{"id":33732,"date":"2025-10-16T17:34:42","date_gmt":"2025-10-16T09:34:42","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33732"},"modified":"2025-10-16T17:34:42","modified_gmt":"2025-10-16T09:34:42","slug":"2025-10-16%e6%89%a9%e6%95%a3%e8%a7%84%e5%88%92%e5%99%a8%e5%85%a8%e6%96%b0%e5%8d%87%e7%ba%a7%ef%bc%81%e6%b8%85%e5%8d%8eflow-planner%ef%bc%9a%e5%9f%ba%e4%ba%8e%e6%b5%81%e5%8c%b9%e9%85%8d%e6%a8%a1","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/10\/16\/33732\/","title":{"rendered":"2025-10-16\u6269\u6563\u89c4\u5212\u5668\u5168\u65b0\u5347\u7ea7\uff01\u6e05\u534eFlow Planner\uff1a\u57fa\u4e8e\u6d41\u5339\u914d\u6a21\u578b\u7684\u535a\u5f08\u589e\u5f3a\u7b97\u6cd5\uff08NeurIPS&#8217;25\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/aVrrXd3zTbzQmA2h8-jeLw\">https:\/\/mp.weixin.qq.com\/s\/aVrrXd3zTbzQmA2h8-jeLw<\/a><\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u6e05\u534e\u5927\u5b66AIR\u7814\u7a76\u9662\u8054\u5408\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\u3001\u9999\u6e2f\u4e2d\u6587\u5927\u5b66\u7b49\u5355\u4f4d\u5728<strong>NeurIPS 2025<\/strong>\u53d1\u8868\u7684\u6700\u65b0\u7814\u7a76\u6210\u679c\u2014\u2014<strong>Flow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling<\/strong>\u3002\u8be5\u5de5\u4f5c<strong>\u57fa\u4e8eDiffusion Planner\u8fdb\u4e00\u6b65\u6539\u8fdb<\/strong>\uff0c\u63d0\u51fa\u4e86\u5168\u65b0\u7684\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u7b97\u6cd5\u6846\u67b6\u2014<strong>Flow Planner<\/strong>\u3002\u5728\u9ad8\u5bc6\u5ea6\u8f66\u6d41\u4e2d\u7684\u591a\u8f66\u535a\u5f08\u3001\u884c\u4eba\u7a81\u53d1\u6a2a\u7a7f\u3001\u72ed\u7a84\u9053\u8def\u7684\u4f1a\u8f66\u4e0e\u8ba9\u884c\uff0c\u4ee5\u53ca\u63d2\u5165\u4e0e\u5e76\u7ebf\u7b49\u6fc0\u70c8\u7ade\u4e89\u573a\u666f\u4e0b\uff0c<strong>Flow Planner<\/strong>\u80fd\u591f\u50cf\u7ecf\u9a8c\u4e30\u5bcc\u7684\u9a7e\u9a76\u5458\u4e00\u6837\uff0c\u52a8\u6001\u611f\u77e5\u5468\u56f4\u610f\u56fe\u53d8\u5316\uff0c\u7cbe\u51c6\u9884\u6d4b\u6f5c\u5728\u98ce\u9669\uff0c\u5e76\u751f\u6210\u81ea\u7136\u3001\u6d41\u7545\u3001\u7c7b\u4eba\u7684\u89c4\u5212\u8f68\u8ff9\u3002\u5b9e\u9a8c\u7ed3\u679c\u663e\u793a\uff0c<strong>Flow Planner<\/strong>\u5728nuPlan\u95ed\u73af\u8bc4\u6d4b\u53ca\u65b0\u8bbe\u7acb\u7684interPlan\u9ad8\u4ea4\u4e92\u57fa\u51c6\u4e0a\u5747\u53d6\u5f97\u4e86\u5b66\u4e60\u578b\u7b97\u6cd5\u7684SOTA\u6027\u80fd\u3002\u5728\u9ad8\u5bc6\u5ea6\u4ea4\u901a\u3001\u9891\u7e41\u4ea4\u4e92\u548c\u975e\u7ed3\u6784\u5316\u573a\u666f\u4e0b\uff0c\u5176\u51b3\u7b56\u6210\u529f\u7387\u548c\u8f68\u8ff9\u8d28\u91cf\u5747\u663e\u8457\u8d85\u8d8a\u73b0\u6709\u6269\u6563\u6a21\u578b\u89c4\u5212\u65b9\u6cd5\uff0c\u5c55\u73b0\u4e86\u8be5\u6846\u67b6\u5728\u95ed\u73af\u89c4\u5212\u9886\u57df\u7684\u5de8\u5927\u6f5c\u529b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aFlow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2510.11083<\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/github.com\/DiffusionAD\/Flow-Planner<\/li>\n<\/ul>\n\n\n\n<p><strong>\u80cc\u666f\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212<\/strong>\u7684\u6838\u5fc3\u6311\u6218\u4e4b\u4e00\u5728\u4e8e\uff1a\u5982\u4f55\u5728\u591a\u8f66\u5bc6\u96c6\u3001\u884c\u4e3a\u591a\u6837\u7684\u4ea4\u901a\u573a\u666f\u4e2d\uff0c\u5b9e\u73b0\u5b89\u5168\u3001\u53ef\u9760\u3001\u7c7b\u4eba\u7684\u51b3\u7b56\u3002\u4f20\u7edf\u57fa\u4e8e\u89c4\u5219\u7684\u89c4\u5212\u65b9\u6cd5\u4f9d\u8d56\u4eba\u5de5\u5b9a\u4e49\u7684\u884c\u4e3a\u51c6\u5219\uff0c\u867d\u7136\u53ef\u89e3\u91ca\u6027\u5f3a\uff0c\u4f46\u5728\u52a8\u6001\u3001\u590d\u6742\u7684\u4ea4\u901a\u535a\u5f08\u4e2d\u7f3a\u4e4f\u6cdb\u5316\u80fd\u529b\uff1b\u800c\u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\u65b9\u6cd5\u8bd5\u56fe\u76f4\u63a5\u4ece\u6d77\u91cf\u9a7e\u9a76\u6570\u636e\u4e2d\u5b66\u4e60\u7b56\u7565\uff0c\u63d0\u5347\u6a21\u578b\u7684\u9002\u5e94\u6027\u4e0e\u53ef\u6269\u5c55\u6027\u3002\u7136\u800c\uff0c\u5f53\u524d\u5b66\u4e60\u578b\u89c4\u5212\u65b9\u6cd5\u4ecd\u9762\u4e34\u4e24\u5927\u6838\u5fc3\u6311\u6218\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u535a\u5f08\u884c\u4e3a\u5efa\u6a21\u4e0d\u8db3<\/strong>\u2014\u2014\u7b80\u5355\u5730\u589e\u5927\u6a21\u578b\u53c2\u6570\u91cf\u96be\u4ee5\u6709\u6548\u6355\u6349\u573a\u666f\u4e2d\u7684\u535a\u5f08\u5173\u7cfb\uff0c\u53cd\u800c\u5bb9\u6613\u5bfc\u81f4\u6a21\u578b\u8fc7\u62df\u5408\uff0c\u51fa\u73b0\u5446\u677f\u7684\u9a7e\u9a76\u884c\u4e3a\u3002\u4e3a\u4e86\u6709\u6548\u5efa\u6a21\u535a\u5f08\u884c\u4e3a\u800c\u5f15\u5165\u7684\u8fc7\u591a\u4eba\u5de5\u7ed3\u6784\u8bbe\u8ba1\uff0c\u53c8\u4f1a\u663e\u8457\u589e\u5927\u6a21\u578b\u590d\u6742\u5ea6\uff0c\u4e0d\u5229\u4e8e\u6a21\u578b\u7684\u6269\u5c55\uff1b<\/li>\n\n\n\n<li><strong>\u9ad8\u8d28\u91cf\u535a\u5f08\u6570\u636e\u7a00\u7f3a<\/strong>\u2014\u2014\u9ad8\u5bc6\u5ea6\u3001\u5f3a\u535a\u5f08\u7684\u573a\u666f\u5728\u8bad\u7ec3\u6570\u636e\u4e2d\u5448\u73b0\u663e\u8457\u7684\u957f\u5c3e\u5206\u5e03\uff0c\u6a21\u578b\u96be\u4ee5\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\u5728\u76f8\u5bf9\u6709\u9650\u7684\u8bad\u7ec3\u6570\u636e\u4e2d\u51c6\u786e\u6355\u6349\u4e13\u5bb6\u7b56\u7565\u7684\u9a7e\u9a76\u610f\u56fe\uff0c\u4ece\u800c\u5728\u5b9e\u9645\u6d4b\u8bd5\u4e2d\u96be\u4ee5\u505a\u51fa\u51c6\u786e\u3001\u8fc5\u901f\u7684\u51b3\u7b56\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u672c\u6587\u5e0c\u671b\u89e3\u51b3\u7684\u6838\u5fc3\u95ee\u9898\u662f\uff1a<strong>\u80fd\u5426\u5728\u4e0d\u5f15\u5165\u989d\u5916\u5148\u9a8c\u77e5\u8bc6\u7684\u60c5\u51b5\u4e0b\uff0c\u901a\u8fc7\u6a21\u578b\u81ea\u8eab\u7684\u5b66\u4e60\u80fd\u529b\uff0c\u4ece\u6709\u9650\u7684\u6570\u636e\u4e2d\u63d0\u5347\u535a\u5f08\u80fd\u529b\uff1f<\/strong>&nbsp;\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u4efb\u52a1\u901a\u5e38\u88ab\u5efa\u6a21\u4e3a\u4e00\u4e2a\u8f68\u8ff9\u751f\u6210\u4efb\u52a1\uff0c\u56e0\u6b64\uff0c\u8981\u60f3\u751f\u6210\u9ad8\u8d28\u91cf\u7684\u8f68\u8ff9\uff0c\u9700\u8981<strong>\u66f4\u52a0\u7075\u6d3b\u7684\u8f68\u8ff9\u5efa\u6a21\u7b56\u7565<\/strong>\u3002\u540c\u65f6\uff0c\u535a\u5f08\u573a\u666f\u6d89\u53ca\u81ea\u8f66\u4e0e\u5468\u56f4\u73af\u5883\u7684\u590d\u6742\u65f6\u7a7a\u4ea4\u4e92\u5173\u7cfb\u3002\u4f8b\u5982\uff0c\u5f53\u8f66\u8f86\u9700\u8981\u5728\u5bc6\u96c6\u8f66\u6d41\u4e2d\u53d8\u9053\u65f6\uff0c\u6a21\u578b\u5fc5\u987b\u540c\u65f6\u5173\u6ce8\u5f53\u524d\u8f66\u9053\u53ca\u76ee\u6807\u8f66\u9053\u4e2d\u524d\u540e\u65b9\u8f66\u8f86\u7684\u884c\u4e3a\u3002\u8fd9\u8981\u6c42\u6a21\u578b\u5177\u5907\u9ad8\u6548\u4e14\u81ea\u9002\u5e94\u7684\u7279\u5f81\u6574\u5408\u4e0e\u5904\u7406\u80fd\u529b\uff0c\u80fd\u591f\u5feb\u901f\u8bc6\u522b\u5e76\u805a\u7126\u5173\u952e\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u52a8\u4f5c\u4e0e\u610f\u56fe\u3002\u6700\u540e\uff0c\u4e3a\u4e86\u80fd\u591f\u5728\u4e0e\u5468\u56f4\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u535a\u5f08\u8fc7\u7a0b\u4e2d\u4f5c\u51fa\u51c6\u786e\u7684\u53cd\u5e94\uff0c\u6a21\u578b\u5728<strong>\u8f68\u8ff9\u751f\u6210\u9636\u6bb5<\/strong>\u9700\u8981\u5145\u5206\u8003\u8651\u5468\u56f4\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u884c\u4e3a\u5bf9\u81ea\u8f66\u5f53\u524d\u548c\u672a\u6765\u72b6\u6001\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u6b64\uff0c\u672c\u6587\u63d0\u51fa\u4e86<em>Flow Planner<\/em>\u6846\u67b6\u3002\u5b83\u5229\u7528<strong>Flow Matching<\/strong>\u751f\u6210\u5f0f\u6a21\u578b\u5f3a\u5927\u800c\u9ad8\u6548\u7684\u591a\u6a21\u6001\u6570\u636e\u5efa\u6a21\u80fd\u529b\uff0c\u4ece<strong>\u8f68\u8ff9\u8868\u5f81<\/strong>\u3001<strong>\u6a21\u578b\u67b6\u6784<\/strong>\u5230<strong>\u751f\u6210\u673a\u5236<\/strong>\u4e09\u65b9\u9762\u534f\u540c\u6539\u8fdb\uff0c\u5168\u9762\u63d0\u5347\u89c4\u5212\u6a21\u578b\u5728\u590d\u6742\u535a\u5f08\u573a\u666f\u4e0b\u7684\u7406\u89e3\u4e0e\u53cd\u5e94\u80fd\u529b\u3002\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c06\u5206\u522b\u5c31\u8fd9\u4e09\u70b9\u5173\u952e\u521b\u65b0\u5c55\u5f00\u4ecb\u7ecd\u3002<\/p>\n\n\n\n<p><strong>\u6280\u672f\u7ec6\u8282<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"374\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-116-1024x374.png\" alt=\"\" class=\"wp-image-33733\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-116-1024x374.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-116-300x109.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-116-768x280.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-116.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ec6\u7c92\u5ea6\u8f68\u8ff9\u5206\u6bb5\u8868\u793a\uff08Fine-grained Trajectory Tokenization\uff09<\/strong><\/p>\n\n\n\n<p>\u4f20\u7edf\u65b9\u6cd5\u5f80\u5f80\u7528\u4e00\u4e2a\u6574\u4f53token\u8868\u793a\u5b8c\u6574\u8f68\u8ff9\uff0c\u5bfc\u81f4\u65f6\u5e8f\u4fe1\u606f\u88ab\u8fc7\u5ea6\u538b\u7f29\uff1bFlow Planner\u5c06\u8f68\u8ff9\u5212\u5206\u4e3a\u591a\u4e2a\u91cd\u53e0\u7684\u7247\u6bb5\uff0c\u5e76\u4e3a\u6bcf\u4e2a\u7247\u6bb5\u5efa\u7acb\u5c40\u90e8token\u8868\u793a\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\uff1a<\/p>\n\n\n\n<ul 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Guidance\uff09\u7684\u5468\u8f66\u589e\u5f3a\u8f68\u8ff9\u751f\u6210<\/strong><\/p>\n\n\n\n<p>\u6d41\u5339\u914d\u751f\u6210\u5f0f\u6a21\u578b\u7684\u65e0\u5206\u7c7b\u5668\u5f15\u5bfc\uff08Classifier-free Guidance\uff09\u751f\u6210\u7b56\u7565\u80fd\u591f\u5728\u63a8\u7406\u65f6\uff08inference-time\uff09\u7075\u6d3b\u5730\u5bf9\u6a21\u578b\u91c7\u6837\u7684\u5206\u5e03\u8fdb\u884c\u8c03\u6574\u3002\u5229\u7528\u8fd9\u4e00\u673a\u5236\uff0cFlow 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-117-768x498.png 768w\" sizes=\"(max-width: 952px) 100vw, 952px\" \/><\/figure>\n\n\n\n<p><strong>interPlan \u9ad8\u4ea4\u4e92\u57fa\u51c6\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5728\u5168\u65b0\u63d0\u51fa\u7684interPlan\u9ad8\u4ea4\u4e92\u573a\u666f\u6d4b\u8bd5\u96c6\u4e2d\uff0cFlow Planner\u5728\u591a\u79cd\u590d\u6742\u60c5\u5883\u4e0b\u5747\u663e\u8457\u4f18\u4e8eDiffusion Planner\u53ca\u5176\u4ed6\u57fa\u7ebf\u65b9\u6cd5\uff0c\u6574\u4f53\u6027\u80fd\u63d0\u5347<strong>8.9<\/strong>\u5206\uff1b\u5728\u201c\u9ad8\u5bc6\u5ea6\u4ea4\u901a\u201d\u201c\u884c\u4eba\u6a2a\u7a7f\u201d\u7b49\u6781\u7aef\u4ea4\u4e92\u60c5\u5883\u4e0b\u5c55\u73b0\u51fa\u5353\u8d8a\u7684\u53cd\u5e94\u7b56\u7565\uff0c\u5e76\u5728\u90e8\u5206\u5206\u5e03\u5916\uff08Out-of-distribution\uff09\u573a\u666f\u4e2d\u5c55\u73b0\u51fa\u51fa\u8272\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"950\" height=\"240\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-118.png\" alt=\"\" class=\"wp-image-33735\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-118.png 950w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-118-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-118-768x194.png 768w\" sizes=\"(max-width: 950px) 100vw, 950px\" \/><\/figure>\n\n\n\n<p><strong>\u95ed\u73af\u53ef\u89c6\u5316<\/strong><\/p>\n\n\n\n<p>Flow 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-120-1024x267.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-120-300x78.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-120-768x201.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-120.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"267\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-121-1024x267.png\" alt=\"\" class=\"wp-image-33738\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-121-1024x267.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-121-300x78.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-121-768x201.png 768w, 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-122-1024x267.png\" alt=\"\" class=\"wp-image-33739\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-122-1024x267.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-122-300x78.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-122-768x201.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-122.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"267\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-123-1024x267.png\" alt=\"\" class=\"wp-image-33740\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-123-1024x267.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-123-300x78.png 300w, 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