{"id":33454,"date":"2025-09-30T17:32:27","date_gmt":"2025-09-30T09:32:27","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33454"},"modified":"2025-10-09T15:56:23","modified_gmt":"2025-10-09T07:56:23","slug":"2025-09-30-mtrdrive%ef%bc%9a%e4%b8%80%e7%a7%8d%e5%85%b7%e5%a4%87%e5%8a%a8%e6%80%81%e4%ba%a4%e4%ba%92%e5%bc%8f%e6%8e%a8%e7%90%86%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6vla%e6%a1%86%e6%9e%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/30\/33454\/","title":{"rendered":"2025-09-30 MTRDrive\uff1a\u4e00\u79cd\u5177\u5907\u52a8\u6001\u4ea4\u4e92\u5f0f\u63a8\u7406\u7684\u81ea\u52a8\u9a7e\u9a76VLA\u6846\u67b6\uff08\u6e05\u534e&amp;\u5c0f\u7c73\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a 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\u5728&nbsp;<strong>\u957f\u5c3e\u4e0eOOD\uff08out-of- distribution)\u573a\u666f\u4e2d\u7684\u6cdb\u5316\u80fd\u529b\u4e0e\u7a33\u5065\u6027\u663e\u8457\u63d0\u5347<\/strong>\uff0c\u4e3a\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u667a\u80fd\u4f53\u5728\u771f\u5b9e\u590d\u6742\u4e16\u754c\u4e2d\u7684\u843d\u5730\u63d0\u4f9b\u4e86\u65b0\u7684\u6280\u672f\u8def\u5f84\u4e0e\u7406\u8bba\u652f\u6491\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"975\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-569-1024x975.png\" alt=\"\" class=\"wp-image-33458\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-569-1024x975.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-569-300x286.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-569-768x731.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-569-1051x1000.png 1051w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-569.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aMTRDrive: Memory-Tool Synergistic Reasoning for Robust Autonomous Driving in Corner Cases<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2509.20843<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e00\u3001\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u63a8\u52a8\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8303\u5f0f\u7684\u53d1\u5c55\uff0c\u6784\u5efa\u51fa\u4e00\u4e2a\u6a21\u4eff\u4eba\u7c7b\u8ba4\u77e5\u8fc7\u7a0b\u7684\u7edf\u4e00\u96c6\u6210\u7cfb\u7edf\u3002\u4e0d\u540c\u4e8e\u4f20\u7edf\u6a21\u5757\u5316\u6d41\u6c34\u7ebf\uff08\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u4e0e\u51b3\u7b56\u529f\u80fd\u5206\u5f00\u5904\u7406\uff09\uff0cVLMs\u6253\u7834\u4e86\u8fd9\u4e9b\u529f\u80fd\u754c\u9650\uff0c\u901a\u8fc7\u5728\u7edf\u4e00\u6846\u67b6\u5185\u8054\u5408\u5efa\u6a21\u591a\u6a21\u6001\u8f93\u5165\uff0c\u751f\u6210\u6700\u7ec8\u7684\u9a7e\u9a76\u884c\u4e3a\u3002\u6700\u8fd1\u7684\u4e00\u4e9b\u5de5\u4f5c\uff0c\u901a\u8fc7\u601d\u7ef4\u94fe\u7b49\u6280\u672f\u589e\u5f3a\u540e\uff0c\u8fd9\u7c7b\u6a21\u578b\u80fd\u5728\u591a\u79cd\u4efb\u52a1\uff08\u5305\u542b\u89c6\u89c9\u95ee\u7b54\u548c\u9ad8\u7ea7\u522b\u8bed\u4e49\u5bfc\u822a\u4efb\u52a1\uff09\u4e2d\u5b9e\u73b0\u4f18\u5f02\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fd9\u4e9b\u8fdb\u5c55\uff0c\u5f53\u524dVLMs\u7684\u6027\u80fd\u4e0e\u5b9e\u9645\u90e8\u7f72\u6240\u9700\u7684\u53ef\u9760\u6027\u4e4b\u95f4\u4ecd\u5b58\u5728\u663e\u8457\u5dee\u8ddd\uff1a\u6a21\u578b\u672c\u8d28\u4e0a\u5177\u6709\u8106\u5f31\u6027\uff0c\u5e38\u51fa\u73b0\u89c6\u89c9\u5e7b\u89c9\u73b0\u8c61\uff0c\u4e14\u5728\u5206\u5e03\u5916\u573a\u666f\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u5373\u4f7f\u662f\u5fae\u5c0f\u9519\u8bef\u4e5f\u53ef\u80fd\u5bfc\u81f4\u707e\u96be\u6027\u540e\u679c\uff0c\u56e0\u6b64\u8fd9\u7c7b\u5c40\u9650\u6027\u6210\u4e3a\u6280\u672f\u843d\u5730\u7684\u5173\u952e\u969c\u788d\u3002<\/p>\n\n\n\n<p>\u4ece\u6839\u672c\u4e0a\u8bb2\uff0c\u9c81\u68d2\u7684\u9a7e\u9a76\u51b3\u7b56\u53d7\u4e24\u4e2a\u5173\u952e\u56e0\u7d20\u5f71\u54cd\uff1a\u611f\u77e5\u7684\u51c6\u786e\u6027\u4e0e\u63a8\u7406\u7684\u5408\u7406\u6027\u3002\u4eba\u7c7b\u8ba4\u77e5\u8fc7\u7a0b\u672c\u8eab\u53ef\u89c6\u4e3a\u4e00\u4e2a\u7ec8\u8eab\u53cd\u9988\u5faa\u73af\uff1a\u521d\u59cb\u7ecf\u9a8c\u6784\u6210\u6211\u4eec\u8ba4\u77e5\u6a21\u578b\u7684\u57fa\u7840\u6846\u67b6\uff0c\u968f\u540e\u5728\u4e0e\u73af\u5883\u7684\u6bcf\u4e00\u6b21\u4ea4\u4e92\u4e2d\u4e0d\u65ad\u5730\u88ab\u7f16\u8f91\u548c\u5b8c\u5584\u3002<\/p>\n\n\n\n<p>\u4eba\u7c7b\u9a7e\u9a76\u5458\u7684\u884c\u4e3a\u6b63\u662f\u8fd9\u4e00\u539f\u7406\u7684\u76f4\u63a5\u4f53\u73b0\u2014\u2014\u4ed6\u4eec\u6301\u7eed\u4e0e\u73af\u5883\u8fdb\u884c\u95ed\u73af\u4ea4\u4e92\uff1a\u901a\u8fc7\u6301\u7eed\u611f\u77e5\u786e\u4fdd\u5b89\u5168\uff0c\u5e76\u7ed3\u5408\u5b9e\u65f6\u5206\u6790\u4e0e\u8fc7\u5f80\u9a7e\u9a76\u7ecf\u9a8c\u5224\u65ad\u5e76\u6267\u884c\u4e0b\u4e00\u6b65\u64cd\u4f5c\u3002\u8fd9\u79cd\u52a8\u6001\u3001\u4ea4\u4e92\u5f0f\u7684\u89c2\u5bdf\u4e0e\u53cd\u601d\u8fc7\u7a0b\uff0c\u6b63\u662f\u4eba\u7c7b\u80fd\u5728\u590d\u6742\u4e14\u4e0d\u53ef\u9884\u89c1\u7684\u573a\u666f\u4e2d\u5b9e\u73b0\u53ef\u9760\u5bfc\u822a\u7684\u6838\u5fc3\u539f\u56e0\u3002<\/p>\n\n\n\n<p>\u53d7\u4eba\u7c7b\u8fd9\u79cd\u8ba4\u77e5\u8fc7\u7a0b\u542f\u53d1\uff0c\u672c\u6587\u63d0\u51faMTRDrive\u6846\u67b6\u2014\u2014\u4e00\u79cd\u57fa\u4e8e\u201c\u4ea4\u4e92\u5f0f\u63a8\u7406\u201d\u539f\u5219\u8bbe\u8ba1\u7684\u65b0\u578b\u67b6\u6784\uff0c\u65e8\u5728\u89e3\u51b3\u5f53\u524d\u57fa\u4e8eVLM\u7684\u9a7e\u9a76\u667a\u80fd\u4f53\u5b58\u5728\u7684\u5c40\u9650\u6027\u3002\u4e0e\u5c06\u6bcf\u4e2a\u8f93\u5165\u89c6\u4e3a\u201c\u4e00\u6b21\u6027\u51b3\u7b56\u201d\u7684\u4f20\u7edf\u65b9\u6cd5\u4e0d\u540c\uff0cMTRDrive\u8d4b\u4e88\u667a\u80fd\u4f53\u4e3b\u52a8\u68c0\u7d22\u9a7e\u9a76\u7ecf\u9a8c\u548c\u4f7f\u7528\u5de5\u5177\u67e5\u8be2\u73af\u5883\u7684\u80fd\u529b\u3002\u5982\u56fe1\u6240\u793a\uff0c\u901a\u8fc7\u4ece\u9759\u6001\u51b3\u7b56\u6a21\u578b\u8f6c\u5411\u52a8\u6001\u4ea4\u4e92\u5f0f\u6a21\u578b\uff0c\u8be5\u65b9\u6cd5\u80fd\u964d\u4f4e\u5e7b\u89c9\u98ce\u9669\uff0c\u5e76\u663e\u8457\u63d0\u5347\u6a21\u578b\u5728\u65b0\u578b\u672a\u89c1\u8fc7\u573a\u666f\u4e2d\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u7efc\u4e0a\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol 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VLA\uff09\u7cfb\u7edf\u5b9e\u73b0\u3002\u65e9\u671f\u7814\u7a76\u5c06\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u4e0e\u6587\u672c\u63d0\u793a\u76f8\u7ed3\u5408\uff0c\u751f\u6210\u573a\u666f\u63cf\u8ff0\u548c\u9ad8\u5c42\u5bfc\u822a\u6307\u4ee4\uff0c\u4f46\u5e76\u672a\u76f4\u63a5\u8f93\u51fa\u63a7\u5236\u4fe1\u53f7\u3002\u4f8b\u5982\uff0cDriveGPT-4\u4ec5\u5904\u7406\u5355\u5f20\u524d\u89c6\u6444\u50cf\u5934\u56fe\u50cf\uff0c\u751f\u6210\u6587\u672c\u63cf\u8ff0\u6216\u9ad8\u5c42\u64cd\u4f5c\u6807\u7b7e\uff08\u5982\u201c\u51cf\u901f\u201d\u201c\u5de6\u8f6c\u201d\uff09\uff0c\u800c\u8f66\u8f86\u7684\u5b9e\u9645\u63a7\u5236\u4ecd\u7531\u6bd4\u4f8b-\u79ef\u5206-\u5fae\u5206\uff08PID\uff09\u63a7\u5236\u5668\u7b49\u4f20\u7edf\u6a21\u5757\u8d1f\u8d23\u3002<\/p>\n\n\n\n<p>\u540e\u7eed\u7814\u7a76\uff08\u5305\u62ecOpenDriveVLA\u548cOrion\uff09\u663e\u8457\u7f29\u5c0f\u4e86\u8bed\u8a00\u6307\u4ee4\u4e0e\u8f66\u8f86\u52a8\u4f5c\u4e4b\u95f4\u7684\u8bed\u4e49\u5dee\u8ddd\uff0c\u6210\u529f\u5c06\u81ea\u7136\u8bed\u8a00\u878d\u5165\u6838\u5fc3\u7684planning\u6d41\u7a0b\u4e2d\u3002\u4e3a\u8fdb\u4e00\u6b65\u63d0\u5347\u7aef\u5230\u7aefpipeline\u7684\u6027\u80fd\uff0c\u7814\u7a76\u4eba\u5458\u57fa\u4e8e\u8bed\u8a00\u6a21\u578b\u5f00\u53d1\u4e86\u7edf\u4e00\u7684VLA\u6a21\u578b\uff08\u5982EMMA\u3001LMDrive\u3001CarLLaVA\u548cSimLingo\uff09\uff0c\u5e76\u5229\u7528\u4eba\u7c7b\u4e13\u5bb6\u6216\u4eff\u771f\u5668\u751f\u6210\u7684\u8f68\u8ff9\u8fdb\u884c\u5fae\u8c03\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u8fd9\u4e9b\u57fa\u4e8e\u6570\u636e\u9a71\u52a8\u7684\u5fae\u8c03\u65b9\u6cd5\u5728\u7f13\u89e3\u89c6\u89c9\u5e7b\u89c9\u95ee\u9898\u4e0a\u6548\u679c\u6709\u9650\uff0c\u4e14\u5728\u5206\u5e03\u5916\uff08OOD\uff09\u573a\u666f\u4e2d\u7684\u8868\u73b0\u6b20\u4f73\u3002\u4e0e\u4e4b\u4e0d\u540c\uff0c\u672c\u6587\u63d0\u51fa\u7684\u6846\u67b6\u901a\u8fc7\u8bb0\u5fc6-\u5de5\u5177\u534f\u540c\u63a8\u7406\uff0c\u4f7f\u667a\u80fd\u4f53\u80fd\u591f\u4e3b\u52a8\u4e0e\u73af\u5883\u4ea4\u4e92\uff0c\u4ece\u800c\u514b\u670d\u4e0a\u8ff0\u5c40\u9650\u3002<\/p>\n\n\n\n<p><strong>B. \u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u601d\u7ef4\u94fe<\/strong><\/p>\n\n\n\n<p>\u6700\u65b0\u4e00\u4ee3\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5df2\u8d85\u8d8a\u5355\u7eaf\u7684\u89e3\u91ca\u548c\u89c4\u5212\u6761\u4ef6\u8bbe\u5b9a\uff0c\u5177\u5907\u652f\u6301\u957f\u601d\u7ef4\u94fe\u63a8\u7406\u7684\u80fd\u529b\u3002\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u601d\u7ef4\u94fe\u65b9\u6cd5\u5df2\u6210\u4e3a\u4e00\u79cd\u53ef\u89e3\u91ca\u3001\u900f\u660e\u7684\u8303\u5f0f\uff0c\u80fd\u591f\u63d0\u5347\u611f\u77e5\u3001\u8ba4\u77e5\u548c\u89c4\u5212\u80fd\u529b\u3002\u76f8\u5173\u7814\u7a76\uff08\u5982DriveCoT\u3001AgentDriver\u548cSce2DriveX\uff09\u91c7\u7528\u56fa\u5b9a\u63d0\u793a\u6a21\u677f\u8fdb\u884c\u5206\u6b65\u63a8\u7406\uff0c\u4e30\u5bcc\u4e86\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u8fdb\u800c\u5728\u590d\u6742\u573a\u666f\u4e2d\u4f18\u5316\u9a7e\u9a76\u51b3\u7b56\u3002<\/p>\n\n\n\n<p>AgentThink\u63d0\u51fa\u4e86\u4e00\u79cd\u5c06\u5de5\u5177\u4f7f\u7528\u80fd\u529b\u878d\u5165VLM\u63a8\u7406\u8fc7\u7a0b\u7684\u6846\u67b6\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u52a8\u6001\u8c03\u7528\u5de5\u5177\u4ee5\u63d0\u9ad8\u63a8\u7406\u51c6\u786e\u6027\u5e76\u51cf\u5c11\u5e7b\u89c9\u3002AutoVLA\u548cImpromptu VLA\u5219\u5728CoT\u6846\u67b6\u5185\u5c06\u63a8\u7406\u8fc7\u7a0b\u4e0e\u8f68\u8ff9\u89c4\u5212\u76f8\u878d\u5408\uff0c\u5728NAVSIM\u548cBench2Drive\u7b49\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u5c55\u73b0\u51fa\u66f4\u4f18\u7684\u6cdb\u5316\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u4f9d\u8d56\u5927\u91cfCoT\u6570\u636e\u6765\u8bad\u7ec3\u63a8\u7406\u80fd\u529b\uff0c\u4e0d\u4ec5\u6548\u7387\u6781\u4f4e\uff0c\u4e14\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u6613\u4ea7\u751f\u5e7b\u89c9\u3002\u6b64\u5916\uff0c\u5b83\u4eec\u5728\u5229\u7528\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7279\u6709\u7684\u7ed3\u6784\u5316\u77e5\u8bc6\u65b9\u9762\u4ecd\u5b58\u5728\u4e0d\u8db3\uff0c\u8fd9\u4f7f\u5f97\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u96be\u4ee5\u5728\u590d\u6742\u73af\u5883\u4e2d\u5b9e\u73b0\u7a33\u5065\u7684\u68c0\u6d4b\u4e0e\u89c4\u5212\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u672c\u6587\u65b9\u6cd5\u5f15\u5165\u4e86\u9a7e\u9a76\u77e5\u8bc6\u5e93\u4ee5\u5b9e\u73b0\u9ad8\u6548\u7684\u7ecf\u9a8c\u590d\u7528\uff0c\u5e76\u8bbe\u8ba1\u4e86\u5de5\u5177\u8c03\u7528\u667a\u80fd\u4f53\u6765\u63d0\u4f9b\u5b9a\u91cf\u8f93\u51fa\uff08\u5982\u68c0\u6d4b\u7ed3\u679c\uff09\uff0c\u6700\u7ec8\u6784\u5efa\u4e86\u66f4\u5177\u4ea4\u4e92\u6027\u548c\u63a5\u5730\u6027\u7684\u63a8\u7406\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p><strong>\u4e09\u3001MTRDrive\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"625\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-570-1024x625.png\" alt=\"\" class=\"wp-image-33459\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-570-1024x625.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-570-300x183.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-570-768x469.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-570.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u7684MTRDrive\u6846\u67b6\u662f\u4e00\u79cd\u4e13\u4e3a\u81ea\u52a8\u9a7e\u9a76planning\u8bbe\u8ba1\u7684\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u3002\u8be5\u6846\u67b6\u501f\u9274\u4eba\u7c7b\u8ba4\u77e5\u8fc7\u7a0b\uff0c\u901a\u8fc7\u6574\u5408\u8bb0\u5fc6\u68c0\u7d22\u4e0e\u5de5\u5177\u4ea4\u4e92\u6765\u63d0\u5347\u51b3\u7b56\u80fd\u529b\u2014\u2014\u6a21\u578b\u901a\u8fc7\u68c0\u7d22\u5e76\u63a8\u7406\u8fc7\u5f80\u9a7e\u9a76\u7ecf\u9a8c\uff0c\u63d0\u9ad8\u89c4\u5212\u51c6\u786e\u6027\uff0c\u540c\u65f6\u5c06\u5de5\u5177\u9009\u62e9\u8fc7\u7a0b\u5efa\u7acb\u5728\u76f8\u5173\u5148\u9a8c\u77e5\u8bc6\u57fa\u7840\u4e0a\uff0c\u4ece\u800c\u964d\u4f4e\u89c6\u89c9\u5e7b\u89c9\u98ce\u9669\u3002\u6846\u67b6\u7684\u6574\u4f53\u67b6\u6784\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<p>MTRDrive\u5305\u542b\u4e24\u4e2a\u6838\u5fc3\u7ec4\u4ef6\uff1a\u5b58\u50a8\u7ed3\u6784\u5316\u9a7e\u9a76\u7ecf\u9a8c\u7684\u201c\u9a7e\u9a76\u7ecf\u9a8c\u5e93\u201d\uff0c\u4ee5\u53ca\u5229\u7528\u8fd9\u4e9b\u7ecf\u9a8c\u8fdb\u884c\u5de5\u5177\u4ea4\u4e92\u4e0e\u51b3\u7b56\u7684\u201c\u7ecf\u9a8c\u9a71\u52a8\u89c4\u5212\u6a21\u5757\u201d\u3002\u8be5\u67b6\u6784\u901a\u8fc7\u5c06\u5386\u53f2\u77e5\u8bc6\u4e0e\u5b9e\u65f6\u611f\u77e5\u76f8\u534f\u540c\uff0c\u4f7f\u667a\u80fd\u4f53\u5177\u5907\u66f4\u9ad8\u7ea7\u522b\u7684\u8ba4\u77e5\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>A. \u9a7e\u9a76\u7ecf\u9a8c\u5e93\u6784\u5efa<\/strong><\/p>\n\n\n\n<p>\u4e3a\u6a21\u62df\u4eba\u7c7b\u4ece\u7ecf\u9a8c\u4e2d\u5b66\u4e60\u7684\u80fd\u529b\uff0c\u6211\u4eec\u9996\u5148\u6784\u5efa\u4e86\u4e00\u4e2a\u7ed3\u6784\u5316\u3001\u53ef\u68c0\u7d22\u7684\u8fc7\u5f80\u9a7e\u9a76\u573a\u666f\u77e5\u8bc6\u5e93\u3002<\/p>\n\n\n\n<p><strong>1. \u8bed\u4e49\u573a\u666f\u7f16\u7801<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"409\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/093004.png\" alt=\"\" class=\"wp-image-33461\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093004.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093004-300x177.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p><strong>2. \u7ed3\u6784\u5316\u7ecf\u9a8c\u8868\u793a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"340\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/093005.png\" alt=\"\" class=\"wp-image-33462\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093005.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093005-300x148.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>B. \u7ecf\u9a8c\u9a71\u52a8\u7684\u5de5\u5177\u4ea4\u4e92\u4e0e\u53cd\u601d<\/strong><\/p>\n\n\n\n<p><strong>1. \u89c6\u89c9\u5de5\u5177\u96c6<\/strong><\/p>\n\n\n\n<p>\u4e3a\u7a81\u7834VLM\u81ea\u8eab\u7406\u89e3\u80fd\u529b\u7684\u5c40\u9650\u3001\u589e\u5f3a\u5176\u611f\u77e5\u80fd\u529b\uff0cMTRDrive\u914d\u5907\u4e86\u4e13\u95e8\u7684\u201c\u89c6\u89c9\u5de5\u5177\u96c6\u201d\u3002\u8fd9\u5957\u5916\u90e8\u5de5\u5177\u4f7f\u667a\u80fd\u4f53\u80fd\u591f\u4e3b\u52a8\u63a2\u6d4b\u89c6\u89c9\u73af\u5883\uff0c\u83b7\u53d6\u7279\u5b9a\u7684\u9ad8\u4fdd\u771f\u4fe1\u606f\uff0c\u4e3b\u8981\u5305\u62ec\u4ee5\u4e0b\u5de5\u5177\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u76ee\u6807\u68c0\u6d4b\uff1a\u6267\u884c\u6807\u51c6\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\uff0c\u5728\u6307\u5b9a\u7a7a\u95f4\u8303\u56f4\u5185\u8bc6\u522b\u5e76\u5b9a\u4f4d\u8f66\u8f86\u3001\u884c\u4eba\u3001\u9a91\u884c\u8005\u7b49\u5e38\u89c1\u4ea4\u901a\u53c2\u4e0e\u8005\uff0c\u4e3a\u7406\u89e3\u5373\u65f6\u9a7e\u9a76\u73af\u5883\u63d0\u4f9b\u57fa\u7840\u8ba4\u77e5\uff1b<\/li>\n\n\n\n<li>\u5f00\u653e\u4e16\u754c\u8bcd\u6c47\u68c0\u6d4b\uff1a\u7a81\u7834\u9884\u5b9a\u4e49\u7c7b\u522b\u7684\u9650\u5236\uff0c\u5141\u8bb8\u667a\u80fd\u4f53\u6839\u636e\u5f00\u653e\u8bcd\u6c47\u6587\u672c\u67e5\u8be2\u641c\u7d22\u4efb\u610f\u7269\u4f53\u6216\u6982\u5ff5\u3002\u8fd9\u5bf9\u4e8e\u89e3\u8bfb\u7279\u6b8a\u6216\u590d\u6742\u573a\u666f\u81f3\u5173\u91cd\u8981\uff0c\u4f8b\u5982\u5728\u65bd\u5de5\u533a\u57df\u9644\u8fd1\u641c\u7d22\u201c\u7981\u6b62\u53f3\u8f6c\u6807\u5fd7\u201d\uff08\u5982\u56fe2\u6240\u793a\u573a\u666f\uff09\uff1b<\/li>\n\n\n\n<li>\u56fe\u50cf\u88c1\u526a\uff1a\u63d0\u4f9b\u4ece\u56fe\u50cf\u4e2d\u88c1\u526a\u77e9\u5f62\u533a\u57df\u7684\u529f\u80fd\uff0c\u9700\u8f93\u5165\u56fe\u50cf\u8def\u5f84\u3001\u8f93\u51fa\u6587\u4ef6\u8def\u5f84\u53ca\u88c1\u526a\u533a\u57df\u5750\u6807\u3002\u8be5\u5de5\u5177\u76f8\u5f53\u4e8e\u667a\u80fd\u4f53\u7684\u201c\u653e\u5927\u89c2\u5bdf\u201d\u673a\u5236\uff0c\u53ef\u7528\u4e8e\u7ec6\u81f4\u68c0\u67e5\u573a\u666f\u4e2d\u7684\u5173\u952e\u533a\u57df\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u7ecf\u9a8c\u9a71\u52a8\u7684\u5de5\u5177\u4ea4\u4e92\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"317\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/093001-1.png\" alt=\"\" class=\"wp-image-33464\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093001-1.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093001-1-300x139.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>3. \u4e24\u9636\u6bb5\u8bad\u7ec3\u6d41\u7a0b<\/strong><\/p>\n\n\n\n<p>\u4e3a\u6709\u6548\u8bad\u7ec3MTRDrive\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e24\u9636\u6bb5\u8bad\u7ec3\u6d41\u7a0b\uff1a\u5148\u4f20\u6388\u57fa\u7840\u6280\u80fd\uff0c\u518d\u901a\u8fc7\u76ee\u6807\u5bfc\u5411\u4f18\u5316\u8fdb\u884c\u80fd\u529b refinement\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"988\" height=\"842\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-571.png\" alt=\"\" class=\"wp-image-33465\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-571.png 988w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-571-300x256.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-571-768x655.png 768w\" sizes=\"(max-width: 988px) 100vw, 988px\" \/><\/figure>\n\n\n\n<p><strong>\uff081\uff09\u4f5c\u4e3awarm-up\u7684SFT<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"116\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/093002.png\" alt=\"\" class=\"wp-image-33466\" style=\"width:893px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093002.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093002-300x51.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>\uff082\uff09\u7528\u4e8e\u7b56\u7565\u4f18\u5316\u7684\u5f3a\u5316\u5b66\u4e60\u5fae\u8c03<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"556\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/093003.png\" alt=\"\" class=\"wp-image-33467\" style=\"width:893px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093003.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/093003-300x241.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p><strong>\u56db\u3001\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u4e3a\u9a8c\u8bc1\u6240\u63d0\u51fa\u7684MTRDrive\u6846\u67b6\u7684\u6709\u6548\u6027\uff0c\u672c\u7ae0\u5f00\u5c55\u4e86\u4e00\u7cfb\u5217\u5927\u91cf\u5b9e\u9a8c\u3002\u5b9e\u9a8c\u8bbe\u8ba1\u56f4\u7ed5\u4ee5\u4e0b\u6838\u5fc3\u95ee\u9898\u5c55\u5f00\uff0c\u4ee5\u5145\u5206\u8bc1\u660e\u8be5\u65b9\u6cd5\u7684\u6548\u80fd\u4e0e\u9c81\u68d2\u6027\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u95ee\u98981\uff1a\u4ea4\u4e92\u5f0f\u63a8\u7406\u65b9\u6cd5\u80fd\u5426\u663e\u8457\u63d0\u5347\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u5e76\u6709\u6548\u7f13\u89e3\u5e7b\u89c9\u95ee\u9898\uff1f<\/li>\n\n\n\n<li>\u95ee\u98982\uff1aMTRDrive\u5728\u65b0\u6784\u5efa\u7684RoadWork-VLM\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u80fd\u5426\u5c55\u73b0\u51fa\u4f18\u5f02\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\uff1f<\/li>\n\n\n\n<li>\u95ee\u98983\uff1a\u4e24\u9636\u6bb5\u8bad\u7ec3\u7b56\u7565\u5982\u4f55\u4f7f\u6a21\u578b\u5b66\u4e60\u5230\u9ad8\u6548\u4e14\u6b63\u786e\u7684\u4ea4\u4e92\u884c\u4e3a\uff1f<\/li>\n<\/ol>\n\n\n\n<p>\u9664\u4e0a\u8ff0\u6838\u5fc3\u95ee\u9898\u5916\uff0c\u672c\u7ae0\u8fd8\u5728NAVSIM\u6570\u636e\u96c6\u4e0a\u5f00\u5c55\u4e86\u8865\u5145\u5b9e\u9a8c\uff0c\u8fdb\u4e00\u6b65\u63a2\u7a76\u9ad8\u5c42\u51b3\u7b56\u5bf9\u95ed\u73af\u8f68\u8ff9\u9884\u6d4b\u7684\u5f71\u54cd\u3002\u8be5\u7814\u7a76\u51f8\u663e\u4e86\u9ad8\u5c42\u89c4\u5212\u5728\u751f\u6210\u51c6\u786e\u3001\u53ef\u9760\u8f68\u8ff9\u8fc7\u7a0b\u4e2d\u7684\u5173\u952e\u4f5c\u7528\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u5b9e\u9a8c\u5728\u4e24\u4e2a\u4e0d\u540c\u7684\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\uff1aNAVSIM\u548cRoadWork\u3002\u5176\u4e2d\uff0cNAVSIM\u662f\u4e00\u4e2a\u5927\u89c4\u6a21\u771f\u5b9e\u4e16\u754c\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u4e3b\u8981\u7528\u4e8e\u975e\u53cd\u5e94\u5f0f\u4eff\u771f\u4e0e\u57fa\u51c6\u6d4b\u8bd5\u3002\u8be5\u6570\u636e\u96c6\u57fa\u4e8eOpenScene\u6784\u5efa\uff0c\u91cd\u70b9\u5173\u6ce8\u6d89\u53ca\u52a8\u6001\u610f\u56fe\u53d8\u5316\u7684\u6311\u6218\u6027\u573a\u666f\uff0c\u540c\u65f6\u8fc7\u6ee4\u6389\u9759\u6001\u573a\u666f\u3001\u6052\u901f\u884c\u9a76\u7b49\u7b80\u5355\u573a\u666f\u3002\u4e3a\u9002\u914d\u9ad8\u5c42\u51b3\u7b56\u4efb\u52a1\uff0c\u6211\u4eec\u5bf9NAVSIM\u8f68\u8ff9\u6570\u636e\u8fdb\u884c\u4e86\u8fdb\u4e00\u6b65\u5904\u7406\uff0c\u8ba1\u7b97\u8f66\u8f86\u7684\u52a8\u6001\u7279\u5f81\uff08\u5982\u901f\u5ea6\u53ca\u76f8\u5e94\u7684\u89d2\u5ea6\u53d8\u5316\uff09\uff0c\u6700\u7ec8\u751f\u6210\u9ad8\u5c42\u901f\u5ea6\u89c4\u5212\u4e0e\u8def\u5f84\u89c4\u5212\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u7531\u4e8eNAVSIM\u573a\u666f\u76f8\u5bf9\u7b80\u5355\uff0c\u4ec5\u4f9d\u9760\u8be5\u6570\u636e\u96c6\u65e0\u6cd5\u5145\u5206\u9a8c\u8bc1\u667a\u80fd\u4f53\u5e94\u5bf9\u771f\u5b9e\u9a7e\u9a76\u590d\u6742\u573a\u666f\u7684\u80fd\u529b\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u4e13\u95e8\u6d4b\u8bd5\u4e86\u6a21\u578b\u5728\u65bd\u5de5\u533a\u57df\u7b49\u66f4\u590d\u6742\u3001\u672a\u89c1\u8fc7\u573a\u666f\u4e2d\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e25\u683c\u8bc4\u4f30\u667a\u80fd\u4f53\u5728\u8fd9\u7c7b\u590d\u6742\u73af\u5883\u4e2d\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u4e0e\u63a8\u7406\u80fd\u529b\uff0c\u6211\u4eec\u57fa\u4e8e\u539f\u59cbRoadWork\u6570\u636e\u96c6\u6784\u5efa\u4e86\u4e00\u4e2a\u65b0\u7684\u57fa\u51c6\u6570\u636e\u96c6\u2014\u2014Roadwork-VLM\u3002\u6211\u4eec\u5229\u7528\u6027\u80fd\u5f3a\u5927\u7684Qwen2.5-VL-72B\u6a21\u578b\u5bf9\u6574\u4e2a\u6570\u636e\u96c6\u8fdb\u884c\u91cd\u65b0\u6807\u6ce8\uff0c\u6839\u636e\u63d0\u4f9b\u7684\u56fe\u50cf\u548c\u8f68\u8ff9\u4fe1\u606f\uff0c\u751f\u6210\u8be6\u7ec6\u7684\u573a\u666f\u63cf\u8ff0\u3001\u9ad8\u5c42\u5bfc\u822a\u6307\u4ee4\u4ee5\u53ca\u5b8c\u6574\u7684\u601d\u7ef4\u94fe\uff08Chain-of-Thought\uff09\u63a8\u7406\u5e8f\u5217\u3002\u8fd9\u4e00\u8fc7\u7a0b\u6700\u7ec8\u5f62\u6210\u4e86\u4e00\u4e2a\u5b8c\u6574\u7684\u3001\u7c7b\u4eba\u5316\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u6570\u636e\u96c6\uff0c\u53ef\u7528\u4e8e\u6d4b\u8bd5\u667a\u80fd\u4f53\u5728\u96f6\u6837\u672c\u8bbe\u7f6e\u4e0b\u6267\u884c\u590d\u6742\u9ad8\u5c42\u884c\u4e3a\u51b3\u7b56\u7684\u80fd\u529b\u3002\u540e\u7eed\u6211\u4eec\u5c06\u5f00\u6e90Roadwork-VLM\u6570\u636e\u96c6\uff0c\u4ee5\u63a8\u52a8\u8be5\u9886\u57df\u7684\u8fdb\u4e00\u6b65\u7814\u7a76\u3002<\/p>\n\n\n\n<p><strong>\u8bc4\u4ef7\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u5b9e\u9a8c\u4ece\u81ea\u52a8\u9a7e\u9a76\u7684\u4e24\u4e2a\u5173\u952e\u65b9\u9762\u5bf9\u6846\u67b6\u6027\u80fd\u8fdb\u884c\u8bc4\u4f30\uff1a\u957f\u671f\u9ad8\u5c42\u89c4\u5212\u4e0e\u77ed\u671f\u8f68\u8ff9\u9884\u6d4b\u3002<\/p>\n\n\n\n<p>\u5728\u9ad8\u5c42\u89c4\u5212\u4e0e\u63a8\u7406\u65b9\u9762\uff0c\u91c7\u7528\u591a\u6307\u6807\u7ec4\u5408\u8fdb\u884c\u8bc4\u4ef7\u3002\u6838\u5fc3\u6307\u6807\u4e3a<strong>\u9ad8\u5c42\u89c4\u5212\u51c6\u786e\u7387<\/strong>\uff0c\u8be5\u6307\u6807\u4e25\u683c\u8bc4\u4f30\u667a\u80fd\u4f53\u6218\u7565\u51b3\u7b56\u7684\u6b63\u786e\u6027\u2014\u2014\u4ec5\u5f53\u5305\u542b\u7eb5\u5411\u901f\u5ea6\u89c4\u5212\u4e0e\u6a2a\u5411\u8def\u5f84\u89c4\u5212\u7684\u5b8c\u6574\u5143\u52a8\u4f5c\u4e0e\u771f\u503c\u5b8c\u5168\u5339\u914d\u65f6\uff0c\u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planning\u7684\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cMTRDrive\u5728\u9ad8\u5c42\u89c4\u5212\u4efb\u52a1\u4e2d\u5c55\u73b0\u51fa\u663e\u8457\u4f18\u52bf\u3002\u5728NAVSIM\uff08SFT\uff09\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\uff0cMTRDrive\u7684\u89c4\u5212\u51c6\u786e\u7387\u8fbe\u523082.6%\uff0c\u662fQwen2.5-VL-72B\uff0837.8%\uff09\u7684\u4e24\u500d\u591a\u3002\u5728\u5177\u6709\u6311\u6218\u6027\u7684RoadWork\u96f6\u6837\u672c\u573a\u666f\u4e2d\uff0cMTRDrive\u4ecd\u4fdd\u6301\u4f18\u52bf\uff0c\u89c4\u5212\u51c6\u786e\u7387\u8fbe\u523033.5%\uff0c\u9ad8\u4e8e\u6027\u80fd\u6700\u5f3a\u7684\u57fa\u51c6\u6a21\u578b\uff0829.7%\uff09\u3002<\/p>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cMTRDrive\u7684\u4f18\u52bf\u5e76\u975e\u5355\u7eaf\u6e90\u4e8e\u66f4\u5f3a\u7684\u901a\u7528\u63a8\u7406\u80fd\u529b\u3002\u5c3d\u7ba1\u5927\u578b\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5177\u6709\u8f83\u9ad8\u7684\u539f\u59cb\u63a8\u7406\u5f97\u5206\uff0c\u4f46MTRDrive\u5728\u5c06\u7406\u89e3\u8f6c\u5316\u4e3a\u6b63\u786e\u53ef\u6267\u884c\u89c4\u5212\u65b9\u9762\u8868\u73b0\u5c24\u4e3a\u7a81\u51fa\u3002\u5728\u96f6\u6837\u672c\u573a\u666f\u4e2d\uff0cMTRDrive\u7684\u63a8\u7406\u5f97\u5206\u4e5f\u5177\u5907\u8f83\u5f3a\u7ade\u4e89\u529b\uff0c\u8fd9\u8868\u660e\u7ecf\u9a8c\u68c0\u7d22\u673a\u5236\u662f\u6a21\u578b\u5728\u672a\u77e5\u73af\u5883\u4e2d\u7a33\u5065\u505a\u51fa\u5408\u7406\u51b3\u7b56\u7684\u5173\u952e\u56e0\u7d20\uff0c\u9a8c\u8bc1\u4e86\u6211\u4eec\u7684\u6838\u5fc3\u8bbe\u8ba1\u7406\u5ff5\u3002<\/p>\n\n\n\n<p>\u4ece\u5b9a\u6027\u89d2\u5ea6\u5206\u6790\uff0cMTRDrive\u80fd\u591f\u6210\u529f\u5e94\u5bf9\u57fa\u51c6\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u96be\u4ee5\u5904\u7406\u7684\u771f\u5b9e\u4e16\u754c\u590d\u6742\u8fb9\u7f18\u573a\u666f\u3002\u5728\u8fd9\u4e9b\u590d\u6742\u573a\u666f\u4e2d\uff0cQwen2.5VL-32B\u6a21\u578b\u5e38\u51fa\u73b0\u63a8\u7406\u7f3a\u9677\uff0c\u4f8b\u5982\u5bf9\u5173\u952e\u76ee\u6807\u4ea7\u751f\u89c6\u89c9\u5e7b\u89c9\u6216\u65e0\u6cd5\u7406\u89e3\u573a\u666f\u7684\u5b89\u5168\u9690\u542b\u4fe1\u606f\uff0c\u8fdb\u800c\u5bfc\u81f4\u9519\u8bef\u4e14\u5177\u6709\u6f5c\u5728\u5371\u9669\u7684\u9a7e\u9a76\u89c4\u5212\u3002\u4e0e\u4e4b\u76f8\u53cd\uff0cMTRDrive\u80fd\u591f\u7075\u6d3b\u68c0\u7d22\u76f8\u5173\u8fc7\u5f80\u7ecf\u9a8c\uff0c\u5e76\u8c03\u7528\u5de5\u5177\u83b7\u53d6\u51b3\u7b56\u6240\u9700\u7684\u5173\u952e\u4fe1\u606f\u3002\u901a\u8fc7\u5c06\u63a8\u7406\u8fc7\u7a0b\u5efa\u7acb\u5728\u68c0\u7d22\u5230\u7684\u4e0a\u4e0b\u6587\u57fa\u7840\u4e0a\uff0cMTRDrive\u6709\u6548\u907f\u514d\u4e86\u5e7b\u89c9\u95ee\u9898\uff0c\u80fd\u591f\u6b63\u786e\u7406\u89e3\u590d\u6742\u573a\u666f\uff08\u5982\u65bd\u5de5\u533a\u57df\u5bfc\u822a\u3001\u9075\u5b88\u7981\u6b62\u901a\u884c\u4ea4\u901a\u6807\u5fd7\u7b49\uff09\u5e76\u505a\u51fa\u5408\u7406\u51b3\u7b56\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"448\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-572-1024x448.png\" alt=\"\" class=\"wp-image-33468\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-572-1024x448.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-572-300x131.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-572-768x336.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-572.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\u5256\u6790\u6846\u67b6\u5404\u7ec4\u4ef6\u7684\u4f5c\u7528\uff0c\u6211\u4eec\u5f00\u5c55\u4e86\u8be6\u7ec6\u7684\u6d88\u878d\u5b9e\u9a8c\u3002\u5b9e\u9a8c\u5206\u6790\u4e86\u6709\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u3001\u5e26\u81ea\u5b9a\u4e49\u5956\u52b1\u7684\u5f3a\u5316\u5b66\u4e60\uff08GRPO\uff09\u4ee5\u53ca\u9a7e\u9a76\u7ecf\u9a8c\u6a21\u5757\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u589e\u91cf\u5f71\u54cd\u3002<\/p>\n\n\n\n<p>\u7ed3\u679c\u663e\u793a\uff0c\u672a\u7ecf\u8fc7\u4efb\u4f55\u8bad\u7ec3\u7684\u57fa\u51c6\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5728\u89c4\u5212\u4efb\u52a1\u4e2d\u8868\u73b0\u6781\u5dee\uff08NAVSIM\u6570\u636e\u96c6\u4e0a\u51c6\u786e\u7387\u4ec5\u4e3a1.6%\uff09\u3002\u5f15\u5165\u6709\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u540e\uff0c\u6a21\u578b\u6027\u80fd\u83b7\u5f97\u6700\u663e\u8457\u7684\u521d\u59cb\u63d0\u5347\u2014\u2014NAVSIM\u6570\u636e\u96c6\u4e0a\u7684\u89c4\u5212\u51c6\u786e\u7387\u63d0\u5347\u81f379.9%\uff0c\u8fd9\u8868\u660eSFT\u9636\u6bb5\u6210\u529f\u6559\u4f1a\u4e86\u6a21\u578b\u89c4\u5212\u4efb\u52a1\u7684\u57fa\u672c\u8bed\u6cd5\u4e0e\u7ed3\u6784\u3002\u968f\u540e\u52a0\u5165GRPO\u7b97\u6cd5\u8fdb\u4e00\u6b65\u4f18\u5316\u7b56\u7565\uff0c\u6a21\u578b\u7684\u63a8\u7406\u5f97\u5206\u5f97\u5230\u63d0\u5347\uff0c\u4e14\u5728RoadWork\u96f6\u6837\u672c\u573a\u666f\u4e2d\u7684\u89c4\u5212\u51c6\u786e\u7387\u4ece13.3%\u63d0\u5347\u81f317.3%\u3002<\/p>\n\n\n\n<p>\u6700\u91cd\u8981\u7684\u662f\uff0c\u6700\u7ec8\u52a0\u5165\u7684\u9a7e\u9a76\u7ecf\u9a8c\u6a21\u5757\u5728\u6cdb\u5316\u80fd\u529b\u63d0\u5347\u65b9\u9762\u53d1\u6325\u4e86\u4e0d\u53ef\u6216\u7f3a\u7684\u4f5c\u7528\uff1a\u8be5\u6a21\u5757\u4e0d\u4ec5\u5c06\u540c\u5206\u5e03\u7684NAVSIM\u6570\u636e\u96c6\u4e0a\u7684\u89c4\u5212\u51c6\u786e\u7387\u63d0\u5347\u81f3\u6700\u7ec8\u768482.6%\uff0c\u66f4\u4f7fRoadWork\u96f6\u6837\u672c\u573a\u666f\u4e2d\u7684\u89c4\u5212\u51c6\u786e\u7387\u4ece17.3%\u7ffb\u500d\u81f333.5%\u3002\u8fd9\u4e00\u7ed3\u679c\u660e\u786e\u8bc1\u660e\uff0c\u7ecf\u9a8c\u68c0\u7d22\u673a\u5236\u662f\u4f7f\u6a21\u578b\u80fd\u591f\u5c06\u6240\u5b66\u6280\u80fd\u6709\u6548\u5e94\u7528\u4e8e\u65b0\u7684\u3001\u672a\u89c1\u8fc7\u9a7e\u9a76\u573a\u666f\u7684\u6838\u5fc3\u7ec4\u4ef6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"292\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-573-1024x292.png\" alt=\"\" class=\"wp-image-33469\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-573-1024x292.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-573-300x86.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-573-768x219.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-573.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>high-level 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