{"id":32090,"date":"2025-08-13T17:30:33","date_gmt":"2025-08-13T09:30:33","guid":{"rendered":"http:\/\/192.168.10.115\/?p=32090"},"modified":"2025-08-14T16:40:44","modified_gmt":"2025-08-14T08:40:44","slug":"2025-08-13-%e8%87%aa%e9%a9%bevla%e5%86%8d%e5%8d%87%e7%ba%a7%ef%bc%81%e5%8d%9a%e4%b8%96%e6%9c%80%e6%96%b0irl-vla%ef%bc%9a%e5%a5%96%e5%8a%b1%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e6%89%93%e9%80%a0","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/13\/32090\/","title":{"rendered":"2025-08-13 \u81ea\u9a7eVLA\u518d\u5347\u7ea7\uff01\u535a\u4e16\u6700\u65b0IRL-VLA\uff1a\u5956\u52b1\u4e16\u754c\u6a21\u578b\u6253\u9020\u5168\u65b0\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\u6846\u67b6"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1938894046367025120\">https:\/\/zhuanlan.zhihu.com\/p\/1938894046367025120<\/a><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76VLA\u6df1\u5165\u884c\u4e1a\u89c6\u91ce\u4ee5\u6765\uff0c\u4e00\u76f4\u9762\u4e34\u4e24\u4e2a\u5173\u952e\u7684\u95ee\u9898\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u73b0\u6709\u7684VLA\u67b6\u6784\u901a\u5e38\u57fa\u4e8e\u5f00\u73af\u8bbe\u7f6e\u4e2d\u7684\u6a21\u4eff\u5b66\u4e60\uff0c\u503e\u5411\u4e8e\u6355\u6349\u6570\u636e\u96c6\u4e2d\u7684\u8bb0\u5f55\u884c\u4e3a\uff0c\u6027\u80fd\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u6536\u5230\u4e86\u9650\u5236\uff1b<\/li>\n\n\n\n<li>\u95ed\u73af\u8bad\u7ec3\u4e25\u91cd\u4f9d\u8d56\u9ad8\u4fdd\u771f\u7684\u4f20\u611f\u5668\u4eff\u771f\uff0c\u4f46\u4eff\u771f\u73af\u5883\u548c\u771f\u5b9e\u73af\u5883\u7684domain gap\u548c\u8ba1\u7b97\u6548\u7387\u7684\u95ee\u9898\u963b\u788d\u4e86VLA\u7684\u6cdb\u5316\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u9488\u5bf9\u8fd9\u4e24\u4e2a\u95ee\u9898\uff0c\u535a\u4e16\u3001\u4e0a\u6d77\u5927\u5b66\u3001\u4e0a\u4ea4\u548c\u6e05\u534eAIR\u7684\u56e2\u961f\u63d0\u51fa\u4e86IRL-VLA\uff0c\u4e00\u4e2a\u5168\u65b0\u7684\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\uff0c\u901a\u8fc7\u9006\u5411\u5f3a\u5316\u5b66\u4e60\u5956\u52b1\u4e16\u754c\u6a21\u578b\u7ed3\u5408\u8bbe\u8ba1\u7684VLA\u65b9\u6cd5\u3002IRL-VLA\u91c7\u7528\u4e09\u9636\u6bb5\u8303\u5f0f\uff1a\u5728\u7b2c\u4e00\u9636\u6bb5\uff0c\u63d0\u51fa\u4e86\u4e00\u79cdVLA\u67b6\u6784\uff0c\u5e76\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\u5bf9VLA\u7b56\u7565\u8fdb\u884c\u9884\u8bad\u7ec3\u3002\u5728\u7b2c\u4e8c\u9636\u6bb5\uff0c\u901a\u8fc7\u9006\u5411\u5f3a\u5316\u5b66\u4e60\u6784\u5efa\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u7684\u5956\u52b1\u4e16\u754c\u6a21\u578b\uff0c\u4ee5\u5b9e\u73b0\u9ad8\u6548\u7684\u95ed\u73af\u5956\u52b1\u8ba1\u7b97\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u9ad8\u89c4\u5212\u6027\u80fd\uff0c\u6700\u540e\u8bbe\u8ba1\u4e86\u4e13\u95e8\u7684\u5956\u52b1\u4e16\u754c\u6a21\u578b\u5f15\u5bfc\u7684\u5f3a\u5316\u5b66\u4e60\uff0c\u901a\u8fc7<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261632714&amp;content_type=Article&amp;match_order=1&amp;q=PPO&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">PPO<\/a>\uff08\u8fd1\u7aef\u7b56\u7565\u4f18\u5316\uff09\u6709\u6548\u5e73\u8861\u5b89\u5168\u4e8b\u4ef6\u3001\u8212\u9002\u9a7e\u9a76\u548c\u4ea4\u901a\u6548\u7387\u3002IRL-VLA\u5728NAVSIM v2\u7aef\u5230\u7aef\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u8fbe\u5230\u4e86SOTA\uff0c\u5728<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261632714&amp;content_type=Article&amp;match_order=1&amp;q=CVPR2025%E8%87%AA%E5%8A%A8%E9%A9%BE%E9%A9%B6%E5%A4%A7%E5%A5%96%E8%B5%9B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CVPR2025\u81ea\u52a8\u9a7e\u9a76\u5927\u5956\u8d5b<\/a><\/p>\n\n\n\n<p>\u4e2d\u83b7\u5f97\u4e9a\u519b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-89a4209b81a684450b192c4660ac1350_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0c\u6709\u4e09\u4e2a\u4eae\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u9006\u5411\u5f3a\u5316\u5b66\u4e60\u7684\u9ad8\u6548\u5956\u52b1\u4e16\u754c\u6a21\u578b\uff08RWM\uff09\uff1b<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684VLA\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u5728\u6a21\u4eff\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u4e24\u79cd\u8bbe\u7f6e\u4e0b\u5747\u80fd\u5b9e\u73b0\u5353\u8d8a\u7684\u6027\u80fd<\/li>\n\n\n\n<li>\u5728CVPR2025\u6311\u6218\u8d5b\u7684NAVSIM v2\u53d6\u5f97\u4e86\u7b2c\u4e8c\u7684\u6210\u7ee9\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u975e\u5e38\u4e0d\u9519\u7684\u5de5\u4f5c\uff0c\u540e\u7eed\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u4e5f\u4f1a\u6301\u7eed\u8ddf\u8e2a~<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2508.06571\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2508.06571<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1938894046367025120_0\">\u5f15\u8a00<\/h2>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5df2\u6210\u4e3a\u4e00\u4e2a\u610f\u4e49\u91cd\u5927\u4e14\u8fc5\u901f\u53d1\u5c55\u7684\u7814\u7a76\u9886\u57df\u3002\u968f\u7740\u5927\u91cf\u4eba\u7c7b\u9a7e\u9a76\u6f14\u793a\u6570\u636e\u7684\u53ef\u7528\uff0c\u4ece\u5927\u89c4\u6a21\u6570\u636e\u96c6\u4e2d\u5b66\u4e60\u7c7b\u4eba\u9a7e\u9a76\u7b56\u7565\u5177\u6709\u5de8\u5927\u7684\u6f5c\u529b\u3002\u8bf8\u5982UniAD\u548cVAD\u7b49\u65b9\u6cd5\u5c06\u4f20\u611f\u5668\u6570\u636e\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u5728\u4e00\u4e2a\u5b8c\u5168\u53ef\u4f18\u5316\u7684\u6a21\u578b\u5185\u76f4\u63a5\u56de\u5f52\u51fa\u5355\u6a21\u6001\u8f68\u8ff9\u3002SparseDrive\u8fdb\u4e00\u6b65\u63a2\u7d22\u4e86\u7a00\u758f\u8868\u793a\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u4e2a\u5e26\u6709\u5e76\u884c\u8fd0\u52a8\u89c4\u5212\u5668\u7684\u5bf9\u79f0\u7a00\u758f\u611f\u77e5\u6a21\u5757\u3002\u501f\u9274\u673a\u5668\u4eba\u5b66\u4e2d\u7684\u6269\u6563\u7b56\u7565\uff0cDiffusionDrive\u3001Diffusion Planer\u548cDiff-semanticFusion\u901a\u8fc7\u951a\u5b9a\u9ad8\u65af\u5206\u5e03\u8bbe\u8ba1\u548c\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u53bb\u566a\u8fc7\u7a0b\u751f\u6210\u591a\u6837\u5316\u7684\u9a7e\u9a76\u52a8\u4f5c\u3002\u5c3d\u7ba1\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u53d6\u5f97\u4e86\u5b9e\u8d28\u6027\u8fdb\u5c55\uff0c\u4f46\u7cfb\u7edf\u7684\u6027\u80fd\u4ecd\u7136\u8106\u5f31\uff0c\u5728\u957f\u5c3e\u9a7e\u9a76\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u660e\u663e\u7684\u6027\u80fd\u4e0b\u964d\u3002<\/p>\n\n\n\n<p>\u8fd1\u671f\u7684\u7814\u7a76\u65b9\u6cd5\u8bd5\u56fe\u901a\u8fc7\u5229\u7528\u5d4c\u5165\u5728\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08Vision-Language Models, VLMs\uff09\u4e2d\u7684\u6d77\u91cf\u4e16\u754c\u77e5\u8bc6\u6765\u7f13\u89e3\u8fd9\u4e00\u6311\u6218\uff0c\u5373\u6240\u8c13\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08Vision-Language-Action, VLA\uff09\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u4ee5\u89c6\u9891\u4e3a\u8f93\u5165\u5e76\u76f4\u63a5\u8f93\u51fa\u9a7e\u9a76\u8f68\u8ff9\u548c\u52a8\u4f5c\u3002<\/p>\n\n\n\n<p>\u4e00\u4e9b\u65b9\u6cd5\u5c06VLM\u8fde\u63a5\u5230\u4e00\u4e2a\u7aef\u5230\u7aef\u6a21\u578b\uff0c\u4ee5\u63d0\u9ad8\u8f68\u8ff9\u89c4\u5212\u7684\u51c6\u786e\u6027\u3002RecogDrive\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u9a7e\u9a76\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u7ed3\u5408\u4e86\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u3001\u57fa\u4e8e\u6269\u6563\u7684\u89c4\u5212\u5668\u4ee5\u53ca\u6a21\u62df\u5668\u8f85\u52a9\u7684\u5f3a\u5316\u5b66\u4e60\uff0c\u4ee5\u751f\u6210\u5b89\u5168\u3001\u7c7b\u4eba\u7684\u8f68\u8ff9\u3002SimLingo\u5f15\u5165\u4e86\u201c\u52a8\u4f5c\u68a6\u5883\u201d\uff08action dreaming\uff09\u4efb\u52a1\uff0c\u4ee5\u4e25\u683c\u8bc4\u4f30\u6307\u4ee4\u6761\u4ef6\u4e0b\u7684\u9a7e\u9a76\u884c\u4e3a\u3002ORION\u901a\u8fc7\u540d\u4e3aQT-Former\u7684\u57fa\u4e8e\u67e5\u8be2\u7684\u65f6\u95f4\u6a21\u5757\uff0c\u5c06\u89c6\u89c9-\u8bed\u8a00\u63a8\u7406\u4e0e\u751f\u6210\u5f0f\u8f68\u8ff9\u89c4\u5212\u76f8\u7ed3\u5408\uff0c\u5e76\u91c7\u7528\u57fa\u4e8e\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08VAE\uff09\u7684\u89c4\u5212\u5668\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u5982\u56fe1.a\u6240\u793a\u7684\u6a21\u4eff\u5b66\u4e60VLA\u65b9\u6cd5\uff0c\u51ed\u501fVLM\u7684\u5353\u8d8a\u80fd\u529b\u5b9e\u73b0\u4e86\u4f18\u8d8a\u7684\u6027\u80fd\uff0c\u4f46\u6211\u4eec\u8ba4\u4e3a\uff0c\u7531\u4e8e\u5728\u5f00\u73af\u6846\u67b6\u5185\u8fdb\u884c\u6a21\u4eff\u5b66\u4e60\uff0c\u5927\u6a21\u578b\u7684\u5168\u90e8\u6f5c\u529b\u4ecd\u672a\u88ab\u5145\u5206\u63a2\u7d22\uff0c\u8fd9\u79cd\u65b9\u6cd5\u503e\u5411\u4e8e\u590d\u5236\u6570\u636e\u96c6\u4e2d\u7684\u8bb0\u5f55\u884c\u4e3a\u3002\u8fd9\u662f\u56e0\u4e3a\u9a7e\u9a76\u672c\u8d28\u4e0a\u662f\u4e00\u4e2a\u591a\u76ee\u6807\u4e14\u591a\u6a21\u6001\u7684\u4efb\u52a1\uff0c\u5176\u4e2d\u591a\u6a21\u6001\u53cd\u6620\u4e86\u5b58\u5728\u591a\u4e2a\u6700\u4f18\u89e3\uff0c\u800c\u591a\u76ee\u6807\u5219\u8981\u6c42\u6ee1\u8db3\u591a\u6837\u5316\u7684\u8bc4\u4f30\u6807\u51c6\uff08\u4f8b\u5982\uff0c\u78b0\u649e\u907f\u514d\u3001\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u6027\u3001\u4ea4\u901a\u89c4\u5219\u5408\u89c4\u6027\u7b49\uff09\u3002\u4e00\u79cd\u66f4\u81ea\u7136\u7684\u7b56\u7565\u662f\u8ba9\u6a21\u578b\u5728\u6a21\u62df\u73af\u5883\u4e2d\u81ea\u4e3b\u63a2\u7d22\uff0c\u5982\u56fe1.b\u6240\u793a\uff0c\u4ece\u800c\u6a21\u4eff\u73b0\u5b9e\u4e16\u754c\u4e2d\u89c2\u5bdf\u5230\u7684\u7ecf\u9a8c\u5b66\u4e60\u8fc7\u7a0b\u3002\u7136\u800c\u5f00\u53d1\u4e00\u4e2a\u5b8c\u5168\u4ea4\u4e92\u5f0f\u4e14\u95ed\u73af\u7684\u6a21\u62df\u6846\u67b6\u4ecd\u7136\u662f\u4e00\u4e2a\u91cd\u5927\u7684\u6280\u672f\u6311\u6218\uff1a1\uff09\u4eff\u771f\u5230\u73b0\u5b9e\uff08Sim2Real\uff09\u7684\u9886\u57df\u5dee\u8ddd\uff1b2\uff09\u5de8\u5927\u7684\u8ba1\u7b97\u5f00\u9500\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-6344e2a7315dbbc47c12583408e9387e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u5982\u56fe1.c\u6240\u793a\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u901a\u8fc7\u9006\u5411\u5f3a\u5316\u5b66\u4e60\uff08Inverse Reinforcement Learning\uff09\u4e0e\u6211\u4eec\u81ea\u5efa\u7684VLA\u65b9\u6cd5\u76f8\u7ed3\u5408\uff0c\u547d\u540d\u4e3aIRL-VLA\u3002\u5229\u7528\u6211\u4eec\u7684\u6846\u67b6\uff0c\u8bbe\u8ba1\u5e76\u5b66\u4e60\u4e86\u4e00\u4e2a\u5b9e\u65f6\u5956\u52b1\u4e16\u754c\u6a21\u578b\uff08Reward World Model, RWM\uff09\uff0c\u8be5\u6a21\u578b\u901a\u8fc7\u4ece\u591a\u6837\u5316\u7b56\u7565\u4e2d\u8fdb\u884c\u9006\u5411\u5f3a\u5316\u5b66\u4e60\u83b7\u5f97\u3002\u5b83\u6355\u6349\u4e86\u9a7e\u9a76\u7684\u591a\u6a21\u6001\u548c\u591a\u76ee\u6807\u672c\u8d28\uff0c\u540c\u65f6\u80fd\u591f\u4ee5\u4e00\u79cd\u6210\u672c\u6548\u76ca\u9ad8\u7684\u65b9\u5f0f\u6269\u5c55\u5230\u5927\u91cf\u771f\u5b9e\u4e16\u754c\u6570\u636e\uff0c\u4ece\u800c\u89c4\u907f\u4e86Sim2Real\u7684\u9886\u57df\u9002\u5e94\u95ee\u9898\u3002\u6211\u4eec\u5e94\u7528\u6240\u5b66\u4e60\u7684RWM\u6765\u6307\u5bfc\u6211\u4eecVLA\u6a21\u578b\u7684\u5f3a\u5316\u5b66\u4e60\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728NAVSIM v2\u7aef\u5230\u7aef\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u5728CVPR2025\u81ea\u52a8\u9a7e\u9a76\u5927\u5956\u8d5b\u4e2d\u4ee545.0 EDPMS\u7684\u6210\u7ee9\u83b7\u5f97\u4e9a\u519b\u3002<\/p>\n\n\n\n<p>\u636e\u6211\u4eec\u6240\u77e5IRL-VLA\u662f\u9996\u4e2a\u901a\u8fc7\u7aef\u5230\u7aef\u5f3a\u5316\u5b66\u4e60\uff08\u5305\u62ec\u4f20\u611f\u5668\u8f93\u5165\uff09\u5b9e\u73b0\u7684\u95ed\u73afVLA\u65b9\u6cd5\u3002\u6211\u4eec\u5de5\u4f5c\u7684\u5173\u952e\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86IRL-VLA\uff0c\u8fd9\u662f\u4e00\u79cd\u4e3a\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u91cf\u8eab\u5b9a\u5236\u7684\u3001\u4ece\u6a21\u62df\u5668\u53cd\u9988\u4e2d\u8fdb\u884c\u5f3a\u5316\u5b66\u4e60\u7684\u5f00\u521b\u6027\u6846\u67b6\u3002\u4e3a\u4e86\u53d6\u4ee3\u8ba1\u7b97\u6210\u672c\u9ad8\u6602\u7684\u57fa\u4e8e\u4eff\u771f\u5668\u7684\u5956\u52b1\u8ba1\u7b97\uff0c\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u9006\u5411\u5f3a\u5316\u5b66\u4e60\u7684\u9ad8\u6548\u5956\u52b1\u4e16\u754c\u6a21\u578b\uff08RWM\uff09\uff0c\u4ece\u800c\u5b9e\u73b0\u53ef\u6269\u5c55\u4e14\u6709\u6548\u7684\u5956\u52b1\u4f30\u8ba1\u3002\u8fd9\u4e2a\u5b66\u4e60\u5230\u7684\u5956\u52b1\u6a21\u578b\u968f\u540e\u88ab\u7528\u4e8e\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3VLA\u667a\u80fd\u4f53\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u5176\u5b9e\u7528\u6027\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0c\u8fd9\u662f\u9996\u4e2a\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4e0d\u4f9d\u8d56\u4eff\u771f\u5668\u5f00\u53d1\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684VLA\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u5de5\u4f5c\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684VLA\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u5728\u6a21\u4eff\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u4e24\u79cd\u8bbe\u7f6e\u4e0b\u5747\u80fd\u5b9e\u73b0\u5353\u8d8a\u7684\u6027\u80fd\uff0c\u4ece\u800c\u5728\u4e0d\u540c\u7684\u8bad\u7ec3\u8303\u5f0f\u4e2d\u5b9e\u73b0\u6700\u4f18\u6027\u80fd\u3002<\/li>\n\n\n\n<li>IRL-VLA\u6846\u67b6\u5728CVPR2025\u6311\u6218\u8d5b\u7684NAVSIM v2\u7aef\u5230\u7aef\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u53d6\u5f97\u4e86\u5353\u8d8a\u7684\u6027\u80fd\u3002\u8fd9\u4e9b\u7ed3\u679c\u8bc1\u660e\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u6709\u6548\u6027\u548c\u901a\u7528\u6027\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1938894046367025120_1\">\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/h2>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong>\uff1a\u7531\u4e8e\u5176\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u6a21\u5757\u5316\u4efb\u52a1\u6574\u5408\u5728\u4e00\u4e2a\u5b8c\u5168\u53ef\u5fae\u5206\u7684\u8bbe\u8ba1\u4e2d\uff0c\u4ece\u800c\u80fd\u591f\u4e3a\u8ffd\u6c42\u6700\u7ec8\u76ee\u6807\u800c\u8fdb\u884c\u4f18\u5316\uff0c\u56e0\u6b64\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u7814\u7a76\u5174\u8da3\u6fc0\u589e\u3002UniAD\u5f15\u5165\u4e86\u4e00\u4e2a\u5168\u9762\u7684\u6846\u67b6\uff0c\u5c06\u5168\u6808\u9a7e\u9a76\u4efb\u52a1\u6574\u5408\u5230\u5355\u4e2a\u7f51\u7edc\u4e2d\u3002VAD\u4ee5\u5b8c\u5168\u5411\u91cf\u5316\u7684\u65b9\u5f0f\u8868\u793a\u9a7e\u9a76\u573a\u666f\u2014\u2014\u6db5\u76d6\u667a\u80fd\u4f53\u8f68\u8ff9\u548c\u5730\u56fe\u5143\u7d20\u2014\u2014\u4ece\u800c\u6d88\u9664\u4e86\u5bf9\u8ba1\u7b97\u5bc6\u96c6\u578b\u5149\u6805\u5316\u8868\u793a\u7684\u9700\u6c42\u3002Sparsedrive\u8fdb\u4e00\u6b65\u63a2\u7d22\u4e86\u7a00\u758f\u8868\u793a\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u4e2a\u5bf9\u79f0\u7a00\u758f\u611f\u77e5\u6a21\u5757\u548c\u4e00\u4e2a\u5e76\u884c\u8fd0\u52a8\u89c4\u5212\u5668\u3002\u501f\u9274\u673a\u5668\u4eba\u5b66\u4e2d\u7684\u6269\u6563\u7b56\u7565\uff0cDiffusionDrive\u3001Diffusion Planer\u548cDiffSemanticFusion\u901a\u8fc7\u951a\u5b9a\u9ad8\u65af\u5206\u5e03\u8bbe\u8ba1\u548c\u9002\u5f53\u7684\u53bb\u566a\u8fc7\u7a0b\u751f\u6210\u591a\u6837\u5316\u7684\u9a7e\u9a76\u52a8\u4f5c\u3002<\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b<\/strong>\uff1a\u8fd1\u671f\u7684\u65b9\u6cd5\uff0c\u5efa\u7acb\u4e86\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08Vision-Language Models, VLMs\uff09\u4e0e\u7aef\u5230\u7aef\u6846\u67b6\u4e4b\u95f4\u7684\u6865\u6881\uff0c\u4ee5\u63d0\u9ad8\u8f68\u8ff9\u89c4\u5212\u7684\u51c6\u786e\u6027\u3002Recogdrive\u4ecb\u7ecd\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u67b6\u6784\uff0c\u8be5\u67b6\u6784\u7ed3\u5408\u4e86\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u3001\u57fa\u4e8e\u6269\u6563\u7684\u89c4\u5212\u5668\u548c\u6a21\u62df\u5668\u8f85\u52a9\u7684\u5f3a\u5316\u5b66\u4e60\uff0c\u4ee5\u751f\u6210\u5b89\u5168\u4e14\u7c7b\u4eba\u7684\u8f68\u8ff9\u3002SimLingo\u5f15\u5165\u4e86\u201c\u52a8\u4f5c\u68a6\u5883\u201d\uff08Action Dreaming\uff09\u4efb\u52a1\uff0c\u4ee5\u4e25\u683c\u8bc4\u4f30\u6307\u4ee4\u6761\u4ef6\u4e0b\u7684\u9a7e\u9a76\u884c\u4e3a\u3002\u6b64\u5916\uff0cORION\u63d0\u51fa\u4e86\u4f7f\u7528QT-Former\u548c\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08VAE\uff09\u5c06\u89c6\u89c9-\u8bed\u8a00\u63a8\u7406\u4e0e\u8f68\u8ff9\u89c4\u5212\u76f8\u878d\u5408\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u6a21\u4eff\u5b66\u4e60\uff0c\u8fd9\u9650\u5236\u4e86\u5b83\u4eec\u5728\u771f\u5b9e\u4e16\u754c\u591a\u6a21\u6001\u548c\u591a\u76ee\u6807\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5f3a\u5316\u5b66\u4e60<\/strong>\uff1a\u5f3a\u5316\u5b66\u4e60\uff08Reinforcement Learning, RL\uff09\u5df2\u6210\u4e3a\u4e00\u79cd\u6709\u524d\u666f\u7684\u65b9\u6cd5\uff0c\u5728\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u548c\u6e38\u620f\u4e2d\u5df2\u8bc1\u660e\u5176\u6210\u529f\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u80cc\u666f\u4e0b\uff0cRL\u5df2\u88ab\u7528\u4e8e\u89e3\u51b3\u7279\u5b9a\u7684\u51b3\u7b56\u6311\u6218\u548c\u590d\u6742\u7684\u9a7e\u9a76\u573a\u666f\u3002RAD\u5728\u57fa\u4e8e\u5149\u771f\u5b9e\u611f3D\u9ad8\u65af\u70b9\u9635\uff083DGS\uff09\u7684\u4eff\u771f\u6846\u67b6\u5185\uff0c\u91c7\u7528\u5f3a\u5316\u5b66\u4e60\u6765\u8bad\u7ec3\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u667a\u80fd\u4f53\u3002\u7136\u800c\uff0c\u7531\u4e8e\u4f20\u611f\u5668\u6e32\u67d3\u7684\u8ba1\u7b97\u91cf\u5de8\u5927\uff0c\u4e14\u672a\u89e3\u51b3\u4eff\u771f\u5230\u73b0\u5b9e\uff08Sim2Real\uff09\u7684\u9886\u57df\u5dee\u8ddd\uff0c\u8be5\u65b9\u6cd5\u4ec5\u9650\u4e8e\u79bb\u7ebf\u7b56\u7565\u5b66\u4e60\u3002\u5176\u4ed6\u7814\u7a76\u63d0\u51fa\u4e86\u57fa\u4e8e\u5b66\u4e60\u7684\u8f68\u8ff9\u89c4\u5212\u6846\u67b6\uff0c\u5176\u4e2d\u52a8\u4f5c\u88ab\u76f4\u63a5\u8868\u793a\u4e3a\u4ee5\u81ea\u6211\u4e3a\u4e2d\u5fc3\u7684\u89c4\u5212\u8f68\u8ff9\u3002Car-Planner\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8eRL\u7684\u89c4\u5212\u5668\uff0c\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u5927\u89c4\u6a21\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6nuPlan\u4e0a\uff0c\u5176\u6027\u80fd\u8d85\u8d8a\u4e86\u6a21\u4eff\u5b66\u4e60\uff08IL\uff09\u548c\u57fa\u4e8e\u89c4\u5219\u7684\u6700\u5148\u8fdb\u65b9\u6cd5\uff08SOTAs\uff09\u3002DiffVLA\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684VLA\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u91c7\u7528\u5206\u5c42\u7684\u7531\u7c97\u5230\u7cbe\u7684\u6269\u6563\u5f0f\u8f68\u8ff9\u751f\u6210\uff0c\u5e76\u7ed3\u5408VLM\u7684\u5bfc\u822a\u5f15\u5bfc\u3002\u5c3d\u7ba1\u5b83\u5728NAVSIMv2\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u4f46\u5176\u6a21\u4eff\u5b66\u4e60\u7684\u8bbe\u7f6e\u9650\u5236\u4e86\u5176\u6f5c\u529b\u3002\u6211\u4eec\u7684IRL-VLA\u6846\u67b6\u5c06RL\u7684\u5e94\u7528\u8303\u56f4\u4ece\u89c4\u5212\u5668\u6269\u5c55\u5230\u4e86\u6574\u4e2aVLA\u6a21\u578b\u67b6\u6784\uff0c\u4ece\u800c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u6a21\u578b\u6027\u80fd\u7684\u4e0a\u9650\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1938894046367025120_2\">IRL-VLA\u7b97\u6cd5\u8be6\u89e3<\/h2>\n\n\n\n<p>\u672c\u8282\u5c06\u8be6\u7ec6\u4ecb\u7ecd\u6211\u4eec\u6240\u63d0\u51fa\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u901a\u8fc7\u4e00\u4e2a\u5956\u52b1\u4e16\u754c\u6a21\u578b\u8fdb\u884c\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\uff0c\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-1cbfd6c6651821ea656e0002b2a400c7_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"334\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081301-1.png\" alt=\"\" class=\"wp-image-32092\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081301-1.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081301-1-300x149.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1938894046367025120_4\">\u6a21\u4eff\u7b56\u7565\u5b66\u4e60<\/h3>\n\n\n\n<p><strong>\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b<\/strong>\uff1a\u53d7\u5177\u8eab\u667a\u80fd\u9886\u57df\u5185\u53cc\u91cd\u8fc7\u7a0b\u7406\u8bba\u6700\u65b0\u8fdb\u5c55\u7684\u542f\u53d1\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u9ad8\u6548VLA\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u5305\u542b\u4e09\u4e2a\u4e0d\u540c\u7684\u6a21\u5757\uff1a(1) \u7528\u4e8e\u6df1\u5ea6\u573a\u666f\u7406\u89e3\u7684\u8bed\u4e49\u63a8\u7406\u6a21\u5757(2) \u7528\u4e8e\u7cbe\u786e\u51e0\u4f55\u63a8\u65ad\u76843D\u63a8\u7406\u6a21\u5757\u4ee5\u53ca(3) \u4e00\u4e2a\u7edf\u4e00\u7684\u57fa\u4e8e\u6269\u6563\u7684\u89c4\u5212\u5668\uff0c\u7528\u4e8e\u751f\u6210\u591a\u6837\u5316\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>\u8bed\u4e49\u63a8\u7406<\/strong>\uff1a\u5982\u56fe2.d\u6240\u793a\uff0c\u4e3a\u4e86\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u5b9e\u73b0\u591a\u6a21\u6001\u4fe1\u606f\u7684\u6709\u6548\u5904\u7406\u548c\u878d\u5408\uff0c\u6211\u4eec\u63d0\u51fa\u4e86VLM\u6307\u4ee4\u5f15\u5bfc\u6a21\u5757\u3002\u8be5\u6a21\u5757\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261632714&amp;content_type=Article&amp;match_order=1&amp;q=Senna-VLM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Senna-VLM<\/a><\/p>\n\n\n\n<p>\u6846\u67b6\u6784\u5efa\uff0c\u5229\u7528\u591a\u56fe\u50cf\u7f16\u7801\u7b56\u7565\u548c\u591a\u89c6\u89d2\u63d0\u793a\u673a\u5236\uff0c\u5b9e\u73b0\u9ad8\u6548\u4e14\u5168\u9762\u7684\u573a\u666f\u7406\u89e3\u3002<\/p>\n\n\n\n<p><strong>3D\u63a8\u7406<\/strong>\uff1a\u5982\u56fe2.e\u6240\u793a\uff0c\u6211\u4eec\u9996\u5148\u4f7f\u7528\u4e00\u4e2a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261632714&amp;content_type=Article&amp;match_order=1&amp;q=BEV%E8%A7%86%E8%A7%89%E7%BC%96%E7%A0%81%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV\u89c6\u89c9\u7f16\u7801\u5668<\/a>\u548c\u4e00\u4e2a\u9002\u914d\u5668\uff0c\u5c06\u591a\u89c6\u89d2\u56fe\u50cf\u7f16\u7801\u4e3aBEV\u7a7a\u95f4\u4e2d\u7684\u7279\u5f81\u56fe\u3002\u7136\u540e\uff0c\u6211\u4eec\u5229\u7528\u4e00\u7ec4\u68c0\u6d4btoken\uff08detection tokens\uff09\u548c\u5730\u56fetoken\uff08map tokens\uff09\u4eceBEV\u7279\u5f81\u7a7a\u95f4\u4e2d\u5b66\u4e60\u5411\u91cf\u5316\u7684\u5730\u56fe\u5143\u7d20\u548c\u667a\u80fd\u4f53\u8fd0\u52a8\u4fe1\u606f\u3002<\/p>\n\n\n\n<p><strong>\u7edf\u4e00\u6269\u6563\u89c4\u5212\u5668<\/strong>\uff1a\u5982\u56fe2.f\u6240\u793a\uff0c\u4e3a\u4e86\u751f\u6210\u591a\u6837\u5316\u4e14\u4fe1\u606f\u4e30\u5bcc\u7684\u672a\u6765\u8f68\u8ff9\u5206\u5e03\uff0c\u91c7\u7528\u4e86\u4e00\u79cd\u57fa\u4e8e\u6269\u6563\u7684\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u5bf9\u5e26\u6709\u9ad8\u65af\u566a\u58f0\u7684anchor proposal\u8f68\u8ff9\u8fdb\u884c\u5904\u7406\uff0c\u6761\u4ef6\u6269\u6563\u6a21\u578b\u5b66\u4e60\u4e00\u79cd\u5f3a\u5927\u7684\u53bb\u566a\u673a\u5236\uff0c\u80fd\u591f\u6355\u6349\u672a\u6765\u8fd0\u52a8\u7684\u56fa\u6709\u591a\u6a21\u6001\u6027\u3002\u4e3a\u4e86\u589e\u5f3a\u53bb\u566a\u8fc7\u7a0b\uff0c\u6211\u4eec\u5206\u5c42\u5730\u5c06\u4e30\u5bcc\u7684\u573a\u666f\u8bed\u4e49\uff08\u5982BEV\u6807\u8bb0\u3001\u5730\u56fe\u6807\u8bb0\u548c\u68c0\u6d4b\u6807\u8bb0\uff09\u6574\u5408\u5230\u8f68\u8ff9\u751f\u6210\u7ba1\u9053\u4e2d\u3002\u8fd9\u786e\u4fdd\u4e86\u6a21\u578b\u5408\u6210\u7684\u8f68\u8ff9\u4e0e\u73af\u5883\u7ea6\u675f\u4fdd\u6301\u4e00\u81f4\u3002\u5728\u6700\u7ec8\u7684\u6761\u4ef6\u89e3\u7801\u6b65\u9aa4\u4e4b\u540e\uff0c\u901a\u8fc7\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u7684\u57fa\u4e8eMLP\u7684\u56de\u5f52\u5934\uff0c\u4ece\u7cbe\u7ec6\u5316\u7684\u8f68\u8ff9\u6807\u8bb0\u4e2d\u91cd\u6784\u51fa\u591a\u6a21\u6001\u8f68\u8ff9\u3002\u8fd9\u4f7f\u5f97\u6bcf\u79cd\u6a21\u5f0f\u90fd\u80fd\u4e0e\u53ef\u884c\u3001\u53ef\u89e3\u91ca\u4e14\u7b26\u5408\u573a\u666f\u7684\u8fd0\u52a8\u6a21\u5f0f\u5bf9\u9f50\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u8f68\u8ff9\u7684\u771f\u5b9e\u6027\u548c\u5bf9\u7269\u7406\u7ea6\u675f\u7684\u9075\u5b88\u7a0b\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"234\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081302.png\" alt=\"\" class=\"wp-image-32093\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081302.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081302-300x106.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1938894046367025120_5\">\u9006\u73af\u5883\u5b66\u4e60<\/h3>\n\n\n\n<p><strong>\u5956\u52b1\u6570\u636e\u6536\u96c6<\/strong>\uff1a\u4e3a\u4e86\u5f00\u53d1\u4e00\u4e2a\u6709\u6548\u7684\u5956\u52b1\u4e16\u754c\u6a21\u578b\uff08RWM\uff09\uff0c\u4e00\u4e2a\u5168\u9762\u7684\u6570\u636e\u96c6\u81f3\u5173\u91cd\u8981\u3002IRL-VLA\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261632714&amp;content_type=Article&amp;match_order=1&amp;q=EPDMS&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">EPDMS<\/a><\/p>\n\n\n\n<p>\u7684\u4eba\u7c7b\u8bbe\u8ba1\u6307\u6807\uff0c\u8be5\u7cfb\u7edf\u5305\u542b\u4e5d\u4e2a\u5b50\u5206\u6570\uff1a\u65e0\u8d23\u78b0\u649e\uff08No At-Fault Collision, NC\uff09\u3001\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u6027\uff08Drivable Area Compliance, DAC\uff09\u3001\u9a7e\u9a76\u65b9\u5411\u5408\u89c4\u6027\uff08Driving Direction Compliance, DDC\uff09\u3001\u4ea4\u901a\u706f\u5408\u89c4\u6027\uff08Traffic Light Compliance, TLC\uff09\u3001\u81ea\u8f66\u8fdb\u5ea6\uff08Ego Progress, EP\uff09\u3001\u78b0\u649e\u65f6\u95f4\uff08Time to Collision, TTC\uff09\u3001\u8f66\u9053\u4fdd\u6301\uff08Lane Keeping, LK\uff09\u3001\u5386\u53f2\u8212\u9002\u5ea6\uff08History Comfort, HC\uff09\u548c\u6269\u5c55\u8212\u9002\u5ea6\uff08Extended Comfort, EC\uff09\uff0c\u4ee5\u53ca\u4e00\u4e2a\u52a0\u6743\u603b\u548c\u5206\u6570\uff0c\u8bb0\u4e3aEPDMS\u3002\u6211\u4eec\u6392\u9664\u4e86EC\uff0c\u56e0\u4e3a\u5176\u9700\u8981\u5bf9\u6bcf\u4e2a\u573a\u666f\u8fdb\u884c\u4e24\u6b21\u72ec\u7acb\u7684\u6a21\u62df\u3002\u8fd9\u4e9b\u6307\u6807\u63d0\u4f9b\u4e86\u5173\u4e8e\u73af\u5883\u548c\u667a\u80fd\u4f53\u4ea4\u4e92\u7684\u8be6\u7ec6\u6d1e\u5bdf\u3002\u7136\u800c\uff0c\u4ec5\u9760\u6a21\u4eff\u6570\u636e\u5f80\u5f80\u7f3a\u4e4f\u591a\u6837\u6027\uff0c\u56e0\u4e3a\u5b83\u4eec\u65e0\u6cd5\u5145\u5206\u6355\u6349\u5728\u5404\u79cd\u573a\u666f\u4e0b\u7684\u591a\u6837\u5316\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u589e\u5f3a\u5206\u6570\u548c\u8f68\u8ff9\u7684\u591a\u6837\u6027\u5e76\u786e\u4fdd\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e09\u79cd\u7b56\u7565\u3002\u9996\u5148\uff0c\u6211\u4eec\u8bb0\u5f55\u6269\u6563\u8fc7\u7a0b\u6bcf\u4e00\u6b65\u7684\u8f68\u8ff9\u53ca\u5176\u5bf9\u5e94\u7684EPDMS\u5206\u6570\u3002\u5176\u6b21\uff0c\u6211\u4eec\u4e0d\u4f7f\u7528\u56fa\u5b9a\u7684\u8f68\u8ff9\u96c6\uff0c\u800c\u662f\u4f7f\u7528K-means\u805a\u7c7b\u4ece\u4eba\u7c7b\u6f14\u793a\u6570\u636e\u4e2d\u91c7\u6837\u591a\u79cd\u8f68\u8ff9\u6a21\u5f0f\uff0cK\u503c\u8303\u56f4\u4ece32\u52308192\u3002\u7b2c\u4e09\uff0c\u6211\u4eec\u5bf9NAVSIM\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u4e2a\u573a\u666f\u5e94\u7528\u591a\u4e2a\u81ea\u8f66\u59ff\u6001\u8fdb\u884c\u6a21\u62df\uff0c\u4ee5\u751f\u6210\u591a\u6837\u5316\u7684\u6837\u672c\u3002<\/p>\n\n\n\n<p><strong>\u5956\u52b1\u4e16\u754c\u6a21\u578b<\/strong>\uff1a\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u5956\u52b1\u4e16\u754c\u6a21\u578b\uff08RWM\uff09\uff0c\u4f5c\u4e3a\u4e00\u79cd\u8f7b\u91cf\u7ea7\u3001\u6570\u636e\u9a71\u52a8\u7684\u66ff\u4ee3\u65b9\u6848\uff0c\u4ee5\u53d6\u4ee3\u4f20\u7edf\u7684\u4eff\u771f\u5668\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u95ed\u73af\u8bc4\u4f30\uff0c\u5e76\u901a\u8fc7\u9006\u5411\u5f3a\u5316\u5b66\u4e60\u6536\u96c6\u4e0b\u6e38\u9a7e\u9a76\u7edf\u8ba1\u6570\u636e\uff08\u5982\u78b0\u649e\u7387\u3001\u4ea4\u901a\u89c4\u5219\u5408\u89c4\u6027\u548c\u9a7e\u9a76\u8212\u9002\u5ea6\uff09\u3002RWM\u901a\u8fc7\u76f4\u63a5\u57fa\u4e8e\u771f\u5b9e\u4e16\u754c\u6f14\u793a\u5efa\u6a21\u5956\u52b1\u7ed3\u6784\uff0c\u6d88\u9664\u4e86\u5bf9\u8ba1\u7b97\u5bc6\u96c6\u578b\u4eff\u771f\u5668\u7684\u9700\u6c42\uff0c\u5e76\u7f13\u89e3\u4e86\u4eff\u771f\u5230\u73b0\u5b9e\uff08sim-to-real\uff09\u7684\u9886\u57df\u5dee\u8ddd\u3002\u5176\u67b6\u6784\u5982\u56fe2(b)\u6240\u793a\uff0c\u4e0e\u667a\u80fd\u4f53\u7c7b\u4f3c\uff0c\u4f7f\u7528\u591a\u89c6\u89d2\u76f8\u673a\u4fe1\u606f\u548c\u667a\u80fd\u4f53\u9884\u6d4b\u7684\u672a\u6765\u8f68\u8ff9\u4f5c\u4e3a\u8f93\u5165\u3002RWM\u9884\u6d4b\u667a\u80fd\u4f53\u5728\u6a21\u62df\u73af\u5883\u4e2d\u7684\u672a\u6765\u5956\u52b1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"677\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081303.png\" alt=\"\" class=\"wp-image-32094\" style=\"width:908px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081303.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081303-295x300.png 295w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8eRWM\u7684\u5f3a\u5316\u5b66\u4e60<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"662\" height=\"287\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081309.png\" alt=\"\" class=\"wp-image-32096\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081309.png 662w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081309-300x130.png 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"860\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-221-860x1024.png\" alt=\"\" class=\"wp-image-32095\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-221-860x1024.png 860w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-221-252x300.png 252w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-221-768x915.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-221-839x1000.png 839w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/\u56fe\u7247-221.png 1014w\" sizes=\"(max-width: 860px) 100vw, 860px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"823\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081304.png\" alt=\"\" class=\"wp-image-32098\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081304.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081304-243x300.png 243w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"255\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081305.png\" alt=\"\" class=\"wp-image-32099\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081305.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081305-300x115.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1938894046367025120_7\">\u5b9e\u73b0\u7ec6\u8282<\/h2>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"236\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/081306.png\" alt=\"\" class=\"wp-image-32100\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081306.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/081306-300x107.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1938894046367025120_8\">\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/h2>\n\n\n\n<p>\u5728\u6211\u4eec\u7684\u5b9e\u9a8c\u4e2d\uff0c\u6211\u4eec\u91cd\u70b9\u5173\u6ce8\u4ee5\u4e0b\u51e0\u4e2a\u95ee\u9898\uff1a<\/p>\n\n\n\n<ol 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id=\"h_1938894046367025120_9\">\u5b9e\u9a8c\u8bbe\u7f6e<\/h3>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u4e0e\u6307\u6807<\/strong>\uff1aNAVSIM\u662f\u4e00\u4e2a\u57fa\u4e8eOpenScene\uff08nuPlan\u7684\u65b0\u7248\u672c\uff09\u6784\u5efa\u7684\u3001\u4ee5\u89c4\u5212\u4e3a\u5bfc\u5411\u7684\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u3002\u5b83\u63d0\u4f9b\u4e86\u516b\u4e2a1920\u00d71080\u7684\u76f8\u673a\u548c\u4e00\u4e2a\u7531\u4e94\u4e2a\u4f20\u611f\u5668\u5728\u5f53\u524d\u53ca\u524d\u4e09\u5e27\u4e2d\u805a\u5408\u800c\u6210\u7684\u878d\u5408\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u3002\u8be5\u6570\u636e\u96c6\u88ab\u5212\u5206\u4e3anavtrain\uff081,192\u4e2a\u8bad\u7ec3\u573a\u666f\uff09\u548cnavhard\uff08136\u4e2a\u8bc4\u4f30\u573a\u666f\uff09\u3002<\/p>\n\n\n\n<p>NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u63d0\u4f9b\u4e86\u4e00\u4e2a\u975e\u4ea4\u4e92\u5f0f\u4eff\u771f\u73af\u5883\uff0c\u5e76\u91c7\u7528\u6269\u5c55\u9884\u6d4b\u9a7e\u9a76\u5458\u6a21\u578b\u5206\u6570\uff08Extend Predictive Driver 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src=\"https:\/\/pic2.zhimg.com\/v2-add489b850acc1150fa6627ade85fc8f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88681\u5c55\u793a\u4e86IRL-VLA\u5728Navhard\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u4e0e\u57fa\u7ebf\u65b9\u6cd5\u7684\u6027\u80fd\u5bf9\u6bd4\u3002\u6211\u4eec\u7684\u9884\u8bad\u7ec3\u6a21\u578b\uff08IRL-VLA-PT\uff09\u5728\u591a\u4e2a\u6307\u6807\u4e0a\u53d6\u5f97\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u7ed3\u679c\uff0cEPDMS\u5f97\u5206\u4e3a74.4\uff0c\u4f18\u4e8eDiffusionDrive\uff0863.2\uff09\u3001WOTE\uff0866.7\uff09\u548cGTRS-Aug\uff0874.3\uff09\u7b49\u51e0\u79cd\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u3002\u4e0eGTRS-Dense\u548cGTRS-Aug\u7b49\u57fa\u4e8e\u8bc4\u5206\u7684\u6a21\u578b\u76f8\u6bd4\uff0c\u8fd9\u4e9b\u6a21\u578b\u901a\u8fc7\u8bc4\u5206\u673a\u5236\u5728\u63d0\u5347\u5b89\u5168\u6307\u6807\uff08\u5982\u65e0\u78b0\u649eNC\uff0cGTRS-Aug\u4e3a98.9\uff09\u7684\u540c\u65f6\uff0c\u727a\u7272\u4e86\u8212\u9002\u6027\u76f8\u5173\u5206\u6570\uff08\u5982\u6269\u5c55\u8212\u9002\u5ea6EC\uff0cGTRS-Aug\u4e3a54.2\uff09\uff0c\u800c\u6211\u4eec\u7684IRL-VLA-PT\u6a21\u578b\u5728\u4fdd\u6301\u8fd1\u4e4e\u76f8\u5f53\u7684\u5b89\u5168\u6027\u80fd\uff08NC\uff1a98.3 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