{"id":33893,"date":"2025-10-22T17:32:22","date_gmt":"2025-10-22T09:32:22","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33893"},"modified":"2025-10-22T17:32:22","modified_gmt":"2025-10-22T09:32:22","slug":"2025-10-22-waymo%e5%9f%ba%e4%ba%8e%e8%a7%86%e8%a7%89%e7%9a%84%e7%ab%af%e5%88%b0%e7%ab%af%e9%a9%be%e9%a9%b6%e6%8c%91%e6%88%98%e8%b5%9b%e7%ac%ac%e4%b8%80%e5%90%8d%ef%bc%8crap%e6%a1%86%e6%9e%b6%e5%bc%80","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/10\/22\/33893\/","title":{"rendered":"2025-10-22 Waymo\u57fa\u4e8e\u89c6\u89c9\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6311\u6218\u8d5b\u7b2c\u4e00\u540d\uff0cRAP\u6846\u67b6\u5f00\u6e90\u5566\uff013D \u5149\u6805\u5316\u589e\u5f3a\u7aef\u5230\u7aef\u89c4\u5212"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/6n3ybgF5wAgmMjJKbFKdAQ\">https:\/\/mp.weixin.qq.com\/s\/6n3ybgF5wAgmMjJKbFKdAQ<\/a><\/p>\n\n\n\n<p><strong>01<\/strong><br><strong>\u8bba\u6587\u4fe1\u606f<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>\uff1aRAP: 3D Rasterization Augmented End-to-End Planning<\/li>\n\n\n\n<li><strong>\u4f5c\u8005<\/strong>\uff1aLan Feng and Yang Gao and Eloi Zablocki and Quanyi Li and Wuyang Li and Sichao Liu and Matthieu Cord and Alexandre Alahi<\/li>\n\n\n\n<li><strong>\u9879\u76ee\u5730\u5740<\/strong>\uff1ahttps:\/\/alan-lanfeng.github.io\/RAP\/<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>\uff1ahttps:\/\/arxiv.org\/pdf\/2510.04333<\/li>\n<\/ul>\n\n\n\n<p><strong>02<\/strong><\/p>\n\n\n\n<p><strong>\u6210\u5c31<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"103\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-6-1024x103.png\" alt=\"\" class=\"wp-image-33894\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-6-1024x103.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-6-300x30.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-6-768x78.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-6.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>03<\/strong><br><strong>\u6458\u8981<\/strong><\/p>\n\n\n\n<p>\u6a21\u4eff\u5b66\u4e60\u5728\u7aef\u5230\u7aef\u9a7e\u9a76\u4e2d\u7684\u8bad\u7ec3\u4ec5\u4f9d\u8d56\u4e8e\u4e13\u5bb6\u6f14\u793a\u3002\u4e00\u65e6\u95ed\u73af\u90e8\u7f72\uff0c\u8fd9\u7c7b\u7b56\u7565\u7f3a\u4e4f\u201c\u6062\u590d\u201d\u6570\u636e\uff1a\u5fae\u5c0f\u8bef\u5dee\u65e0\u6cd5\u88ab\u7ea0\u6b63\uff0c\u4f1a\u8fc5\u901f\u7d2f\u79ef\u6210\u81f4\u547d\u5931\u8bef\u3002\u4e00\u4e2a\u6709\u524d\u666f\u7684\u65b9\u5411\u662f\u5728\u5df2\u8bb0\u5f55\u8f68\u8ff9\u4e4b\u5916\u751f\u6210\u66ff\u4ee3\u89c6\u89d2\u4e0e\u8f68\u8ff9\u3002\u5df2\u6709\u7814\u7a76\u5c1d\u8bd5\u901a\u8fc7\u795e\u7ecf\u6e32\u67d3\u6216\u6e38\u620f\u5f15\u64ce\u6784\u5efa\u7167\u7247\u7ea7\u6570\u5b57\u5b6a\u751f\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u901f\u5ea6\u6781\u6162\u3001\u6210\u672c\u6781\u9ad8\uff0c\u56e0\u800c\u4ec5\u7528\u4e8e\u8bc4\u4f30\u3002\u672c\u6587\u6307\u51fa\uff0c\u5bf9\u4e8e\u7aef\u5230\u7aef\u89c4\u5212\u5668\u7684\u8bad\u7ec3\uff0c\u7167\u7247\u7ea7\u771f\u5b9e\u611f\u5e76\u975e\u5fc5\u9700\uff1b\u5173\u952e\u5728\u4e8e\u8bed\u4e49\u4fdd\u771f\u4e0e\u53ef\u6269\u5c55\u6027\u2014\u2014\u9a7e\u9a76\u4f9d\u8d56\u51e0\u4f55\u4e0e\u52a8\u529b\u5b66\uff0c\u800c\u975e\u7eb9\u7406\u6216\u5149\u7167\u3002\u57fa\u4e8e\u6b64\uff0c\u6211\u4eec\u63d0\u51fa 3D Rasterization\uff1a\u7528\u8f7b\u91cf\u7ea7\u5e26\u8bed\u4e49\u6807\u6ce8\u56fe\u5143\u7684\u6805\u683c\u5316\u66ff\u4ee3\u6602\u8d35\u6e32\u67d3\uff0c\u652f\u6301\u53cd\u4e8b\u5b9e\u6062\u590d\u673a\u52a8\u4e0e\u8de8\u667a\u80fd\u4f53\u89c6\u89d2\u5408\u6210\u7b49\u589e\u5e7f\u3002\u4e3a\u5c06\u8fd9\u4e9b\u5408\u6210\u89c6\u89d2\u6709\u6548\u8fc1\u79fb\u5230\u771f\u5b9e\u90e8\u7f72\uff0c\u6211\u4eec\u5f15\u5165 Raster-to-Real \u7279\u5f81\u7a7a\u95f4\u5bf9\u9f50\uff0c\u5728\u7279\u5f81\u5c42\u9762\u5f25\u5408\u4eff\u771f-\u73b0\u5b9e\u9e3f\u6c9f\u3002\u4e8c\u8005\u5171\u540c\u6784\u6210 Rasterization Augmented Planning\uff08RAP\uff09\u2014\u2014\u4e00\u5957\u53ef\u6269\u5c55\u7684\u89c4\u5212\u6570\u636e\u589e\u5e7f\u6d41\u6c34\u7ebf\u3002RAP \u5728\u95ed\u73af\u9c81\u68d2\u6027\u4e0e\u957f\u5c3e\u6cdb\u5316\u4e0a\u8fbe\u5230 SOTA\uff0c\u5728 NAVSIM v1\/v2\u3001Waymo Open Dataset \u89c6\u89c9\u7aef\u5230\u7aef\u9a7e\u9a76\u3001Bench2Drive \u56db\u5927\u57fa\u51c6\u5747\u6392\u540d\u7b2c\u4e00\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u8f7b\u91cf\u6805\u683c\u5316\u914d\u5408\u7279\u5f81\u5bf9\u9f50\u8db3\u4ee5\u89c4\u6a21\u5316\u7aef\u5230\u7aef\u8bad\u7ec3\uff0c\u4e3a\u7167\u7247\u7ea7\u6e32\u67d3\u63d0\u4f9b\u4e86\u52a1\u5b9e\u66ff\u4ee3\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>04<\/strong><br><strong>\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n<p>\u8fd1\u671f\u7aef\u5230\u7aef\u9a7e\u9a76\u7814\u7a76\u666e\u904d\u4f9d\u8d56\u57fa\u4e8e\u795e\u7ecf\u6e32\u67d3\u6216\u6e38\u620f\u5f15\u64ce\u6784\u5efa\u7684\u7167\u7247\u7ea7\u6570\u5b57\u5b6a\u751f\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u8ffd\u6c42\u50cf\u7d20\u7ea7\u771f\u5b9e\u611f\uff0c\u5374\u8ba1\u7b97\u7e41\u91cd\u3001\u96be\u4ee5\u6269\u5c55\u3002\u672c\u6587\u8bc1\u660e\uff0c\u8bad\u7ec3\u9c81\u68d2\u89c4\u5212\u5668\u5e76\u4e0d\u9700\u8981\u7167\u7247\u7ea7\u771f\u5b9e\u611f\u3002\u6211\u4eec\u63d0\u51fa\u7684 Rasterization Augmented Planning\uff08RAP\uff09\u5229\u7528\u8f7b\u91cf\u7ea7 3D \u6805\u683c\u5316\u751f\u6210\u8bed\u4e49\u4fdd\u771f\u7684\u589e\u5e7f\u6570\u636e\uff0c\u5e76\u901a\u8fc7\u7279\u5f81\u7a7a\u95f4\u5bf9\u9f50\u5f25\u5408\u4eff\u771f-\u73b0\u5b9e\u9e3f\u6c9f\u3002\u8be5\u8bbe\u8ba1\u5b9e\u73b0\u6570\u636e\u5408\u6210\u7684\u89c4\u6a21\u5316\uff0c\u5e76\u5728\u95ed\u73af\u9a7e\u9a76\u4e2d\u663e\u8457\u63d0\u5347\u9c81\u68d2\u6027\u4e0e\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"195\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-7-1024x195.png\" alt=\"\" class=\"wp-image-33895\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-7-1024x195.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-7-300x57.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-7-768x146.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-7.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7aef\u5230\u7aef\u9a7e\u9a76\u7684\u6e32\u67d3\u8303\u5f0f\u5bf9\u6bd4\u3002\u57fa\u4e8e\u795e\u7ecf\u6e32\u67d3\u6216\u6e38\u620f\u5f15\u64ce\u7684\u65b9\u6cd5\uff08\u5de6\uff09\u8bd5\u56fe\u5728\u50cf\u7d20\u7a7a\u95f4\u6700\u5c0f\u5316\u4eff\u771f-\u73b0\u5b9e\u5dee\u8ddd\uff0c\u4f46\u8ba1\u7b97\u4ee3\u4ef7\u9ad8\u6602\u3002\u76f8\u8f83\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\uff08\u53f3\uff09\u91c7\u7528 3D \u6805\u683c\u5316\uff0c\u5177\u5907\u53ef\u6269\u5c55\u6027\u4e0e\u5b8c\u5168\u53ef\u63a7\u6027\uff0c\u5e76\u5728\u7279\u5f81\u7a7a\u95f4\u5c06\u6805\u683c\u5316\u8f93\u5165\u4e0e\u771f\u5b9e\u56fe\u50cf\u5bf9\u9f50\u3002<\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u9a7e\u9a76\u7684\u6e32\u67d3\u8303\u5f0f\u5bf9\u6bd4\u3002\u57fa\u4e8e\u795e\u7ecf\u6e32\u67d3\u6216\u6e38\u620f\u5f15\u64ce\u7684\u65b9\u6cd5\uff08\u5de6\uff09\u8bd5\u56fe\u5728\u50cf\u7d20\u7a7a\u95f4\u6700\u5c0f\u5316\u4eff\u771f-\u73b0\u5b9e\u5dee\u8ddd\uff0c\u4f46\u8ba1\u7b97\u4ee3\u4ef7\u9ad8\u6602\u3002\u76f8\u8f83\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\uff08\u53f3\uff09\u91c7\u7528 3D \u6805\u683c\u5316\uff0c\u5177\u5907\u53ef\u6269\u5c55\u6027\u4e0e\u5b8c\u5168\u53ef\u63a7\u6027\uff0c\u5e76\u5728\u7279\u5f81\u7a7a\u95f4\u5c06\u6805\u683c\u5316\u8f93\u5165\u4e0e\u771f\u5b9e\u56fe\u50cf\u5bf9\u9f50\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u53ef\u6269\u5c55\u7684 3D \u6805\u683c\u5316pipeline\uff1a\u4ec5\u4f9d\u8d56\u6807\u6ce8\u4fe1\u606f\uff0c\u5c06\u51e0\u4f55\u56fe\u5143\u6295\u5f71\u81f3\u76f8\u673a\u89c6\u89d2\u5373\u53ef\u91cd\u5efa\u9a7e\u9a76\u573a\u666f\u3002<\/li>\n\n\n\n<li>Raster-to-Real\uff08R2R\uff09\u5bf9\u9f50\u6a21\u5757\uff1a\u7ed3\u5408\u84b8\u998f\u4e0e\u5bf9\u6297\u81ea\u9002\u5e94\uff0c\u5728\u7279\u5f81\u7a7a\u95f4\u6865\u63a5\u6805\u683c\u8f93\u5165\u4e0e\u771f\u5b9e\u56fe\u50cf\u3002<\/li>\n\n\n\n<li>3D \u6805\u683c\u5316\u589e\u5f3a\u7aef\u5230\u7aef\u89c4\u5212\u6846\u67b6\uff08RAP\uff09\uff1a\u901a\u8fc7\u53cd\u4e8b\u5b9e\u573a\u666f\u751f\u6210\u4e0e\u8de8\u667a\u80fd\u4f53\u89c6\u89d2\u5408\u6210\u589e\u5e7f\u6a21\u4eff\u5b66\u4e60\uff0c\u5728\u591a\u4e2a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u5b9e\u73b0 SOTA \u7684\u95ed\u73af\u9c81\u68d2\u6027\u4e0e\u957f\u5c3e\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>06<\/strong><br><strong>\u65b9\u6cd5\u6982\u8ff0<\/strong><\/p>\n\n\n\n<p>RAP \u7531\u4e24\u5927\u6838\u5fc3\u6a21\u5757\u7ec4\u6210\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>3D \u6805\u683c\u5316\u2014\u2014\u901a\u8fc7\u5bf9\u5e26\u6ce8\u91ca\u7684\u539f\u59cb\u65e5\u5fd7\u8fdb\u884c\u8f7b\u91cf\u7ea7\u91cd\u6295\u5f71\uff0c\u5feb\u901f\u751f\u6210\u65b0\u89c6\u70b9\u4e0e\u6062\u590d\u673a\u52a8\uff0c\u5b9e\u73b0\u591a\u6837\u5316\u3001\u5927\u89c4\u6a21\u589e\u5e7f\uff1b<\/li>\n\n\n\n<li>Raster-to-Real \u5bf9\u9f50\u2014\u2014\u5728\u7279\u5f81\u7a7a\u95f4\u5c06\u6805\u683c\u5316\u6837\u672c\u4e0e\u771f\u5b9e\u56fe\u50cf\u5bf9\u9f50\uff0c\u786e\u4fdd\u5408\u6210\u6570\u636e\u5728\u5b9e\u8f66\u90e8\u7f72\u4e2d\u6709\u6548\u8fc1\u79fb\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e8c\u8005\u534f\u540c\uff0c\u6784\u6210\u53ef\u6269\u5c55\u4e14\u9c81\u68d2\u7684\u95ed\u73af\u7aef\u5230\u7aef\u9a7e\u9a76\u6570\u636epipeline\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"428\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-8-1024x428.png\" alt=\"\" class=\"wp-image-33896\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-8-1024x428.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-8-300x125.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-8-768x321.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-8.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6240\u63d0\u51fa\u7684 RAP \u6982\u8ff0\u3002(a) \u901a\u8fc7 3D \u5149\u6805\u5316\u8fdb\u884c\u6570\u636e\u589e\u5f3a\uff1a\u5e26\u6ce8\u91ca\u7684\u9a7e\u9a76\u65e5\u5fd7\u901a\u8fc7\u8de8\u667a\u80fd\u4f53\u89c6\u56fe\u5408\u6210\u548c\u9762\u5411\u6062\u590d\u7684\u6270\u52a8\u8f6c\u6362\u4e3a\u5927\u89c4\u6a21\u5408\u6210\u6837\u672c\u3002(b) \u5149\u6805\u5230\u771f\u5b9e\u5bf9\u9f50\uff1a\u6210\u5bf9\u7684\u771f\u5b9e\u8f93\u5165\u548c\u5149\u6805\u5316\u8f93\u5165\u7531\u51bb\u7ed3\u56fe\u50cf\u7f16\u7801\u5668\u548c\u53ef\u5b66\u4e60\u7684\u7279\u5f81\u6295\u5f71\u5668\u5904\u7406\u3002\u7a7a\u95f4\u7ea7\u5bf9\u9f50\u4f7f\u7528 MSE \u635f\u5931\u51fd\u6570\u6765\u5bf9\u6297\u5206\u79bb\u7684\u5149\u6805\u7279\u5f81\uff0c\u800c\u5168\u5c40\u7ea7\u5bf9\u9f50\u5219\u4f7f\u7528\u68af\u5ea6\u53cd\u8f6c\u5c42\u548c\u57df\u5206\u7c7b\u5668\u6765\u589e\u5f3a\u57df\u6df7\u6dc6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u9762\u5411\u6062\u590d\u7684\u6270\u52a8<\/strong><br>\u5728\u5df2\u8bb0\u5f55\u7684\u4e13\u5bb6\u8f68\u8ff9\u4e0a\u65bd\u52a0\u6a2a\u5411\/\u7eb5\u5411\u504f\u79fb\u4e0e\u566a\u58f0\uff0c\u968f\u540e\u901a\u8fc73D\u6805\u683c\u5316\u91cd\u65b0\u6e32\u67d3\uff0c\u751f\u6210\u53cd\u4e8b\u5b9e\u573a\u666f\uff0c\u7528\u4e8e\u8bad\u7ec3\u89c4\u5212\u5668\u5728\u5206\u5e03\u504f\u79fb\u65f6\u6267\u884c\u6062\u590d\u3002<\/li>\n\n\n\n<li><strong>\u8de8\u667a\u80fd\u4f53\u89c6\u89d2\u5408\u6210<\/strong><br>\u4e0d\u518d\u4ec5\u81ea ego \u8f68\u8ff9\u6e32\u67d3\uff0c\u800c\u662f\u5728\u540c\u4e00\u573a\u666f\u4e2d\u5c06 ego \u66ff\u6362\u4e3a\u5176\u4ed6\u4ea4\u901a\u53c2\u4e0e\u8005\uff0c\u5e76\u4fdd\u6301\u539f\u76f8\u673a\u53c2\u6570\u4e0d\u53d8\uff0c\u4ece\u800c\u65e0\u9700\u989d\u5916\u4f20\u611f\u5668\u5373\u53ef\u83b7\u5f97\u591a\u5143\u89c6\u89d2\u7684\u56fe\u50cf\u3002\u7ed3\u5408\u9762\u5411\u6062\u590d\u7684\u6270\u52a8\uff0c\u8be5\u7b56\u7565\u5c06\u6570\u636e\u96c6\u6269\u5c55\u81f3 50 \u4f59\u4e07\u4e2a\u6805\u683c\u5316\u8bad\u7ec3\u6837\u672c\uff0c\u5168\u9762\u8986\u76d6\u591a\u6837\u89c6\u70b9\u3001\u66f4\u4e30\u5bcc\u7684\u4ea4\u4e92\u4ee5\u53ca\u7f55\u89c1\u7684\u6062\u590d\u573a\u666f\u3002<\/li>\n\n\n\n<li><strong>\u6805\u683c-\u771f\u5b9e\u5bf9\u9f50\uff08R2R\uff09<\/strong><br>\u4e3a\u5f25\u5408\u5408\u6210\u6805\u683c\u4e0e\u771f\u5b9e\u56fe\u50cf\u7684\u57df\u5dee\u5f02\uff0c\u63d0\u51fa Raster-to-Real \u5bf9\u9f50\uff0c\u5728\u201c\u7a7a\u95f4\u7ea7\u201d\u4e0e\u201c\u5168\u5c40\u7ea7\u201d\u53cc\u91cd\u7c92\u5ea6\u4e0a\u5f3a\u5236\u7279\u5f81\u4e00\u81f4\u3002<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7a7a\u95f4\u7ea7\uff1a\u6700\u5c0f\u5316\u771f\u5b9e-\u6805\u683c\u914d\u5bf9\u7279\u5f81\u5728 token \u7ef4\u5ea6\u7684 L2 \u5dee\u5f02\uff1b<\/li>\n\n\n\n<li>\u5168\u5c40\u7ea7\uff1a\u5f15\u5165 adversarial \u57df\u5206\u7c7b\u5668\uff0c\u901a\u8fc7\u68af\u5ea6\u53cd\u8f6c\u4f7f\u6574\u4f53\u7279\u5f81\u5206\u5e03\u4e0d\u53ef\u533a\u5206\u3002<br>\u4e8c\u8005\u8054\u5408\uff0c\u786e\u4fdd\u6805\u683c\u589e\u5e7f\u5728\u5b9e\u8f66\u90e8\u7f72\u4e2d\u6709\u6548\u8fc1\u79fb\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>07<\/strong><br><strong>\u5b9e\u9a8c\u4eff\u771f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"331\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-9-1024x331.png\" alt=\"\" class=\"wp-image-33897\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-9-1024x331.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-9-300x97.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-9-768x248.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-9.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>NAVSIM v1 benchmark (navtest). Bold\/underlined indicates the best\/second-best<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"155\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-10-1024x155.png\" alt=\"\" class=\"wp-image-33898\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-10-1024x155.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-10-300x45.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-10-768x116.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-10.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Public leaderboard for the NAVSIM v2 benchmark (navhard). Bold indicates the best result<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"233\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-11-1024x233.png\" alt=\"\" class=\"wp-image-33899\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-11-1024x233.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-11-300x68.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-11-768x175.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-11.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Top-6 entries on the public leaderboard for the WOD Vision-based E2E Driving Challenge (up to September 2025)<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"229\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-12-1024x229.png\" alt=\"\" class=\"wp-image-33900\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-12-1024x229.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-12-300x67.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-12-768x172.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-12.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Closed-loop Results on Bench2Drive Benchmark (Jia et al., 2024).<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"183\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-13.png\" alt=\"\" class=\"wp-image-33901\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-13.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-13-300x81.png 300w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<p>Ablation on recovery-oriented perturbations. Evaluation is conducted on NAVSIM v1 and v2<\/p>\n\n\n\n<p><strong>08<\/strong><br><strong>\u603b\u7ed3<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86 Rasterization Augmented Planning\uff08RAP\uff09\u2014\u2014\u4e00\u79cd\u53ef\u6269\u5c55\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u6846\u67b6\uff0c\u5b83\u4ee5\u8f7b\u91cf\u7ea7 3D \u6805\u683c\u5316\u4e0e\u7279\u5f81\u7a7a\u95f4\u5bf9\u9f50\u66ff\u4ee3\u6602\u8d35\u7684\u7167\u7247\u7ea7\u6e32\u67d3\u3002\u901a\u8fc7\u9762\u5411\u6062\u590d\u7684\u6270\u52a8\u548c\u8de8\u667a\u80fd\u4f53\u5408\u6210\uff0cRAP \u5c06\u8bad\u7ec3\u89c4\u6a21\u6269\u5c55\u81f3\u5927\u89c4\u6a21\u53cd\u4e8b\u5b9e\u573a\u666f\uff0c\u540c\u65f6\u4fdd\u6301\u8bed\u4e49\u4e0e\u51e0\u4f55\u4fdd\u771f\u5ea6\u3002\u5728\u56db\u9879\u57fa\u51c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cRAP \u80fd\u6301\u7eed\u63d0\u5347\u95ed\u73af\u9c81\u68d2\u6027\u4e0e\u957f\u5c3e\u6cdb\u5316\u80fd\u529b\uff0c\u4e3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u89c4\u6a21\u5316\u63d0\u4f9b\u4e86\u4e00\u6761\u5b9e\u7528\u4e14\u9ad8\u6548\u7684\u9014\u5f84\u3002\u5c40\u9650\u4e0e\u672a\u6765\u5de5\u4f5c\uff1a\u672c\u65b9\u6cd5\u4ecd\u5c40\u9650\u4e8e\u6a21\u4eff\u5b66\u4e60\u8303\u5f0f\uff0c\u7ee7\u627f\u4e86\u56e0\u679c\u6df7\u6dc6\u7b49\u95ee\u9898\u3002\u672a\u6765\uff0c\u6211\u4eec\u8ba1\u5212\u5c06 3D \u6805\u683c\u5316\u6269\u5c55\u4e3a\u5b8c\u6574\u4eff\u771f\u5668\uff0c\u4ee5\u652f\u6301\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\uff0c\u4ece\u800c\u5728\u79bb\u7ebf\u6f14\u793a\u4e4b\u5916\u5b9e\u73b0\u66f4\u4e30\u5bcc\u7684\u4ea4\u4e92\u4e0e\u7b56\u7565\u6539\u8fdb\u3002\u6d41\u7a0b\u8bba\u6587\u8f85\u5bfc<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-33893","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":7,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33893"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=33893"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33893\/revisions"}],"predecessor-version":[{"id":33902,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33893\/revisions\/33902"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=33893"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=33893"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=33893"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}