{"id":33793,"date":"2025-10-21T17:34:45","date_gmt":"2025-10-21T09:34:45","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33793"},"modified":"2025-10-21T17:34:45","modified_gmt":"2025-10-21T09:34:45","slug":"2025-10-21-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e8%ae%ba%e6%96%87%e9%80%9f%e9%80%92%ef%bc%81vla%e3%80%81%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e3%80%81%e5%bc%ba%e5%8c%96%e5%ad%a6%e4%b9%a0%e3%80%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/10\/21\/33793\/","title":{"rendered":"2025-10-21 \u81ea\u52a8\u9a7e\u9a76\u8bba\u6587\u901f\u9012\uff01VLA\u3001\u4e16\u754c\u6a21\u578b\u3001\u5f3a\u5316\u5b66\u4e60\u3001\u8f68\u8ff9\u89c4\u5212\u7b49&#8230;&#8230;"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/M_Xbcj0vicgaeETwFr5MwA\">https:\/\/mp.weixin.qq.com\/s\/M_Xbcj0vicgaeETwFr5MwA<\/a><\/p>\n\n\n\n<p><strong>DriveVLA-W0<\/strong><\/p>\n\n\n\n<p>\u4e16\u754c\u6a21\u578b\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76VLA\u4e2d\u7684\u6570\u636e\u7f29\u653e\u5b9a\u5f8b<\/p>\n\n\n\n<p>\u4e2d\u56fd\u79d1\u5b66\u9662\u81ea\u52a8\u5316\u7814\u7a76\u6240\u7b49\u5355\u4f4d \u63d0\u51fa\u4e86 DriveVLA-W0 \u8bad\u7ec3\u8303\u5f0f\uff0c\u901a\u8fc7\u4e16\u754c\u5efa\u6a21\u9884\u6d4b\u672a\u6765\u56fe\u50cf\u63d0\u4f9b\u5bc6\u96c6\u81ea\u76d1\u7763\u4fe1\u53f7\uff0c\u663e\u8457\u589e\u5f3a\u4e86 VLA \u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u4e0e\u6570\u636e\u6269\u5c55\u6027\uff0c\u5728 NAVSIM v1\/v2 \u57fa\u51c6\u4e0a\u5206\u522b\u8fbe\u5230 93.0 PDMS \u4e0e 86.1 EPDMS\uff0c\u5e76\u5c06\u63a8\u7406\u5ef6\u8fdf\u964d\u81f3\u57fa\u7ebf VLA \u7684 63.1%\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aDriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2510.12796<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8bc6\u522b\u5e76\u89e3\u51b3 VLA \u6a21\u578b\u7684 \u201c\u76d1\u7763\u4e0d\u8db3\u201d \u74f6\u9888<\/strong>\uff1a\u63d0\u51fa DriveVLA-W0 \u8bad\u7ec3\u8303\u5f0f\uff0c\u4ee5\u672a\u6765\u56fe\u50cf\u9884\u6d4b\u4e3a\u6838\u5fc3\u7684\u4e16\u754c\u5efa\u6a21\uff08World Modeling\uff09\u63d0\u4f9b\u5bc6\u96c6\u81ea\u76d1\u7763\u4fe1\u53f7\uff0c\u5f25\u8865\u4f20\u7edf VLA \u4ec5\u4f9d\u8d56\u7a00\u758f\u4f4e\u7ef4\u52a8\u4f5c\u76d1\u7763\u7684\u7f3a\u9677\uff0c\u5f3a\u5236\u6a21\u578b\u5b66\u4e60\u9a7e\u9a76\u73af\u5883\u7684\u5e95\u5c42\u52a8\u6001\u89c4\u5f8b\uff1b\u8be5\u8303\u5f0f\u9002\u914d\u4e24\u7c7b\u4e3b\u6d41 VLA \u67b6\u6784 \u2014\u2014 \u9488\u5bf9\u79bb\u6563\u89c6\u89c9\u4ee4\u724c\u7684\u81ea\u56de\u5f52\uff08AR\uff09\u4e16\u754c\u6a21\u578b\uff0c\u4ee5\u53ca\u9488\u5bf9\u8fde\u7eed\u89c6\u89c9\u7279\u5f81\u7684\u6269\u6563\uff08Diffusion\uff09\u4e16\u754c\u6a21\u578b\u3002<\/li>\n\n\n\n<li><strong>\u63d0\u51fa\u8f7b\u91cf\u7ea7 MoE \u52a8\u4f5c\u4e13\u5bb6\u5e76\u63ed\u793a\u89e3\u7801\u5668\u6027\u80fd\u53cd\u8f6c\u89c4\u5f8b<\/strong>\uff1a\u8bbe\u8ba1 Mixture-of-Experts\uff08MoE\uff09\u67b6\u6784\u7684 Action Expert\uff0c\u5c06\u63a8\u7406\u5ef6\u8fdf\u964d\u81f3\u57fa\u7ebf VLA \u7684 63.1%\uff0c\u6ee1\u8db3\u5b9e\u65f6\u90e8\u7f72\u9700\u6c42\uff1b\u4ee5\u8be5\u4e13\u5bb6\u4e3a\u6d4b\u8bd5\u5e73\u53f0\uff0c\u53d1\u73b0\u52a8\u4f5c\u89e3\u7801\u5668\u7684\u6027\u80fd\u53cd\u8f6c\u73b0\u8c61 \u2014\u2014 \u5c0f\u89c4\u6a21\u6570\u636e\u96c6\u4e0a\u590d\u6742\u6d41\u5339\u914d\u89e3\u7801\u5668\u5360\u4f18\uff0c\u800c\u5927\u89c4\u6a21\u6570\u636e\u4e0b\u7b80\u5355\u81ea\u56de\u5f52\u89e3\u7801\u5668\u8868\u73b0\u66f4\u4f18\u3002<\/li>\n\n\n\n<li><strong>\u9a8c\u8bc1\u6570\u636e\u7f29\u653e\u5f8b\u653e\u5927\u6548\u5e94\u4e0e\u57fa\u51c6\u6027\u80fd\u4f18\u52bf<\/strong>\uff1a\u5728 NAVSIM v1\/v2 \u57fa\u51c6\u548c 70M \u5e27\u5927\u89c4\u6a21\u5185\u90e8\u6570\u636e\u96c6\u4e0a\uff0cDriveVLA-W0 \u663e\u8457\u8d85\u8d8a BEV \u548c VLA \u57fa\u7ebf\uff08\u5982 NAVSIM v1 \u4e0a PDMS \u8fbe 93.0%\uff0c\u5355\u6444\u50cf\u5934\u4f18\u4e8e\u591a\u4f20\u611f\u5668\u7ade\u54c1\uff09\uff1b\u5173\u952e\u9a8c\u8bc1\u4e16\u754c\u5efa\u6a21\u5bf9\u6570\u636e\u7f29\u653e\u5f8b\u7684\u653e\u5927\u4f5c\u7528 \u2014\u2014 \u6570\u636e\u91cf\u589e\u81f3 70M \u5e27\u65f6\uff0cVQ \u6a21\u578b ADE \u964d\u4f4e 28.8%\u3001ViT \u6a21\u578b\u78b0\u649e\u7387\u964d\u4f4e 15.9%\uff0c\u6027\u80fd\u63d0\u5347\u968f\u6570\u636e\u91cf\u589e\u52a0\u800c\u52a0\u901f\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u7b97\u6cd5\u6846\u67b6\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"691\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-131-1024x691.png\" alt=\"\" class=\"wp-image-33795\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-131-1024x691.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-131-300x203.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-131-768x518.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-131.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=\"356\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-132-1024x356.png\" alt=\"\" class=\"wp-image-33796\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-132-1024x356.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-132-300x104.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-132-768x267.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-132.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"602\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-133-1024x602.png\" alt=\"\" class=\"wp-image-33797\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-133-1024x602.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-133-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-133-768x452.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-133.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=\"350\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-134-1024x350.png\" alt=\"\" class=\"wp-image-33798\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-134-1024x350.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-134-300x103.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-134-768x262.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-134.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u53ef\u89c6\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"442\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-135-1024x442.png\" alt=\"\" class=\"wp-image-33799\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-135-1024x442.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-135-300x129.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-135-768x331.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-135.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=\"392\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-136-1024x392.png\" alt=\"\" class=\"wp-image-33800\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-136-1024x392.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-136-300x115.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-136-768x294.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-136.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>CoIRL-AD<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u6f5c\u5728\u4e16\u754c\u6a21\u578b\u7684\u534f\u540c-\u7ade\u4e89\u5f0f\u6a21\u4eff-\u5f3a\u5316\u5b66\u4e60\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6<\/p>\n\n\n\n<p>\u6e05\u534e\u5927\u5b66\u3001\u534e\u76db\u987f\u5927\u5b66\u3001\u5317\u4eac\u4ea4\u901a\u5927\u5b66\u3001\u9999\u6e2f\u7406\u5de5\u5927\u5b66\u7b49\u673a\u6784\u63d0\u51fa\u4e86\u4e00\u79cd\u7ade\u4e89\u6027\u53cc\u7b56\u7565\u6846\u67b6CoIRL-AD\uff0c\u5c06\u6a21\u4eff\u5b66\u4e60\u4e0e\u5f3a\u5316\u5b66\u4e60\u7ed3\u5408\u5728\u6f5c\u5728\u4e16\u754c\u6a21\u578b\u4e2d\uff0c\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u78b0\u649e\u7387\u964d\u4f4e18%\uff0c\u5728Navsim\u57fa\u51c6\u4e0aPDMS\u5f97\u5206\u8fbe88.2\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aCoIRL-AD: Collaborative-Competitive Imitation-Reinforcement Learning in Latent World Models for Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2510.12560<\/li>\n\n\n\n<li>\u4ee3\u7801\uff1ahttps:\/\/github.com\/SEU-zxj\/CoIRL-AD<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>RL \u4e0e\u7aef\u5230\u7aef\u6846\u67b6\u7684\u878d\u5408<\/strong>\uff1a\u5229\u7528\u6f5c\u5728\u4e16\u754c\u6a21\u578b\uff08Latent World Model\uff09\u5b9e\u73b0\u57fa\u4e8e \u201c\u60f3\u8c61\u201d \u7684\u6a21\u62df\uff0c\u5c06\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u878d\u5165\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\uff0c\u65e0\u9700\u4f9d\u8d56\u5916\u90e8\u6a21\u62df\u5668\uff0c\u89e3\u51b3\u79bb\u7ebf RL \u7684\u573a\u666f\u62d3\u5c55\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>\u53cc\u7b56\u7565\u7ade\u4e89\u5b66\u4e60\u6846\u67b6<\/strong>\uff1a\u63d0\u51fa decoupled \u53cc\u7b56\u7565\uff08IL Actor + RL Actor\uff09\u67b6\u6784\uff0c\u8bbe\u8ba1\u57fa\u4e8e\u7ade\u4e89\u7684\u5b66\u4e60\u673a\u5236\uff0c\u5b9e\u73b0 IL \u4e0e RL \u7684\u8054\u5408\u8bad\u7ec3\u4e0e\u7ed3\u6784\u5316\u4e92\u52a8\uff0c\u907f\u514d\u68af\u5ea6\u51b2\u7a81\u7684\u540c\u65f6\u4fc3\u8fdb\u77e5\u8bc6\u8fc1\u79fb\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u9a8c\u6027\u80fd\u7a81\u7834<\/strong>\uff1a\u5728 nuScenes \u548c Navsim \u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\uff0c\u76f8\u6bd4\u57fa\u7ebf\u6a21\u578b\u663e\u8457\u964d\u4f4e\u78b0\u649e\u7387\u3001\u63d0\u5347\u8de8\u573a\u666f\u6cdb\u5316\u80fd\u529b\uff0c\u5e76\u6539\u5584\u957f\u5c3e\u573a\u666f\uff08\u5982\u9ad8\u78b0\u649e\u7387\u3001\u5927 L2 \u8bef\u5dee\u573a\u666f\uff09\u7684\u6027\u80fd\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u7b97\u6cd5\u6846\u67b6\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"753\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-137-1024x753.png\" alt=\"\" class=\"wp-image-33801\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-137-1024x753.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-137-300x221.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-137-768x565.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-137.png 1052w\" 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=\"322\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-138-1024x322.png\" alt=\"\" class=\"wp-image-33802\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-138-1024x322.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-138-300x94.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-138-768x242.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-138.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"979\" height=\"645\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-139.png\" alt=\"\" class=\"wp-image-33803\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-139.png 979w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-139-300x198.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-139-768x506.png 768w\" sizes=\"(max-width: 979px) 100vw, 979px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"966\" height=\"392\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-140.png\" alt=\"\" class=\"wp-image-33804\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-140.png 966w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-140-300x122.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-140-768x312.png 768w\" sizes=\"(max-width: 966px) 100vw, 966px\" \/><\/figure>\n\n\n\n<p>\u53ef\u89c6\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"355\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-141-1024x355.png\" alt=\"\" class=\"wp-image-33805\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-141-1024x355.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-141-300x104.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-141-768x266.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-141.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=\"356\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-142-1024x356.png\" alt=\"\" class=\"wp-image-33806\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-142-1024x356.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-142-300x104.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-142-768x267.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-142.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>PAGS<\/strong><\/p>\n\n\n\n<p>\u9762\u5411\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u7684\u4f18\u5148\u7ea7\u81ea\u9002\u5e94GS\u65b9\u6cd5<\/p>\n\n\n\n<p>\u54c8\u5c14\u6ee8\u5de5\u4e1a\u5927\u5b66\u3001\u7406\u60f3\u7b49\u5355\u4f4d\u63d0\u51fa\u4e86Priority-Adaptive Gaussian Splatting (PAGS)\u6846\u67b6\uff0c\u901a\u8fc7\u8bed\u4e49\u5f15\u5bfc\u7684\u526a\u679d\u4e0e\u6b63\u5219\u5316\u4ee5\u53ca\u4f18\u5148\u7ea7\u9a71\u52a8\u7684\u6e32\u67d3\uff0c\u5728\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u4e2d\u5b9e\u73b0\u4e86\u9ad8\u8d28\u91cf\u5b9e\u65f63D\u91cd\u5efa\uff0c\u5728Waymo\u6570\u636e\u96c6\u4e0a\u8fbe\u5230PSNR 34.63\u3001SSIM 0.933\u3001\u6e32\u67d3\u901f\u5ea6353 FPS\uff0c\u8bad\u7ec3\u65f6\u95f4\u4ec51\u5c0f\u65f622\u5206\u949f\uff0c\u663e\u8457\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aPAGS: Priority-Adaptive Gaussian Splatting for Dynamic Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2510.12282<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u63d0\u51fa\u4f18\u5148\u7ea7\u81ea\u9002\u5e94\u9ad8\u65af splatting\uff08PAGS\uff09\u6846\u67b6<\/strong>\uff1a\u5c06\u4efb\u52a1\u611f\u77e5\u7684\u8bed\u4e49\u4f18\u5148\u7ea7\u5d4c\u5165 3D \u91cd\u5efa\u4e0e\u6e32\u67d3\u6d41\u6c34\u7ebf\uff0c\u89e3\u51b3\u73b0\u6709\u65b9\u6cd5 \u201c\u8bed\u4e49\u65e0\u5173\u201d \u5bfc\u81f4\u7684\u8d44\u6e90\u9519\u914d\u95ee\u9898\uff0c\u5e73\u8861\u91cd\u5efa\u4fdd\u771f\u5ea6\u4e0e\u8ba1\u7b97\u6210\u672c\u3002<\/li>\n\n\n\n<li><strong>\u8bbe\u8ba1\u8bed\u4e49\u5f15\u5bfc\u7684\u526a\u679d\u4e0e\u6b63\u5219\u5316\u7b56\u7565<\/strong>\uff1a\u57fa\u4e8e \u201c\u9759\u6001\u8bed\u4e49\u5206\u6570+ \u52a8\u6001\u68af\u5ea6\u8d21\u732e\u5206\u6570\u201d \u7684\u6df7\u5408\u91cd\u8981\u6027\u5ea6\u91cf\uff0c\u53ef\u5927\u5e45\u7b80\u5316\u975e\u5173\u952e\u573a\u666f\u5143\u7d20\uff08\u5982\u5efa\u7b51\u3001\u690d\u88ab\uff09\uff0c\u540c\u65f6\u4fdd\u7559\u8f66\u8f86\u3001\u884c\u4eba\u7b49\u5b89\u5168\u5173\u952e\u76ee\u6807\u7684\u7ec6\u7c92\u5ea6\u7ec6\u8282\uff1b\u8f85\u4ee5\u81ea\u9002\u5e94\u968f\u673a dropout\uff08\u6309\u8bed\u4e49\u91cd\u8981\u6027\u8c03\u5236 dropout \u6982\u7387\uff09\uff0c\u907f\u514d\u52a8\u6001\u76ee\u6807\u8fc7\u62df\u5408\u3002<\/li>\n\n\n\n<li><strong>\u6784\u5efa\u4f18\u5148\u7ea7\u9a71\u52a8\u7684\u6e32\u67d3\u6d41\u6c34\u7ebf<\/strong>\uff1a\u5148\u901a\u8fc7\u9ad8\u8bed\u4e49\u91cd\u8981\u6027\u56fe\u5143\u751f\u6210\u7c97\u7cd9\u6df1\u5ea6\u56fe\uff08\u906e\u6321\u7269\u6df1\u5ea6\u9884\u901a\u9053\uff09\uff0c\u518d\u5229\u7528 GPU \u786c\u4ef6\u52a0\u901f\u7684 Early-Z \u6d4b\u8bd5\u5254\u9664\u906e\u6321\u56fe\u5143\uff0c\u51cf\u5c11\u6602\u8d35\u7684\u7740\u8272\u8ba1\u7b97\uff0c\u6700\u7ec8\u5c06\u6e32\u67d3\u901f\u5ea6\u63d0\u5347\u81f3 350 FPS \u4ee5\u4e0a\uff0c\u4e14\u4e0d\u635f\u5931\u5173\u952e\u5143\u7d20\u611f\u77e5\u8d28\u91cf\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u9a8c\u9a8c\u8bc1\u4f18\u52bf<\/strong>\uff1a\u5728 Waymo \u548c KITTI \u6570\u636e\u96c6\u4e0a\uff0cPAGS \u4e0d\u4ec5\u5b9e\u73b0\u5b89\u5168\u5173\u952e\u76ee\u6807\u7684\u66f4\u9ad8\u91cd\u5efa\u8d28\u91cf\uff08Waymo \u6570\u636e\u96c6 PSNR 34.63\u3001SSIM 0.933\uff09\uff0c\u8fd8\u5c06\u8bad\u7ec3\u65f6\u95f4\u7f29\u77ed\u81f3 1.5 \u5c0f\u65f6\u5de6\u53f3\uff0c\u540c\u65f6\u4fdd\u6301\u7d27\u51d1\u6a21\u578b\u5c3a\u5bf8\uff08530 MB\uff09\u4e0e\u4f4e\u663e\u5b58\u5360\u7528\uff086.1 GB\uff09\uff0c\u4f18\u4e8e EmerNeRF\u3001StreetGS \u7b49\u4e3b\u6d41\u65b9\u6cd5\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u7b97\u6cd5\u6846\u67b6\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"398\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-143-1024x398.png\" alt=\"\" class=\"wp-image-33807\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-143-1024x398.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-143-300x117.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-143-768x299.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-143.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"710\" height=\"548\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-144.png\" alt=\"\" class=\"wp-image-33808\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-144.png 710w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-144-300x232.png 300w\" sizes=\"(max-width: 710px) 100vw, 710px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"205\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-145-1024x205.png\" alt=\"\" class=\"wp-image-33809\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-145-1024x205.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-145-300x60.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-145-768x154.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-145.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"799\" height=\"277\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-146.png\" alt=\"\" class=\"wp-image-33810\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-146.png 799w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-146-300x104.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-146-768x266.png 768w\" sizes=\"(max-width: 799px) 100vw, 799px\" \/><\/figure>\n\n\n\n<p>\u53ef\u89c6\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"700\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-147-1024x700.png\" alt=\"\" class=\"wp-image-33811\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-147-1024x700.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-147-300x205.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-147-768x525.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-147.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=\"387\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-148-1024x387.png\" alt=\"\" class=\"wp-image-33812\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-148-1024x387.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-148-300x113.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-148-768x290.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-148.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Flow Planner<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u6d41\u5339\u914d\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u4e0e\u9ad8\u7ea7\u4ea4\u4e92\u884c\u4e3a\u5efa\u6a21<\/p>\n\n\n\n<p>\u6e05\u534e\u5927\u5b66\u7b49\u673a\u6784NeurIPS 2025\u4e2d\u7a3f\u7684\u5de5\u4f5c\uff0c\u672c\u6587\u63d0\u51fa\u7684Flow Planner\u901a\u8fc7\u6d41\u5339\u914d\u548c\u4ea4\u4e92\u884c\u4e3a\u5efa\u6a21\u6280\u672f\uff0c\u5728nuPlan Val14\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u8fbe\u523090.43\u5206\uff08\u9996\u4e2a\u65e0\u9700\u5148\u9a8c\u77e5\u8bc6\u7a81\u783490\u5206\u7684\u57fa\u4e8e\u5b66\u4e60\u65b9\u6cd5\uff09\uff0c\u5e76\u5728interPlan\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u6bd4Diffusion Planner\u63d0\u53478.92\u5206\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>\u4ee3\u7801\uff1ahttps:\/\/github.com\/DiffusionAD\/Flow-Planner<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6570\u636e\u5efa\u6a21\u521b\u65b0<\/strong>\uff1a\u63d0\u51fa<strong>\u7ec6\u7c92\u5ea6\u8f68\u8ff9\u5206\u8bcd\uff08Fine-grained Trajectory Tokenization\uff09<\/strong>\uff0c\u5c06\u8f68\u8ff9\u5206\u89e3\u4e3a\u542b\u91cd\u53e0\u533a\u57df\u7684\u7247\u6bb5\uff0c\u65e2\u4fdd\u7559\u5355\u7247\u6bb5\u5185\u8fd0\u52a8\u8fde\u7eed\u6027\uff0c\u53c8\u901a\u8fc7\u7247\u6bb5\u4e13\u5c5e token \u5b9e\u73b0\u5c40\u90e8\u7279\u5f81\u63d0\u53d6\uff0c\u89e3\u51b3\u5168\u8f68\u8ff9\u5efa\u6a21\u590d\u6742\u5ea6\u9ad8\u3001\u65f6\u5e8f\u878d\u5408\u6548\u7387\u4f4e\u7684\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>\u67b6\u6784\u8bbe\u8ba1\u4f18\u5316<\/strong>\uff1a\u6784\u5efa<strong>\u4ea4\u4e92\u589e\u5f3a\u7684\u65f6\u7a7a\u878d\u5408\u67b6\u6784<\/strong>\uff0c\u901a\u8fc7\u81ea\u9002\u5e94\u5c42\u5f52\u4e00\u5316\uff08adaLN\uff09\u5c06\u8f66\u9053\u3001\u90bb\u57df\u667a\u80fd\u4f53\u3001\u81ea\u8f66\u8f68\u8ff9\u7b49\u5f02\u8d28\u7279\u5f81\u6295\u5f71\u5230\u7edf\u4e00 latent \u7a7a\u95f4\uff0c\u7ed3\u5408\u5c3a\u5ea6\u81ea\u9002\u5e94\u6ce8\u610f\u529b\uff08Scale-Adaptive Attention\uff09\u52a8\u6001\u8c03\u6574 token \u611f\u53d7\u91ce\uff0c\u6709\u6548\u8fc7\u6ee4\u5197\u4f59\u4fe1\u606f\u3001\u5f3a\u5316\u5173\u952e\u4ea4\u4e92\u4fe1\u606f\u63d0\u53d6\u3002<\/li>\n\n\n\n<li><strong>\u5b66\u4e60\u673a\u5236\u6539\u8fdb<\/strong>\uff1a\u5f15\u5165<strong>\u5e26\u65e0\u5206\u7c7b\u5668\u5f15\u5bfc\uff08Classifier-free Guidance\uff09\u7684\u6d41\u5339\u914d\uff08Flow Matching\uff09 \u673a\u5236<\/strong>\uff0c\u8bad\u7ec3\u65f6\u901a\u8fc7\u4f2f\u52aa\u5229\u63a9\u7801\u5b9e\u73b0\u6709\u6761\u4ef6 \/ \u65e0\u6761\u4ef6\u5206\u5e03\u8054\u5408\u5b66\u4e60\uff0c\u63a8\u7406\u65f6\u52a8\u6001\u91cd\u52a0\u6743\u90bb\u57df\u667a\u80fd\u4f53\u4ea4\u4e92\u6743\u91cd\uff0c\u63d0\u5347\u591a\u6a21\u6001\u884c\u4e3a\u751f\u6210\u8fde\u8d2f\u6027\uff1b\u989d\u5916\u5f15\u5165\u7247\u6bb5\u91cd\u53e0\u4e00\u81f4\u6027\u635f\u5931\uff0c\u4fdd\u8bc1\u8f68\u8ff9\u5e73\u6ed1\u6027\u3002<\/li>\n\n\n\n<li><strong>\u6027\u80fd\u7a81\u7834\u9a8c\u8bc1<\/strong>\uff1a\u5728 nuPlan \u6570\u636e\u96c6\u4e0a\uff0cVal14 \u57fa\u51c6\u95ed\u73af\u5f97\u5206\u8fbe 90.43\uff0c\u6210\u4e3a\u9996\u4e2a\u65e0\u9700\u89c4\u5219\u578b\u540e\u5904\u7406\u5373\u53ef\u7a81\u7834 90 \u5206\u7684\u5b66\u4e60\u578b\u89c4\u5212\u65b9\u6cd5\uff1b\u5728 interPlan \u590d\u6742\u4ea4\u4e92\u6570\u636e\u96c6\u4e0a\uff0c\u6574\u4f53\u5f97\u5206\u8d85 Diffusion Planner 8.92 \u5206\uff0c\u5c24\u5176\u5728\u884c\u4eba\u6a2a\u7a7f\u7b49\u96be\u9884\u6d4b\u573a\u666f\u4e2d\u8868\u73b0\u4f18\u5f02\uff0c\u9a8c\u8bc1\u4e86\u590d\u6742\u573a\u666f\u4e0b\u7684\u4ea4\u4e92\u5efa\u6a21\u80fd\u529b\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u7b97\u6cd5\u6846\u67b6\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"419\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-149-1024x419.png\" alt=\"\" class=\"wp-image-33813\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-149-1024x419.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-149-300x123.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-149-768x314.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-149.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"652\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-150-1024x652.png\" alt=\"\" class=\"wp-image-33814\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-150-1024x652.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-150-300x191.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-150-768x489.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-150.png 1048w\" 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=\"260\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-151-1024x260.png\" alt=\"\" class=\"wp-image-33815\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-151-1024x260.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-151-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-151-768x195.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-151.png 1039w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u53ef\u89c6\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"468\" height=\"643\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-152.png\" alt=\"\" class=\"wp-image-33816\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-152.png 468w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-152-218x300.png 218w\" sizes=\"(max-width: 468px) 100vw, 468px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"469\" height=\"767\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-153.png\" alt=\"\" class=\"wp-image-33817\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-153.png 469w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-153-183x300.png 183w\" sizes=\"(max-width: 469px) 100vw, 469px\" \/><\/figure>\n\n\n\n<p><strong>CymbaDiff<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u8349\u56fe\u76843D\u8bed\u4e49\u57ce\u5e02\u573a\u666f\u7ed3\u6784\u5316\u7a7a\u95f4\u6269\u6563\u751f\u6210\u65b9\u6cd5<\/p>\n\n\n\n<p>\u897f\u6fb3\u5927\u5b66\u3001\u963f\u5fb7\u83b1\u5fb7\u5927\u5b66\u4e0e\u58a8\u5c14\u672c\u5927\u5b66\u7814\u7a76\u56e2\u961fNeurIPS 2025\u4e2d\u7a3f\u7684\u5de5\u4f5c\uff0c\u672c\u6587\u63d0\u51faCymbaDiff\u6a21\u578b\uff0c\u7ed3\u5408\u5706\u67f1Mamba\u7ed3\u6784\u4e0e\u7a7a\u95f4\u6269\u6563\u673a\u5236\uff0c\u5b9e\u73b0\u4e86\u57fa\u4e8e\u8349\u56fe\u4e0e\u536b\u661f\u56fe\u50cf\u76843D\u8bed\u4e49\u57ce\u5e02\u573a\u666f\u751f\u6210\uff0c\u5728Sketch-based SemanticKITTI\u4e0aFID\u8fbe40.74\uff0c\u6bd4\u73b0\u6709\u65b9\u6cd5\u63d0\u5347\u7ea616\u5206<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aCymbaDiff: Structured Spatial Diffusion for Sketch-based 3D Semantic Urban Scene Generation<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2510.13245<\/li>\n\n\n\n<li>\u4ee3\u7801\uff1ahttps:\/\/github.com\/Lillian-research-hub\/CymbaDiff<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u63d0\u51fa\u65b0\u7814\u7a76\u4efb\u52a1<\/strong>\uff1a\u9996\u6b21\u5b9a\u4e49 \u201c\u57fa\u4e8e\u8349\u56fe\u7684 3D \u6237\u5916\u8bed\u4e49\u573a\u666f\u751f\u6210\u201d \u4efb\u52a1\uff0c\u901a\u8fc7\u81ea\u7531\u624b\u7ed8\u8349\u56fe\u4e0e\u4f2a\u6807\u6ce8\u536b\u661f\u56fe\u50cf\uff08PSA\uff09\u5b9e\u73b0\u7528\u6237\u76f4\u89c2\u4ea4\u4e92\uff0c\u51cf\u5c11\u4eba\u5de5\u8bed\u4e49\u6807\u6ce8\u9700\u6c42\uff0c\u4e3a\u57ce\u5e02\u7ea7\u4eff\u771f\u3001\u81ea\u52a8\u9a7e\u9a76\u7b49\u573a\u666f\u7684\u8bad\u7ec3\u6570\u636e\u751f\u6210\u63d0\u4f9b\u9ad8\u6548\u65b9\u6848\u3002<\/li>\n\n\n\n<li><strong>\u6784\u5efa\u57fa\u51c6\u6570\u636e\u96c6 SketchSem3D<\/strong>\uff1a\u9996\u4e2a\u9762\u5411 3D \u6237\u5916\u8bed\u4e49\u573a\u666f\u751f\u6210\u7684\u5927\u89c4\u6a21\u8349\u56fe\u9a71\u52a8\u57fa\u51c6\u6570\u636e\u96c6\uff0c\u5305\u542b \u201c\u57fa\u4e8e\u8349\u56fe\u7684 SemanticKITTI\u201d \u548c \u201c\u57fa\u4e8e\u8349\u56fe\u7684 KITTI-360\u201d \u4e24\u4e2a\u5b50\u96c6\uff0c\u6574\u5408\u624b\u7ed8\u8349\u56fe\u3001\u536b\u661f\u56fe\u50cf\u3001\u4f2a\u6807\u6ce8\u3001\u8bed\u4e49\u6807\u7b7e\u5173\u952e\u8bcd\u53ca 3D \u771f\u503c\uff08GT\uff09\uff0c\u652f\u6301\u6807\u51c6\u5316\u8bc4\u6d4b\u4e0e\u516c\u5e73\u5bf9\u6bd4\uff0c\u4e14\u5728\u573a\u666f\u6570\u91cf\u3001\u4f53\u7d20\u5206\u8fa8\u7387\u3001\u8bed\u4e49\u7c7b\u522b\u6570\u4e0a\u5747\u4f18\u4e8e\u73b0\u6709 BEV-based \u6570\u636e\u96c6\uff08\u5982 NuScenes\uff09\u3002<\/li>\n\n\n\n<li><strong>\u63d0\u51fa CymbaDiff \u6a21\u578b<\/strong>\uff1a\u8bbe\u8ba1 \u201c\u5706\u67f1\u66fc\u5df4\u6269\u6563\u6a21\u578b\uff08Cylinder Mamba Diffusion, CymbaDiff\uff09\u201d\uff0c\u6838\u5fc3\u521b\u65b0\u5305\u62ec\uff1a\u5f15\u5165\u573a\u666f\u7ed3\u6784\u4f30\u8ba1\u7f51\u7edc\uff08SSEN\uff09\u63d0\u4f9b\u7c97\u7ed3\u6784\u5148\u9a8c\uff1b\u91c7\u7528\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08VAE\uff09\u6784\u5efa latent \u7a7a\u95f4\uff1b\u8bbe\u8ba1\u5706\u67f1\u66fc\u5df4\u5757\uff08CylMa\uff09\u3001\u8de8\u5c3a\u5ea6\u4e0a\u4e0b\u6587\u5757\uff08CSCB\uff09\u3001\u6269\u5f20\u5206\u89e3\u5377\u79ef\u5757\uff08DDCB\uff09\uff0c\u663e\u5f0f\u7f16\u7801\u5706\u67f1\u8fde\u7eed\u6027\u4e0e\u5782\u76f4\u5c42\u7ea7\uff0c\u4fdd\u7559\u573a\u666f\u5c40\u90e8\u90bb\u57df\u5173\u7cfb\u4e0e\u5168\u5c40\u4e0a\u4e0b\u6587\uff0c\u63d0\u5347\u7a7a\u95f4\u8fde\u8d2f\u6027\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u9a8c\u9a8c\u8bc1\u6027\u80fd<\/strong>\uff1a\u5728 SketchSem3D \u6570\u636e\u96c6\u4e0a\u5f00\u5c55\u5927\u91cf\u5b9e\u9a8c\uff0cCymbaDiff \u5728 3D \u8bed\u4e49\u573a\u666f\u751f\u6210\uff08FID\u3001MMD \u6307\u6807\uff09\u548c\u8865\u5168\uff08IoU\u3001mIoU \u6307\u6807\uff09\u4efb\u52a1\u4e2d\u5747\u4f18\u4e8e\u73b0\u6709\u57fa\u7ebf\uff08\u5982 SSD\u3001Semcity\u30013D Latent Diffusion\uff09\uff0c\u4e14\u5177\u5907\u8de8\u6570\u636e\u96c6\u6cdb\u5316\u80fd\u529b\uff08\u4ec5\u5728 SemanticKITTI \u8bad\u7ec3\u5373\u53ef\u5728 KITTI-360 \u4e0a\u4fdd\u6301\u9ad8\u6027\u80fd\uff09\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u7b97\u6cd5\u6846\u67b6\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"377\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-154-1024x377.png\" alt=\"\" class=\"wp-image-33818\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-154-1024x377.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-154-300x111.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-154-768x283.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-154.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"938\" height=\"634\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-155.png\" alt=\"\" class=\"wp-image-33819\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-155.png 938w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-155-300x203.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-155-768x519.png 768w\" sizes=\"(max-width: 938px) 100vw, 938px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"554\" height=\"268\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-156.png\" alt=\"\" class=\"wp-image-33820\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-156.png 554w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-156-300x145.png 300w\" sizes=\"(max-width: 554px) 100vw, 554px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"938\" height=\"449\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-157.png\" alt=\"\" class=\"wp-image-33821\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-157.png 938w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-157-300x144.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-157-768x368.png 768w\" sizes=\"(max-width: 938px) 100vw, 938px\" \/><\/figure>\n\n\n\n<p>\u53ef\u89c6\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"729\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-159-1024x729.png\" alt=\"\" class=\"wp-image-33823\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-159-1024x729.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-159-300x214.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-159-768x547.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-159.png 1053w\" 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=\"635\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/image-160-1024x635.png\" alt=\"\" class=\"wp-image-33824\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-160-1024x635.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-160-300x186.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-160-768x476.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/image-160.png 1049w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>DriveCritic<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684\u4e0a\u4e0b\u6587\u611f\u77e5\u3001\u4eba\u7c7b\u5bf9\u9f50\u81ea\u52a8\u9a7e\u9a76\u8bc4\u4f30\u65b0\u6846\u67b6<\/p>\n\n\n\n<p>\u6765\u81ea\u5bc6\u6b47\u6839\u5927\u5b66\u3001NVIDIA\u548c\u590d\u65e6\u5927\u5b66\u7684\u56e2\u961f\u63d0\u51fa\u4e86DriveCritic\u6846\u67b6\uff0c\u5229\u7528\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u8fdb\u884c\u4e0a\u4e0b\u6587\u611f\u77e5\u7684\u81ea\u52a8\u9a7e\u9a76\u8bc4\u4f30\uff0c\u5728\u4eba\u7c7b\u504f\u597d\u5bf9\u9f50\u4efb\u52a1\u4e2d\u8fbe\u5230\u4e8676.0%\u7684\u51c6\u786e\u7387\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aDriveCritic: Towards Context-Aware, Human-Aligned Evaluation for Autonomous Driving with Vision-Language Models<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2510.13108<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u63ed\u793a\u73b0\u6709\u6307\u6807\u5c40\u9650<\/strong>\uff1a\u660e\u786e\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u8bc4\u4f30\u9886\u57df SOTA \u89c4\u5219\u5316\u6307\u6807\uff08\u5982 EPDMS\uff09\u7684\u6838\u5fc3\u7f3a\u9677 \u2014\u2014 \u7f3a\u4e4f\u4e0a\u4e0b\u6587\u611f\u77e5\u80fd\u529b\u4e0e\u4eba\u7c7b\u5bf9\u9f50\u6027\uff0c\u5728\u7ec6\u5fae\u573a\u666f\uff08\u5982\u5b89\u5168\u6a2a\u5411\u504f\u79fb\u3001\u5408\u7406\u4fdd\u5b88\u9a7e\u9a76\uff09\u4e2d\u6613\u8bef\u5224\uff0c\u65e0\u6cd5\u5339\u914d\u4eba\u7c7b\u9a7e\u9a76\u5458\u7684\u5b89\u5168 &#8211; \u6548\u7387 &#8211; \u8212\u9002\u6027\u6743\u8861\u903b\u8f91\u3002<\/li>\n\n\n\n<li><strong>\u63d0\u51fa DriveCritic \u6846\u67b6\uff1a<\/strong><\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6784\u5efaDriveCritic \u6570\u636e\u96c6<\/strong>\uff1a\u4ece NAVSIM \u91c7\u6837 5730 \u4e2a\u8f68\u8ff9\u5bf9\uff0c\u805a\u7126\u89c4\u5219\u5316\u6307\u6807\u6613\u8bef\u5224\u7684\u6a21\u7cca\u573a\u666f\uff0c\u6807\u6ce8 pairwise \u4eba\u7c7b\u504f\u597d\uff0c\u5206\u4e3a \u201c\u8f66\u9053 &#8211; \u8fdb\u5ea6\u6743\u8861\u201d\uff08Case 1\uff09\u548c \u201c\u8fdb\u5ea6\u4ec5\u5bf9\u6bd4\u201d\uff08Case 2\uff09\u4e24\u7c7b\u573a\u666f\uff0c\u4e3a\u4eba\u7c7b\u5bf9\u9f50\u8bc4\u4f30\u63d0\u4f9b\u6570\u636e\u652f\u6491\u3002<\/li>\n\n\n\n<li><strong>\u8bbe\u8ba1DriveCritic \u6a21\u578b<\/strong>\uff1a\u4ee5 Qwen2.5-VL-7B\uff08VLM\uff09\u4e3a\u9aa8\u5e72\uff0c\u878d\u5408\u4e09\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\u3001BEV \u5730\u56fe\uff08\u542b\u8f68\u8ff9\uff09\u3001\u81ea\u8f66\u72b6\u6001\u53ca EPDMS 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