{"id":35274,"date":"2025-12-03T18:04:13","date_gmt":"2025-12-03T10:04:13","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35274"},"modified":"2025-12-03T18:04:13","modified_gmt":"2025-12-03T10:04:13","slug":"2025-12-03-%e5%93%88%e5%b7%a5%e5%a4%a7%e6%8f%90%e5%87%balap%ef%bc%9a%e6%bd%9c%e5%9c%a8%e7%a9%ba%e9%97%b4%e4%b8%8a%e7%9a%84%e8%a7%84%e5%88%92%e8%ae%a9%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%86%b3","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/03\/35274\/","title":{"rendered":"2025-12-03 \u54c8\u5de5\u5927\u63d0\u51faLAP\uff1a\u6f5c\u5728\u7a7a\u95f4\u4e0a\u7684\u89c4\u5212\u8ba9\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u66f4\u9ad8\u6548\u3001\u66f4\u5f3a\u5927\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/YhubLOzh2-1b9TcboTasfA\">https:\/\/mp.weixin.qq.com\/s\/YhubLOzh2-1b9TcboTasfA<\/a><\/p>\n\n\n\n<p>\u672c\u6587\u7684\u6838\u5fc3\u8bbe\u8ba1\u54f2\u5b66\u5728\u4e8e\uff1a\u53bb\u9664\u6389\u5197\u4f59\u7684\u52a8\u529b\u5b66\u7ec6\u8282\uff0c\u8ba9\u6a21\u578b\u4e13\u6ce8\u4e8e\u89c4\u5212\u7684\u9ad8\u5c42\u8bed\u4e49\u3002LAP \u901a\u8fc7\u5c06\u89c4\u5212\u653e\u5230\u53bb\u9664\u6389\u52a8\u529b\u5b66\u7ec6\u8282\u7684\u8bed\u4e49\u7a7a\u95f4\u4e0a\u8fdb\u884c\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u6a21\u578b\u5bf9\u590d\u6742\u3001\u591a\u6a21\u6001\u7684\u9a7e\u9a76\u7b56\u7565\u7684\u5efa\u6a21\u80fd\u529b\uff0c\u5e76\u5927\u5927\u63d0\u5347\u4e86\u63a8\u7406\u901f\u5ea6\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u9996\u5148\u8bbe\u8ba1\u4e86\u9488\u5bf9\u8f68\u8ff9\u6570\u636e\u7684 VAE \u6a21\u578b\uff0c\u5c06\u539f\u59cb\u8f68\u8ff9\u538b\u7f29\u5230\u8bed\u4e49\u5316\u7684\u6f5c\u5728\u7a7a\u95f4\uff0c\u968f\u540e\u5728\u6f5c\u5728\u7a7a\u95f4\u4e0a\u4f5c\u89c4\u5212\uff0c\u8ba9\u6a21\u578b\u4e13\u6ce8\u4e8e\u9ad8\u5c42\u9a7e\u9a76\u7b56\u7565\u3002\u5176\u6b21\uff0c\u9488\u5bf9\u6f5c\u5728\u7a7a\u95f4\u89c4\u5212\u5e26\u6765\u7684\u6311\u6218\uff0c\u672c\u6587\u8fdb\u4e00\u6b65\u5f15\u5165\u521d\u59cb\u72b6\u6001\u6ce8\u5165\u3001\u65e0\u5206\u7c7b\u5668\u5f15\u5bfc\u3001\u7ec6\u7c92\u5ea6\u7279\u5f81\u84b8\u998f\u7b49\u6280\u672f\u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u6027\u80fd\u3002\u5728\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u6570\u636e\u96c6 nuPlan \u4e0a\u7684\u5b9e\u9a8c\u8bc1\u5b9e\u4e86\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002\u5c24\u5176\u5728\u6700\u5177\u6311\u6218\u6027\u7684 Test14-hard \u6570\u636e\u96c6\u4e0a\uff0c\u6a21\u578b\u4ee5\u5341\u500d\u7684\u63a8\u7406\u52a0\u901f\uff0c\u53d6\u5f97\u5927\u5e45\u9886\u5148\u5f53\u524d SOTA \u65b9\u6cd5\uff08\u63d0\u9ad8\u7ea6 3.1 score\uff09\u7684\u6027\u80fd\uff0c\u95ed\u73af\u8bc4\u6d4b\u5206\u6570\u8fbe\u5230 78.52\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aLAP: Fast LAtent Diffusion Planner with Fine-Grained Feature Distillation for Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2512.00470<\/li>\n<\/ul>\n\n\n\n<p><strong>\u80cc\u666f\u56de\u987e (Background Review)<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6838\u5fc3\u5728\u4e8e\u80fd\u591f\u5904\u7406\u590d\u6742\u4ea4\u4e92\u73af\u5883\u7684\u9c81\u68d2\u8fd0\u52a8\u89c4\u5212\u3002\u8be5\u9886\u57df\u7684\u53d1\u5c55\u7ecf\u5386\u4e86\u4ee5\u4e0b\u51e0\u4e2a\u9636\u6bb5\u548c\u6311\u6218\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4f20\u7edf\u65b9\u6cd5\u7684\u5c40\u9650\u6027\uff1a<\/strong>\u00a0\u65e9\u671f\u7684\u57fa\u4e8e\u89c4\u5219\u7684\u7cfb\u7edf\uff08\u5982\u6709\u9650\u72b6\u6001\u673a\uff09\u867d\u7136\u5177\u6709\u53ef\u89e3\u91ca\u6027\uff0c\u4f46\u5176\u624b\u5de5\u8bbe\u8ba1\u7684\u903b\u8f91\u96be\u4ee5\u6269\u5c55\uff0c\u65e0\u6cd5\u5e94\u5bf9\u5f00\u653e\u4e16\u754c\u4e2d\u7684\u957f\u5c3e\u573a\u666f\u3002<\/li>\n\n\n\n<li><strong>\u6a21\u4eff\u5b66\u4e60 (Imitation Learning, IL) \u7684\u74f6\u9888\uff1a<\/strong>\u00a0\u6570\u636e\u9a71\u52a8\u7684 IL \u65b9\u6cd5\u5bb9\u6613\u53d7\u5230\u201c\u6a21\u5f0f\u5e73\u5747\u201d\uff08mode-averaging\uff09\u7684\u5f71\u54cd\uff0c\u5373\u6a21\u578b\u5c06\u591a\u4e2a\u6709\u6548\u7684\u4e13\u5bb6\u8f68\u8ff9\u574d\u7f29\u6210\u5355\u4e00\u7684\u3001\u7269\u7406\u4e0a\u4e0d\u53ef\u884c\u7684\u8def\u5f84\uff0c\u65e0\u6cd5\u6355\u6349\u4eba\u7c7b\u51b3\u7b56\u7684\u591a\u6a21\u6001\u7279\u6027\u3002<\/li>\n\n\n\n<li><strong>\u6269\u6563\u6a21\u578b\u7684\u5f15\u5165\u4e0e\u5e26\u6765\u7684\u95ee\u9898\uff1a<\/strong>\u00a0\u53bb\u566a\u6269\u6563\u6982\u7387\u6a21\u578b\uff08DDPMs\uff09\u867d\u7136\u80fd\u591f\u5efa\u6a21\u590d\u6742\u7684\u591a\u6a21\u6001\u5206\u5e03\uff0c\u4f46\u73b0\u6709\u65b9\u6cd5\u76f4\u63a5\u5728\u539f\u59cb\u8f68\u8ff9\u7684\u8def\u70b9\uff08waypoints\uff09\u4e0a\u8fdb\u884c\u64cd\u4f5c\u3002\u8fd9\u79cd\u505a\u6cd5\u5b58\u5728\u4e24\u4e2a\u6838\u5fc3\u7f3a\u9677\uff1a<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8ba1\u7b97\u6548\u7387\u4f4e\uff1a<\/strong>\u00a0\u8fed\u4ee3\u91c7\u6837\u8fc7\u7a0b\u5bfc\u81f4\u663e\u8457\u7684\u5ef6\u8fdf\u3002<\/li>\n\n\n\n<li><strong>\u5bb9\u91cf\u6d6a\u8d39\uff1a<\/strong>\u00a0\u6a21\u578b\u5c06\u5927\u91cf\u80fd\u529b\u6d88\u8017\u5728\u6a21\u62df\u5e95\u5c42\u7684\u8fd0\u52a8\u5b66\u7ec6\u8282\uff08\u5982\u8fde\u7eed\u6027\u3001\u901f\u5ea6\u9650\u5236\uff09\u4e0a\uff0c\u800c\u4e0d\u662f\u5173\u6ce8\u9ad8\u5c42\u7684\u9a7e\u9a76\u7b56\u7565\u8bed\u4e49\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86&nbsp;<strong>LAP (LAtent Planner)\uff0c<\/strong>\u65e8\u5728\u5c06\u9ad8\u5c42\u610f\u56fe\u4e0e\u8f68\u8ff9\u7684\u5e95\u5c42\u8fd0\u52a8\u5b66\u89e3\u8026\uff0c\u5728\u89e3\u8026\u5f97\u5230\u7684\u6f5c\u5728\u7a7a\u95f4\u4e2d\u8fdb\u884c\u89c4\u5212\u3002<\/p>\n\n\n\n<p><strong>\u9884\u5907\u77e5\u8bc6 (Preliminaries)<\/strong><\/p>\n\n\n\n<p><strong>\u6269\u6563\u6a21\u578b\u57fa\u7840<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"521\" height=\"293\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120301.png\" alt=\"\" class=\"wp-image-35276\" style=\"width:886px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120301.png 521w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120301-300x169.png 300w\" sizes=\"(max-width: 521px) 100vw, 521px\" \/><\/figure>\n\n\n\n<p><strong>\u65e0\u5206\u7c7b\u5668\u5f15\u5bfc (Classifier-free Guidance)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"679\" height=\"137\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120302.png\" alt=\"\" class=\"wp-image-35277\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120302.png 679w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120302-300x61.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><\/figure>\n\n\n\n<p><strong>LatentPlanner \u7b97\u6cd5\u8be6\u89e3 (Methodology)<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe1\u6240\u793a\uff0cLAP \u6846\u67b6\u5c06\u8f68\u8ff9\u751f\u6210\u5206\u89e3\u4e3a\u4e24\u4e2a\u9636\u6bb5\uff1a\u5728\u9ad8\u5c42\u8bed\u4e49\u5316\u7684\u6f5c\u5728\u7a7a\u95f4\u4f5c\u89c4\u5212\uff0c\u968f\u540e\u518d\u4ee5\u9ad8\u4fdd\u771f\u5ea6\u91cd\u5efa\u5bf9\u5e94\u8f68\u8ff9\u3002<\/p>\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\/12\/\u56fe\u7247-22-1024x643.png\" alt=\"\" class=\"wp-image-35278\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-22-1024x643.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-22-300x188.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-22-768x482.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-22.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 1\uff1aLatent Planner\u6574\u4f53\u6846\u67b6\u793a\u610f\u56fe<\/p>\n\n\n\n<p><strong>\u8f68\u8ff9\u7684\u6f5c\u5728\u8868\u793a (Trajectory Representation in Latents)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"694\" height=\"339\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120303.png\" alt=\"\" class=\"wp-image-35279\" style=\"width:887px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120303.png 694w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120303-300x147.png 300w\" sizes=\"(max-width: 694px) 100vw, 694px\" \/><\/figure>\n\n\n\n<p><strong>\u6f5c\u5728\u7a7a\u95f4\u4e0a\u7684\u89c4\u5212 (Planning on Latents)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"234\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120304.png\" alt=\"\" class=\"wp-image-35280\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120304.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120304-300x102.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"921\" height=\"633\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-23.png\" alt=\"\" class=\"wp-image-35281\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-23.png 921w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-23-300x206.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-23-768x528.png 768w\" sizes=\"(max-width: 921px) 100vw, 921px\" \/><\/figure>\n\n\n\n<p>\u56fe 2\uff1a\u521d\u59cb\u72b6\u6001\u6ce8\u5165\u6a21\u5757<\/p>\n\n\n\n<p><strong>\u5bfc\u822a\u5f15\u5bfc\u589e\u5f3a\uff1a<\/strong>\u00a0\u6211\u4eec\u89c2\u5bdf\u5230\u6a21\u578b\u5728\u95ed\u73af\u89c4\u5212\u4e2d\u4f1a\u51fa\u73b0\u201c\u56e0\u679c\u6df7\u6dc6\u201d\u73b0\u8c61\uff1a\u81ea\u8f66\u5b8c\u5168\u6839\u636e\u5468\u56f4\u8f66\u8f86\u5f53\u524d\u72b6\u6001\u6765\u4f5c\u51b3\u7b56\u800c\u5b8c\u5168\u4e0d\u6309\u5bfc\u822a\u8def\u7ebf\u884c\u8fdb\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u5728\u8bad\u7ec3\u4e2d\u968f\u673a\u4e22\u5f03\u5bfc\u822a\u4fe1\u606f\uff0c\u5e76\u5728\u63a8\u7406\u65f6\u4f7f\u7528 Classifier-free Guidance \u5f3a\u5316\u5bfc\u822a\u7ea6\u675f\u6765\u7f13\u89e3\u8fd9\u4e00\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>\u5f25\u5408\u8bed\u4e49\u2013\u611f\u77e5\u9e3f\u6c9f (Bridging the Semantic\u2013Perception Gap)<\/strong><\/p>\n\n\n\n<p>\u5728\u538b\u7f29\u7684\u8bed\u4e49\u7a7a\u95f4\u89c4\u5212\u867d\u7136\u9ad8\u6548\uff0c\u4f46\u4e5f\u5e26\u6765\u65b0\u7684\u95ee\u9898\uff1a\u538b\u7f29\u5f97\u5230\u7684\u6f5c\u5728\u7a7a\u95f4\u662f\u4e00\u4e2a\u9ad8\u5ea6\u62bd\u8c61\u5316\u7684\u8bed\u4e49\u7a7a\u95f4\uff0c\u800c\u6761\u4ef6\u8f93\u5165\uff08\u5468\u8f66\u5386\u53f2\u3001\u8f66\u9053\u7ebf\u7b49\uff09\u4ecd\u4e3a\u4f4e\u5c42\u7684\u3001\u7ec6\u7c92\u5ea6\u7684\u5411\u91cf\u5316\u8868\u793a\uff0c\u8fd9\u5bfc\u81f4\u4e24\u8005\u7684\u4fe1\u606f\u4ea4\u4e92\u4e0e\u878d\u5408\u53d8\u5f97\u56f0\u96be\u3002\u9488\u5bf9\u6b64\uff0c\u6211\u4eec\u5f15\u5165\u4e00\u4e2a\u7ec6\u7c92\u5ea6\u7279\u5f81\u84b8\u998f (Fine-grained Feature Distillation) \u6a21\u5757\u6765\u5f15\u5bfc\u89c4\u5212\u7a7a\u95f4\u4e0e\u6761\u4ef6\u8f93\u5165\u7a7a\u95f4\u7684\u4fe1\u606f\u4ea4\u4e92\u8fc7\u7a0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"614\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-24-1024x614.png\" alt=\"\" class=\"wp-image-35282\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-24-1024x614.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-24-300x180.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-24-768x461.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-24.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 3\uff1a\u7ec6\u7c92\u5ea6\u7279\u5f81\u84b8\u998f\u6a21\u5757<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"292\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120305.png\" alt=\"\" class=\"wp-image-35283\" style=\"width:887px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120305.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120305-300x127.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u7ed3\u679c\u53ca\u5206\u6790 (Experiments)<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6570\u636e\u96c6\uff1a<\/strong>\u00a0nuPlan \u5927\u89c4\u6a21\u57fa\u51c6\u6d4b\u8bd5\uff081300 \u5c0f\u65f6\u771f\u5b9e\u9a7e\u9a76\u8bb0\u5f55\uff09\u3002<\/li>\n\n\n\n<li><strong>\u8bc4\u4ef7\u6307\u6807\uff1a<\/strong>\u00a0\u95ed\u73af\u8bc4\u5206\uff08Closed-loop Score\uff09\uff0c\u5305\u62ec\u975e\u53cd\u5e94\u6027\uff08NR\uff09\u548c\u53cd\u5e94\u6027\uff08R\uff09\u573a\u666f\u3002\u6307\u6807\u7efc\u5408\u8003\u8651\u4e86\u78b0\u649e\u3001\u8212\u9002\u5ea6\u3001\u8fdb\u5ea6\u548c\u4ea4\u901a\u89c4\u5219\u9075\u5b88\u60c5\u51b5\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u4e3b\u8981\u7ed3\u679c<\/strong><\/h3>\n\n\n\n<p>LAP \u5728 nuPlan \u57fa\u51c6\u4e0a\u53d6\u5f97\u4e86\u4f18\u5f02\u7684\u6210\u7ee9\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6027\u80fd\u5bf9\u6bd4\uff1a<\/strong>\u00a0\u5982\u88681\u6240\u793a\uff0cLAP \u5728\u6240\u6709\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u4e2d\u5b9e\u73b0\u4e86 SOTA \u6027\u80fd\uff0c\u5e76\u4e14\u5728\u52a0\u4e0a\u540e\u5904\u7406\uff08refine\uff09\u540e\uff0c\u751a\u81f3\u8d85\u8fc7\u4e86\u90e8\u5206\u89c4\u5219\u2013\u5b66\u4e60\u7684\u6df7\u5408\u65b9\u6cd5\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u6700\u5177\u6311\u6218\u6027\u7684\u00a0<strong>Test14-hard<\/strong>\u00a0\u6570\u636e\u96c6\u4e0a\uff0cLAP \u5927\u5e45\u8d85\u8d8a\u4e86\u5148\u524d\u7684 SOTA \u65b9\u6cd5\uff08\u7ea6 3.1 \u7684\u63d0\u5347\uff09\uff0c\u8bf4\u660e\u6f5c\u5728\u7a7a\u95f4\u89c4\u5212\u53ef\u4ee5\u8ba9\u6a21\u578b\u66f4\u597d\u5730\u5efa\u6a21\u590d\u6742\u7684\u9a7e\u9a76\u7b56\u7565\uff0c\u63d0\u5347\u56f0\u96be\u573a\u666f\u4e0b\u7684\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"603\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-25-1024x603.png\" alt=\"\" class=\"wp-image-35284\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-25-1024x603.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-25-300x177.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-25-768x452.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-25.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u63a8\u7406\u901f\u5ea6\uff1a<\/strong>\u00a0\u5982\u88682\u6240\u793a\uff0c\u76f8\u6bd4\u4e8e\u4e4b\u524d\u7684 SOTA \u65b9\u6cd5 Diffusion Planner\uff08\u9700\u8fed\u4ee3 10 \u6b65\uff09\uff0cLAP \u53d7\u76ca\u4e8e\u6f5c\u5728\u7a7a\u95f4\u7684\u7d27\u51d1\u6027\uff0c\u4ec5\u9700\u00a0<strong>2 \u6b65<\/strong>\u00a0\u91c7\u6837\u5373\u53ef\u751f\u6210\u9ad8\u8d28\u91cf\u8f68\u8ff9\uff0c\u5b9e\u73b0\u4e86\u6700\u9ad8\u00a0<strong>10 \u500d<\/strong>\u00a0\u7684\u63a8\u7406\u52a0\u901f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"359\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-26-1024x359.png\" alt=\"\" class=\"wp-image-35285\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-26-1024x359.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-26-300x105.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-26-768x270.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-26.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9a\u6027\u7ed3\u679c\u4e0e\u591a\u6a21\u6001\u5206\u6790<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u591a\u6a21\u6001\u80fd\u529b\uff1a<\/strong>\u00a0\u76f8\u6bd4\u4e8e\u50cf\u7d20\u7ea7\u89c4\u5212\u5668\uff0c\u6f5c\u5728\u7a7a\u95f4\u89c4\u5212\u80fd\u66f4\u597d\u5730\u6355\u6349\u591a\u6837\u5316\u7684\u9ad8\u7ea7\u9a7e\u9a76\u7b56\u7565\uff08\u5982\u4e0d\u540c\u7684\u8f6c\u5f2f\u534a\u5f84\u548c\u901f\u5ea6\uff09\uff0c\u800c\u4e0d\u662f\u574d\u7f29\u5230\u5355\u4e00\u6a21\u5f0f\u3002\u53c2\u89c1\u4e0b\u56fe\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"476\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-27-1024x476.png\" alt=\"\" class=\"wp-image-35286\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-27-1024x476.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-27-300x139.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-27-768x357.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-27.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 4\uff1a\u591a\u6a21\u6001\u8f68\u8ff9\u89e3\u7801\uff0c\u5de6\u56fe\u4e3aLatent Planner\uff0c\u53f3\u56fe\u4e3aDiffusion Planner\uff0cLatent Planner\u8868\u73b0\u51fa\u66f4\u9ad8\u7684\u591a\u6a21\u6001\u9a7e\u9a76\u7b56\u7565<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6f5c\u5728\u7a7a\u95f4\u53ef\u89c6\u5316\uff08\u9644\u5f55\u5206\u6790\uff09\uff1a<\/strong>\n<ul class=\"wp-block-list\">\n<li><strong>\u63d2\u503c\uff1a<\/strong>\u00a0\u6f5c\u5728\u7a7a\u95f4\u7684\u7ebf\u6027\u63d2\u503c\u80fd\u4ea7\u751f\u5e73\u6ed1\u7684\u8f68\u8ff9\u8fc7\u6e21\uff0c\u8bc1\u660e\u4e86\u6f5c\u5728\u7a7a\u95f4\u7684\u5149\u6ed1\u6027\uff08\u53c2\u89c1\u4e0b\u56fe\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"778\" height=\"824\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-28.png\" alt=\"\" class=\"wp-image-35287\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-28.png 778w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-28-283x300.png 283w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-28-768x813.png 768w\" sizes=\"(max-width: 778px) 100vw, 778px\" \/><\/figure>\n\n\n\n<p>\u56fe 5\uff1a\u6f5c\u5728\u7a7a\u95f4\u63d2\u503c<\/p>\n\n\n\n<p><strong>\u805a\u7c7b\uff1a<\/strong>\u00a0\u6f5c\u5728\u5411\u91cf\u805a\u7c7b\u540e\u5bf9\u5e94\u660e\u663e\u7684\u9a7e\u9a76\u610f\u56fe\uff08\u5982\u76f4\u884c\u3001\u8f6c\u5f2f\u3001\u9759\u6b62\uff09\uff0c\u8bc1\u660e\u5176\u5b66\u5230\u7684\u8bed\u4e49\u7a7a\u95f4\u662f\u9ad8\u5ea6\u7ed3\u6784\u5316\u7684\uff08\u53c2\u89c1\u4e0b\u56fe\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"554\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-29-1024x554.png\" alt=\"\" class=\"wp-image-35288\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-29-1024x554.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-29-300x162.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-29-768x415.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-29.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 6\uff1a\u6f5c\u5728\u7a7a\u95f4\u805a\u7c7b<\/p>\n\n\n\n<p><strong>\u964d\u7ef4\u53ef\u89c6\u5316\uff1a<\/strong>\u00a0\u5728\u539f\u59cb\u8f68\u8ff9\u7a7a\u95f4\u805a\u7c7b\u5f97\u5230\u201c\u610f\u56fe\u201d\u6807\u7b7e\uff0c\u968f\u540e\u7528 UMAP \u5bf9\u6f5c\u5728\u7a7a\u95f4\u964d\u7ef4\u5e76\u7528\u5bf9\u5e94\u610f\u56fe\u67d3\u8272\uff0c\u7ed3\u679c\u663e\u793a\u4e0d\u540c\u533a\u57df\u57fa\u672c\u5206\u79bb\u5f00\uff0c\u8bf4\u660e\u6f5c\u5728\u7a7a\u95f4\u7ed3\u6784\u4e0e\u610f\u56fe\u5bf9\u9f50\u826f\u597d\uff08\u53c2\u89c1\u4e0b\u56fe\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-30-1024x768.png\" alt=\"\" class=\"wp-image-35289\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-30-1024x768.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-30-300x225.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-30-768x576.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-30.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 7\uff1a\u6f5c\u5728\u7a7a\u964d\u964d\u7ef4\u53ef\u89c6\u5316<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/h2>\n\n\n\n<p>\u5982\u4e0b\u8868\u6240\u793a\uff0c\u6211\u4eec\u5bf9\u5404\u4e2a\u6a21\u5757\u8fdb\u884c\u4e86\u8be6\u7ec6\u7684\u6d88\u878d\u5206\u6790\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"636\" height=\"336\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-31.png\" alt=\"\" class=\"wp-image-35290\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-31.png 636w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-31-300x158.png 300w\" sizes=\"(max-width: 636px) 100vw, 636px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"701\" height=\"573\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/120306.png\" alt=\"\" class=\"wp-image-35291\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120306.png 701w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/120306-300x245.png 300w\" sizes=\"(max-width: 701px) 100vw, 701px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. 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