{"id":33014,"date":"2025-09-15T17:40:50","date_gmt":"2025-09-15T09:40:50","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33014"},"modified":"2025-09-15T17:40:50","modified_gmt":"2025-09-15T09:40:50","slug":"2025-09-15-%e7%ab%af%e5%88%b0%e7%ab%af%e5%86%8d%e8%bf%9b%e5%8c%96%ef%bc%81%e7%94%a8%e6%89%a9%e6%95%a3%e6%a8%a1%e5%9e%8b%e5%92%8cmoe%e6%89%93%e9%80%a0%e4%bc%9a%e6%80%9d%e8%80%83%e7%9a%84%e8%87%aa","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/15\/33014\/","title":{"rendered":"2025-09-15 \u7aef\u5230\u7aef\u518d\u8fdb\u5316\uff01\u7528\u6269\u6563\u6a21\u578b\u548cMoE\u6253\u9020\u4f1a\u601d\u8003\u7684\u81ea\u52a8\u9a7e\u9a76Policy\uff08\u540c\u6d4e\u5927\u5b66\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/PPS3lUxYb2HllHXj8kiRvQ\">https:\/\/mp.weixin.qq.com\/s\/PPS3lUxYb2HllHXj8kiRvQ<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"456\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-327-1024x456.png\" alt=\"\" class=\"wp-image-33015\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-327-1024x456.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-327-300x134.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-327-768x342.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-327.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7528\u6269\u6563\u6a21\u578b\u548cMoE\u6253\u9020\u201c\u4f1a\u601d\u8003\u201d\u7684\u81ea\u52a8\u9a7e\u9a76Diffusion Policy<\/strong><\/p>\n\n\n\n<p>\u5728\u76ee\u524d\u7684\u81ea\u52a8\u9a7e\u9a76\u7684\u5404\u79cd\u7814\u7a76\u8303\u5f0f\u4e2d\uff0c\u7aef\u5230\u7aef\uff08End-to-End, E2E\uff09\u6280\u672f\u76f4\u63a5\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u4e3a\u6700\u7ec8\u7684\u9a7e\u9a76\u64cd\u4f5c\uff0c\u56e0\u4e3a\u76f4\u63a5\u8df3\u8fc7\u4e86\u4e00\u4e9b\u4eba\u4e3a\u5b9a\u4e49\u7684\u611f\u77e5\u6807\u6ce8\u4ee5\u53ca\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7684\u4e0d\u540c\u5c42\u7ea7\u4e4b\u95f4\u7684\u4fe1\u606f\u635f\u5931\uff0c\u53d7\u5230\u4e1a\u5185\u9752\u7750\u3002\u4f46\u5373\u4f7f\u5982\u6b64\uff0c\u73b0\u6709\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u4ecd\u9762\u4e34\u51e0\u4e2a\u6bd4\u8f83\u96be\u7684\u6311\u6218\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u9a7e\u9a76\u51b3\u7b56\u7684\u591a\u6a21\u6001\u6027<\/strong>\uff1a\u5176\u5b9e\u5728\u5f88\u591a\u60c5\u51b5\u4e0b\uff0c\u9a7e\u9a76\u8005\u53ef\u4ee5\u91c7\u53d6\u591a\u79cd\u622a\u7136\u4e0d\u540c\u4f46\u540c\u6837\u5408\u7406\u7684\u64cd\u4f5c\uff0c\u6bd4\u5982\u9009\u62e9\u8d85\u8f66\u8fd8\u662f\u51cf\u901f\u8ba9\u884c\u3002<\/li>\n\n\n\n<li><strong>\u957f\u65f6\u95f4\u8303\u56f4\u5185\u7684\u65f6\u5e8f\u7a33\u5b9a\u6027<\/strong>\uff1a\u5373\u4f7f\u662f\u5fae\u5c0f\u7684\u9884\u6d4b\u8bef\u5dee\uff0c\u5728\u957f\u65f6\u89c4\u5212\u4e2d\u4e5f\u53ef\u80fd\u9010\u6b65\u7d2f\u79ef\uff0c\u5bfc\u81f4\u6700\u7ec8\u8f68\u8ff9\u51fa\u73b0\u5371\u9669\u504f\u5dee\u3002<\/li>\n\n\n\n<li><strong>\u6301\u7eed\u9002\u5e94\u80fd\u529b<\/strong>\uff1a\u9c81\u68d2\u7684\u7b56\u7565\u9700\u8981\u80fd\u591f\u9002\u5e94\u65b0\u73af\u5883\uff0c\u540c\u65f6\u907f\u514d\u201c\u707e\u96be\u6027\u9057\u5fd8\u201d\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u73b0\u5728\u591a\u6570\u57fa\u4e8e\u5377\u79ef\u7f51\u7edc\u6216\u5faa\u73af\u7f51\u7edc\u7684\u6a21\u4eff\u5b66\u4e60\u7684\u65b9\u6cd5\u53ef\u4ee5\u76f4\u63a5\u5b9e\u73b0\u4ece\u611f\u77e5\u5230\u63a7\u5236\u7684\u7aef\u5230\u7aef\uff0c\u4f46\u5b83\u4eec\u5728\u5904\u7406\u591a\u6a21\u6001\u5206\u5e03\u65f6\u8868\u73b0\u4e0d\u8db3\uff0c\u5f80\u5f80\u751f\u6210\u8f83\u4e3a\u5e73\u5747\u5316\u7684\u52a8\u4f5c\uff0c\u4ece\u800c\u5bfc\u81f4\u9a7e\u9a76\u884c\u4e3a\u4e0d\u5b89\u5168\u6216\u72b9\u8c6b\u4e0d\u51b3\u3002\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\u867d\u80fd\u5728\u4e0d\u786e\u5b9a\u6027\u4e0b\u63a2\u7d22\u5e76\u4f18\u5316\u7b56\u7565\uff0c\u4f46\u5bf9\u6570\u636e\u9700\u6c42\u6781\u9ad8\u3001\u8bad\u7ec3\u8fc7\u7a0b\u4e0d\u7a33\u5b9a\uff0c\u5e76\u4e14\u96be\u4ee5\u6269\u5c55\u5230\u771f\u5b9e\u9053\u8def\u7684\u9ad8\u5b89\u5168\u6027\u573a\u666f\u4e2d\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\uff0c\u5927\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u4e5f\u9010\u6e10\u5d2d\u9732\u5934\u89d2\uff0c\u50cf\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u548c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff08VLA\uff09\u5df2\u7ecf\u5728\u7406\u89e3\u573a\u666f\u3001\u8bed\u4e49\u5173\u8054\u548c\u6cdb\u5316\u80fd\u529b\u4e0a\u6709\u4e86\u4e0d\u9519\u7684\u8868\u73b0\u3002\u4e0d\u8fc7\uff0c\u8fd9\u7c7b\u6a21\u578b\u5728\u5b9e\u9645\u8fde\u7eed\u63a7\u5236\u573a\u666f\u4e2d\u8fd8\u53d7\u4e00\u4e9b\u9650\u5236\uff0c\u6bd4\u5982\u63a8\u7406\u901f\u5ea6\u6162\u3001\u52a8\u4f5c\u4e0d\u591f\u8fde\u8d2f\uff0c\u4ee5\u53ca\u5b89\u5168\u6027\u4fdd\u969c\u96be\u5ea6\u5927\u3002<\/p>\n\n\n\n<p>\u4e0e\u6b64\u540c\u65f6\uff0c\u6269\u6563\u6a21\u578b\uff08Diffusion Models\uff09\u6b63\u5728\u6539\u53d8\u89c6\u89c9\u3001\u97f3\u9891\u548c\u63a7\u5236\u9886\u57df\u7684\u751f\u6210\u5f0f\u5efa\u6a21\u65b9\u5f0f\u3002\u548c\u4f20\u7edf\u7684\u56de\u5f52\u6216\u5206\u7c7b\u65b9\u6cd5\u4e0d\u540c\uff0c\u6269\u6563\u7b56\u7565\uff08Diffusion Policy, DP\uff09\u628a\u52a8\u4f5c\u751f\u6210\u770b\u4f5c\u4e00\u4e2a\u201c\u9010\u6b65\u53bb\u566a\u201d\u7684\u8fc7\u7a0b\uff0c\u4e0d\u4ec5\u80fd\u66f4\u597d\u5730\u8868\u8fbe\u591a\u79cd\u53ef\u80fd\u7684\u9a7e\u9a76\u9009\u62e9\uff0c\u8fd8\u80fd\u4fdd\u6301\u8f68\u8ff9\u7684\u65f6\u5e8f\u4e00\u81f4\u6027\u548c\u8bad\u7ec3\u7684\u7a33\u5b9a\u6027\u3002\u4e0d\u8fc7\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u8fd8\u6ca1\u88ab\u7cfb\u7edf\u5316\u7814\u7a76\u8fc7\u3002\u6269\u6563\u7b56\u7565\u901a\u8fc7\u76f4\u63a5\u5efa\u6a21\u8f93\u51fa\u52a8\u4f5c\u7a7a\u95f4\uff0c\u4e3a\u751f\u6210\u5e73\u6ed1\u53ef\u9760\u7684\u9a7e\u9a76\u8f68\u8ff9\u63d0\u4f9b\u4e86\u4e00\u79cd\u66f4\u5f3a\u5927\u3001\u66f4\u7075\u6d3b\u7684\u601d\u8def\uff0c\u975e\u5e38\u9002\u5408\u89e3\u51b3\u9a7e\u9a76\u51b3\u7b56\u4e2d\u7684\u591a\u6837\u6027\u548c\u957f\u671f\u7a33\u5b9a\u6027\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u53e6\u4e00\u65b9\u9762\uff0c\u4e13\u5bb6\u6df7\u5408\uff08MoE, Mixture of Experts\uff09\u6280\u672f\u4e5f\u9010\u6e10\u6210\u4e3a\u5927\u6a21\u578b\u7684\u91cd\u8981\u67b6\u6784\u3002\u5b83\u901a\u8fc7\u6309\u9700\u6fc0\u6d3b\u5c11\u91cf\u4e13\u5bb6\uff0c\u8ba9\u6a21\u578b\u5728\u4fdd\u6301\u8ba1\u7b97\u6548\u7387\u7684\u540c\u65f6\u5177\u5907\u66f4\u5f3a\u7684\u6269\u5c55\u6027\u548c\u6a21\u5757\u5316\u80fd\u529b\u3002MoE \u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u4e5f\u88ab\u5c1d\u8bd5\u5e94\u7528\uff0c\u6bd4\u5982\u505a\u591a\u4efb\u52a1\u7b56\u7565\u548c\u6a21\u5757\u5316\u9884\u6d4b\uff0c\u4f46\u5927\u591a\u6570\u8bbe\u8ba1\u8fd8\u662f\u9762\u5411\u5177\u4f53\u4efb\u52a1\uff0c\u9650\u5236\u4e86\u4e13\u5bb6\u7684\u590d\u7528\u6027\uff0c\u4e5f\u6ca1\u80fd\u628a\u4e13\u5bb6\u771f\u6b63\u4f5c\u4e3a\u53ef\u4ee5\u7075\u6d3b\u7ec4\u5408\u7684\u9a7e\u9a76\u77e5\u8bc6\u7ec4\u4ef6\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u7a81\u7834\u8fd9\u4e9b\u9650\u5236\uff0c\u6211\u4eec\u63d0\u51fa\u4e86&nbsp;<strong>KDP (Knowledge-Driven Diffusion Policy)<\/strong>&nbsp;\u2014\u2014\u4e00\u4e2a\u7ed3\u5408\u4e13\u5bb6\u8def\u7531\u673a\u5236\u7684\u77e5\u8bc6\u9a71\u52a8\u578b\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7b56\u7565\u3002\u5b83\u628a\u6269\u6563\u6a21\u578b\u548c MoE \u7684\u4f18\u70b9\u7ed3\u5408\u8d77\u6765\uff1a\u6269\u6563\u6a21\u578b\u4fdd\u8bc1\u751f\u6210\u8f68\u8ff9\u65f6\u7684\u591a\u6837\u6027\u548c\u7a33\u5b9a\u6027\uff1bMoE \u5219\u5c06\u4e13\u5bb6\u7ec4\u7ec7\u6210\u7ed3\u6784\u5316\u7684\u201c\u77e5\u8bc6\u5355\u5143\u201d\uff0c\u6bcf\u4e2a\u4e13\u5bb6\u638c\u63e1\u67d0\u7c7b\u9a7e\u9a76\u80fd\u529b\uff0c\u6bd4\u5982\u7eb5\u5411\u63a7\u5236\u3001\u4ea4\u4e92\u5904\u7406\u3001\u6a2a\u5411\u89c4\u5212\u7b49\uff0c\u80fd\u6839\u636e\u4e0d\u540c\u573a\u666f\u7075\u6d3b\u7ec4\u5408\u3002\u4e0d\u50cf\u4f20\u7edf\u4ee5\u4efb\u52a1\u4e3a\u4e2d\u5fc3\u7684\u8bbe\u8ba1\uff0c\u8fd9\u4e2a\u6846\u67b6\u66f4\u6ce8\u91cd\u77e5\u8bc6\u7684\u7075\u6d3b\u590d\u7528\u548c\u7ec4\u5408\uff0c\u4ece\u800c\u884d\u751f\u51fa\u65b0\u7b56\u7565\u3002\u5b9e\u9a8c\u7ed3\u679c\u4e5f\u8bc1\u660e\u4e86\u5b83\u5728\u591a\u6837\u6027\u3001\u7a33\u5b9a\u6027\u548c\u6cdb\u5316\u6027\u4e0a\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u9898\u76ee: A Knowledge-Driven Diffusion Policy for End-to-End Autonomous Driving Based on Expert Routing<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2509.04853<\/li>\n<\/ul>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u77e5\u8bc6\u9a71\u52a8\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6846\u67b6<\/strong>\uff1a\u5c06 MoE \u4e2d\u7684\u4e13\u5bb6\u91cd\u65b0\u5efa\u6a21\u4e3a\u62bd\u8c61\u9a7e\u9a76\u77e5\u8bc6\u5355\u5143\uff0c\u5b9e\u73b0\u8d85\u8d8a\u4efb\u52a1\u4e2d\u5fc3\u7684\u6a21\u5757\u5316\u7ec4\u5408\u5f0f\u7b56\u7565\u5b66\u4e60\u3002<\/li>\n\n\n\n<li><strong>\u6269\u6563\u5efa\u6a21\u4e0e\u4e13\u5bb6\u8def\u7531\u7684\u7ed3\u5408<\/strong>\uff1a\u901a\u8fc7\u6269\u6563\u7b56\u7565\u4e0e MoE \u7684\u7ed3\u5408\uff0c\u5728\u786e\u4fdd\u957f\u65f6\u4e00\u81f4\u6027\u7684\u540c\u65f6\uff0c\u5b9e\u73b0\u901a\u8fc7\u6a21\u5757\u5316\u548c\u77e5\u8bc6\u590d\u7528\u5e94\u5bf9\u591a\u79cd\u9a7e\u9a76\u573a\u666f\u3002<\/li>\n\n\n\n<li><strong>\u5168\u9762\u7684\u5b9e\u8bc1\u9a8c\u8bc1<\/strong>\uff1a\u5728\u591a\u6837\u5316\u7684\u9a7e\u9a76\u573a\u666f\u4e2d\u9a8c\u8bc1\u4e86\u8be5\u65b9\u6cd5\u7684\u6709\u6548\u6027\uff0c\u5728\u5b89\u5168\u6027\u3001\u6cdb\u5316\u80fd\u529b\u548c\u6548\u7387\u65b9\u9762\u5747\u4f18\u4e8e\u73b0\u6709\u57fa\u7ebf\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/strong><\/p>\n\n\n\n<p>\u65e9\u671f\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5176\u5b9e\u5c31\u662f\u6a21\u4eff\u5b66\u4e60\uff0c\u5c06\u4f20\u611f\u5668\u89c2\u6d4b\u76f4\u63a5\u6620\u5c04\u4e3a\u63a7\u5236\u547d\u4ee4\uff0c\u5c24\u5176\u662f\u57fa\u4e8e\u5377\u79ef\u7f51\u7edc\u7684\u6a21\u578b\uff08\u89c1\u56fe 1(a)\uff09\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u786e\u5b9a\u6027\u67b6\u6784\u5728\u7b80\u5355\u573a\u666f\u4e0b\u8868\u73b0\u6709\u6548\uff0c\u4f46\u5b83\u4eec\u4f1a\u5c06\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\u538b\u7f29\u4e3a\u5e73\u5747\u9884\u6d4b\uff0c\u4ece\u800c\u5bfc\u81f4\u9a7e\u9a76\u64cd\u4f5c\u72b9\u8c6b\u4e0d\u51b3\u6216\u5b58\u5728\u5b89\u5168\u9690\u60a3\u3002\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\u4e5f\u80fd\u591f\u5728\u4e0d\u786e\u5b9a\u6027\u4e0b\u4f18\u5316\u957f\u671f\u76ee\u6807\uff0c\u4f46\u5b83\u4eec\u8bad\u7ec3\u6570\u636e\u9700\u6c42\u8fc7\u9ad8\uff0c\u8bad\u7ec3\u8fc7\u7a0b\u4e0d\u7a33\u5b9a\uff0c\u4e14\u5728\u771f\u5b9e\u9053\u8def\u7b49\u9ad8\u5b89\u5168\u6027\u73af\u5883\u4e2d\u7684\u53ef\u6269\u5c55\u6027\u6709\u9650\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"838\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-328-1024x838.png\" alt=\"\" class=\"wp-image-33016\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-328-1024x838.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-328-300x246.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-328-768x629.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-328.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u8fd1\u51e0\u5e74\u7684\u7814\u7a76\u5f00\u59cb\u5f15\u5165 Transformer \u6765\u505a\u65f6\u5e8f\u5efa\u6a21\u3002\u5b83\u4eec\u80fd\u591f\u66f4\u597d\u5730\u6355\u6349\u9a7e\u9a76\u4e2d\u7684\u65f6\u95f4\u4f9d\u8d56\uff0c\u8fd8\u80fd\u628a\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7684\u6570\u636e\u878d\u5408\u5230\u4e00\u8d77\uff0c\u5728\u4e00\u4e2a\u7edf\u4e00\u7684\u6846\u67b6\u4e0b\u5b8c\u6210\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\uff08\u89c1\u56fe 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\u5728\u81ea\u52a8\u9a7e\u9a76\u91cc\u7684\u6f5c\u529b\u3002\u50cf\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u548c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff08VLA\uff09\uff0c\u5df2\u7ecf\u88ab\u7528\u6765\u505a\u4ea4\u901a\u573a\u666f\u63a8\u7406\u548c\u8bed\u4e49\u5bf9\u9f50\uff0c\u5c55\u793a\u4e86\u4e0d\u9519\u7684\u53ef\u89e3\u91ca\u6027\u548c\u6cdb\u5316\u80fd\u529b\u3002\u4e0d\u8fc7\uff0c\u5b83\u4eec\u8fd8\u4e0d\u592a\u9002\u5408\u95ed\u73af\u63a7\u5236\uff0c\u56e0\u4e3a\u63a8\u7406\u901f\u5ea6\u6162\u3001\u52a8\u4f5c\u8854\u63a5\u4e0d\u591f\u6d41\u7545\uff0c\u4e5f\u5f88\u96be\u4fdd\u8bc1\u8fde\u7eed\u64cd\u4f5c\u7684\u5b89\u5168\u6027\u3002\u5728\u8fd9\u79cd\u80cc\u666f\u4e0b\uff0c\u6269\u6563\u7b56\u7565\uff08\u89c1\u56fe 1(c)\uff09\u6210\u4e3a\u4e00\u79cd\u66f4\u7cfb\u7edf\u7684\u751f\u6210\u5f0f\u65b9\u6848\uff0c\u53ef\u4ee5\u663e\u5f0f\u5efa\u6a21\u9a7e\u9a76\u52a8\u4f5c\u7684\u591a\u6837\u6027\uff0c\u540c\u65f6\u4fdd\u8bc1\u65f6\u5e8f\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u7cfb\u7edf\u4e2d\u7684\u6269\u6563\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u6269\u6563\u6a21\u578b\u8fd9\u4e24\u5e74\u5728\u751f\u6210\u5f0f\u5efa\u6a21\u9886\u57df\u5f88\u706b\uff0c\u5b83\u7684\u8bad\u7ec3\u8fc7\u7a0b\u7a33\u5b9a\u3001\u4f18\u5316\u76ee\u6807\u6e05\u6670\uff0c\u800c\u4e14\u80fd\u81ea\u7136\u8868\u8fbe\u591a\u6a21\u6001\u5206\u5e03\u3002\u76f8\u6bd4 VAE \u6216 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\u628a\u52a8\u4f5c\u5e8f\u5217\u7684\u751f\u6210\u770b\u4f5c\u4e00\u4e2a\u201c\u6761\u4ef6\u53bb\u566a\u201d\u7684\u8fc7\u7a0b\uff0c\u53ef\u4ee5\u5f88\u597d\u5730\u8868\u793a\u591a\u6a21\u6001\u884c\u4e3a\uff0c\u540c\u65f6\u4fdd\u8bc1\u8f68\u8ff9\u7684\u65f6\u5e8f\u7a33\u5b9a\u3002\u5b9e\u9a8c\u4e5f\u8bc1\u660e\u4e86 DP \u5728\u64cd\u63a7\u548c\u8fd0\u52a8\u63a7\u5236\u4efb\u52a1\u4e2d\u6bd4\u4f20\u7edf\u7684\u6a21\u4eff\u5b66\u4e60\u548c\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\u66f4\u9c81\u68d2\u3001\u66f4\u7a33\u5b9a\u3002\u5b83\u628a\u8f68\u8ff9\u751f\u6210\u95ee\u9898\u8f6c\u53d8\u6210\u4e86\u751f\u6210\u5f0f\u5efa\u6a21\u95ee\u9898\uff0c\u4e3a\u5904\u7406\u591a\u6837\u6027\u3001\u65f6\u5e8f\u76f8\u5173\u548c\u4e0d\u786e\u5b9a\u6027\u7b49\u95ee\u9898\u63d0\u4f9b\u4e86\u7cfb\u7edf\u5316\u7684\u601d\u8def\u3002<\/p>\n\n\n\n<p>\u5728\u8fd9\u4e2a\u65b9\u5411\u4e0a\u7684\u6700\u65b0\u7814\u7a76\u4e5f\u5f00\u59cb\u63a2\u7d22\u5982\u4f55\u5c06\u6269\u6563\u6a21\u578b\u5e94\u7528\u5230\u81ea\u52a8\u9a7e\u9a76\uff0c\u6bd4\u5982\u901a\u8fc7\u622a\u65ad\u6269\u6563\u8c03\u5ea6\u3001\u7ea7\u8054\u89e3\u7801\u5668\u548c\u5206\u7c7b\u5668\u5f15\u5bfc\u7b49\u6280\u672f\u6765\u63d0\u5347\u8f68\u8ff9\u751f\u6210\u7684\u6548\u7387\u548c\u591a\u6837\u6027\u3002\u8fd9\u4e9b\u7814\u7a76\u867d\u7136\u5c55\u793a\u4e86\u6269\u6563\u6a21\u578b\u5728\u89c4\u5212\u4e0a\u7684\u6f5c\u529b\uff0c\u4f46\u591a\u6570\u8fd8\u662f\u5355\u4e00\u5927\u6a21\u578b\u65b9\u6848\uff0c\u4e3b\u8981\u4f18\u5316\u91c7\u6837\u901f\u5ea6\uff0c\u5bf9\u6a21\u5757\u5316\u8bbe\u8ba1\u3001\u9002\u5e94\u6027\u548c\u77e5\u8bc6\u7ec4\u7ec7\u8fd9\u4e9b\u66f4\u5927\u7684\u6311\u6218\u6d89\u53ca\u4e0d\u591a\u3002\u8fd9\u4e5f\u63a8\u52a8\u4e86\u7814\u7a76\u8005\u5c06\u6269\u6563\u5efa\u6a21\u548c\u4e13\u5bb6\u8def\u7531\u673a\u5236\u7ed3\u5408\u8d77\u6765\uff0c\u8ba9\u6a21\u578b\u4e0d\u4ec5\u80fd\u751f\u6210\u7a33\u5b9a\u591a\u6837\u7684\u51b3\u7b56\uff0c\u8fd8\u80fd\u652f\u6301\u6301\u7eed\u5b66\u4e60\u548c\u9a7e\u9a76\u77e5\u8bc6\u7684\u8fc1\u79fb\u3002<\/p>\n\n\n\n<p><strong>\u751f\u6210\u5f0f\u4eba\u5de5\u667a\u80fd\u4e2d\u7684\u4e13\u5bb6\u6df7\u5408\uff08MoE\uff09<\/strong><\/p>\n\n\n\n<p>\u4e13\u5bb6\u6df7\u5408\uff08MoE\uff09\u6700\u521d\u662f\u4e3a\u4e86\u628a\u590d\u6742\u7684\u51fd\u6570\u62c6\u6210\u591a\u4e2a\u4e13\u95e8\u7684\u5b50\u6a21\u578b\uff0c\u901a\u8fc7\u4e00\u4e2a\u201c\u95e8\u63a7\u201d\u673a\u5236\u52a8\u6001\u9009\u62e9\u54ea\u4e9b\u4e13\u5bb6\u53c2\u4e0e\u8ba1\u7b97\u3002\u73b0\u5728\uff0cMoE \u5df2\u7ecf\u662f\u5927\u6a21\u578b\u9886\u57df\u5f88\u91cd\u8981\u7684\u67b6\u6784\u4e4b\u4e00\u3002\u5b83\u53ef\u4ee5\u5728\u4fdd\u6301\u8ba1\u7b97\u6548\u7387\u7684\u524d\u63d0\u4e0b\uff0c\u8ba9\u6a21\u578b\u5bb9\u91cf\u53d8\u5927\uff0c\u8fd8\u80fd\u8ba9\u4e0d\u540c\u4e13\u5bb6\u4e13\u6ce8\u4e0d\u540c\u7684\u4efb\u52a1\u6216\u6570\u636e\u5206\u5e03\uff0c\u8fd9\u79cd\u6a21\u5757\u5316\u8bbe\u8ba1\u5bf9\u590d\u6742\u4efb\u52a1\u975e\u5e38\u6709\u5e2e\u52a9\u3002<\/p>\n\n\n\n<p>\u5728\u751f\u6210\u5f0f AI \u4e2d\uff0cMoE \u7684\u6210\u529f\u6848\u4f8b\u4e0d\u5c11\u3002\u6bd4\u5982\u4e00\u4e9b\u8d85\u5927\u8bed\u8a00\u6a21\u578b\uff08\u50cf DeepSeek-v3\uff09\u5c31\u7528 MoE \u6269\u5c55\u5230\u4e07\u4ebf\u7ea7\u53c2\u6570\uff0c\u8fd8\u80fd\u4fdd\u6301\u8bad\u7ec3\u548c\u63a8\u7406\u7684\u6548\u7387\u3002\u89c6\u89c9\u548c\u591a\u6a21\u6001\u6a21\u578b\u4e5f\u5728\u7528 MoE\uff0c\u6bd4\u5982\u56fe\u50cf\u751f\u6210\u3001\u6587\u751f\u56fe\u6269\u6563\u7b49\u4efb\u52a1\uff0c\u8ba9\u4e13\u5bb6\u4e13\u95e8\u8d1f\u8d23\u4e0d\u540c\u98ce\u683c\u6216\u4e0d\u540c\u6a21\u6001\u3002\u8fd9\u8bf4\u660e MoE \u662f\u4e00\u79cd\u5728\u751f\u6210\u5f0f\u5efa\u6a21\u4e2d\u5b9e\u73b0\u591a\u6837\u6027\u548c\u6a21\u5757\u5316\u7684\u901a\u7528\u673a\u5236\u3002<\/p>\n\n\n\n<p>\u9664\u4e86 NLP \u548c\u89c6\u89c9\uff0cMoE \u4e5f\u9010\u6e10\u7528\u5728\u673a\u5668\u4eba\u548c\u81ea\u52a8\u9a7e\u9a76\u7b49\u667a\u80fd\u4f53\u9886\u57df\uff0c\u6bd4\u5982\u7528\u6765\u505a\u591a\u4efb\u52a1\u5b66\u4e60\u548c\u6280\u80fd\u62c6\u5206\uff0c\u5e2e\u52a9\u6a21\u578b\u8fc1\u79fb\u548c\u6301\u7eed\u5b66\u4e60\u3002\u4e0d\u8fc7\uff0c\u73b0\u5728\u7684\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u91cc\uff0cMoE \u8fd8\u5927\u591a\u662f\u6309\u4efb\u52a1\u5212\u5206\u4e13\u5bb6\u6a21\u5757\uff0c\u800c\u4e0d\u662f\u653e\u5728\u4e00\u4e2a\u751f\u6210\u5f0f\u7b56\u7565\u7684\u6846\u67b6\u4e0b\u3002\u8981\u7528 MoE \u6765\u6784\u5efa\u62bd\u8c61\u7684\u9a7e\u9a76\u77e5\u8bc6\u6a21\u5757\uff0c\u8fd8\u5f88\u5c11\u6709\u4eba\u7814\u7a76\u3002\u8fd9\u4e5f\u662f\u6211\u4eec\u63d0\u51fa\u628a MoE \u878d\u5165\u6269\u6563\u7b56\u7565\u7684\u539f\u56e0\uff0c\u76ee\u6807\u662f\u6253\u9020\u4e00\u4e2a\u771f\u6b63\u9762\u5411\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u77e5\u8bc6\u9a71\u52a8\u7b56\u7565\u6846\u67b6\u3002<\/p>\n\n\n\n<p><strong>\u65b9\u6cd5\u8bba<\/strong><\/p>\n\n\n\n<p><strong>\u6846\u67b6\u6982\u8ff0<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"456\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-329-1024x456.png\" alt=\"\" class=\"wp-image-33017\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-329-1024x456.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-329-300x134.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-329-768x342.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-329.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u7684\u65b9\u6cd5\u6574\u4f53\u7ed3\u6784\u5982\u56fe 2 \u6240\u793a\u3002\u5b83\u91c7\u7528\u7aef\u5230\u7aef\u7684\u601d\u8def\uff0c\u76f4\u63a5\u628a\u9a7e\u9a76\u73af\u5883\u7684\u89c2\u6d4b\u7ed3\u679c\u751f\u6210\u63a7\u5236\u52a8\u4f5c\uff0c\u6574\u4e2a\u8fc7\u7a0b\u662f\u4e00\u4e2a\u201c\u751f\u6210\u5f0f\u51b3\u7b56\u201d\u6d41\u7a0b\u3002\u8f93\u5165\u7684\u4fe1\u606f\u975e\u5e38\u5168\u9762\uff0c\u5305\u62ec\u81ea\u8f66\u7684\u72b6\u6001\u3001LiDAR \u70b9\u4e91\u548c\u9ad8\u5c42\u5bfc\u822a\u6307\u4ee4\uff0c\u8fd9\u4e9b\u4e3a\u7b56\u7565\u751f\u6210\u63d0\u4f9b\u4e86\u5b8c\u6574\u7684\u73af\u5883\u7406\u89e3\u3002<\/p>\n\n\n\n<p>\u6838\u5fc3\u90e8\u5206\u662f\u4e00\u4e2a\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u7b56\u7565\u7f51\u7edc\u3002\u5b83\u7684\u5de5\u4f5c\u65b9\u5f0f\u662f\u4ece\u968f\u673a\u566a\u58f0\u5f00\u59cb\uff0c\u5728\u573a\u666f\u4fe1\u606f\u7684\u5f15\u5bfc\u4e0b\uff0c\u4e00\u6b65\u6b65\u201c\u53bb\u566a\u201d\uff0c\u6700\u7ec8\u751f\u6210\u5e73\u6ed1\u8fde\u8d2f\u7684\u52a8\u4f5c\u8f68\u8ff9\u3002\u901a\u8fc7\u89c2\u6d4b\u548c\u52a8\u4f5c\u7279\u5f81\u4e4b\u95f4\u7684\u6ce8\u610f\u529b\u673a\u5236\uff0c\u6a21\u578b\u80fd\u6355\u6349\u9a7e\u9a76\u4e2d\u7684\u65f6\u5e8f\u5173\u7cfb\uff0c\u5e76\u652f\u6301\u5728\u540c\u4e00\u4e2a\u573a\u666f\u4e0b\u8f93\u51fa\u591a\u79cd\u5408\u7406\u7684\u64cd\u4f5c\u65b9\u6848\uff0c\u8ba9\u9a7e\u9a76\u884c\u4e3a\u66f4\u52a0\u7075\u6d3b\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u63d0\u5347\u6a21\u5757\u5316\u548c\u9002\u5e94\u80fd\u529b\uff0c\u6211\u4eec\u8fd8\u52a0\u5165\u4e86 MoE \u6a21\u5757\u3002\u5b83\u901a\u8fc7\u4e00\u4e2a Top-K \u8def\u7531\u5668\uff0c\u6839\u636e\u5f53\u524d\u573a\u666f\u52a8\u6001\u9009\u62e9\u5c11\u91cf\u4e13\u5bb6\u53c2\u4e0e\u9884\u6d4b\u3002\u8fd9\u4e9b\u4e13\u5bb6\u53ef\u4ee5\u770b\u4f5c\u662f\u201c\u77e5\u8bc6\u6a21\u5757\u201d\uff0c\u6bcf\u4e2a\u4e13\u5bb6\u638c\u63e1\u4e0d\u540c\u7684\u9a7e\u9a76\u6280\u5de7\uff0c\u6bd4\u5982\u8def\u53e3\u901a\u8fc7\u3001\u73af\u5c9b\u9a7e\u9a76\u6216\u9002\u5e94\u964c\u751f\u8def\u6bb5\u3002\u7ed3\u5408\u6269\u6563\u7b56\u7565\u548c\u8fd9\u79cd\u7ed3\u6784\u5316\u7684\u4e13\u5bb6\u8bbe\u8ba1\uff0c\u6574\u4e2a\u6846\u67b6\u80fd\u5728\u590d\u6742\u3001\u52a8\u6001\u7684\u4ea4\u901a\u73af\u5883\u4e2d\u4fdd\u6301\u52a8\u4f5c\u7684\u7a33\u5b9a\u6027\u548c\u6a21\u578b\u7684\u7075\u6d3b\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n<p><strong>\u95ee\u9898\u8868\u8ff0<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"594\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091501.png\" alt=\"\" class=\"wp-image-33018\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091501.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091501-300x267.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u9a7e\u9a76\u7684\u6269\u6563\u7b56\u7565<\/strong><\/p>\n\n\n\n<p><strong>\u751f\u6210\u5f0f\u7b56\u7565\u516c\u5f0f\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"347\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091502.png\" alt=\"\" class=\"wp-image-33019\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091502.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091502-300x155.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-330-865x1024.png\" alt=\"\" class=\"wp-image-33020\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-330-865x1024.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-330-254x300.png 254w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-330-768x909.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-330-845x1000.png 845w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-330.png 916w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p><strong>\u52a8\u4f5c\u5e8f\u5217\u7684\u524d\u5411\u6269\u6563<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"365\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091503.png\" alt=\"\" class=\"wp-image-33021\" style=\"width:893px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091503.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091503-300x163.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>\u4f5c\u4e3a\u9a7e\u9a76\u7b56\u7565\u7684\u53cd\u5411\u53bb\u566a\u8fc7\u7a0b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"275\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091504.png\" alt=\"\" class=\"wp-image-33023\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091504.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091504-300x124.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"252\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091505.png\" alt=\"\" class=\"wp-image-33022\" style=\"width:896px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091505.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091505-300x113.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"541\" height=\"860\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-331.png\" alt=\"\" class=\"wp-image-33024\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-331.png 541w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-331-189x300.png 189w\" sizes=\"(max-width: 541px) 100vw, 541px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e MoE \u7684\u77e5\u8bc6\u8def\u7531<\/strong><\/p>\n\n\n\n<p><strong>\u5c06 MoE \u96c6\u6210\u8fdb\u6269\u6563\u7b56\u7565<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"113\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091506.png\" alt=\"\" class=\"wp-image-33025\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091506.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091506-300x51.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"741\" height=\"907\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-332.png\" alt=\"\" class=\"wp-image-33026\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-332.png 741w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-332-245x300.png 245w\" sizes=\"(max-width: 741px) 100vw, 741px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"278\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091507.png\" alt=\"\" class=\"wp-image-33027\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091507.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091507-300x125.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>\u8def\u7531\u673a\u5236<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"401\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091508.png\" alt=\"\" class=\"wp-image-33028\" style=\"width:893px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091508.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091508-300x180.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>\u5e26\u6709\u8def\u7531\u7ea6\u675f\u7684\u8bad\u7ec3\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"663\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091509.png\" alt=\"\" class=\"wp-image-33029\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091509.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091509-300x296.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"856\" height=\"812\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-333.png\" alt=\"\" class=\"wp-image-33030\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-333.png 856w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-333-300x285.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-333-768x729.png 768w\" sizes=\"(max-width: 856px) 100vw, 856px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u4e0e\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e (Experimental Setup)<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728\u57fa\u4e8e MetaDrive \u642d\u5efa\u7684\u4eff\u771f\u73af\u5883\u4e2d\u8bc4\u4f30\u6211\u4eec\u7684\u65b9\u6cd5\uff0c\u8be5\u5e73\u53f0\u652f\u6301\u7075\u6d3b\u914d\u7f6e\u9053\u8def\u7ed3\u6784\u548c\u4ea4\u901a\u6d41\u91cf\u3002\u56fe 5 \u5c55\u793a\u4e86\u4e09\u4e2a\u5177\u6709\u4ee3\u8868\u6027\u4e14\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\uff0c\u4ece\u7b80\u5355\u5230\u590d\u6742\u4f9d\u6b21\u4e3a\uff1a\u531d\u9053\uff08In Ramp\uff09\u3001\u5341\u5b57\u8def\u53e3\uff08Intersection\uff09\u548c\u73af\u5c9b\uff08Roundabout\uff09\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>In Ramp<\/strong>\u00a0\u573a\u666f\u5305\u542b\u4e00\u6761\u957f 150 \u7c73\u7684\u4e3b\u5e72\u9053\u548c\u4e00\u6bb5 50 \u7c73\u7684\u5408\u6d41\u6bb5\uff0c\u7528\u4e8e\u6d4b\u8bd5\u8f66\u8f86\u5728\u53d8\u9053\u63d2\u5165\u65f6\u7684\u7eb5\u5411\u534f\u540c\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>Intersection<\/strong>\u00a0\u573a\u666f\u4e3a\u4e00\u4e2a\u65e0\u4fe1\u53f7\u706f\u7684\u516d\u8f66\u9053\u4ea4\u53c9\u53e3\uff0c\u4ea4\u4e92\u533a\u957f 50 \u7c73\u3002<\/li>\n\n\n\n<li><strong>Roundabout<\/strong>\u00a0\u573a\u666f\u7531\u4e09\u6761\u8f66\u9053\u7ec4\u6210\uff0c\u5165\u53e3\u6bb5\u957f 50 \u7c73\uff0c\u5916\u5f84\u4e3a 70 \u7c73\uff0c\u6d4b\u8bd5\u590d\u6742\u7684\u591a\u8f66\u5bfc\u822a\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e3a\u4e86\u6700\u5927\u5316\u4ea4\u4e92\u6548\u679c\uff0c\u4ea4\u901a\u8f66\u8f86\u7531 IDM \u548c MOBIL \u6a21\u578b\u63a7\u5236\uff0c\u5e76\u5728\u81ea\u8f66\u63a5\u8fd1\u65f6\u52a8\u6001\u89e6\u53d1\uff0c\u53c2\u6570\u968f\u673a\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"960\" height=\"845\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-334.png\" alt=\"\" class=\"wp-image-33031\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-334.png 960w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-334-300x264.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-334-768x676.png 768w\" sizes=\"(max-width: 960px) 100vw, 960px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"662\" height=\"269\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091510.png\" alt=\"\" class=\"wp-image-33032\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091510.png 662w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091510-300x122.png 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/figure>\n\n\n\n<p><strong>\u6027\u80fd\u8bc4\u4f30<\/strong><\/p>\n\n\n\n<p><strong>\u6a21\u578b\u89c4\u6a21\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u6a21\u578b\u5bb9\u91cf\u5bf9\u9a7e\u9a76\u6027\u80fd\u7684\u5f71\u54cd\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u56db\u79cd\u7b56\u7565\u53d8\u4f53\uff0c\u901a\u8fc7\u8c03\u6574\u5d4c\u5165\u7ef4\u5ea6\u3001\u6ce8\u610f\u529b\u5934\u6570\u548c Transformer \u5c42\u6570\u6765\u533a\u5206\u89c4\u6a21\uff0c\u5206\u522b\u547d\u540d\u4e3a Small\u3001Medium\u3001Large \u548c Giant\u3002\u8868 II \u7ed9\u51fa\u4e86\u5404\u6a21\u578b\u53c2\u6570\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"453\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-335-1024x453.png\" alt=\"\" class=\"wp-image-33033\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-335-1024x453.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-335-300x133.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-335-768x340.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-335.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe6\u7ed3\u679c\u663e\u793a\uff0c\u6a21\u578b\u8d8a\u5927\u5728\u4e09\u79cd\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6210\u529f\u7387\u6574\u4f53\u8d8a\u9ad8\uff0c\u4f46\u63d0\u5347\u5e76\u975e\u5355\u8c03\u9012\u589e\uff0c\u5bb9\u91cf\u8fc7\u5927\u540e\u6536\u76ca\u8d8b\u4e8e\u9971\u548c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"852\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-337-1024x852.png\" alt=\"\" class=\"wp-image-33035\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-337-1024x852.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-337-300x250.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-337-768x639.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-337.png 1066w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u63a8\u7406\u65f6\u95f4\u4e0e\u6a21\u578b\u89c4\u6a21\u6210\u6b63\u6bd4\uff08\u5982\u88683\u6240\u793a\uff09\uff0cGiant \u6a21\u578b\uff081.56\u4ebf\u53c2\u6570\uff09\u63a8\u7406\u5ef6\u8fdf\u7ea6 81.6ms\uff0c\u4f46\u4ecd\u5728\u81ea\u52a8\u9a7e\u9a76\u5b9e\u65f6\u8981\u6c42\u8303\u56f4\u5185\uff0c\u56e0\u6b64\u9009\u62e9 Giant \u6a21\u578b\u4f5c\u4e3a\u540e\u7eed\u5b9e\u9a8c\u7684\u4e3b\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"638\" height=\"350\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-338.png\" alt=\"\" class=\"wp-image-33036\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-338.png 638w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-338-300x165.png 300w\" sizes=\"(max-width: 638px) 100vw, 638px\" \/><\/figure>\n\n\n\n<p><strong>\u4e0e\u57fa\u7ebf\u6a21\u578b\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5c06\u65b9\u6cd5\u4e0e\u4e09\u79cd\u81ea\u52a8\u9a7e\u9a76\u4e3b\u8981\u8303\u5f0f\u7684\u4ee3\u8868\u6a21\u578b\u8fdb\u884c\u5bf9\u6bd4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684\u00a0<strong>PPO-Lag<\/strong><\/li>\n\n\n\n<li>\u57fa\u4e8e\u89c4\u5219\u7684\u00a0<strong>RPID (Rotation Projection IDM)<\/strong><\/li>\n\n\n\n<li>\u57fa\u4e8e\u6a21\u4eff\u5b66\u4e60\u00a0<strong>IBC (Implicit Behavior Cloning)<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u4e09\u79cd\u573a\u666f\u4e0b\u7684\u5bf9\u6bd4\u7ed3\u679c\u89c1\u8868 IV\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u00a0<strong>In Ramp<\/strong>\u00a0\u573a\u666f\uff0c\u6211\u4eec\u7684\u6a21\u578b\u6210\u529f\u7387 100%\uff0c\u96f6\u78b0\u649e\uff0c\u8868\u73b0\u4f18\u4e8e\u6240\u6709\u57fa\u7ebf\uff1b<\/li>\n\n\n\n<li>\u5728\u66f4\u590d\u6742\u7684\u00a0<strong>Intersection<\/strong>\u00a0\u573a\u666f\uff0c\u6210\u529f\u7387 94%\uff0c\u660e\u663e\u8d85\u8fc7\u5176\u4ed6\u6a21\u578b\uff1b<\/li>\n\n\n\n<li>\u5728\u9ad8\u4ea4\u4e92\u7684\u00a0<strong>Roundabout<\/strong>\u00a0\u573a\u666f\u4e2d\uff0c\u6210\u529f\u7387 90%\uff0c\u540c\u6837\u9886\u5148\u57fa\u7ebf\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u7ed3\u679c\u8868\u660e\uff0c\u672c\u65b9\u6cd5\u5728\u5b89\u5168\u6027\u3001\u5e73\u7a33\u6027\u548c\u9a7e\u9a76\u6548\u7387\u65b9\u9762\u5168\u9762\u4f18\u4e8e\u73b0\u6709\u65b9\u6848\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"350\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-339-1024x350.png\" alt=\"\" class=\"wp-image-33037\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-339-1024x350.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-339-300x103.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-339-768x262.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-339.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u63d0\u51fa\u7684\u8bbe\u8ba1\u7ec4\u4ef6\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u8be6\u7ec6\u7684\u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u53bb\u9664 MoE \u8def\u7531\u5668<\/strong>\uff1a<br>\u6211\u4eec\u9996\u5148\u5c06 MoE \u8def\u7531\u5668\u66ff\u6362\u4e3a\u4e00\u4e2a\u7b80\u5355\u7684\u5747\u5300\u4e13\u5bb6\u6fc0\u6d3b\u65b9\u6848\uff0c\u6bcf\u4e2a\u4e13\u5bb6\u59cb\u7ec8\u542f\u7528\u76f8\u540c\u7684\u6743\u91cd\u3002\u5b9e\u9a8c\u7ed3\u679c\u663e\u793a\uff0c\u5728\u4e09\u4e2a\u573a\u666f\u4e2d\u7684\u6210\u529f\u7387\u5747\u4e0b\u964d\u4e86\u7ea6 6%\uff0c\u5e76\u4e14\u8f68\u8ff9\u7684\u5e73\u6ed1\u6027\u6307\u6807\u660e\u663e\u964d\u4f4e\u3002\u8fd9\u8868\u660e\uff0c\u57fa\u4e8e\u573a\u666f\u52a8\u6001\u9009\u62e9\u4e13\u5bb6\u5bf9\u4e8e\u6355\u6349\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u591a\u6837\u5316\u9700\u6c42\u81f3\u5173\u91cd\u8981\u3002<\/li>\n\n\n\n<li><strong>\u79fb\u9664\u77e5\u8bc6\u6b63\u5219\u5316<\/strong>\uff1a<br>\u53bb\u6389\u4e92\u4fe1\u606f\u6b63\u5219\u9879\u540e\uff0c\u8def\u7531\u5668\u7684\u6fc0\u6d3b\u5206\u5e03\u53d8\u5f97\u6781\u4e0d\u5747\u8861\uff0c\u8d85\u8fc7 80% \u7684\u63a8\u7406\u8ba1\u7b97\u96c6\u4e2d\u5728\u4e24\u4e2a\u4e13\u5bb6\u4e0a\u3002\u867d\u7136\u6a21\u578b\u5728\u8bad\u7ec3\u96c6\u4e0a\u7684\u8868\u73b0\u4ecd\u4fdd\u6301\u8f83\u597d\u6c34\u5e73\uff0c\u4f46\u5728\u672a\u89c1\u8fc7\u7684\u573a\u666f\u4e0b\u6027\u80fd\u660e\u663e\u4e0b\u964d\u3002\u8fd9\u8bc1\u660e\u77e5\u8bc6\u6b63\u5219\u5316\u6709\u52a9\u4e8e\u7ef4\u6301\u4e13\u5bb6\u95f4\u7684\u8d1f\u8f7d\u5747\u8861\u548c\u77e5\u8bc6\u7684\u6a21\u5757\u5316\u3002<\/li>\n\n\n\n<li><strong>\u51cf\u5c11\u6269\u6563\u6b65\u6570<\/strong>\uff1a<br>\u6211\u4eec\u5c06\u6269\u6563\u53bb\u566a\u8fed\u4ee3\u4ece 100 \u6b65\u51cf\u5c11\u5230 20 \u6b65\uff0c\u63a8\u7406\u65f6\u95f4\u7f29\u77ed\u4e86\u7ea6 4 \u500d\uff0c\u4f46\u6210\u529f\u7387\u4e0b\u964d\u4e86 3%\uff0c\u8f68\u8ff9\u5e73\u6ed1\u6027\u6307\u6807\u4e5f\u7565\u6709\u6076\u5316\u3002\u8fd9\u8bf4\u660e\u5728\u81ea\u52a8\u9a7e\u9a76\u8fd9\u6837\u7684\u9ad8\u7cbe\u5ea6\u4efb\u52a1\u4e2d\uff0c\u8db3\u591f\u7684\u6269\u6563\u6b65\u6570\u5bf9\u4e8e\u751f\u6210\u9ad8\u8d28\u91cf\u8f68\u8ff9\u662f\u5fc5\u8981\u7684\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"922\" height=\"296\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-340.png\" alt=\"\" class=\"wp-image-33038\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-340.png 922w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-340-300x96.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-340-768x247.png 768w\" sizes=\"(max-width: 922px) 100vw, 922px\" \/><\/figure>\n\n\n\n<p><strong>\u4e13\u5bb6\u6fc0\u6d3b\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u5206\u6790 MoE \u6a21\u5757\u662f\u5426\u6355\u6349\u5230\u53ef\u590d\u7528\u548c\u573a\u666f\u7279\u5b9a\u7684\u9a7e\u9a76\u77e5\u8bc6\uff0c\u6211\u4eec\u7814\u7a76\u4e86\u95ed\u73af\u8fd0\u884c\u4e2d\u7684\u4e13\u5bb6\u6fc0\u6d3b\u6982\u7387\uff0c\u4ece\u4e24\u4e2a\u89d2\u5ea6\u5c55\u5f00\uff1a<strong>\u65f6\u95f4\u7ef4\u5ea6\u7684\u6fc0\u6d3b\u6a21\u5f0f<\/strong>\u548c<strong>\u573a\u666f\u5c42\u7ea7\u7684\u4e13\u7cbe\u4e0e\u590d\u7528<\/strong>\u3002\u6fc0\u6d3b\u6982\u7387\u5b9a\u4e49\u4e3a\u5728 Top-K \u8def\u7531\u9009\u62e9\u540e\u5206\u914d\u7ed9\u6bcf\u4e2a\u4e13\u5bb6\u7684\u5f52\u4e00\u5316\u6743\u91cd\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u65f6\u95f4\u6fc0\u6d3b\u6a21\u5f0f<\/strong>\uff1a<br>\u56fe 8 \u5c55\u793a\u4e86\u4e13\u5bb6\u6fc0\u6d3b\u5728\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u5448\u73b0\u51fa\u7a00\u758f\u4e14\u9636\u6bb5\u6027\u7684\u7279\u70b9\u3002\u6fc0\u6d3b\u5cf0\u503c\u5f80\u5f80\u4e0e\u9a7e\u9a76\u4efb\u52a1\u5173\u952e\u9636\u6bb5\u543b\u5408\u3002\u5728 In Ramp \u573a\u666f\u4e2d\uff0cExpert 3 \u5728\u6574\u4e2a\u5408\u6d41\u8fc7\u7a0b\u4e2d\u88ab\u9891\u7e41\u6fc0\u6d3b\uff0c\u7528\u4e8e\u7eb5\u5411\u63a7\u5236\u548c\u8f66\u8ddd\u4fdd\u6301\u3002\u5728 Intersection \u573a\u666f\u4e2d\uff0cExpert 1 \u548c Expert 5 \u5728\u8f66\u8f86\u8fdb\u5165\u4ea4\u4e92\u533a\u65f6\u6fc0\u6d3b\u660e\u663e\u589e\u5f3a\uff0c\u53cd\u6620\u4e86\u4e0e\u4ea4\u4e92\u51b3\u7b56\u76f8\u5173\u7684\u80fd\u529b\u3002\u5728 Roundabout \u573a\u666f\u4e2d\uff0cExpert 6 \u5728\u5165\u53e3\u548c\u51fa\u53e3\u5904\u663e\u8457\u6fc0\u6d3b\uff0c\u800c Expert 3 \u7684\u6fc0\u6d3b\u8f83\u4f4e\uff0c\u8fd9\u4e0e\u573a\u666f\u4e2d\u6a2a\u5411\u63a7\u5236\u9700\u6c42\u548c\u51cf\u5c11\u8ddf\u8f66\u52a8\u4f5c\u7684\u9700\u6c42\u76f8\u7b26\u3002\u8fd9\u4e9b\u6fc0\u6d3b\u6a21\u5f0f\u8868\u660e\u8def\u7531\u5668\u80fd\u591f\u6839\u636e\u9a7e\u9a76\u4efb\u52a1\u7684\u4e0d\u540c\u9636\u6bb5\u52a8\u6001\u8c03\u7528\u77e5\u8bc6\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"370\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-341-1024x370.png\" alt=\"\" class=\"wp-image-33039\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-341-1024x370.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-341-300x108.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-341-768x277.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-341.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ol start=\"2\" class=\"wp-block-list\">\n<li><strong>\u573a\u666f\u5c42\u7ea7\u7684\u4e13\u7cbe\u4e0e\u590d\u7528<\/strong>\uff1a<br>\u56fe 9 \u603b\u7ed3\u4e86\u5b8c\u6574\u56de\u5408\u4e2d\u7684\u6fc0\u6d3b\u6570\u636e\uff0c\u5c55\u793a\u4e86\u975e\u5747\u5300\u4f46\u975e\u6392\u4ed6\u7684\u6fc0\u6d3b\u5206\u5e03\u3002\u4e00\u4e9b\u4e13\u5bb6\u8868\u73b0\u51fa\u5f3a\u70c8\u7684\u573a\u666f\u4e13\u7cbe\u503e\u5411\uff0c\u4f8b\u5982 In Ramp \u4e2d\u7684 Expert 3\u3001Intersection \u4e2d\u7684 Expert 5\u3001Roundabout \u4e2d\u7684 Expert 6 \u548c Expert 8\u3002\u800c Expert 1 \u548c Expert 4 \u5728\u591a\u573a\u666f\u4e2d\u9891\u7e41\u590d\u7528\u3002\u8be5\u7ed3\u679c\u8bf4\u660e\u7b56\u7565\u80fd\u591f\u7075\u6d3b\u7ec4\u5408\u57fa\u7840\u9a7e\u9a76\u6280\u80fd\uff0c\u540c\u65f6\u4fdd\u7559\u5c11\u91cf\u9ad8\u5ea6\u4e13\u7cbe\u7684\u4e13\u5bb6\uff0c\u7528\u4e8e\u89e3\u51b3\u590d\u6742\u548c\u7f55\u89c1\u7684\u9a7e\u9a76\u573a\u666f\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"916\" height=\"620\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-342.png\" alt=\"\" class=\"wp-image-33040\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-342.png 916w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-342-300x203.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-342-768x520.png 768w\" sizes=\"(max-width: 916px) 100vw, 916px\" \/><\/figure>\n\n\n\n<p><strong>\u6848\u4f8b\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u9009\u62e9\u4e86\u56db\u4e2a\u5178\u578b\u7684\u95ed\u73af\u9a7e\u9a76\u6848\u4f8b\uff08\u89c1\u56fe 10\uff09\uff0c\u6765\u5c55\u793a\u6a21\u578b\u5728\u4e0d\u540c\u4ea4\u901a\u4ea4\u4e92\u573a\u666f\u4e0b\u7684\u8868\u73b0\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"724\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-343-1024x724.png\" alt=\"\" class=\"wp-image-33041\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-343-1024x724.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-343-300x212.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-343-768x543.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-343.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u531d\u9053\u5408\u6d41\uff08Ramp Merging with Cut-in\uff09<\/strong>\uff1a<br>\u8f66\u8f86\u5728\u5361\u8f66\u52a0\u585e\u524d\u6210\u529f\u9884\u5224\uff0c\u5e76\u5e73\u7a33\u51cf\u901f\u4fdd\u6301\u5b89\u5168\u95f4\u8ddd\uff0c\u5c55\u73b0\u4e86\u7a33\u5b9a\u7684\u7eb5\u5411\u63a7\u5236\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>\u65e0\u4fdd\u62a4\u5de6\u8f6c\uff08Intersection: Unprotected Left Turn\uff09<\/strong>\uff1a<br>\u8f66\u8f86\u5728\u4ea4\u53c9\u53e3\u5e73\u7a33\u51cf\u901f\uff0c\u7b49\u5f85\u5b89\u5168\u95f4\u9699\u540e\u987a\u5229\u5b8c\u6210\u5de6\u8f6c\uff0c\u8f68\u8ff9\u5e73\u6ed1\u81ea\u7136\u3002<\/li>\n\n\n\n<li><strong>\u76f4\u884c\u4ea4\u4e92\uff08Intersection: Straight-through\uff09<\/strong>\uff1a<br>\u9762\u5bf9\u591a\u8f66\u9ad8\u901f\u62a2\u884c\uff0c\u6a21\u578b\u52a8\u6001\u8c03\u6574\u7b56\u7565\uff0c\u786e\u4fdd\u5b89\u5168\u901a\u884c\u3002<\/li>\n\n\n\n<li><strong>\u73af\u5c9b\u4e09\u51fa\u53e3\uff08Roundabout: Third Exit\uff09<\/strong>\uff1a<br>\u8f66\u8f86\u7cbe\u51c6\u63a7\u5236\u6a2a\u5411\u4f4d\u7f6e\u548c\u89d2\u5ea6\uff0c\u987a\u5229\u5728\u9ad8\u590d\u6742\u5ea6\u7684\u73af\u5c9b\u4e2d\u9009\u62e9\u6b63\u786e\u51fa\u53e3\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u591a\u573a\u666f\u8bc4\u4f30<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u7b56\u7565\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u6761\u957f\u8ddd\u79bb\u8fde\u7eed\u9a7e\u9a76\u8def\u7ebf\uff0c\u5176\u4e2d\u5305\u542b\u591a\u79cd\u9a7e\u9a76\u5143\u7d20\uff0c\u5982\u5f2f\u9053\u3001\u5341\u5b57\u8def\u53e3\u3001T 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940px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\uff0c\u628a\u6269\u6563\u6a21\u578b\u7684\u201c\u4f1a\u751f\u6210\u201d\u80fd\u529b\u548c MoE \u7684\u201c\u4e13\u5bb6\u6a21\u5757\u5316\u201d\u7ed3\u5408\u4e86\u8d77\u6765\u3002\u7b80\u5355\u6765\u8bf4\uff0c\u6269\u6563\u6a21\u578b\u8d1f\u8d23\u901a\u8fc7\u6761\u4ef6\u53bb\u566a\u4e00\u6b65\u6b65\u751f\u6210\u52a8\u4f5c\u5e8f\u5217\uff0c\u81ea\u7136\u5c31\u80fd\u5904\u7406\u9a7e\u9a76\u8fc7\u7a0b\u4e2d\u7684\u591a\u6837\u5316\u51b3\u7b56\u548c\u65f6\u5e8f\u4f9d\u8d56\uff1b\u800c MoE 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