{"id":36249,"date":"2026-01-06T17:31:27","date_gmt":"2026-01-06T09:31:27","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36249"},"modified":"2026-01-06T17:31:27","modified_gmt":"2026-01-06T09:31:27","slug":"2025-01-06-%e8%8b%b1%e4%bc%9f%e8%be%be%e7%94%a8%e5%8d%83%e4%b8%87clip%e6%90%9e%e5%ae%9a%e4%ba%86%e5%8f%8d%e4%ba%8b%e5%ae%9e%e6%8e%a8%e7%90%86vla%ef%bc%81%e5%ae%89%e5%85%a8%e6%8c%87%e6%a0%87%e6%8f%90","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/01\/06\/36249\/","title":{"rendered":"2025-01-06 \u82f1\u4f1f\u8fbe\u7528\u5343\u4e07Clip\u641e\u5b9a\u4e86\u53cd\u4e8b\u5b9e\u63a8\u7406VLA\uff01\u5b89\u5168\u6307\u6807\u63d0\u5347\u4e8620%……"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/MdcA_OFfPVmfLQAvA6hEpQ<\/a><\/p>\n\n\n\n

\u8fd1\u51e0\u4e2a\u6708\uff0c\u53cd\u4e8b\u5b9e\u63a8\u7406\u7684\u5de5\u4f5c\u591a\u4e86\u8d77\u6765\u3002\u73b0\u6709\u7684\u601d\u7ef4\u94fe\u5728\u63a8\u7406\u4e2d\u65e0\u6cd5\u7ea0\u9519\uff0c\u6a21\u578b\u4f1a\u6cbf\u7740\u9519\u8bef\u7684\u903b\u8f91\u63a8\u7406\u51fa\u4e00\u4e2a\u770b\u4f3c\u5408\u7406\u7684\u7ed3\u679c\u3002<\/strong><\/p>\n\n\n\n

\u5728\u5927\u6a21\u578b\u9886\u57df\uff0c\u4e5f\u6709\u4e00\u4e9b\u5de5\u4f5c\u5728\u5c1d\u8bd5\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u4e1a\u5185\u50cf\u7406\u60f3\u7684ReflectDrive\u901a\u8fc7\u79bb\u6563\u6269\u6563\u7684\u53cd\u601d\u673a\u5236\u5b9e\u73b0\u5b89\u5168\u8f68\u8ff9\u751f\u6210\u3002\u4eca\u5929\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u4e3a\u5927\u5bb6\u5206\u4eab\u7684\u82f1\u4f1f\u8fbe&UCLA&\u65af\u5766\u798f\u7684\u5de5\u4f5cCounterfactual VLA – \u5177\u6709\u81ea\u9002\u5e94\u63a8\u7406\u529f\u80fd\u7684\u81ea\u53cd\u601dVLA\u6a21\u578b\uff0c\u53c2\u8003\u4e86\u5f88\u591a\u82f1\u4f1f\u8fbe\u524d\u4f5cAlpamayo-R1\u7684\u8bbe\u8ba1\u3002CF-VLA\u8fd9\u7bc7\u5de5\u4f5c\u7684\u91cd\u70b9\u5728\u6570\u636epipeline\uff0c\u4e91\u7aef\u6570\u636e\u95ed\u73af\u5f88\u6709\u53c2\u8003\u4ef7\u503c\uff0c\u6559\u5e08\u6a21\u578b\u7528\u7684Qwen2.5-VL-72B-Instruct\u3002<\/strong>\u8bad\u7ec3\u7684\u6570\u636e\u91cf\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n

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

\u4e24\u4e2a\u5173\u952e\u8bcd\uff1a\u81ea\u9002\u5e94\u63a8\u7406\u3001\u81ea\u53cd\u601d\u3002<\/strong>\u81ea\u9002\u5e94\u63a8\u7406\u662f\u5728\u89e3\u51b3\u4e0d\u540c\u573a\u666f\u7684\u63a8\u7406\u5f00\u9500\u95ee\u9898\uff0c\u590d\u6742\u573a\u666f\u957f\u63a8\u7406\uff0c\u7b80\u5355\u573a\u666f\u77ed\u63a8\u7406\u6216\u8005\u4e0d\u63a8\u7406\u3002\u81ea\u53cd\u601d\u80fd\u591f\u8ba9\u6a21\u578b\u5728\u6267\u884c\u52a8\u4f5c\u524d\u5bf9\u89c4\u5212\u52a8\u4f5c\u8fdb\u884c\u63a8\u7406\u548c\u4fee\u6b63\u3002\u8fd9\u4e24\u70b9\u90fd\u662f\u5f53\u524d\u81ea\u9a7eVLA\u6a21\u578b\u7814\u7a76\u7684\u70ed\u70b9\uff0c\u4e5f\u662f\u81ea\u52a8\u9a7e\u9a76\u672a\u6765\u8fdb\u5316\u7684\u8d8b\u52bf\u3002<\/strong><\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u589e\u5f3a\u63a8\u7406\u80fd\u529b\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u901a\u8fc7\u751f\u6210\u4e2d\u95f4\u63a8\u7406\u8f68\u8ff9\uff0c\u63d0\u5347\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u53ef\u89e3\u91ca\u6027\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u6a21\u578b\u4e3b\u8981\u63cf\u8ff0\u81ea\u8eab\u7684\u611f\u77e5\u5185\u5bb9\u548c\u9884\u671f\u52a8\u4f5c\uff0c\u6781\u5c11\u8d28\u7591\u5176\u89c4\u5212\u52a8\u4f5c\u7684\u5b89\u5168\u6027\u6216\u5408\u7406\u6027\u3002\u672c\u6587\u63d0\u51fa\u53cd\u4e8b\u5b9e\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff08CF-VLA\uff09\uff0c\u8fd9\u662f\u4e00\u79cd\u5177\u5907\u81ea\u53cd\u601d\u80fd\u529b\u7684VLA\u6846\u67b6\uff0c\u80fd\u591f\u8ba9\u6a21\u578b\u5728\u6267\u884c\u52a8\u4f5c\u524d\u5bf9\u89c4\u5212\u52a8\u4f5c\u8fdb\u884c\u63a8\u7406\u548c\u4fee\u6b63\u3002CF-VLA\u9996\u5148\u751f\u6210\u65f6\u95f4\u5206\u6bb5\u7684\u5143\u52a8\u4f5c\uff08meta-actions\uff09\u4ee5\u6982\u62ec\u9a7e\u9a76\u610f\u56fe\uff0c\u968f\u540e\u57fa\u4e8e\u5143\u52a8\u4f5c\u548c\u89c6\u89c9\u73af\u5883\u8fdb\u884c\u53cd\u4e8b\u5b9e\u63a8\u7406\u3002\u8be5\u6b65\u9aa4\u901a\u8fc7\u6a21\u62df\u6f5c\u5728\u7ed3\u679c\u8bc6\u522b\u4e0d\u5b89\u5168\u884c\u4e3a\uff0c\u5e76\u8f93\u51fa\u4fee\u6b63\u540e\u7684\u5143\u52a8\u4f5c\u4ee5\u6307\u5bfc\u6700\u7ec8\u8f68\u8ff9\u751f\u6210\u3002\u4e3a\u9ad8\u6548\u83b7\u53d6\u8fd9\u79cd\u81ea\u53cd\u601d\u80fd\u529b\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u201crollout-\u7b5b\u9009-\u6807\u6ce8\u201d\uff08rollout\u2013filter\u2013label\uff09\u6570\u636e\u5904\u7406\u6d41\u6c34\u7ebf\uff0c\u4ece\u57fa\u7840\uff08\u975e\u53cd\u4e8b\u5b9e\uff09VLA\u6a21\u578b\u7684rollout\u7ed3\u679c\u4e2d\u6316\u6398\u9ad8\u4ef7\u503c\u573a\u666f\uff0c\u5e76\u4e3a\u540e\u7eed\u8bad\u7ec3\u8f6e\u6b21\u6807\u6ce8\u53cd\u4e8b\u5b9e\u63a8\u7406\u8f68\u8ff9\u3002\u5728\u5927\u89c4\u6a21\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e\uff0cCF-VLA\u5c06\u8f68\u8ff9\u51c6\u786e\u7387\u63d0\u5347\u9ad8\u8fbe17.6%\uff0c\u5b89\u5168\u6307\u6807\u63d0\u534720.5<\/strong>\uff0c\u5e76\u5c55\u73b0\u51fa\u81ea\u9002\u5e94\u63a8\u7406\u80fd\u529b\u2014\u2014\u4ec5\u5728\u590d\u6742\u573a\u666f\u4e2d\u542f\u7528\u53cd\u4e8b\u5b9e\u63a8\u7406\u3002\u901a\u8fc7\u5c06\u63a8\u7406\u8f68\u8ff9\u4ece\u4e00\u6b21\u6027\u63cf\u8ff0\u8f6c\u5316\u4e3a\u56e0\u679c\u81ea\u4fee\u6b63\u4fe1\u53f7\uff0cCF-VLA\u4e3a\u5b9e\u73b0\u201c\u4e09\u601d\u800c\u540e\u884c\u201d\u7684\u81ea\u53cd\u601d\u81ea\u52a8\u9a7e\u9a76\u667a\u80fd\u4f53\u8fc8\u51fa\u4e86\u91cd\u8981\u4e00\u6b65\u3002<\/p>\n\n\n\n

    \n
  • \u8bba\u6587\u6807\u9898\uff1aCounterfactual VLA: Self-Reflective Vision-Language-Action Model with Adaptive Reasoning<\/li>\n\n\n\n
  • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2512.24426<\/li>\n<\/ul>\n\n\n\n

    \u80cc\u666f\u56de\u987e<\/strong><\/p>\n\n\n\n

    \u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u7684\u6700\u65b0\u8fdb\u5c55\u51f8\u663e\u4e86\u6d4b\u8bd5\u65f6\u63a8\u7406\u5728\u5177\u8eab\u51b3\u7b56\u4e2d\u7684\u6f5c\u529b\u3002\u901a\u8fc7\u751f\u6210\u63cf\u8ff0\u573a\u666f\u548c\u4efb\u52a1\u7684\u4e2d\u95f4\u8bed\u8a00\u8f68\u8ff9\uff0c\u589e\u5f3a\u63a8\u7406\u80fd\u529b\u7684VLA\u6a21\u578b\u5728\u64cd\u4f5c\u4efb\u52a1\u548c\u81ea\u52a8\u9a7e\u9a76\u4e2d\u5747\u63d0\u5347\u4e86\u53ef\u89e3\u91ca\u6027\u548c\u9c81\u68d2\u6027\u3002\u5728\u8fd9\u4e9b\u7cfb\u7edf\u4e2d\uff0c\u5927\u578b\u7684\u89c6\u89c9-\u8bed\u8a00backbone\u91c7\u7528\u4e00\u79cd\u66f4\u7f13\u6162\u3001\u66f4\u5ba1\u614e\u7684\u201c\u601d\u8003\u201d\u65b9\u5f0f\uff0c\u6295\u5165\u989d\u5916\u8ba1\u7b97\u8d44\u6e90\u6765\u63cf\u8ff0\u89c2\u6d4b\u5185\u5bb9\u5e76\u8bc1\u660e\u89c4\u5212\u52a8\u4f5c\u7684\u5408\u7406\u6027\u3002<\/p>\n\n\n\n

    \u7136\u800c\uff0c\u73b0\u6709VLA\u6a21\u578b\u7684\u63a8\u7406\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u662f\u63cf\u8ff0\u6027\u7684\uff0c\u800c\u975e\u81ea\u53cd\u601d\u6027\u7684\u3002<\/strong>\u73b0\u6709\u6a21\u578b\u901a\u5e38\u4ec5\u63cf\u8ff0\u5176\u89c2\u6d4b\u5230\u7684\u5185\u5bb9\uff08\u4f8b\u5982\u201c\u7897\u65c1\u8fb9\u7684\u5377\u5fc3\u83dc\u201d\u201c\u6709\u884c\u4eba\u6b63\u5728\u8fc7\u9a6c\u8def\u201d\uff09\u548c\u9884\u671f\u6267\u884c\u7684\u52a8\u4f5c\uff08\u4f8b\u5982\u201c\u5c06\u5377\u5fc3\u83dc\u653e\u5165\u5bb9\u5668\u201d\u201c\u6211\u5e94\u4fdd\u6301\u8c28\u614e\u201d\uff09\u3002\u56e0\u6b64\uff0c\u63a8\u7406\u8f68\u8ff9\u5f80\u5f80\u53ea\u662f\u5bf9\u573a\u666f\u548c\u52a8\u4f5c\u9009\u62e9\u7684\u4e00\u6b21\u6027\u8bc4\u8ff0\uff0c\u7f3a\u4e4f\u9a8c\u8bc1\u6a21\u578b\u81ea\u8eab\u6307\u4ee4\u662f\u5426\u6070\u5f53\u7684\u81ea\u53cd\u601d\u5faa\u73af\uff1a\u4e00\u65e6VLA\u6a21\u578b\u751f\u6210\u6587\u672c\u610f\u56fe\uff0c\u8be5\u610f\u56fe\u901a\u5e38\u88ab\u89c6\u4e3a\u771f\u5b9e\u6807\u7b7e\u5e76\u7528\u4e8e\u7ea6\u675f\u5e95\u5c42\u7b56\u7565\uff0c\u800c\u975e\u7ed3\u5408\u89c6\u89c9\u7ebf\u7d22\u68c0\u67e5\u5176\u4e00\u81f4\u6027\u5e76\u8fdb\u884c\u76f8\u5e94\u4fee\u6b63\u3002<\/p>\n\n\n\n

    \u5177\u8eab\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08embodied VLMs\uff09\u7684\u76f8\u5173\u7814\u7a76\u5df2\u901a\u8fc7\u91cd\u65b0\u89c4\u5212\u548c\u6545\u969c\u6062\u590d\u63a2\u7d22\u4e86\u81ea\u4fee\u6b63\u80fd\u529b\uff0c\u5373\u667a\u80fd\u4f53\u68c0\u6d4b\u5230\u5df2\u6267\u884c\u52a8\u4f5c\u5931\u8d25\u540e\u5207\u6362\u81f3\u66ff\u4ee3\u65b9\u6848\u3002\u4f46\u8fd9\u4e9b\u673a\u5236\u901a\u5e38\u5728\u89c2\u6d4b\u5230\u9519\u8bef\u540e\u6216\u901a\u8fc7\u5916\u90e8\u9a8c\u8bc1\u5668\u89e6\u53d1\uff0c\u65e0\u6cd5\u8ba9VLA\u6a21\u578b\u5728\u6267\u884c\u524d\u660e\u786e\u63a8\u7406\u81ea\u8eab\u52a8\u4f5c\u89c4\u5212\u7684\u540e\u679c\u3002\u6211\u4eec\u5c06\u8fd9\u79cd\u671f\u671b\u7684\u80fd\u529b\u79f0\u4e3a\u53cd\u4e8b\u5b9e\u63a8\u7406\u3002\u8fd1\u671f\u90e8\u5206\u673a\u5668\u4ebaVLA\u6a21\u578b\u5f00\u59cb\u6574\u5408\u4e16\u754c\u6a21\u578b\u4ee5\u4e3b\u52a8\u6a21\u62df\u3001\u9a8c\u8bc1\u548c\u9009\u62e9\u89c4\u5212\u6b65\u9aa4\uff0c\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u671d\u7740\u65e9\u671f\u68c0\u6d4b\u95ee\u9898\u52a8\u4f5c\u7684\u65b9\u5411\u53d1\u5c55\uff0c\u4f46\u672c\u8d28\u4e0a\u4f9d\u8d56\u5916\u90e8\u672a\u6765\u9884\u6d4b\u6a21\u578b\u6765\u5224\u65ad\u6240\u63d0\u65b9\u6848\u7684\u8d28\u91cf\u2014\u2014\u8fd9\u4e0e\u81ea\u53cd\u601d\u5b58\u5728\u672c\u8d28\u533a\u522b\uff1a\u5916\u90e8\u6a21\u62df\u53ef\u4ee5\u8bc4\u4f30\u65b9\u6848\uff0c\u4f46\u65e0\u6cd5\u5e2e\u52a9VLA\u6a21\u578b\u7406\u89e3\u81ea\u8eab\u7684\u63a8\u7406\u8fc7\u7a0b\u3002\u8fd9\u5f15\u51fa\u4e86\u4e00\u4e2a\u6838\u5fc3\u95ee\u9898\uff1a\u80fd\u5426\u5728VLA\u6a21\u578b\u5185\u90e8\u5b9e\u73b0\u81ea\u53cd\u601d\u5f0f\u53cd\u4e8b\u5b9e\u63a8\u7406\uff0c\u65e0\u9700\u5916\u90e8\u4e16\u754c\u6a21\u578b\u6216\u9a8c\u8bc1\u5668\uff0c\u7c7b\u4f3c\u7eaf\u8bed\u8a00\u63a8\u7406\u6a21\u578b\u4e2d\u89c2\u5bdf\u5230\u7684\u81ea\u53cd\u601d\u884c\u4e3a\uff1f<\/strong><\/p>\n\n\n\n

    \u8fd9\u4e00\u76ee\u6807\u9762\u4e34\u4e24\u5927\u6311\u6218\u3002\u9996\u5148\uff0c\u5927\u591a\u6570VLA\u6a21\u578b\u7f3a\u4e4f\u52a8\u4f5c-\u8bed\u8a00\u5bf9\u9f50\u673a\u5236\uff1a\u52a8\u4f5c\u901a\u8fc7\u6f5c\u5728\u4ee4\u724c\uff08latent tokens\uff09\u8868\u793a\uff0c\u4e0d\u5b58\u5728\u52a8\u4f5c\u5230\u8bed\u8a00\u7684\u6620\u5c04\u5173\u7cfb\uff0c\u5bfc\u81f4\u8bed\u8a00\u6a21\u578b\u65e0\u6cd5\u5bf9\u81ea\u8eab\u52a8\u4f5c\u8fdb\u884c\u8868\u8ff0\u3002\u5176\u6b21\uff0c\u6807\u51c6\u8bad\u7ec3\u6d41\u6c34\u7ebf\u6781\u5c11\u6559\u5bfc\u6a21\u578b\u56de\u7b54\u53cd\u4e8b\u5b9e\u95ee\u9898\uff0c\u4f8b\u5982\u201c\u82e5\u6211\u6267\u884c\u8be5\u89c4\u5212\uff0c\u4f1a\u4ea7\u751f\u4ec0\u4e48\u7ed3\u679c\uff1f\u6211\u5e94\u5982\u4f55\u8c03\u6574\uff1f\u201d<\/p>\n\n\n\n

    \u672c\u6587\u63d0\u51fa\u53cd\u4e8b\u5b9e\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff08CF-VLA\uff09\uff0c\u8be5\u6a21\u578b\u5177\u5907\u81ea\u53cd\u601d\u63a8\u7406\u95ed\u73af\uff0c\u53ef\u76f4\u63a5\u5bf9\u9884\u6d4b\u63a7\u5236\u6307\u4ee4\u8fdb\u884c\u53cd\u4e8b\u5b9e\u5206\u6790\u3002\u5982\u56fe1\uff08\u4e0b\u65b9\uff09\u6240\u793a\uff0cCF-VLA\u9996\u5148\u9884\u6d4b\u4e00\u7cfb\u5217\u57fa\u4e8e\u8bed\u8a00\u7684\u65f6\u95f4\u5206\u6bb5\u5143\u52a8\u4f5c\uff0c\u4ee5\u6982\u62ec\u667a\u80fd\u4f53\u7684\u610f\u56fe\u3002\u6a21\u578b\u5e76\u672a\u5c06\u8fd9\u4e9b\u5143\u52a8\u4f5c\u89c6\u4e3a\u6700\u7ec8\u7ed3\u679c\uff0c\u800c\u662f\u7ed3\u5408\u89c6\u89c9\u73af\u5883\u548c\u81ea\u8eab\u5143\u52a8\u4f5c\u8fdb\u884c\u53cd\u4e8b\u5b9e\u601d\u7ef4\u94fe\u63a8\u7406\uff0c\u6838\u5fc3\u95ee\u9898\u662f\u201c\u82e5\u6211\u9075\u5faa\u8be5\u89c4\u5212\uff0c\u4f1a\u53d1\u751f\u4ec0\u4e48\uff1f\u8fd9\u4e00\u7ed3\u679c\u662f\u5426\u7406\u60f3\uff1f<\/strong>\u201d\u5728\u786e\u5b9a\u6700\u7ec8\u8f68\u8ff9\u524d\uff0c\u6a21\u578b\u4f1a\u4fee\u6b63\u4e0d\u5b89\u5168\u6216\u975e\u6700\u4f18\u89c4\u5212\uff08\u4f8b\u5982\u4ece\u201c\u5411\u8def\u53e3\u52a0\u901f\u201d\u8c03\u6574\u4e3a\u201c\u63d0\u524d\u51cf\u901f\u8ba9\u884c\u201d\uff09\u3002\u8fd9\u79cd\u201c\u5143\u52a8\u4f5c\u2192\u53cd\u4e8b\u5b9e\u63a8\u7406\u2192\u66f4\u65b0\u540e\u5143\u52a8\u4f5c\u2192\u8f68\u8ff9\u201d\u7684\u5faa\u73af\uff0c\u5c06\u63a8\u7406\u4ece\u4e00\u6b21\u6027\u63cf\u8ff0\u5347\u7ea7\u4e3a\u5bf9\u6a21\u578b\u81ea\u8eab\u884c\u4e3a\u7684\u53cd\u4e8b\u5b9e\u5206\u6790\uff0c\u5e76\u5c06\u8be5\u5206\u6790\u8f6c\u5316\u4e3a\u53ef\u6267\u884c\u7684\u81ea\u4fee\u6b63\u64cd\u4f5c\u3002<\/p>\n\n\n\n

    \u4e3a\u5728\u5b9e\u8df5\u4e2d\u5b9e\u73b0\u8fd9\u4e00\u884c\u4e3a\uff0cCF-VLA\u7ed3\u5408\u5143\u52a8\u4f5c\u8bbe\u8ba1\u4e86\u201crollout-\u7b5b\u9009-\u6807\u6ce8\u201d\u6d41\u6c34\u7ebf\uff1a<\/p>\n\n\n\n

      \n
    • 1\uff09\u5bf9\u5f53\u524d\u7b56\u7565\u8fdb\u884crollout\uff0c\u751f\u6210\u5019\u9009\u5143\u52a8\u4f5c\u548c\u8f68\u8ff9\uff1b<\/li>\n\n\n\n
    • 2\uff09\u901a\u8fc7\u68c0\u67e5\u9884\u586b\u5145\u771f\u5b9e\u5143\u52a8\u4f5c\u662f\u5426\u6bd4\u6a21\u578b\u751f\u6210\u5143\u52a8\u4f5c\u663e\u8457\u63d0\u5347\u8f68\u8ff9\u8d28\u91cf\uff0c\u81ea\u52a8\u7b5b\u9009\u9ad8\u4ef7\u503c\u6570\u636e\u70b9\uff1b<\/li>\n\n\n\n
    • 3\uff09\u63d0\u793a\u6559\u5e08\u6a21\u578b\uff08teacher model\uff09\u751f\u6210\u53cd\u4e8b\u5b9e\u63a8\u7406\u8f68\u8ff9\uff0c\u89e3\u91ca\u5f53\u524d\u89c4\u5212\u7684\u4e0d\u8db3\u53ca\u8c03\u6574\u65b9\u5f0f\u3002<\/li>\n<\/ul>\n\n\n\n

      \u5728\u7edf\u4e00\u6307\u4ee4\u63d0\u793a\u4e0b\uff0c\u7ed3\u5408\u5e38\u89c4\u6570\u636e\u96c6\u548c\u53cd\u4e8b\u5b9e\u6807\u6ce8\u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\uff0c\u5f97\u5230\u5355\u4e00CF-VLA\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u5177\u5907\u81ea\u9002\u5e94\u53cd\u4e8b\u5b9e\u63a8\u7406\u80fd\u529b\uff1a\u5982\u56fe1\uff08\u4e0a\u65b9\uff09\u6240\u793a\uff0c\u5728\u96be\u5ea6\u6700\u9ad8\u7684\u573a\u666f\u4e2d\uff0c\u6a21\u578b\u7684\u63a8\u7406\u9891\u7387\u66f4\u9ad8\uff0c\u4efb\u52a1\u6027\u80fd\u63d0\u5347\u66f4\u663e\u8457\u3002<\/p>\n\n\n\n

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

      \u6211\u4eec\u5728\u5927\u89c4\u6a21\u5185\u90e8\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u5b9e\u9a8c\u4ee5\u9a8c\u8bc1\u8bbe\u8ba1\u6709\u6548\u6027\u3002CF-VLA\u5728\u8f68\u8ff9\u6307\u6807\u4e0a\u5206\u522b\u6bd4\u7eaf\u8f68\u8ff9\u6a21\u578b\u548c\u975e\u53cd\u601d\u5143\u52a8\u4f5c\u57fa\u7ebf\u6a21\u578b\u63d0\u534717.6%\u548c9%\uff0c\u5b89\u5168\u6307\u6807\u63d0\u534714.7%\u3002\u6211\u4eec\u8fdb\u4e00\u6b65\u8bc1\u660e\uff0c\u82e5\u5c06\u8bad\u7ec3\u540e\u7684CF-VLA\u518d\u6b21\u5e94\u7528\u4e8e\u201crollout-\u7b5b\u9009-\u6807\u6ce8\u201d\u6d41\u6c34\u7ebf\u8fdb\u884c\u591a\u8f6e\u8bad\u7ec3\uff0c\u6027\u80fd\u53ef\u8fdb\u4e00\u6b65\u63d0\u5347\u3002<\/p>\n\n\n\n

      \u672c\u6587\u7684\u6838\u5fc3\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n

        \n
      • 1\uff09VLA\u7684\u81ea\u53cd\u601d\u53cd\u4e8b\u5b9e\u63a8\u7406\uff1a\u63d0\u51fa\u4e00\u79cd\u65b0\u7684\u201c\u9762\u5411\u52a8\u4f5c\u63a8\u7406\u201d\u8303\u5f0f\uff0c\u4f7fVLA\u6a21\u578b\u57fa\u4e8e\u81ea\u8eab\u9884\u6d4b\u7684\u5143\u52a8\u4f5c\u8fdb\u884c\u63a8\u7406\uff0c\u9884\u5224\u540e\u679c\u5e76\u5728\u751f\u6210\u6700\u7ec8\u52a8\u4f5c\u524d\u4fee\u6b63\u89c4\u5212\u3002\u8fd9\u5c06\u63a8\u7406\u4ece\u63cf\u8ff0\u6027\u89e3\u91ca\u5347\u7ea7\u4e3a\u56e0\u679c\u81ea\u4fee\u6b63\u3002<\/li>\n\n\n\n
      • 2\uff09\u5143\u52a8\u4f5c\u4e0e\u53cd\u4e8b\u5b9e\u6570\u636e\u6d41\u6c34\u7ebf\uff1a\u91c7\u7528\u65f6\u95f4\u5206\u6bb5\u5143\u52a8\u4f5c\u5b9e\u73b0\u52a8\u4f5c-\u8bed\u8a00\u5bf9\u9f50\uff0c\u63d0\u51fa\u201crollout-\u7b5b\u9009-\u6807\u6ce8\u201d\u6d41\u6c34\u7ebf\uff0c\u4ece\u6a21\u578brollout\u7ed3\u679c\u4e2d\u81ea\u52a8\u6784\u5efa\u53cd\u4e8b\u5b9e\u6570\u636e\uff0c\u5f62\u6210\u540c\u65f6\u589e\u5f3a\u63a8\u7406\u80fd\u529b\u548c\u52a8\u4f5c\u6027\u80fd\u7684\u81ea\u6539\u8fdb\u5faa\u73af\u3002<\/li>\n\n\n\n
      • 3\uff09\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u81ea\u9002\u5e94\u63a8\u7406\uff1aCF-VLA\u5177\u5907\u201c\u6309\u9700\u601d\u8003\u201d\u80fd\u529b\uff0c\u5c06\u53cd\u4e8b\u5b9e\u63a8\u7406\u96c6\u4e2d\u4e8e\u6700\u590d\u6742\u7684\u573a\u666f\u3002\u5b9e\u9a8c\u8868\u660e\uff0cCF-VLA\u5728\u63d0\u5347\u8f68\u8ff9\u51c6\u786e\u7387\u3001\u5b89\u5168\u6307\u6807\u548c\u5143\u52a8\u4f5c\u5bf9\u9f50\u5ea6\u7684\u540c\u65f6\uff0c\u901a\u8fc7\u6839\u636e\u573a\u666f\u96be\u5ea6\u8c03\u6574\u63a8\u7406\u9891\u7387\uff0c\u7ef4\u6301\u4e86\u5408\u7406\u7684\u6d4b\u8bd5\u65f6\u8ba1\u7b97\u5f00\u9500\u3002<\/li>\n<\/ul>\n\n\n\n

        CF-VLA\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n

        \u7aef\u5230\u7aef\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u5728\u5c06\u89c6\u89c9\u73af\u5883\u76f4\u63a5\u6620\u5c04\u5230\u63a7\u5236\u8f93\u51fa\u65b9\u9762\u5df2\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\u3002\u7136\u800c\uff0c\u5176\u63a8\u7406\u8fc7\u7a0b\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u662f\u63cf\u8ff0\u6027\u7684\uff1a\u5f53\u667a\u80fd\u4f53\u63d0\u51fa\u9519\u8bef\u89c4\u5212\u65f6\uff0c\u6a21\u578b\u81ea\u8eab\u7f3a\u4e4f\u5728\u6267\u884c\u524d\u5206\u6790\u8be5\u89c4\u5212\u5e76\u4fee\u6b63\u51b3\u7b56\u7684\u673a\u5236\u3002\u672c\u8282\u5c06\u4ecb\u7ecd\u53cd\u4e8b\u5b9e\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff08CF-VLA\uff09\uff0c\u8be5\u6a21\u578b\u4e3aVLA\u914d\u5907\u4e86\u81ea\u53cd\u601d\u5faa\u73af\uff0c\u80fd\u591f\u5bf9\u81ea\u8eab\u9884\u6d4b\u7684\u52a8\u4f5c\u8fdb\u884c\u63a8\u7406\uff0c\u5e76\u5229\u7528\u8be5\u63a8\u7406\u7ed3\u679c\u4fee\u6b63\u89c4\u5212\u3002<\/p>\n\n\n\n

        \u81ea\u53cd\u601d\u53cd\u4e8b\u5b9e\u63a8\u7406<\/strong><\/p>\n\n\n\n

        \u8981\u4f7fVLA\u5177\u5907\u53cd\u4e8b\u5b9e\uff08CF\uff09\u63a8\u7406\u80fd\u529b\uff0c\u4ecd\u9762\u4e34\u82e5\u5e72\u6311\u6218\u3002\u9996\u5148\uff0c\u6a21\u578b\u9700\u8981\u4e00\u79cd\u65e2\u4fbf\u4e8e\u8bed\u8a00\u9aa8\u5e72\u7f51\u7edc\u7406\u89e3\u3001\u53c8\u4e0e\u52a8\u4f5c\u7d27\u5bc6\u8026\u5408\u7684\u4e2d\u95f4\u8868\u793a\u3002\u6211\u4eec\u901a\u8fc7\u65f6\u95f4\u5206\u6bb5\u5143\u52a8\u4f5c\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u5728\u89e3\u7801\u8f68\u8ff9\u524d\uff0c\u5728\u8bed\u8a00\u7a7a\u95f4\u4e2d\u5bf9\u9ad8\u5c42\u610f\u56fe\u8fdb\u884c\u63a8\u7406\u548c\u4fee\u6b63\u3002\u5176\u6b21\uff0c\u53cd\u4e8b\u5b9e\u63a8\u7406\u5fc5\u987b\u5c06\u5143\u52a8\u4f5c\u4e0e\u5176\u672a\u6765\u540e\u679c\u76f8\u5173\u8054\u3002\u4e3a\u4e86\u51c6\u5907\u6a21\u578b\u5fae\u8c03\u6240\u9700\u7684\u6570\u636e\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86rollout-\u7b5b\u9009-\u6807\u6ce8\u6d41\u6c34\u7ebf\uff0c\u7528\u4e8e\u7b5b\u9009\u6570\u636e\u5e76\u81ea\u52a8\u751f\u6210\u9ad8\u4ef7\u503c\u53cd\u4e8b\u5b9e\u63a8\u7406\u8f68\u8ff9\u3002\u6211\u4eec\u5c06\u53cd\u4e8b\u5b9e\u63a8\u7406\u89c6\u4e3a\u5143\u52a8\u4f5c\u4e4b\u4e0a\u7684\u63d2\u4ef6\u5f0f\u81ea\u53cd\u601d\u673a\u5236\u3002\u5982\u56fe2\u6240\u793a\uff0cCF-VLA\u5e76\u975e\u76f4\u63a5\u5c06\u5143\u52a8\u4f5c\u6620\u5c04\u5230\u8f68\u8ff9\uff08\u5143\u52a8\u4f5c\u2192\u8f68\u8ff9\uff09\uff0c\u800c\u662f\u6267\u884c\u81ea\u53cd\u601d\u5faa\u73af\uff1a \u5143\u52a8\u4f5c \u2192 \u53cd\u4e8b\u5b9e\u63a8\u7406 \u2192 \u66f4\u65b0\u540e\u5143\u52a8\u4f5c \u2192 \u8f68\u8ff9<\/p>\n\n\n\n

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

        \u81ea\u9002\u5e94\u63a8\u7406\uff1a<\/strong>\u81ea\u9002\u5e94\u63a8\u7406\u5141\u8bb8\u6a21\u578b\u52a8\u6001\u51b3\u5b9a\u4f55\u65f6\u8fdb\u884c\u63a8\u7406\u3001\u4f55\u65f6\u76f4\u63a5\u54cd\u5e94\u3002\u8fd9\u4e00\u673a\u5236\u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u5927\u591a\u6570\u573a\u666f\u8f83\u4e3a\u7b80\u5355\uff0c\u5bf9\u8fd9\u4e9b\u573a\u666f\u8fdb\u884c\u663e\u5f0f\u63a8\u7406\u4f1a\u589e\u52a0\u5e7b\u89c9\u98ce\u9669\u5e76\u6d6a\u8d39\u6d4b\u8bd5\u65f6\u8ba1\u7b97\u8d44\u6e90\u3002\u5982\u56fe3\uff08A\uff09\u6240\u793a\uff0c\u6211\u4eec\u4e3a\u6a21\u578b\u63d0\u4f9b\u7edf\u4e00\u6307\u4ee4\uff0c\u5141\u8bb8\u5176\u9690\u5f0f\u51b3\u5b9a\u662f\u5426\u751f\u6210\u63a8\u7406\u8f68\u8ff9\u3002\u7531\u4e8e\u5143\u52a8\u4f5c\u548c\u63a8\u7406\u5747\u5728\u8bed\u8a00\u7a7a\u95f4\u4e2d\u8fdb\u884c\uff0c\u53cd\u4e8b\u5b9e\u63a8\u7406\u884c\u4e3a\u7531\u7b2c\u4e00\u4e2a\u5143\u52a8\u4f5c\u5e8f\u5217\u540e\u751f\u6210\u7684\u8bcd\u6c47\uff08\u201cAction:\u201d\u6216\u201cThinking:\u201d\uff09\u63a7\u5236\u3002\u901a\u8fc7\u5728\u5305\u542b\u548c\u4e0d\u5305\u542b\u53cd\u4e8b\u5b9e\u8f68\u8ff9\u7684\u6df7\u5408\u6837\u672c\u4e0a\u8bad\u7ec3\uff0c\u6a21\u578b\u80fd\u591f\u9690\u5f0f\u5b66\u4e60\u4f55\u65f6\u9700\u8981\u8fdb\u884c\u81ea\u53cd\u601d\u63a8\u7406\u3002<\/p>\n\n\n\n

        \u5143\u52a8\u4f5c<\/strong><\/p>\n\n\n\n

        \u5143\u52a8\u4f5c\u4e3a\u63a8\u7406\u4e0e\u5e95\u5c42\u52a8\u4f5c\u4e4b\u95f4\u63d0\u4f9b\u4e86\u4e00\u79cd\u539f\u751f\u8bed\u8a00\u4e2d\u95f4\u62bd\u8c61\u3002\u6bcf\u4e2a\u5143\u52a8\u4f5c\u5e8f\u5217\u4ece\u4e09\u4e2a\u6b63\u4ea4\u7ef4\u5ea6\u8868\u8fbe\u81ea\u8f66\u7684\u9884\u671f\u884c\u4e3a\uff1a<\/p>\n\n\n\n

          \n
        • \u7eb5\u5411\uff08longitudinal\uff09\uff1a\u52a0\u901f\uff08Accelerate\uff09\u3001\u51cf\u901f\uff08Decelerate\uff09\u3001\u4fdd\u6301\u901f\u5ea6\uff08Keep Speed\uff09\u3001\u7b49\u5f85\uff08Wait\uff09\u3001\u5012\u8f66\uff08Reverse\uff09<\/li>\n\n\n\n
        • \u6a2a\u5411\uff08lateral\uff09\uff1a\u76f4\u884c\uff08Straight\uff09\u3001\u5de6\u8f6c\uff08Left Turn\uff09\u3001\u53f3\u8f6c\uff08Right Turn\uff09<\/li>\n\n\n\n
        • \u8f66\u9053\u7ea7\uff08lane-level\uff09\uff1a\u4fdd\u6301\u8f66\u9053\uff08Keep Lane\uff09\u3001\u5de6\u53d8\u9053\uff08Left Lane Change\uff09\u3001\u53f3\u53d8\u9053\uff08Right Lane Change\uff09<\/li>\n<\/ul>\n\n\n\n

          \u5c3d\u7ba1\u5143\u52a8\u4f5c\u4e0e\u64cd\u4f5c\u4efb\u52a1VLA\u3001\u5bfc\u822a\u6a21\u578b\u548c\u81ea\u52a8\u9a7e\u9a76VLA\u4e2d\u4f7f\u7528\u7684\u5e95\u5c42\u6307\u4ee4\u5177\u6709\u76f8\u4f3c\u4f5c\u7528\uff0c\u4f46\u6211\u4eec\u7684\u5143\u52a8\u4f5c\u8003\u8651\u4e86\u65f6\u5e8f\u4fe1\u606f\uff0c\u5e76\u4e0e\u8fde\u7eed\u8f68\u8ff9\u7d27\u5bc6\u8026\u5408\u3002CF-VLA\u5c06\u5143\u52a8\u4f5c\u5efa\u6a21\u4e3a\u8986\u76d66.4\u79d2\u89c4\u5212\u65f6\u57df\u7684\u65f6\u95f4\u5206\u6bb5\u7247\u6bb5\u3002\u5728\u4e0a\u8ff0\u4e09\u4e2a\u7ef4\u5ea6\u4e2d\uff0c\u5143\u52a8\u4f5c\u5b9a\u4e49\u5728\u975e\u91cd\u53e0\u7684\u65f6\u95f4\u533a\u95f4\u4e0a\uff0c\u5171\u540c\u63cf\u8ff0\u9a7e\u9a76\u884c\u4e3a\u7684\u9884\u671f\u6f14\u53d8\u3002\u8fd9\u79cd\u65f6\u5e8f\u683c\u5f0f\u4f7f\u6a21\u578b\u80fd\u591f\u5bf9\u52a8\u4f5c\u8f6c\u6362\u8fdb\u884c\u7ec4\u5408\u63a8\u7406\uff0c\u6355\u6349\u65f6\u5e8f\u610f\u56fe\uff0c\u5e76\u76f4\u63a5\u5c06\u8bed\u8a00\u63a8\u7406\u4e0e\u9884\u6d4b\u8f68\u8ff9\u7684\u7ed3\u6784\u5bf9\u9f50\u3002\u5143\u52a8\u4f5c\u5e8f\u5217\u793a\u4f8b\u89c1\u56fe5\u3002<\/p>\n\n\n\n

          Rollout-\u7b5b\u9009-\u6807\u6ce8\u53cd\u4e8b\u5b9e\u6d41\u6c34\u7ebf<\/strong><\/p>\n\n\n\n

          \u5982\u56fe3\uff08B\uff09\u6240\u793a\uff0c\u4e3a\u4e86\u76d1\u7763\u53cd\u4e8b\u5b9e\u63a8\u7406\u8fc7\u7a0b\uff0cCF-VLA\u4f9d\u8d56rollout-\u7b5b\u9009-\u6807\u6ce8\u6570\u636e\u6784\u5efa\u6d41\u6c34\u7ebf\uff0c\u4ece\u6a21\u578b\u81ea\u8eab\u884c\u4e3a\u4e2d\u6316\u6398\u9ad8\u4ef7\u503c\u573a\u666f\u3002<\/p>\n\n\n\n

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

          \u6570\u636e\u6807\u6ce8<\/strong><\/p>\n\n\n\n

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

          \u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n

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

          \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n

          \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n

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

          \u4e3b\u8981\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

          \u6211\u4eec\u8bc4\u4f30\u53cd\u4e8b\u5b9e\u63a8\u7406\u5bf9\u8f68\u8ff9\u51c6\u786e\u7387\u3001\u5b89\u5168\u7279\u6027\u548c\u63a8\u7406\u8d28\u91cf\u7684\u63d0\u5347\u6548\u679c\uff0c\u5b9a\u91cf\u7ed3\u679c\u89c1\u88681\u3002<\/p>\n\n\n\n

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

          \u5143\u52a8\u4f5c\u4e0e\u8bed\u8a00\u7684\u5f71\u54cd\uff1a<\/strong>\u4ee5\u7eaf\u8f68\u8ff9\u6a21\u578b\u4e3a\u57fa\u51c6\uff0c\u5f15\u5165\u5143\u52a8\u4f5c\uff08\u65e0\u8def\u7ebf\u7684meta-act\uff09\u4f7f\u6700\u5c0f\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08MinADE\uff09\u548c\u6700\u5c0f\u7ec8\u70b9\u4f4d\u79fb\u8bef\u5dee\uff08MinFDE\uff09\u964d\u4f4e\u7ea69%\uff0c\u8868\u660e\u7ed3\u6784\u5316\u52a8\u4f5c\u62bd\u8c61\u6bd4\u76f4\u63a5\u8f68\u8ff9\u751f\u6210\u63d0\u4f9b\u4e86\u66f4\u5f3a\u7684\u8fd0\u52a8\u5148\u9a8c\u3002\u6dfb\u52a0\u8bed\u8a00\u76d1\u7763\uff08lang-meta-act\uff09\u540e\uff0c\u76f8\u6bd4meta-act\u8fdb\u4e00\u6b65\u63d0\u5347\u7ea65%\uff0c\u8bf4\u660e\u8bed\u8a00\u6709\u52a9\u4e8e\u5c06\u8fd0\u52a8\u610f\u56fe\u4e0e\u573a\u666f\u8bed\u4e49\u5bf9\u9f50\u3002\u542b\u8def\u7ebf\u4fe1\u606f\u7684meta-act\u6784\u6210\u4e86\u66f4\u5f3a\u7684\u57fa\u7ebf\u6a21\u578b\u3002<\/p>\n\n\n\n

          \u53cd\u4e8b\u5b9e\u63a8\u7406\u7684\u5f71\u54cd\uff1a<\/strong>\u4e0e\u975e\u63a8\u7406\u57fa\u7ebf\u6a21\u578b\u76f8\u6bd4\uff0cCF-VLA\u53d8\u4f53\u5728\u8f68\u8ff9\u8bef\u5dee\u548c\u5143\u52a8\u4f5c\u5bf9\u9f50\u65b9\u9762\u5747\u6301\u7eed\u63d0\u5347\uff1a<\/p>\n\n\n\n

            \n
          • \u65e0\u8def\u7ebf\u573a\u666f\uff1a\u7b2c\u4e8c\u8f6eCF-VLA\u7684MinADE\/MinFDE\u6bd4meta-act\u964d\u4f4e\u7ea69%-10%\uff0c\u53cd\u4e8b\u5b9e\u4fee\u6b63\u540e\u7684\u5143\u52a8\u4f5cIOU\u63d0\u5347\u7ea60.5-1.0\u4e2a\u7edd\u5bf9\u767e\u5206\u70b9\uff1b<\/li>\n\n\n\n
          • \u6709\u8def\u7ebf\u573a\u666f\uff1a\u7b2c\u4e00\u8f6eCF-VLA\u5728\u8f68\u8ff9\u3001\u5b89\u5168\u548cIOU\u6307\u6807\u4e0a\u5747\u4f18\u4e8emeta-act\uff0c\u8bc1\u5b9e\u81ea\u53cd\u601d\u63a8\u7406\u80fd\u4ea7\u751f\u66f4\u63a5\u8fd1\u4e13\u5bb6\u6c34\u5e73\u7684\u5143\u52a8\u4f5c\u548c\u8f68\u8ff9\u3002<\/li>\n<\/ul>\n\n\n\n

            \u884c\u4e3a\u5b89\u5168\u6027\uff1a<\/strong>CF-VLA\u7684\u6536\u76ca\u4e0d\u4ec5\u4f53\u73b0\u5728\u51e0\u4f55\u7cbe\u5ea6\u4e0a\uff0c\u8fd8\u4f53\u73b0\u5728\u5b89\u5168\u5173\u952e\u6307\u6807\u4e0a\uff1a<\/p>\n\n\n\n

              \n
            • \u76f8\u6bd4\u7eaf\u8f68\u8ff9\u6a21\u578b\uff0c\u6700\u4f18CF\u6a21\u578b\u5c06\u78b0\u649e\u7387\u964d\u4f4e\u7ea625%-30%\uff0c\u504f\u79bb\u9053\u8def\u7387\u964d\u4f4e\u7ea615%-20%\uff0c\u89d2\u70b9\u8ddd\u79bb\u964d\u4f4e\u7ea630%\uff1b<\/li>\n\n\n\n
            • \u5728\u542b\/\u4e0d\u542b\u8def\u7ebf\u7684\u4e24\u79cd\u8bbe\u7f6e\u4e0b\uff0cCF-VLA\u53d8\u4f53\u5747\u5b9e\u73b0\u4e86\u6700\u4f4e\u6216\u63a5\u8fd1\u6700\u4f4e\u7684\u78b0\u649e\u7387\u548c\u504f\u79bb\u9053\u8def\u7387\uff0c\u8868\u660e\u53cd\u4e8b\u5b9e\u81ea\u53cd\u601d\u8f6c\u5316\u4e3a\u66f4\u5e73\u7a33\u3001\u7a33\u5b9a\u4e14\u7b26\u5408\u89c4\u5219\u7684\u9a7e\u9a76\u884c\u4e3a\u3002<\/li>\n<\/ul>\n\n\n\n

              \u591a\u8f6e\u53cd\u4e8b\u5b9e\u8bad\u7ec3\u7684\u5f71\u54cd\uff1a<\/strong>\u518d\u6b21\u4f7f\u7528\u524d\u6587\u7684\u6570\u636e\u6d41\u6c34\u7ebf\u53ef\u5e26\u6765\u989d\u5916\u6536\u76ca\uff0c\u540c\u65f6\u63d0\u5347\u63a8\u7406\u6548\u7387\uff1a<\/p>\n\n\n\n

                \n
              • \u65e0\u8def\u7ebf\u573a\u666f\uff1a\u7b2c\u4e8c\u8f6eCF-VLA\u5728\u5e73\u5747ADE\/FDE\u3001\u504f\u79bb\u9053\u8def\u7387\u548c\u4fee\u6b63\u540eIOU\u4e0a\u4f18\u4e8e\u7b2c\u4e00\u8f6e\uff0c\u4e14\u63a8\u7406\u7387\u66f4\u4f4e\uff1b<\/li>\n\n\n\n
              • \u6709\u8def\u7ebf\u573a\u666f\uff1a\u7b2c\u4e8c\u8f6eCF-VLA\uff083\u4e2a\u6570\u636e\u96c6\uff09\u4ee5\u5c0f\u5e45\u6700\u5c0f\u8bef\u5dee\u4e3a\u4ee3\u4ef7\uff0c\u83b7\u5f97\u4e86\u66f4\u4f18\u7684\u5e73\u5747ADE\/FDE\u548c\u66f4\u9ad8\u7684IOU\uff0c\u78b0\u649e\u7387\u548c\u504f\u79bb\u9053\u8def\u7387\u8fdb\u4e00\u6b65\u964d\u4f4e\uff1b<\/li>\n\n\n\n
              • \u5173\u952e\u6539\u8fdb\uff1a\u57fa\u4e8e3\u4e2a\u6570\u636e\u96c6\u8bad\u7ec3\u7684\u7b2c\u4e8c\u8f6e\u6a21\u578b\uff0c\u63a8\u7406\u7387\u964d\u4f4e\u8fd1\u4e00\u534a\uff0c\u5e73\u5747\u8f93\u51fa\u957f\u5ea6\u7f29\u77ed\uff0c\u8868\u660e\u7b2c\u4e8c\u8f6e\u53cd\u4e8b\u5b9e\u8bad\u7ec3\u53ef\u540c\u65f6\u4f18\u5316\u6027\u80fd\u548c\u5927\u5e45\u964d\u4f4e\u6d4b\u8bd5\u65f6\u5f00\u9500\uff0c\u4ece\u76f8\u540c\u9a7e\u9a76\u6570\u636e\u4e2d\u6316\u6398\u66f4\u591a\u4ef7\u503c\u3002<\/li>\n<\/ul>\n\n\n\n

                \u81ea\u9002\u5e94\u63a8\u7406\u4e0e\u8ba1\u7b97\u5f00\u9500\uff1a<\/strong>\u63a8\u7406\u4e0d\u53ef\u907f\u514d\u5730\u4f1a\u589e\u52a0\u5e8f\u5217\u957f\u5ea6\uff0c\u4f46CF-VLA\u6bd4\u201c\u5168\u7a0b\u63a8\u7406\u201d\u6a21\u578b\u66f4\u9ad8\u6548\u5730\u5229\u7528\u6d4b\u8bd5\u65f6\u8ba1\u7b97\u8d44\u6e90\uff1a<\/p>\n\n\n\n

                  \n
                • \u4e0e\u5bf9\u6bcf\u4e2a\u6837\u672c\u5747\u8fdb\u884c\u63a8\u7406\u7684lang-meta-act\u76f8\u6bd4\uff0c\u6709\u8def\u7ebf\u7684\u7b2c\u4e00\u8f6eCF-VLA\u4ee5\u4f4e\u4e8e0.25\u7684\u63a8\u7406\u7387\u5b9e\u73b0\u4e86\u66f4\u4f18\u6027\u80fd\uff1b<\/li>\n\n\n\n
                • \u7b2c\u4e8c\u8f6e\u53cd\u4e8b\u5b9e\u8bad\u7ec3\u540e\uff0c\u6709\u8def\u7ebf\u7684CF-VLA\uff083\u4e2a\u6570\u636e\u96c6\uff09\u8fdb\u4e00\u6b65\u5c06\u63a8\u7406\u7387\u964d\u4f4e\u7ea640%-45%\uff0c\u540c\u65f6\u4fdd\u6301\u6216\u63d0\u5347\u4e86\u5e73\u5747\u8bef\u5dee\u548cIOU\uff1b<\/li>\n\n\n\n
                • \u63a8\u7406\u7387\u4e0e\u573a\u666f\u96be\u5ea6\u5f3a\u76f8\u5173\uff08\u89c1\u56fe1\uff09\uff1a\u8ddf\u8f66\u7b49\u7b80\u5355\u573a\u666f\u6781\u5c11\u89e6\u53d1\u53cd\u4e8b\u5b9e\u63a8\u7406\uff0c\u53d8\u9053\u3001\u8f6c\u5411\u3001\u5f31\u52bf\u9053\u8def\u4f7f\u7528\u8005\uff08VRUs\uff09\u7b49\u9ad8\u4e0d\u786e\u5b9a\u6027\u6216\u9ad8\u98ce\u9669\u573a\u666f\u5219\u4f1a\u663e\u8457\u589e\u52a0\u53cd\u4e8b\u5b9e\u63a8\u7406\u9891\u7387\uff1b<\/li>\n\n\n\n
                • CF-VLA\u5728\u66f4\u96be\u573a\u666f\u4e2d\u5b9e\u73b0\u4e86\u66f4\u5927\u7684\u8bef\u5dee\u964d\u4f4e\uff0c\u8868\u660e\u5176\u4e0d\u4ec5\u80fd\u81ea\u9002\u5e94\u63a8\u7406\uff0c\u8fd8\u80fd\u5b66\u4e60\u5230\u201c\u4f55\u65f6\u63a8\u7406\u6700\u6709\u76ca\u201d\u3002<\/li>\n<\/ul>\n\n\n\n

                  \u6838\u5fc3\u7ed3\u8bba\uff1a<\/strong><\/p>\n\n\n\n

                    \n
                  • 1\uff09CF-VLA\u4e2d\u57fa\u4e8e\u53cd\u4e8b\u5b9e\u63a8\u7406\u7684\u81ea\u53cd\u601d\uff0c\u6301\u7eed\u63d0\u5347\u4e86\u9a7e\u9a76\u89c4\u5212\u5668\u7684\u7cbe\u5ea6\u548c\u53ef\u9760\u6027\uff0c\u5728\u51c6\u786e\u7387\u3001\u5b89\u5168\u6027\u548cIOU\u65b9\u9762\u7684\u6536\u76ca\u8d85\u8fc7\u5355\u6b65\u63a8\u7406\u6a21\u578b\uff1b<\/li>\n\n\n\n
                  • 2\uff09\u591a\u8f6e\u53cd\u4e8b\u5b9e\u8bad\u7ec3\u4ece\u76f8\u540c\u6570\u636e\u4e2d\u6316\u6398\u66f4\u591a\u4ef7\u503c\uff0c\u5728\u63d0\u5347\u6027\u80fd\u7684\u540c\u65f6\u5927\u5e45\u964d\u4f4e\u63a8\u7406\u7387\uff0c\u5b9e\u73b0\u4e86\u51c6\u786e\u7387-\u5b89\u5168\u6027-\u8ba1\u7b97\u5f00\u9500\u7684\u6700\u4f18\u6743\u8861\uff1b<\/li>\n\n\n\n
                  • 3\uff09\u7ed3\u679c\u6784\u5efa\u4e86\u6e05\u6670\u7684\u6027\u80fd\u9636\u68af\uff1a\u7eaf\u8f68\u8ff9\u6a21\u578b < \u5143\u52a8\u4f5c\u8f68\u8ff9\u6a21\u578b < \u8bed\u8a00-\u5143\u52a8\u4f5c\u8f68\u8ff9\u6a21\u578b < CF-VLA\uff1b<\/li>\n\n\n\n
                  • 4\uff09CF-VLA\u5177\u5907\u81ea\u9002\u5e94\u63a8\u7406\u80fd\u529b\uff1a\u5728\u7b80\u5355\u573a\u666f\u4e2d\u8282\u7701\u8ba1\u7b97\u8d44\u6e90\uff0c\u5728\u590d\u6742\u573a\u666f\u4e2d\u201c\u6df1\u5165\u601d\u8003\u201d\uff0c\u6b64\u65f6\u53cd\u4e8b\u5b9e\u63a8\u7406\u80fd\u5e26\u6765\u6700\u5927\u8bef\u5dee\u964d\u4f4e\u3002<\/li>\n<\/ul>\n\n\n\n

                    \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

                    \u5143\u52a8\u4f5c\u7684\u5f71\u54cd:<\/strong>\u88681\u5df2\u8868\u660e\u5f15\u5165\u5143\u52a8\u4f5c\u76f8\u6bd4\u7eaf\u8f68\u8ff9\u6a21\u578b\u6709\u663e\u8457\u63d0\u5347\u3002\u6b64\u5904\u901a\u8fc7\u5bf9\u6bd4meta-act\uff08\u57fa\u7ebf\uff09\u548cmeta-act\uff08\u9884\u586b\u5145\uff09\uff0c\u805a\u7126\u5143\u52a8\u4f5c-\u8f68\u8ff9\u5bf9\u9f50\u6548\u679c\uff08\u88682\uff09\u3002\u7528\u771f\u5b9e\u5143\u52a8\u4f5c\u9884\u586b\u5145\u540e\uff0c\u8f68\u8ff9\u8bef\u5dee\u51e0\u4e4e\u51cf\u534a\uff0c\u89d2\u70b9\u8ddd\u79bb\u5927\u5e45\u964d\u4f4e\u3002\u8fd9\u8868\u660e\uff1a\u4e00\u65e6\u5143\u52a8\u4f5c\u6b63\u786e\uff0c\u6a21\u578b\u5df2\u5177\u5907\u5f3a\u5927\u7684\u5143\u52a8\u4f5c\u2192\u8f68\u8ff9\u5bf9\u9f50\u80fd\u529b\uff0c\u5269\u4f59\u8bef\u5dee\u4e3b\u8981\u6765\u81ea\u5143\u52a8\u4f5c\u9884\u6d4b\u4e0d\u51c6\u786e\uff0c\u800c\u975e\u8f68\u8ff9\u89e3\u7801\u3002\u8fd9\u4e00\u89c2\u5bdf\u4e3a\u76f4\u63a5\u5bf9\u5143\u52a8\u4f5c\u8fdb\u884c\u53cd\u4e8b\u5b9e\u63a8\u7406\u63d0\u4f9b\u4e86\u4f9d\u636e\u3002<\/p>\n\n\n\n

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

                    \u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n

                    \u56fe5\u53ef\u89c6\u5316\u4e86CF-VLA\u5728\u4e09\u4e2a\u5178\u578b\u573a\u666f\u4e2d\u7684\u53cd\u4e8b\u5b9e\u81ea\u53cd\u601d\u5faa\u73af\u3002CF-VLA\u59cb\u7ec8\u80fd\u8bc6\u522b\u521d\u59cb\u610f\u56fe\u4e0e\u573a\u666f\u7684\u4e0d\u5339\u914d\uff0c\u5e76\u5728\u751f\u6210\u8f68\u8ff9\u524d\u8fdb\u884c\u4fee\u6b63\uff1a<\/p>\n\n\n\n

                      \n
                    • \uff08A\uff09\u5e76\u9053\u573a\u666f\uff1a\u521d\u59cb\u89c4\u5212\u5728\u524d\u65b9\u6709\u65bd\u5de5\u969c\u788d\u548c\u6162\u901f\u8d27\u8f66\u7684\u60c5\u51b5\u4e0b\u4ecd\u4fdd\u6301\u901f\u5ea6\u548c\u8f66\u9053\uff0c\u4f1a\u5bfc\u81f4\u81ea\u8f66\u9677\u5165\u62e5\u5835\uff1b\u6a21\u578b\u9009\u62e9\u63d0\u524d\u5de6\u53d8\u9053\u5e76\u52a0\u901f\uff0c\u907f\u514d\u62e5\u5835\uff1b<\/li>\n\n\n\n
                    • \uff08B\uff09\u8f6c\u5411\u573a\u666f\uff1a\u6a21\u578b\u8bc6\u522b\u5230\u505c\u8f66\u6807\u5fd7\u548c\u4ea4\u53c9\u8f66\u6d41\uff0c\u4fee\u6b63\u4e86\u4f1a\u5bfc\u81f4\u8def\u53e3\u72b9\u8c6b\u7684\u665a\u671f\u53f3\u8f6c\u89c4\u5212\uff0c\u751f\u6210\u66f4\u679c\u65ad\u9ad8\u6548\u7684\u52a8\u4f5c\uff1b<\/li>\n\n\n\n
                    • \uff08C\uff09\u5f31\u52bf\u9053\u8def\u4f7f\u7528\u8005\u573a\u666f\uff1a\u6a21\u578b\u901a\u8fc7\u957f\u7126\u955c\u5934\u53d1\u73b0\u8fc7\u9a6c\u8def\u7684\u884c\u4eba\uff0c\u5c06\u5371\u9669\u52a8\u4f5c\u4fee\u6b63\u4e3a\u51cf\u901f\u7b49\u5f85\u3002 \u8fd9\u4e9b\u6848\u4f8b\u8868\u660e\uff0cCF-VLA\u7684\u81ea\u53cd\u601d\u80fd\u4ea7\u751f\u9488\u5bf9\u6027\u3001\u57fa\u4e8e\u573a\u666f\u7684\u4fee\u6b63\uff0c\u63d0\u5347\u5b89\u5168\u6027\u3001\u4ea4\u901a\u6548\u7387\u548c\u8bed\u4e49\u4e00\u81f4\u6027\u3002<\/li>\n<\/ul>\n\n\n\n
                      \"\"<\/figure>\n\n\n\n

                      \u7ed3\u8bba<\/strong><\/p>\n\n\n\n

                      \u672c\u6587\u63d0\u51fa\u53cd\u4e8b\u5b9e\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff08CF-VLA\uff09\uff0c\u8fd9\u662f\u4e00\u79cd\u5728planning\u524d\u53cd\u601d\u5e76\u4fee\u6b63\u81ea\u8eab\u52a8\u4f5c\u7684\u81ea\u53cd\u601dVLA\u6846\u67b6\u3002rollout-\u7b5b\u9009-\u6807\u6ce8\u53cd\u4e8b\u5b9e\u6d41\u6c34\u7ebf\u4f7fCF-VLA\u80fd\u591f\u6316\u6398\u81ea\u8eab\u5931\u8d25\u6848\u4f8b\uff0c\u5e76\u901a\u8fc7\u591a\u8f6e\u8bad\u7ec3\u6301\u7eed\u6539\u8fdb\u3002\u5728\u5927\u89c4\u6a21\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e\uff0cCF-VLA\u5728\u8f68\u8ff9\u51c6\u786e\u7387\u3001\u5b89\u5168\u6027\u548c\u63a8\u7406\u8d28\u91cf\u65b9\u9762\u5747\u53d6\u5f97\u4e86\u6301\u7eed\u63d0\u5347\uff0c\u76f8\u6bd4\u975e\u63a8\u7406\u57fa\u7ebf\u6a21\u578b\uff0c\u8f68\u8ff9\u8bef\u5dee\u964d\u4f4e\u9ad8\u8fbe17.6%\uff0c\u78b0\u649e\u7387\u964d\u4f4e20.5%\u3002\u8be5\u6a21\u578b\u5177\u5907\u81ea\u9002\u5e94\u63a8\u7406\u80fd\u529b\uff1a\u5728\u590d\u6742\u3001\u9ad8\u98ce\u9669\u573a\u666f\u4e2d\u66f4\u9891\u7e41\u5730\u8fdb\u884c\u63a8\u7406\u3002CF-VLA\u7684\u5b9e\u8df5\u8868\u660e\uff0c\u53cd\u4e8b\u5b9e\u81ea\u53cd\u601d\u80fd\u6709\u6548\u6865\u63a5\u63a8\u7406\u4e0e\u63a7\u5236\uff0c\u4e3a\u5b9e\u73b0\u201c\u4e09\u601d\u800c\u540e\u884c\u201d\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u63d0\u4f9b\u4e86\u901a\u7528\u8303\u5f0f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

                      \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. […]<\/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-36249","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\/36249"}],"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=36249"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36249\/revisions"}],"predecessor-version":[{"id":36279,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36249\/revisions\/36279"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=36249"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=36249"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=36249"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}