{"id":35809,"date":"2025-12-24T17:31:46","date_gmt":"2025-12-24T09:31:46","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35809"},"modified":"2025-12-24T17:31:46","modified_gmt":"2025-12-24T09:31:46","slug":"2025-12-24-200%e5%a4%9a%e7%af%87%e8%ae%ba%e6%96%87%e6%b7%b1%e5%ba%a6%e6%a2%b3%e7%90%86%ef%bc%81%e9%a6%96%e4%b8%aa%e9%80%9a%e7%94%a8%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/24\/35809\/","title":{"rendered":"2025-12-24 200\u591a\u7bc7\u8bba\u6587\u6df1\u5ea6\u68b3\u7406\uff01\u9996\u4e2a\u901a\u7528\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff08GE2E\uff09\u7efc\u8ff0\u53d1\u5e03\uff0c\u63ed\u79d8\u4e09\u5927\u8303\u5f0f\u6f14\u8fdb\u4e4b\u8def"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1987107314377974556\">https:\/\/zhuanlan.zhihu.com\/p\/1987107314377974556<\/a><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7684\u7ec8\u6781\u76ee\u6807\u662f\u6784\u5efa\u4e00\u4e2a\u80fd\u591f\u65e0\u7f1d\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u4e3a\u9a7e\u9a76\u51b3\u7b56\u7684\u96c6\u6210\u7cfb\u7edf\u3002\u4e3a\u4e86\u514b\u670d\u4f20\u7edf\u6a21\u5757\u5316\u7ba1\u9053\u4fe1\u606f\u4e22\u5931\u548c\u8bef\u5dee\u7d2f\u79ef\u7684\u5c40\u9650\u6027\uff0c\u4e5f\u662f\u4e3a\u4e86\u8ffd\u6c42\u66f4\u63a5\u8fd1\u4eba\u7c7b\u7684\u9a7e\u9a76\u667a\u80fd\uff0c\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u6b63\u7ecf\u5386\u4e00\u573a\u4ece\u6a21\u5757\u5316\u5411\u6570\u636e\u9a71\u52a8\u7684\u7aef\u5230\u7aef\uff08End-to-End, E2E\uff09\u8303\u5f0f\u7684\u8f6c\u53d8\u3002<\/p>\n\n\n\n<p>\u4eca\u5929\u4ecb\u7ecd\u7684\u8fd9\u7bc7\u7efc\u8ff0\u8bba\u6587\u6765\u81ea<strong>\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66AutoLab<\/strong>\u548c<strong>\u6ef4\u6ef4\u51fa\u884cVoyager\u7814\u7a76\u56e2\u961f<\/strong>\u3002\u8fd9\u7bc7\u8bba\u6587\u901a\u8fc7\u5bf9200\u591a\u7bc7\u76f8\u5173\u8bba\u6587\u7684\u5168\u9762\u68b3\u7406\uff0c\u9996\u6b21\u63d0\u51fa\u4e86\u201c\u901a\u7528\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u201d\uff08General End-to-End, GE2E\uff09\u7684\u6982\u5ff5\uff0c\u5e76\u7cfb\u7edf\u6027\u5730\u5c06\u73b0\u6709\u65b9\u6cd5\u5212\u5206\u4e3a\u4e09\u5927\u8303\u5f0f\uff1a<strong>\u4f20\u7edf\u7aef\u5230\u7aef\uff08Conventional E2E\uff09<\/strong>\u3001<strong>\u4ee5VLM\u4e3a\u4e2d\u5fc3\uff08VLM-centric E2E\uff09\u4ee5\u53ca\u6df7\u5408\u7aef\u5230\u7aef\uff08Hybrid E2E\uff09<\/strong>\u3002<\/p>\n\n\n\n<p>\u8fd9\u7bc7\u7efc\u8ff0\u4e0d\u4ec5\u6df1\u5165\u5256\u6790\u4e86\u8fd9\u4e09\u5927\u8303\u5f0f\u7684\u67b6\u6784\u8bbe\u8ba1\u3001\u5b66\u4e60\u7b56\u7565\u548c\u6838\u5fc3\u5dee\u5f02\uff0c\u8fd8\u901a\u8fc7\u5728nuScenes\u3001CARLA\u3001NAVSIM\u7b49\u4e3b\u6d41\u57fa\u51c6\u4e0a\u7684\u6a2a\u5411\u5bf9\u6bd4\uff0c\u63ed\u793a\u4e86\u5404\u8303\u5f0f\u7684\u4f18\u52a3\u52bf\u53ca\u672a\u6765\u6f5c\u529b\u3002\u5982\u679c\u4f60\u6b63\u6df1\u9677\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u8def\u7ebf\u7684\u9009\u62e9\u56f0\u96be\u75c7\u4e2d\uff0c\u8fd9\u7bc7\u7efc\u8ff0\u7edd\u5bf9\u662f\u4f60\u7684\u7834\u5c40\u6307\u5357\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-4d9228d3898a48b875ea2f7fb12f7cd2_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>: Survey of General End-to-End Autonomous Driving: A Unified Perspective<br><\/li>\n\n\n\n<li><strong>\u673a\u6784<\/strong>: \u4e0a\u6d77\u4ea4\u901a\u5927\u5b66, \u6ef4\u6ef4\u51fa\u884c<br><\/li>\n\n\n\n<li><strong>\u8bba\u6587\u5730\u5740<\/strong>: <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/www.techrxiv.org\/doi\/full\/10.36227\/techrxiv.176523315.56439138\/v1\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/www.techrxiv.org\/doi\/full\/10.36227\/techrxiv.176523315.56439138\/v1<\/a><br><\/li>\n\n\n\n<li><strong>\u9879\u76ee\u4e3b\u9875\/\u4ee3\u7801\u4ed3\u5e93<\/strong>: <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/AutoLab-SAI-SJTU\/GE2EAD\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/AutoLab-SAI-SJTU\/GE2EAD<\/a><br><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1987107314377974556_0\">\u4ec0\u4e48\u662fGE2E\uff1f\u4e09\u5927\u8303\u5f0f\u4e00\u56fe\u770b\u61c2<\/h2>\n\n\n\n<p>\u8bba\u6587\u9996\u5148\u5b9a\u4e49\u4e86\u201c\u901a\u7528\u7aef\u5230\u7aef\u201d\uff08GE2E\uff09\u7684\u6982\u5ff5\uff1a\u65e0\u8bba\u67b6\u6784\u4e2d\u662f\u5426\u5305\u542b\u5927\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\uff0c\u53ea\u8981\u662f\u901a\u8fc7\u5355\u4e00\u6574\u4f53\u6a21\u578b\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u5904\u7406\u4e3a\u89c4\u5212\u8f68\u8ff9\u6216\u63a7\u5236\u52a8\u4f5c\u7684\u8303\u5f0f\uff0c\u90fd\u5c5e\u4e8eGE2E\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-1fa36d8e8a2bd3fb9b0a41d9218a288f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u57fa\u4e8e\u6b64\uff0c\u4f5c\u8005\u5c06\u73b0\u6709\u6280\u672f\u8def\u7ebf\u6e05\u6670\u5730\u5212\u5206\u4e3a\u4e09\u7c7b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4f20\u7edf\u7aef\u5230\u7aef\uff08Conventional E2E AD\uff09<\/strong>\uff1a\u901a\u8fc7\u8054\u5408\u4f18\u5316\u4e13\u95e8\u7684\u6a21\u5757\uff08\u5982\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\uff09\u6765\u76f4\u63a5\u6620\u5c04\u8f93\u5165\u5230\u8f93\u51fa\u3002\u5b83\u53ef\u4ee5\u8fdb\u4e00\u6b65\u7ec6\u5206\u4e3a\u201c\u7eaf\u89c4\u5212\uff08Planning-only\uff09\u201d\u548c\u201c\u591a\u4efb\u52a1\uff08Multi-task\uff09\u201d\u4e24\u7c7b\u3002<br><\/li>\n\n\n\n<li><strong>\u4ee5VLM\u4e3a\u4e2d\u5fc3\uff08VLM-centric E2E AD\uff09<\/strong>\uff1a\u5229\u7528\u9884\u8bad\u7ec3\u5927\u6a21\u578b\uff08VLM\/LLM\uff09\u7684\u4e16\u754c\u77e5\u8bc6\u548c\u63a8\u7406\u80fd\u529b\uff0c\u5c06\u591a\u6a21\u6001\u6570\u636e\u6295\u5f71\u5230\u8bed\u8a00\u7a7a\u95f4\u8fdb\u884c\u51b3\u7b56\uff0c\u5f3a\u8c03\u6cdb\u5316\u6027\u548c\u53ef\u89e3\u91ca\u6027\u3002<br><\/li>\n\n\n\n<li><strong>\u6df7\u5408\u7aef\u5230\u7aef\uff08Hybrid E2E AD\uff09<\/strong>\uff1a\u7ed3\u5408\u524d\u4e24\u8005\u7684\u4f18\u52bf\uff0c\u65e2\u5229\u7528VLM\u7684\u9ad8\u5c42\u63a8\u7406\u6307\u5bfc\uff0c\u53c8\u4fdd\u7559\u4f20\u7edfE2E\u7684\u4f4e\u5c42\u6267\u884c\u80fd\u529b\uff0c\u5f62\u6210\u201c\u6162\u601d\u8003\u3001\u5feb\u884c\u52a8\u201d\u7684\u7cfb\u7edf\u3002<br><\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-adea70a1fa852e4ed4d906be2f215614_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1987107314377974556_1\">\u4f20\u7edf\u7aef\u5230\u7aef\uff1a\u4ece\u9ed1\u76d2\u62df\u5408\u5230\u591a\u4efb\u52a1\u534f\u540c<\/h2>\n\n\n\n<p>\u4f20\u7edfE2E\u65b9\u6cd5\u65e9\u671f\u591a\u91c7\u7528\u7b80\u5355\u7684CNN\u7f51\u7edc\u76f4\u63a5\u56de\u5f52\u63a7\u5236\u6307\u4ee4\uff08\u5982ALVINN, P3\uff09\uff0c\u867d\u7136\u7f13\u89e3\u4e86\u8bef\u5dee\u4f20\u64ad\uff0c\u4f46\u5f80\u5f80\u7f3a\u4e4f\u53ef\u89e3\u91ca\u6027\u4e14\u96be\u4ee5\u5904\u7406\u590d\u6742\u573a\u666f\u4e2d\u7684\u591a\u6a21\u6001\u4e0d\u786e\u5b9a\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u7814\u7a76\u8005\u4eec\u5f15\u5165\u4e86\u591a\u4efb\u52a1\u5b66\u4e60\u67b6\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-dc1833c3aed75407317f535f40323375_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1987107314377974556_2\">\u573a\u666f\u5efa\u6a21\u4e0e\u7406\u89e3<\/h3>\n\n\n\n<p>\u9664\u4e86\u57fa\u672c\u7684\u611f\u77e5\u4efb\u52a1\uff0c\u73b0\u4ee3E2E\u6a21\u578b\u66f4\u6ce8\u91cd\u6784\u5efa\u9ad8\u6548\u7684\u573a\u666f\u8868\u5f81\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7a20\u5bc6\u8868\u5f81<\/strong>\uff1a\u5982<strong>UniAD<\/strong>\u5229\u7528BEVFormer\u6784\u5efa\u7a20\u5bc6BEV\u8868\u5f81\uff0c\u4f46\u8ba1\u7b97\u91cf\u5927\u3002<br><\/li>\n\n\n\n<li><strong>\u7a00\u758f\u8868\u5f81<\/strong>\uff1a<strong>SparseAD<\/strong>\u548c<strong>SparseDrive<\/strong>\u76f4\u63a5\u5bf9\u5bf9\u8c61\u5b9e\u4f8b\u8fdb\u884c\u5efa\u6a21\uff0c\u663e\u8457\u964d\u4f4e\u4e86\u8ba1\u7b97\u8d1f\u62c5\u3002<br><\/li>\n\n\n\n<li><strong>\u65f6\u7a7a\u63a8\u7406<\/strong>\uff1a<strong>GraphAD<\/strong>\u5229\u7528\u56fe\u6a21\u578b\u63cf\u8ff0\u4ea4\u4e92\uff0c<strong>ReasonNet<\/strong>\u5229\u7528\u8bb0\u5fc6\u5e93\u5b58\u50a8\u5386\u53f2\u4fe1\u606f\uff0c\u589e\u5f3a\u5bf9\u52a8\u6001\u73af\u5883\u7684\u7406\u89e3\u3002<br><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1987107314377974556_3\">\u8f68\u8ff9\u751f\u6210\u7b56\u7565<\/h3>\n\n\n\n<p>\u4e3a\u4e86\u907f\u514d\u7b80\u5355\u6a21\u4eff\u5b66\u4e60\u5e26\u6765\u7684\u201c\u56e0\u679c\u6df7\u6dc6\u201d\u548c\u5b89\u5168\u9690\u60a3\uff0c\u7814\u7a76\u8005\u63d0\u51fa\u4e86\u591a\u79cd\u7b56\u7565\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u540e\u5904\u7406\u4f18\u5316<\/strong>\uff1a\u5229\u7528\u9884\u6d4b\u7684\u5360\u7528\u7f51\u683c\uff08Occupancy\uff09\u6216\u6210\u672c\u51fd\u6570\u4f18\u5316\u8f68\u8ff9\u3002<br><\/li>\n\n\n\n<li><strong>\u6982\u7387\u89c4\u5212<\/strong>\uff1a<strong>VADv2<\/strong>\u4ece\u6982\u7387\u5206\u5e03\u4e2d\u91c7\u6837\u52a8\u4f5c\uff0c<strong>DiffusionDrive<\/strong>\u5229\u7528\u6269\u6563\u6a21\u578b\u751f\u6210\u591a\u6a21\u6001\u8f68\u8ff9\uff0c\u5728NVIDIA 4090\u4e0a\u5b9e\u73b0\u4e86<strong>45 FPS<\/strong>\u7684\u5b9e\u65f6\u63a8\u7406\u3002<br><\/li>\n\n\n\n<li><strong>\u5206\u5c42\u89c4\u5212<\/strong>\uff1a<strong>CogAD<\/strong>\u6a21\u4eff\u4eba\u7c7b\u7684\u201c\u7c97\u5230\u7ec6\u201d\u8ba4\u77e5\u673a\u5236\uff0c\u5148\u8fdb\u884c\u610f\u56fe\u89c4\u5212\u518d\u751f\u6210\u5177\u4f53\u8f68\u8ff9\u3002<br><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1987107314377974556_4\">\u5b66\u4e60\u7b56\u7565\u7684\u8fdb\u5316<\/h3>\n\n\n\n<p>\u4e3a\u4e86\u7a81\u7834\u6570\u636e\u74f6\u9888\uff0c\u9664\u4e86\u6a21\u4eff\u5b66\u4e60\uff08Imitation Learning\uff09\uff0c\u8fd8\u6d8c\u73b0\u4e86\u591a\u79cd\u9ad8\u7ea7\u7b56\u7565\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u77e5\u8bc6\u84b8\u998f<\/strong>\uff1a<strong>LBC<\/strong>\u548c<strong>Roach<\/strong>\u5229\u7528\u7279\u6743\u4e13\u5bb6\uff08Privileged Agent\uff09\u6307\u5bfc\u5b66\u751f\u6a21\u578b\u3002<br><\/li>\n\n\n\n<li><strong>\u5f3a\u5316\u5b66\u4e60<\/strong>\uff1a<strong>Drive in a Day<\/strong>\u5f15\u5165RL\u8fdb\u884c\u63a2\u7d22\uff0c<strong>ReconDreamer-RL<\/strong>\u5229\u7528\u4e16\u754c\u6a21\u578b\u6784\u5efa\u6570\u5b57\u5b6a\u751f\u8fdb\u884c\u5927\u89c4\u6a21\u8bd5\u9519\u3002<br><\/li>\n\n\n\n<li><strong>\u81ea\u76d1\u7763\u5b66\u4e60<\/strong>\uff1a<strong>PPGeo<\/strong>\u548c<strong>UAD<\/strong>\u5229\u7528\u5927\u89c4\u6a21\u65e0\u6807\u7b7e\u6570\u636e\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c<strong>UAD<\/strong>\u751a\u81f3\u5b9e\u73b0\u4e86\u96f63D\u6807\u6ce8\u4e0b\u7684SOTA\u6027\u80fd\u3002<br><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-e08a9850e62f593c6417ad9eba7585c6_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1987107314377974556_5\">VLM-centric\uff1a\u8ba9\u81ea\u52a8\u9a7e\u9a76\u62e5\u6709\u201c\u8ba4\u77e5\u5927\u8111\u201d<\/h2>\n\n\n\n<p>\u4f20\u7edfE2E\u6a21\u578b\u56e0\u7f3a\u4e4f\u4e16\u754c\u77e5\u8bc6\uff0c\u5728\u957f\u5c3e\u573a\u666f\uff08Corner Case\uff09\u9762\u524d\u5f80\u5f80\u675f\u624b\u65e0\u7b56\u3002VLM-centric\u8303\u5f0f\u8bd5\u56fe\u901a\u8fc7\u5f15\u5165\u5927\u6a21\u578b\u7684\u63a8\u7406\u80fd\u529b\u6765\u586b\u8865\u8fd9\u4e00\u201c\u8ba4\u77e5\u9e3f\u6c9f\u201d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-fc9575e283f765b50969a57645ce8ce8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1987107314377974556_6\">\u89c6\u89c9-\u8bed\u8a00\u5bf9\u9f50<\/h3>\n\n\n\n<p>\u6838\u5fc3\u6311\u6218\u5728\u4e8e\u5982\u4f55\u5c06\u9a7e\u9a76\u573a\u666f\u7684\u89c6\u89c9\u7279\u5f81\u6620\u5c04\u5230LLM\u7684\u8bed\u4e49\u7a7a\u95f4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u76f4\u63a5\u6295\u5f71<\/strong>\uff1a\u4f7f\u7528MLP\u7b49\u8f7b\u91cf\u7ea7\u6295\u5f71\u5668\uff08\u5982<strong>LMDrive<\/strong>\uff09\u3002<br><\/li>\n\n\n\n<li><strong>\u67e5\u8be2\u538b\u7f29<\/strong>\uff1a\u4f7f\u7528Q-Former\u7b49\u7ed3\u6784\u63d0\u53d6\u5173\u952e\u4fe1\u606f\uff08\u5982<strong>DriveMLM<\/strong>\uff09\u3002<br><\/li>\n\n\n\n<li><strong>\u4efb\u52a1\u9a71\u52a8\u5bf9\u9f50<\/strong>\uff1a<strong>GPVL<\/strong>\u548c<strong>Driving with LLMs<\/strong>\u8bbe\u8ba1\u4e86\u4e13\u95e8\u7684\u9884\u8bad\u7ec3\u4efb\u52a1\uff0c\u5c06BEV\u7279\u5f81\u6216\u6570\u503c\u4fe1\u606f\u8f6c\u5316\u4e3aLLM\u53ef\u7406\u89e3\u7684\u8bed\u8a00token\u3002<br><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1987107314377974556_7\">\u63a8\u7406\u4e0e\u601d\u7ef4\u94fe\uff08Chain-of-Thought\uff09<\/h3>\n\n\n\n<p>VLM\u8d4b\u4e88\u4e86\u7cfb\u7edf\u6df1\u5ea6\u7684\u56e0\u679c\u63a8\u7406\u80fd\u529b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7ed3\u6784\u5316\u903b\u8f91CoT<\/strong>\uff1a<strong>DriveLM<\/strong>\u548c<strong>SimpleLLM4AD<\/strong>\u5c06\u9a7e\u9a76\u4efb\u52a1\u5206\u89e3\u4e3a\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u7684\u95ee\u7b54\u94fe\uff08Graph VQA\uff09\uff0c\u4f7f\u51b3\u7b56\u8fc7\u7a0b\u900f\u660e\u5316\u3002<br><\/li>\n\n\n\n<li><strong>\u5de5\u5177\u589e\u5f3aCoT<\/strong>\uff1a<strong>Agent-Driver<\/strong>\u8ba9LLM\u4f5c\u4e3a\u8c03\u5ea6\u5668\u8c03\u7528\u5916\u90e8\u5de5\u5177\uff08\u5982\u4e13\u95e8\u7684\u89c4\u5212\u5668\uff09\uff0c\u7ed3\u5408\u4e86\u5404\u79cd\u6a21\u578b\u7684\u957f\u5904\u3002<br><\/li>\n\n\n\n<li><strong>\u52a8\u6001CoT<\/strong>\uff1a<strong>AutoVLA<\/strong>\u6839\u636e\u573a\u666f\u590d\u6742\u5ea6\u52a8\u6001\u8c03\u6574\u63a8\u7406\u6df1\u5ea6\uff0c\u5e73\u8861\u6548\u7387\u4e0e\u6027\u80fd\u3002<br><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1987107314377974556_8\">\u6548\u7387\u4f18\u5316<\/h3>\n\n\n\n<p>\u9488\u5bf9VLM\u63a8\u7406\u5ef6\u8fdf\u9ad8\u7684\u95ee\u9898\uff0c\u7814\u7a76\u8005\u63d0\u51fa\u4e86\u591a\u79cd\u65b9\u6848\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6a21\u578b\u84b8\u998f<\/strong>\uff1a<strong>CoT-Drive<\/strong>\u5c06\u5927\u6a21\u578b\u7684\u63a8\u7406\u77e5\u8bc6\u84b8\u998f\u5230\u8f7b\u91cf\u7ea7\u8fb9\u7aef\u6a21\u578b\u4e2d\u3002<br><\/li>\n\n\n\n<li><strong>\u7ed3\u6784\u4f18\u5316<\/strong>\uff1a<strong>FastDrive<\/strong>\u901a\u8fc7\u7ed3\u6784\u5316\u6570\u636e\u8f93\u5165\u6d88\u9664\u4e86\u5197\u4f59\u4fe1\u606f\uff0c\u5b9e\u73b0\u4e86<strong>10\u500d<\/strong>\u7684\u63a8\u7406\u52a0\u901f\u3002<br><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1987107314377974556_9\">Hybrid E2E\uff1a\u5f3a\u5f3a\u8054\u5408\u7684\u7ec8\u6781\u5f62\u6001\uff1f<\/h2>\n\n\n\n<p>\u6df7\u5408\u8303\u5f0f\u65e8\u5728\u878d\u5408VLM\u7684\u201c\u6162\u601d\u8003\u201d\u4e0e\u4f20\u7edfE2E\u7684\u201c\u5feb\u76f4\u89c9\u201d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-01465dd0ac86fe35195b25f48b4c036a_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1987107314377974556_10\">\u5728\u7ebf\u5206\u5c42\u878d\u5408<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u89c4\u5212\u5c42\u878d\u5408<\/strong>\uff1aVLM\u4f5c\u4e3a\u9ad8\u5c42\u51b3\u7b56\u8005\u751f\u6210\u201c\u5143\u52a8\u4f5c\u201d\uff08\u5982\u201c\u5411\u5de6\u53d8\u9053\u201d\uff09\uff0c\u6307\u5bfc\u4f20\u7edfE2E\u6a21\u578b\u751f\u6210\u5177\u4f53\u8f68\u8ff9\u3002<strong>DriveVLM<\/strong>\u5b9e\u73b0\u4e86\u611f\u77e5\u8f93\u51fa\u7684\u53cc\u5411\u9a8c\u8bc1\u548c\u8f68\u8ff9\u63d0\u793a\u3002<br><\/li>\n\n\n\n<li><strong>\u611f\u77e5\u5c42\u878d\u5408<\/strong>\uff1a<strong>VLM-E2E<\/strong>\u5229\u7528VLM\u751f\u6210\u7684\u6ce8\u610f\u529b\u63d0\u793a\u6765\u589e\u5f3aBEV\u7279\u5f81\u3002<br><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1987107314377974556_11\">\u79bb\u7ebf\u77e5\u8bc6\u8fc1\u79fb\uff08VLM\u8f85\u52a9\u8bad\u7ec3\uff09<\/h3>\n\n\n\n<p>\u8fd9\u79cd\u65b9\u5f0f\u5229\u7528VLM\u4f5c\u4e3a\u201c\u6559\u5e08\u201d\u5728\u8bad\u7ec3\u9636\u6bb5\u6307\u5bfcE2E\u6a21\u578b\uff0c\u63a8\u7406\u65f6\u5219\u4ec5\u4f7f\u7528E2E\u6a21\u578b\uff0c\u5b9e\u73b0\u4e86\u96f6\u63a8\u7406\u6210\u672c\u7684\u6027\u80fd\u63d0\u5347\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5bf9\u9f50\u4e0e\u84b8\u998f<\/strong>\uff1a<strong>ALN-P3<\/strong>\u63d0\u51fa\u4e86\u5168\u6808\u5bf9\u9f50\u6846\u67b6\uff0c\u5f3a\u5236E2E\u6a21\u578b\u7684\u4e2d\u95f4\u7279\u5f81\u4e0eVLM\u7684\u8bed\u8a00\u8868\u5f81\u4e00\u81f4\uff0c\u786e\u4fdd\u51b3\u7b56\u903b\u8f91\u7684\u5408\u7406\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1987107314377974556_12\">\u8c01\u662f\u738b\u8005\uff1f\u4e3b\u6d41\u57fa\u51c6\u6027\u80fd\u5927\u6bd4\u62fc<\/h2>\n\n\n\n<p>\u8bba\u6587\u5728nuScenes\u3001Bench2Drive\u3001CARLA\u548cNAVSIM\u7b49\u57fa\u51c6\u4e0a\u8fdb\u884c\u4e86\u8be6\u5c3d\u7684\u6a2a\u5411\u5bf9\u6bd4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-45ca8cee26969e91644f978942385506_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>nuScenes (Open-loop)<\/strong>\uff1a<strong>\u4f20\u7edf\u7aef\u5230\u7aef\u65b9\u6cd5\uff08\u5982TTOG, UAD\uff09<\/strong> \u867d\u7136\u5360\u636e\u4e86\u699c\u5355\u524d\u5217\u7684\u5927\u90e8\u5206\u4f4d\u7f6e\uff0c\u8bc1\u660e\u4e86\u5176\u5728\u6570\u503c\u8f68\u8ff9\u9884\u6d4b\u65b9\u9762\u7684\u4f18\u52bf \uff1b\u4f46\u76ee\u524d\u6027\u80fd\u6700\u4f73\u7684\u65b9\u6cd5\uff08Top 1\uff09\u5b9e\u9645\u4e0a\u5c5e\u4e8e\u6df7\u5408\u7aef\u5230\u7aef\uff08Hybrid E2E\uff09\u8303\u5f0f \u3002<br><\/li>\n\n\n\n<li><strong>NAVSIM (Open-loop simulation)<\/strong>\uff1a\u4ee4\u4eba\u60ca\u8bb6\u7684\u662f\uff0c<strong>\u4f20\u7edf\u7aef\u5230\u7aef\u65b9\u6cd5\uff08\u5982TransDiffuser\uff09<\/strong> \u5728PDMS\u8bc4\u5206\u4e0a\u751a\u81f3\u8d85\u8fc7\u4e86\u4eba\u7c7b\u9a7e\u9a76\u5458\uff0c\u5c55\u73b0\u4e86\u5f3a\u5927\u7684\u6f5c\u529b \u3002<br><\/li>\n\n\n\n<li><strong>Bench2Drive (Closed-loop)<\/strong>\uff1a\u5c3d\u7ba1SOTA\u65b9\u6cd5\u8868\u73b0\u51fa\u4e86\u4e00\u5b9a\u7684\u9c81\u68d2\u6027\uff0c\u4f46Bench2Drive\u4e2d\u6700\u597d\u7684\u65b9\u6cd5\u8def\u7f51\u5b8c\u6210\u7387\u4ecd\u672a\u8d85\u8fc770% \uff0c\u5904\u7406\u591a\u6837\u5316\u548c\u957f\u7a0b\u8def\u7ebf\u4ecd\u7136\u662f\u4e00\u4e2a\u5173\u952e\u74f6\u9888\u3002<br><\/li>\n\n\n\n<li><strong>CARLA (Closed-loop)<\/strong>\uff1a\u4f20\u7edfE2E\u65b9\u6cd5\u5728Town05 Long\u57fa\u51c6\u4e0a\u4ecd\u5360\u636e\u4e3b\u5bfc\u5730\u4f4d\uff0c\u8bf4\u660e\u5728\u9700\u8981\u7cbe\u7ec6\u64cd\u4f5c\u63a7\u5236\u7684\u4efb\u52a1\u4e2d\uff0c\u4f20\u7edf\u65b9\u6cd5\u4f9d\u7136\u5177\u6709\u4f18\u52bf\u3002<br><\/li>\n<\/ul>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c<strong>ActiveAD<\/strong>\u4ec5\u5229\u752830%\u7684nuScenes\u6570\u636e\u5c31\u8fbe\u5230\u4e86\u5168\u6570\u636e\u96c6\u7684\u6027\u80fd\uff0c\u51f8\u663e\u4e86\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u6570\u636e\u8d28\u91cf\u4f18\u4e8e\u6570\u91cf\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1987107314377974556_13\">\u5c55\u671b\u672a\u6765\uff1a\u901a\u5f80AGI\u4e4b\u8def<\/h2>\n\n\n\n<p>\u8bba\u6587\u6700\u540e\u6307\u51fa\u4e86GE2E\u9762\u4e34\u7684\u56db\u5927\u6311\u6218\uff1a<strong>\u957f\u5c3e\u5206\u5e03<\/strong>\u3001<strong>\u53ef\u89e3\u91ca\u6027<\/strong>\u3001<strong>\u5b89\u5168\u4fdd\u8bc1<\/strong>\u548c<strong>\u5b9e\u65f6\u6548\u7387<\/strong>\uff0c\u5e76\u63d0\u51fa\u4e86\u672a\u6765\u7684\u56db\u4e2a\u5173\u952e\u7814\u7a76\u65b9\u5411\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09<\/strong>\uff1a\u4ece\u6a21\u4eff\u5b66\u4e60\u8f6c\u5411RL\uff0c\u5229\u7528\u4e16\u754c\u6a21\u578b\u8fdb\u884c\u5927\u89c4\u6a21\u4f4e\u6210\u672c\u8bd5\u9519\u3002<br><\/li>\n\n\n\n<li><strong>\u57fa\u7840\u6a21\u578b\uff08Foundation Models\uff09<\/strong>\uff1a\u5728\u6d77\u91cf\u901a\u7528\u6570\u636e\u4e0a\u9884\u8bad\u7ec3\uff0c\u89e3\u51b3Long-tail\u95ee\u9898\u3002<br><\/li>\n\n\n\n<li><strong>Agent\u7cfb\u7edf<\/strong>\uff1a\u6a21\u4eff\u4eba\u7c7b\u5927\u8111\u76ae\u5c42\u548c\u5c0f\u8111\u7684\u534f\u4f5c\uff0c\u6784\u5efa\u5206\u5c42\u7684Agent\u4f53\u7cfb\u3002<br><\/li>\n\n\n\n<li><strong>\u4e16\u754c\u6a21\u578b\uff08World Models\uff09<\/strong>\uff1a\u4f5c\u4e3a\u81ea\u76d1\u7763\u5b66\u4e60\u7684\u5f15\u64ce\uff0c\u5229\u7528\u6d77\u91cf\u65e0\u6807\u7b7e\u89c6\u9891\u6570\u636e\u9a71\u52a8\u6a21\u578b\u8fdb\u5316\u3002<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-35809","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35809"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=35809"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35809\/revisions"}],"predecessor-version":[{"id":35811,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35809\/revisions\/35811"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=35809"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=35809"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=35809"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}