{"id":35144,"date":"2025-11-28T17:32:33","date_gmt":"2025-11-28T09:32:33","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35144"},"modified":"2025-11-28T17:32:33","modified_gmt":"2025-11-28T09:32:33","slug":"2025-11-28-%e9%97%ad%e7%8e%af%e8%ae%ad%e7%bb%83%e7%bb%88%e4%ba%8e%e8%a1%a5%e4%b8%8a%e4%ba%86%ef%bc%81ad-r1%ef%bc%9a%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e7%ab%af%e5%88%b0%e7%ab%af%e9%97%ad%e7%8e%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/11\/28\/35144\/","title":{"rendered":"2025-11-28 \u95ed\u73af\u8bad\u7ec3\u7ec8\u4e8e\u8865\u4e0a\u4e86\uff01AD-R1\uff1a\u4e16\u754c\u6a21\u578b\u7aef\u5230\u7aef\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\u65b0\u6846\u67b6\uff08\u6fb3\u95e8\u5927\u5b66&amp;\u7406\u60f3\u7b49\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a 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World 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Foreseeing Benchmark\uff09\u4e0a\u7684\u6d4b\u8bd5\uff09\uff0c\u6211\u4eec\u8bc1\u660e\u6240\u63d0\u6a21\u578b\u5728\u6545\u969c\u9884\u6d4b\u65b9\u9762\u663e\u8457\u4f18\u4e8e\u57fa\u7ebf\u6a21\u578b\u3002\u56e0\u6b64\uff0c\u5f53\u5176\u4f5c\u4e3a\u8bc4\u4f30\u5668\u4f7f\u7528\u65f6\uff0c\u80fd\u591f\u5728\u590d\u6742\u4eff\u771f\u573a\u666f\u4e2d\u5927\u5e45\u51cf\u5c11\u5b89\u5168\u8fdd\u89c4\u4e8b\u4ef6\uff0c\u8fd9\u8868\u660e\u6559\u4f1a\u6a21\u578b\u201c\u9884\u60f3\u5371\u9669\u201d\u662f\u6784\u5efa\u771f\u6b63\u5b89\u5168\u3001\u667a\u80fd\u7684\u81ea\u52a8\u9a7e\u9a76\u667a\u80fd\u4f53\u7684\u5173\u952e\u4e00\u6b65\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aAD-R1: Closed-Loop Reinforcement Learning for End-to-End Autonomous Driving with Impartial World Models<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2511.20325<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e00\u3001\u80cc\u666f\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8fd1\u5e74\u6765\u5f7b\u5e95\u6539\u53d8\u4e86\u8be5\u9886\u57df\uff0c\u4f46\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\uff08IL\uff09\u8bad\u7ec3\u7684\u7b56\u7565\u5728\u5b9e\u9645\u90e8\u7f72\u4e2d\u4ecd\u9762\u4e34\u91cd\u5927\u6311\u6218\uff0c\u4f8b\u5982\u56e0\u5206\u5e03\u504f\u79fb\u5bfc\u81f4\u7684\u957f\u5c3e\u4e8b\u4ef6\u6545\u969c\u3002\u56e0\u6b64\uff0c\u8be5\u9886\u57df\u6b63\u65e5\u76ca\u8f6c\u5411\u901a\u8fc7\u4e3b\u52a8\u73af\u5883\u4ea4\u4e92\u5b9e\u73b0\u7684\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\uff0c\u4ee5\u63d0\u5347\u667a\u80fd\u4f53\u7684\u51b3\u7b56\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5c06\u5f3a\u5316\u5b66\u4e60\u6709\u6548\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u9053\u8def\u5145\u6ee1\u6311\u6218\uff0c\u5176\u89c4\u6a21\u5316\u6210\u529f\u4ecd\u9065\u4e0d\u53ef\u53ca\u3002\u4e00\u4e2a\u6839\u672c\u969c\u788d\u6e90\u4e8e\u5f3a\u5316\u5b66\u4e60\u667a\u80fd\u4f53\u7684\u8bad\u7ec3\u73af\u5883\u3002\u4f20\u7edf\u65b9\u6cd5\u5fc5\u987b\u4f9d\u8d56\u5916\u90e8\u4eff\u771f\u5668\uff0c\u800c\u8fd9\u4e9b\u4eff\u771f\u5668\u5b58\u5728\u81ea\u8eab\u5c40\u9650\uff1a\u56fe\u5f62\u5f15\u64ce\u56fa\u6709\u7684\u4eff\u771f\u5230\u73b0\u5b9e\u5dee\u8ddd\u3001\u4ea4\u901a\u6d41\u4eff\u771f\u5668\u7f3a\u4e4f\u4ea4\u4e92\u6027\u548c3D\u51e0\u4f55\u611f\u77e5\u80fd\u529b\u3002\u8fd9\u4e9b\u957f\u671f\u5b58\u5728\u7684\u95ee\u9898\u6784\u6210\u4e86\u4e3b\u8981\u74f6\u9888\uff0c\u9650\u5236\u4e86\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u7b56\u7565\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u8fc1\u79fb\u6027\u548c\u6709\u6548\u6027\uff0c\u4e9f\u9700\u4e00\u79cd\u8303\u5f0f\u9769\u65b0\u3002<\/p>\n\n\n\n<p>\u53d7\u8fd1\u671f\u751f\u6210\u6a21\u578b\u663e\u8457\u6210\u529f\u7684\u542f\u53d1\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u4e00\u79cd\u66ff\u4ee3\u65b9\u6848\uff1a\u5b66\u4e603D\/4D\u4e16\u754c\u6a21\u578b\u4f5c\u4e3a\u9ad8\u4fdd\u771f\u7684\u751f\u6210\u5f0f\u4eff\u771f\u5668\u3002\u8be5\u8303\u5f0f\u7684\u6838\u5fc3\u5728\u4e8e\u6a21\u578b\u80fd\u591f\u56de\u7b54\u5173\u952e\u95ee\u9898\u2014\u2014\u201c\u5982\u679c\u6211\u91c7\u53d6\u6b64\u884c\u4e3a\uff0c\u4f1a\u53d1\u751f\u4ec0\u4e48\uff1f\u201d\u2014\u2014\u901a\u8fc7\u751f\u6210\u6574\u4f53\u672a\u6765\u573a\u666f\uff0c\u660e\u786e\u5efa\u6a21\u81ea\u8f66\u30013D\/4D\u73af\u5883\u4e0e\u5176\u4ed6\u667a\u80fd\u4f53\u4e4b\u95f4\u7684\u52a8\u6001\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u8fd9\u79cd\u751f\u6210\u5f0f\u65b9\u6cd5\u524d\u666f\u5e7f\u9614\uff0c\u4f46\u6211\u4eec\u7684\u7814\u7a76\u53d1\u73b0\u8fd9\u4e9b\u6700\u5148\u8fdb\u6a21\u578b\u4e2d\u5b58\u5728\u4e00\u79cd\u7cfb\u7edf\u6027\u4e14\u5371\u9669\u7684\u7f3a\u9677\uff0c\u6211\u4eec\u79f0\u4e4b\u4e3a\u201c\u4e50\u89c2\u504f\u5dee\u201d\uff08\u56fe1(c)\uff09\u3002\u5f53\u4ee5\u4e0d\u5b89\u5168\u8f68\u8ff9\u4e3a\u8f93\u5165\u65f6\uff0c\u8fd9\u4e9b\u6a21\u578b\u62d2\u7edd\u9884\u6d4b\u5fc5\u7136\u53d1\u751f\u7684\u6545\u969c\uff0c\u53cd\u800c\u4f1a\u5e7b\u60f3\u51fa\u4e0d\u5207\u5b9e\u9645\u7684\u5b89\u5168\u672a\u6765\u3002\u4f8b\u5982\uff0c\u5bf9\u4e8e\u671d\u5411\u884c\u4eba\u7684\u8f68\u8ff9\uff0c\u6a21\u578b\u4e0d\u4f1a\u9884\u6d4b\u78b0\u649e\uff0c\u53cd\u800c\u53ef\u80fd\u663e\u793a\u884c\u4eba\u5b8c\u5168\u6d88\u5931\uff1b\u540c\u6837\uff0c\u82e5\u6307\u4ee4\u8f66\u8f86\u5f00\u4e0a\u8349\u576a\uff0c\u6a21\u578b\u53ef\u80fd\u9884\u6d4b\u8349\u5730\u795e\u5947\u5730\u53d8\u4e3a\u6ca5\u9752\u8def\u9762\u3002\u8fd9\u4e00\u73b0\u8c61\u63ed\u793a\u4e86\u56e0\u679c\u4fdd\u771f\u5ea6\u7684\u6839\u672c\u6027\u7f3a\u5931\u2014\u2014\u6a21\u578b\u4e3b\u52a8\u865a\u6784\u5b89\u5168\u7ed3\u679c\uff0c\u800c\u975e\u9884\u6d4b\u8f93\u5165\u6307\u4ee4\u5bf9\u5e94\u7684\u5371\u9669\u540e\u679c\u3002\u8fd9\u4f7f\u5176\u6210\u4e3a\u7b56\u7565\u5b66\u4e60\u4e2d\u6781\u4e0d\u53ef\u9760\u7684\u8bc4\u4f30\u5668\u3002\u6211\u4eec\u901a\u8fc7\u63d0\u51fa\u7684\u98ce\u9669\u9884\u6d4b\u57fa\u51c6\uff08RFB\uff09\u5bf9\u8fd9\u79cd\u504f\u5dee\u8fdb\u884c\u4e86\u7cfb\u7edf\u6027\u91cf\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"815\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/image-102-815x1024.png\" alt=\"\" class=\"wp-image-35145\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-102-815x1024.png 815w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-102-239x300.png 239w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-102-768x965.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-102-796x1000.png 796w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-102.png 1080w\" sizes=\"(max-width: 815px) 100vw, 815px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u5373\u63d2\u5373\u7528\u7684\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\u6846\u67b6AD-R1\uff0c\u4ee5\u63d0\u5347\u4efb\u4f55\u9a7e\u9a76\u667a\u80fd\u4f53\u7684\u5b89\u5168\u6027\u3002\u8be5\u6846\u67b6\u7684\u6838\u5fc3\u662f\u4e00\u4e2a\u5185\u90e8\u8bc4\u4f30\u5668\uff0c\u66f4\u51c6\u786e\u5730\u8bf4\u662f\u4e00\u4e2a\u9ad8\u4fdd\u771f\u4eff\u771f\u5f15\u64ce\uff0c\u7531\u4e13\u95e8\u8bbe\u8ba1\u7684\u516c\u6b63\u4e16\u754c\u6a21\u578b\u63d0\u4f9b\u652f\u6301\u3002\u8be5\u5f15\u64ce\u63a5\u6536\u667a\u80fd\u4f53\u7684\u89c4\u5212\u8f68\u8ff9\u4f5c\u4e3a\u8f93\u5165\uff0c\u5728\u9ad8\u4fdd\u771f\u4eff\u771f\u4e2d\u201c\u9884\u60f3\u201d\u5176\u672a\u6765\u540e\u679c\uff0c\u5e76\u63d0\u4f9b\u5bc6\u96c6\u7684\u3001\u5b89\u5168\u5173\u952e\u7684\u53cd\u9988\u3002\u8fd9\u4f7f\u667a\u80fd\u4f53\u80fd\u591f\u5728\u5b89\u5168\u7684\u79bb\u7ebf\u73af\u5883\u4e2d\u4ece\u5927\u91cf\u60f3\u8c61\u7684\u9519\u8bef\u4e2d\u5b66\u4e60\uff0c\u6709\u6548\u4f18\u5316\u7b56\u7565\u4ee5\u89c4\u907f\u6f5c\u5728\u6545\u969c\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u8be5\u6846\u67b6\u7684\u6210\u529f\u4f9d\u8d56\u4e8e\u80fd\u591f\u5982\u5b9e\u5448\u73b0\u5371\u9669\u7684\u4e16\u754c\u6a21\u578b\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u7684\u6838\u5fc3\u6280\u672f\u8d21\u732e\u662f\u6784\u5efa\u516c\u6b63\u4e16\u754c\u6a21\u578b\uff08IWM\uff09\uff0c\u8be5\u6a21\u578b\u7ecf\u8fc7\u8bad\u7ec3\uff0c\u80fd\u591f\u771f\u5b9e\u53cd\u6620\u5b89\u5168\u4e0e\u4e0d\u5b89\u5168\u884c\u4e3a\u7684\u7ed3\u679c\u3002\u6211\u4eec\u901a\u8fc7\u53cd\u4e8b\u5b9e\u5408\u6210\uff08Counterfactual Synthesis\uff09\u4ece\u6839\u6e90\u4e0a\u89e3\u51b3\u4e50\u89c2\u504f\u5dee\uff0c\u4ece\u800c\u6784\u5efa\u516c\u6b63\u4e16\u754c\u6a21\u578b\u3002\u8be5\u6570\u636e\u6d41\u6c34\u7ebf\u5c06\u73b0\u5b9e\u4e16\u754c\u9a7e\u9a76\u65e5\u5fd7\u89c6\u4e3a\u53ef\u7f16\u8f91\u573a\u666f\uff0c\u901a\u8fc7\u7f16\u7a0b\u751f\u6210\u5305\u542b\u7269\u7406\u4e00\u81f4\u6027\u548c\u56e0\u679c\u4fdd\u771f\u5ea6\u7684\u81ea\u8f66\u8f68\u8ff9\u5e93\uff0c\u6db5\u76d6\u5404\u7c7b\u5408\u7406\u6545\u969c\u3002\u4e3a\u8fdb\u4e00\u6b65\u5f3a\u5316\u56e0\u679c\u4fdd\u771f\u5ea6\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u6a21\u578b\u5c42\u9762\u7684\u4f18\u5316\u673a\u5236\uff0c\u5305\u62ec\u8f68\u8ff9\u611f\u77e5\u95e8\u63a7\u6a21\u5757\uff08Trajectory-Aware Gating\uff09\u548c\u81ea\u8f66\u8f68\u8ff9\u4fdd\u771f\u5ea6\u635f\u5931\uff08Ego-Trajectory Fidelity Loss\uff09\uff0c\u786e\u4fdd\u6a21\u578b\u9884\u6d4b\u59cb\u7ec8\u5fe0\u5b9e\u4e8e\u6307\u4ee4\u8f68\u8ff9\u2014\u2014\u5373\u4f7f\u8be5\u8f68\u8ff9\u4f1a\u5bfc\u81f4\u5371\u9669\u540e\u679c\u3002<\/p>\n\n\n\n<p>\u7531\u6b64\u4ea7\u751f\u7684\u516c\u6b63\u4e16\u754c\u6a21\u578b\u968f\u540e\u88ab\u96c6\u6210\u4f5c\u4e3a\u5f3a\u5316\u5b66\u4e60\u8bc4\u4f30\u5668\u7684\u6838\u5fc3\u3002\u5176\u903c\u771f\u6a21\u62df\u8d1f\u9762\u7ed3\u679c\u7684\u80fd\u529b\uff0c\u4e3a\u5956\u52b1\u5efa\u6a21\u5e26\u6765\u4e86\u66f4\u9ad8\u7684\u9897\u7c92\u5ea6\u548c\u7269\u7406\u63a5\u5730\u6027\u3002\u6211\u4eec\u4e0d\u518d\u4f9d\u8d56\u7b80\u5355\u7684\u542f\u53d1\u5f0f\u89c4\u5219\uff0c\u800c\u662f\u76f4\u63a5\u4ece\u9884\u6d4b\u76844D\u5360\u7528\u7387\u4e2d\u6784\u5efa\u7cbe\u786e\u3001\u591a\u7ef4\u5ea6\u7684\u5956\u52b1\u4fe1\u53f7\u3002\u8fd9\u4f7f\u6211\u4eec\u4e0d\u4ec5\u80fd\u4e25\u5389\u60e9\u7f5a\u78b0\u649e\u3001\u504f\u79bb\u8f66\u9053\u7b49\u660e\u663e\u6545\u969c\uff0c\u8fd8\u80fd\u7ea6\u675f\u8bf8\u5982\u8fdd\u53cd\u65f6\u7a7a\u7f13\u51b2\u533a\u3001\u5ffd\u89c6\u5782\u76f4\u51c0\u7a7a\u9650\u5236\u7b49\u7ec6\u5fae\u7684\u4e0d\u5b89\u5168\u884c\u4e3a\uff0c\u4e3a\u7b56\u7565\u4f18\u5316\u63d0\u4f9b\u4e30\u5bcc\u4e14\u53ef\u9760\u7684\u4fe1\u53f7\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\u51faAD-R1\uff0c\u5168\u65b0\u7684\u5f3a\u5316\u5b66\u4e60\u6846\u67b6\uff0c\u80fd\u591f\u76f4\u63a5\u5728\u5b8c\u6574\u76844D\u65f6\u7a7a\u57df\u4e2d\u5b9e\u73b0\u7b56\u7565\u4f18\u5316\u3002\u8be5\u6846\u67b6\u5229\u7528\u751f\u6210\u5f0f\u5360\u7528\u4e16\u754c\u6a21\u578b\u4f5c\u4e3a\u9ad8\u4fdd\u771f\u201c\u9884\u60f3\u5f15\u64ce\u201d\uff0c\u4f7f\u667a\u80fd\u4f53\u80fd\u591f\u4ece\u5927\u91cf\u60f3\u8c61\u7684\u6545\u969c\u4e2d\u5b89\u5168\u5b66\u4e60\u2014\u2014\u8fd9\u662f\u73b0\u5b9e\u4e16\u754c\u81ea\u52a8\u9a7e\u9a76\u7684\u5173\u952e\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u4e3a\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u6211\u4eec\u9996\u6b21\u5bf9\u4e16\u754c\u6a21\u578b\u4e2d\u7684\u201c\u4e50\u89c2\u504f\u5dee\u201d\u8fdb\u884c\u4e86\u7cfb\u7edf\u6027\u8bca\u65ad\uff0c\u5e76\u6784\u5efa\u4e86\u98ce\u9669\u9884\u6d4b\u57fa\u51c6\uff08RFB\uff09\u2014\u2014\u9996\u4e2a\u7528\u4e8e\u4e25\u683c\u91cf\u5316\u6a21\u578b\u9884\u6d4b\u707e\u96be\u6027\u6545\u969c\u80fd\u529b\u7684\u57fa\u51c6\uff0c\u4e3a\u8be5\u9886\u57df\u63d0\u4f9b\u4e86\u5173\u952e\u65b0\u5de5\u5177\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u7684\u89e3\u51b3\u65b9\u6848\u662f\u516c\u6b63\u4e16\u754c\u6a21\u578b\uff08IWM\uff09\uff0c\u5176\u8bbe\u8ba1\u76ee\u6807\u662f\u6210\u4e3a\u98ce\u9669\u7684\u5fe0\u5b9e\u8bc4\u5224\u8005\u3002\u8be5\u6a21\u578b\u901a\u8fc7\u4e24\u5927\u534f\u540c\u673a\u5236\u6784\u5efa\uff1a\u6570\u636e\u5c42\u9762\u7684\u53cd\u4e8b\u5b9e\u5408\u6210\u6d41\u6c34\u7ebf\uff08\u7528\u4e8e\u6559\u6388\u6a21\u578b\u4e30\u5bcc\u7684\u5408\u7406\u6545\u969c\u6837\u672c\u5e93\uff09\uff1b\u6a21\u578b\u5c42\u9762\u7684\u4f18\u5316\u673a\u5236\uff08\u8f68\u8ff9\u611f\u77e5\u95e8\u63a7\u6a21\u5757\u3001\u4fdd\u771f\u5ea6\u635f\u5931\uff09\uff08\u786e\u4fdd\u9884\u6d4b\u59cb\u7ec8\u5fe0\u5b9e\u4e8e\u667a\u80fd\u4f53\u7684\u6307\u4ee4\uff09\u3002<\/li>\n\n\n\n<li>\u5728NavSim\u4eff\u771f\u5668\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cAD-R1\u5177\u6709\u5373\u63d2\u5373\u7528\u7684\u6709\u6548\u6027\uff0c\u5728\u4e24\u4e2a\u57fa\u7ebf\u6a21\u578b\u4e0a\u5b9e\u73b0\u4e86\u89c4\u5212\u6307\u6807PDSM\u7edd\u5bf9\u63d0\u53471.7%\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u4e8c\u3001AD-R1\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>\u6982\u8ff0\u4e0e\u95ee\u9898\u516c\u5f0f\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"485\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112801.png\" alt=\"\" class=\"wp-image-35146\" style=\"width:889px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112801.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112801-300x212.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=\"605\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/image-103-1024x605.png\" alt=\"\" class=\"wp-image-35147\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-103-1024x605.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-103-300x177.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-103-768x454.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-103.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u516c\u6b63\u5360\u7528\u4e16\u754c\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u5f53\u524d\u6700\u5148\u8fdb\u7684\u4e16\u754c\u6a21\u578b\u867d\u5728\u9884\u6d4b\u6027\u80fd\u4e0a\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u5b58\u5728\u524d\u6587\u6240\u8ff0\u7684\u201c\u4e50\u89c2\u504f\u5dee\u201d\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u57fa\u4e8e\u5360\u7528\u7387\u7684\u9884\u6d4b\u6a21\u578b\uff0c\u65e8\u5728\u6355\u6349\u9a7e\u9a76\u573a\u666f\u590d\u6742\u76843D\u51e0\u4f55\u7279\u5f81\u4e0e4D\u65f6\u7a7a\u52a8\u6001\uff1b\u66f4\u5173\u952e\u7684\u662f\uff0c\u8be5\u6a21\u578b\u4ece\u6839\u672c\u4e0a\u8bbe\u8ba1\u4e3a\u514b\u670d\u201c\u4e50\u89c2\u504f\u5dee\u201d\u3002\u4e0b\u6587\u5c06\u5148\u6982\u8ff0\u5176\u9aa8\u5e72\u67b6\u6784\uff0c\u518d\u8be6\u7ec6\u4ecb\u7ecd\u6570\u636e\u5c42\u9762\u4e0e\u6a21\u578b\u5c42\u9762\u7684\u534f\u540c\u4f18\u5316\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>backbone<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"684\" height=\"307\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112802.png\" alt=\"\" class=\"wp-image-35148\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112802.png 684w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112802-300x135.png 300w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/figure>\n\n\n\n<p><strong>\u53cd\u4e8b\u5b9e\u6570\u636e\u5408\u6210<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"525\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112803.png\" alt=\"\" class=\"wp-image-35149\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112803.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112803-300x228.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"516\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112804.png\" alt=\"\" class=\"wp-image-35150\" style=\"width:888px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112804.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112804-300x226.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u6a21\u578b\u5c42\u9762\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"562\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112805.png\" alt=\"\" class=\"wp-image-35151\" style=\"width:893px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112805.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112805-300x245.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e\u672a\u6765\u9884\u6d4b\u7684\u5f3a\u5316\u5b66\u4e60<\/strong><\/p>\n\n\n\n<p><strong>\u8bad\u7ec3\u8303\u5f0f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"733\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112806.png\" alt=\"\" class=\"wp-image-35152\" style=\"width:889px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112806.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112806-282x300.png 282w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"726\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112807.png\" alt=\"\" class=\"wp-image-35153\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112807.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112807-284x300.png 284w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"695\" height=\"661\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112808.png\" alt=\"\" class=\"wp-image-35154\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112808.png 695w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112808-300x285.png 300w\" sizes=\"(max-width: 695px) 100vw, 695px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"266\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112809.png\" alt=\"\" class=\"wp-image-35155\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112809.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112809-300x116.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>\u4e09\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\u63d0\u51fa\u7684\u516c\u6b63\u4e16\u754c\u6a21\u578b\uff08IWM\uff09\u57fa\u4e8e\u6df7\u5408\u6570\u636e\u96c6\u8bad\u7ec3\u3002\u5b89\u5168\u9a7e\u9a76\u573a\u666f\u7684\u4e3b\u8981\u6570\u636e\u6765\u6e90\u4e3anuScenes\u6570\u636e\u96c6\uff0c\u8be5\u6570\u636e\u96c6\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u4f20\u611f\u5668\u6570\u636e\u4e0e\u6807\u6ce8\u4fe1\u606f\uff1b\u540c\u65f6\uff0c\u6211\u4eec\u901a\u8fc7\u53cd\u4e8b\u5b9e\u5408\u6210\uff08Counterfactual Synthesis\uff09\u6d41\u6c34\u7ebf\u751f\u6210\u6545\u969c\u573a\u666f\u6570\u636e\uff0c\u5bf9\u57fa\u7840\u6570\u636e\u96c6\u8fdb\u884c\u6269\u5145\u3002\u5b9e\u9a8c\u91c7\u7528\u7684\u6570\u636e\u96c6\u6bd4\u4f8b\u4e3a80%\u7684\u771f\u5b9enuScenes\u6570\u636e\u4e0e20%\u7684\u5408\u6210\u53cd\u4e8b\u5b9e\u6570\u636e\u2014\u2014\u8be5\u6bd4\u4f8b\u901a\u8fc7\u5b9e\u8bc1\u9a8c\u8bc1\u786e\u5b9a\uff0c\u65e2\u80fd\u63d0\u4f9b\u5145\u8db3\u7684\u6545\u969c\u6837\u672c\u4ee5\u4fee\u6b63\u4e50\u89c2\u504f\u5dee\uff0c\u53c8\u4e0d\u4f1a\u663e\u8457\u504f\u79bb\u771f\u5b9e\u9a7e\u9a76\u52a8\u6001\u7684\u6a21\u578b\u5148\u9a8c\u3002<\/p>\n\n\n\n<p>\u5728\u6700\u7ec8\u9a7e\u9a76\u7b56\u7565\u7684\u95ed\u73af\u8bc4\u4f30\u4e2d\uff0c\u6211\u4eec\u91c7\u7528\u5b98\u65b9NavSim\u57fa\u51c6\u2014\u2014\u8fd9\u662f\u4e00\u4e2a\u6807\u51c6\u5316\u7684\u8bc4\u4f30\u73af\u5883\u3002\u5b9e\u9a8c\u4ece\u4e24\u4e2a\u7ef4\u5ea6\u5c55\u5f00\u8bc4\u4f30\uff1a\u4e00\u662f\u4e16\u754c\u6a21\u578b\u7684\u4fdd\u771f\u5ea6\uff0c\u4e8c\u662f\u4f18\u5316\u540e\u9a7e\u9a76\u7b56\u7565\u7684\u6027\u80fd\u3002\u8be6\u7ec6\u7684\u8bc4\u4f30\u6307\u6807\u4e0e\u5b9e\u73b0\u7ec6\u8282\u5df2\u5305\u542b\u5728\u8865\u5145\u6750\u6599\u4e2d\u3002<\/p>\n\n\n\n<p><strong>\u5b9a\u91cf\u5206\u6790<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"163\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112810.png\" alt=\"\" class=\"wp-image-35156\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112810.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112810-300x71.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"751\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/image-104-1024x751.png\" alt=\"\" class=\"wp-image-35157\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-104-1024x751.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-104-300x220.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-104-768x563.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-104.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"581\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/image-105-1024x581.png\" alt=\"\" class=\"wp-image-35158\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-105-1024x581.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-105-300x170.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-105-768x436.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/image-105.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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