\u7aef\u5230\u7aef\u6a21\u578b\u7684\u591a\u76ee\u6807\u5b66\u4e60\u76ee\u6807\u3002\u6b64\u5916\u5f15\u5165\u5f3a\u5316\u5b66\u4e60\uff08reinforcement learning\uff09\u6765\u4f18\u5316\u72b6\u6001\u5230\u51b3\u7b56\u7684\u6620\u5c04\u5173\u7cfb\uff0c\u540c\u65f6\u5229\u7528\u751f\u6210\u5f0f\u5efa\u6a21\uff08generative modeling\uff09\u6765\u6784\u5efa\u9762\u5411\u89c4\u5212\u7684\u5b9e\u4f8b\uff0c\u4fc3\u8fdb\u6f5c\u5728\u7a7a\u95f4\u5185\u7684\u590d\u6742\u4ea4\u4e92\u3002\u672c\u6587\u5728 nuScenes \u548c NAVSIM \u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\u4e86DistillDrive\u6a21\u578b\uff0c\u76f8\u8f83\u4e8e\u57fa\u7ebf\u6a21\u578b\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u4e8650%\u4e14\u95ed\u73af\u6027\u80fd\u63d0\u53473\u4e2a\u70b9\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2508.05402<\/li>\n\n\n\n<li>\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/YuruiAI\/DistillDrive<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"753\" height=\"177\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-6.png\" alt=\"\" class=\"wp-image-32026\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-6.png 753w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-6-300x71.png 300w\" sizes=\"(max-width: 753px) 100vw, 753px\" \/><\/figure>\n\n\n\n<p><strong>\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8fd1\u5e74\u6765\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u8fd9\u4e3b\u8981\u5f97\u76ca\u4e8e\u611f\u77e5\u6280\u672f\u548c\u6a21\u4eff\u5b66\u4e60\u7684\u8fdb\u6b65\u3002\u5982\u56fe1(b)\u6240\u793a\uff0c\u8be5\u65b9\u6cd5\u76f4\u63a5\u4ece\u590d\u6742\u7684\u4f20\u611f\u5668\u8f93\u5165\u5b66\u4e60\u5230\u6700\u7ec8\u7684\u89c4\u5212\u548c\u51b3\u7b56\uff0c\u6d88\u9664\u4e86\u4e2d\u95f4\u7684\u6570\u636e\u4f20\u9012\u548c\u76ee\u6807\u8868\u5f81\u8fc7\u7a0b\uff0c\u4ece\u800c\u663e\u8457\u51cf\u5c11\u4e86\u7ea7\u8054\u8bef\u5dee\u3002\u7136\u800c\u5728\u95ed\u73af\u5b9e\u9a8c\u4e2d\uff0c\u56fe1(a)\u4e2d\u611f\u77e5\u5206\u79bb\u7684\u89c4\u5212\u6a21\u578b\u8868\u73b0\u4f18\u4e8e\u7aef\u5230\u7aef\u6a21\u578b\uff0c\u8fd9\u5f97\u76ca\u4e8e\u5176\u5bf9\u6bd4\u5b66\u4e60\u548c\u4eff\u771f\u5b9e\u9a8c\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u5b83\u5728\u611f\u77e5\u548c\u89c4\u5212\u4e4b\u95f4\u9762\u4e34\u7740\u8026\u5408\u969c\u788d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1008\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-7.png\" alt=\"\" class=\"wp-image-32027\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-7.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-7-300x295.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-7-768x756.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-7-1016x1000.png 1016w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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Reinforcement Learning, IRL\uff09\u4ece\u4e13\u5bb6\u6f14\u793a\u4e2d\u63a8\u65ad\u6210\u672c\u51fd\u6570\uff0c\u4ece\u800c\u907f\u514d\u4e86\u624b\u52a8\u6307\u5b9a\u3002<\/p>\n\n\n\n<p>\u5728\u5b9e\u8df5\u4e2d\uff0c\u901a\u8fc7\u7ed3\u5408\u6a21\u4eff\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u6765\u5b9e\u73b0\u667a\u80fd\u4f53\u76ee\u6807\uff0c\u4f7f\u7528\u8f6f\u6f14\u5458-\u8bc4\u8bba\u5bb6\uff08Soft Actor-Critic\uff09\u65b9\u6cd5\u4ea4\u66ff\u8bad\u7ec3\u8bc4\u8bba\u5bb6\u548c\u6f14\u5458\u3002<\/p>\n\n\n\n<p>\u5728\u6211\u4eec\u7684\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u7ed3\u5408\u4e86Q\u5b66\u4e60\u548c\u9006\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\uff0c\u4ee5\u63d0\u5347\u6a21\u578b\u5bf9\u72b6\u6001\u5230\u51b3\u7b56\u7a7a\u95f4\u7684\u7406\u89e3\uff0c\u4ece\u800c\u589e\u5f3a\u5176\u5728\u5f00\u73af\u548c\u95ed\u73af\u573a\u666f\u4e0b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\uff0c\u6211\u4eec\u5229\u7528\u4e00\u79cd\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u89c4\u5212\u6a21\u578b\uff0c\u901a\u8fc7\u57fa\u4e8e\u89c4\u5212\u7684\u4fe1\u606f\u6765\u589e\u5f3a\u591a\u6a21\u6001\u7279\u5f81\u4ea4\u4e92\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"562\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-8-1024x562.png\" alt=\"\" class=\"wp-image-32028\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-8-1024x562.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-8-300x165.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-8-768x422.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-8.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e\u9006\u5f3a\u5316\u5b66\u4e60\u7684\u6559\u5e08\u6a21\u578b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"881\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081201.png\" alt=\"\" class=\"wp-image-32029\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081201.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081201-228x300.png 228w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"766\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081202.png\" alt=\"\" class=\"wp-image-32030\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081202.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081202-262x300.png 262w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>\u8fd0\u52a8\u5f15\u5bfc\u7684\u5b66\u751f\u6a21\u578b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"678\" height=\"187\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081203.png\" alt=\"\" class=\"wp-image-32031\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081203.png 678w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081203-300x83.png 300w\" sizes=\"(max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"751\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-9-1024x751.png\" alt=\"\" class=\"wp-image-32032\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-9-1024x751.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-9-300x220.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-9-768x563.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-9.png 1028w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"420\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081204.png\" alt=\"\" class=\"wp-image-32033\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081204.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081204-300x185.png 300w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n\n\n\n<p><strong>\u77e5\u8bc6\u84b8\u998f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"677\" height=\"652\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081205.png\" alt=\"\" class=\"wp-image-32034\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081205.png 677w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081205-300x289.png 300w\" sizes=\"(max-width: 677px) 100vw, 677px\" \/><\/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=\"677\" height=\"97\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081206.png\" alt=\"\" class=\"wp-image-32035\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081206.png 677w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081206-300x43.png 300w\" sizes=\"(max-width: 677px) 100vw, 677px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u4e0e\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u7aef\u5230\u7aef\u89c4\u5212\u6a21\u578b\u7684\u6027\u80fd\uff0c\u6211\u4eec\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5bf9\u6bd4\u548c\u6d88\u878d\u5b9e\u9a8c\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b\u4e86\u6765\u81ea\u6ce2\u58eb\u987f\u548c\u65b0\u52a0\u5761\u76841000\u4e2a\u9a7e\u9a76\u573a\u666f\uff0c\u6bcf\u4e2a\u573a\u666f\u6301\u7eed20\u79d2\uff0c\u4ee52Hz\u7684\u9891\u7387\u63d0\u4f9b\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u548c\u6807\u6ce8\u6570\u636e\u3002\u7136\u800c\uff0c\u5927\u591a\u6570\u573a\u666f\u6d89\u53ca\u5300\u901f\u8fd0\u52a8\uff0c\u4e14\u8be5\u6570\u636e\u96c6\u4e3b\u8981\u9488\u5bf9\u611f\u77e5\u4efb\u52a1\uff0c\u4f7f\u7528\u5f00\u73af\u8bc4\u4f30\u8fdb\u884c\u89c4\u5212\uff0c\u8fd9\u4f7f\u5176\u975e\u5e38\u9002\u5408\u6027\u80fd\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p>NAVSIM \u6570\u636e\u96c6\u7531 nuPlan\u7cbe\u7b80\u800c\u6765\uff0c\u4f7f\u7528\u516b\u4e2a\u6444\u50cf\u5934\u5b9e\u73b0360\u00b0\u8986\u76d6\uff0c\u5e76\u878d\u5408\u4e86\u6765\u81ea\u4e94\u4e2a\u4f20\u611f\u5668\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u4ee5\u589e\u5f3a\u611f\u77e5\u80fd\u529b\u3002\u8be5\u6570\u636e\u96c6\u4ee52Hz\u63d0\u4f9b\u9ad8\u8d28\u91cf\u7684\u6807\u6ce8\uff0c\u5305\u62ec\u9ad8\u7cbe\u5730\u56fe\u548c\u7269\u4f53\u8fb9\u754c\u6846\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u4efb\u52a1\u63d0\u4f9b\u4e86\u53ef\u9760\u7684\u6570\u636e\u3002\u6700\u540e\uff0c\u8be5\u6570\u636e\u96c6\u4e13\u6ce8\u4e8e\u7531\u9a7e\u9a76\u610f\u56fe\u52a8\u6001\u53d8\u5316\u9a71\u52a8\u7684\u590d\u6742\u573a\u666f\uff0c\u540c\u65f6\u6392\u9664\u4e86\u9759\u6b62\u6216\u5300\u901f\u884c\u9a76\u7b49\u7b80\u5355\u60c5\u51b5\uff0c\u4ee5\u66f4\u597d\u5730\u6a21\u62df\u590d\u6742\u4ea4\u901a\u73af\u5883\u4e2d\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"678\" height=\"281\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081207.png\" alt=\"\" class=\"wp-image-32036\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081207.png 678w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081207-300x124.png 300w\" sizes=\"(max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u679c\u4e0e\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>nuScenes \u6570\u636e\u96c6\u4e0a\u7684\u89c4\u5212\u6027\u80fd<\/strong>\u3002\u6211\u4eec\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\u4e86\u6240\u63d0\u51fa\u7684 DistillDrive \u7684\u89c4\u5212\u6027\u80fd\uff0c\u7ed3\u679c\u5982\u88681\u6240\u793a\u3002\u6559\u5e08\u6a21\u578b\u5728\u6240\u6709\u6a21\u578b\u4e2d\u8868\u73b0\u6700\u4f73\uff0c\u9a8c\u8bc1\u4e86\u5f3a\u5316\u5b66\u4e60\u5728\u72b6\u6001\u7a7a\u95f4\u4f18\u5316\u65b9\u9762\u7684\u6709\u6548\u6027\uff0c\u4f46\u5b83\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u9047\u5230\u4e86\u8026\u5408\u969c\u788d\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u77e5\u8bc6\u84b8\u998f\u65b9\u6848\u6765\u589e\u5f3a\u7aef\u5230\u7aef\u7684\u591a\u6a21\u6001\u89c4\u5212\u5b66\u4e60\uff0c\u5e76\u5728\u8868\u4e2d\u9a8c\u8bc1\u4e86\u6211\u4eec\u6a21\u578b\u7684\u6027\u80fd\u3002\u4e0e\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u548c\u57fa\u4e8e\u6444\u50cf\u5934\u7684\u6a21\u578b\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5747\u8868\u73b0\u51fa\u8272\uff0c\u76f8\u8f83\u4e8e SparseDrive\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u4e8650%\uff0cL2\u8bef\u5dee\u51cf\u5c11\u4e8610%\u3002\u8fd9\u8868\u660e\uff0c\u591a\u6837\u5316\u7684\u6a21\u4eff\u5b66\u4e60\u6709\u6548\u5730\u589e\u5f3a\u4e86\u4e0d\u540c\u6a21\u6001\u5b9e\u4f8b\u4e4b\u95f4\u7684\u533a\u5206\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"306\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-10-1024x306.png\" alt=\"\" class=\"wp-image-32037\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-10-1024x306.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-10-300x90.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-10-768x230.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-10.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>NAVSIM \u6570\u636e\u96c6\u4e0a\u7684\u89c4\u5212\u6027\u80fd<\/strong>\u3002\u88681\u4fa7\u91cd\u4e8e\u8bc4\u4f30\u6709\u9650\u7684\u5f00\u73af\u6027\u80fd\uff0c\u800c\u88682\u5219\u5229\u7528NAVSIM\u7684\u6570\u636e\u9a71\u52a8\u3001\u975e\u53cd\u5e94\u5f0f\u6a21\u62df\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u8bc4\u4f30\u3002\u7ed3\u679c\u663e\u793a\uff0c\u6559\u5e08\u6a21\u578b\u5728\u6027\u80fd\u4e0a\u8868\u73b0\u51fa\u8272\uff0c\u8bc1\u5b9e\u4e86\u5176\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u3002\u901a\u8fc7\u6709\u6548\u7684\u591a\u6a21\u6001\u5b9e\u4f8b\u6a21\u4eff\uff0c\u6211\u4eec\u7684\u7aef\u5230\u7aef\u5b66\u751f\u6a21\u578b\u5728PDMS\u6307\u6807\u4e0a\u6bd4Transfuser\u9ad8\u51fa2.5%\uff0c\u5728DAC\u548cEP\u4e0a\u4e5f\u6709\u663e\u8457\u63d0\u5347\u3002DistillDrive\u4e5f\u8d85\u8d8a\u4e86\u57fa\u4e8e\u89c4\u5219\u7684\u84b8\u998f\u65b9\u6cd5\uff0c\u5e76\u53d6\u5f97\u4e86\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002\u751a\u81f3\u5728NC\u548cTTC\u6307\u6807\u4e0a\uff0c\u5b83\u4e5f\u8d85\u8fc7\u4e86\u6559\u5e08\u6a21\u578b\uff0c\u8fd9\u8868\u660e\u591a\u6a21\u6001\u84b8\u998f\u4e0d\u4ec5\u80fd\u4f20\u9012\u6559\u5e08\u7684\u77e5\u8bc6\uff0c\u8fd8\u80fd\u5b9e\u73b0\u663e\u8457\u7684\u7a81\u7834\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"314\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-11-1024x314.png\" alt=\"\" class=\"wp-image-32038\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-11-1024x314.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-11-300x92.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-11-768x235.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-11.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>nuScenes \u6570\u636e\u96c6\u4e0a\u7684\u611f\u77e5\u6027\u80fd<\/strong>\u3002\u4e3a\u4e86\u8bc4\u4f30\u6211\u4eec\u7684\u89c4\u5212\u6a21\u578b\uff0c\u88683\u548c\u88684\u4f9d\u6b21\u9a8c\u8bc1\u4e86\u5176\u68c0\u6d4b\u3001\u8ddf\u8e2a\u548c\u5efa\u56fe\u6027\u80fd\u3002\u7531\u4e8e\u6ca1\u6709\u8bbe\u8ba1\u989d\u5916\u7684\u611f\u77e5\u6a21\u5757\uff0c\u6574\u4f53\u6027\u80fd\u4e0eSparseDrive\u76f8\u4f3c\u3002\u7136\u800c\uff0c\u6211\u4eec\u901a\u8fc7\u751f\u6210\u5f0f\u5efa\u6a21\u7684\u8d21\u732e\uff0c\u5728IDS\u7b49\u6307\u6807\u4e0a\u5b9e\u73b0\u4e86\u63d0\u5347\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"658\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-12-1024x658.png\" alt=\"\" class=\"wp-image-32039\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-12-1024x658.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-12-300x193.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-12-768x494.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-12.png 1070w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u53ef\u89c6\u5316<\/strong>\u3002\u56fe4\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u53ef\u89c6\u5316\u4e86\u89c4\u5212\u6a21\u578b\u5728\u4e09\u79cd\u573a\u666f\uff08\u53f3\u8f6c\u3001\u5de6\u8f6c\u3001\u76f4\u884c\uff09\u4e0b\u7684\u6027\u80fd\u3002\u53f3\u8f6c\u6848\u4f8b\u663e\u793a\u51fa\u66f4\u5927\u7684\u8f68\u8ff9\u591a\u6837\u6027\uff0c\u7a81\u663e\u4e86\u591a\u6a21\u6001\u5b9e\u4f8b\u84b8\u998f\u7684\u4f5c\u7528\u3002\u5728\u5de6\u8f6c\u6848\u4f8b\u4e2d\uff0c\u7531\u4e8e\u6709\u6548\u7684\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684\u72b6\u6001\u4f18\u5316\uff0c\u6211\u4eec\u7684\u6a21\u578b\u4ea7\u751f\u4e86\u66f4\u5e73\u6ed1\u3001\u66f4\u81ea\u7136\u7684\u8f68\u8ff9\u3002\u76f4\u884c\u6848\u4f8b\u5219\u663e\u793a\u51fa\u66f4\u4e30\u5bcc\u7684\u8f68\u8ff9\u5019\u9009\u96c6\uff0c\u5c55\u793a\u4e86\u589e\u5f3a\u7684\u89c4\u5212\u80fd\u529b\u3002\u5728\u56fe5\u4e2d\uff0c\u6211\u4eec\u9a8c\u8bc1\u4e86\u6a21\u578b\u5728NAVSIM\u6570\u636e\u96c6\u4e0a\u7684\u89c4\u5212\u6027\u80fd\u3002\u5728\u7b2c\u4e00\u4e2a\u6848\u4f8b\u4e2d\uff0c\u6211\u4eec\u7684\u6a21\u578b\u8f68\u8ff9\u4e0e\u4e13\u5bb6\u8f68\u8ff9\u9ad8\u5ea6\u543b\u5408\uff0c\u8868\u73b0\u51fa\u66f4\u597d\u7684\u5b8c\u6210\u5ea6\u3002\u5728\u7b2c\u4e8c\u4e2a\u6848\u4f8b\u4e2d\uff0c\u5f53Transfuser\u56e0\u5239\u8f66\u800c\u5931\u8d25\u65f6\uff0c\u6211\u4eec\u7684\u6a21\u578b\u6210\u529f\u5b8c\u6210\u4e86\u8d85\u8f66\uff0c\u6709\u6548\u5904\u7406\u4e86\u62e5\u5835\u60c5\u51b5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"574\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-13-1024x574.png\" alt=\"\" class=\"wp-image-32040\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-13-1024x574.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-13-300x168.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-13-768x430.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-13.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=\"935\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-14-935x1024.png\" alt=\"\" class=\"wp-image-32041\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-14-935x1024.png 935w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-14-274x300.png 274w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-14-768x841.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-14-913x1000.png 913w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-14.png 1030w\" sizes=\"(max-width: 935px) 100vw, 935px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"670\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-15-1024x670.png\" alt=\"\" class=\"wp-image-32042\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-15-1024x670.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-15-300x196.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-15-768x502.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-15.png 1046w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u5f3a\u5316\u5b66\u4e60\u4f18\u5316\u7684\u5f71\u54cd<\/strong>\u3002\u5728\u88685\u4e2d\uff0c\u6211\u4eec\u5e94\u7528\u5f3a\u5316\u5b66\u4e60\u6765\u7cbe\u70bc\u6a21\u578b\uff0c\u589e\u5f3a\u5176\u5bf9\u72b6\u6001\u548c\u51b3\u7b56\u7a7a\u95f4\u7684\u7406\u89e3\u3002\u6bd4\u8f83\u7b2c\u4e8c\u5230\u7b2c\u56db\u884c\u8868\u660e\uff0c\u9002\u5f53\u7684\u76d1\u7763\u548c\u5956\u52b1\u53ef\u4ee5\u589e\u5f3a\u8f68\u8ff9\u89c4\u5212\uff0c\u800c\u7b2c\u4e94\u884c\u7684\u52a8\u4f5c\u9009\u62e9\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u6027\u80fd\u3002\u6700\u540e\uff0c\u6240\u63d0\u51fa\u7684\u7ebf\u6027\u52a0\u6743\u5f3a\u5316\u5b66\u4e60\u52a8\u6001\u5730\u6574\u5408\u4e86\u5404\u79cd\u5956\u52b1\u503c\u3002\u8be5\u65b9\u6cd5\u5b9e\u73b0\u4e86\u78b0\u649e\u738720%\u7684\u964d\u4f4e\u548c\u5bf9\u9f50L2\u8bef\u5dee6%\u7684\u51cf\u5c11\uff0c\u8bc1\u660e\u4e86\u5176\u5728\u4f18\u5316\u89c4\u5212\u51c6\u786e\u6027\u548c\u5b89\u5168\u6027\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"482\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-16-1024x482.png\" alt=\"\" class=\"wp-image-32043\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-16-1024x482.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-16-300x141.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-16-768x362.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-16.png 1032w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-17-681x1024.png\" alt=\"\" class=\"wp-image-32044\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-17-681x1024.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-17-199x300.png 199w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-17-768x1156.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-17-665x1000.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-17.png 856w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"210\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081208.png\" alt=\"\" class=\"wp-image-32045\" 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