{"id":35218,"date":"2025-12-01T17:32:54","date_gmt":"2025-12-01T09:32:54","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35218"},"modified":"2025-12-01T17:32:54","modified_gmt":"2025-12-01T09:32:54","slug":"2025-12-01-%e8%8b%b1%e4%bc%9f%e8%be%be%e5%8f%88%e4%b8%80%e6%96%b0%e4%bd%9c%ef%bc%81mpa%ef%bc%9a%e5%9f%ba%e4%ba%8e%e6%a8%a1%e5%9e%8b%e7%9a%84%e9%97%ad%e7%8e%af%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/01\/35218\/","title":{"rendered":"2025-12-01 \u82f1\u4f1f\u8fbe\u53c8\u4e00\u65b0\u4f5c\uff01MPA\uff1a\u57fa\u4e8e\u6a21\u578b\u7684\u95ed\u73af\u7aef\u5230\u7aef\u81ea\u9002\u5e94\u7b56\u7565\u65b0\u6846\u67b6\uff08CMU&amp;\u65af\u5766\u798f\u7b49\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/B7_KYEWN-pSCtzQ4P_rlMA\">https:\/\/mp.weixin.qq.com\/s\/B7_KYEWN-pSCtzQ4P_rlMA<\/a><\/p>\n\n\n\n<p>\u82f1\u4f1f\u8fbe\u6700\u8fd1\u5de5\u4f5c\u5f88\u591a\u554a\uff0c\u800c\u4e14\u505a\u7684\u90fd\u633a\u624e\u5b9e\u3002<strong>\u524d\u4e00\u6bb5\u65f6\u95f4\u7684\u81ea\u9a7eVLA\u6846\u67b6 &#8211; Alpamayo-R1\uff0c\u6628\u5929\u65b0\u7684\u4e00\u7bc7\u95ed\u73af\u4eff\u771f\u6d4b\u8bd5\u6846\u67b6 &#8211; MPA\u3002<\/strong>\u53ef\u5708\u53ef\u70b9\uff0c\u4eca\u5929\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u4e3a\u5927\u5bb6\u5206\u4eab\u7684\u5c31\u662f\u8fd9\u7bc7\u65b0\u5de5\u4f5cMPA\u3002<\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5f00\u73af\u8bc4\u6d4b\u5df2\u7ecf\u76f8\u5bf9\u5b8c\u5584\uff0c\u4f46\u5728\u95ed\u73af\u8bc4\u6d4b\u4e2d\u4ecd\u7136\u9762\u4e34\u7740\u7ea7\u8054\u8bef\u5dee\u548c\u6cdb\u5316\u80fd\u529b\u4e0d\u8db3\u7684\u95ee\u9898\u3002\u9488\u5bf9\u8fd9\u4e2a\u95ee\u9898\uff0cCMU\u3001\u65af\u5766\u798f\u548c\u82f1\u4f1f\u8fbe\u7684\u56e2\u961f\u63d0\u51fa\u4e00\u79cd\u57fa\u4e8e\u6a21\u578b\u7684\u7b56\u7565\u81ea\u9002\u5e94\u901a\u7528\u6846\u67b6 &#8211; Model-based Policy 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class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aModel-Based Policy Adaptation for Closed-Loop End-to-End Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2511.21584<\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/mpa-drive.github.io\/<\/li>\n<\/ul>\n\n\n\n<p><strong>\u80cc\u666f\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u901a\u8fc7\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u96c6\u6210\u5230\u7edf\u4e00\u7684\u5b66\u4e60\u6846\u67b6\u4e2d\uff0c\u53d6\u5f97\u4e86\u4ee4\u4eba\u77a9\u76ee\u7684\u8fdb\u5c55\u3002\u501f\u52a9\u5927\u89c4\u6a21\u79bb\u7ebf\u9a7e\u9a76\u6570\u636e\u96c6\uff0cE2E\u6a21\u578b\u5728\u5f00\u73af\u8bc4\u4f30\u534f\u8bae\u4e0b\u8868\u73b0\u51fa\u8272\u2014\u2014\u5728\u6b64\u7c7b\u8bc4\u4f30\u4e2d\uff0c\u667a\u80fd\u4f53\u4ec5\u9700\u4ece\u79bb\u7ebf\u8bb0\u5f55\u7684\u89c2\u6d4b\u5e8f\u5217\u4e2d\u88ab\u52a8\u9884\u6d4b\u672a\u6765\u884c\u4e3a\u3002\u7136\u800c\uff0c\u4e9b\u6a21\u578b\u5728\u95ed\u73af\u73af\u5883\u4e2d\u6027\u80fd\u4f1a\u4e0b\u964d\uff1a\u5fae\u5c0f\u504f\u5dee\u968f\u65f6\u95f4\u7d2f\u79ef\uff0c\u5bfc\u81f4\u8bef\u5dee\u53e0\u52a0\u3001\u5206\u5e03\u504f\u79fb\uff0c\u5e76\u96be\u4ee5\u6cdb\u5316\u5230\u957f\u65f6\u57df\u573a\u666f\u3002\u8fd9\u79cd\u6027\u80fd\u5dee\u8ddd\u63ed\u793a\u4e86\u4e00\u4e2a\u6838\u5fc3\u6311\u6218\uff1a\u57fa\u4e8e\u7ecf\u9a8c\u98ce\u9669\u6700\u5c0f\u5316\u7684\u79bb\u7ebf\u8bad\u7ec3\uff0c\u4e0e\u6700\u5927\u5316\u7d2f\u79ef\u5956\u52b1\u7684\u5728\u7ebf\u76ee\u6807\u5e76\u4e0d\u4e00\u81f4\uff08\u5982\u56fe1\u6240\u793a\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"413\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-1024x413.png\" alt=\"\" class=\"wp-image-35220\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-1024x413.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-300x121.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-768x310.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-list\">\n<li>\u5206\u6790\u4e86E2E\u667a\u80fd\u4f53\u95ed\u73af\u6027\u80fd\u4e0b\u964d\u7684\u6839\u672c\u539f\u56e0\uff0c\u5e76\u8bc4\u4f30\u4e86\u57fa\u4e8e3DGS\u7684\u4eff\u771f\u5728\u5efa\u6a21\u89c2\u6d4b\u548c\u884c\u4e3a\u504f\u79fb\u65b9\u9762\u7684\u4fdd\u771f\u5ea6\uff1b<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e3DGS\u8f68\u8ff9\u63a8\u6f14\u7684\u7cfb\u7edf\u6027\u53cd\u4e8b\u5b9e\u6570\u636e\u7b5b\u9009\u6d41\u7a0b\uff0c\u5e76\u8bad\u7ec3\u4e86\u5305\u542b\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u7b56\u7565\u9002\u914d\u5668\u548c\u5956\u52b1\u6a21\u578b\u7684MPA\uff0c\u5206\u522b\u89e3\u51b3\u89c2\u6d4b\u4e0d\u5339\u914d\u548c\u5956\u52b1\u4e0d\u5339\u914d\u95ee\u9898\uff1b<\/li>\n\n\n\n<li>\u5728nuScenes\u57fa\u51c6\u4e0a\u9a8c\u8bc1\uff0c\u5229\u7528\u6240\u5b66\u5956\u52b1\u6a21\u578b\u8fdb\u884c\u63a8\u7406\u9636\u6bb5scaling\uff0c\u663e\u8457\u63d0\u5347\u4e86\u95ed\u73af\u6027\u80fd\uff0c\u5c24\u5176\u5728\u5b89\u5168\u5173\u952e\u573a\u666f\u548c\u57df\u5916\u573a\u666f\u4e2d\u6548\u679c\u7a81\u51fa\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u9884\u5907\u77e5\u8bc6<\/strong><\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u95ee\u9898\u5efa\u6a21<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"657\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120101.png\" alt=\"\" class=\"wp-image-35229\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120101.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120101-300x287.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>\u95ed\u73af\u4eff\u771f\u4e2d\u7684\u7aef\u5230\u7aef\u9a7e\u9a76\u667a\u80fd\u4f53<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"311\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120102.png\" alt=\"\" class=\"wp-image-35230\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120102.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120102-300x135.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"776\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-5-776x1024.png\" alt=\"\" class=\"wp-image-35231\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-5-776x1024.png 776w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-5-227x300.png 227w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-5-768x1014.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-5-758x1000.png 758w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-5.png 882w\" sizes=\"(max-width: 776px) 100vw, 776px\" \/><\/figure>\n\n\n\n<p><strong>\u6240\u63d0\u65b9\u6cd5\uff1a\u57fa\u4e8e\u6a21\u578b\u7684\u7b56\u7565\u81ea\u9002\u5e94\uff08MPA\uff09<\/strong><\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b32.1\u8282\u6240\u8ff0\u7684\u89c2\u6d4b\u4e0d\u5339\u914d\u548c\u76ee\u6807\u4e0d\u5339\u914d\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa<strong>\u57fa\u4e8e\u6a21\u578b\u7684\u7b56\u7565\u81ea\u9002\u5e94\uff08Model-Based Policy Adaptation, MPA\uff09<\/strong>\u2014\u2014\u4e00\u79cd\u7528\u4e8e\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u4ece\u5f00\u73af\u5230\u95ed\u73af\u9002\u914d\u7684\u7edf\u4e00\u6846\u67b6\uff0c\u5176\u6574\u4f53\u7ed3\u6784\u5982\u56fe3\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"631\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-6-1024x631.png\" alt=\"\" class=\"wp-image-35232\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-6-1024x631.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-6-300x185.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-6-768x473.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-6.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u7684\u53cd\u4e8b\u5b9e\u6570\u636e\u751f\u6210<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"231\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120103.png\" alt=\"\" class=\"wp-image-35233\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120103.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120103-300x101.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=\"1001\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-7-1001x1024.png\" alt=\"\" class=\"wp-image-35234\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-7-1001x1024.png 1001w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-7-293x300.png 293w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-7-768x786.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-7-977x1000.png 977w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-7.png 1080w\" sizes=\"(max-width: 1001px) 100vw, 1001px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"303\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120104.png\" alt=\"\" class=\"wp-image-35235\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120104.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120104-300x133.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=\"956\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-8-1024x956.png\" alt=\"\" class=\"wp-image-35236\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-8-1024x956.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-8-300x280.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-8-768x717.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-8-1071x1000.png 1071w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-8.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u7b56\u7565\u81ea\u9002\u5e94<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"589\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120105.png\" alt=\"\" class=\"wp-image-35237\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120105.png 692w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120105-300x255.png 300w\" sizes=\"(max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p><strong>Q\u503c\u5f15\u5bfc\u63a8\u7406\u65f6\u95f4\u91c7\u6837\u539f\u7406<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"547\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120106.png\" alt=\"\" class=\"wp-image-35238\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120106.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120106-300x239.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u672c\u7ae0\u901a\u8fc7\u5b9e\u9a8c\u89e3\u7b54\u4ee5\u4e0b\u7814\u7a76\u95ee\u9898\uff08RQ\uff09\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>RQ1<\/strong>\uff1a\u4e0e\u57fa\u7ebf\u6a21\u578b\u76f8\u6bd4\uff0cMPA\u80fd\u5426\u4e3aE2E\u9a7e\u9a76\u667a\u80fd\u4f53\u5728\u95ed\u73af\u8bc4\u4f30\u4e2d\u5e26\u6765\u5177\u5907\u6cdb\u5316\u6027\u7684\u6027\u80fd\u63d0\u5347\uff1f<\/li>\n\n\n\n<li><strong>RQ2<\/strong>\uff1aMPA\u5728\u95ed\u73af\u8bc4\u4f30\u7684\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\u6027\u80fd\u8868\u73b0\u5982\u4f55\uff1f<\/li>\n\n\n\n<li><strong>RQ3<\/strong>\uff1aMPA\u4e2d\u7684\u4e0d\u540c\u9002\u914d\u5668\u4e0e\u4ef7\u503c\u5f15\u5bfc\u6a21\u5757\u5bf9\u6574\u4f53\u6027\u80fd\u7684\u8d21\u732e\u5206\u522b\u662f\u4ec0\u4e48\uff1f<\/li>\n\n\n\n<li><strong>RQ4<\/strong>\uff1a\u5728\u6570\u636e\u751f\u6210\u9636\u6bb5\uff0c\u53cd\u4e8b\u5b9e\u89c4\u5212\u6b65\u6570\u7684\u89c4\u6a21\u5982\u4f55\u5f71\u54cdMPA\u7684\u6027\u80fd\uff1f<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u4e0e\u4eff\u771f\u5f15\u64ce\uff1a<\/strong>\u6211\u4eec\u91c7\u7528<strong>nuScenes\u6570\u636e\u96c6<\/strong>\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b\u6ce2\u58eb\u987f\u548c\u65b0\u52a0\u5761\u5730\u533a\u51715.5\u5c0f\u65f6\u7684\u9a7e\u9a76\u6570\u636e\uff0c\u6bcf\u4e2a\u573a\u666f\u5747\u670920\u79d2\u7684\u53c2\u8003\u8f68\u8ff9\u3002\u4eff\u771f\u4e0e\u8bc4\u4f30\u57fa\u51c6\u91c7\u7528<strong>HUGSIM<\/strong>\uff0c\u8bad\u7ec3\u8fc7\u7a0b\u4f7f\u7528nuScenes\u8bad\u7ec3-\u9a8c\u8bc1\u96c6\u4e2d\u7684290\u4e2a\u573a\u666f\uff0c\u8bc4\u4f30\u5206\u4e3a\u4e09\u7c7b\u8bbe\u7f6e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u57df\u5185\u8bc4\u4f30<\/strong>\uff1a\u6d4b\u8bd5\u96c6\u4e3a70\u4e2a\u573a\u666f\uff0c\u573a\u666f\u4e2d\u52a8\u6001\u5b9e\u4f53\uff08\u8f66\u8f86\u3001\u884c\u4eba\uff09\u7684\u8fd0\u52a8\u8f68\u8ff9\u6309\u79bb\u7ebf\u6570\u636e\u96c6\u4e2d\u53c2\u8003\u8f68\u8ff9\u7684\u56fa\u5b9a\u6bd4\u4f8b\u56de\u653e\uff1b<\/li>\n\n\n\n<li><strong>\u672a\u89c1\u8fc7\u7684\u5e38\u89c4\u573a\u666f\u8bc4\u4f30<\/strong>\uff1a\u6d4b\u8bd5\u96c6\u4e3a70\u4e2a\u8bad\u7ec3\u9636\u6bb5\u672a\u63a5\u89e6\u8fc7\u7684\u573a\u666f\uff0c\u52a8\u6001\u5b9e\u4f53\u8fd0\u52a8\u8f68\u8ff9\u540c\u6837\u6309\u53c2\u8003\u8f68\u8ff9\u56fa\u5b9a\u6bd4\u4f8b\u56de\u653e\uff1b<\/li>\n\n\n\n<li><strong>\u5b89\u5168\u5173\u952e\u573a\u666f\u8bc4\u4f30<\/strong>\uff1a\u6d4b\u8bd5\u96c6\u4e3a10\u4e2a\u573a\u666f\uff0c\u573a\u666f\u4e2d\u5305\u542b\u4e00\u4e2a\uff08\u6216\u5c11\u91cf\uff09\u5e72\u6270\u6027\u975e\u539f\u751f\u667a\u80fd\u4f53\uff0c\u7528\u4e8e\u5bf9\u81ea\u8f66\u667a\u80fd\u4f53\u5f62\u6210\u5bf9\u6297\u6027\u6311\u6218\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4eff\u771f\u9891\u7387\u8bbe\u4e3a4Hz\uff0c\u95ed\u73af\u4eff\u771f\u7ec8\u6b62\u6761\u4ef6\u5305\u542b\u4ee5\u4e0b\u4e94\u79cd\uff1a\uff081\uff09\u5b8c\u6210\u5168\u90e8\u8def\u7ebf\uff1b\uff082\uff09\u9a76\u79bb\u9053\u8def\uff1b\uff083\uff09\u53d1\u751f\u78b0\u649e\uff1b\uff084\uff09\u504f\u79bb\u53c2\u8003\u8f68\u8ff9\u8fc7\u8fdc\uff1b\uff085\uff09\u8fbe\u5230\u6700\u5927\u63a8\u6f14\u65f6\u95f4\u9650\u5236\uff0850\u79d2\uff0c\u4e3a\u53c2\u8003\u8f68\u8ff9\u65f6\u957f\u76842.5\u500d\uff09\u3002<\/p>\n\n\n\n<p><strong>\u57fa\u7ebf\u6a21\u578b\uff1a<\/strong>\u6211\u4eec\u5c06MPA\u4e0e\u4e24\u7c7bE2E\u9a7e\u9a76\u7b97\u6cd5\u57fa\u7ebf\u8fdb\u884c\u5bf9\u6bd4\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5f00\u73af\u8bad\u7ec3\u7684\u9884\u8bad\u7ec3\u57fa\u7840\u7b56\u7565<\/strong>\uff1a\u5bf9\u6bd4UniAD\u3001VAD\u3001LTF\u5728HUGSIM\u6570\u636e\u96c6\u4e0a\u7684\u6027\u80fd\uff0c\u5e76\u57fa\u4e8e\u8fd9\u4e9b\u7b56\u7565\u6784\u5efaMPA\u6a21\u578b\uff1b<\/li>\n\n\n\n<li><strong>\u57fa\u4e8e\u7b5b\u9009\u540e\u53cd\u4e8b\u5b9e\u6570\u636e\u96c6\u8bad\u7ec3\u7684E2E\u667a\u80fd\u4f53<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>AD-MLP\uff1a\u4ee5\u81ea\u8f66\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u3001\u5386\u53f2\u8f68\u8ff9\u548c\u9ad8\u5c42\u6307\u4ee4\u4e3a\u8f93\u5165\uff0c\u662f\u95ed\u73af\u9a7e\u9a76\u4efb\u52a1\u7684\u57fa\u7840\u57fa\u7ebf\uff1b<\/li>\n\n\n\n<li>BC-Safe\uff1a\u5229\u7528\u53cd\u4e8b\u5b9e\u6570\u636e\u96c6\u4e2d\u7684\u5b89\u5168\u7247\u6bb5\u8bad\u7ec3E2E\u7b56\u7565\uff1b<\/li>\n\n\n\n<li>Diffusion\uff1a\u53c2\u8003\u7684\u573a\u666f\u7f16\u7801\u65b9\u5f0f\uff0c\u63a8\u7406\u9636\u6bb5\u91c7\u7528\u57fa\u4e8eDDIM\u7684\u91c7\u6837\u5668\uff08\u800c\u975e\u622a\u65ad\u53bb\u566a\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p>\u4e3a\u4fdd\u8bc1\u516c\u5e73\u5bf9\u6bd4\uff0c\u6240\u6709\u65b9\u6cd5\u5747\u91c7\u7528\u9884\u8bad\u7ec3ResNet\u4f5c\u4e3a\u611f\u77e5backbone\uff0c\u7528\u4e8e\u7f16\u78016\u4e2a\u89c6\u89d2\u76f8\u673a\u7684RGB\u8f93\u5165\uff1b\u81ea\u8f66\u72b6\u6001\u5305\u542b\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u53ca\u5386\u53f2\u5e27\u4e2d\u7684\u5bfc\u822a\u8def\u6807\u4fe1\u606f\u3002<\/p>\n\n\n\n<p><strong>\u8bc4\u4f30\u6307\u6807\uff1a<\/strong>\u8bc4\u4f30\u534f\u8bae\u9075\u5faaHUGSIM[13]\uff08\u53c2\u8003NAVSIM[22]\u7684\u6307\u6807\u8bbe\u8ba1\uff09\uff0c\u5177\u4f53\u6307\u6807\u5982\u4e0b\uff08\u6240\u6709\u6307\u6807\u53d6\u503c\u8303\u56f4\u4e3a[0.0, 100]\uff0c\u6570\u503c\u8d8a\u9ad8\u6027\u80fd\u8d8a\u597d\uff0c\u8868\u683c\u4e2d\u5747\u5df2\u4e58\u4ee5100\uff09\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>RC\uff08Route Completion\uff0c\u8def\u7ebf\u5b8c\u6210\u7387\uff09<\/strong>\uff1a\u8861\u91cf\u81ea\u8f66\u5728\u53d1\u751f\u4e25\u91cd\u5931\u6548\uff08\u78b0\u649e\u3001\u9a76\u79bb\u9053\u8def\u7b49\uff09\u524d\u6cbf\u89c4\u5212\u8def\u7ebf\u7684\u63a8\u8fdb\u7a0b\u5ea6\uff1b<\/li>\n\n\n\n<li><strong>NC\uff08Non-Collision\uff0c\u65e0\u78b0\u649e\u7387\uff09<\/strong>\uff1a\u8bc4\u4f30\u81ea\u8f66\u4e0e\u5468\u56f4\u9759\u6001\/\u52a8\u6001\u5b9e\u4f53\u65e0\u8d23\u4efb\u78b0\u649e\u7684\u6982\u7387\uff08\u6ce8\uff1aHUGSIM\u4e2d3DGS\u6a21\u578b\u53ef\u80fd\u56e0\u70b9\u4e91\u4e0d\u4e00\u81f4\u5bf9\u8f66\u8f86\u5305\u56f4\u76d2\u8fdb\u884c\u4fb5\u8680\u5904\u7406\uff0c\u5bfc\u81f4\u90e8\u5206\u201c\u8fd1\u8ddd\u907f\u8ba9\u201d\u88ab\u8bef\u5224\u4e3a\u78b0\u649e\uff0c\u56e0\u6b64NC\u503c\u53ef\u80fd\u88ab\u4f4e\u4f30\uff09\uff1b<\/li>\n\n\n\n<li><strong>DAC\uff08Driveable Area Compliance\uff0c\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u7387\uff09<\/strong>\uff1a\u82e5\u81ea\u8f66\u4f4d\u59ff\u843d\u5728\u5730\u9762\u70b9\u4e91\u5185\u7684\u9762\u79ef\u5360\u6bd4\uff1c0.3\uff0c\u5224\u5b9a\u4e3a\u8fdd\u89c4\uff08DAC=0\uff09\uff1b\u5360\u6bd4\u57280.3~0.5\u4e4b\u95f4\u65f6DAC=50\uff1b\u5360\u6bd4\uff1e0.5\u65f6DAC=100\uff1b<\/li>\n\n\n\n<li><strong>TTC\uff08Time-To-Collision\uff0c\u78b0\u649e\u65f6\u95f4\u5408\u89c4\u7387\uff09<\/strong>\uff1a\u82e5\u672a\u67650.5\u79d2\u5185\uff08\u4e0d\u540c\u4e8eNAVSIM\u76840.9\u79d2\uff09\u81ea\u8f66\u5c06\u53d1\u751f\u78b0\u649e\uff0cTTC=0\uff1b\u5426\u5219TTC=100\uff1b<\/li>\n\n\n\n<li><strong>COM\uff08Comfort\uff0c\u8212\u9002\u6027\uff09<\/strong>\uff1a\u82e5\u7eb5\u5411\/\u6a2a\u5411\u52a0\u901f\u5ea6\u3001\u6a2a\u6446\u7387\u3001\u6a2a\u6446\u52a0\u901f\u5ea6\u53ca\u7eb5\u5411\u52a0\u52a0\u901f\u5ea6\u5747\u4f4e\u4e8e\u9608\u503c\uff0cCOM=100\uff1b\u5426\u5219\u4e3a0\uff1b<\/li>\n\n\n\n<li><strong>HDScore\uff08HUGSIM\u9a7e\u9a76\u8bc4\u5206\uff09<\/strong>\uff1a\u57fa\u4e8e\u4e0a\u8ff0\u6307\u6807\u7684\u52a0\u6743\u548c\uff0c\u4e0eNAVSIM\u4e0d\u540c\uff0cHDScore\u91c7\u7528RC\uff08\u800c\u975eEgo Progress\uff0c\u81ea\u8f66\u8fdb\u5ea6\uff09\u4f5c\u4e3a\u6838\u5fc3\u6743\u91cd\u9879\uff0c\u5177\u4f53\u8ba1\u7b97\u65b9\u5f0f\u89c1\u9644\u5f55B.1\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c\u4e0e\u5206\u6790\uff08RQ1\u3001RQ2\uff09<\/strong><\/p>\n\n\n\n<p><strong>\u57df\u5185\u4e0e\u57df\u5916\u573a\u666f\u6027\u80fd\uff1a<\/strong>\u4e3a\u89e3\u7b54RQ1\uff0c\u6211\u4eec\u9996\u5148\u8bc4\u4f30MPA\u5728\u57df\u5185\u548c\u57df\u5916\u573a\u666f\u7684\u95ed\u73af\u6027\u80fd\uff08\u6240\u6709MPA\u6a21\u578b\u63a8\u7406\u65f6\u5747\u91c7\u752820\u4e2a\u52a8\u4f5c\u6837\u672c\uff09\u3002\u57df\u5185\u573a\u666f\u6307\u65b0\u52a0\u5761\u5730\u533a\u7528\u4e8e\u751f\u6210\u53cd\u4e8b\u5b9e\u8bad\u7ec3\u6570\u636e\u7684\u573a\u666f\uff0c\u5b9a\u91cf\u7ed3\u679c\u5982\u88681\u6240\u793a\u3002\u57fa\u4e8eMPA\u7684E2E\u9a7e\u9a76\u667a\u80fd\u4f53\u76f8\u8f83\u4e8e\u5176\u9884\u8bad\u7ec3\u7248\u672c\uff08\u5982UniAD\u3001VAD\u3001LTF\uff09\u4ee5\u53ca\u4e09\u79cd\u57fa\u4e8e\u7b5b\u9009\u540e\u53cd\u4e8b\u5b9e\u6570\u636e\u96c6\u8bad\u7ec3\u7684\u57fa\u7ebf\u65b9\u6cd5\uff08AD-MLP\u3001BC-Safe\u3001Diffusion\uff09\uff0c\u5747\u53d6\u5f97\u4e86\u66f4\u4f18\u7684\u7ed3\u679c\uff0c\u5c24\u5176\u5728\u5173\u952e\u6307\u6807RC\u548cHDScore\u4e0a\u63d0\u5347\u663e\u8457\u3002<\/p>\n\n\n\n<p>\u5176\u4e2d\uff0c\u57fa\u7ebf\u6a21\u578bAD-MLP\u7684\u884c\u9a76\u7b56\u7565\u6781\u4e3a\u4fdd\u5b88\uff0c\u867d\u80fd\u7ef4\u6301\u8f83\u4f4e\u7684\u78b0\u649e\u98ce\u9669\uff08NC\u548cTTC\u6307\u6807\u5c1a\u53ef\uff09\uff0c\u4f46\u8def\u7ebf\u5b8c\u6210\u7387\u6781\u4f4e\uff08RC\u4ec513.4\uff09\uff0c\u96be\u4ee5\u5b8c\u6210\u590d\u6742E2E\u573a\u666f\u7684\u5bfc\u822a\u4efb\u52a1\u3002\u6b64\u5916\uff0cHUGSIM\u4e2d\u7684NC\u503c\u76f8\u8f83\u4e8eNAVSIM\u504f\u4f4e\uff0c\u539f\u56e0\u5982\u524d\u6240\u8ff0\uff083DGS\u5bf9\u8f66\u8f86\u5305\u56f4\u76d2\u7684\u4fb5\u8680\u5bfc\u81f4\u8bef\u5224\uff09\uff0c\u4f46\u591a\u6570\u201c\u8bef\u5224\u78b0\u649e\u201d\u5e76\u4e0d\u4f1a\u5bfc\u81f4\u95ed\u73af\u4eff\u771fepisode\u7ec8\u6b62\uff0c\u56e0\u6b64\u90e8\u5206\u6a21\u578b\u867dNC\u503c\u4e2d\u7b49\uff0c\u4ecd\u80fd\u901a\u8fc7\u5408\u7406\u89c4\u907f\u78b0\u649e\u548c\u9a76\u79bb\u9053\u8def\u884c\u4e3a\u5b8c\u6210\u8def\u7ebf\u5bfc\u822a\uff0c\u6700\u7ec8\u83b7\u5f97\u8f83\u9ad8\u7684HDScore\u3002<\/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\/12\/\u56fe\u7247-9-1024x355.png\" alt=\"\" class=\"wp-image-35239\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-9-1024x355.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-9-300x104.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-9-768x266.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-9.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u8fdb\u4e00\u6b65\u5728\u57df\u5916\u573a\u666f\uff08\u6ce2\u58eb\u987f\u5730\u533a\u672a\u7eb3\u5165\u53cd\u4e8b\u5b9e\u6570\u636e\u96c6\u768470\u4e2a\u573a\u666f\uff09\u4e2d\u8bc4\u4f30\u6027\u80fd\uff0c\u5b9a\u6027\u7ed3\u679c\u5982\u56fe6\uff08\u5de6\uff09\u6240\u793a\u3002\u4e0e\u88681\u7684\u57df\u5185\u7ed3\u679c\u76f8\u6bd4\uff0cAD-MLP\u548cDiffusion\u7684\u6027\u80fd\u663e\u8457\u4e0b\u964d\uff0c\u800c\u9884\u8bad\u7ec3E2E\u7b56\u7565\u5728\u57df\u5185\u4e0e\u57df\u5916\u573a\u666f\u4e2d\u7684\u6027\u80fd\u8868\u73b0\u76f8\u8fd1\uff1b\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u57fa\u4e8e\u9884\u8bad\u7ec3E2E\u7b56\u7565\u6784\u5efa\u7684MPA\u667a\u80fd\u4f53\u5728\u57df\u5916\u573a\u666f\u4e2d\u4ecd\u4fdd\u6301\u6700\u4f18\u6027\u80fd\uff0c\u4e14\u4e09\u7c7bMPA\u53d8\u4f53\uff08MPA(UniAD)\u3001MPA(VAD)\u3001MPA(LTF)\uff09\u7684HDScore\u4e0e\u57df\u5185\u8bc4\u4f30\u7ed3\u679c\u76f8\u5f53\uff0c\u8fd9\u8bc1\u660e\u4e86\u6240\u63d0\u9002\u914d\u5668\u548c\u4ef7\u503c\u6a21\u578b\u5728\u672a\u77e5\u573a\u666f\u4e0b\u7684\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=\"365\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-10-1024x365.png\" alt=\"\" class=\"wp-image-35240\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-10-1024x365.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-10-300x107.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-10-768x274.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-10.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b89\u5168\u5173\u952e\u573a\u666f\u6027\u80fd\uff1a<\/strong>\u4e3a\u89e3\u7b54RQ2\uff0c\u6211\u4eec\u5728\u5305\u542b\u5bf9\u6297\u6027\u5e72\u6270\u667a\u80fd\u4f53\u7684\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\u8fdb\u884c\u8bc4\u4f30\uff0c\u5b9a\u91cf\u7ed3\u679c\u5982\u88682\u6240\u793a\u3002MPA\u6a21\u578b\u5728\u8be5\u573a\u666f\u4e0b\u7684\u6027\u80fd\u63d0\u5347\u5c24\u4e3a\u663e\u8457\uff1a\u4ee5MPA(VAD)\u4e3a\u4f8b\uff0c\u5176RC\u8fbe\u523096.6\uff0cHDScore\u9ad8\u8fbe74.7\uff0c\u8fdc\u8d85\u9884\u8bad\u7ec3VAD\u7684RC\uff0825.4\uff09\u548cHDScore\uff0816.0\uff09\uff1b\u5373\u4f7f\u662f\u6027\u80fd\u6700\u5dee\u7684MPA(LTF)\uff0c\u5176HDScore\uff0856.3\uff09\u4e5f\u7ea6\u4e3a\u9884\u8bad\u7ec3LTF\uff0824.2\uff09\u76842.3\u500d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"386\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-11-1024x386.png\" alt=\"\" class=\"wp-image-35241\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-11-1024x386.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-11-300x113.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-11-768x289.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-11.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b9a\u6027\u7ed3\u679c\u5982\u56fe5\u6240\u793a\uff1a\u5728\u201c\u53f3\u4fa7\u8f66\u8f86\u5207\u5165\u201d\u7684\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\uff0c\u9884\u8bad\u7ec3VAD\u7b56\u7565\u65e0\u6cd5\u6709\u6548\u5e94\u5bf9\uff0c\u800cMPA\u9002\u914d\u540e\u7684\u7b56\u7565\u5728Q\u503c\u6a21\u578b\u5f15\u5bfc\u4e0b\uff0c\u80fd\u591f\u6210\u529f\u5236\u52a8\u5e76\u907f\u8ba9\u5207\u5165\u8f66\u8f86\uff0c\u9a8c\u8bc1\u4e86MPA\u5728\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\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=\"389\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-12-1024x389.png\" alt=\"\" class=\"wp-image-35242\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-12-1024x389.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-12-300x114.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-12-768x292.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-12.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76\uff08RQ3\u3001RQ4\uff09<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u901a\u8fc7\u6d88\u878d\u5b9e\u9a8c\u5206\u6790MPA\u4e09\u5927\u6838\u5fc3\u6a21\u5757\u7684\u8d21\u732e\uff1a\uff081\uff09\u53cd\u4e8b\u5b9e\u6570\u636e\u96c6\u751f\u6210\uff1b\uff082\uff09\u7b56\u7565\u9002\u914d\u5668\uff1b\uff083\uff09Q\u503c\u5f15\u5bfc\u3002<\/p>\n\n\n\n<p><strong>\u53cd\u4e8b\u5b9e\u6570\u636e\u96c6\u7684\u5f71\u54cd\uff08RQ4\uff1a<\/strong>\u6211\u4eec\u901a\u8fc7\u6d88\u878d\u53cd\u4e8b\u5b9e\u6570\u636e\u751f\u6210\u8fc7\u7a0b\u4e2d\u7684\u8f68\u8ff9\u63a8\u6f14\u6b65\u6570\uff08\u5373\u7b97\u6cd51\u4e2d\u7684<\/p>\n\n\n\n<p>\uff09\uff0c\u5206\u6790\u5176\u5bf9MPA\u6027\u80fd\u7684\u5f71\u54cd\u3002\u5b9e\u9a8c\u5728\u6ce2\u58eb\u987f\u57df\u5916\u573a\u666f\u4e2d\u8fdb\u884c\uff0c\u7ed3\u679c\u5982\u56fe6\u6240\u793a\uff1a\u968f\u7740\u53cd\u4e8b\u5b9e\u63a8\u6f14\u6b65\u6570\u7684\u589e\u52a0\uff0cMPA\u7684\u5404\u9879\u8bc4\u4f30\u6307\u6807\uff08\u5c24\u5176\u662fRC\u548cHDScore\uff09\u5747\u5448\u4e0a\u5347\u8d8b\u52bf\u3002\u8fd9\u662f\u56e0\u4e3a\u66f4\u957f\u7684\u63a8\u6f14\u6b65\u6570\u80fd\u4e3a\u4ef7\u503c\u51fd\u6570\u8bad\u7ec3\u63d0\u4f9b\u66f4\u4e30\u5bcc\u7684\u672a\u6765\u6b65\u76d1\u7763\u4fe1\u53f7\uff0c\u5e2e\u52a9Q\u503c\u6a21\u578b\u66f4\u51c6\u786e\u5730\u8bc4\u4f30\u957f\u65f6\u57df\u6536\u76ca\u3002<\/p>\n\n\n\n<p><strong>\u7b56\u7565\u9002\u914d\u5668\u7684\u5f71\u54cd\uff08RQ3\uff09\uff1a<\/strong>\u88683\u5c55\u793a\u4e86\u57fa\u4e8eUniAD\u57fa\u7840\u7b56\u7565\u7684MPA\u53d8\u4f53\u6d88\u878d\u7ed3\u679c\uff08VAD\u548cLTF\u7684\u6d88\u878d\u7ed3\u679c\u89c1\u9644\u5f55B\uff09\u3002\u5bf9\u6bd4ID-5\uff08\u65e0\u9002\u914d\u5668\uff09\u4e0eID-6\uff08\u6709\u9002\u914d\u5668\uff09\u7684\u7ed3\u679c\uff1a\u5728\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\uff0c\u9002\u914d\u5668\u4f7fRC\u63d0\u5347\u7ea620%\uff0cHDScore\u663e\u8457\u63d0\u9ad8\uff0c\u8bc1\u660e\u9002\u914d\u5668\u80fd\u6709\u6548\u4f18\u5316\u57fa\u7840\u7b56\u7565\u7684\u52a8\u4f5c\u8f93\u51fa\uff1b\u5728\u57df\u5916\u5e38\u89c4\u573a\u666f\u4e2d\uff0c\u9002\u914d\u5668\u540c\u6837\u63d0\u5347\u4e86\u8def\u7ebf\u5b8c\u6210\u7387\uff08RC\u4ece91.1\u5347\u81f393.7\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"495\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-13-1024x495.png\" alt=\"\" class=\"wp-image-35243\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-13-1024x495.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-13-300x145.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-13-768x371.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-13.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5206\u6790\u4e86\u7b56\u7565\u9002\u914d\u5668\u7684\u6a21\u6001\u6570\u91cf\u5bf9\u5b89\u5168\u5173\u952e\u573a\u666f\u6027\u80fd\u7684\u5f71\u54cd\uff08\u56fe7\uff09\uff1a\u6a21\u6001\u6570\u91cf\u4ece1\u589e\u52a0\u52308\u65f6\uff0cRC\u3001DAC\u548cHDScore\u5747\u663e\u8457\u63d0\u5347\uff1b\u5f53\u6a21\u6001\u6570\u91cf\u8d85\u8fc78\u540e\uff0c\u6027\u80fd\u63d0\u5347\u8d8b\u4e8e\u5e73\u7f13\u3002\u8fd9\u8868\u660e\u9002\u5f53\u589e\u52a0\u6a21\u6001\u6570\u91cf\u80fd\u8986\u76d6\u66f4\u591a\u53cd\u4e8b\u5b9e\u884c\u4e3a\u6a21\u5f0f\uff0c\u4f46\u8fc7\u91cf\u6a21\u6001\u5e76\u4e0d\u4f1a\u5e26\u6765\u989d\u5916\u589e\u76ca\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"335\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-14-1024x335.png\" alt=\"\" class=\"wp-image-35244\" 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