{"id":33419,"date":"2025-09-29T17:29:00","date_gmt":"2025-09-29T09:29:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33419"},"modified":"2025-09-30T11:22:54","modified_gmt":"2025-09-30T03:22:54","slug":"2025-09-29-%e4%bc%9a%e8%87%aa%e6%a3%80%e7%9a%84vla%ef%bc%81reflectdrive%ef%bc%9a%e6%9b%b4%e5%ae%89%e5%85%a8%e6%9b%b4%e9%ab%98%e6%95%88scaling%e7%9a%84%e7%ab%af%e5%88%b0%e7%ab%af%e6%a1%86%e6%9e%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/29\/33419\/","title":{"rendered":"2025-09-29 \u4f1a\u81ea\u68c0\u7684VLA\uff01ReflectDrive\uff1a\u66f4\u5b89\u5168\u66f4\u9ad8\u6548scaling\u7684\u7aef\u5230\u7aef\u6846\u67b6\uff08\u7406\u60f3&\u6e05\u534e\uff09"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/1uVri8KLDckGnZVLBiNlwA<\/a><\/p>\n\n\n\n

\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u5df2\u6210\u4e3a\u4e00\u4e2a\u91cd\u8981\u4e14\u5feb\u901f\u53d1\u5c55\u7684\u7814\u7a76\u9886\u57df\u3002\u901a\u8fc7\u5927\u89c4\u6a21\u6570\u636e\u96c6\u5b66\u4e60\u7c7b\u4eba\u9a7e\u9a76\u7b56\u7565\u5177\u6709\u76f8\u5f53\u5927\u7684\u6f5c\u529b\u3002\u4f46\u662f\u5728\u591a\u6a21\u6001\u6027\u80fd\u4ee5\u53ca\u957f\u5c3e\u573a\u666f\uff0c\u6ca1\u6709\u53ef\u6301\u7eed\u89e3\u51b3\u95ee\u9898\u7684\u6846\u67b6\u3002\u5982\u679c\u4ec5\u4f9d\u8d56\u5f3a\u5316\u5b66\u4e60\u6765\u52a0\u5f3a\uff0c\u90a3\u4e48reward hack\u53c8\u6210\u4e3a\u4e86\u68d8\u624b\u7684\u95ee\u9898\uff0c\u5f88\u96be\u5199\u51fa\u4e00\u4e2a\u5168\u9762\u7684reward\u53ef\u4ee5\u9002\u7528\u8fde\u7eed\u8f68\u8ff9\u590d\u6742\u7684\u4e09\u7ef4\u7a7a\u95f4\u3002\u6240\u4ee5\u8fd1\u5e74\u6765\u5927\u8bed\u8a00\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u7a81\u7834\u8ba9\u5927\u5bb6\u770b\u5230\u4e86\u5e0c\u671b\uff0c\u662f\u5426\u80fd\u591f\u5229\u7528\u6a21\u578bscaling\u4ee5\u53ca\u6570\u636escaling\u53bb\u6fc0\u53d1\u6a21\u578b\u7684\u6cdb\u5316\u6027\u80fd\uff0c\u4e5f\u5c31\u662fvla\u6a21\u578b\u7684\u5174\u8d77\u3002<\/p>\n\n\n\n

\u5927\u5bb6\u90fd\u60f3\u5229\u7528\u4e0avlm\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u7528\u66f4\u5c11\u7684\u6570\u636e\u53bb\u89e3\u51b3few shot\/zero shot\u7684\u573a\u666f\u3002\u4e0b\u9762\u662f\u5bf9\u4e8e\u76ee\u524d\u81ea\u52a8\u9a7e\u9a76\u65b9\u6848vla\u65b9\u6848\u7684\u75db\u70b9\u5206\u6790\uff1a<\/p>\n\n\n\n

    \n
  1. \u5e38\u89c1\u7684vla\u7ed3\u6784\uff0c\u4f8b\u5982diffvla[1]\uff0c\u7531\u4e00\u4e2avlm\u6a21\u578b\u8f93\u51fa\u51b3\u7b56\u548c\u9a7e\u9a76\u6307\u5bfc\uff0c\u4f5c\u4e3a\u6761\u4ef6\u8f93\u5165\u7ed9diffusion\u751f\u6210\u8f68\u8ff9\uff0c\u8fd9\u6837\u8bed\u4e49\u51b3\u7b56\u3001\u9a7e\u9a76\u6307\u5bfc\u548c\u52a8\u4f5c\u6a21\u5757\u5c31\u88ab\u5206\u5272\u6210\u4e86\u4e24\u4e2a\u7cfb\u7edf\uff0c\u591a\u4e2a\u7cfb\u7edf\u7684\u7ed3\u679c\u4e0d\u80fd\u4fdd\u8bc1\u4e00\u81f4\u6027\uff0c\u5b58\u5728\u8111\u88c2\u95ee\u9898\u3002<\/li>\n\n\n\n
  2. \u76ee\u524d\u7684\u6a21\u4eff\u5b66\u4e60\u5b89\u5168\u6027\u4e0d\u80fd\u5f97\u5230\u4fdd\u8bc1\uff0c\u4f8b\u5982\u78b0\u649e\uff0c\u5f3a\u5316\u5b66\u4e60\u4e5f\u53ea\u662f\u5c1d\u8bd5\u6559\u4f1a\u6a21\u578b\u56e0\u679c\u5173\u7cfb\uff0c\u4f46\u5f88\u96be\u5e73\u8861\u597d\u6548\u7387\u548c\u5b89\u5168\u3002Diffusion planner[2] \u4e5f\u9700\u8981\u6c42\u89e3reward \u68af\u5ea6\u5bf9\u8f68\u8ff9\u8fdb\u884c\u6307\u5bfc\u4fee\u6b63\uff0c\u800c\u8fd9\u4e2a\u68af\u5ea6\u5728\u590d\u6742\u573a\u666f\u4e0b\u4e5f\u8f83\u96be\u8ba1\u7b97\u51c6\u786e\u3002<\/li>\n\n\n\n
  3. \u73b0\u5728vla\u7684\u96be\u70b9\u662f\u5728\u4e8e\u7b97\u529b\u9650\u5236\uff0c\u76f4\u63a5\u8f93\u51fatraj\uff08token\u6570\u8fc7\u591a\uff09\u8017\u65f6\u592a\u957f\uff0c\u6240\u4ee5\u4e00\u822c\u4f1a\u518d\u63a5\u4e00\u4e2a\u5355\u72ec\u7684traj decoder\uff0c\u4ecevlm\u4f20\u9012\u51fa\u4e00\u4e2a\u9690\u7279\u5f81\u7ed9\u5230traj decoder\uff0c\u53ef\u4ee5\u662fdiffusion\u6216\u8005\u4e00\u4e2a\u5c0f\u7684ar\u6a21\u578b\u3002\u4f46\u662f\u4e00\u65e6\u589e\u52a0traj decoder\u5c31\u6d89\u53ca\u4e2d\u95f4\u4f20\u9012\u4fe1\u606f\u4e0d\u8db3\u7684\u95ee\u9898\uff0cpi0.5\u4e5f\u63d0\u51fa\u4e86\u6df1\u5c42\u4fe1\u606f\u4ea4\u4e92\u7684\u601d\u8def\uff0c\u4f46\u662f\u5b9e\u9645\u6548\u679c\u63d0\u5347\u6709\u9650\u3002\u4e5f\u53ef\u4ee5\u662fWALL-OSS[3]\u7684\u601d\u8def\uff0c\u5c06action FFN\u5206\u5f00\uff0c\u52a0\u5febdecoder\u7684\u901f\u5ea6\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u52a0\u9ad8\u6548\u7684AR\u3002\u4e0d\u8fc7\u8fd9\u4e9b\u90fd\u662f\u57fa\u4e8eAR\uff0c\u751f\u6210\u6548\u7387\u4ecd\u662f\u4e3b\u8981\u95ee\u9898\u3002<\/li>\n<\/ol>\n\n\n\n

    \u57fa\u4e8e\u4e0a\u9762\u7684\u63cf\u8ff0\uff0c\u53ef\u4ee5\u770b\u51fa\u76ee\u524d\u8feb\u5207\u9700\u8981\u505a\u5230\u7684\u662fL\u6a21\u6001\u548cA\u6a21\u6001\u7684\u878d\u5408\uff0c\u4e00\u79cd\u66f4\u5bb9\u6613scaling\u7684\u7edf\u4e00\u7684\u67b6\u6784\uff0c\u540c\u65f6\u8fd8\u8981\u505a\u5230\u9ad8\u6548\u751f\u6210\u3002\u4e3a\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u7406\u60f3\u548c\u6e05\u534e\u7684\u56e2\u961f\u63d0\u51faReflectDrive\u2014\u2014\u4e00\u79cd\u65b0\u578b\u5b66\u4e60\u6846\u67b6\uff0c\u901a\u8fc7\u79bb\u6563\u6269\u6563\u7684\u53cd\u601d\u673a\u5236\u5b9e\u73b0\u5b89\u5168\u8f68\u8ff9\u751f\u6210\u3002<\/strong>\u6211\u4eec\u9996\u5148\u5c06\u4e8c\u7ef4\u9a7e\u9a76\u7a7a\u95f4\u79bb\u6563\u5316\u4ee5\u6784\u5efa\u52a8\u4f5c\u4ee3\u7801\u672c\uff0c\u4ece\u800c\u80fd\u591f\u901a\u8fc7\u5fae\u8c03\u5c06\u9884\u8bad\u7ec3\u6269\u6563\u8bed\u8a00\u6a21\u578b\u7528\u4e8e\u89c4\u5212\u4efb\u52a1\u3002\u8be5\u6846\u67b6\u7684\u6838\u5fc3\u662f\u5b89\u5168\u611f\u77e5\u7684\u53cd\u601d\u673a\u5236\uff0c\u65e0\u9700\u68af\u5ea6\u8ba1\u7b97\u5373\u53ef\u5b9e\u73b0\u8fed\u4ee3\u81ea\u6821\u6b63\uff0c\u6211\u4eec\u7684\u7075\u611f\u6765\u6e90\u4e8e\u65f6\u7a7a\u8054\u5408\u89c4\u5212\u8fed\u4ee3\u5f0f\u641c\u7d22\u7684\u601d\u8def\uff0c\u5c06\u4f18\u5316\u7684\u8fc7\u7a0b\u53d8\u6210\u4e86\u79bb\u6563\u6269\u6563\u6a21\u578b\uff1a\u9996\u5148\u751f\u6210\u76ee\u6807\u6761\u4ef6\u8f68\u8ff9\u4ee5\u5efa\u6a21\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\uff0c\u968f\u540e\u57fa\u4e8e\u5c40\u90e8\u641c\u7d22\u65b9\u6cd5\u8bc6\u522b\u4e0d\u5b89\u5168\u6807\u8bb0\u5e76\u786e\u5b9a\u53ef\u884c\u89e3\uff0c\u8fd9\u4e9b\u89e3\u5c06\u4f5c\u4e3a\u57fa\u4e8e\u4fee\u590d\u5f0f\u518d\u751f\u6210\u7684\u5b89\u5168\u951a\u70b9\u3002\u5728NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cReflectDrive\u5c55\u73b0\u51fa\u663e\u8457\u7684\u5b89\u5168\u5173\u952e\u8f68\u8ff9\u751f\u6210\u4f18\u52bf\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u63d0\u4f9b\u4e86\u53ef\u6269\u5c55\u4e14\u53ef\u9760\u7684\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n

      \n
    • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2509.20109<\/li>\n\n\n\n
    • Github\u94fe\u63a5\uff1ahttps:\/\/github.com\/pixeli99\/ReflectDrive<\/li>\n<\/ul>\n\n\n\n

      \u4e00\u3001\u5f15\u8a00<\/strong><\/p>\n\n\n\n

      \u81ea\u52a8\u9a7e\u9a76\u6b63\u5f15\u9886\u4ea4\u901a\u884c\u4e1a\u8fc8\u5411\u66f4\u5b89\u5168\u3001\u66f4\u9ad8\u6548\u7684\u672a\u6765\u3002\u5728\u8fd9\u4e00\u8d8b\u52bf\u4e0b\uff0c\u7aef\u5230\u7aef\uff08E2E\uff09\u7cfb\u7edf\u5df2\u6210\u4e3a\u4f20\u7edf\u6a21\u5757\u5316\u8bbe\u8ba1\u7684\u4e3b\u6d41\u66ff\u4ee3\u65b9\u6848\u2014\u2014\u4f20\u7edf\u6a21\u5757\u5316\u8bbe\u8ba1\u5728\u76f8\u4e92\u4f9d\u8d56\u7684\u6a21\u5757\u95f4\u6613\u4ea7\u751f\u8bef\u5dee\u7d2f\u79ef\uff1b\u540c\u65f6\uff0c\u7aef\u5230\u7aef\u7cfb\u7edf\u4e5f\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u53d6\u4ee3\u4e86\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u5f80\u5f80\u9700\u8981\u5927\u91cf\u4eba\u529b\u5de5\u7a0b\u6295\u5165\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u901a\u8fc7\u878d\u5408\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u7684\u9884\u8bad\u7ec3\u77e5\u8bc6\uff0c\u63d0\u4f9b\u4e86\u4e00\u79cd\u65b0\u7684\u89e3\u51b3\u65b9\u6848\u3002\u51ed\u501f\u66f4\u5f3a\u7684\u6cdb\u5316\u80fd\u529b\uff0cVLA\u6a21\u578b\u80fd\u591f\u7406\u89e3\u89c6\u89c9\u573a\u666f\u548c\u4eba\u7c7b\u6307\u4ee4\uff0c\u5e76\u76f4\u63a5\u8f93\u51fa\u89c4\u5212\u8f68\u8ff9\uff0c\u4ece\u800c\u63d0\u5347\u5728\u590d\u6742\u573a\u666f\u4e2d\u7684\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n

      \u7136\u800c\uff0c\u73b0\u6709\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u5e76\u672a\u89e3\u51b3\u57fa\u4e8e\u6a21\u4eff\u5b66\u4e60\u7684\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684\u6838\u5fc3\u96be\u9898\u3002\u5177\u4f53\u800c\u8a00\uff0c\u884c\u4e3a\u514b\u9686\u65e0\u6cd5\u81ea\u7136\u7f16\u7801\u4e0d\u53ef\u8fdd\u80cc\u7684\u7269\u7406\u89c4\u5219\uff0c\u4f8b\u5982\u907f\u649e\u6216\u4fdd\u6301\u5728\u53ef\u884c\u9a76\u533a\u57df\u5185\u3002\u8fd9\u5bfc\u81f4\u6a21\u578b\u751f\u6210\u7684\u8f68\u8ff9\u53ef\u80fd\u5728\u5176\u6982\u7387\u5206\u5e03\u5185\u5177\u6709\u8f83\u9ad8\u53ef\u80fd\u6027\uff0c\u5374\u4ecd\u8fdd\u53cd\u5173\u952e\u5b89\u5168\u7ea6\u675f\u3002\u56e0\u6b64\uff0c\u73b0\u6709\u5df2\u90e8\u7f72\u7684\u89e3\u51b3\u65b9\u6848\u901a\u5e38\u4f9d\u8d56\u5927\u91cf\u4eba\u7c7b\u5148\u9a8c\u77e5\u8bc6\uff0c\u4f8b\u5982\u8f68\u8ff9\u951a\u70b9\u6216\u57fa\u4e8e\u89c4\u5219\u751f\u6210\u7684\u8def\u5f84\u3002\u8fd9\u4e9b\u5148\u9a8c\u77e5\u8bc6\u4e3a\u5b66\u4e60\u7cfb\u7edf\u63d0\u4f9b\u4e86\u53ef\u9760\u7684\u521d\u59cb\u89e3\uff0c\u4f46\u4e5f\u9700\u8981\u5927\u91cf\u540e\u5904\u7406\u64cd\u4f5c\uff0c\u5c24\u5176\u662f\u5728\u590d\u6742\u573a\u666f\u4e2d\u3002<\/p>\n\n\n\n

      \u4e0e\u6b64\u540c\u65f6\uff0c\u66f4\u5148\u8fdb\u7684\u89e3\u51b3\u65b9\u6848\u4e5f\u5728\u4e0d\u65ad\u6d8c\u73b0\u3002\u90e8\u5206\u65b9\u6cd5\u5c06\u5f3a\u5316\u5b66\u4e60\u4e0e\u4eba\u5de5\u8bbe\u8ba1\u7684\u5956\u52b1\u51fd\u6570\u76f8\u7ed3\u5408\uff0c\u4ee5\u589e\u5f3a\u56e0\u679c\u63a8\u7406\u80fd\u529b\u3002\u7136\u800c\uff0c\u5927\u591a\u6570\u73b0\u6709\u7814\u7a76\u4ecd\u5c40\u9650\u4e8e\u4eff\u771f\u5c42\u9762\u3002\u4ece\u90e8\u7f72\u89d2\u5ea6\u6765\u770b\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u9700\u8981\u8fdb\u884c\u5177\u6709\u5b89\u5168\u98ce\u9669\u7684\u5728\u7ebfrollouts\uff0c\u5e76\u4e14\u5b58\u5728\u8bad\u7ec3\u4e0d\u7a33\u5b9a\u6027\u95ee\u9898\uff0c\u5728\u5927\u89c4\u6a21\u6a21\u578b\u4e2d\u8be5\u95ee\u9898\u5c24\u4e3a\u7a81\u51fa\u3002\u5c3d\u7ba1\u6269\u6563\u6a21\u578b\u4e2d\u7684\u5f15\u5bfc\u673a\u5236\u901a\u8fc7\u5728\u63a8\u7406\u9636\u6bb5\u5b9e\u73b0\u53ef\u63a7\u751f\u6210\uff0c\u63d0\u4f9b\u4e86\u4e00\u79cd\u9887\u5177\u6f5c\u529b\u7684\u66ff\u4ee3\u65b9\u6848\uff0c\u4f46\u8fd9\u7c7b\u65b9\u6cd5\u5f80\u5f80\u56e0\u68af\u5ea6\u8ba1\u7b97\u5bfc\u81f4\u91c7\u6837\u901f\u5ea6\u7f13\u6162\uff0c\u4e14\u5bf9\u53c2\u6570\u8c03\u4f18\u9ad8\u5ea6\u654f\u611f\uff0c\u6613\u5f15\u53d1\u6570\u503c\u4e0d\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

      \u4e3a\u89e3\u51b3\u4e0a\u8ff0\u6311\u6218\uff0c\u6211\u4eec\u7387\u5148\u5c06\u79bb\u6563\u6269\u6563\u5e94\u7528\u4e8e\u89c4\u5212\u4efb\u52a1\uff0c\u4ee5\u6ee1\u8db3\u53ef\u9a8c\u8bc1\u3001\u53ef\u63a7\u5236\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u7cfb\u7edf\u9700\u6c42\u3002\u8be5\u65b9\u6cd5\u7684\u6838\u5fc3\u4f18\u52bf\u5728\u4e8e\u5176\u5728\u79bb\u6563\u52a8\u4f5c\u7a7a\u95f4\u4e2d\u8fd0\u884c\uff0c\u80fd\u591f\u5728\u8f68\u8ff9\u751f\u6210\u8fc7\u7a0b\u4e2d\u901a\u8fc7\u641c\u7d22\u3001\u63a9\u7801\u548c\u91c7\u6837\u6280\u672f\uff0c\u65e0\u7f1d\u878d\u5165\u5173\u952e\u5b89\u5168\u7ea6\u675f\u3002\u8fd9\u5f62\u6210\u4e86\u4e00\u79cd\u6df7\u5408\u6846\u67b6\uff1a\u5728\u8be5\u6846\u67b6\u4e2d\uff0c\u5b66\u4e60\u5230\u7684\u884c\u4e3a\u53ef\u901a\u8fc7\u5148\u9a8c\u77e5\u8bc6\u8fdb\u884c\u4e25\u683c\u5f15\u5bfc\uff0c\u4ece\u800c\u4ece\u201c\u9ed1\u7bb1\u5f0f\u89c4\u5212\u201d\u8f6c\u5411\u201c\u53ef\u4fe1\u4e14\u53ef\u89e3\u91ca\u7684\u51b3\u7b56\u201d\u3002\u57fa\u4e8e\u8fd9\u4e9b\u89c1\u89e3\uff0c\u6211\u4eec\u63d0\u51fa\u4e86ReflectDrive\u2014\u2014\u4e00\u79cd\u65b0\u578b\u57fa\u4e8e\u5b66\u4e60\u7684\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u96c6\u6210\u53cd\u601d\u673a\u5236\uff0c\u901a\u8fc7\u79bb\u6563\u6269\u6563\u5b9e\u73b0\u5b89\u5168\u8f68\u8ff9\u751f\u6210\u3002<\/p>\n\n\n\n

      \u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u9996\u5148\u5bf9\u4e8c\u7ef4\u9a7e\u9a76\u7a7a\u95f4\u8fdb\u884c\u79bb\u6563\u5316\u5904\u7406\uff0c\u6784\u5efa\u52a8\u4f5c\u7801\u672c\uff0c\u4ece\u800c\u80fd\u591f\u901a\u8fc7\u79bb\u6563\u7801\u672c\u5d4c\u5165\u8868\u793a\u8f66\u8f86\u8f68\u8ff9\u3002\u8fd9\u79cd\u8868\u793a\u65b9\u5f0f\u4f7f\u6211\u4eec\u80fd\u591f\u901a\u8fc7\u5fae\u8c03\uff0c\u5c06\u9884\u8bad\u7ec3\u6269\u6563\u8bed\u8a00\u6a21\u578b\uff08DLM\uff09\u5e94\u7528\u4e8e\u89c4\u5212\u4efb\u52a1\u3002\u8be5\u65b9\u6cd5\u652f\u6301\u5728\u7edf\u4e00\u67b6\u6784\u5185\u8fdb\u884c\u5e76\u884c\u89e3\u7801\u548c\u53cc\u5411\u7279\u5f81\u878d\u5408\uff0c\u4ece\u800c\u5b9e\u73b0\u53ef\u6269\u5c55\u8bad\u7ec3\u3002<\/p>\n\n\n\n

      \u4ee5\u8be5\u5fae\u8c03\u6a21\u578b\u4e3a\u57fa\u7840\uff0c\u6211\u4eec\u7684\u53cd\u601d\u673a\u5236\u4ece\u76ee\u6807\u6761\u4ef6\u751f\u6210\u5f00\u59cb\uff1a\u76ee\u6807\u70b9\u5f15\u5bfc\u751f\u6210\u8fc7\u7a0b\uff0c\u4ee5\u6355\u6349\u591a\u6837\u7684\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\u3002\u6b64\u5916\uff0c\u8be5\u6846\u67b6\u8fd8\u96c6\u6210\u5b89\u5168\u6307\u6807\uff0c\u7528\u4e8e\u8bc4\u4f30\u751f\u6210\u7684\u591a\u6a21\u6001\u8f68\u8ff9\u3002\u5bf9\u4e8e\u4e0d\u5b89\u5168\u7684\u8def\u5f84\u70b9\uff0c\u6211\u4eec\u901a\u8fc7\u5c40\u90e8\u641c\u7d22\u786e\u5b9a\u53ef\u884c\u89e3\uff0c\u8be5\u53ef\u884c\u89e3\u968f\u540e\u5c06\u4f5c\u4e3a\u8f68\u8ff9\u4fee\u590d\u7684\u5b89\u5168\u951a\u70b9\u4ee4\u724c\u3002\u6574\u4e2a\u8fc7\u7a0b\u65e0\u9700\u68af\u5ea6\u8ba1\u7b97\uff0c\u80fd\u591f\u5728\u8f68\u8ff9\u518d\u751f\u8fc7\u7a0b\u4e2d\u5b9e\u73b0\u5e76\u884c\u751f\u6210\u548c\u5b89\u5168\u7ea6\u675f\u6ce8\u5165\u3002<\/p>\n\n\n\n

      \u5728\u771f\u5b9e\u4e16\u754c\u81ea\u52a8\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u96c6NAVSIM\u4e0a\u7684\u8bc4\u4f30\u7ed3\u679c\u9a8c\u8bc1\u4e86\u5c06\u79bb\u6563\u6269\u6563\u5e94\u7528\u4e8e\u8f68\u8ff9\u751f\u6210\u7684\u53ef\u884c\u6027\u3002\u914d\u5907\u53cd\u601d\u673a\u5236\u540e\uff0cReflectDrive\u5b9e\u73b0\u4e86\u63a5\u8fd1\u4eba\u7c7b\u6c34\u5e73\u7684\u95ed\u73af\u6027\u80fd\u3002\u6211\u4eec\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n

        \n
      • \u9996\u6b21\u5c06\u79bb\u6563\u6269\u6563\u5e94\u7528\u4e8e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8f68\u8ff9\u751f\u6210\uff0c\u5e76\u5c06\u5176\u96c6\u6210\u5230VLA\u6a21\u578b\u4e2d\u4ee5\u5b9e\u73b0\u53ef\u6269\u5c55\u8bad\u7ec3\u3002<\/li>\n\n\n\n
      • \u63d0\u51fa\u53cd\u601d\u673a\u5236\u2014\u2014\u4e00\u79cd\u4e13\u4e3a\u79bb\u6563\u6269\u6563\u53bb\u566a\u8fc7\u7a0b\u8bbe\u8ba1\u7684\u65b0\u578b\u63a8\u7406\u9636\u6bb5\u5f15\u5bfc\u6846\u67b6\uff0c\u5c06\u5916\u90e8\u5b89\u5168\u9a8c\u8bc1\u4e0e\u9ad8\u6548\u79bb\u6563\u4ee4\u724c\u4f18\u5316\u76f8\u7ed3\u5408\u3002<\/li>\n\n\n\n
      • \u5728\u771f\u5b9e\u4e16\u754c\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u96c6\u4e0a\u5bf9\u8be5\u65b9\u6cd5\u8fdb\u884c\u8bc4\u4f30\uff0c\u8bc1\u660e\u8be5\u6846\u67b6\u80fd\u591f\u5728\u4e0d\u5f71\u54cd\u884c\u4e3a\u8fde\u8d2f\u6027\u7684\u524d\u63d0\u4e0b\uff0c\u5f3a\u5236\u6ee1\u8db3\u4e25\u683c\u7684\u5b89\u5168\u7ea6\u675f\u3002<\/li>\n<\/ul>\n\n\n\n

        \u4e8c\u3001\u9884\u5907\u77e5\u8bc6\u56de\u987e<\/strong><\/p>\n\n\n\n

        \u81ea\u52a8\u9a7e\u9a76\u89c4\u5212<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u79bb\u6563\u6269\u6563<\/strong><\/p>\n\n\n\n

        \u79bb\u6563\u6269\u6563\u6a21\u578b\u5df2\u6210\u4e3a\u751f\u6210\u7ed3\u6784\u5316\u5e8f\u5217\u7684\u5f3a\u5927\u975e\u81ea\u56de\u5f52\u8303\u5f0f\u3002\u8be5\u8fc7\u7a0b\u7531\u524d\u5411\u635f\u574f\u8fc7\u7a0b<\/strong>\u548c\u5b66\u4e60\u5230\u7684\u53cd\u5411\u53bb\u566a\u8fc7\u7a0b<\/strong>\u5b9a\u4e49\u3002<\/p>\n\n\n\n

        \u524d\u5411\u4e0e\u53cd\u5411\u8fc7\u7a0b<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u6a21\u578b\u63a8\u7406<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u4e09\u3001ReflectDrive\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n

        \u672c\u8282\u5c06\u4ecb\u7ecdReflectDrive\u2014\u2014\u4e00\u79cd\u65b0\u578b\u57fa\u4e8e\u5b66\u4e60\u7684\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u96c6\u6210\u53cd\u601d\u673a\u5236\uff0c\u901a\u8fc7\u79bb\u6563\u6269\u6563\u5b9e\u73b0\u5b89\u5168\u8f68\u8ff9\u751f\u6210\uff08\u5982\u56fe1\u6240\u793a\uff09\u3002\u9996\u5148\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecd\u4e00\u79cd\u4e13\u4e3a\u63a9\u7801\u6269\u6563\u8fc7\u7a0b\u8bbe\u8ba1\u7684\u8f68\u8ff9\u79bb\u6563\u5316\u65b9\u6cd5\uff1b\u968f\u540e\uff0c\u91c7\u7528\u9884\u8bad\u7ec3\u6269\u6563\u8bed\u8a00\u6a21\u578b\u8fdb\u884c\u8f68\u8ff9\u751f\u6210\uff1b\u6700\u540e\uff0c\u63d0\u51fa\u4e00\u79cd\u4e13\u4e3a\u8f68\u8ff9\u751f\u6210\u8fc7\u7a0b\u5b89\u5168\u6027\u8bbe\u8ba1\u7684\u53cd\u601d\u673a\u5236\u3002\u8be5\u673a\u5236\u5229\u7528\u6269\u6563\u4fee\u590d\u6280\u672f\uff0c\u5e76\u501f\u52a9\u79bb\u6563\u4ee4\u724c\u7a7a\u95f4\u7684\u4f18\u52bf\u5b9e\u73b0\u9ad8\u6548\u7684\u57fa\u4e8e\u7ea6\u675f\u7684\u641c\u7d22\u3002<\/p>\n\n\n\n

        \u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u7684\u79bb\u6563\u6269\u6563<\/strong><\/p>\n\n\n\n

        \u8f68\u8ff9\u79bb\u6563\u5316<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n
        \"\"<\/figure>\n\n\n\n

        \u79bb\u6563\u6269\u6563\u6a21\u578b<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u53cd\u601d\u63a8\u7406<\/strong><\/p>\n\n\n\n

        \u4ee5\u57fa\u4e8e\u79bb\u6563\u6269\u6563\u7684VLA\u6a21\u578b\u4e3a\u57fa\u7840\uff0c\u6211\u4eec\u5f15\u5165\u53cd\u601d\u63a8\u7406\u6846\u67b6\uff0c\u4ee5\u5f25\u5408\u6a21\u4eff\u5b66\u4e60\u4e0e\u5b89\u5168\u5173\u952e\u578b\u90e8\u7f72\u4e4b\u95f4\u7684\u5dee\u8ddd\u3002\u8be5\u6846\u67b6\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\uff1a\u76ee\u6807\u6761\u4ef6\u8f68\u8ff9\u751f\u6210\u4e0e\u5b89\u5168\u5f15\u5bfc\u518d\u751f\u3002\u6574\u4e2a\u8fc7\u7a0b\u7531\u4e00\u7ec4\u4e13\u7528\u8bc4\u5206\u51fd\u6570\u5f15\u5bfc\u3002<\/p>\n\n\n\n

        \u8bc4\u5206\u51fd\u6570\u5b9a\u4e49<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u76ee\u6807\u6761\u4ef6\u751f\u6210<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u5b89\u5168\u5f15\u5bfc\u518d\u751f<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n
        \"\"<\/figure>\n\n\n\n
        \"\"<\/figure>\n\n\n\n

        \u56db\u3001\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n

        \u57fa\u51c6\u4e0e\u57fa\u7ebf<\/strong><\/p>\n\n\n\n

        \u8bc4\u6d4b\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n

        \u5728\u6211\u4eec\u7684\u5b9e\u73b0\u4e2d\uff0c\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u7684\u9aa8\u5e72\u7f51\u7edc\u57fa\u4e8e\u516c\u5f00\u53ef\u7528\u7684\u9884\u8bad\u7ec3\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u521d\u59cb\u5316\uff0c\u5e76\u91c7\u7528\u65e0\u5206\u7c7b\u5668\u5f15\u5bfc\uff08classifier-free guidance\uff09\u8fdb\u884c\u8f68\u8ff9\u751f\u6210\u3002\u8f93\u5165\u56fe\u50cf\u6765\u81ea\u524d\u89c6\u3001\u5de6\u524d\u89c6\u548c\u53f3\u524d\u89c6\u6444\u50cf\u5934\uff1b\u8bed\u8a00\u6307\u4ee4\u5305\u542b\u9ad8\u5c42\u5bfc\u822a\u547d\u4ee4\uff08\u5982\u201c\u5de6\u8f6c\u201d\u6216\u201c\u76f4\u884c\u201d\uff09\u4ee5\u53ca\u81ea\u8f66\u72b6\u6001\u7684\u6587\u672c\u63cf\u8ff0\u3002\u6211\u4eec\u5728\u5927\u89c4\u6a21\u771f\u5b9e\u4e16\u754c\u81ea\u52a8\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u96c6NAVSIM\u4e0a\u8bc4\u4f30\u6a21\u578b\u7684\u95ed\u73af\u6027\u80fd\u3002\u9075\u5faa\u5b98\u65b9\u534f\u8bae\uff0c\u6027\u80fd\u901a\u8fc7PDMS\u7efc\u5408\u8bc4\u5206\uff08\u5206\u6570\u8d8a\u9ad8\u8d8a\u597d\uff09\u8861\u91cf\uff0c\u8be5\u5206\u6570\u7531\u4e94\u9879\u6307\u6807\u805a\u5408\u5f97\u5230\uff1aNC\uff08\u65e0\u78b0\u649e\u7387\uff09\u3001DAC\uff08\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u7387\uff09\u3001TTC\uff08\u78b0\u649e\u65f6\u95f4\u5b89\u5168\u6027\uff09\u3001Comfort\uff08\u8212\u9002\u6027\uff0c\u5373\u52a0\u901f\u5ea6\/\u52a0\u52a0\u901f\u5ea6\u7ea6\u675f\u6ee1\u8db3\u5ea6\uff09\u548cEP\uff08\u81ea\u8f66\u8fdb\u5ea6\uff09\u3002\u6240\u6709\u65b9\u6cd5\u5747\u5728\u5b98\u65b9\u95ed\u73af\u6a21\u62df\u5668\u4e2d\u8fd0\u884c\uff0c\u7ed3\u679c\u4e3a\u516c\u5f00\u6d4b\u8bd5\u96c6\u4e0a\u7684\u5e73\u5747\u503c\u3002\u9664\u975e\u53e6\u6709\u8bf4\u660e\uff0c\u6211\u4eec\u7684\u89c4\u5212\u5668\u4ec5\u4f7f\u7528\u6444\u50cf\u5934\u8f93\u5165\uff1b\u540c\u65f6\uff0c\u6211\u4eec\u8fd8\u7eb3\u5165\u4e86\u201c\u89c6\u89c9+\u6fc0\u5149\u96f7\u8fbe\uff08Camera+LiDAR\uff09\u201d\u57fa\u7ebf\uff0c\u4ee5\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u5bf9\u6bd4\u3002<\/p>\n\n\n\n

        \u57fa\u7ebf\u65b9\u6cd5<\/strong><\/p>\n\n\n\n

        \u6211\u4eec\u5c06ReflectDrive\u4e0e\u5176\u4ed6\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u8fdb\u884c\u5bf9\u6bd4\uff0c\u5177\u4f53\u5305\u62ec\uff1a<\/p>\n\n\n\n

          \n
        • \u57fa\u7840\u7aef\u5230\u7aef\u89c4\u5212\u5668<\/strong>\uff1a\u4ec5\u4ee5\u4f20\u611f\u5668\u4fe1\u606f\u4e3a\u8f93\u5165\u5e76\u8f93\u51fa\u8f68\u8ff9\u7684\u65b9\u6cd5\uff0c\u5982UniAD\u3001Para-Drive\uff08\u3001Transfuser\u3002<\/li>\n\n\n\n
        • \u589e\u5f3a\u7aef\u5230\u7aef\u89c4\u5212\u5668<\/strong>\uff1a\u878d\u5408\u805a\u7c7b\u7ed3\u679c\u4f5c\u4e3a\u8f85\u52a9\u4fe1\u606f\u7684\u65b9\u6cd5\uff0c\u5982Hydra-MDP\u3001DiffusionDrive\u3001GoalFlow\u2014\u2014\u8fd9\u7c7b\u65b9\u6cd5\u56e0\u989d\u5916\u4fe1\u606f\u7684\u5f15\u5165\uff0cPDMS\u5206\u6570\u901a\u5e38\u9ad8\u4e8e\u57fa\u7840\u7aef\u5230\u7aef\u89c4\u5212\u5668\u3002<\/li>\n\n\n\n
        • VLA\u89c4\u5212\u5668<\/strong>\uff1a\u8fd1\u671f\u7684AutoVLA\u6a21\u578b\uff0c\u5176\u5728\u5355\u4e00\u81ea\u56de\u5f52\u751f\u6210\u6a21\u578b\u4e2d\u7edf\u4e00\u4e86\u63a8\u7406\u4e0e\u52a8\u4f5c\u751f\u6210\uff0c\u662f\u73b0\u6709VLA\u89c4\u5212\u5668\u4e2dPDMS\u5206\u6570\u6700\u9ad8\u7684\u65b9\u6cd5\u3002<\/li>\n<\/ul>\n\n\n\n

          \u5728\u6211\u4eec\u7684\u6a21\u578b\u7cfb\u5217\u4e2d\uff0c\u8868\u683c\u5217\u51fa\u4e86\u4ee5\u4e0b\u53d8\u4f53\uff1a<\/p>\n\n\n\n

            \n
          • ReflectDrive\uff08w\/o R.I.\uff09\uff1a\u91c7\u7528\u79bb\u6563\u63a9\u7801\u6269\u6563\u8bad\u7ec3\uff0c\u63a8\u7406\u65f6\u4f7f\u7528\u65e0\u5206\u7c7b\u5668\u5f15\u5bfc\uff0c\u4f46\u4e0d\u5305\u542b\u53cd\u601d\u63a8\u7406\uff08Reflective Inference\uff09\u3002<\/li>\n\n\n\n
          • ReflectDrive\uff08\u672c\u6587\u65b9\u6cd5\uff09\uff1a\u5305\u542b\u76ee\u6807\u6761\u4ef6\u751f\u6210\u4e0e\u5b89\u5168\u5f15\u5bfc\u518d\u751f\uff0c\u5176\u4e2d\u5b89\u5168\u5f15\u5bfc\u518d\u751f\u4f9d\u8d56\u201c\u5468\u56f4\u969c\u788d\u7269\u5300\u901f\u8fd0\u52a8\u201d\u7684\u5956\u52b1\u6a21\u578b\u3002<\/li>\n\n\n\n
          • ReflectDrive\u2020\uff1a\u5305\u542b\u76ee\u6807\u6761\u4ef6\u751f\u6210\u4e0e\u5b89\u5168\u5f15\u5bfc\u518d\u751f\uff0c\u5176\u4e2d\u5b89\u5168\u5f15\u5bfc\u518d\u751f\u4f9d\u8d56\u201c\u5468\u56f4\u969c\u788d\u7269\u4e3a\u771f\u503c\u667a\u80fd\u4f53\uff08ground-truth agents\uff09\u201d\u7684\u5956\u52b1\u6a21\u578b\u3002<\/li>\n<\/ul>\n\n\n\n

            \u4e3b\u8981\u7ed3\u679c<\/strong><\/p>\n\n\n\n

            NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u96c6\u4e0a\u7684\u8bc4\u4f30\u7ed3\u679c\u5982\u88681\u6240\u793a\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u57fa\u7840\u6a21\u578b\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n

            ReflectDrive\u57fa\u7840\u6a21\u578b\uff08ReflectDrive\uff08w\/o R.I.\uff09\uff09\u7684PDMS\u5f97\u5206\u4e3a84.8\uff0c\u4e0eUniAD\u3001PARA-Drive\u3001Hydra-MDP\u7b49\u57fa\u7840\u7aef\u5230\u7aef\u6a21\u578b\u76f8\u5f53\uff0c\u7565\u4f4e\u4e8e\u589e\u5f3a\u7aef\u5230\u7aef\u89c4\u5212\u5668\u3002\u6211\u4eec\u8ba4\u4e3a\u5b58\u5728\u4e24\u4e2a\u6f5c\u5728\u9650\u5236\u56e0\u7d20\uff1a\u4e00\u662f\u8bad\u7ec3\u6570\u636e\u89c4\u6a21\u6709\u9650\uff0c\u4e8c\u662f\u57fa\u7840VLM\u6a21\u578b\u7684\u80fd\u529b\u4ecd\u6709\u63d0\u5347\u7a7a\u95f4\u3002<\/p>\n\n\n\n

            \u53cd\u601d\u63a8\u7406\u5e26\u6765\u7684\u663e\u8457\u63d0\u5347<\/strong><\/p>\n\n\n\n

            \u5b89\u5168\u5f15\u5bfc\u518d\u751f\u673a\u5236\u7684\u5f15\u5165\uff0c\u4f7f\u5f97DAC\u3001TTC\u3001NC\u7b49\u5b89\u5168\u6307\u6807\u5f97\u5230\u5927\u5e45\u63d0\u5347\u2014\u2014\u8fd9\u4e3b\u8981\u5f97\u76ca\u4e8e\u6211\u4eec\u7684\u5956\u52b1\u51fd\u6570\u8bbe\u8ba1\u5145\u5206\u8003\u8651\u4e86\u5b89\u5168\u76f8\u5173\u56e0\u7d20\u3002\u5728EP\uff08\u81ea\u8f66\u8fdb\u5ea6\uff09\u6307\u6807\u4e0a\uff0c\u6211\u4eec\u901a\u8fc7\u76ee\u6807\u6761\u4ef6\u751f\u6210\u7b56\u7565\u5b9e\u73b0\u4e86\u4f18\u5316\u3002\u4e0eReflectDrive\uff08w\/o R.I.\uff09\u76f8\u6bd4\uff0cDAC\u63d0\u53473.9\u4e2a\u767e\u5206\u70b9\uff0cTTC\u63d0\u53471.3\u4e2a\u767e\u5206\u70b9\uff0cNC\u63d0\u53470.8\u4e2a\u767e\u5206\u70b9\uff0cEP\u63d0\u53477.9\u4e2a\u767e\u5206\u70b9\uff0c\u5728\u786e\u4fdd\u8f68\u8ff9\u5b89\u5168\u7684\u540c\u65f6\u672a\u727a\u7272\u884c\u9a76\u8fdb\u5ea6\u3002\u4e0e\u5176\u4ed6\u7aef\u5230\u7aef\u89c4\u5212\u5668\u76f8\u6bd4\uff0c\u672c\u6587\u65b9\u6cd5\u7684DAC\u6307\u6807\u663e\u8457\u4f18\u4e8e\u540c\u7c7b\u65b9\u6cd5\uff0c\u63a5\u8fd1\u4eba\u7c7b\u6c34\u5e73\uff1b\u800cTTC\u548cNC\u6307\u6807\u672a\u8fbe\u9884\u671f\uff0c\u539f\u56e0\u5728\u4e8e\u4f7f\u7528\u4e86\u201c\u5300\u901f\u667a\u80fd\u4f53\u201d\u5047\u8bbe\u2014\u2014\u5728\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\uff0c\u8fd9\u79cd\u5047\u8bbe\u53ef\u80fd\u5bfc\u81f4\u5b89\u5168\u8bc4\u4f30\u4e0d\u51c6\u786e\u3002\u56e0\u6b64\uff0c\u4e3a\u63a2\u7d22ReflectDrive\u7684\u6027\u80fd\u4e0a\u9650\uff0c\u6211\u4eec\u5728\u8bc4\u4f30\u4e2d\u5f15\u5165\u4e86\u201c\u771f\u503c\u667a\u80fd\u4f53\u72b6\u6001\u201d\u3002<\/p>\n\n\n\n

            \u63a5\u8fd1\u4eba\u7c7b\u9a7e\u9a76\u6027\u80fd<\/strong><\/p>\n\n\n\n

            \u5f53\u4f7f\u7528\u771f\u503c\u667a\u80fd\u4f53\u4fe1\u606f\uff08\u5373\u5177\u5907\u5b8c\u6574\u73af\u5883\u4fe1\u606f\uff09\u65f6\uff0c\u7cfb\u7edf\u6027\u80fd\u5df2\u63a5\u8fd1\u4eba\u7c7b\u9a7e\u9a76\u8f68\u8ff9\u6c34\u5e73\uff1a\u4f8b\u5982NC\uff08\u65e0\u78b0\u649e\u7387\uff09\u8fbe99.7\u3001DAC\uff08\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u7387\uff09\u8fbe99.5\u3001TTC\uff08\u78b0\u649e\u65f6\u95f4\u5b89\u5168\u6027\uff09\u8fbe99.1\uff0c\u751a\u81f3EP\uff08\u81ea\u8f66\u8fdb\u5ea6\uff09\u8fbe88.9\uff08\u9ad8\u4e8e\u4eba\u7c7b\u6c34\u5e73\uff09\u2014\u2014\u8fd9\u4f53\u73b0\u4e86ReflectDrive\u7684\u6f5c\u5728\u5f3a\u5927\u80fd\u529b\u3002\u4e0e\u57fa\u4e8e\u201c\u5300\u901f\u667a\u80fd\u4f53\u201d\u7684ReflectDrive\u76f8\u6bd4\uff0c\u6b64\u65f6DAC\u63d0\u53470.2\u4e2a\u767e\u5206\u70b9\uff0cTTC\u63d0\u53475.6\u4e2a\u767e\u5206\u70b9\uff0cNC\u63d0\u53472.0\u4e2a\u767e\u5206\u70b9\uff0cEP\u63d0\u53472.0\u4e2a\u767e\u5206\u70b9\uff0c\u7b26\u5408\u9884\u671f\u3002\u8fd9\u8868\u660e\uff0c\u901a\u8fc7\u66f4\u51c6\u786e\u7684\u68c0\u6d4b\u4e0e\u9884\u6d4b\u7ed3\u679c\uff08\u5728\u5b9e\u9645\u90e8\u7f72\u4e2d\uff0c\u6b64\u7c7b\u4efb\u52a1\u7531\u4e13\u7528\u6a21\u578b\u8d1f\u8d23\uff09\uff0c\u7cfb\u7edf\u6027\u80fd\u53ef\u8fdb\u4e00\u6b65\u63d0\u5347\u3002\u6b64\u5916\uff0c\u901a\u8fc7\u56fe6\u4e2d\u7684\u5931\u8d25\u6848\u4f8b\u5206\u6790\uff0c\u6211\u4eec\u53d1\u73b0\u4e86\u641c\u7d22\u7b97\u6cd5\u7684\u4f18\u5316\u7a7a\u95f4\u2014\u2014\u968f\u7740\u641c\u7d22\u7b97\u6cd5\u7684\u8fdb\u4e00\u6b65\u4f18\u5316\uff0c\u6211\u4eec\u6709\u671b\u5b9e\u73b0\u5bf9\u4eba\u7c7b\u9a7e\u9a76\u6027\u80fd\u7684\u5168\u9762\u8d85\u8d8a\u3002<\/p>\n\n\n\n

            \u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n

            \u4e3a\u8fdb\u4e00\u6b65\u9a8c\u8bc1ReflectDrive\u7684\u80fd\u529b\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u5178\u578b\u573a\u666f\u4e0b\u7684\u8f68\u8ff9\u751f\u6210\u7ed3\u679c\uff08\u5982\u56fe3\u6240\u793a\uff09\u3002ReflectDrive\u80fd\u591f\u751f\u6210\u9ad8\u5b89\u5168\u6027\u8f68\u8ff9\uff1a\u521d\u59cb\u8f68\u8ff9\u5b58\u5728\u8d8a\u754c\u98ce\u9669\uff0c\u4f46\u5728\u53cd\u601d\u63a8\u7406\u7684\u5f15\u5bfc\u4e0b\uff0c\u8f68\u8ff9\u9010\u6b65\u8fed\u4ee3\u5e76\u5411\u5b89\u5168\u533a\u57df\u4f18\u5316\uff0c\u6700\u7ec8\u751f\u6210\u53ef\u884c\u8f68\u8ff9\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5373\u4f7f\u7ecf\u8fc7\u79bb\u6563\u5316\u5904\u7406\uff0c\u751f\u6210\u7684\u8f68\u8ff9\u4ecd\u4fdd\u6301\u8fd0\u52a8\u5b66\u53ef\u884c\u6027\u4e0e\u5e73\u6ed1\u6027\u2014\u2014\u8fd9\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u201c\u5c06\u79bb\u6563\u6269\u6563\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u201d\u7684\u53ef\u884c\u6027\u3002\u66f4\u591a\u6709\u6548\u6848\u4f8b\u8be6\u89c1\u56fe5\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

            \u63a8\u7406\u53c2\u6570\u6d88\u878d<\/strong><\/p>\n\n\n\n

            \u6211\u4eec\u5bf9\u751f\u6210\u4e0e\u53cd\u601d\u8fc7\u7a0b\u4e2d\u7684\u5173\u952e\u53ef\u8c03\u53c2\u6570\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff0c\u7ed3\u679c\u5982\u56fe4\u6240\u793a\u3002\u8fd9\u4e9b\u53c2\u6570\u5305\u62ec\uff1a<\/p>\n\n\n\n

              \n
            • \u751f\u6210\u6b65\u6570\uff08Generation steps\uff09<\/strong>\uff1a\u63a7\u5236\u79bb\u6563\u6269\u6563\u6a21\u578b\u4e2d\u8f68\u8ff9\u4fee\u590d\u7684\u6b65\u6570\uff1b<\/li>\n\n\n\n
            • \u76ee\u6807\u70b9\u6570\u91cf\uff08Num. goal points\uff09<\/strong>\uff1a\u6307\u9009\u4e2d\u7684\u76ee\u6807\u70b9\u6570\u91cf\uff08\u5373\u591a\u6a21\u6001\u5019\u9009\u7684\u6570\u91cf\uff09\uff1b<\/li>\n\n\n\n
            • \u63a2\u7d22\u6b65\u6570\uff08Exploration steps\uff09<\/strong>\uff1a\u63a7\u5236\u5019\u9009\u70b9\u7684\u641c\u7d22\u8303\u56f4\uff08\u6570\u503c\u8d8a\u5927\uff0c\u4fee\u6b63\u7a7a\u95f4\u8d8a\u5e7f\uff09\uff1b<\/li>\n\n\n\n
            • \u6700\u5927\u8fed\u4ee3\u6b21\u6570\uff08Max iterations\uff09<\/strong>\uff1a\u6307\u518d\u751f\u8fc7\u7a0b\u7684\u6700\u5927\u8fed\u4ee3\u6b21\u6570\u3002<\/li>\n<\/ul>\n\n\n\n

              \u5bf9\u4e8e\u6269\u6563\u751f\u6210\u6b65\u6570\uff0c\u7ed3\u679c\u663e\u793a\u201c\u6027\u80fd\u4e0e\u6b65\u6570\u5448\u975e\u5355\u8c03\u5173\u7cfb\u201d\uff1a\u6a21\u578b\u6027\u80fd\u5728\u521d\u59cb\u9636\u6bb5\u968f\u6b65\u6570\u589e\u52a0\u800c\u63d0\u5347\uff0c\u57285\u6b65\u65f6\u8fbe\u5230\u5cf0\u503c\uff0c\u968f\u540e\u6b65\u6570\u589e\u52a0\u4f1a\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8bc1\u660e\u201c\u591a\u6a21\u6001\u884c\u4e3a\u5efa\u6a21\u201d\u53ef\u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u6027\u80fd\uff0c\u5e76\u4e3a\u9009\u62e9\u63d0\u4f9b\u66f4\u5e7f\u6cdb\u7684\u7a7a\u95f4\u3002\u6700\u540e\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\u201c\u63a8\u7406\u6269\u5c55\u6027\u201d\u73b0\u8c61\uff1a\u5206\u914d\u7ed9\u63a2\u7d22\u4e0e\u518d\u751f\u6b65\u9aa4\u7684\u8ba1\u7b97\u8d44\u6e90\u8d8a\u591a\uff0c\u6a21\u578b\u63a8\u7406\u6027\u80fd\u76f8\u5e94\u63d0\u5347\uff1b\u8fd9\u79cd\u6269\u5c55\u6027\u7684\u4e0a\u9650\u53ef\u80fd\u8fd8\u53d6\u51b3\u4e8e\u6240\u91c7\u7528\u7684\u7b56\u7565\uff0c\u8fd9\u4e3a\u672a\u6765\u5de5\u4f5c\u63d0\u4f9b\u4e86\u8fdb\u4e00\u6b65\u4f18\u5316\u7684\u7a7a\u95f4\u3002<\/p>\n\n\n\n

              \"\"<\/figure>\n\n\n\n

              \u53cd\u601d\u63a8\u7406\u7684\u8bbe\u8ba1\u9009\u62e9\u6d88\u878d<\/strong><\/p>\n\n\n\n

              \u57fa\u4e8e\u6700\u4f18\u53c2\u6570\u914d\u7f6e\uff0c\u6211\u4eec\u5bf9\u201c\u76ee\u6807\u6761\u4ef6\u751f\u6210\u201d\u548c\u201c\u5b89\u5168\u5f15\u5bfc\u518d\u751f\u201d\u65b9\u6cd5\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\u3002\u7ed3\u679c\u5982\u88682\u6240\u793a\uff1a\u76ee\u6807\u6761\u4ef6\u751f\u6210\u63d0\u5347\u4e86\u81ea\u8f66\u8fdb\u5ea6\uff08EP\uff09\uff0c\u800c\u5b89\u5168\u5f15\u5bfc\u518d\u751f\u540c\u65f6\u6539\u5584\u4e86\u5b89\u5168\u6307\u6807\u4e0e\u8fdb\u5ea6\u6027\u80fd\u3002\u8fd9\u4e00\u53d1\u73b0\u9a8c\u8bc1\u4e86ReflectDrive\u65b9\u6cd5\u7684\u4e92\u8865\u6027\u2014\u2014\u76ee\u6807\u6761\u4ef6\u751f\u6210\u805a\u7126\u4e8e\u8fdb\u5ea6\u4f18\u5316\uff0c\u800c\u5b89\u5168\u5f15\u5bfc\u518d\u751f\u5728\u786e\u4fdd\u5b89\u5168\u7ea6\u675f\u7684\u540c\u65f6\uff0c\u672a\u727a\u7272\u9a7e\u9a76\u6548\u7387\u3002<\/p>\n\n\n\n

              \"\"<\/figure>\n\n\n\n

              \u4e94\u3001\u7ed3\u8bba<\/strong><\/p>\n\n\n\n

              \u672c\u6587\u63d0\u51fa\u4e86ReflectDrive\u2014\u2014\u4e00\u79cd\u65b0\u578b\u57fa\u4e8e\u5b66\u4e60\u7684\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u96c6\u6210\u53cd\u601d\u673a\u5236\uff0c\u901a\u8fc7\u79bb\u6563\u6269\u6563\u5b9e\u73b0\u5b89\u5168\u8f68\u8ff9\u751f\u6210\u3002\u6211\u4eec\u5c06\u4e8c\u7ef4\u9a7e\u9a76\u7a7a\u95f4\u79bb\u6563\u5316\u4e3a\u52a8\u4f5c\u7801\u672c\uff0c\u4f7f\u5f97\u9884\u8bad\u7ec3\u6269\u6563\u8bed\u8a00\u6a21\u578b\u53ef\u901a\u8fc7\u5fae\u8c03\u5e94\u7528\u4e8e\u89c4\u5212\u4efb\u52a1\u3002\u53cd\u601d\u673a\u5236\u9996\u5148\u901a\u8fc7\u76ee\u6807\u6761\u4ef6\u751f\u6210\u6355\u6349\u591a\u6837\u7684\u591a\u6a21\u6001\u884c\u4e3a\uff0c\u968f\u540e\u901a\u8fc7\u201c\u65e0\u68af\u5ea6\u4fee\u590d\u201d\u7684\u5b89\u5168\u5f15\u5bfc\u518d\u751f\u786e\u5b9a\u53ef\u884c\u89e3\u3002\u5728NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u96c6\u4e0a\u7684\u8bc4\u4f30\u7ed3\u679c\uff0c\u9a8c\u8bc1\u4e86\u672c\u6587\u65b9\u6cd5\u7684\u6709\u6548\u6027\u4e0e\u5b89\u5168\u4f18\u52bf\u3002<\/p>\n\n\n\n

              \u516d\u3001\u53c2\u8003<\/strong><\/p>\n\n\n\n

              [1] https:\/\/arxiv.org\/abs\/2505.19381
              [2] https:\/\/arxiv.org\/pdf\/2501.15564
              [3] https:\/\/x2robot.cn-wlcb.ufileos.com\/wall_oss.pdf<\/p>\n","protected":false},"excerpt":{"rendered":"

              \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-33419","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33419"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=33419"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33419\/revisions"}],"predecessor-version":[{"id":33436,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33419\/revisions\/33436"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=33419"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=33419"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=33419"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}