{"id":32711,"date":"2025-09-04T17:31:16","date_gmt":"2025-09-04T09:31:16","guid":{"rendered":"http:\/\/192.168.10.115\/?p=32711"},"modified":"2025-09-04T17:31:16","modified_gmt":"2025-09-04T09:31:16","slug":"2025-09-04-%e8%87%aa%e9%a9%bevla%e6%96%b0sota%ef%bc%81%e9%98%bf%e9%87%8cautodrive-r%c2%b2%ef%bc%9a%e8%87%aa%e5%8f%8d%e6%80%9d%e6%80%9d%e7%bb%b4%e9%93%be%e7%89%a9%e7%90%86%e5%a5%96%e5%8a%b1","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/04\/32711\/","title":{"rendered":"2025-09-04 \u81ea\u9a7eVLA\u65b0SOTA\uff01\u963f\u91ccAutoDrive-R\u00b2\uff1a\u81ea\u53cd\u601d\u601d\u7ef4\u94fe&amp;\u7269\u7406\u5956\u52b1\uff0c\u7a81\u7834VLA\u6cdb\u5316\u74f6\u9888"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"652\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-140-1024x652.png\" alt=\"\" class=\"wp-image-32712\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-140-1024x652.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-140-300x191.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-140-768x489.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-140.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2509.01944<\/p>\n\n\n\n<p><strong>\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u5e74\u6765\uff0c\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u53d6\u5f97\u4e86\u5feb\u901f\u53d1\u5c55\u3002\u8fd9\u7c7b\u7cfb\u7edf\u901a\u5e38\u4ee5\u4f20\u611f\u5668\u6570\u636e\u4e3a\u8f93\u5165\uff0c\u4ee5\u89c4\u5212\u8f68\u8ff9\u4e3a\u8f93\u51fa\u3002\u4f20\u7edf\u6d41\u6c34\u7ebf\u65b9\u6cd5\u5927\u591a\u91c7\u7528\u201c\u611f\u77e5-\u5efa\u56fe-\u9884\u6d4b-\u89c4\u5212\u201d\u6a21\u5757\u5316\u7684\u67b6\u6784\uff0c\u8be5\u8bbe\u8ba1\u5b58\u5728\u4e24\u4e2a\u5173\u952e\u5c40\u9650\u6027\uff1a\u4e00\u662f\u8bef\u5dee\u7d2f\u79ef\uff0c\u4e8c\u662f\u5404\u7ec4\u4ef6\u95f4\u7f3a\u4e4f\u8054\u5408\u4f18\u5316\uff0c\u6700\u7ec8\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u3002\u4e0e\u4e4b\u76f8\u6bd4\uff0c\u73b0\u4ee3\u65b9\u6cd5\u5c06\u8fd9\u4e9b\u590d\u6742\u7cfb\u7edf\u7edf\u4e00\u4e3a\u5355\u4e00\u7684\u7aef\u5230\u7aef\u8303\u5f0f\uff0c\u5929\u7136\u5177\u5907\u4e09\u5927\u4f18\u52bf\uff1a\u7cfb\u7edf\u7b80\u5316\u3001\u9c81\u68d2\u6027\u589e\u5f3a\u4e0e\u8bef\u5dee\u7d2f\u79ef\u51cf\u8f7b\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u8fd9\u4e9b\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u6838\u5fc3\u805a\u7126\u4e8e\u8f68\u8ff9\u89c4\u5212\uff0c\u7f3a\u4e4f\u590d\u6742\u9a7e\u9a76\u573a\u666f\u6240\u9700\u7684\u60c5\u666f\u63a8\u7406\u80fd\u529b\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u5c40\u9650\uff0c\u8fd1\u671f\u7814\u7a76\u5c06\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08Vision-Language 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class=\"wp-block-list\">\n<li>\u63d0\u51faAutoDrive-R\u00b2\u2014\u2014\u4e00\u79cd\u65b0\u578bVLA\u6846\u67b6\uff0c\u80fd\u591f\u57fa\u4e8e\u89c6\u89c9\u4fe1\u606f\u4e0e\u8bed\u8a00\u6307\u4ee4\uff0c\u5b9e\u73b0\u5e26\u81ea\u53cd\u601d\u6b65\u9aa4\u7684\u8bed\u4e49\u63a8\u7406\u4e0e\u8f68\u8ff9\u89c4\u5212\u3002<\/li>\n\n\n\n<li>\u6784\u5efanuScenesR\u00b2-6K\u6570\u636e\u96c6\uff1a\u8be5\u521b\u65b0\u6027CoT\u6570\u636e\u96c6\u91c7\u7528\u542b\u81ea\u53cd\u601d\u7684\u56db\u6b65\u903b\u8f91\u94fe\uff0c\u52a9\u529b\u6a21\u578b\u5728\u76d1\u7763\u5fae\u8c03\u540e\u5efa\u7acb\u57fa\u7840\u611f\u77e5\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u57fa\u4e8eGRPO\u7684RL\u540e\u7eed\u8bad\u7ec3\u65b9\u6cd5\uff1a\u8be5\u65b9\u6cd5\u5c06\u57fa\u4e8e\u7269\u7406\u7684\u5956\u52b1\u4f5c\u4e3a\u7ea6\u675f\uff0c\u4f18\u5316\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u89c4\u5212\u8f68\u8ff9\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u5df2\u4ece\u4f20\u7edf\u7684\u201c\u611f\u77e5-\u5728\u7ebf\u5efa\u56fe-\u9884\u6d4b-\u89c4\u5212\u201d\u6a21\u5757\u5316\u6d41\u6c34\u7ebf\uff0c\u9010\u6b65\u5411\u7aef\u5230\u7aef\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u6f14\u8fdb\u3002UniAD\u9996\u6b21\u5c06\u6240\u6709\u5b50\u4efb\u52a1\u96c6\u6210\u5230\u4e00\u4e2a\u7ea7\u8054\u6a21\u578b\u4e2d\uff0c\u76f8\u6bd4\u4f20\u7edf\u6a21\u5757\u5316\u65b9\u6cd5\u5b9e\u73b0\u4e86\u663e\u8457\u6027\u80fd\u63d0\u5347\u3002\u90e8\u5206\u65b9\u6cd5\u901a\u8fc7\u63d0\u53d6BEV\u7279\u5f81\uff0c\u5e76\u901a\u8fc7\u591a\u9636\u6bb5\u4ea4\u4e92\u5efa\u6a21\u9884\u6d4b\u89c4\u5212\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u968f\u7740\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u7684\u5174\u8d77\uff0c\u7814\u7a76\u4eba\u5458\u8d8a\u6765\u8d8a\u591a\u5730\u5c06\u5927\u8bed\u8a00\u6a21\u578b\u4e0eVLMs\u96c6\u6210\u5230\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u4ee5\u63d0\u5347\u6574\u4f53\u7cfb\u7edf\u6027\u80fd\u3002\u5df2\u6709\u591a\u79cd\u65b9\u6cd5\u5f15\u5165\u9884\u8bad\u7ec3LLM\uff0c\u751f\u6210\u9a7e\u9a76\u52a8\u4f5c\u53ca\u53ef\u89e3\u91ca\u7684\u6587\u672c\u8bf4\u660e\u3002\u6b64\u5916\uff0cDriveVLM\u901a\u8fc7\u96c6\u6210\u4e13\u7528\u63a8\u7406\u6a21\u5757\u63d0\u5347\u573a\u666f\u7406\u89e3\u80fd\u529b\uff1bDriveMM\u5904\u7406\u591a\u89c6\u56fe\u89c6\u9891\u4e0e\u56fe\u50cf\u8f93\u5165\uff0c\u4ee5\u589e\u5f3a\u8f66\u8f86\u63a7\u5236\u7684\u6cdb\u5316\u6027\uff1bDriveMLM\u5219\u5f15\u5165\u884c\u4e3a\u89c4\u5212\u6a21\u5757\uff0c\u751f\u6210\u5e26\u5408\u7406\u4f9d\u636e\u7684\u6700\u4f18\u9a7e\u9a76\u51b3\u7b56\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08Vision-Language-Action, VLA\uff09\u6a21\u578b\u5728\u673a\u5668\u4eba\u9886\u57df\u7684\u8fd1\u671f\u6210\u529f\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u63d0\u4f9b\u4e86\u65b0\u7684\u7814\u7a76\u89c6\u89d2\u3002DriveMoE\u57fa\u4e8e\u5177\u8eabAI\u6846\u67b6\u03c00\u6784\u5efa\uff0c\u901a\u8fc7\u8bad\u7ec3\u8def\u7531\u7f51\u7edc\u6fc0\u6d3b\u9488\u5bf9\u4e0d\u540c\u9a7e\u9a76\u884c\u4e3a\u7684\u4e13\u5bb6\u6a21\u5757\uff0c\u5f15\u5165\u4e86\u52a8\u4f5c\u4e13\u5bb6\u6df7\u5408\uff08Action-MoE\uff09\u673a\u5236\u3002\u6b64\u5916\uff0cOpenDriveVLA\u63d0\u51fa\u201c\u667a\u80fd\u4f53-\u73af\u5883-\u81ea\u8f66\u201d\u4ea4\u4e92\u6a21\u578b\uff0c\u7528\u4e8e\u7cbe\u786e\u8f68\u8ff9\u89c4\u5212\uff1bAutoVLA\u5219\u76f4\u63a5\u4ece\u89c6\u89c9\u8f93\u5165\u4e0e\u8bed\u8a00\u63d0\u793a\u4e2d\u9884\u6d4b\u8bed\u4e49\u63a8\u7406\u7ed3\u679c\u4e0e\u8f68\u8ff9\u89c4\u5212\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>\u901a\u7528\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u7684\u6210\u529f\u63a8\u52a8\u7814\u7a76\u4eba\u5458\u5c06\u5176\u6269\u5c55\u4e3a\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u2014\u2014\u8fd9\u7c7b\u6a21\u578b\u878d\u5408\u6587\u672c\u4e0e\u89c6\u89c9\u6570\u636e\uff0c\u5b9e\u73b0\u66f4\u4e30\u5bcc\u7684\u591a\u6a21\u6001\u8868\u793a\u3002\u5f00\u521b\u6027\u5de5\u4f5cCLIP\uff08\u5bf9\u6bd4\u8bed\u8a00-\u56fe\u50cf\u9884\u8bad\u7ec3\uff09\u901a\u8fc7\u56fe\u50cf\u7f16\u7801\u5668\u4e0e\u6587\u672c\u7f16\u7801\u5668\u7ed3\u5408\uff0c\u91c7\u7528\u96f6\u6837\u672c\u5b66\u4e60\u7b56\u7565\uff0c\u9884\u6d4b\u56fe\u50cf-\u6587\u672c\u6837\u672c\u5bf9\u7684\u6b63\u786e\u5339\u914d\u5173\u7cfb\u3002\u7c7b\u4f3c\u5730\uff0cBLIP\u4e0eBLIP-2\u901a\u8fc7\u56fe\u50cf-\u6587\u672c\u5bf9\u6bd4\uff08image-text contrastive, ITC\uff09\u635f\u5931\u5b9e\u73b0\u89c6\u89c9\u4e0e\u8bed\u8a00\u8868\u793a\u7684\u5bf9\u9f50\uff0c\u5e76\u501f\u52a9\u56fe\u50cf-\u6587\u672c\u5339\u914d\uff08image-text matching, ITM\uff09\u635f\u5931\u533a\u5206\u6b63\u8d1f\u56fe\u50cf-\u6587\u672c\u5bf9\uff0c\u4ece\u800c\u589e\u5f3a\u57fa\u4e8e\u6587\u672c\u4e0a\u4e0b\u6587\u7684\u89c6\u89c9\u8868\u793a\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u53d7\u8fd9\u4e9b\u65b9\u6cd5\u542f\u53d1\uff0c\u8bb8\u591aVLMs\uff08\u5982LLaVA\u4e0eQwen2.5-VL\uff09\u901a\u8fc7\u5c06\u5927\u578b\u8bed\u8a00\u6a21\u578b\u4f5c\u4e3a\u6587\u672c\u7f16\u7801\u5668\uff08\u5982LLaMA\uff09\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u9884\u8bad\u7ec3\u89c6\u89c9\u7f16\u7801\u5668\u7684\u9c81\u68d2\u6027\u4e0e\u8868\u793a\u80fd\u529b\u3002OmniGen2\u662f\u53e6\u4e00\u7c7b\u5178\u578bVLMs\uff0c\u5176\u4e3a\u6587\u672c\u4e0e\u56fe\u50cf\u6a21\u6001\u8bbe\u8ba1\u4e86\u4e24\u6761\u72ec\u7acb\u7684\u89e3\u7801\u8def\u5f84\uff0c\u91c7\u7528\u975e\u5171\u4eab\u53c2\u6570\u4e0e\u89e3\u8026\u56fe\u50cftoken\u5316\u5668\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cDeepSeekV3\u5f15\u5165\u4e86\u9c81\u68d2\u7684\u4e13\u5bb6\u6df7\u5408\uff08Mixture-of-Experts, MoE\uff09\u8bed\u8a00\u6a21\u578b\uff0c\u91c7\u7528\u65e0\u8f85\u52a9\u635f\u5931\u7b56\u7565\u5b9e\u73b0\u8d1f\u8f7d\u5747\u8861\uff0c\u5728\u63a8\u7406\u6548\u7387\u4e0e\u6210\u672c\u6548\u76ca\u4e0a\u5747\u6709\u4f18\u52bf\u3002<\/p>\n\n\n\n<p><strong>\u7528\u4e8e\u540e\u7eed\u8bad\u7ec3\u7684\u5f3a\u5316\u5b66\u4e60<\/strong><\/p>\n\n\n\n<p>\u5f3a\u5316\u5b66\u4e60\uff08Reinforcement Learning, RL\uff09\u5df2\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff0c\u7814\u7a76\u4eba\u5458\u53d1\u73b0\uff0c\u57fa\u4e8e\u4eba\u7c7b\u53cd\u9988\u7684\u5f3a\u5316\u5b66\u4e60 &#8211; RLHF\u80fd\u663e\u8457\u63d0\u5347\u6a21\u578b\u7684\u63a8\u7406\u80fd\u529b\u3002\u5728\u8fd9\u4e9b\u65b9\u6cd5\u4e2d\uff0cPPO\u6700\u521d\u7528\u4e8e\u6a21\u62df\u673a\u5668\u4eba\u8fd0\u52a8\u4e0eAtari\u6e38\u620f\u73af\u5883\uff0c\u968f\u540e\u88abOpenAI\u7528\u4e8e\u5fae\u8c03GPT\uff0c\u5728\u6587\u672c\u751f\u6210\u4efb\u52a1\u4e2d\u5b9e\u73b0\u4e86\u5927\u5e45\u6027\u80fd\u63d0\u5347\u3002<\/p>\n\n\n\n<p>\u4e0e\u4f20\u7edfRLHF\u65b9\u6cd5\u4e0d\u540c\uff0cDPO\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u5956\u52b1\u6a21\u578b\u53c2\u6570\u5316\u65b9\u5f0f\uff0c\u65e0\u9700\u5728\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u8fdb\u884c\u91c7\u6837\u3002\u5956\u52b1\u5fae\u8c03\uff08Reward Fine-Tuning, RFT\uff09\u662f\u53e6\u4e00\u79cd\u57fa\u4e8eRL\u7684\u65b9\u6cd5\uff0c\u5728\u6570\u5b66\u63a8\u7406\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u4f18\u5f02\u6027\u80fd\u3002\u6b64\u5916\uff0cGRPO\u65e0\u9700\u4f9d\u8d56\u5916\u90e8\u5de5\u5177\u5305\u6216\u6295\u7968\u673a\u5236\uff0c\u5373\u53ef\u6709\u6548\u63d0\u5347LLMs\u7684\u63a8\u7406\u80fd\u529b\u3002\u4f8b\u5982\uff0cDeepSeek-R1\u5229\u7528GRPO\u5bf9\u6a21\u578b\u8fdb\u884c\u5fae\u8c03\uff0c\u6027\u80fd\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\u3002\u7ec4\u7b56\u7565\u68af\u5ea6\uff08Group Policy Gradient, GPG\uff09\u662f\u4e00\u79cd\u6781\u7b80RL\u65b9\u6cd5\uff0c\u65e0\u9700\u76d1\u7763\u5fae\u8c03\u6216\u590d\u6742\u6280\u5de7\u5373\u53ef\u63d0\u5347\u5927\u578b\u8bed\u8a00\u6a21\u578b\u7684\u63a8\u7406\u80fd\u529b\uff0c\u4e14\u5728\u591a\u79cd\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u5f3a\u6027\u80fd\u3002\u53d7\u8fd9\u4e9b\u65b9\u6cd5\u542f\u53d1\uff0c\u8fd1\u671f\u6709\u7814\u7a76\u91c7\u7528\u7c7b\u4f3c\u5fae\u8c03\u7b56\u7565\uff0c\u4ee5\u63d0\u5347\u591a\u6a21\u6001\u6a21\u578b\u7684\u63a8\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>AutoDrive-R\u00b2\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>\u6982\u8ff0<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"238\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/090401.png\" alt=\"\" class=\"wp-image-32713\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090401.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090401-300x107.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"650\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-141-1024x650.png\" alt=\"\" class=\"wp-image-32714\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-141-1024x650.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-141-300x191.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-141-768x488.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-141.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u542b\u81ea\u53cd\u601d\u7684\u903b\u8f91\u601d\u7ef4\u94fe\uff08CoT\uff09\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u6210\u529f\uff0c\u5173\u952e\u5728\u4e8e\u5176\u80fd\u5426\u540c\u65f6\u751f\u6210\u53ef\u89e3\u91ca\u7684\u63a8\u7406\u8fc7\u7a0b\u4e0e\u7269\u7406\u53ef\u884c\u7684\u52a8\u4f5c\u3002\u7136\u800c\uff0c\u73b0\u6709\u8bad\u7ec3\u65b9\u6cd5\u5f80\u5f80\u96be\u4ee5\u6ee1\u8db3\u8fd9\u4e00\u53cc\u91cd\u9700\u6c42\uff0c\u5bfc\u81f4\u6a21\u578b\u8981\u4e48\u7f3a\u4e4f\u53ef\u89e3\u91ca\u7684\u51b3\u7b56\u8fc7\u7a0b\uff0c\u8981\u4e48\u751f\u6210\u4e0d\u5207\u5b9e\u9645\u7684\u8f68\u8ff9\u3002\u4e3a\u63a2\u7a76\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u6700\u521d\u501f\u9274\u57fa\u4e8e\u63a8\u7406\u7684\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u6700\u65b0\u8fdb\u5c55\uff0c\u5c1d\u8bd5\u76f4\u63a5\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u4f18\u5316\u8f68\u8ff9\u89c4\u5212\uff0c\u4f46\u521d\u6b65\u5b9e\u9a8c\u8868\u660e\uff0c\u4ec5\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u7684\u6a21\u578b\uff0c\u5176\u8f68\u8ff9\u89c4\u5212\u6027\u80fd\u663e\u8457\u4f4e\u4e8e\u5148\u7ecf\u8fc7\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u518d\u8fdb\u884c\u5f3a\u5316\u5b66\u4e60\u7684\u6a21\u578b\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u63d0\u524d\u6784\u5efa\u4e86\u9ad8\u8d28\u91cf\u51b7\u542f\u52a8\u6570\u636e\u96c6nuScenesR\u00b2-6K\uff0c\u4ee5\u8bad\u7ec3\u6a21\u578b\u5728\u8f68\u8ff9\u89c4\u5212\u65b9\u9762\u7684\u57fa\u7840\u7406\u89e3\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u4ecenuScenes\u8bad\u7ec3\u96c6\u4e2d\u624b\u52a8\u6807\u6ce8\u4e866000\u4e2a\u201c\u56fe\u50cf-\u8f68\u8ff9\u201d\u6837\u672c\u5bf9\uff0c\u968f\u540e\u5229\u7528\u5148\u8fdb\u7684Qwen2.5-VL-72B\u6a21\u578b\u5408\u6210\u601d\u7ef4\u94fe\uff08CoT\uff09\u63a8\u7406\u5e8f\u5217\u3002\u5982\u56fe2\uff08a\uff09\u6240\u793a\uff0c\u7ed9\u5b9a\u524d\u89c6\u56fe\u56fe\u50cf\u3001\u8f66\u8f86\u5386\u53f2\u72b6\u6001\uff08\u4f5c\u4e3a\u8f93\u5165\uff09\u4e0e\u5bf9\u5e94\u7684\u771f\u503c\u8f68\u8ff9\uff08\u4f5c\u4e3a\u8f93\u51fa\uff09\uff0c\u6211\u4eec\u9884\u5148\u5b9a\u4e49\u4e86\u7279\u5b9a\u7684CoT\u63d0\u793a\u8bcd\uff0c\u5f15\u5bfc\u6a21\u578b\u6309\u7167\u4ee5\u4e0b\u683c\u5f0f\u6784\u5efa\u63a8\u7406\u5e8f\u5217\uff1a\u201c\u63a8\u7406\u8fc7\u7a0b\u5728\u6b64\u5904((x\u2081, y\u2081), &#8230;, (x\u2099, y\u2099))\u201d\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\uff0c\u73b0\u6709\u8bb8\u591a\u65b9\u6cd5\u4f9d\u8d56\u901a\u7528\u63d0\u793a\u8bcd\u5b9e\u73b0\u201c\u95ee\u9898-\u7b54\u6848\u201d\u7684\u63a8\u7406\uff0c\u7f3a\u4e4f\u7528\u4e8e\u7406\u6027\u5206\u6790\u7684\u7ed3\u6784\u5316\u5f15\u5bfc\u3002\u8fd9\u79cd\u7b56\u7565\u5728\u7b80\u5355\u4efb\u52a1\u4e2d\u867d\u6709\u6548\u679c\uff0c\u4f46\u5728\u9762\u5bf9\u590d\u6742\u6570\u5b66\u6216\u903b\u8f91\u95ee\u9898\u65f6\u5f80\u5f80\u5931\u6548\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u5c40\u9650\uff0c\u6211\u4eec\u7684CoT\u63d0\u793a\u8bcd\u8bbe\u8ba1\u5c06\u8f68\u8ff9\u89c4\u5212\u7cfb\u7edf\u5730\u5206\u89e3\u4e3a\u4e09\u4e2a\u76f8\u4e92\u5173\u8054\u7684\u63a8\u7406\u9636\u6bb5\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u56fe\u50cf\u9a71\u52a8\u5206\u6790<\/strong>\uff1a\u5efa\u7acb\u57fa\u7840\u573a\u666f\u7406\u89e3\uff08\u5982\u969c\u788d\u7269\u4e0e\u8f66\u9053\u5b9a\u4f4d\u3001\u4ea4\u901a\u6807\u5fd7\u68c0\u6d4b\uff09\uff0c\u4e3a\u540e\u7eed\u63a8\u7406\u5960\u5b9a\u57fa\u7840\u3002<\/li>\n\n\n\n<li><strong>\u57fa\u4e8e\u7269\u7406\u7684\u8ba1\u7b97<\/strong>\uff1a\u5229\u7528\u8fd0\u52a8\u5b66\u65b9\u7a0b\uff08\u5982\u89d2\u52a8\u91cf\u5b88\u6052\uff09\u5c06\u62bd\u8c61\u89c2\u6d4b\u8f6c\u5316\u4e3a\u53ef\u91cf\u5316\u7684\u9884\u6d4b\u7ed3\u679c\u3002<\/li>\n\n\n\n<li><strong>\u4e0a\u4e0b\u6587\u903b\u8f91\u7efc\u5408<\/strong>\uff1a\u6574\u5408\u9886\u57df\u7279\u5b9a\u77e5\u8bc6\uff08\u5982\u4ea4\u53c9\u8def\u53e3\u4ea4\u901a\u89c4\u5219\uff09\uff0c\u786e\u4fdd\u9884\u6d4b\u7ed3\u679c\u7b26\u5408\u771f\u5b9e\u4e16\u754c\u7684\u9a7e\u9a76\u89c4\u8303\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e3a\u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u7684\u9c81\u68d2\u6027\u4e0e\u7b54\u6848\u6b63\u786e\u6027\uff0c\u6211\u4eec\u501f\u9274\u6570\u5b66\u63a8\u7406\u6846\u67b6\u4e2d\u201c\u901a\u8fc7\u53cd\u5411\u9a8c\u8bc1\u7ed3\u8bba\u201d\u7684\u601d\u8def\uff0c\u660e\u786e\u5f15\u5165\u201c\u81ea\u53cd\u601d\u201d\u4f5c\u4e3a\u7b2c\u56db\u6b65\u3002\u8fd9\u4e00\u6b65\u9aa4\u4f7f\u6a21\u578b\u80fd\u591f\u9a8c\u8bc1\u81ea\u8eab\u63a8\u7406\u7684\u8fde\u8d2f\u6027\uff0c\u5e76\u4fee\u6b63\u6f5c\u5728\u77db\u76fe\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u7684\u63d0\u793a\u8bcd\u5b9e\u73b0\u4e86\u56db\u6b65\u903b\u8f91\u94fe\uff1a<br><strong>\u53ef\u89c6\u5316 \u2192 \u8ba1\u7b97 \u2192 \u903b\u8f91 \u2192 \u53cd\u601d<\/strong><br>\u8be5\u903b\u8f91\u94fe\u53ef\u5b9e\u73b0\u7cfb\u7edf\u6027\u4e14\u6297\u8bef\u5dee\u7684\u63a8\u7406\uff0c\u8be6\u7ec6\u5185\u5bb9\u89c1\u8865\u5145\u6750\u6599\u3002<\/p>\n\n\n\n<p>\u6700\u7ec8\uff0cnuScenesR\u00b2-6K\u6570\u636e\u96c6\u7528\u4e8eQwen2-VL-7B\u6a21\u578b\u7684\u76d1\u7763\u5fae\u8c03\uff0c\u4ece\u800c\u5f97\u5230\u7b2c\u4e00\u9636\u6bb5\u6a21\u578b\u3002\u8be5\u9884\u8bad\u7ec3\u6a21\u578b\u80fd\u591f\u901a\u8fc7\u201c\u7ed3\u6784\u5316\u3001\u5206\u6b65\u5f0f\u4e14\u5305\u542b\u81ea\u53cd\u601d\u201d\u7684\u63a8\u7406\u673a\u5236\uff0c\u6709\u6548\u5b9e\u73b0\u8f68\u8ff9\u89c4\u5212\u3002<\/p>\n\n\n\n<p><strong>GRPO<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"846\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/090402.png\" alt=\"\" class=\"wp-image-32716\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090402.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090402-237x300.png 237w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"920\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/090403.png\" alt=\"\" class=\"wp-image-32717\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090403.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090403-220x300.png 220w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"674\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/090404.png\" alt=\"\" class=\"wp-image-32718\" style=\"width:898px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090404.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090404-300x300.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/090404-150x150.png 150w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u6570\u636e\u96c6<\/strong><\/h4>\n\n\n\n<p>\u8bad\u7ec3\u9636\u6bb5\uff0c\u6211\u4eec\u91c7\u7528nuScenesR2-6K\u6570\u636e\u96c6\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b6000\u4e2a\u201c\u56fe\u50cf-\u8f68\u8ff9\u201d\u6837\u672c\u5bf9\uff0c\u6bcf\u4e2a\u6837\u672c\u5bf9\u5747\u5305\u542b\u4e00\u5f20\u524d\u89c6\u56fe\u56fe\u50cf\u548c\u4e00\u6bb5\u65f6\u957f3\u79d2\u3001\u65f6\u95f4\u95f4\u9694\u4e3a0.5\u79d2\u7684\u8f68\u8ff9\u89c4\u5212\u6570\u636e\u3002\u4e3a\u5728\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u524d\u5efa\u7acb\u57fa\u7840\u611f\u77e5\u80fd\u529b\uff0c\u6211\u4eec\u57fa\u4e8e\u8fd9\u4e9b\u6837\u672c\u5bf9\u5bf9Qwen2.5-VL-7B\u6a21\u578b\u8fdb\u884c\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u3002\u8bc4\u4f30\u9636\u6bb5\uff0c\u6211\u4eec\u5728nuScenes\u548cWaymo\u4e24\u4e2a\u6570\u636e\u96c6\u4e0a\u6d4b\u8bd5\u6240\u63d0\u65b9\u6cd5\uff0c\u4e8c\u8005\u5747\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\uff1anuScenes\u6570\u636e\u96c6\u5305\u542b1000\u4e2a\u57ce\u5e02\u9a7e\u9a76\u573a\u666f\uff0c\u914d\u59076\u4e2a\u540c\u6b65\u6444\u50cf\u5934\u89c6\u89d2\u4ee5\u652f\u6301\u89c4\u5212\u4efb\u52a1\uff1bWaymo\u6570\u636e\u96c6\u5305\u542b4021\u4e2a\u9a7e\u9a76\u7247\u6bb5\uff0c\u6db5\u76d68\u4e2a\u6444\u50cf\u5934\u89c6\u89d2\u548c\u81ea\u8f66\u8f68\u8ff9\u6570\u636e\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u7ec6\u8282<\/strong><\/h4>\n\n\n\n<p>\u6211\u4eec\u5728Qwen2.5-VL-3B\u548cQwen2.5-VL-7B\u4e24\u4e2a\u6a21\u578b\u4e0a\u5f00\u5c55\u5b9e\u9a8c\u3002\u4e24\u4e2a\u8bad\u7ec3\u9636\u6bb5\u7684\u5b66\u4e60\u7387\u5747\u8bbe\u4e3a5e-7\uff0c\u7d2f\u8ba1\u603b\u6279\u6b21\u5927\u5c0f\uff08accumulated total batch size\uff09\u4e3a1\u3002\u7ec4\u76f8\u5bf9\u7b56\u7565\u4f18\u5316\uff08GRPO\uff09\u7684\u6700\u5927\u751f\u6210\u957f\u5ea6\u8bbe\u4e3a4096\u4e2atoken\uff0c\u6bcf\u4e2a\u8f93\u5165\u6837\u672c\u751f\u62106\u4e2a\u5019\u9009\u54cd\u5e94\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u8bc4\u4f30\u6307\u6807<\/strong><\/h4>\n\n\n\n<p>\u6211\u4eec\u91c7\u7528\u9884\u6d4b\u8f68\u8ff9\u4e0e\u771f\u503c\u8f68\u8ff9\u5728\u672a\u67651\u79d2\u30012\u79d2\u30013\u79d2\u65f6\u95f4\u8de8\u5ea6\u4e0b\u7684L2\u8ddd\u79bb\uff08\u5355\u4f4d\uff1a\u7c73\uff09\uff0c\u4ee5\u53ca\u5e73\u5747L2\u8bef\u5dee\u4f5c\u4e3a\u8bc4\u4f30\u6307\u6807\u3002\u6240\u6709\u6a21\u578b\u5747\u4f7f\u7528\u5b98\u65b9\u68c0\u67e5\u70b9\uff08checkpoint\uff09\uff0c\u5e76\u5728\u76f8\u540c\u7684\u8bc4\u4f30\u4ee3\u7801\u4e0b\u8fdb\u884c\u6027\u80fd\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u8bc4\u4f30\u7ed3\u679c<\/strong><\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u7ed3\u679c<\/strong><\/h4>\n\n\n\n<p>\u88681\u5bf9\u6bd4\u4e86\u6240\u63d0\u65b9\u6cd5\u4e0e\u73b0\u6709\u65b9\u6cd5\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u9884\u6d4b\u8bef\u5dee\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6240\u6709\u65f6\u95f4\u8de8\u5ea6\u4e0b\u5747\u6301\u7eed\u53d6\u5f97\u6700\u4f73\u6027\u80fd\uff0c\u8d85\u8d8a\u4e86EMMA+\u7b49\u73b0\u6709\u9886\u5148\u65b9\u6cd5\u2014\u2014\u8fd9\u4e9b\u65b9\u6cd5\u7684\u8bad\u7ec3\u4f9d\u8d56\u5305\u542b10.3\u4e07\u4e2a\u573a\u666f\u7684\u5927\u89c4\u6a21\u5185\u90e8\u6570\u636e\u96c6\uff0c\u800c\u6211\u4eec\u7684\u8bad\u7ec3\u6570\u636e\u4ec5\u5305\u542b\u7b2c\u4e00\u9636\u6bb56000\u4e2a\u7cbe\u5fc3\u6784\u5efa\u7684\u601d\u7ef4\u94fe\uff08CoT\uff09\u6837\u672c\u548c\u7b2c\u4e8c\u9636\u6bb5\u53e6\u59166000\u4e2a\u6837\u672c\uff0c\u89c4\u6a21\u7ea6\u4e3aEMMA+\u6570\u636e\u96c6\u768411.65%\u3002\u6b64\u5916\uff0c\u5c3d\u7ba1\u6240\u63d0\u6a21\u578b\u7684\u53c2\u6570\u91cf\u8fdc\u5c0f\u4e8eQwen2-VL-7B\uff0c\u4f46\u6027\u80fd\u4ecd\u5b9e\u73b0\u663e\u8457\u63d0\u5347\uff0c\u5c06L2\u8bef\u5dee\u964d\u4f4e\u4e8686.9%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"763\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-142-763x1024.png\" alt=\"\" class=\"wp-image-32719\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-142-763x1024.png 763w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-142-224x300.png 224w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-142-768x1031.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-142-745x1000.png 745w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-142.png 866w\" sizes=\"(max-width: 763px) 100vw, 763px\" \/><\/figure>\n\n\n\n<p><strong>Waymo\u6570\u636e\u96c6\u4e0a\u7684\u96f6\u6837\u672c\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u88682\u5c55\u793a\u4e86\u6240\u63d0\u6a21\u578b\u5f3a\u5927\u7684\u96f6\u6837\u672c\u80fd\u529b\uff1a\u76f8\u8f83\u4e8e\u6700\u65b0\u7684EMMA+\u65b9\u6cd5\u548cQwen2-VL-72B\u57fa\u51c6\u6a21\u578b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5206\u522b\u5c06L2\u8bef\u5dee\u964d\u4f4e\u4e8633.3%\u548c90.7%\u3002\u603b\u4f53\u800c\u8a00\uff0c\u6240\u63d0\u6a21\u578b\u5728\u591a\u4e2a\u6570\u636e\u96c6\u4e0a\u5747\u80fd\u7a33\u5b9a\u751f\u6210\u7cbe\u786e\u7684\u8f68\u8ff9\u9884\u6d4b\uff0c\u5c55\u73b0\u51fa\u6700\u5148\u8fdb\uff08state-of-the-art, SOTA\uff09\u7684\u6027\u80fd\u548c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"786\" height=\"600\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-143.png\" alt=\"\" class=\"wp-image-32720\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-143.png 786w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-143-300x229.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-143-768x586.png 768w\" sizes=\"(max-width: 786px) 100vw, 786px\" \/><\/figure>\n\n\n\n<p><strong>\u6a21\u578b\u89c4\u6a21\u5f71\u54cd<\/strong><\/p>\n\n\n\n<p>\u5728\u88681\u548c\u88682\u4e2d\uff0c\u6211\u4eec\u5728\u4e24\u9636\u6bb5\u8bad\u7ec3\u6846\u67b6\u4e0b\u5bf9\u6bd4\u4e86Qwen2.5-VL\u76843B\u548c7B\u4e24\u4e2a\u7248\u672c\uff0c\u4ee5\u5206\u6790\u6a21\u578b\u89c4\u6a21\u7684\u5f71\u54cd\u3002\u5c3d\u7ba17B\u6a21\u578b\u6027\u80fd\u66f4\u4f18\uff0c\u5e73\u5747L2\u8bef\u5dee\u4ec5\u4e3a0.19\u7c73\uff0c\u4f463B\u7248\u672c\u76f8\u8f83\u4e8e\u5176\u57fa\u51c6\u6a21\u578b\u4ecd\u5b9e\u73b0\u4e86\u663e\u8457\u63d0\u5347\u3002\u8fd9\u79cd\u6027\u80fd\u5dee\u5f02\u8868\u660e\uff0c\u66f4\u5927\u89c4\u6a21\u7684\u6a21\u578b\u672c\u8d28\u4e0a\u80fd\u6355\u6349\u66f4\u590d\u6742\u7684\u6a21\u5f0f\uff0c\u800c\u4e24\u9636\u6bb5\u6846\u67b6\uff08SFT + GRPO\uff09\u901a\u8fc7\u65bd\u52a0\u4e25\u683c\u7684\u8f68\u8ff9\u7ea6\u675f\u548c\u4e0a\u4e0b\u6587\u903b\u8f91\u7efc\u5408\uff0c\u6709\u6548\u5f25\u8865\u4e863B\u6a21\u578b\u7684\u80fd\u529b\u5c40\u9650\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u53ef\u89c6\u5316\u7ed3\u679c<\/strong><\/h4>\n\n\n\n<p>\u56fe4\u5c55\u793a\u4e86\u6240\u63d0\u65b9\u6cd5\u4e0e\u5176\u4ed6\u65b9\u6cd5\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5bf9\u6bd4\u5206\u6790\u3002\u53ef\u4ee5\u53d1\u73b0\uff0cQwen2.5-VL-7B\u5728\u7279\u5b9a\u573a\u666f\uff08\u5982\uff08b\uff09\u548c\uff08d\uff09\uff09\u4e2d\u65e0\u6cd5\u751f\u6210\u51c6\u786e\u9884\u6d4b\uff0cEMMA+\u5219\u5b58\u5728\u663e\u8457\u7684\u8f68\u8ff9\u504f\u79fb\uff1b\u4e0e\u4e4b\u76f8\u53cd\uff0c\u6240\u63d0\u65b9\u6cd5\u5728\u4e0d\u540c\u5149\u7167\u73af\u5883\u548c\u590d\u6742\u8fd0\u52a8\u6a21\u5f0f\u4e0b\uff0c\u5747\u80fd\u7a33\u5b9a\u751f\u6210\u53ef\u9760\u4e14\u7269\u7406\u53ef\u884c\u7684\u8f68\u8ff9\u89c4\u5212\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"401\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-144-1024x401.png\" alt=\"\" class=\"wp-image-32721\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-144-1024x401.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-144-300x118.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-144-768x301.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-144.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u8bad\u7ec3\u9636\u6bb5\u7684\u5fc5\u8981\u6027<\/strong><\/h4>\n\n\n\n<p>\u53d7DeepSeek-R1-Zero\u542f\u53d1\uff0c\u6211\u4eec\u6700\u521d\u5c1d\u8bd5\u4ec5\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u6a21\u578b\u3002\u5982\u88683\u6240\u793a\uff0c\u7eaf\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u7684\u6a21\u578b\uff087B + RL\uff09\u5728\u5e73\u5747L2\u8bef\u5dee\u4e0a\u6bd4\u76d1\u7763\u5fae\u8c03\u6a21\u578b\uff087B + SFT\uff09\u4f4e22.2%\u3002\u6211\u4eec\u8ba4\u4e3a\u8fd9\u4e00\u6027\u80fd\u5dee\u8ddd\u6e90\u4e8e\u6a21\u578b\u65e0\u6cd5\u5efa\u7acb\u7ed3\u6784\u5316\u63a8\u7406\u94fe\u2014\u2014\u5f3a\u5316\u5b66\u4e60\u96be\u4ee5\u63a2\u7d22\u591a\u6b65\u8ba1\u7b97\u548c\u4e0a\u4e0b\u6587\u903b\u8f91\u7efc\u5408\u6240\u9700\u7684\u9ad8\u7ef4\u63a8\u7406\u7a7a\u95f4\uff0c\u8fd9\u4e00\u89c2\u5bdf\u9a8c\u8bc1\u4e86\u4e24\u9636\u6bb5\u8bad\u7ec3\u7684\u5fc5\u8981\u6027\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u7684\u4f5c\u7528<\/strong><\/h4>\n\n\n\n<p>\u7b2c\u4e00\u9636\u6bb5\u4e2d\uff0c\u57fa\u51c6\u6a21\u578bQwen2.5-VL-7B\uff087B\uff09\u7684\u5e73\u5747L2\u8bef\u5dee\u4e3a1.45\u7c73\uff0c\u800c\u57fa\u4e8enuScenesR\u00b2-6K\u6570\u636e\u96c6\u8bad\u7ec3\u7684\u76d1\u7763\u5fae\u8c03\u6a21\u578b\uff087B + SFT\uff09\u5c06\u8be5\u8bef\u5dee\u964d\u81f30.27\u7c73\uff0c\u6027\u80fd\u63d0\u534781.4%\uff0c\u8fd9\u5145\u5206\u8bc1\u660e\u76d1\u7763\u5fae\u8c03\u5728\u5efa\u7acb\u57fa\u7840\u63a8\u7406\u80fd\u529b\u65b9\u9762\u7684\u6709\u6548\u6027\u3002\u6b64\u5916\uff0c\u79fb\u9664\u56db\u6b65\u63a8\u7406\u7ed3\u6784\uff08w\/o. Four.\uff09\u4f1a\u5bfc\u81f4\u8bef\u5dee\u5347\u81f30.25\u7c73\uff0c\u76f8\u8f83\u4e8eAutoDrive-R\u00b2\u4e0b\u964d31.5%\uff1b\u79fb\u9664\u81ea\u53cd\u601d\uff08w\/o. 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