{"id":35074,"date":"2025-11-25T17:35:10","date_gmt":"2025-11-25T09:35:10","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35074"},"modified":"2025-11-25T17:35:10","modified_gmt":"2025-11-25T09:35:10","slug":"2025-11-25-%e6%b5%99%e5%a4%a7%e4%b8%80%e7%af%87%e4%b8%ad%e7%a8%bfaaai26%e7%9a%84%e5%b7%a5%e4%bd%9cdiffrefiner%ef%bc%9a%e4%b8%a4%e9%98%b6%e6%ae%b5%e8%bd%a8%e8%bf%b9%e9%a2%84%e6%b5%8b%e6%a1%86","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/11\/25\/35074\/","title":{"rendered":"2025-11-25 \u6d59\u5927\u4e00\u7bc7\u4e2d\u7a3fAAAI&#8217;26\u7684\u5de5\u4f5cDiffRefiner\uff1a\u4e24\u9636\u6bb5\u8f68\u8ff9\u9884\u6d4b\u6846\u67b6\uff0c\u521b\u4e0bNAVSIM\u65b0\u7eaa\u5f55\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/xXcWpbLVOB5bexJaenY1AQ\">https:\/\/mp.weixin.qq.com\/s\/xXcWpbLVOB5bexJaenY1AQ<\/a><\/p>\n\n\n\n<p>\u4e0e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u9884\u6d4b\u81ea\u8f66\u56fa\u5b9a\u5019\u9009\u8f68\u8ff9\u96c6\u7684\u5224\u522b\u5f0f\u65b9\u6cd5\u4e0d\u540c\uff0c\u6269\u6563\u6a21\u578b\u7b49\u751f\u6210\u5f0f\u65b9\u6cd5\u80fd\u591f\u5b66\u4e60\u672a\u6765\u8fd0\u52a8\u7684\u6f5c\u5728\u5206\u5e03\uff0c\u5b9e\u73b0\u66f4\u7075\u6d3b\u7684\u8f68\u8ff9\u9884\u6d4b\u3002\u7136\u800c\u7531\u4e8e\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u4f9d\u8d56\u4e8e\u5bf9\u4eba\u5de5\u8bbe\u8ba1\u7684\u8f68\u8ff9\u951a\u70b9\u6216\u968f\u673a\u566a\u58f0\u8fdb\u884c\u53bb\u566a\u5904\u7406\uff0c\u5176\u6027\u80fd\u4ecd\u6709\u8f83\u5927\u63d0\u5347\u7a7a\u95f4\u3002<\/p>\n\n\n\n<p><strong>\u6d59\u6c5f\u5927\u5b66&amp;\u7ebd\u52a2\u7684\u56e2\u961f\u63d0\u51fa\u4e00\u79cd\u5168\u65b0\u7684\u4e24\u9636\u6bb5\u8f68\u8ff9\u9884\u6d4b\u6846\u67b6DiffRefiner<\/strong>\uff1a\u7b2c\u4e00\u9636\u6bb5\u91c7\u7528\u57fa\u4e8eTransformer\u7684proposal\u89e3\u7801\u5668\uff0c\u901a\u8fc7\u5bf9\u4f20\u611f\u5668\u8f93\u5165\u8fdb\u884c\u56de\u5f52\uff0c\u5229\u7528\u9884\u5b9a\u4e49\u8f68\u8ff9\u951a\u70b9\u751f\u6210\u7c97\u7c92\u5ea6\u8f68\u8ff9\u9884\u6d4b\uff1b\u7b2c\u4e8c\u9636\u6bb5\u5f15\u5165\u6269\u6563Refiner\uff0c\u5bf9\u521d\u59cb\u9884\u6d4b\u7ed3\u679c\u8fdb\u884c\u8fed\u4ee3\u53bb\u566a\u4e0e\u4f18\u5316\u3002\u901a\u8fc7\u878d\u5408\u5224\u522b\u5f0f\u8f68\u8ff9proposal\u6a21\u5757\uff0c\u672c\u6587\u4e3a\u751f\u6210\u5f0f\u7cbe\u70bc\u8fc7\u7a0b\u63d0\u4f9b\u4e86\u5f3a\u6709\u529b\u7684\u5f15\u5bfc\uff0c\u663e\u8457\u63d0\u5347\u4e86\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u89c4\u5212\u6027\u80fd\u3002\u6b64\u5916\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u7ec6\u7c92\u5ea6\u53bb\u566a\u89e3\u7801\u5668\u4ee5\u589e\u5f3a\u573a\u666f\u9002\u5e94\u6027\uff0c\u901a\u8fc7\u52a0\u5f3a\u4e0e\u5468\u56f4\u73af\u5883\u7684\u5bf9\u9f50\uff0c\u5b9e\u73b0\u66f4\u7cbe\u51c6\u7684\u8f68\u8ff9\u9884\u6d4b\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cDiffRefiner\u8fbe\u5230\u4e86\u5f53\u524d\u6700\u4f18\u6027\u80fd\uff1a\u5728NAVSIM v2\u6570\u636e\u96c6\u4e0a\u8fbe\u523087.4\u7684EPDMS\u5206\u6570\uff0c\u5728Bench2Drive\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u83b7\u5f9787.1\u7684\u9a7e\u9a76\u5206\u6570\uff08DS\uff09\u548c71.4%\u7684\u6210\u529f\u7387\uff08SR\uff09\uff0c\u5728\u4e24\u4e2a\u516c\u5f00\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u5747\u521b\u4e0b\u65b0\u7eaa\u5f55\u3002\u6d88\u878d\u5b9e\u9a8c\u4e5f\u9a8c\u8bc1\u4e86\u5404\u7ec4\u4ef6\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aDiffRefiner: Coarse to Fine Trajectory Planning via Diffusion Refinement with Semantic Interaction for End to End Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2511.17150<\/li>\n\n\n\n<li>Code\uff1ahttps:\/\/github.com\/nullmax-vision\/DiffRefiner<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e00\u3001\u80cc\u666f\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff08E2E-AD\uff09\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u5176\u80fd\u591f\u76f4\u63a5\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u4e3a\u9a7e\u9a76\u52a8\u4f5c\u6216\u8f68\u8ff9\u89c4\u5212\u3002\u4e0e\u4f9d\u8d56\u5206\u79bb\u7684\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u6a21\u5757\u7684\u4f20\u7edf\u65b9\u6cd5\u4e0d\u540c\uff0c\u7aef\u5230\u7aef\u65b9\u6cd5\u4ee5\u7edf\u4e00\u7684\u65b9\u5f0f\u4f18\u5316\u6574\u4e2a\u9a7e\u9a76\u8fc7\u7a0b\uff0c\u4ece\u800c\u63d0\u5347\u4e86\u9c81\u68d2\u6027\uff0c\u7b80\u5316\u4e86\u90e8\u7f72\u6d41\u7a0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"909\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-276-1024x909.png\" alt=\"\" class=\"wp-image-35078\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-276-1024x909.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-276-300x266.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-276-768x682.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-276.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe1\u5c55\u793a\u4e86\u7aef\u5230\u7aef\u89c4\u5212\u7684\u4e0d\u540c\u8303\u5f0f\uff1a\uff08a\uff09\u5355\u9636\u6bb5\u5224\u522b\u5f0f\u65b9\u6cd5\uff1b\uff08b\uff09\u5355\u9636\u6bb5\u751f\u6210\u5f0f\u6269\u6563\u65b9\u6cd5\uff1b\uff08c\uff09\u672c\u6587\u63d0\u51fa\u7684\u7c97\u5230\u7ec6\u6846\u67b6\uff0c\u878d\u5408\u4e86\u5224\u522b\u5f0fproposal\u6784\u5efa\u4e0e\u751f\u6210\u5f0f\u6269\u6563\u7cbe\u70bc\u3002<\/p>\n\n\n\n<p>\u7528\u4e8e\u81ea\u8f66\u8f68\u8ff9\u9884\u6d4b\u7684\u4f20\u7edf\u65b9\u6cd5\u901a\u5e38\u5bf9\u611f\u77e5\u7279\u5f81\u6216\u76f8\u673a\u8f93\u5165\u8fdb\u884c\u5355\u6b21\u56de\u5f52\u3002\u5c3d\u7ba1\u8ba1\u7b97\u6548\u7387\u8f83\u9ad8\uff0c\u4f46\u8fd9\u4e9b\u57fa\u4e8e\u56de\u5f52\u7684\u65b9\u6cd5\u5728\u5904\u7406\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u7684\u591a\u6a21\u6001\u7279\u6027\u65b9\u9762\u5b58\u5728\u6839\u672c\u6027\u5c40\u9650\u3002\u56de\u5f52\u4f18\u5316\u8fc7\u7a0b\u4f1a\u5bf9\u591a\u6a21\u6001\u884c\u4e3a\u8fdb\u884c\u5e73\u5747\u5904\u7406\uff0c\u5bfc\u81f4\u5728\u590d\u6742\u5341\u5b57\u8def\u53e3\u7b49\u573a\u666f\u4e0b\u7684\u9884\u6d4b\u6548\u679c\u6b20\u4f73\uff0c\u8fdb\u800c\u5728\u771f\u5b9e\u9a7e\u9a76\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u8f83\u5dee\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\uff0c\u8fd1\u671f\u7814\u7a76\u5f00\u59cb\u63a2\u7d22\u79bb\u6563\u5316\u89e3\u7a7a\u95f4\u3002\u4f8b\u5982\uff0c\u4e00\u4e9b\u57fa\u4e8e\u8bc4\u5206\u7684\u65b9\u6cd5\u91c7\u7528\u79bb\u7ebf\u805a\u7c7b\u7684\u8f68\u8ff9\u951a\u70b9\u4f5c\u4e3a\u79bb\u6563\u8fd0\u52a8\u5019\u9009\uff0c\u5c06\u8f68\u8ff9\u9884\u6d4b\u8f6c\u5316\u4e3a\u5206\u7c7b\u95ee\u9898\u3002\u901a\u8fc7\u8bc4\u4f30\u6bcf\u4e2a\u951a\u70b9\u4e0e\u4eba\u7c7b\u9a7e\u9a76\u793a\u8303\u7684\u76f8\u4f3c\u5ea6\uff0c\u6216\u5229\u7528\u79bb\u7ebf\u4eff\u771f\u8bc4\u4f30\u7ed9\u51fa\u7684\u5206\u6570\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u80fd\u591f\u5b66\u4e60\u672a\u6765\u8fd0\u52a8\u7684\u5206\u5e03\u3002\u7136\u800c\uff0c\u968f\u7740\u951a\u70b9\u96c6\u89c4\u6a21\u7684\u589e\u5927\uff0c\u8ba1\u7b97\u590d\u6742\u5ea6\u4f1a\u663e\u8457\u589e\u52a0\uff0c\u9650\u5236\u4e86\u6b64\u7c7b\u65b9\u6cd5\u5728\u5bf9\u5ef6\u8fdf\u654f\u611f\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684\u90e8\u7f72\u53ef\u884c\u6027\u3002<\/p>\n\n\n\n<p>\u4e00\u4e2a\u65e5\u76ca\u53d7\u5230\u5173\u6ce8\u7684\u7814\u7a76\u65b9\u5411\u662f\u5229\u7528\u6269\u6563\u6a21\u578b\u89e3\u51b3\u9a7e\u9a76\u884c\u4e3a\u7684\u591a\u6a21\u6001\u6311\u6218\u3002\u57fa\u4e8e\u5176\u5728\u56fe\u50cf\u548c\u89c6\u9891\u751f\u6210\u9886\u57df\u7684\u663e\u8457\u6210\u529f\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u8f68\u8ff9\u9884\u6d4b\u65b9\u9762\u5c55\u73b0\u51fa\u5de8\u5927\u6f5c\u529b\u3002\u5982\u56fe1\uff08b\uff09\u6240\u793a\uff0c\u8fd9\u4e9b\u6a21\u578b\u4e3a\u8f68\u8ff9\u9884\u6d4b\u63d0\u4f9b\u4e86\u4e00\u4e2a\u8fde\u7eed\u7684\u751f\u6210\u5f0f\u6846\u67b6\u3002\u901a\u8fc7\u5bf9\u9ad8\u65af\u5206\u5e03\u6837\u672c\u8fdb\u884c\u8fed\u4ee3\u53bb\u566a\uff0c\u5b83\u4eec\u80fd\u591f\u751f\u6210\u591a\u6837\u5316\u3001\u7269\u7406\u4e0a\u5408\u7406\u7684\u8f68\u8ff9\uff0c\u540c\u65f6\u81ea\u7136\u6355\u6349\u9a7e\u9a76\u51b3\u7b56\u4e2d\u56fa\u6709\u7684\u591a\u6a21\u6001\u7279\u6027\u3002<\/p>\n\n\n\n<p>DiffusionDrive\u901a\u8fc7\u5bf9\u951a\u70b9\u53c2\u6570\u5316\u7684\u9ad8\u65af\u6df7\u5408\u6a21\u578b\u91c7\u6837\u8fdb\u884c\u53bb\u566a\uff0c\u751f\u6210\u591a\u6837\u5316\u7684\u5b9e\u65f6\u8f68\u8ff9\u3002\u7136\u800c\uff0c\u5f53\u524d\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u65b9\u6cd5\u5728\u521d\u59cb\u5316\u8fc7\u7a0b\u4e2d\u5b58\u5728\u5173\u952e\u5c40\u9650\uff1a\u8fd9\u4e9b\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u65e0\u7ed3\u6784\u7684\u9ad8\u65af\u566a\u58f0\u6216\u56fa\u5b9a\u7684\u8f68\u8ff9\u884d\u751f\u951a\u70b9\uff0c\u4e24\u8005\u5747\u7f3a\u4e4f\u573a\u666f\u9002\u5e94\u6027\u3002\u5f53\u521d\u59cb\u6837\u672c\u504f\u79bb\u53ef\u884c\u8fd0\u52a8\u5206\u5e03\u65f6\uff0c\u9700\u8981\u5927\u91cf\u53bb\u566a\u8fed\u4ee3\u6b65\u9aa4\uff0c\u8fdb\u800c\u5bfc\u81f4\u8ba1\u7b97\u5ef6\u8fdf\u589e\u52a0\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51faDiffRefiner\uff0c\u4e00\u79cd\u65b0\u9896\u7684\u4e24\u9636\u6bb5\u8f68\u8ff9\u9884\u6d4b\u6846\u67b6\uff0c\u91c7\u7528\u7c97\u5230\u7ec6\u7684\u67b6\u6784\u8bbe\u8ba1\u3002\u57fa\u4e8eTransformer\u7684proposal\u89e3\u7801\u5668\u9996\u5148\u901a\u8fc7\u5bf9\u9884\u5b9a\u4e49\u951a\u70b9\u5e93\u8fdb\u884c\u56de\u5f52\uff0c\u751f\u6210\u7c97\u7c92\u5ea6\u8f68\u8ff9\u9884\u6d4b\uff0c\u4ea7\u751f\u7ed3\u6784\u5316\u5148\u9a8c\uff0c\u4e3a\u540e\u7eed\u7cbe\u70bc\u63d0\u4f9b\u9ad8\u5c42\u5f15\u5bfc\u3002\u7b2c\u4e8c\u9636\u6bb5\u91c7\u7528\u6761\u4ef6\u6269\u6563\u7cbe\u70bc\u5668\uff0c\u901a\u8fc7\u751f\u6210\u5f0f\u6269\u6563\u8fc7\u7a0b\u5bf9\u8fd9\u4e9b\u521d\u59cb\u9884\u6d4b\u8fdb\u884c\u8fed\u4ee3\u4f18\u5316\uff0c\u4ece\u800c\u6355\u6349\u8f68\u8ff9\u7ec6\u8282\u3002\u8fd9\u79cd\u6df7\u5408\u65b9\u6cd5\u901a\u8fc7\u5f15\u5165\u5224\u522b\u5f0f\u8f68\u8ff9proposal\uff0c\u4e3a\u540e\u7eed\u751f\u6210\u5f0f\u7cbe\u70bc\u8fc7\u7a0b\u63d0\u4f9b\u4e86\u4f18\u8d28\u521d\u59cb\u5316\uff0c\u663e\u8457\u63d0\u5347\u4e86\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u4e3a\u589e\u5f3a\u573a\u666f\u9002\u5e94\u6027\uff0c\u672c\u6587\u63d0\u51fa\u7ec6\u7c92\u5ea6\u53bb\u566a\u89e3\u7801\u5668\uff0c\u5229\u7528\u7ea6\u675f\u6269\u6563\u5b9e\u73b0\u9884\u6d4b\u8f68\u8ff9\u4e0e\u5468\u56f4\u73af\u5883\u7684\u7cbe\u51c6\u5bf9\u9f50\u3002\u5177\u4f53\u800c\u8a00\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u7ec6\u7c92\u5ea6\u8bed\u4e49\u4ea4\u4e92\u6a21\u5757\uff0c\u5c06\u73af\u5883\u7ea6\u675f\u7cfb\u7edf\u5730\u878d\u5165\u8f68\u8ff9\u7cbe\u70bc\u8fc7\u7a0b\u3002\u8be5\u6a21\u5757\u901a\u8fc7\u4e09\u4e2a\u9636\u6bb5\u8fd0\u4f5c\uff1a\u9996\u5148\uff0c\u4ea4\u53c9\u6ce8\u610f\u529b\u5c42\u5efa\u7acb\u8f68\u8ff9\u7279\u5f81\u4e0eBEV\u8bed\u4e49\u533a\u57df\uff08\u5982\u53ef\u884c\u9a76\u533a\u57df\u548c\u969c\u788d\u7269\uff09\u4e4b\u95f4\u7684\u5bc6\u96c6\u5bf9\u5e94\u5173\u7cfb\uff0c\u4ee5\u7f16\u7801\u6574\u4f53\u5168\u5c40\u4e0a\u4e0b\u6587\u548c\u573a\u666f\u7ea7\u4f9d\u8d56\uff1b\u5176\u6b21\uff0c\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u9009\u62e9\u6027\u5730\u5c06\u8f68\u8ff9\u7aef\u70b9\u4e0e\u5173\u952e\u533a\u57df\u8bed\u4e49\u5bf9\u9f50\uff0c\u63d0\u53d6\u7ec6\u7c92\u5ea6\u5c40\u90e8\u7ed3\u6784\u548c\u4ea4\u4e92\u7ebf\u7d22\uff1b\u6700\u540e\uff0c\u81ea\u9002\u5e94\u95e8\u63a7\u7f51\u7edc\u52a8\u6001\u878d\u5408\u5168\u5c40\u573a\u666f\u8868\u5f81\u4e0e\u5c40\u90e8\u8bed\u4e49\u4fe1\u606f\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u5e73\u8861\u7c97\u7c92\u5ea6\u4e0a\u4e0b\u6587\u7406\u89e3\u4e0e\u7cbe\u51c6\u7a7a\u95f4\u5bf9\u9f50\u3002\u8fd9\u79cd\u5206\u5c42\u8bbe\u8ba1\u6709\u52a9\u4e8e\u5728\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u7cbe\u70bc\u6846\u67b6\u4e2d\u5b9e\u73b0\u7cbe\u51c6\u3001\u4e0a\u4e0b\u6587\u611f\u77e5\u7684\u8f68\u8ff9\u4f18\u5316\u3002<\/p>\n\n\n\n<p>\u5728\u5b9e\u9a8c\u4e2d\uff0c\u672c\u6587\u5728\u5f00\u73af\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6NAVSIM\u548c\u95ed\u73af\u4eff\u771f\u57fa\u51c6\u6d4b\u8bd5Bench2Drive\u4e0a\u5bf9DiffRefiner\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cDiffRefiner\u8fbe\u5230\u4e86\u5f53\u524d\u6700\u4f18\u6027\u80fd\uff1a\u5728NAVSIM v2\u4e0a\u83b7\u5f9787.4\u7684EPDMS\u5206\u6570\uff0c\u5728Bench2Drive\u4e0a\u83b7\u5f9787.1\u7684DS\u548c71.4%\u7684SR\uff0c\u5728\u4e24\u4e2a\u516c\u5f00\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u5747\u521b\u4e0b\u65b0\u7eaa\u5f55\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e00\u79cd\u7c97\u5230\u7ec6\u89c4\u5212\u6846\u67b6\uff0c\u9996\u5148\u751f\u6210\u57fa\u4e8e\u951a\u70b9\u7684\u9ad8\u6548\u8f68\u8ff9proposal\u4f5c\u4e3a\u5f3a\u5148\u9a8c\uff0c\u7136\u540e\u901a\u8fc7\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u7cbe\u70bc\u5bf9\u5176\u8fdb\u884c\u4f18\u5316\uff1b<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u5e26\u6709\u573a\u666f\u611f\u77e5\u8bed\u4e49\u4ea4\u4e92\u6a21\u5757\u7684\u7ec6\u7c92\u5ea6\u53bb\u566a\u89e3\u7801\u5668\uff0c\u901a\u8fc7\u5728\u53bb\u566a\u8fc7\u7a0b\u4e2d\u4f18\u5316\u73af\u5883\u5bf9\u9f50\uff0c\u5b9e\u73b0\u7cbe\u51c6\u7684\u8f68\u8ff9\u7cbe\u70bc\uff1b<\/li>\n\n\n\n<li>DiffRefiner\u5728\u5f00\u73af\u771f\u5b9e\u4e16\u754c\u57fa\u51c6\u6d4b\u8bd5NAVSIM v2\u548c\u95ed\u73af\u4eff\u771f\u57fa\u51c6\u6d4b\u8bd5Bench2Drive\u4e0a\u5747\u53d6\u5f97\u4e86\u5f53\u524d\u6700\u4f18\uff08SOTA\uff09\u6027\u80fd\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u4e09\u3001DiffRefiner\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"59\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112501.png\" alt=\"\" class=\"wp-image-35079\" style=\"width:893px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112501.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112501-300x26.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"643\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-277-1024x643.png\" alt=\"\" class=\"wp-image-35080\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-277-1024x643.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-277-300x188.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-277-768x482.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-277.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6574\u4f53\u6846\u67b6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"136\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112502.png\" alt=\"\" class=\"wp-image-35081\" style=\"width:893px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112502.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112502-300x59.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u611f\u77e5\u6a21\u5757<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"389\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112503.png\" alt=\"\" class=\"wp-image-35082\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112503.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112503-300x170.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>proposal\u89e3\u7801\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"247\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112504.png\" alt=\"\" class=\"wp-image-35083\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112504.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112504-300x108.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>\u6269\u6563\u7ec6\u5316\u5668<\/strong><\/p>\n\n\n\n<p>\u5728\u7b2c\u4e8c\u9636\u6bb5\uff0c\u57fa\u4e8e\u6269\u6563\u7684refiner\u901a\u8fc7\u6761\u4ef6\u53bb\u566a\u4f18\u5316\u6240\u6709\u8f68\u8ff9proposal\uff0c\u751f\u6210\u66f4\u771f\u5b9e\u4e14\u4e0a\u4e0b\u6587\u76f8\u5173\u7684\u9884\u6d4b\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5982\u56fe3\u6240\u793a\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u7ec6\u7c92\u5ea6\u53bb\u566a\u89e3\u7801\u5668\uff0c\u5728\u8fed\u4ee3\u7ec6\u5316\u8fc7\u7a0b\u4e2d\u660e\u786e\u65bd\u52a0\u8f68\u8ff9-\u73af\u5883\u5bf9\u9f50\u7ea6\u675f\uff0c\u786e\u4fdd\u589e\u5f3a\u5bf9\u573a\u666f\u8bed\u4e49\u548c\u52a8\u6001\u7684\u4f9d\u4ece\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1014\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-278-1014x1024.png\" alt=\"\" class=\"wp-image-35084\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-278-1014x1024.png 1014w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-278-297x300.png 297w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-278-150x150.png 150w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-278-768x775.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-278-991x1000.png 991w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-278.png 1056w\" sizes=\"(max-width: 1014px) 100vw, 1014px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"930\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112505.png\" alt=\"\" class=\"wp-image-35085\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112505.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112505-222x300.png 222w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"268\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112506.png\" alt=\"\" class=\"wp-image-35086\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112506.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112506-300x117.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u635f\u5931<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"283\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112507.png\" alt=\"\" class=\"wp-image-35087\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112507.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112507-300x123.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u56db\u3001\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u91c7\u7528\u4e24\u4e2a\u5e7f\u6cdb\u8ba4\u53ef\u7684\u57fa\u51c6\uff1a\u7528\u4e8e\u5f00\u73af\u8bc4\u4f30\u7684NAVSIM v2\u548c\u7528\u4e8e\u95ed\u73af\u6d4b\u8bd5\u7684Bench2Drive\u3002<\/p>\n\n\n\n<p>NAVSIM\uff1aNAVSIM\u57fa\u4e8eOpenscene\u6570\u636e\u96c6\uff0c\u662f\u4e00\u4e2a\u771f\u5b9e\u4e16\u754c\u7684\u3001\u4ee5\u89c4\u5212\u4e3a\u6838\u5fc3\u7684\u57fa\u51c6\uff0c\u7528\u4e8e\u5728\u5f00\u73af\u573a\u666f\u4e0b\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u3002\u672c\u6587\u5728Navtest\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u8bc4\u4f30\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b12146\u5e27\uff0c\u6db5\u76d6\u4ea4\u53c9\u8def\u53e3\u3001\u52a8\u6001\u4ee3\u7406\u548c\u5404\u79cd\u4ea4\u901a\u6761\u4ef6\u7b49\u591a\u6837\u5316\u573a\u666f\u3002\u4e3a\u8861\u91cf\u89c4\u5212\u6027\u80fd\uff0c\u672c\u6587\u4f7f\u7528NAVSIM v2\u4e2d\u5f15\u5165\u7684\u6269\u5c55\u9884\u6d4b\u9a7e\u9a76\u6a21\u578b\u5206\u6570\uff08EPDMS\uff09\u3002<\/p>\n\n\n\n<p>Bench2Drive\uff1aBench2Drive\u662f\u57fa\u4e8eCARLA\u7684\u95ed\u73af\u8bc4\u4f30\u57fa\u51c6\uff0c\u65e8\u5728\u8bc4\u4f30\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u4ea4\u4e92\u5f0f\u57ce\u5e02\u573a\u666f\u4e2d\u7684\u6027\u80fd\u3002\u672c\u6587\u5728220\u6761\u8def\u7ebf\u4e0a\u8bc4\u4f30\u6a21\u578b\uff0c\u8fd9\u4e9b\u8def\u7ebf\u6db5\u76d644\u4e2a\u591a\u6837\u5316\u7684\u4ea4\u4e92\u5f0f\u573a\u666f\u3002\u5b98\u65b9\u6307\u6807\u5305\u62ec\u9a7e\u9a76\u5206\u6570\uff08DS\uff09\u3001\u6210\u529f\u7387\uff08SR\uff09\u548c\u591a\u80fd\u529b\u5206\u6570\uff0c\u8fd9\u4e9b\u6307\u6807\u5171\u540c\u8861\u91cf\u5bfc\u822a\u6027\u80fd\u3001\u5b89\u5168\u6027\u548c\u89c4\u5219\u9075\u5b88\u60c5\u51b5\u3002<\/p>\n\n\n\n<p>\u5b9e\u73b0\u7ec6\u8282\uff1a\u5bf9\u4e8eNAVSIM\u57fa\u51c6\uff0c\u672c\u6587\u4f7f\u7528\u6807\u51c6\u7684navtrain\u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\u3002\u4e0eNAVSIM v2\u6311\u6218\u8d5b\u89c4\u8303\u4e00\u81f4\uff0c\u672c\u6587\u7684\u6a21\u578b\u5904\u7406\u6765\u81ea\u524d\u89c6\u3001\u5de6\u524d\u89c6\u548c\u53f3\u524d\u89c6\u6444\u50cf\u5934\u7684\u540c\u6b65\u591a\u89c6\u89d2\u8f93\u5165\u3002\u8bad\u7ec3\u91c7\u7528384\u7684\u6279\u6b21\u5927\u5c0f\u548c4e-4\u7684\u5b66\u4e60\u7387\uff0c\u5171\u8bad\u7ec3100\u4e2aepoch\uff0c\u611f\u77e5\u9884\u8bad\u7ec3\u548c\u7aef\u5230\u7aef\u5fae\u8c03\u9636\u6bb5\u91c7\u7528\u76f8\u540c\u7684\u8bad\u7ec3\u8c03\u5ea6\u3002\u5bf9\u4e8eBench2Drive\u8bc4\u4f30\uff0c\u672c\u6587\u9075\u5faaTF++\u5efa\u7acb\u7684\u6570\u636e\u96c6\u914d\u7f6e\u548c\u9884\u5904\u7406\u6d41\u7a0b\u3002\u4e24\u4e2a\u57fa\u51c6\u5747\u91c7\u752820\u4e2a\u805a\u7c7b\u8f68\u8ff9\u951a\u70b9\u8fdb\u884cproposal\u521d\u59cb\u5316\uff0c\u5e76\u5c06\u6240\u6709proposal\u4f20\u9012\u5230\u7ec6\u5316\u6a21\u5757\u3002\u6240\u6709\u5b9e\u9a8c\u5747\u5728\u75318\u5757NVIDIA RTX 4090 GPU\u7ec4\u6210\u7684\u96c6\u7fa4\u4e0a\u8fdb\u884c\u3002<\/p>\n\n\n\n<p><strong>\u4e0eSOTA\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p>NAVSIM\u4e0a\u7684\u7ed3\u679c\uff1a\u672c\u6587\u5728NAVSIM v2\u57fa\u51c6\u4e0a\u8fdb\u884c\u4e86\u5168\u9762\u7684\u5f00\u73af\u8bc4\u4f30\u3002\u5982\u88681\u6240\u793a\uff0c\u672c\u6587\u7684\u6846\u67b6\u5b9e\u73b0\u4e86\u65b0\u7684\u6700\u5148\u8fdb\u6027\u80fd\uff0c\u5927\u5e45\u8d85\u8d8a\u4e86\u4e4b\u524d\u7684\u6700\u4f73\u65b9\u6cd5\uff0c\u5728ResNet34\u9aa8\u5e72\u7f51\u7edc\u4e0b\u63d0\u5347\u4e863.7%\uff0c\u5728V2-99\u9aa8\u5e72\u7f51\u7edc\u4e0b\u63d0\u5347\u4e861.6%\u3002\u7ed3\u679c\u663e\u793a\u5728\u5b89\u5168\u5173\u952e\u6307\u6807\u4e0a\u6709\u663e\u8457\u63d0\u5347\uff0c\u9a8c\u8bc1\u4e86\u672c\u6587\u67b6\u6784\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"824\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-279-1024x824.png\" alt=\"\" class=\"wp-image-35088\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-279-1024x824.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-279-300x241.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-279-768x618.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-279.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Bench2Drive\u4e0a\u7684\u7ed3\u679c\uff1a\u672c\u6587\u5728Bench2Drive\u57fa\u51c6\u7684\u95ed\u73af\u573a\u666f\u4e0b\u8fdb\u4e00\u6b65\u8bc4\u4f30\u4e86\u672c\u6587\u7684\u65b9\u6cd5\u3002\u5982\u88682\u6240\u793a\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u4f18\u4e8e\u6240\u6709\u73b0\u6709\u7684\u57fa\u4e8e\u5b66\u4e60\u7684\u57fa\u51c6\uff0c\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u7ed3\u679c\u3002\u5728\u4e0d\u4f7f\u7528\u6a21\u578b\u96c6\u6210\u7684\u60c5\u51b5\u4e0b\uff0c\u4e0e\u4e4b\u524d\u7684\u6700\u4f73\u65b9\u6cd5HiPAD\u76f8\u6bd4\uff0c\u9a7e\u9a76\u5206\u6570\uff08DS\uff09\u63d0\u5347\u4e860.3\uff0c\u6210\u529f\u7387\uff08SR\uff09\u63d0\u5347\u4e862.3\u3002\u4e0e\u73b0\u6709\u7684\u5224\u522b\u5f0f\u6216\u5168\u751f\u6210\u5f0f\u65b9\u6cd5\u4e0d\u540c\uff0c\u672c\u6587\u7684\u6846\u67b6\u91c7\u7528\u6df7\u5408\u751f\u6210\u5f0f\u8303\u5f0f\uff0c\u5c06\u57fa\u4e8e\u7c97\u951a\u70b9\u7684proposal\u4e0e\u57fa\u4e8e\u6269\u6563\u7684\u7ec6\u5316\u76f8\u7ed3\u5408\u3002\u8fd9\u79cd\u8bbe\u8ba1\u5728\u5927\u591a\u6570\u591a\u80fd\u529b\u6307\u6807\u4e0a\u5747\u53d6\u5f97\u4e86\u6301\u7eed\u63d0\u5347\uff0c\u8bc1\u660e\u4e86\u5176\u5728\u591a\u6837\u5316\u4ea4\u4e92\u5f0f\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u9c81\u68d2\u6027\u548c\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u89c4\u5212\u6846\u67b6\u7684\u6d88\u878d\uff1a\u88683\u8bc4\u4f30\u4e86\u672c\u6587\u89c4\u5212\u6846\u67b6\u4e2d\u6bcf\u4e2a\u9636\u6bb5\u7684\u5f71\u54cd\u3002\u7b2c1\u884c\u548c\u7b2c6\u884c\u7684\u5bf9\u6bd4\u8868\u660e\uff0c\u5f15\u5165\u7ec6\u5316\u5668\u4f7fEPDMS\u63d0\u5347\u4e861.2\uff0c\u8bc1\u5b9e\u5176\u663e\u8457\u63d0\u5347\u4e86\u8f68\u8ff9proposal\u7684\u8d28\u91cf\u3002\u7b2c2\u884c\u548c\u7b2c6\u884c\u8fdb\u4e00\u6b65\u8868\u660e\uff0c\u66f4\u9ad8\u8d28\u91cf\u7684proposal\u63d0\u9ad8\u4e86\u7ec6\u5316\u7684\u4e0a\u9650\uff0c\u5176\u4e2d\u7b2c2\u884c\u91c7\u7528\u4e24\u6b21\u53bb\u566a\u8fed\u4ee3\uff0c\u800c\u7b2c6\u884c\u4ec5\u4f7f\u7528\u4e00\u6b21\u8fed\u4ee3\u3002\u540c\u65f6\uff0c\u7b2c1\u884c\u548c\u7b2c5\u884c\u8868\u660e\uff0c\u9002\u5f53\u7684\u7ec6\u5316\u5668\u76d1\u7763\u6709\u52a9\u4e8eproposal\u5b66\u4e60\u3002\u6700\u540e\uff0c\u7b2c4\u884c\u548c\u7b2c6\u884c\u7684\u5bf9\u6bd4\u7a81\u663e\u4e86\u672c\u6587\u7684\u751f\u6210\u5f0f\u7ec6\u5316\u5668\u76f8\u5bf9\u4e8e\u5224\u522b\u5f0f\u66ff\u4ee3\u65b9\u6848\u5728\u6267\u884c\u7ec6\u7c92\u5ea6\u8f68\u8ff9\u8c03\u6574\u65b9\u9762\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"913\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-280-913x1024.png\" alt=\"\" class=\"wp-image-35089\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-280-913x1024.png 913w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-280-268x300.png 268w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-280-768x861.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-280-892x1000.png 892w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-280.png 1072w\" sizes=\"(max-width: 913px) 100vw, 913px\" \/><\/figure>\n\n\n\n<p>\u7ec6\u5316\u5668\u7ec4\u4ef6\u7684\u6d88\u878d\uff1a\u5982\u88684\u6240\u793a\uff0c\u672c\u6587\u5bf9\u7ec6\u5316\u5668\u89e3\u7801\u5668\u4e2d\u7684\u6bcf\u4e2a\u6a21\u5757\u8fdb\u884c\u4e86\u7cfb\u7edf\u6027\u6d88\u878d\uff0c\u4ee5\u8bc4\u4f30\u5176\u8d21\u732e\u3002\u7ed3\u679c\u663e\u793a\u6240\u6709\u7ec4\u4ef6\u5747\u5e26\u6765\u4e86\u6301\u7eed\u63d0\u5347\uff0c\u9a8c\u8bc1\u4e86\u6574\u4f53\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u3002\u5bf9\u6bd4\u7b2c4-6\u884c\uff0c\u8bed\u4e49\u4ea4\u4e92\u673a\u5236\u901a\u8fc7\u5229\u7528\u7ec6\u7c92\u5ea6\u8bed\u4e49\u7ebf\u7d22\uff0c\u9010\u6b65\u63d0\u5347\u4e86\u573a\u666f\u7406\u89e3\u80fd\u529b\u5e76\u51cf\u5c11\u4e86\u4e0e\u78b0\u649e\u76f8\u5173\u7684\u9519\u8bef\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"683\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-281-1024x683.png\" alt=\"\" class=\"wp-image-35090\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-281-1024x683.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-281-300x200.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-281-768x512.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-281.png 1068w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7ec6\u7c92\u5ea6\u8bed\u4e49\u4ea4\u4e92\u6a21\u5757\uff08FGSIM\uff09\u7ec4\u4ef6\u7684\u5206\u6790\uff1a\u5982\u88685\u6240\u793a\uff0c\u5168\u5c40\u4e0a\u4e0b\u6587\u548c\u5c40\u90e8\u76ee\u6807\u7ebf\u7d22\u5404\u81ea\u72ec\u7acb\u5e26\u6765\u4e86\u6027\u80fd\u63d0\u5347\uff0c\u8bc1\u660e\u4e86\u5b83\u4eec\u7684\u4e92\u8865\u4f5c\u7528\u3002\u7136\u800c\uff0c\u5c06\u4e24\u8005\u7b80\u5355\u76f8\u52a0\u878d\u5408\u4f1a\u56e0\u4fe1\u606f\u51b2\u7a81\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u672c\u6587\u7684\u95e8\u63a7\u673a\u5236\u81ea\u9002\u5e94\u5730\u5e73\u8861\u4e86\u5b83\u4eec\u7684\u8d21\u732e\uff0c\u5b9e\u73b0\u4e86\u6700\u4f73\u6027\u80fd\uff0c\u8bc1\u5b9e\u4e86\u81ea\u9002\u5e94\u7279\u5f81\u878d\u5408\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"869\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-282-869x1024.png\" alt=\"\" class=\"wp-image-35091\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-282-869x1024.png 869w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-282-255x300.png 255w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-282-768x905.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-282-849x1000.png 849w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-282.png 1054w\" sizes=\"(max-width: 869px) 100vw, 869px\" \/><\/figure>\n\n\n\n<p>\u53bb\u566a\u6b65\u9aa4\u7684\u6d88\u878d\uff1a\u88686\u7684\u7ed3\u679c\u8868\u660e\uff0c\u4ec5\u9700\u4e00\u6b21\u53bb\u566a\u6b65\u9aa4\u5373\u53ef\u5b9e\u73b0\u63a5\u8fd1\u6700\u4f18\u7684\u6027\u80fd\u3002\u8fd9\u4e00\u53d1\u73b0\u7a81\u663e\u4e86\u9ad8\u8d28\u91cfproposal\u4f5c\u4e3a\u5f3a\u5148\u9a8c\u7684\u6709\u6548\u6027\uff0c\u80fd\u591f\u5b9e\u73b0\u9ad8\u6548\u7684\u57fa\u4e8e\u6269\u6563\u7684\u7ec6\u5316\uff0c\u5e76\u8868\u660e\u672c\u6587\u7684\u6846\u67b6\u9002\u7528\u4e8e\u5b9e\u65f6\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002<\/p>\n\n\n\n<p><strong>\u5b9a\u6027\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe4\u6240\u793a\uff0c\u5728\u590d\u6742\u7684\u4ea4\u4e92\u5f0f\u573a\u666f\u4e2d\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u4f18\u4e8eDiffusionDrive\uff0c\u80fd\u591f\u66f4\u597d\u5730\u5173\u6ce8\u7ec6\u7c92\u5ea6\u573a\u666f\u7ec6\u8282\u3002\u5b83\u51cf\u5c11\u4e86\u4e0e\u5468\u56f4\u4ee3\u7406\u7684\u78b0\u649e\uff0c\u5e76\u66f4\u4e25\u683c\u5730\u9075\u5b88\u5730\u56fe\u7ea6\u675f\uff0c\u751f\u6210\u4e86\u66f4\u9ad8\u8d28\u91cf\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u6d59\u6c5f\u5927\u5b66&amp;\u7ebd\u52a2\u7684\u56e2\u961f\u63d0\u51fa\u4e86DiffRefiner\uff0c\u8fd9\u662f\u4e00\u79cd\u7528\u4e8e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u7684\u65b0\u7684\u4e24\u9636\u6bb5\u8f68\u8ff9\u9884\u6d4b\u6846\u67b6\u3002DiffRefiner\u7ed3\u5408\u4e86\u4e00\u4e2a\u57fa\u4e8eTransformer\u7684proposal\u89e3\u7801\u5668\u6765\u751f\u6210\u7c97\u7565\u7684\u8f68\u8ff9\uff0c\u4e3a\u540e\u7eed\u7684\u751f\u6210\u5f0f\u7ec6\u5316\u63d0\u4f9b\u4e86\u5f3a\u6709\u529b\u7684\u6307\u5bfc\u3002\u6269\u6563\u7ec6\u5316\u5668\u901a\u8fc7\u4f7f\u7528\u7ec6\u7c92\u5ea6\u89e3\u7801\u5668\u7684\u8fed\u4ee3\u53bb\u566a\u8fdb\u4e00\u6b65\u6539\u8fdb\u4e86\u8fd9\u4e9b\u5efa\u8bae\uff0c\u4ece\u800c\u589e\u5f3a\u4e86\u573a\u666f\u5408\u89c4\u6027\uff0c\u5e76\u4ea7\u751f\u4e86\u66f4\u51c6\u786e\u548c\u903c\u771f\u7684\u8f68\u8ff9\u3002\u5728NAVSIM v2\u548cBench2Drive\u4e0a\u8fdb\u884c\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8868\u660e\uff0cDiffRefiner\u53d6\u5f97\u4e86\u6700\u65b0\u7684SOTA\uff01<\/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-35074","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":10,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35074"}],"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=35074"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35074\/revisions"}],"predecessor-version":[{"id":35092,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35074\/revisions\/35092"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=35074"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=35074"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=35074"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}