{"id":33278,"date":"2025-09-25T17:33:52","date_gmt":"2025-09-25T09:33:52","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33278"},"modified":"2025-09-25T17:33:52","modified_gmt":"2025-09-25T09:33:52","slug":"2025-09-25-%e4%b8%93%e6%94%bb%e9%95%bf%e5%b0%be%e5%9c%ba%e6%99%af%ef%bc%81%e5%90%8c%e6%b5%8ecorevla%ef%bc%9a%e5%8f%8c%e9%98%b6%e6%ae%b5%e7%ab%af%e5%88%b0%e7%ab%af%e6%96%b0%e6%a1%86%e6%9e%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/25\/33278\/","title":{"rendered":"2025-09-25 \u4e13\u653b\u957f\u5c3e\u573a\u666f\uff01\u540c\u6d4eCoReVLA\uff1a\u53cc\u9636\u6bb5\u7aef\u5230\u7aef\u65b0\u6846\u67b6"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/fTTLpgoMNixdn-KF0DmMBQ\">https:\/\/mp.weixin.qq.com\/s\/fTTLpgoMNixdn-KF0DmMBQ<\/a><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u5728<strong>\u957f\u5c3e\u573a\u666f\uff08\u4f4e\u9891\u7387\u3001\u9ad8\u98ce\u9669\u7684\u5b89\u5168\u5173\u952e\u573a\u666f\uff09<\/strong>&nbsp;\u4e2d\u8868\u73b0\u4ecd\u5b58\u5728\u663e\u8457\u77ed\u677f\u2014\u2014\u8fd9\u7c7b\u573a\u666f\u867d\u4e0d\u5e38\u89c1\uff0c\u5374\u5360\u81ea\u52a8\u9a7e\u9a76\u4e8b\u6545\u7684\u5f88\u5927\u6bd4\u4f8b\uff0c\u4e14\u4f1a\u5bfc\u81f4\u9a7e\u9a76\u5458\u63a5\u7ba1\u7387\u6025\u5267\u4e0a\u5347\u3002<\/p>\n\n\n\n<p>\u4f20\u7edf\u6a21\u5757\u5316\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff08\u611f\u77e5-\u9884\u6d4b-\u89c4\u5212\u5206\u9636\u6bb5\uff09\u5b58\u5728\u201c\u8bef\u5dee\u7d2f\u79ef\u201d\u95ee\u9898\uff1a\u5404\u9636\u6bb5\u7684\u5fae\u5c0f\u8bef\u5dee\u4f1a\u9010\u6b65\u653e\u5927\uff0c\u5bfc\u81f4\u6574\u4f53\u6027\u80fd\u96be\u4ee5\u63d0\u5347\uff1b\u800c\u7aef\u5230\u7aef\u65b9\u6cd5\u76f4\u63a5\u5c06\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u4e3a\u63a7\u5236\u52a8\u4f5c\u6216\u8005\u81ea\u8f66\u7684\u8f68\u8ff9\uff0c\u5177\u5907\u66f4\u5f3a\u7684\u9002\u5e94\u6027\u548c\u7edf\u4e00\u4f18\u5316\u80fd\u529b\uff0c\u88ab\u8ba4\u4e3a\u662f\u89e3\u51b3\u957f\u5c3e\u573a\u666f\u95ee\u9898\u7684\u6f5c\u5728\u65b9\u5411\u3002<\/p>\n\n\n\n<p>\u800c\u5f53\u524d\u7aef\u5230\u7aef\u65b9\u6cd5\u4e3b\u8981\u5206\u4e3a\u4e24\u7c7b\uff0c\u4f46\u5747\u65e0\u6cd5\u5f88\u597d\u5e94\u5bf9\u957f\u5c3e\u573a\u666f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5c0f\u89c4\u6a21\u4efb\u52a1\u7279\u5b9a\u6a21\u578b<\/strong>\uff1a\u5c06\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\u8f6c\u5316\u4e3aBEV\u5730\u56fe\u3001\u4ea4\u4e92\u56fe\u7b49\u7ed3\u6784\u5316\u4e2d\u95f4\u8868\u793a\uff0c\u901a\u8fc7\u591a\u4efb\u52a1\u5b66\u4e60\u8054\u5408\u4f18\u5316\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u3002\u8fd9\u7c7b\u6a21\u578b\u5728\u5e38\u89c4\u573a\u666f\u8868\u73b0\u7a33\u5b9a\uff0c\u4f46<strong>\u4e0a\u4e0b\u6587\u63a8\u7406\u80fd\u529b\u5f31\u3001\u5bf9\u672a\u89c1\u8fc7\u7684\u573a\u666f\u6cdb\u5316\u5dee<\/strong>\uff0c\u96be\u4ee5\u5904\u7406\u957f\u5c3e\u573a\u666f\u4e2d\u7684\u590d\u6742\u4ea4\u4e92\uff08\u5982\u7a81\u53d1\u906e\u6321\u3001\u6a21\u7cca\u610f\u56fe\uff09\u3002<\/li>\n\n\n\n<li><strong>\u5927\u89c4\u6a21\u9884\u8bad\u7ec3\u6a21\u578b\uff08\u5982VLM\uff09<\/strong>\uff1a\u4f9d\u6258\u6d77\u91cf\u4e16\u754c\u77e5\u8bc6\u548c\u5f3a\u63a8\u7406\u80fd\u529b\uff0c\u884d\u751f\u51fa\u201c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u201d\u6846\u67b6\u2014\u2014\u6a21\u4eff\u4eba\u7c7b\u4ece\u573a\u666f\u7406\u89e3\u5230\u51b3\u7b56\u7684\u6d41\u7a0b\uff0c\u5728\u6a21\u7cca\u6216\u7f55\u89c1\u573a\u666f\u4e2d\u5c55\u73b0\u51fa\u66f4\u5f3a\u7684\u53ef\u89e3\u91ca\u6027\u3002\u4f46VLA\u9762\u4e34\u4e24\u5927\u6838\u5fc3\u6311\u6218\uff1a\u4e00\u662f<strong>\u957f\u5c3eQA\u6570\u636e\u7a00\u7f3a<\/strong>\uff0c\u591a\u6570\u516c\u5f00\u6570\u636e\u96c6\u805a\u7126\u8f68\u8ff9\u6807\u6ce8\uff0c\u7f3a\u4e4f\u539f\u59cb\u89c6\u89c9\u6570\u636e\uff0c\u4e14\u73b0\u6709VLA\u4e13\u7528QA\u6570\u636e\u96c6\u6781\u5c11\u8986\u76d6\u957f\u5c3e\u573a\u666f\uff1b\u4e8c\u662f<strong>\u7a00\u758f\u6570\u636e\u4e0b\u5fae\u8c03\u6548\u7387\u4f4e<\/strong>\uff0c\u957f\u5c3e\u573a\u666f\u53d1\u751f\u7387\u4f4e\uff0c\u6a21\u578b\u96be\u4ee5\u4ece\u6709\u9650\u6570\u636e\u4e2d\u6709\u6548\u5b66\u4e60\u3002<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2509.15968v1<\/li>\n\n\n\n<li>\u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/github.com\/FanGShiYuu\/CoReVLA<\/li>\n<\/ul>\n\n\n\n<p><strong>CoReVLA<\/strong><\/p>\n\n\n\n<p><strong>\u6838\u5fc3\u8bbe\u8ba1\uff1a\u201cCollect-and-Refine\u201d\u53cc\u9636\u6bb5\u6846\u67b6<\/strong><\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0cCoReVLA\u63d0\u51fa<strong>\u6301\u7eed\u5b66\u4e60\u7684\u53cc\u9636\u6bb5\u6846\u67b6<\/strong>\uff0c\u901a\u8fc7\u201c\u6570\u636e\u6536\u96c6\uff08Collect\uff09\u201d\u4e0e\u201c\u884c\u4e3a\u4f18\u5316\uff08Refine\uff09\u201d\u5faa\u73af\uff0c\u63d0\u5347\u957f\u5c3e\u573a\u666f\u4e0b\u7684\u51b3\u7b56\u80fd\u529b\u3002\u6574\u4f53\u6d41\u7a0b\u5982figure 1\u6240\u793a\uff0c\u5206\u4e3a\u9884\u9636\u6bb5\uff08SFT\uff09\u3001\u7b2c\u4e00\u9636\u6bb5\uff08\u63a5\u7ba1\u6570\u636e\u6536\u96c6\uff09\u3001\u7b2c\u4e8c\u9636\u6bb5\uff08DPO\u4f18\u5316\uff09\u4e09\u90e8\u5206\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"380\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-459-1024x380.png\" alt=\"\" class=\"wp-image-33279\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-459-1024x380.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-459-300x111.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-459-768x285.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-459.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u9884\u9636\u6bb5\uff1a\u57fa\u4e8eQA\u6570\u636e\u7684\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"368\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092501.png\" alt=\"\" class=\"wp-image-33280\" style=\"width:898px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092501.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092501-300x165.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u7b2c\u4e00\u9636\u6bb5\uff1aCAVE\u5e73\u53f0\u7684\u63a5\u7ba1\u6570\u636e\u6536\u96c6<\/strong><\/p>\n\n\n\n<p>\u7ecf\u8fc7SFT\u7684\u6a21\u578b\u53ef\u5e94\u5bf9\u5e38\u89c4\u573a\u666f\uff0c\u4f46\u4ecd\u4f1a\u5728\u957f\u5c3e\u573a\u666f\u4e2d\u5931\u6548\u3002\u6b64\u9636\u6bb5\u901a\u8fc7<strong>\u4eba\u5728\u73af\uff08HITL\uff09\u6d4b\u8bd5<\/strong>\uff0c\u5728\u6c89\u6d78\u5f0f\u4eff\u771f\u5e73\u53f0\uff08CAVE\uff09\u4e2d\u4e3b\u52a8\u6536\u96c6\u6a21\u578b\u5931\u6548\u65f6\u7684\u4eba\u7c7b\u63a5\u7ba1\u6570\u636e\u2014\u2014\u6bcf\u4e00\u6b21\u63a5\u7ba1\u90fd\u5bf9\u5e94\u4e00\u4e2a\u6a21\u578b\u65e0\u6cd5\u5904\u7406\u7684\u957f\u5c3e\u573a\u666f\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>CAVE\u5e73\u53f0\u8bbe\u8ba1<\/strong>\uff1a\u5982figure 2\u6240\u793a\uff0c\u5e73\u53f0\u5305\u542b\u201c 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"329\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-460-1024x329.png\" alt=\"\" class=\"wp-image-33281\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-460-1024x329.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-460-300x96.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-460-768x247.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-460.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7b2c\u4e8c\u9636\u6bb5\uff1a\u57fa\u4e8eDPO\u7684\u884c\u4e3a\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"377\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/092502.png\" alt=\"\" class=\"wp-image-33282\" style=\"width:898px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092502.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/092502-300x170.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u9a8c\u8bc1\uff1a\u5f00\u73af\u4e0e\u95ed\u73af\u8bc4\u4f30<\/strong><\/h2>\n\n\n\n<p>\u5b9e\u9a8c\u4ece\u201c\u9759\u6001\u8bed\u8a00\u7406\u89e3\u201d\uff08\u5f00\u73af\uff09\u548c\u201c\u52a8\u6001\u573a\u666f\u51b3\u7b56\u201d\uff08\u95ed\u73af\uff09\u4e24\u65b9\u9762\u9a8c\u8bc1CoReVLA\u7684\u6027\u80fd\uff0c\u91cd\u70b9\u8003\u6838\u957f\u5c3e\u573a\u666f\u4e0b\u7684\u8868\u73b0\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5f00\u73afQA\u8bc4\u4f30\uff1a\u8bed\u8a00\u7406\u89e3\u4e0e\u63a8\u7406\u80fd\u529b<\/strong><\/h3>\n\n\n\n<p>\u5728LingoQA\u3001BDD\u3001HAD\u4e09\u4e2a\u6570\u636e\u96c6\u4e0a\uff0c\u901a\u8fc7BLEU\uff08\u6587\u672c\u76f8\u4f3c\u5ea6\uff09\u548cROUGE\uff08\u6587\u672c\u91cd\u53e0\u5ea6\uff09\u8bc4\u4f30\u6a21\u578b\u5bf9\u9a7e\u9a76\u573a\u666f\u7684\u7406\u89e3\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7ed3\u679c\u5982table 1\u6240\u793a\uff1aCoReVLA\u5728\u6240\u6709\u6570\u636e\u96c6\u7684\u6307\u6807\u4e0a\u5747\u5927\u5e45\u9886\u5148\u57fa\u7ebf\u6a21\u578b\uff08\u5982Qwen2.5-VL-7B\u3001Llava-7B\uff09\u2014\u2014\u4f8b\u5982\u5728LingoQA\u7684BLEU\u6307\u6807\u4e0a\uff0cCoReVLA\u8fbe\u523066.8\uff0c\u8fdc\u9ad8\u4e8e\u6b21\u4f18\u6a21\u578bImpromptu\u768424.8\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"234\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-461-1024x234.png\" alt=\"\" class=\"wp-image-33283\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-461-1024x234.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-461-300x69.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-461-768x176.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-461.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6a21\u578b\u54cd\u5e94\u5bf9\u6bd4\uff08figure 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-462-300x133.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-462-768x341.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-462.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u95ed\u73af\u9a7e\u9a76\u8bc4\u4f30\uff1a\u52a8\u6001\u573a\u666f\u4e0e\u957f\u5c3e\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u95ed\u73af\u8bc4\u4f30\u5206\u4e3a\u201cCAVE\u5e73\u53f0\u5185\u4f18\u5316\u6548\u679c\u201d\u548c\u201cBench2Drive\u57fa\u51c6\u6d4b\u8bd5\u201d\u4e24\u90e8\u5206\uff0c\u805a\u7126\u6a21\u578b\u5728\u52a8\u6001\u3001\u9ad8\u98ce\u9669\u573a\u666f\u4e2d\u7684\u5b9e\u9645\u9a7e\u9a76\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\uff081\uff09CAVE\u5e73\u53f0\u5185\u7684\u4f18\u5316\u6548\u679c<\/strong><\/p>\n\n\n\n<p>\u4ee5\u201c\u96e8\u5929\u7a81\u53d1\u9759\u6b62\u6545\u969c\u8f66\u201d\u573a\u666f\u4e3a\u4f8b\uff08figure 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4\u4e2d\u8f68\u8ff9\u70b9\u7684\u6696\u8272\u8c03\u4ee3\u8868\u4f4e\u901f\uff0c\u53ef\u89c1\u4f18\u5316\u540e\u6a21\u578b\u5728\u98ce\u9669\u533a\u57df\u66f4\u65e9\u964d\u4f4e\u8f66\u901f\uff0c\u884c\u4e3a\u66f4\u8d34\u5408\u4eba\u7c7b\u5b89\u5168\u9a7e\u9a76\u4e60\u60ef\u3002<\/p>\n\n\n\n<p><strong>\uff082\uff09Bench2Drive\u57fa\u51c6\u6d4b\u8bd5\uff1a\u5bf9\u6bd4SOTA<\/strong><\/p>\n\n\n\n<p>Bench2Drive\u5305\u542b\u5927\u91cf\u957f\u5c3e\u5b89\u5168\u5173\u952e\u573a\u666f\uff0c\u901a\u8fc7\u201c\u9a7e\u9a76\u5206\u6570\uff08DS\uff0c\u7efc\u5408\u5b89\u5168\u3001\u6548\u7387\uff09\u201d\u548c\u201c\u6210\u529f\u7387\uff08SR\uff0c\u5b8c\u6210\u4efb\u52a1\u6bd4\u4f8b\uff09\u201d\u8bc4\u4f30\u6027\u80fd\uff0c\u7ed3\u679c\u5982table 2\u6240\u793a\uff1a<\/p>\n\n\n\n<ul 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-464-1024x353.png\" alt=\"\" class=\"wp-image-33286\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-464-1024x353.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-464-300x103.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-464-768x265.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-464.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7814\u7a76\u7ed3\u8bba\u4e0e\u672a\u6765\u65b9\u5411<\/strong><\/p>\n\n\n\n<p><strong>\u6838\u5fc3\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<ol 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