{"id":34593,"date":"2025-11-11T17:31:28","date_gmt":"2025-11-11T09:31:28","guid":{"rendered":"http:\/\/192.168.10.115\/?p=34593"},"modified":"2025-11-11T17:31:28","modified_gmt":"2025-11-11T09:31:28","slug":"2025-11-11-%e6%a8%a1%e4%bb%bf%e5%ad%a6%e4%b9%a0%e4%b9%8b%e5%a4%96%ef%bc%8c%e7%ab%af%e5%88%b0%e7%ab%af%e8%bd%a8%e8%bf%b9%e5%a6%82%e4%bd%95%e4%bc%98%e5%8c%96%ef%bc%9f%e8%bd%bb%e8%88%9f%e4%b8%80%e7%af%87","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/11\/11\/34593\/","title":{"rendered":"2025-11-11 \u6a21\u4eff\u5b66\u4e60\u4e4b\u5916\uff0c\u7aef\u5230\u7aef\u8f68\u8ff9\u5982\u4f55\u4f18\u5316\uff1f\u8f7b\u821f\u4e00\u7bc7\u5237\u699c\u7684\u5de5\u4f5c&#8230;&#8230;"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/Y3iYhjClsE9ktLfJTrQG4Q\">https:\/\/mp.weixin.qq.com\/s\/Y3iYhjClsE9ktLfJTrQG4Q<\/a><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e3b\u6d41\u7684\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u5e38\u53d7\u56f0\u4e8emode collapse\uff0c\u65e0\u6cd5\u751f\u6210\u591a\u6837\u5316\u7684\u8f68\u8ff9\u3002<\/li>\n\n\n\n<li>\u73b0\u6709\u751f\u6210\u5f0f\u65b9\u6cd5\u96be\u4ee5\u5c06\u5b89\u5168\u7ea6\u675f\u548c\u7269\u7406\u7ea6\u675f\u76f4\u63a5\u878d\u5165\u751f\u6210\u8fc7\u7a0b\uff0c\u9700\u989d\u5916\u589e\u52a0\u4f18\u5316\u9636\u6bb5\u6765\u4fee\u6b63\u8f93\u51fa\u7ed3\u679c\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u5c40\u9650\uff0c\u5317\u4ea4\u3001\u8f7b\u821f\u3001\u71d5\u5c71\u5927\u5b66\u3001\u6fb3\u6d32\u6606\u58eb\u5170\u5927\u5b66\u7684\u56e2\u961f\u63d0\u51fa\u4e86CATG\u2014\u2014\u4e00\u79cd\u57fa\u4e8eConstrained flow matching\u7684\u89c4\u5212\u6846\u67b6\u3002\u5177\u4f53\u800c\u8a00\uff0cCATG\u663e\u5f0f\u5efa\u6a21flow matching\u8fc7\u7a0b\uff0c\u8fd9\u4e00\u8fc7\u7a0b\u672c\u8d28\u4e0a\u53ef\u7f13\u89e3mode collapse\uff0c\u5e76\u652f\u6301\u591a\u79cd\u6761\u4ef6\u4fe1\u53f7\u7684\u7075\u6d3b\u5f15\u5bfc\u3002\u6211\u4eec\u7684\u6838\u5fc3\u8d21\u732e\u5305\u62ec\uff1a\u5176\u4e00\uff0c\u5728flow matching\u8fc7\u7a0b\u4e2d\u521b\u65b0\u6027\u5730\u5f15\u5165\u663e\u5f0f\u7ea6\u675f\uff0c\u786e\u4fdd\u751f\u6210\u8f68\u8ff9\u7b26\u5408\u5173\u952e\u7684\u5b89\u5168\u89c4\u5219\u548c\u8fd0\u52a8\u5b66\u51c6\u5219\uff1b\u5176\u4e8c\uff0c\u5c06\u9a7e\u9a76\u6fc0\u8fdb\u7a0b\u5ea6\u53c2\u6570\u5316\u4e3a\u751f\u6210\u8fc7\u7a0b\u4e2d\u7684\u63a7\u5236\u4fe1\u53f7\uff0c\u5b9e\u73b0\u5bf9\u8f68\u8ff9\u98ce\u683c\u7684\u7cbe\u51c6\u8c03\u63a7\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728NavSim v2\u6311\u6218\u8d5b\u4e2d\uff0cCATG\u4ee551.31\u7684EPDMS\u5f97\u5206\u83b7\u5f97\u4e9a\u519b\uff0c\u5e76\u8363\u83b7\u521b\u65b0\u5956\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u6807\u9898\uff1aBeyond Imitation: Constraint-Aware Trajectory Generation with Flow Matching For End-to-End Autonomous Driving<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2510.26292\uff0c\u4e5f\u5728\u627e\u70b9\u5b50\u4f18\u5316\u7aef\u5230\u7aef\u6a21\u578b\u7684\u540c\u5b66\u53ef\u4ee5\u4ed4\u7ec6\u770b\u770b\u3002<\/p>\n\n\n\n<p><strong>\u4e00\u3001\u80cc\u666f\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u591a\u6a21\u6001\u89c4\u5212\u5df2\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684\u5173\u952e\u65b9\u6cd5\uff0c\u4e0e\u5355\u8f68\u8ff9\u9884\u6d4b\u65b9\u6cd5\u76f8\u6bd4\uff0c\u5b83\u5728\u63a8\u7406\u9636\u6bb5\u663e\u8457\u63d0\u5347\u4e86\u9c81\u68d2\u6027\u548c\u9002\u5e94\u6027\u3002\u8fd9\u79cd\u80fd\u529b\u5728\u6a21\u7cca\u6216\u9ad8\u5ea6\u4ea4\u4e92\u7684\u9a7e\u9a76\u573a\u666f\u4e2d\u5c24\u4e3a\u91cd\u8981\u2014\u2014\u4f8b\u5982\u65e0\u4fdd\u62a4\u5de6\u8f6c\u3001\u5bc6\u96c6\u8f66\u6d41\u6c47\u5165\u6216\u8def\u53e3\u901a\u884c\u7b49\u573a\u666f\uff0c\u6b64\u65f6\u591a\u6761\u622a\u7136\u4e0d\u540c\u7684\u8f68\u8ff9\u53ef\u80fd\u5747\u5177\u5907\u5408\u7406\u6027\u3002\u5c3d\u7ba1\u5177\u5907\u8fd9\u4e9b\u4f18\u52bf\uff0c\u5927\u591a\u6570\u5f53\u4ee3\u591a\u6a21\u6001\u65b9\u6cd5\u4ecd\u4f9d\u8d56\u6a21\u4eff\u5b66\u4e60\u6846\u67b6\u3002\u8fd9\u7c7b\u65b9\u6cd5\u4ece\u6709\u9650\u7684\u4e13\u5bb6\u793a\u8303\u8f68\u8ff9\u4e2d\u5b66\u4e60\uff0c\u7531\u4e8e\u771f\u5b9e\u8f68\u8ff9\u7684\u7b56\u7565\u591a\u6837\u6027\u4e0d\u8db3\uff0c\u5f80\u5f80\u5bfc\u81f4\u9884\u6d4b\u7ed3\u679c\u540c\u8d28\u5316\uff0c\u7f3a\u4e4f\u884c\u4e3a\u591a\u6837\u6027\u3002<\/p>\n\n\n\n<p>\u4e3a\u5e94\u5bf9\u8fd9\u4e9b\u7f3a\u9677\uff0c\u7814\u7a76\u4eba\u5458\u63d0\u51fa\u4e86\u591a\u79cd\u66ff\u4ee3\u7b56\u7565\u3002\u4e00\u7cfb\u5217\u5de5\u4f5c\u5f15\u5165\u751f\u6210\u6a21\u578b\uff08\u5982\u6269\u6563\u8fc7\u7a0b\uff09\u4ee5\u6355\u6349\u66f4\u5e7f\u6cdb\u7684\u5408\u7406\u8f68\u8ff9\u5206\u5e03\u3002\u7136\u800c\uff0c\u8bb8\u591a\u6b64\u7c7b\u65b9\u6cd5\u5e76\u672a\u663e\u5f0f\u76d1\u7763\u751f\u6210\u53bb\u566a\u8fc7\u7a0b\uff0c\u4ecd\u4e25\u91cd\u4f9d\u8d56\u884c\u4e3a\u514b\u9686\u76ee\u6807\uff0c\u56e0\u6b64\u4ecd\u6613\u53d7mode collapse\u5f71\u54cd\u3002\u53e6\u4e00\u7c7b\u8303\u5f0f\u5219\u66f4\u8fdb\u4e00\u6b65\uff0c\u5b8c\u5168\u4f9d\u8d56\u751f\u6210\u6a21\u578b\u8fdb\u884c\u8f68\u8ff9\u89c4\u5212\uff0c\u6452\u5f03\u4e86\u6a21\u4eff\u5b66\u4e60\u7684\u4f7f\u7528\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u53d7\u76ca\u4e8e\u751f\u6210\u6a21\u578b\u7684\u7279\u6027\uff0c\u4f46\u4e5f\u5e26\u6765\u4e86\u65b0\u7684\u6311\u6218\uff1a\u566a\u58f0\u521d\u59cb\u5316\u7684\u968f\u673a\u6027\u53ef\u80fd\u5bfc\u81f4\u9884\u6d4b\u7ed3\u679c\u65b9\u5dee\u8fc7\u5927\uff0c\u4e14\u7f3a\u4e4f\u786c\u7ea6\u675f\u96c6\u6210\u673a\u5236\uff08\u5982\u907f\u969c\u6216\u9075\u5b88\u4ea4\u901a\u89c4\u5219\uff09\uff0c\u5f71\u54cd\u4e86\u751f\u6210\u8f68\u8ff9\u7684\u5b89\u5168\u6027\u548c\u53ef\u89e3\u91ca\u6027\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u5c40\u9650\uff0c\u672c\u6587\u63d0\u51faCATG\u2014\u2014\u4e00\u79cd\u57fa\u4e8eflow matching\u7684\u65b0\u578b\u8f68\u8ff9\u751f\u6210\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u5f7b\u5e95\u6452\u5f03\u6a21\u4eff\u5b66\u4e60\uff0c\u540c\u65f6\u652f\u6301\u5728\u751f\u6210\u8fc7\u7a0b\u4e2d\u7075\u6d3b\u6ce8\u5165\u663e\u5f0f\u7ea6\u675f\u3002\u6211\u4eec\u7684\u8d21\u732e\u4e3b\u8981\u4f53\u73b0\u5728\u4e09\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>(1) \u65b0\u7684\u751f\u6210\u6846\u67b6\uff1a\u63d0\u51fa\u57fa\u4e8eflow matching\u7684\u591a\u6a21\u6001\u8f68\u8ff9\u751f\u6210\u5668CATG\uff0c\u4e0e\u4f20\u7edf\u65b9\u6cd5\u4e0d\u540c\uff0c\u5b83\u65e0\u9700\u4f9d\u8d56\u6a21\u4eff\u5b66\u4e60\uff0c\u4e14\u652f\u6301\u591a\u6837\u5316\u3001\u7075\u6d3b\u7684\u6761\u4ef6\u63a7\u5236\u3002<\/li>\n\n\n\n<li>(2) \u7ea6\u675f\u5f15\u5bfc\u751f\u6210\uff1a\u901a\u8fc7\u6e10\u8fdb\u5f0f\u673a\u5236\u5c06\u53ef\u884c\u6027\u7ea6\u675f\u548c\u5b89\u5168\u7ea6\u675f\u663e\u5f0f\u96c6\u6210\u5230\u751f\u6210\u8fc7\u7a0b\u4e2d\u2014\u2014\u5229\u7528\u5148\u9a8c\u611f\u77e5\u951a\u70b9\u8bbe\u8ba1\u6784\u5efa\u7ea6\u675f\u5f15\u5bfc\u7684\u6982\u7387\u6d41\uff0c\u5e76\u901a\u8fc7\u57fa\u4e8e\u80fd\u91cf\u7684\u5f15\u5bfc\u8fdb\u4e00\u6b65\u5c06\u8f68\u8ff9\u5bfc\u5411\u53ef\u884c\u533a\u57df\u3002<\/li>\n\n\n\n<li>(3) \u5956\u52b1\u6761\u4ef6\u53ef\u63a7\u6027\uff1a\u5c06\u73af\u5883\u5956\u52b1\u4fe1\u53f7\u4f5c\u4e3a\u6761\u4ef6\u8f93\u5165\uff0c\u5728\u63a8\u7406\u9636\u6bb5\u5b9e\u73b0\u6fc0\u8fdb\u9a7e\u9a76\u98ce\u683c\u4e0e\u4fdd\u5b88\u9a7e\u9a76\u98ce\u683c\u4e4b\u95f4\u7684\u53ef\u63a7\u6743\u8861\u3002<\/li>\n<\/ul>\n\n\n\n<p>CATG\u5728ICCV NAVSIM V2\u7aef\u5230\u7aef\u9a7e\u9a76\u6311\u6218\u8d5b\u4e2d\u7ecf\u8fc7\u4e86\u5e7f\u6cdb\u8bc4\u4f30\uff0c\u5c55\u73b0\u51fa\u5353\u8d8a\u7684\u89c4\u5212\u7cbe\u5ea6\u548c\u5bf9\u5206\u5e03\u5916\u6570\u636e\u7684\u7a33\u5065\u6cdb\u5316\u80fd\u529b\u3002\u7ed3\u5408\u5f00\u6e90\u8bc4\u5206\u6a21\u578b\uff0cCATG\u53d6\u5f97\u4e8651.31\u7684EPDMS\u5f97\u5206\u3002<\/p>\n\n\n\n<p><strong>\u4e8c\u3001\u9884\u5907\u77e5\u8bc6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"461\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/111101.png\" alt=\"\" class=\"wp-image-34601\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111101.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111101-300x202.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u4e09\u3001\u65b9\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"598\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-109-1024x598.png\" alt=\"\" class=\"wp-image-34602\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-109-1024x598.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-109-300x175.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-109-768x449.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-109.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7075\u6d3b\u7684\u6761\u4ef6\u4fe1\u53f7<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"109\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/111105.png\" alt=\"\" class=\"wp-image-34603\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111105.png 683w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111105-300x48.png 300w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"968\" height=\"642\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-110.png\" alt=\"\" class=\"wp-image-34604\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-110.png 968w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-110-300x199.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-110-768x509.png 768w\" sizes=\"(max-width: 968px) 100vw, 968px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"684\" height=\"551\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/111102.png\" alt=\"\" class=\"wp-image-34605\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111102.png 684w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111102-300x242.png 300w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/figure>\n\n\n\n<p><strong>\u7ea6\u675f\u611f\u77e5\u8f68\u8ff9\u751f\u6210<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"692\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/111103.png\" alt=\"\" class=\"wp-image-34606\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111103.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111103-300x300.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/111103-150x150.png 150w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<p><strong>\u4ee5\u5956\u52b1\u4e3a\u6761\u4ef6<\/strong><\/p>\n\n\n\n<p>\u4e3a\u5728\u63a8\u7406\u9636\u6bb5\u63a7\u5236\u8f68\u8ff9\u6fc0\u8fdb\u7a0b\u5ea6\uff0cCATG\u5c06\u81ea\u8f66\u8fc7\u7a0b\uff08EP\uff09\u5f97\u5206\u7528\u4f5c\u6761\u4ef6\u4fe1\u53f7\u3002\u8be5\u5f97\u5206\u901a\u8fc7\u5728NAVSIM\u6a21\u62df\u5668\u4e2d\u8bc4\u4f30NavTrain\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u6761\u771f\u5b9e\u8f68\u8ff9\u5f97\u5230\u3002\u63a8\u7406\u65f6\uff0c\u82e5\u5c06EP\u6761\u4ef6\u8bbe\u4e3a1\uff0c\u6a21\u578b\u4f1a\u503e\u5411\u4e8e\u751f\u6210\u66f4\u6fc0\u8fdb\u7684\u9a7e\u9a76\u884c\u4e3a\u3002<\/p>\n\n\n\n<p><strong>\u56db\u3001\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" 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