{"id":35254,"date":"2025-12-02T17:33:30","date_gmt":"2025-12-02T09:33:30","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35254"},"modified":"2025-12-02T17:33:30","modified_gmt":"2025-12-02T09:33:30","slug":"2025-12-02-%e8%b6%85%e8%b6%8aorion%ef%bc%81cot4ad%ef%bc%9a%e6%98%be%e5%bc%8f%e6%80%9d%e7%bb%b4%e9%93%be%e6%8e%a8%e7%90%86vla%e6%a8%a1%e5%9e%8b%ef%bc%88%e5%8c%97%e5%a4%a7%e6%9c%80%e6%96%b0%ef%bc%89","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/02\/35254\/","title":{"rendered":"2025-12-02 \u8d85\u8d8aORION\uff01CoT4AD\uff1a\u663e\u5f0f\u601d\u7ef4\u94fe\u63a8\u7406VLA\u6a21\u578b\uff08\u5317\u5927\u6700\u65b0\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/Ec-Rcpoj2-D9tRA-8iIecQ\">https:\/\/mp.weixin.qq.com\/s\/Ec-Rcpoj2-D9tRA-8iIecQ<\/a><\/p>\n\n\n\n<p>\u5317\u5927\u4e00\u7bc7\u65b0\u7684VLA\u5de5\u4f5c &#8211; CoT4AD\u3002\u8fd9\u7bc7\u6587\u7ae0\u91cd\u70b9\u89e3\u51b3\u7684\u662f\u4e0b\u9762\u8fd9\u4e2a\u95ee\u9898\uff1a<strong>\u73b0\u6709VLA\u6a21\u578b\u901a\u5e38\u5b58\u5728\u6570\u503c\u63a8\u7406\u80fd\u529b\u6709\u9650\u548c\u8f93\u5165-\u8f93\u51fa\u6620\u5c04\u8fc7\u4e8e\u7b80\u5316\u7684\u95ee\u9898\uff0c\u6240\u4ee5\u5728\u9700\u8981\u9010\u6b65\u56e0\u679c\u63a8\u7406\u7684\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6027\u80fd\u8868\u73b0\u4e00\u822c\u3002<\/strong><\/p>\n\n\n\n<p>\u6240\u4ee5\u672c\u6587\u63d0\u51fa\u4e86CoT4AD\u2014\u2014\u4e00\u79cd\u65b0\u7684VLA\u6846\u67b6\uff0c\u5176\u5c06\u601d\u7ef4\u94fe\u63a8\u7406\u5f15\u5165\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u4ee5\u589e\u5f3aVLM\u7684\u903b\u8f91\u63a8\u7406\u548c\u56e0\u679c\u63a8\u7406\u80fd\u529b\u3002CoT4AD\u6574\u5408\u89c6\u89c9\u89c2\u6d4b\u548c\u8bed\u8a00\u6307\u4ee4\uff0c\u5b9e\u73b0\u8bed\u4e49\u63a8\u7406\u3001\u573a\u666f\u7406\u89e3\u4e0e\u8f68\u8ff9\u89c4\u5212\u3002\u8bad\u7ec3\u9636\u6bb5\uff0c\u8be5\u6a21\u578b\u660e\u786e\u6784\u5efa\u4e86\u201c\u611f\u77e5-\u63d0\u95ee-\u9884\u6d4b-\u52a8\u4f5c\u201d\u7684\u601d\u7ef4\u94fe\uff0c\u4f7f\u63a8\u7406\u7a7a\u95f4\u4e0e\u591a\u4e2a\u9a7e\u9a76\u4efb\u52a1\u7684\u52a8\u4f5c\u7a7a\u95f4\u5bf9\u9f50\uff1b\u63a8\u7406\u9636\u6bb5\uff0c\u5176\u901a\u8fc7\u9690\u5f0f\u601d\u7ef4\u94fe\u63a8\u7406\uff0c\u5728\u52a8\u6001\u73af\u5883\u4e2d\u5b9e\u73b0\u4e00\u81f4\u7684\u6570\u503c\u63a8\u7406\u548c\u7a33\u5065\u7684\u51b3\u7b56\u5236\u5b9a\u3002\u5728\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6\uff08nuScenes\uff09\u548c\u4eff\u771f\u6570\u636e\u96c6\uff08Bench2Drive\uff09\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cCoT4AD\u5728\u5f00\u73af\u548c\u95ed\u73af\u8bc4\u4f30\u4e2d\u5747\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aCoT4AD: A Vision-Language-Action Model with Explicit Chain-of-Thought Reasoning for Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2511.22532<\/li>\n<\/ul>\n\n\n\n<p><strong>\u80cc\u666f\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u4f5c\u4e3a\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u9886\u57df\u7684\u6838\u5fc3\u7814\u7a76\u65b9\u5411\uff0c\u8fd1\u5e74\u6765\u53d7\u5230\u4e86\u5e7f\u6cdb\u5173\u6ce8\u3002\u5b83\u4e0d\u4ec5\u6709\u671b\u63d0\u5347\u4ea4\u901a\u5b89\u5168\u6027\u548c\u51fa\u884c\u6548\u7387\uff0c\u8fd8\u5728\u667a\u6167\u57ce\u5e02\u4e0e\u667a\u80fd\u4ea4\u901a\u7cfb\u7edf\u7684\u53d1\u5c55\u4e2d\u53d1\u6325\u5173\u952e\u4f5c\u7528\u3002\u4f20\u7edf\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u901a\u5e38\u91c7\u7528\u6a21\u5757\u5316\u6d41\u6c34\u7ebf\u67b6\u6784\uff0c\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u5206\u89e3\u4e3a\u72ec\u7acb\u6a21\u5757\u3002\u7136\u800c\uff0c\u6b64\u7c7b\u65b9\u6cd5\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u5e38\u9762\u4e34\u8bef\u5dee\u7d2f\u79ef\u3001\u8de8\u6a21\u5757\u4f18\u5316\u56f0\u96be\u4ee5\u53ca\u6cdb\u5316\u80fd\u529b\u6709\u9650\u7b49\u95ee\u9898\uff0c\u5236\u7ea6\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u590d\u6742\u73af\u5883\u4e2d\u7684\u6027\u80fd\u8868\u73b0\u3002<\/p>\n\n\n\n<p>\u4e3a\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8303\u5f0f\u5e94\u8fd0\u800c\u751f\u3002\u8fd9\u7c7b\u65b9\u6cd5\u65e8\u5728\u5229\u7528\u7edf\u4e00\u7684\u5b66\u4e60\u6846\u67b6\uff0c\u76f4\u63a5\u4ece\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u9884\u6d4b\u9a7e\u9a76\u63a7\u5236\u4fe1\u53f7\u6216\u89c4\u5212\u8f68\u8ff9\uff0c\u4ece\u800c\u907f\u514d\u591a\u9636\u6bb5\u4fe1\u606f\u4f20\u64ad\u5e26\u6765\u7684\u4e0d\u786e\u5b9a\u6027\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u968f\u7740\u5927\u89c4\u6a21\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u7814\u7a76\u4eba\u5458\u5f00\u59cb\u63a2\u7d22\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u6f5c\u529b\u3002VLA\u6a21\u578b\u80fd\u591f\u5904\u7406\u591a\u6a21\u6001\u8f93\u5165\uff0c\u5e76\u901a\u8fc7\u8bed\u8a00\u6307\u4ee4\u6267\u884c\u8bed\u4e49\u63a8\u7406\uff0c\u4e0e\u4f20\u7edf\u7aef\u5230\u7aef\u65b9\u6cd5\u76f8\u6bd4\uff0c\u5c55\u73b0\u51fa\u66f4\u5f3a\u7684\u53ef\u89e3\u91ca\u6027\u548c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u5728\u591a\u6837\u5316\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u6a21\u4eff\u5b66\u4e60\uff0cVLA\u6a21\u578b\u7ee7\u627f\u4e86VLMs\u5bf9\u5f02\u8d28\u573a\u666f\u3001\u7269\u4f53\u548c\u8bed\u8a00\u7684\u7406\u89e3\u80fd\u529b\uff0c\u5b9e\u73b0\u4e86\u7a33\u5065\u7684\u8de8\u4efb\u52a1\u6cdb\u5316\u3002\u7136\u800c\uff0c\u5b83\u4eec\u4e5f\u7ee7\u627f\u4e86VLMs\u7684\u56fa\u6709\u7f3a\u9677\u2014\u2014\u5c24\u5176\u662f\u5728\u590d\u6742\u73af\u5883\u4e2d\u7684\u6570\u503c\u63a8\u7406\u80fd\u529b\u8f83\u5f31\u3002\u56e0\u6b64\uff0c\u5c06VLMs\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u9762\u4e34\u4e24\u5927\u6838\u5fc3\u6311\u6218\uff1a\uff081\uff09\u6709\u9650\u7684\u6570\u503c\u63a8\u7406\u80fd\u529b\u5bfc\u81f4\u4e0d\u53ef\u9760\u6216\u5e7b\u89c9\u7684\u7ed3\u679c\uff1b\uff082\uff09\u73b0\u6709\u65b9\u6cd5\u5c06\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u89c6\u4e3a\u4ece\u611f\u77e5\u5230\u6570\u503c\u8f93\u51fa\u7684\u5355\u4e00\u6620\u5c04\u5668\uff0c\u5ffd\u89c6\u4e86\u5176\u591a\u6b65\u63a8\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u601d\u7ef4\u94fe\uff08CoT\uff09\u63a8\u7406\u901a\u8fc7\u5c06\u590d\u6742\u4efb\u52a1\u5206\u89e3\u4e3a\u4e2d\u95f4\u6b65\u9aa4\uff0c\u663e\u8457\u589e\u5f3a\u4e86LLM\u7684\u63a8\u7406\u80fd\u529b\u3002\u5c3d\u7ba1\u5df2\u6709\u7814\u7a76\u901a\u8fc7\u8bed\u8a00\u63cf\u8ff0\u3001\u5173\u952e\u70b9\u6216\u8fb9\u754c\u6846\u7b49\u65b9\u5f0f\u5f15\u5165CoT\uff0c\u4f46\u8fd9\u4e9b\u5de5\u4f5c\u4e3b\u8981\u805a\u7126\u4e8e\u73af\u5883\u53d7\u9650\u7684\u5177\u8eab\u667a\u80fd\u6216\u673a\u5668\u4eba\u573a\u666f\u3002\u7136\u800c\uff0c\u81ea\u52a8\u9a7e\u9a76\u9762\u4e34\u7740\u672c\u8d28\u4e0a\u4e0d\u540c\u7684\u6311\u6218\u2014\u2014\u5b83\u8981\u6c42\u5728\u52a8\u6001\u3001\u5927\u89c4\u6a21\u4e14\u5b89\u5168\u5173\u952e\u7684\u73af\u5883\u4e2d\u5b9e\u73b0\u7cbe\u51c6\u7684\u6570\u503c\u63a8\u7406\u3001\u957f\u65f6\u57df\u89c4\u5212\u548c\u7a33\u5065\u7684\u6cdb\u5316\u80fd\u529b\u3002\u5982\u56fe1\uff08b\uff09\u6240\u793a\uff0c\u76f4\u63a5\u5c06\u6240\u6709\u63d0\u793a\u8f93\u5165VLM\u4f1a\u5bfc\u81f4\u8f93\u51fa\u4e0d\u7a33\u5b9a\uff0c\u800c\u878d\u5165CoT\u5219\u80fd\u591f\u5b9e\u73b0\u7ed3\u6784\u5316\u7684\u4e2d\u95f4\u63a8\u7406\uff0c\u83b7\u5f97\u66f4\u53ef\u9760\u7684\u7ed3\u679c\u3002\u672c\u7814\u7a76\u8bd5\u56fe\u89e3\u51b3\u4e00\u4e2a\u5173\u952e\u95ee\u9898\uff1a\u5982\u4f55\u4e3a\u81ea\u52a8\u9a7e\u9a76\u91cf\u8eab\u5b9a\u5236\u601d\u7ef4\u94fe\u63a8\u7406\uff0c\u4ee5\u63d0\u5347\u6548\u7387\u548c\u6027\u80fd\uff1f<\/p>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86CoT4AD\u2014\u2014\u4e00\u79cd\u65b0\u7684VLA\u6a21\u578b\uff0c\u5176\u5c06\u601d\u7ef4\u94fe\u63a8\u7406\u6574\u5408\u5230\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u3002\u5982\u56fe1\u6240\u793a\uff0cCoT4AD\u4e0e\u73b0\u6709\u65b9\u6cd5\u7684\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\uff1a\u901a\u8fc7\u9488\u5bf9\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u8bbe\u8ba1\u7684\u4e00\u7cfb\u5217\u4e0b\u6e38\u4efb\u52a1\uff0c\u5bf9\u5f00\u6e90\u9884\u8bad\u7ec3\u8bed\u8a00\u6a21\u578b\u8fdb\u884c\u5fae\u8c03\uff0c\u4f7f\u5176\u80fd\u591f\u663e\u5f0f\u6216\u9690\u5f0f\u5730\u6267\u884c\u601d\u7ef4\u94fe\u63a8\u7406\u3002\u8fd9\u4e00\u8bbe\u8ba1\u4f7f\u6a21\u578b\u80fd\u591f\u4ece\u591a\u6a21\u6001\u8f93\u5165\u751f\u6210\u53ef\u9760\u4e14\u7a33\u5b9a\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"507\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-15-1024x507.png\" alt=\"\" class=\"wp-image-35255\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-15-1024x507.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-15-300x149.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-15-768x380.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-15.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u7684\u7edf\u4e00\u6846\u67b6\u6574\u5408\u4e86\u73af\u5883\u611f\u77e5\u3001\u8bed\u8a00\u63a8\u7406\u3001\u672a\u6765\u9884\u6d4b\u548c\u8f68\u8ff9\u89c4\u5212\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u751f\u6210\u663e\u5f0f\u7684\u601d\u7ef4\u94fe\u63a8\u7406\u6b65\u9aa4\u3002\u5728\u611f\u77e5\u63a8\u7406\u9636\u6bb5\uff0c\u6a21\u578b\u901a\u8fc7\u4e13\u5bb6\u6570\u636e\u8bad\u7ec3\u611f\u77e5\u4efb\u52a1\uff0c\u83b7\u53d6\u573a\u666f\u7406\u89e3\u80fd\u529b\uff1b\u5728\u672a\u6765\u9884\u6d4b\u9636\u6bb5\uff0c\u6a21\u578b\u4ece\u4e13\u5bb6\u6570\u636e\u4e2d\u5b66\u4e60\u9884\u6d4b\u672a\u6765\u573a\u666f\uff0c\u5b9e\u73b0\u573a\u666f\u91cd\u5efa\uff1b\u5728\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u63a8\u7406\u9636\u6bb5\uff0c\u6a21\u578b\u901a\u8fc7\u57fa\u4e8e\u63d0\u793a\u7684\u76d1\u7763\u5728\u89c6\u89c9\u95ee\u7b54\u4efb\u52a1\u4e0a\u8fdb\u884c\u5fae\u8c03\uff1b\u5728\u8f68\u8ff9\u89c4\u5212\u9636\u6bb5\uff0c\u6a21\u578b\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\u751f\u6210\u9ad8\u8d28\u91cf\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002\u901a\u8fc7\u591a\u9636\u6bb5\u8bad\u7ec3\u8fc7\u7a0b\uff0cCoT4AD\u57f9\u517b\u4e86\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u601d\u7ef4\u94fe\u63a8\u7406\u80fd\u529b\u3002\u63a8\u7406\u9636\u6bb5\uff0cCoT4AD\u65e0\u9700\u663e\u5f0f\u751f\u6210\u4e2d\u95f4\u63a8\u7406\u6b65\u9aa4\uff0c\u5373\u53ef\u901a\u8fc7\u5355\u6b21\u524d\u5411\u4f20\u64ad\u76f4\u63a5\u8f93\u51fa\u9a7e\u9a76\u8f68\u8ff9\uff0c\u5728\u89c4\u5212\u6027\u80fd\u4e0e\u8ba1\u7b97\u6548\u7387\u4e4b\u95f4\u5b9e\u73b0\u4e86\u5e73\u8861\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u5728\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6nuScenes\u548c\u4eff\u771f\u6570\u636e\u96c6Bench2Drive\u4e0a\u5bf9CoT4AD\u8fdb\u884c\u4e86\u5168\u9762\u8bc4\u4f30\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5728\u5f00\u73af\u548c\u95ed\u73af\u6d4b\u8bd5\u4e2d\uff0cCoT4AD\u5728\u5404\u7c7b\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u5747\u8868\u73b0\u51fa\u5353\u8d8a\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86CoT4AD\u2014\u2014\u4e00\u79cd\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\uff0c\u5176\u5229\u7528\u7ecf\u8fc7\u591a\u6b65\u5fae\u8c03\u7684\u9884\u8bad\u7ec3VLM\uff0c\u80fd\u591f\u57fa\u4e8e\u539f\u59cb\u89c6\u89c9\u89c2\u6d4b\u548c\u8bed\u8a00\u6307\u4ee4\u5b9e\u73b0\u601d\u7ef4\u94fe\u63a8\u7406\u548c\u591a\u4efb\u52a1\u5904\u7406\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u4e3a\u9a7e\u9a76\u573a\u666f\u7684\u672a\u6765\u9884\u6d4b\u548c\u8f68\u8ff9\u89c4\u5212\u5f15\u5165\u4e86\u521b\u65b0\u65b9\u6cd5\u3002\u8be5\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u6846\u67b6\u6574\u5408\u4e86\u73b0\u6709\u7684\u89c6\u9891\u751f\u6210\u548c\u89c4\u5212\u65b9\u6cd5\uff0c\u5e76\u4e0e\u601d\u7ef4\u94fe\u63a8\u7406\u6d41\u6c34\u7ebf\u65e0\u7f1d\u8854\u63a5\u3002<\/li>\n\n\n\n<li>\u5728NuScenes\u548cBench2Drive\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cCoT4AD\u5728\u5f00\u73af\u548c\u95ed\u73af\u9a7e\u9a76\u4e2d\u5747\u5efa\u7acb\u4e86\u65b0\u7684\u6700\u5148\u8fdb\u7ed3\u679c\uff0c\u6301\u7eed\u4f18\u4e8e\u73b0\u6709\u7684\u57fa\u4e8eLLM\u7684\u65b9\u6cd5\u548c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>CoT4AD\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>3D\u73af\u5883\u611f\u77e5<\/strong><\/p>\n\n\n\n<p>\u5728\u73b0\u6709VLA\u6a21\u578b\u4e2d\uff0c\u89c6\u89c9\u7279\u5f81\u901a\u5e38\u901a\u8fc72D\u7f16\u7801\u5668\u63d0\u53d6\uff0c\u8fd9\u7c7b\u7f16\u7801\u5668\u5728\u5e73\u9762\u4efb\u52a1\u4e2d\u8868\u73b0\u826f\u597d\uff0c\u4f46\u5728\u5efa\u6a213D\u7ed3\u6784\u548c\u7a7a\u95f4\u5173\u7cfb\u65b9\u9762\u5b58\u5728\u4e0d\u8db3\u3002\u7531\u4e8e\u7f3a\u4e4f\u591a\u89c6\u56fe\u6df1\u5ea6\u4fe1\u606f\u548c\u51e0\u4f55\u4e00\u81f4\u6027\uff0c\u8fd9\u4e9b\u6a21\u578b\u65e0\u6cd5\u51c6\u786e\u611f\u77e53D\u73af\u5883\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u5c40\u9650\uff0cCoT4AD\u91c7\u7528\u4e86\u4ee5\u7279\u5f81\u4e3a\u4e2d\u5fc3\u7684\u611f\u77e5\u8bad\u7ec3\u65b9\u5f0f\uff0c\u901a\u8fc7\u5b66\u4e60\u591a\u4e2a3D\u611f\u77e5\u4efb\u52a1\u751f\u62103D\u89c6\u89c9token\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"774\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-16-1024x774.png\" alt=\"\" class=\"wp-image-35256\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-16-1024x774.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-16-300x227.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-16-768x580.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-16.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"263\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120201.png\" alt=\"\" class=\"wp-image-35257\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120201.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120201-300x115.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u89c6\u89c9-\u8bed\u8a00\u63d0\u793a\u5fae\u8c03<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"364\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120202.png\" alt=\"\" class=\"wp-image-35258\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120202.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120202-300x158.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<p><strong>VLM-Conditioned Latent Diffusion<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"691\" height=\"692\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120203.png\" alt=\"\" class=\"wp-image-35259\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120203.png 691w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120203-300x300.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120203-150x150.png 150w\" sizes=\"(max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<p><strong>\u601d\u7ef4\u94fe\u8f68\u8ff9\u89c4\u5212<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"304\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120204.png\" alt=\"\" class=\"wp-image-35260\" style=\"width:889px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120204.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120204-300x133.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u9996\u5148\u4ecb\u7ecd\u4e24\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u6570\u636e\u96c6\uff1anuScenes\u6570\u636e\u96c6\u4e0eBench2Drive\u6570\u636e\u96c6\uff1b\u968f\u540e\u5728\u8fd9\u4e24\u4e2a\u6570\u636e\u96c6\u4e0a\u5bf9\u6240\u63d0\u65b9\u6cd5\u8fdb\u884c\u8bc4\u4f30\uff0c\u5e76\u4e0e\u5f53\u524dSOTA\u7684VLA\u6a21\u578b\u5c55\u5f00\u5bf9\u6bd4\uff1b\u6b64\u5916\uff0c\u901a\u8fc7\u53ef\u89c6\u5316\u5206\u6790\u9610\u91ca\u6240\u63d0\u65b9\u6cd5\u7684\u6709\u6548\u6027\uff1b\u6700\u540e\u5728Bench2Drive\u6570\u636e\u96c6\u4e0a\u5f00\u5c55\u6d88\u878d\u7814\u7a76\uff0c\u9a8c\u8bc1\u5404\u6a21\u5757\u7684\u4f5c\u7528\u3002<\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p><strong>nuScenes\u6570\u636e\u96c6\uff1a<\/strong>nuScenes\u662f\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7528\u4e8e\u611f\u77e5\u4efb\u52a1\u4e0e\u5f00\u73af\u89c4\u5212\u4efb\u52a1\u7684\u591a\u6a21\u6001\u57fa\u51c6\u6570\u636e\u96c6\uff0c\u5305\u542b1000\u4e2a\u65f6\u957f20\u79d2\u7684\u573a\u666f\uff08\u6570\u636e\u91c7\u96c6\u4e8e\u6ce2\u58eb\u987f\u4e0e\u65b0\u52a0\u5761\uff09\uff0c\u6807\u6ce8\u9891\u7387\u4e3a2Hz\uff1b\u6570\u636e\u96c6\u6309700\/150\/150\u7684\u6bd4\u4f8b\u5212\u5206\u4e3a\u8bad\u7ec3\u96c6\u3001\u9a8c\u8bc1\u96c6\u4e0e\u6d4b\u8bd5\u96c6\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0cnuScenes-QA\u5c06\u5176\u6269\u5c55\u4e3a\u89c6\u89c9\u95ee\u7b54\uff08Visual Question Answering, VQA\uff09\u57fa\u51c6\u6570\u636e\u96c6\uff1a\u901a\u8fc7\u751f\u6210\u573a\u666f\u56fe\u4e0e\u591a\u79cd\u95ee\u9898\u7c7b\u578b\uff08\u5982\u76ee\u6807\u5b58\u5728\u6027\u3001\u6570\u91cf\u7edf\u8ba1\u3001\u5c5e\u6027\u63cf\u8ff0\u3001\u7279\u5f81\u5bf9\u6bd4\uff09\uff0c\u8003\u5bdf\u6a21\u578b\u5728\u591a\u6a21\u6001\u63a8\u7406\u4efb\u52a1\u4e2d\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>Bench2Drive\u6570\u636e\u96c6\uff1a<\/strong>Bench2Drive\u662f\u7528\u4e8e\u95ed\u73af\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u57fa\u51c6\u6570\u636e\u96c6\uff0c\u7531\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66Thinklab\u56e2\u961f\u63d0\u51fa\u3002\u8be5\u6570\u636e\u96c6\u57fa\u4e8eCARLA V2\u4eff\u771f\u73af\u5883\u6784\u5efa\uff0c\u53ef\u5728\u4ea4\u4e92\u5f0f\u52a8\u6001\u573a\u666f\u4e0b\u5168\u9762\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6027\u80fd\u3002\u4e3a\u4fdd\u8bc1\u57fa\u7ebf\u5bf9\u6bd4\u7684\u516c\u5e73\u6027\uff0cBench2Drive\u5b9a\u4e49\u4e86\u5305\u542b1000\u4e2a\u7247\u6bb5\u7684\u57fa\u7840\u6570\u636e\u96c6\uff0c\u901a\u5e38\u6309950\/50\u7684\u6bd4\u4f8b\u5212\u5206\u4e3a\u8bad\u7ec3\u96c6\u4e0e\u5f00\u73af\u9a8c\u8bc1\u96c6\uff1b\u6bcf\u4e2a\u7247\u6bb5\u5bf9\u5e94\u7279\u5b9a\u4ea4\u901a\u573a\u666f\u4e0b\u7684\u8fde\u7eed\u9a7e\u9a76\u8def\u6bb5\uff08\u957f\u5ea6\u7ea6150\u7c73\uff09\u3002Chat-B2D\u662f\u5728Bench2Drive\u57fa\u7840\u4e0a\u6269\u5c55\u7684VQA\u6570\u636e\u96c6\uff08\u7531ORION\u63d0\u51fa\uff09\uff0c\u4e3aBench2Drive\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u4e2a\u9a7e\u9a76\u573a\u666f\u81ea\u52a8\u751f\u6210\u201c\u95ee\u9898-\u7b54\u6848\u201d\u5bf9\uff0c\u53ef\u5728\u95ed\u73af\u4eff\u771f\u73af\u5883\u4e2d\u8bc4\u4f30\u6a21\u578b\u7684\u8bed\u4e49\u63a8\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\u8bc4\u4f30\u6307\u6807<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5f00\u5c55\u5f00\u73af\u8bc4\u4f30\uff0c\u91c7\u7528<strong>L2\u8ddd\u79bb\u8bef\u5dee<\/strong>\uff08\u8861\u91cf\u8f68\u8ff9\u9884\u6d4b\u7cbe\u5ea6\uff09\u4e0e<strong>\u5e73\u5747\u78b0\u649e\u7387<\/strong>\uff08\u8861\u91cf\u9a7e\u9a76\u5b89\u5168\u6027\uff09\u4f5c\u4e3a\u8bc4\u4f30\u6307\u6807\u3002<\/li>\n\n\n\n<li>\u5728Bench2Drive\u6570\u636e\u96c6\u4e0a\u540c\u65f6\u5f00\u5c55\u5f00\u73af\u4e0e\u95ed\u73af\u8bc4\u4f30\uff0c\u91c7\u7528\u7684\u8bc4\u4f30\u6307\u6807\u5305\u62ec\uff1a<strong>\u9a7e\u9a76\u5f97\u5206\uff08Driving Score, DS\uff09<\/strong>\u3001<strong>\u6210\u529f\u7387\uff08Success Rate, SR\uff09<\/strong>\u3001<strong>\u6548\u7387\uff08Efficiency\uff09<\/strong>\u3001<strong>\u8212\u9002\u6027\uff08Comfortness\uff09<\/strong>\u00a0\u53ca<strong>\u7efc\u5408\u80fd\u529b\uff08Multi-Ability\uff09<\/strong>\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e0eSOTA\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p><strong>nuScenes\u6570\u636e\u96c6\u5bf9\u6bd4\uff1a<\/strong>\u88681\u5c55\u793a\u4e86\u5f53\u524d\u4e3b\u6d41\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u6027\u80fd\uff08\u91c7\u7528UniAD\u5b9a\u4e49\u7684\u8bc4\u4f30\u6307\u6807\uff09\u3002CoT4AD\u53d6\u5f97\u4e86\u6781\u5177\u7ade\u4e89\u529b\u7684\u7ed3\u679c\uff1a\u57281\u79d2\u30012\u79d2\u30013\u79d2\u65f6\u57df\u4e0b\u7684L2\u8ddd\u79bb\u8bef\u5dee\u5206\u522b\u4e3a0.12\u7c73\u30010.24\u7c73\u30010.53\u7c73\uff08\u5e73\u5747\u503c\u4e3a0.29\u7c73\uff09\uff0c\u663e\u8457\u4f18\u4e8eOpenDriveVLA\u3001EMMA\u7b49\u6700\u65b0\u57fa\u4e8eVLM\u7684\u65b9\u6cd5\u3002\u5b89\u5168\u6027\u65b9\u9762\uff0cCoT4AD\u7684\u5e73\u5747\u78b0\u649e\u7387\u4f4e\u81f30.10%\uff0c\u8bc1\u660e\u5176\u8f68\u8ff9\u9884\u6d4b\u7684\u7a33\u5065\u6027\u4e0e\u53ef\u9760\u6027\u3002<br>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4e0e\u9700\u7ed3\u5408\u89c4\u5212\u5668\u8f68\u8ff9\u7684\u65b9\u6cd5\u4e0d\u540c\uff0cCoT4AD\u4ec5\u4ee5\u81ea\u8f66BEV\uff08\u9e1f\u77b0\u56fe\uff09\u72b6\u6001\u548c\u76f8\u673a\u56fe\u50cf\u4e3a\u8f93\u5165\uff0c\u5374\u80fd\u6301\u7eed\u5b9e\u73b0\u6bd4OmniDrive++\u66f4\u4f4e\u7684\u9884\u6d4b\u8bef\u5dee\u4e0e\u78b0\u649e\u7387\u2014\u2014\u8fd9\u4f53\u73b0\u4e86\u6240\u63d0\u201c\u601d\u7ef4\u94fe\uff08CoT\uff09\u63a8\u7406\u201d\u7684\u5f3a\u5927\u80fd\u529b\uff1a\u53ef\u589e\u5f3a\u6a21\u578b\u5728\u590d\u6742\u573a\u666f\u4e0b\u7684\u9a7e\u9a76\u8f68\u8ff9\u9884\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"531\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-17-1024x531.png\" alt=\"\" class=\"wp-image-35261\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-17-1024x531.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-17-300x156.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-17-768x398.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-17.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Bench2Drive\u6570\u636e\u96c6\u5bf9\u6bd4\uff1a<\/strong>\u88682\u5c55\u793a\u4e86\u5404\u7c7b\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u5728Bench2Drive\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u7684\u95ed\u73af\u8bc4\u4f30\u7ed3\u679c\u3002\u5176\u4e2d\uff0c\u201cCoT4AD\u201d\u4ee3\u8868\u6a21\u578b\u76f4\u63a5\u7aef\u5230\u7aef\u8f93\u51fa\u8f68\u8ff9\uff0c\u201cCoT4AD-CoT\u201d\u4ee3\u8868\u6a21\u578b\u901a\u8fc7\u5206\u6b65\u601d\u7ef4\u94fe\u63a8\u7406\u751f\u6210\u8f68\u8ff9\u3002<br>\u6240\u63d0\u7684CoT4AD\u4e0eCoT4AD-CoT\u6a21\u578b\u5747\u53d6\u5f97\u4e86\u6700\u4f18\u7efc\u5408\u6027\u80fd\uff1a\u5177\u4f53\u800c\u8a00\uff0cCoT4AD-CoT\u7684\u9a7e\u9a76\u5f97\u5206\uff08DS\uff09\u9ad8\u8fbe81.22\uff0c\u6210\u529f\u7387\uff08SR\uff09\u8fbe55.78%\uff0c\u8d85\u8fc7ORION\u3001DriveTransformer-Large\u7b49\u5f3a\u57fa\u7ebf\u65b9\u6cd5\u3002\u5728\u6548\u7387\u4e0e\u8212\u9002\u6027\u65b9\u9762\uff0c\u672c\u6587\u65b9\u6cd5\u5b9e\u73b0\u4e86\u6027\u80fd\u5e73\u8861\u2014\u2014\u4e0e\u6613\u4ea7\u751f\u201c\u7a81\u53d1\u64cd\u63a7\u201d\u7684Transformer-based\u65b9\u6cd5\u76f8\u6bd4\uff0cCoT4AD\u7684\u64cd\u63a7\u884c\u4e3a\u66f4\u5e73\u6ed1\u3001\u66f4\u63a5\u8fd1\u4eba\u7c7b\u9a7e\u9a76\u3002<br>\u9700\u7279\u522b\u8bf4\u660e\u7684\u662f\uff0c\u4e24\u79cd\u7248\u672c\u7684CoT4AD\u5747\u4ec5\u4f9d\u8d56\u76f8\u673a\u8f93\u5165\u548c\u5bfc\u822a\u6307\u4ee4\uff0c\u5374\u4f18\u4e8e\u9700\u989d\u5916\u7ed3\u5408\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u6216\u4e13\u5bb6\u84b8\u998f\u4fe1\u53f7\u7684\u6a21\u578b\u3002\u8fd9\u4e9b\u7ed3\u679c\u5145\u5206\u8bc1\u660e\uff1a\u6240\u63d0\u7684\u601d\u7ef4\u94fe\u63a8\u7406\u6846\u67b6\u53ef\u589e\u5f3a\u51b3\u7b56\u4e00\u81f4\u6027\uff0c\u63d0\u5347\u6a21\u578b\u5728\u591a\u6837\u5316\u573a\u666f\u4e0b\u7684\u9a7e\u9a76\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"475\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-18-1024x475.png\" alt=\"\" class=\"wp-image-35262\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-18-1024x475.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-18-300x139.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-18-768x356.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-18.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4e3a\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u6240\u63d0\u65b9\u6cd5\u5728\u590d\u6742\u573a\u666f\u4e0b\u7684\u89c4\u5212\u80fd\u529b\uff0c\u672c\u6587\u5c06CoT4AD\u4e0eUniAD\u8fdb\u884c\u5b9a\u6027\u5bf9\u6bd4\u3002\u5982\u56fe3\u6240\u793a\uff0c\u9009\u53d6\u4e24\u4e2a\u5177\u6709\u4ee3\u8868\u6027\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u6bcf\u4e2a\u573a\u666f\u5305\u542b3\u5e27\u8fde\u7eed\u56fe\u50cf\uff0c\u4ee5\u5c55\u793a\u6a21\u578b\u7684\u51b3\u7b56\u8fc7\u7a0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u573a\u666f1\uff08\u907f\u969c\u53d8\u9053\uff09<\/strong>\uff1a\u4efb\u52a1\u8981\u6c42\u6a21\u578b\u901a\u8fc7\u53d8\u9053\u907f\u5f00\u524d\u65b9\u969c\u788d\u7269\u3002\u4e24\u79cd\u65b9\u6cd5\u5747\u751f\u6210\u4e86\u5408\u7406\u7684\u53d8\u9053\u8f68\u8ff9\uff0c\u4f46CoT4AD\u7684\u8f68\u8ff9\u66f4\u5e73\u6ed1\u3001\u66f4\u8fde\u7eed\uff0c\u5728\u7b2c3\u5e27\u4e2d\u4e0e\u969c\u788d\u7269\u4fdd\u6301\u4e86\u66f4\u5927\u7684\u5b89\u5168\u8ddd\u79bb\u3002<\/li>\n\n\n\n<li><strong>\u573a\u666f2\uff08\u8d85\u8f66\u673a\u52a8\uff09<\/strong>\uff1a\u4efb\u52a1\u8981\u6c42\u6a21\u578b\u5b8c\u6210\u8d85\u8f66\u52a8\u4f5c\u3002UniAD\u672a\u80fd\u63d0\u524d\u8bc6\u522b\u8d85\u8f66\u610f\u56fe\uff0c\u5bfc\u81f4\u52a0\u901f\u5ea6\u4e0d\u8db3\u3001\u8d85\u8f66\u8ddd\u79bb\u6709\u9650\uff0c\u65e0\u6cd5\u5b89\u5168\u5b8c\u6210\u8d85\u8f66\uff1b\u800cCoT4AD\u53ef\u66f4\u65e9\u8bc6\u522b\u8d85\u8f66\u610f\u56fe\u5e76\u4e3b\u52a8\u89c4\u5212\uff0c\u5728\u4fdd\u6301\u8f83\u8fd1\u8ddf\u8f66\u8ddd\u79bb\u7684\u540c\u65f6\u5e73\u7a33\u52a0\u901f\u3001\u53d8\u9053\uff0c\u6700\u7ec8\u6210\u529f\u5b8c\u6210\u8d85\u8f66\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"694\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-19-1024x694.png\" alt=\"\" class=\"wp-image-35263\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-19-1024x694.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-19-300x203.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-19-768x521.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-19.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u4e00\u5bf9\u6bd4\u8868\u660e\uff0cCoT4AD\u5177\u5907\u66f4\u5f3a\u7684\u65f6\u5e8f\u63a8\u7406\u80fd\u529b\u548c\u9ad8\u5c42\u8bed\u4e49\u7406\u89e3\u80fd\u529b\uff0c\u53ef\u5b9e\u73b0\u66f4\u63a5\u8fd1\u4eba\u7c7b\u7684\u201c\u573a\u666f\u611f\u77e5\u578b\u201d\u9a7e\u9a76\u884c\u4e3a\u3002\u7efc\u4e0a\uff0c\u5b9a\u6027\u7ed3\u679c\u9a8c\u8bc1\u4e86\u6240\u63d0\u201c\u601d\u7ef4\u94fe\u63a8\u7406\u201d\u7684\u4f18\u52bf\uff1a\u4e0d\u4ec5\u63d0\u5347\u4e86\u8f68\u8ff9\u7684\u5e73\u6ed1\u6027\u548c\u5b89\u5168\u6027\uff0c\u8fd8\u589e\u5f3a\u4e86\u6a21\u578b\u5728\u590d\u6742\u4ea4\u901a\u4ea4\u4e92\u573a\u666f\u4e0b\u7684\u7a33\u5065\u6027\u548c\u51b3\u7b56\u53ef\u89e3\u91ca\u6027\u3002\u66f4\u591a\u5b9a\u6027\u53ef\u89c6\u5316\u7ed3\u679c\u53ca\u89c6\u9891\u8bf7\u53c2\u89c1\u9644\u5f55\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"191\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120205.png\" alt=\"\" class=\"wp-image-35264\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120205.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120205-300x83.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"244\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-20-1024x244.png\" alt=\"\" class=\"wp-image-35265\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-20-1024x244.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-20-300x71.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-20-768x183.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-20.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\uff082\uff09\u601d\u7ef4\u94fe\uff08CoT\uff09\u8bbe\u8ba1\u7684\u6709\u6548\u6027\uff1a<\/strong>\u88684\u5c55\u793a\u4e86\u601d\u7ef4\u94fe\u9884\u8bad\u7ec3\u5404\u6b65\u9aa4\u7684\u8be6\u7ec6\u6d88\u878d\u7ed3\u679c\u3002\u79fb\u9664\u57fa\u7840\u611f\u77e5\u6a21\u5757\uff08ID 1 vs ID 2\uff09\u4f1a\u5bfc\u81f4\u9a7e\u9a76\u5f97\u5206\uff08DS\uff09\u548c\u6210\u529f\u7387\uff08SR\uff09\u663e\u8457\u4e0b\u964d\uff08DS\uff1a66.44\u219259.89\uff1bSR\uff1a36.86%\u219227.95%\uff09\uff0c\u8bf4\u660e\u89c6\u89c9\u611f\u77e5\u7279\u5f81\u5bf9\u5b89\u5168\u3001\u6709\u6548\u7684\u9a7e\u9a76\u81f3\u5173\u91cd\u8981\u3002\u7c7b\u4f3c\u5730\uff0c\u79fb\u9664VQA\u6a21\u5757\uff08ID 1 vs ID 3\uff09\u4e5f\u4f1a\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\uff08\u4f46\u964d\u5e45\u8f83\u5c0f\uff1aDS 64.38\u219259.89\uff1bSR 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