{"id":33697,"date":"2025-10-15T17:35:15","date_gmt":"2025-10-15T09:35:15","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33697"},"modified":"2025-10-15T17:35:15","modified_gmt":"2025-10-15T09:35:15","slug":"2025-10-15-%e5%a4%8d%e6%97%a6seerdrive%ef%bc%9a%e4%b8%80%e7%a7%8d%e8%bd%a8%e8%bf%b9%e8%a7%84%e5%88%92%e5%92%8c%e5%9c%ba%e6%99%af%e6%bc%94%e5%8c%96%e7%9a%84%e5%8f%8c%e5%90%91%e5%bb%ba%e6%a8%a1%e7%ab%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/10\/15\/33697\/","title":{"rendered":"2025-10-15 \u590d\u65e6SeerDrive\uff1a\u4e00\u79cd\u8f68\u8ff9\u89c4\u5212\u548c\u573a\u666f\u6f14\u5316\u7684\u53cc\u5411\u5efa\u6a21\u7aef\u5230\u7aef\u6846\u67b6"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/4ds1XpMnh4_wbrV2nkKqjQ\">https:\/\/mp.weixin.qq.com\/s\/4ds1XpMnh4_wbrV2nkKqjQ<\/a><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u6838\u5fc3\u76ee\u6807\u662f\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u76f4\u63a5\u6620\u5c04\u4e3a\u672a\u6765\u9a7e\u9a76\u8f68\u8ff9\uff0c\u65e0\u9700\u4f20\u7edf\u6a21\u5757\u5316\u6d41\u6c34\u7ebf\uff08\u5982\u5355\u72ec\u7684\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u6a21\u5757\uff09\u3002\u8fd9\u7c7b\u65b9\u6cd5\u867d\u7b80\u5316\u4e86\u7cfb\u7edf\u8bbe\u8ba1\uff0c\u4f46\u73b0\u6709\u65b9\u6848\u591a\u91c7\u7528one-shot\u7684\u8303\u5f0f\u2014\u2014\u4ec5\u4f9d\u8d56\u5f53\u524d\u65f6\u523b\u7684\u573a\u666f\u4fe1\u606f\u63a8\u7406\u81ea\u8f66\u8f68\u8ff9\uff08\u56fe1\uff09\uff0c\u4f1a\u5bfc\u81f4\u4e24\u4e2a\u95ee\u9898\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5ffd\u7565\u573a\u666f\u52a8\u6001\u6f14\u5316<\/strong>\uff1a\u5728\u590d\u6742\u4ea4\u4e92\u573a\u666f\uff08\u5982\u8f66\u6d41\u53d8\u9053\u3001\u8def\u53e3\u8f6c\u5f2f\uff09\u4e2d\uff0c\u65e0\u6cd5\u9884\u6d4b\u5468\u56f4\u73af\u5883\uff08\u5982\u5176\u4ed6\u8f66\u8f86\u3001\u884c\u4eba\uff09\u7684\u65f6\u5e8f\u53d8\u5316\uff0c\u5bfc\u81f4\u89c4\u5212\u4e0d\u51c6\uff1b<\/li>\n\n\n\n<li><strong>\u5ffd\u89c6\u8f66\u8f86\u884c\u4e3a\u5bf9\u73af\u5883\u7684\u5f71\u54cd<\/strong>\uff1a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u81ea\u8eab\u7684\u672a\u6765\u52a8\u4f5c\uff08\u5982\u51cf\u901f\u3001\u8f6c\u5411\uff09\u4f1a\u6539\u53d8\u5468\u56f4\u573a\u666f\u7684\u6f14\u53d8\uff08\u5982\u5f15\u5bfc\u540e\u8f66\u8c03\u6574\u8f66\u901f\uff09\uff0c\u8fd9\u79cd\u53cc\u5411\u4f9d\u8d56\u5173\u7cfb\u5728\u73b0\u6709\u7cfb\u7edf\u4e2d\u672a\u88ab\u6709\u6548\u5efa\u6a21\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0c\u590d\u65e6\u548c\u4e0a\u6d77\u521b\u667a\u5b66\u9662\u63d0\u51faSeerDrive\uff0c\u501f\u9274\u201c\u4e16\u754c\u6a21\u578b\uff08world models\uff09\u201d\u7684\u601d\u60f3\uff0c\u63d0\u51fa<strong>\u8f68\u8ff9\u89c4\u5212\u4e0e\u573a\u666f\u6f14\u5316\u7684\u53cc\u5411\u5efa\u6a21\u8303\u5f0f<\/strong>\uff1a\u901a\u8fc7\u9884\u6d4b\u672a\u6765BEV\u8868\u793a\u6355\u6349\u573a\u666f\u52a8\u6001\uff0c\u540c\u65f6\u8ba9\u89c4\u5212\u7ed3\u679c\u53cd\u9988\u7ed9\u573a\u666f\u9884\u6d4b\u7684\u4f18\u5316\uff0c\u5f62\u6210\u95ed\u73af\u8fed\u4ee3\uff08\u56fe1\uff09\uff0c\u6700\u7ec8\u5b9e\u73b0\u66f4\u5177\u9002\u5e94\u6027\u7684\u51b3\u7b56\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aFuture-Aware End-to-End Driving: Bidirectional Modeling of Trajectory Planning and Scene Evolution<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2510.11092<\/li>\n\n\n\n<li>\u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/github.com\/LogosRoboticsGroup\/SeerDrive<\/li>\n<\/ul>\n\n\n\n<p><strong>SeerDrive\u7684\u8bbe\u8ba1\u539f\u7406<\/strong><\/p>\n\n\n\n<p>SeerDrive\u7684\u6574\u4f53 pipeline \u5305\u542b\u7279\u5f81\u7f16\u7801\u3001\u672a\u6765BEV\u4e16\u754c\u5efa\u6a21\u3001\u672a\u6765\u611f\u77e5\u89c4\u5212\u3001\u8fed\u4ee3\u4f18\u5316\u56db\u5927\u6a21\u5757\uff0c\u6838\u5fc3\u662f\u901a\u8fc7\u201c\u9884\u6d4b\u672a\u6765\u573a\u666f\u2192\u6307\u5bfc\u89c4\u5212\u2192\u53cd\u9988\u4f18\u5316\u573a\u666f\u201d\u7684\u95ed\u73af\uff0c\u5b9e\u73b0\u53cc\u5411\u4ea4\u4e92\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"992\" height=\"794\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-103.png\" alt=\"\" class=\"wp-image-33698\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-103.png 992w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-103-300x240.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-103-768x615.png 768w\" sizes=\"(max-width: 992px) 100vw, 992px\" \/><\/figure>\n\n\n\n<p><strong>\u7279\u5f81\u7f16\u7801\uff1a\u4ece\u4f20\u611f\u5668\u8f93\u5165\u5230\u7ed3\u6784\u5316\u7279\u5f81<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"365\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101501.png\" alt=\"\" class=\"wp-image-33699\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101501.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101501-300x163.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>\u672a\u6765BEV\u4e16\u754c\u5efa\u6a21\uff1a\u9884\u6d4b\u573a\u666f\u52a8\u6001<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"350\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101502.png\" alt=\"\" class=\"wp-image-33700\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101502.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101502-300x157.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u7ec4\u4ef61\uff1aFuture-Aware Planning<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"414\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101503.png\" alt=\"\" class=\"wp-image-33701\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101503.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101503-300x185.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u7ec4\u4ef62\uff1a\u8fed\u4ee3\u573a\u666f\u5efa\u6a21\u4e0e\u8f66\u8f86\u89c4\u5212<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"189\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101504.png\" alt=\"\" class=\"wp-image-33702\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101504.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101504-300x85.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"216\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-104-1024x216.png\" alt=\"\" class=\"wp-image-33703\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-104-1024x216.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-104-300x63.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-104-768x162.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-104.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"63\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101505.png\" alt=\"\" class=\"wp-image-33704\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101505.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101505-300x28.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u8bad\u7ec3\uff1a\u635f\u5931\u51fd\u6570\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"342\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/101506.png\" alt=\"\" class=\"wp-image-33705\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101506.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/101506-300x154.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5b9e\u9a8c\u5728NAVSIM\u548cnuScenes\u4e24\u4e0a\u5c55\u5f00\uff0c\u91cd\u70b9\u9a8c\u8bc1SeerDrive\u7684SOTA\u6027\u80fd\u53ca\u6838\u5fc3\u7ec4\u4ef6\u7684\u5fc5\u8981\u6027\u3002<\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u4e0e\u8bc4\u4ef7\u6307\u6807<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>NAVSIM<\/strong>\uff1a\u57fa\u4e8enuPlan\u6784\u5efa\uff0c\u5305\u542b1192\u4e2a\u8bad\u7ec3\/\u9a8c\u8bc1\u573a\u666f\u3001136\u4e2a\u6d4b\u8bd5\u573a\u666f\uff0c\u6db5\u76d6\u52a8\u6001\u610f\u56fe\u53d8\u5316\uff0c\u91c7\u75288\u76f8\u673a+LiDAR\u8f93\u5165\uff082Hz\uff09\uff1b\u8bc4\u4ef7\u6307\u6807\u4e3aPDMS\u5206\u6570\uff0c\u5305\u542b\u65e0\u8d23\u4efb\u78b0\u649e\uff08NC\uff09\u3001\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u6027\uff08DAC\uff09\u3001\u78b0\u649e\u65f6\u95f4\uff08TTC\uff09\u3001\u8212\u9002\u6027\uff08Comf.\uff09\u3001\u8f66\u8f86\u8fdb\u5ea6\uff08EP\uff095\u4e2a\u5b50\u6307\u6807\u3002<\/li>\n\n\n\n<li><strong>nuScenes<\/strong>\uff1a\u5305\u542b1000\u4e2a\u573a\u666f\uff0c\u91c7\u75286\u76f8\u673a+LiDAR\u8f93\u5165\uff082Hz\uff09\uff1b\u8bc4\u4ef7\u6307\u6807\u4e3aL2\u4f4d\u79fb\u8bef\u5dee\uff08\u8d8a\u5c0f\u8d8a\u597d\uff09\u548c\u78b0\u649e\u7387\uff08\u8d8a\u5c0f\u8d8a\u597d\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e0eSOTA\u65b9\u6cd5\u7684\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>NAVSIM\u6d4b\u8bd5\u96c6\uff08table 1\uff09<\/strong>\uff1a<br>SeerDrive\u5728PDMS\u5206\u6570\u4e0a\u8fbe\u523088.9\uff0c\u8d85\u8d8aHydra-NeXt\uff0888.6\uff09\u3001WoTE\uff0888.3\uff09\u3001DiffusionDrive\uff0888.1\uff09\u7b49\u65b9\u6cd5\uff1b\u5f53\u91c7\u7528V2-99\u9aa8\u5e72\u7f51\u7edc\u65f6\uff0cPDMS\u8fdb\u4e00\u6b65\u63d0\u5347\u81f390.7\uff0c\u8d85\u8fc7GoalFlow\u768490.3\uff0c\u4e14\u8ba1\u7b97\u6210\u672c\u66f4\u4f4e\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"653\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-105-1024x653.png\" alt=\"\" class=\"wp-image-33706\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-105-1024x653.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-105-300x191.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-105-768x490.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-105.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>nuScenes\u9a8c\u8bc1\u96c6\uff08table 2\uff09<\/strong>\uff1a<br>SeerDrive\u7684\u5e73\u5747L2\u4f4d\u79fb\u8bef\u5dee\u4e3a0.43m\uff0c\u5e73\u5747\u78b0\u649e\u7387\u4e3a0.06%\uff0c\u663e\u8457\u4f18\u4e8eSparseDrive\uff08L2=0.61m\uff0c\u78b0\u649e\u7387=0.08%\uff09\u3001MomAD\uff08L2=0.60m\uff0c\u78b0\u649e\u7387=0.09%\uff09\u7b49\u65b9\u6cd5\uff1b\u5373\u4f7f\u53bb\u6389\u672a\u6765BEV\u6ce8\u5165\uff08SeerDrive w\/o bev\uff09\u6216\u8fed\u4ee3\u4f18\u5316\uff08SeerDrive w\/o iter\uff09\uff0c\u6027\u80fd\u4ecd\u4f18\u4e8e\u90e8\u5206SOTA\uff0c\u8bc1\u660e\u6838\u5fc3\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"612\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-106-1024x612.png\" alt=\"\" class=\"wp-image-33707\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-106-1024x612.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-106-300x179.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-106-768x459.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-106.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c\uff1a\u6838\u5fc3\u7ec4\u4ef6\u7684\u5fc5\u8981\u6027<\/strong><\/p>\n\n\n\n<p><strong>\u7ec4\u4ef6\u6709\u6548\u6027\uff08table 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