{"id":36132,"date":"2026-01-04T17:31:14","date_gmt":"2026-01-04T09:31:14","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36132"},"modified":"2026-01-04T17:31:14","modified_gmt":"2026-01-04T09:31:14","slug":"2026-01-04-%e8%b6%85%e8%b6%8adrivevla-w0%ef%bc%81drivelaw%ef%bc%9a%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e8%a1%a8%e5%be%81%e4%b8%80%e7%bb%9f%e7%94%9f%e6%88%90%e4%b8%8e%e8%a7%84%e5%88%92%ef%bc%88","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/01\/04\/36132\/","title":{"rendered":"2026-01-04 \u8d85\u8d8aDriveVLA-W0\uff01DriveLaW\uff1a\u4e16\u754c\u6a21\u578b\u8868\u5f81\u4e00\u7edf\u751f\u6210\u4e0e\u89c4\u5212\uff08\u534e\u79d1&\u5c0f\u7c73\uff09"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/vYzJw1fLtVW6d5QjUsr8hQ<\/a><\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u5f97\u76ca\u4e8e\u611f\u77e5\uff08\u5982 BEVFormer, MapTR, BEVDet \u7b49\uff09\u548c\u89c4\u5212\uff08\u5982 UniAD, VAD, DiffusionDrive, ReCogDrive \u7b49\uff09\u7684\u7a81\u7834\u6027\u8fdb\u5c55\uff0c\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u53d6\u5f97\u4e86\u957f\u8db3\u8fdb\u6b65\u3002\u7136\u800c\uff0c\u73b0\u6709\u7cfb\u7edf\u5728\u9762\u5bf9\u957f\u5c3e\u573a\u666f<\/strong>\u65f6\u4f9d\u7136\u663e\u5f97\u8106\u5f31\uff0c\u4e25\u91cd\u5236\u7ea6\u4e86\u95ed\u73af\u9a7e\u9a76\u7684\u6027\u80fd\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u96be\u9898\uff0c\u8fd1\u671f\u5927\u91cf\u7814\u7a76\u5de5\u4f5c\u5c1d\u8bd5\u8fd0\u7528 \u4e16\u754c\u6a21\u578b\uff08World Models\uff09<\/strong>\uff0c\u65e8\u5728\u901a\u8fc7\u9884\u6d4b\u9a7e\u9a76\u573a\u666f\u7684\u672a\u6765\u6f14\u53d8\u6765\u589e\u5f3a\u7cfb\u7edf\u7684\u6cdb\u5316\u6027\u4e0e\u9c81\u68d2\u6027\u6765\u89e3\u51b3\u957f\u5c3e\u95ee\u9898\u3002<\/p>\n\n\n\n

\u76ee\u524d\uff0c\u4e16\u754c\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528\u5df2\u767e\u82b1\u9f50\u653e\uff1a\u4e00\u7c7b\u81f4\u529b\u4e8e\u5408\u6210\u4e0b\u6e38\u4efb\u52a1\u6570\u636e\u4ee5\u5e94\u5bf9\u7f55\u89c1\u573a\u666f\uff08\u5982 VISTA, GAIA, MagicDrive, DriveDreamer, DrivingDiffusion\uff09\uff1b\u53e6\u4e00\u7c7b\u5229\u7528\u6a21\u62df\u73af\u5883\u8fdb\u884c\u7b56\u7565\u5b66\u4e60\uff08\u5982 RAD, ReSim, OmniNWM\uff09\uff1b\u8fd8\u6709\u4e00\u7c7b\u5219\u63d0\u4f9b\u672a\u6765\u7684\u89c6\u89c9\u9884\u6d4b\u4f5c\u4e3a\u8f85\u52a9\u76d1\u7763\u4fe1\u53f7\uff08\u5982 DriveVLA, DriveWorld \u7b49\uff09\u3002\u5c3d\u7ba1\u901a\u8fc7\u5927\u89c4\u6a21\u89c6\u9891\u751f\u6210\u5b66\u4e60\u7269\u7406\u89c4\u5f8b\u5e26\u6765\u4e86\u6cdb\u5316\u6027\u7684\u63d0\u5347\uff0c\u4f46\u73b0\u6709\u7684\u4e16\u754c\u6a21\u578b\u5728\u89c4\u5212<\/strong>\u5c42\u9762\u7684\u8d21\u732e\u5f80\u5f80\u662f\u95f4\u63a5\u7684\u6216\u4e0e\u89c4\u5212\u5668\u5e76\u884c<\/strong>\u7684\uff0c\u7f3a\u4e4f\u4e0e\u51b3\u7b56\u8fc7\u7a0b\u7684\u7d27\u5bc6\u8026\u5408\u3002\u5177\u4f53\u800c\u8a00\uff0c\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u5206\u4e3a\u4ee5\u4e0b\u4e09\u7c7b\uff1a<\/p>\n\n\n\n

    \n
  1. \u4e16\u754c\u6a21\u578b\u6a21\u62df\u5668\uff08World-model Simulators\uff09\uff1a\u4ec5\u7528\u4e8e\u5408\u6210\u6570\u636e\u6216\u4f5c\u4e3a\u95ed\u73af\u73af\u5883\u5f15\u5bfc\u7b56\u7565\u5b66\u4e60\uff0c\u6a21\u578b\u7684\u7269\u7406\u7406\u89e3\u65e0\u6cd5\u76f4\u63a5\u4f20\u9012\u5230\u89c4\u5212\u5668\u7684\u5185\u90e8\u72b6\u6001\u4e2d\u3002<\/li>\n\n\n\n
  2. \u4e16\u754c\u6a21\u578b\u76d1\u7763\uff08World-model Supervision\uff09\uff1a\u4ec5\u9884\u6d4b\u672a\u6765\u89c6\u89c9\u6216\u4fe1\u53f7\u6765\u76d1\u7763\u8f68\u8ff9\uff0c\u89c4\u5212\u8fc7\u7a0b\u4f9d\u7136\u662f\u5916\u90e8\u6307\u5b9a\u7684\u3002<\/li>\n\n\n\n
  3. \u7edf\u4e00\u4e16\u754c\u6a21\u578b\uff08Unified World-model\uff09\uff1a\u867d\u7136\u5c1d\u8bd5\u8054\u5408\u751f\u6210\u89c6\u9891\u548c\u8f68\u8ff9\uff08\u5982 Epona, DriveVLA-W0\uff09\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u5f80\u5f80\u5c06\u89c6\u9891\u751f\u6210\u5668\u4e0e\u7b56\u7565\u5934\uff08Policy Head\uff09\u89e3\u8026\uff0c\u672a\u80fd\u5229\u7528\u751f\u6210\u5668\u5f3a\u5927\u7684\u00a0\u5185\u90e8\u6f5c\u5728\u7279\u5f81<\/strong>\u00a0\u4f5c\u4e3a\u89c4\u5212\u4f9d\u636e\uff0c\u5bfc\u81f4\u201c\u89c6\u89c9\u60f3\u8c61\u201d\u4e0e\u201c\u52a8\u4f5c\u51b3\u7b56\u201d\u4e4b\u95f4\u5b58\u5728\u9e3f\u6c9f\u3002<\/li>\n<\/ol>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    \u9488\u5bf9\u4e0a\u8ff0\u75db\u70b9\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 DriveLaW<\/strong>\uff0c\u4e00\u79cd\u57fa\u4e8e\u5171\u4eab\u6f5c\u5728\u7a7a\u95f4\u8868\u5f81\u7684\u7aef\u5230\u7aef\u4e16\u754c\u6a21\u578b\u3002\u53d7 Genie Envisioner \u7b49\u5de5\u4f5c\u7684\u542f\u53d1\uff0cDriveLaW \u521b\u65b0\u6027\u5730\u5c06\u751f\u6210\u4e0e\u89c4\u5212\u4ece\u5e76\u884c<\/strong>\u8f6c\u53d8\u4e3a\u94fe\u5f0f<\/strong>\u7ed3\u6784\u3002\u5176\u6838\u5fc3\u601d\u60f3\u5728\u4e8e\uff1a\u5927\u89c4\u6a21\u89c6\u9891\u751f\u6210\u6a21\u578b\u5b66\u4e60\u5230\u7684\u6f5c\u5728\u7279\u5f81\u8574\u542b\u4e86\u4e30\u5bcc\u7684\u573a\u666f\u8bed\u4e49\u3001\u667a\u80fd\u4f53\u52a8\u529b\u5b66\u548c\u7269\u7406\u89c4\u5f8b\u3002DriveLaW \u4e0d\u518d\u6d6a\u8d39\u8fd9\u4e9b\u5b9d\u8d35\u7684\u5148\u9a8c\u77e5\u8bc6\uff0c\u800c\u662f\u76f4\u63a5\u5c06\u89c6\u9891\u751f\u6210\u5668\u7684\u7d27\u51d1\u6f5c\u5728\u8868\u5f81\u6ce8\u5165\u5230\u57fa\u4e8e DiT\uff08Diffusion Transformer\uff09 \u7684\u89c4\u5212\u5668\u4e2d\u3002<\/p>\n\n\n\n

    DriveLaW \u7684\u6838\u5fc3\u4f18\u52bf\u4e0e\u521b\u65b0\u5305\u62ec\uff1a<\/p>\n\n\n\n

      \n
    1. \u94fe\u5f0f\u751f\u6210\u4e0e\u89c4\u5212\uff1a\u901a\u8fc7\u5171\u4eab\u6f5c\u5728\u7a7a\u95f4\uff0c\u6a21\u578b\u5145\u5206\u5229\u7528\u4e86\u89c6\u9891\u9884\u8bad\u7ec3\u5b66\u5230\u7684\u5f3a\u5927\u8868\u5f81\uff0c\u907f\u514d\u4e86\u751f\u6210\u5668\u4e0e\u89c4\u5212\u5668\u4e4b\u95f4\u7684\u68af\u5ea6\u5e72\u6270\uff0c\u5e76\u786e\u4fdd\u4e86\u751f\u6210\u7684\u89c6\u89c9\u7ec6\u8282\u4e0e\u89c4\u5212\u8f68\u8ff9\u7684\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n
    2. \u67b6\u6784\u8bbe\u8ba1\uff1a\u5305\u542b DriveLaW-Video \u548c DriveLaW-Act\u3002\u524d\u8005\u5f15\u5165\u4e86\u566a\u58f0\u91cd\u6ce8\u5165\u673a\u5236\u4ee5\u5e73\u8861\u9ad8\u538b\u7f29\u7387\u4e0e\u89c6\u89c9\u4fdd\u771f\u5ea6\uff1b\u540e\u8005\u5219\u5229\u7528 Flow-matching \u76ee\u6807\u8bad\u7ec3\uff0c\u76f4\u63a5\u5728\u89c6\u9891\u6f5c\u5728\u7279\u5f81\u7684\u6761\u4ef6\u4e0b\u751f\u6210\u5e73\u6ed1\u3001\u9c81\u68d2\u7684\u8f68\u8ff9\u3002<\/li>\n\n\n\n
    3. \u6e10\u8fdb\u5f0f\u5b66\u4e60\uff1a\u91c7\u7528\u4e09\u9636\u6bb5\u8bad\u7ec3\u7b56\u7565\uff0c\u6709\u6548\u89e3\u51b3\u4e86\u9ad8\u4fdd\u771f\u89c6\u9891\u5408\u6210\u4e0e\u7a33\u5b9a\u8f68\u8ff9\u751f\u6210\u4e4b\u95f4\u7684\u4f18\u5316\u51b2\u7a81\u3002<\/li>\n<\/ol>\n\n\n\n

      \u6211\u4eec\u5728 nuScenes \u89c6\u9891\u751f\u6210\u4efb\u52a1\u548c NAVSIM \u8f68\u8ff9\u89c4\u5212\u4efb\u52a1\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u9a8c\u8bc1\u3002\u7ed3\u679c\u663e\u793a\uff0cDriveLaW \u4e0d\u4ec5\u5728\u89c6\u9891\u751f\u6210\u8d28\u91cf\u4e0a\u8fbe\u5230\u4e86 4.6FID\uff0c81.3FVD \u5206\u6570<\/strong>\uff0c\u8d85\u8fc7\u4e4b\u524d\u7684\u4e16\u754c\u6a21\u578b\u65b9\u6848\uff0c\u66f4\u5728 NAVSIM \u95ed\u73af\u89c4\u5212\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0c\u65e0\u9700\u4efb\u4f55\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u5fae\u8c03\u6216\u540e\u5904\u7406\uff0c\u4fbf\u8fbe\u5230\u4e86 89.1 PDMS \u5206\u6570<\/strong>\uff0c\u8d85\u8d8a\u4e86\u4ee5\u5f80\u7684\u7eaf\u89c6\u89c9\u4e16\u754c\u6a21\u578b\u65b9\u6848\uff0c\u5145\u5206\u8bc1\u660e\u4e86\u5229\u7528\u751f\u6210\u5f0f\u5148\u9a8c\u8fdb\u884c\u51b3\u7b56\u63a7\u5236\u7684\u5de8\u5927\u6f5c\u529b\u3002<\/p>\n\n\n\n

        \n
      • \u8bba\u6587\u9898\u76ee<\/strong>\uff1aDriveLaW: Unifying Planning and Video Generation in a Latent Driving World<\/li>\n\n\n\n
      • \u8bba\u6587\u94fe\u63a5<\/strong>\uff1ahttps:\/\/arxiv.org\/abs\/2512.23421<\/li>\n\n\n\n
      • \u4ee3\u7801\u94fe\u63a5<\/strong>\uff1ahttps:\/\/github.com\/wm-research\/DriveLaW\uff08\u5c06\u9646\u7eed\u5f00\u6e90\u6a21\u578b\u3001\u4ee3\u7801\u3001\u6743\u91cd\uff09<\/li>\n<\/ul>\n\n\n\n

        \u4e8c\u3001\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n

        \u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u4e16\u754c\u6a21\u578b<\/strong><\/p>\n\n\n\n

        \u4e16\u754c\u6a21\u578b\u65e8\u5728\u5c06\u7269\u7406\u4e16\u754c\u7684\u7ed3\u6784\u4e0e\u52a8\u529b\u5b66\u5185\u5316\u4e3a\u9884\u6d4b\u6027\u7684\u6f5c\u5728\u8868\u5f81\u3002\u65e9\u671f\u7814\u7a76\uff08\u5982 GAIA\u3001MagicDrive\u3001VISTA\uff09\u5c06\u5176\u89c6\u4e3a\u6761\u4ef6\u89c6\u9891\u751f\u6210\u4efb\u52a1\uff0c\u4fa7\u91cd\u51e0\u4f55\u4e00\u81f4\u6027\uff1bOccWorld \u548c OccSora \u5f15\u5165\u5360\u636e\u6805\u683c\u8868\u5f81\u4ee5\u6355\u6349 3D \u65f6\u7a7a\u7ed3\u6784\uff1bUniScenes \u548c Genesis \u8fdb\u4e00\u6b65\u5b9e\u73b0\u4e86 RGB-LiDAR-Occupancy \u7684\u591a\u6a21\u6001\u8054\u5408\u751f\u6210\u3002\u53e6\u4e00\u7c7b\u5de5\u4f5c\uff08\u5982 ReSim\u3001OmniNWM\u3001RAD\u3001HUGSIM\uff09\u5c06\u4e16\u754c\u6a21\u578b\u4f5c\u4e3a\u4eff\u771f\u5f15\u64ce\uff0c\u901a\u8fc7 3DGS \u91cd\u5efa\u6216\u884c\u4e3a\u6a21\u62df\u652f\u6301\u95ed\u73af\u8bc4\u4f30\u4e0e\u5f3a\u5316\u5b66\u4e60\u3002\u8fd1\u671f\uff0cDrivingGPT\u3001Epona \u548c DriveVLA-W0 \u5c1d\u8bd5\u5728\u7edf\u4e00\u6a21\u578b\u4e2d\u8054\u5408\u751f\u6210\u89c6\u9891\u4e0e\u8f68\u8ff9\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u5c06\u89c6\u9891\u751f\u6210\u4e0e\u7b56\u7565\u5934\u89e3\u8026\u4e3a\u72ec\u7acb\u7684\u8f93\u51fa\u6d41\uff0c\u5bfc\u81f4\u89c4\u5212\u8f68\u8ff9\u672a\u80fd\u4e0e\u89c6\u9891\u751f\u6210\u7684\u5185\u90e8\u7279\u5f81\u5bf9\u9f50\u3002\u800c\u6211\u4eec\u7684 DriveLaW \u9996\u6b21\u5229\u7528\u89c6\u9891\u751f\u6210\u5668\u7684\u4e2d\u5c42\u6f5c\u5728\u7279\u5f81\u76f4\u63a5\u4f5c\u4e3a\u89c4\u5212\u8868\u5f81\uff0c\u586b\u8865\u4e86\u89c6\u89c9\u60f3\u8c61\u4e0e\u52a8\u4f5c\u9009\u62e9\u4e4b\u95f4\u7684\u9e3f\u6c9f\uff0c\u5b9e\u73b0\u66f4\u7a33\u5b9a\u7684\u95ed\u73af\u9a7e\u9a76\u3002<\/p>\n\n\n\n

        \u89c6\u9891\u751f\u6210\u6280\u672f<\/strong><\/p>\n\n\n\n

        \u89c6\u9891\u751f\u6210\u5df2\u6210\u4e3a\u4ee5\u89c6\u89c9\u4e3a\u4e2d\u5fc3\u7684\u4e16\u754c\u6a21\u578b\u7684\u6838\u5fc3\u3002GAIA-1 \u91c7\u7528\u81ea\u56de\u5f52\u6846\u67b6\u751f\u6210\u9a7e\u9a76\u573a\u666f\u89c6\u9891\uff1bDriveDreamer\u3001Panacea\u3001DrivingDiffusion \u548c MagicDrive \u5229\u7528\u6269\u6563\u6a21\u578b\uff0c\u7ed3\u5408 BEV \u548c 3D \u6846\u7b49\u51e0\u4f55\u7279\u5f81\u751f\u6210\u53ef\u63a7\u573a\u666f\uff1bMagicDrive-V2\u3001MiLA \u548c GAIA-2 \u901a\u8fc7\u6f5c\u5728\u6269\u6563\u6a21\u578b\u5b9e\u73b0\u4e86\u957f\u65f6\u5e8f\u3001\u9ad8\u4fdd\u771f\u7684\u9a7e\u9a76\u89c6\u9891\u751f\u6210\uff1bTeraSim-World \u548c Cosmos-Drive \u5219\u6784\u5efa\u4e86\u5927\u89c4\u6a21\u5408\u6210\u6570\u636e\u6d41\u6c34\u7ebf\u4ee5\u670d\u52a1\u4e8e\u4e0b\u6e38\u4efb\u52a1\u3002\u5c3d\u7ba1\u73b0\u6709\u65b9\u6cd5\u5728\u89c6\u89c9\u5408\u6210\u4e0a\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u5b83\u4eec\u4e3b\u8981\u5c06\u89c6\u9891\u751f\u6210\u5668\u89c6\u4e3a\u201c\u6e32\u67d3\u5668\u201d\u3002\u800c DriveLaW \u5c06\u89c6\u9891\u751f\u6210\u5668\u91cd\u65b0\u5b9a\u4f4d\u4e3a\u201c\u7279\u5f81\u63d0\u53d6\u5668\u201d\uff0c\u8ba4\u4e3a\u5176\u5185\u90e8\u6fc0\u6d3b\u503c\u7f16\u7801\u4e86\u4e30\u5bcc\u7684\u65f6\u7a7a\u52a8\u529b\u5b66\u7406\u89e3\uff0c\u5e76\u5c06\u5176\u4e0e\u6269\u6563\u89c4\u5212\u5668\u914d\u5bf9\u4ee5\u5b9e\u73b0\u7aef\u5230\u7aef\u9a7e\u9a76\u3002<\/p>\n\n\n\n

        \u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u6269\u6563\u7b56\u7565\uff08Diffusion Policy\uff09<\/strong><\/p>\n\n\n\n

        \u6269\u6563\u6a21\u578b\u5728\u65f6\u5e8f\u52a8\u4f5c\u5efa\u6a21\u65b9\u9762\u7684\u6210\u529f\u63a8\u52a8\u4e86\u5176\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528\u3002DiffusionDrive \u5f15\u5165\u622a\u65ad\u6269\u6563\u4e0e\u951a\u70b9\u521d\u59cb\u5316\u566a\u58f0\u5b9e\u73b0\u5b9e\u65f6\u591a\u6a21\u6001\u89c4\u5212\uff1bDiffusion Planner \u5c06\u89c4\u5212\u4efb\u52a1\u91cd\u5b9a\u4e49\u4e3a\u672a\u6765\u8f68\u8ff9\u751f\u6210\uff0c\u8054\u5408\u9884\u6d4b\u81ea\u8f66\u4e0e\u5468\u8fb9\u8f66\u8f86\u8f68\u8ff9\uff1bReCogDrive \u5c06 VLM \u4e0e\u6269\u6563\u89c4\u5212\u5668\u8026\u5408\uff0c\u6ce8\u5165\u8ba4\u77e5\u5148\u9a8c\uff1bGoalFlow \u5229\u7528\u6d41\u5339\u914d\uff08Flow Matching\uff09\u751f\u6210\u76ee\u6807\u70b9\u5f15\u5bfc\u4ee5\u786e\u4fdd\u884c\u9a76\u5b89\u5168\u3002\u4e0d\u540c\u4e8e\u4e0a\u8ff0\u5de5\u4f5c\uff0c\u6211\u4eec\u521b\u65b0\u6027\u5730\u5c06 Video DiT \u4e0e\u6269\u6563\u89c4\u5212\u5668\u8fdb\u884c\u201c\u94fe\u5f0f\u201d\u8fde\u63a5\uff0c\u4ece\u5927\u89c4\u6a21\u9a7e\u9a76\u89c6\u9891\u4e2d\u84b8\u998f\u9a7e\u9a76\u5148\u9a8c\u5e76\u6ce8\u5165\u89c4\u5212\u5668\uff0c\u4ece\u800c\u663e\u8457\u63d0\u5347\u95ed\u73af\u9a7e\u9a76\u7684\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

        \u4e09\u3001\u65b9\u6cd5<\/strong><\/p>\n\n\n\n

        DriveLaW \u662f\u4e00\u4e2a\u7edf\u4e00\u7684\u4e16\u754c\u6a21\u578b\u6846\u67b6\uff0c\u65e8\u5728\u901a\u8fc7\u5171\u4eab\u6f5c\u5728\u7a7a\u95f4\u8868\u5f81\u5c06\u89c6\u9891\u751f\u6210\u4e0e\u8f68\u8ff9\u89c4\u5212\u6df1\u5ea6\u8026\u5408\u3002\u5176\u6838\u5fc3\u7531\u4e24\u90e8\u5206\u7ec4\u6210\uff1a\u65f6\u7a7a\u89c6\u9891\u751f\u6210\u5668 DriveLaW-Video \u548c\u57fa\u4e8e\u6269\u6563\u7684\u89c4\u5212\u5668 DriveLaW-Act\u3002\u63a8\u7406\u65f6\uff0cDriveLaW-Video \u9996\u5148\u5c06\u5386\u53f2\u5e27\u3001\u6587\u672c\u63d0\u793a\u7b49\u7f16\u7801\u4e3a\u6f5c\u5728\u7279\u5f81\u5e76\u8fdb\u884c\u53bb\u566a\u751f\u6210\u89c6\u9891\uff0c\u540c\u65f6\uff0c\u5176\u4e2d\u95f4\u5c42\u7684\u6f5c\u5728\u7279\u5f81\u88ab\u63d0\u53d6\u51fa\u6765\u4f5c\u4e3a\u5173\u952e\u7684\u611f\u77e5\u4fe1\u53f7\uff0c\u8fde\u540c\u81ea\u8f66\u72b6\u6001\u3001\u9ad8\u5c42\u6307\u4ee4\u4e00\u8d77\u8f93\u5165\u7ed9 DriveLaW-Act\uff0c\u540e\u8005\u901a\u8fc7\u6d41\u5339\u914d\uff08Flow Matching\uff09\u751f\u6210\u6700\u7ec8\u7684\u5e73\u6ed1\u8f68\u8ff9\u3002\u6700\u540e\uff0c\u4e3a\u4e86\u517c\u987e\u9ad8\u4fdd\u771f\u89c6\u9891\u751f\u6210\u4e0e\u7a33\u5b9a\u89c4\u5212\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e09\u9636\u6bb5\u6e10\u8fdb\u5f0f\u8bad\u7ec3\u6846\u67b6\u3002<\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        3.1 \u4ece\u89c6\u9891\u751f\u6210\u5668\u5b66\u4e60\u53ef\u6cdb\u5316\u7684\u9a7e\u9a76\u8868\u793a<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        3.2 DriveLaW<\/strong><\/p>\n\n\n\n

        \u5982\u56fe 2 \u6240\u793a\uff0cDriveLaW \u662f\u4e00\u4e2a\u7edf\u4e00\u6846\u67b6\uff0c\u7531\u00a0DriveLaW-Video<\/strong>\u00a0\u4e0e\u00a0DriveLaW-Act<\/strong>\u00a0\u7ec4\u6210\u3002\u89c6\u9891\u6a21\u578b\uff08\u5982 LTX-Video\uff09\u5148\u7528\u65f6\u7a7a VAE \u7f16\u7801\u5386\u53f2\u9a7e\u9a76\u5e27\uff0c\u5e76\u7528\u6587\u672c\u7f16\u7801\u5668\u7f16\u7801\u6587\u672c\u63d0\u793a\uff1b\u968f\u540e\u4e00\u5806 Video DiT \u5757\u5728\u6f5c\u7a7a\u95f4\u5b8c\u6210\u53bb\u566a\uff0c\u6700\u540e VAE \u89e3\u7801\u5668\u91cd\u5efa\u89c6\u9891\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u52a8\u4f5c\u566a\u58f0\u3001\u81ea\u8f66\u72b6\u6001\u4e0e\u9ad8\u5c42\u6307\u4ee4\u88ab\u7f16\u7801\u5e76\u9001\u5165\u52a8\u4f5c\u6a21\u578b\u3002Video DiT \u8f93\u51fa\u7684\u89c6\u9891\u6f5c\u53d8\u91cf\u4f5c\u4e3a\u6761\u4ef6\u4fe1\u53f7\uff0c\u5f15\u5bfc Action DiT \u8f93\u51fa\u6700\u7ec8\u8f68\u8ff9\u3002Video DiT \u4e0e Action DiT \u94fe\u5f0f\u8fde\u63a5\uff0c\u5e76\u8054\u5408\u8bad\u7ec3\u4ee5\u4ece\u5927\u89c4\u6a21\u89c6\u9891\u751f\u6210\u4e2d\u5b66\u4e60\u9a7e\u9a76\u8868\u5f81\uff0c\u4e3a\u89c4\u5212\u63d0\u4f9b\u5171\u4eab\u57fa\u7840\u3002<\/p>\n\n\n\n

        3.3 DriveLaW-Video\uff1a\u65f6\u7a7a\u4e16\u754c\u751f\u6210\u5668<\/strong><\/p>\n\n\n\n

        \u65f6\u7a7a VAE<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u89c6\u9891 Transformer \u7ed3\u6784<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n
        \"\"<\/figure>\n\n\n\n

        \u566a\u58f0\u91cd\u6ce8\u5165<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        3.4 DriveLaW-Act\uff1a\u57fa\u4e8e\u6269\u6563\u7684\u89c4\u5212\u5668<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        3.5 \u4e09\u9636\u6bb5\u6e10\u8fdb\u5f0f\u8bad\u7ec3<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u56db\u3001\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u8868 1 \u62a5\u544a\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u751f\u6210\u8bc4\u4f30\u7684\u5b9a\u91cf\u7ed3\u679c\u3002\u5728\u4e24\u9879\u6307\u6807\u4e0a\uff0cDriveLaW \u5747\u8d85\u8d8a\u4e86\u4ee5\u5f80\u6240\u6709\u7684\u5355\u89c6\u56fe\u65b9\u6cd5\uff0c\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff08SOTA\uff09\uff0cFID \u4e3a 4.6\uff0cFVD \u4e3a 81.3\u3002\u7ed3\u679c\u8bc1\u660e\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u9ad8\u4fdd\u771f\u9a7e\u9a76\u89c6\u9891\u751f\u6210\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u8868 2 \u62a5\u544a\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5728 NAVSIM \u7684\u7ed3\u679c\u3002DriveLaW \u83b7\u5f97\u4e86 89.1 \u7684 PDMS\uff0c\u53d6\u5f97\u4e86\u65b0\u7684 SOTA\uff0c\u4e14\u6ca1\u6709\u4efb\u4f55\u540e\u8bad\u7ec3\uff08\u5982\u5f3a\u5316\u5b66\u4e60\uff09\u6216\u540e\u5904\u7406\uff08\u5982\u53ef\u5b66\u4e60\u7684\u8bc4\u5206\u5668\uff09\u3002\u5b83\u8d85\u8d8a\u4e86\u4f20\u7edf\u7684\u7aef\u5230\u7aef\u89c4\u5212\u5668\uff0c\u5305\u62ec\u878d\u5408\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u7684 DiffusionDrive \uff0c\u4ee5\u53ca\u4f9d\u8d56\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u7684 ReCogDrive \u3002\u4e0e\u4e16\u754c\u6a21\u578b\u65b9\u6cd5\u76f8\u6bd4\uff0cDriveLaW \u6bd4\u91c7\u7528\u5e76\u884c\u751f\u6210-\u89c4\u5212\u8bbe\u8ba1\u7684 Epona \u63d0\u9ad8\u4e86 2.9 PDMS\uff1b\u6bd4\u4f7f\u7528 VLM \u548c\u4e16\u754c\u6a21\u578b\u76d1\u7763\u7684 DriveVLA-W0 \u548c PWM \u5206\u522b\u63d0\u9ad8\u4e86 1.9 \u548c 1.0 PDMS\uff0c\u8fd9\u8bc1\u660e\u4e86\u5c06\u751f\u6210\u4e0e\u89c4\u5212\u7ea7\u8054\u8d77\u6765\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u5982\u8868 3 \u6240\u793a\uff0c\u589e\u52a0\u89c6\u9891\u751f\u6210\u5668\u7684\u9884\u8bad\u7ec3\u6837\u672c\u91cf\u6301\u7eed\u63d0\u5347\u4e86 DriveLaW \u5728 NAVSIM \u4e0a\u7684\u95ed\u73af\u6027\u80fd\u3002\u4e00\u4e2a\u5b8c\u5168\u9884\u8bad\u7ec3\u7684\u751f\u6210\u5668\u6bd4\u6ca1\u6709\u7ecf\u8fc7\u9a7e\u9a76\u57df\u9884\u8bad\u7ec3\u7684\u751f\u6210\u5668\u5e26\u6765\u4e86 +3.2 PDMS \u7684\u63d0\u5347\uff0c\u8fd9\u8868\u660e\u66f4\u5927\u7684\u8bed\u6599\u5e93\u52a0\u6df1\u4e86\u6a21\u578b\u5bf9\u9a7e\u9a76\u7269\u7406\u89c4\u5f8b\u7684\u638c\u63e1\uff0c\u5e76\u8f6c\u5316\u4e3a\u66f4\u5f3a\u7684\u89c4\u5212\u80fd\u529b\uff0c\u8868\u73b0\u51fa\u660e\u663e\u7684\u89c4\u6a21\u5b9a\u5f8b\uff08scaling law\uff09\u3002<\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u4e3a\u4e86\u8bc1\u660e VGM\uff08\u89c6\u9891\u751f\u6210\u6a21\u578b\uff09\u6f5c\u5728\u7279\u5f81\u53ef\u4ee5\u4f5c\u4e3a\u52a8\u4f5c\u5b66\u4e60\u66f4\u9ad8\u6548\u4e14\u4fe1\u606f\u4e30\u5bcc\u7684\u6761\u4ef6\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u7cfb\u7edf\u5206\u6790\u3002\u5982\u56fe 5 \u6240\u793a\uff0c\u6211\u4eec\u53ef\u89c6\u5316\u5e76\u6bd4\u8f83\u4e86\u4e09\u79cd\u7c7b\u578b\u7684\u6f5c\u5728\u8868\u5f81\u3002\u6211\u4eec\u5e94\u7528 PCA\uff08\u4e3b\u6210\u5206\u5206\u6790\uff09\u5c06\u6bcf\u79cd\u8868\u5f81\u6295\u5f71\u5230\u6620\u5c04\u4e3a RGB \u901a\u9053\u7684 3 \u4e2a\u4e3b\u6210\u5206\u4e0a\uff0c\u6240\u6709\u8868\u5f81\u5747\u4e0a\u91c7\u6837\u81f3 1280\u00d7704 \u3002\u53ef\u89c6\u5316\u6e05\u6670\u5730\u663e\u793a\uff0cBEV \u548c VLM \u7279\u5f81\u662f\u5f25\u6563\u7684\u3001\u4e0d\u7a33\u5b9a\u7684\uff0c\u5e76\u8868\u73b0\u51fa\u4e0d\u89c4\u5219\u7684\u805a\u7126\u6a21\u5f0f\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cVGM \u7279\u5f81\u66f4\u9510\u5229\u3001\u566a\u58f0\u66f4\u5c11\uff0c\u5e76\u8868\u73b0\u51fa\u5353\u8d8a\u7684\u8bed\u4e49\u8fde\u8d2f\u6027\u548c\u5f3a\u5927\u7684\u7a7a\u95f4\u7ed3\u6784\u611f\u77e5\u80fd\u529b\uff0c\u5373\u4f7f\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u9a7e\u9a76\u6761\u4ef6\u4e0b\u4e5f\u662f\u5982\u6b64\u3002\u8fd9\u8868\u660e VGM \u7279\u5f81\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u52a8\u4f5c\u5b66\u4e60\u63d0\u4f9b\u4e86\u66f4\u5408\u9002\u7684\u8868\u5f81\u3002<\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

        \u8868 4 \u62a5\u544a\u4e86\u4e0d\u540c\u9a7e\u9a76\u8868\u5f81\u7684\u7ed3\u679c\u3002\u5728\u76f8\u540c\u7684\u57fa\u4e8e\u6269\u6563\u7684\u89c4\u5212\u5668\u4e0b\uff0c\u89c6\u9891\u751f\u6210\u5668\u6f5c\u5728\u7279\u5f81\u6bd4 BEV \u7279\u5f81\u63d0\u9ad8\u4e86 5.0 PDMS\uff0c\u6bd4 VLM \u9690\u85cf\u72b6\u6001\u63d0\u9ad8\u4e86 2.6 PDMS\uff0c\u8bc1\u660e\u4e86\u8be5\u8868\u5f81\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

        \"\"<\/figure>\n\n\n\n

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