{"id":36287,"date":"2026-01-07T17:33:39","date_gmt":"2026-01-07T09:33:39","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36287"},"modified":"2026-01-07T17:33:39","modified_gmt":"2026-01-07T09:33:39","slug":"2026-01-07-%e5%ae%8c%e5%85%a8%e7%ab%af%e5%88%b0%e7%ab%af%e9%97%ad%e7%8e%af%e5%af%bc%e8%88%aa%ef%bc%81%e4%bb%85%e9%9c%80%e7%9b%b8%e6%9c%ba%ef%bc%8clogoplanner%e5%ae%9e%e7%8e%b0%e6%84%9f%e7%9f%a5","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/01\/07\/36287\/","title":{"rendered":"2026-01-07 \u5b8c\u5168\u7aef\u5230\u7aef\u95ed\u73af\u5bfc\u822a\uff01\u4ec5\u9700\u76f8\u673a\uff0cLoGoPlanner\u5b9e\u73b0\u611f\u77e5\u5b9a\u4f4d\u89c4\u5212\u4e00\u4f53\u5316"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1991647877865440725\">https:\/\/zhuanlan.zhihu.com\/p\/1991647877865440725<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"600\" height=\"113\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-88.png\" alt=\"\" class=\"wp-image-36293\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-88.png 600w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-88-300x57.png 300w\" sizes=\"(max-width: 600px) 100vw, 600px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u4f4d\u65e0\u9700\u72ec\u7acb\u524d\u7f6e\uff0c\u4e0e\u5bfc\u822a\u878d\u4e3a\u4e00\u4f53<\/strong><\/p>\n\n\n\n<p><strong>\u2014\u2014\u91cd\u5ba1\u7aef\u5230\u7aef\u5bfc\u822a<\/strong><\/p>\n\n\n\n<p><strong>\u628a\u7aef\u5230\u7aef\u5bfc\u822a\u6a21\u578b\u90e8\u7f72\u843d\u5730\u65f6\u6700\u81f4\u547d\u7684\u95ee\u9898\u662f\u4ec0\u4e48\uff1f<\/strong><\/p>\n\n\n\n<p><strong>\u5f80\u5f80\u4e0d\u5728\u907f\u969c\uff0c\u800c\u5728\u5b9a\u4f4d\u7684\u6084\u7136\u5931\u6548\u3002<\/strong><\/p>\n\n\n\n<p><em>\u5f53\u4f60\u628a\u76f8\u673a\u88c5\u9ad8\u4e86\u51e0\u5398\u7c73\u3001\u4fef\u4ef0\u89d2\u6539\u4e86\u4e00\u70b9\uff0c\u6216\u8005\u5e95\u76d8\u6362\u6210\u53e6\u4e00\u79cd\u8fd0\u52a8\u7279\u6027\u2014\u2014\u673a\u5668\u4eba\u5c31\u4f1a\u51fa\u73b0\u4e00\u79cd\u5178\u578b\u7684\u201c\u8ff7\u5931\u201d\u75c7\u72b6\uff1a<\/em><\/p>\n\n\n\n<p><em>\u8be5\u76f4\u8d70\u7684\u65f6\u5019\u8f7b\u5fae\u86c7\u5f62\u3001\u9047\u5230\u8f6c\u89d2\u65f6\u72b9\u8c6b\u3001\u79bb\u969c\u788d\u7684\u5b89\u5168\u8ddd\u79bb\u5ffd\u5927\u5ffd\u5c0f\u3002<\/em><\/p>\n\n\n\n<p><strong>\u8fd9\u5e76\u975e\u56e0\u4e3a\u5b83\u201c\u770b\u4e0d\u89c1\u201d\uff0c\u800c\u662f\u56e0\u4e3a\u5b83\u7f3a\u4e4f\u4e0d\u4f9d\u8d56\u5916\u90e8\u6a21\u5757\u7684 \u201c\u7a33\u5b9a\u5c3a\u5ea6\u611f + \u7a7a\u95f4\u4f4d\u7f6e\u611f\u201d\u3002<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f20\u7edf\u6a21\u5757\u5316\u9760 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=268610332&amp;content_type=Article&amp;match_order=1&amp;q=SLAM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SLAM<\/a><\/li>\n<\/ul>\n\n\n\n<p>\/ <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=268610332&amp;content_type=Article&amp;match_order=1&amp;q=%E8%A7%86%E8%A7%89%E9%87%8C%E7%A8%8B%E8%AE%A1&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u89c6\u89c9\u91cc\u7a0b\u8ba1<\/a><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b9a\u4f4d\uff0c\u8bef\u5dee\u5c42\u5c42\u4f20\u9012\uff1b<\/li>\n\n\n\n<li>\u73b0\u6709\u7aef\u5230\u7aef\u770b\u4f3c\u7b80\u6d01\uff0c\u5374\u6697\u6233\u6233\u4f9d\u8d56\u663e\u5f0f\u5b9a\u4f4d\u6216\u7cbe\u786e\u6807\u5b9a\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u56e0\u6b64\uff0c\u80fd\u4e0d\u80fd\u76f4\u63a5\u628a\u201c\u7a7a\u95f4\u4f4d\u7f6e\u611f\u201d\u76f4\u63a5\u878d\u8fdb\u5bfc\u822a\u7b56\u7565\u91cc\uff0c\u8ba9\u673a\u5668\u4eba\u4e0d\u7528\u5f3a\u4f9d\u8d56SLAM\uff0c\u4e5f\u80fd\u8d70\u5f97\u7a33\u3001\u8eb2\u5f97\u5f00\u3001\u8de8\u5e73\u53f0\u66f4\u597d\u7528\uff1f<\/strong><\/p>\n\n\n\n<p>\u8be5\u601d\u8def\u6765\u81ea\u4e8e\u8fd9\u7bc7\u7531<strong>\u6e05\u534e\u5927\u5b66\u8054\u5408\u4e0a\u6d77AI Lab<\/strong>\u63d0\u51fa\u7684LoGoPlanner\uff08\u662f\u8be5\u56e2\u961f\u4e4b\u524d\u5de5\u4f5cNavDP\u7684\u4e00\u4e2a\u72ec\u7acb\u7cbe\u7b80\u7248\uff0c\u610f\u5728\u6446\u8131\u5b9a\u4f4d\u4f9d\u8d56\uff0caka NavDP&#8211;\uff09\u3002<\/p>\n\n\n\n<p><strong>\u4e0d\u4ec5\u89e3\u51b3\u4e86\u7aef\u5230\u7aef\u7684\u6f02\u79fb\u987d\u75be\uff0c\u66f4\u5b9e\u73b0\u4e86\u771f\u6b63\u7684\u8de8\u5e73\u53f0\u6cdb\u5316 \u2014\u2014 \u4ece\u8f6e\u5f0f\u5230\u4eba\u5f62\u5230\u56db\u8db3\u3001\u4ece\u529e\u516c\u5ba4\u5230\u5de5\u4e1a\u533a\uff0c\u8f7b\u677e\u6362\u5e73\u53f0\u3002<\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1991647877865440725_0\"><strong><em>01 \u628a\u201c\u4f4d\u7f6e\u611f\u201d\u585e\u8fdb\u7b56\u7565<\/em><\/strong><\/h2>\n\n\n\n<p><strong>\u4e0e\u5176\u628a\u5b9a\u4f4d\u5f53\u4f5c\u4e00\u4e2a\u72ec\u7acb\u6a21\u5757\uff0c\u4e0d\u5982\u8ba9\u5bfc\u822a\u7b56\u7565\u81ea\u5df1\u5b66\u4f1a\u201c\u6211\u73b0\u5728\u5728\u54ea\u3001\u8be5\u5f80\u54ea\u8d70\u201d<\/strong>\uff0c\u800c\u4e14\u8981\u5b66\u5230\u771f\u5b9e\u5c3a\u5ea6\u4e0a\u7684\u51e0\u4f55\u7406\u89e3\uff0c\u4e5f\u5c31\u662f\u77e5\u9053\u8ddd\u79bb\u3001\u5c3a\u5ea6\u662f\u771f\u7684\u80fd\u5bf9\u4e0a\u73b0\u5b9e\u4e16\u754c\u7684\u3002<\/p>\n\n\n\n<p>\u8fd9\u4fbf\u662f\u672c\u9879\u7814\u7a76\u7684\u6838\u5fc3\u601d\u8def\uff0c\u636e\u6b64\u63d0\u51fa\u4e86 LoGoPlanner\uff0c\u540d\u5b57\u53ef\u4ee5\u62c6\u5f00\u7406\u89e3\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>LoGo\uff1a<\/strong>Localization Grounded\uff0c\u610f\u601d\u662f\u7b56\u7565\u7684\u51b3\u7b56\u5efa\u7acb\u5728\u201c\u5b9a\u4f4d\u76f8\u5173\u7684\u9690\u5f0f\u72b6\u6001\u201d\u4e0a\uff1b<\/li>\n\n\n\n<li><strong>Planner\uff1a<\/strong>\u5b83\u6700\u7ec8\u8f93\u51fa\u7684\u662f\u4e00\u6761\u53ef\u6267\u884c\u7684\u8f68\u8ff9\/\u52a8\u4f5c\u5e8f\u5217\uff0c\u7528\u6765\u5b8c\u6210\u70b9\u76ee\u6807\u5bfc\u822a\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-c287a95e5d3a76edc9ca05ea6b25f19e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u25b2\u56fe1\uff5cLoGoPlanner \u7684\u6574\u4f53\u5b9a\u4f4d\u3002(a) \u4f20\u7edf\u6a21\u5757\u5316\u5bfc\u822a\u901a\u5e38\u4f1a\u628a\u4efb\u52a1\u62c6\u6210\u201c\u5b9a\u4f4d\u3001\u5efa\u56fe\u3001\u89c4\u5212\u3001\u63a7\u5236\u201d\u7b49\u591a\u4e2a\u6a21\u5757\uff0c\u4f18\u70b9\u662f\u6e05\u6670\uff0c\u4f46\u7f3a\u70b9\u4e5f\u660e\u663e\uff1a\u524d\u9762\u9519\u4e00\u70b9\uff0c\u540e\u9762\u5c31\u5c42\u5c42\u653e\u5927\u3002(b) \u4e00\u4e9b\u7aef\u5230\u7aef\u65b9\u6cd5\u867d\u7136\u80fd\u4ece\u89c2\u6d4b\u76f4\u63a5\u8f93\u51fa\u63a7\u5236\u6307\u4ee4\uff0c\u4f46\u4ecd\u7136\u9700\u8981\u663e\u5f0f\u5b9a\u4f4d\u6a21\u5757\uff08\u4f8b\u5982 SLAM\/\u91cc\u7a0b\u8ba1\uff09\u6765\u515c\u5e95\u3002(c) LoGoPlanner \u7684\u601d\u8def\u662f\u628a\u201c\u5b9a\u4f4d\u76f8\u5173\u7684\u4fe1\u606f\u201d\u53d8\u6210\u7b56\u7565\u5185\u90e8\u7684\u4e00\u90e8\u5206\uff1a\u7528\u9690\u5f0f\u72b6\u6001\u4f30\u8ba1\uff08\u4e0d\u663e\u5f0f\u8dd1 SLAM\uff0c\u4f46\u5b66\u5230\u4f4d\u7f6e\u76f8\u5173\u8868\u793a\uff09\u548c\u5c3a\u5ea6\u51e0\u4f55\u611f\u77e5\u76f4\u63a5\u652f\u6491\u7aef\u5230\u7aef\u89c4\u5212<\/p>\n\n\n\n<p><strong>\u6574\u4f53\u6846\u67b6\u91cc\u6709\u4e09\u4e2a\u5173\u952e\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u957f\u5e8f\u5217\u89c6\u89c9\u72b6\u6001\u4f30\u8ba1<\/strong>\uff1a\u4e0d\u53ea\u770b\u4e00\u5e27\uff0c\u800c\u662f\u201c\u5403\u201d\u8fdb\u4e00\u6bb5\u5386\u53f2\u89c2\u6d4b\uff0c\u4ece\u4e2d\u63d0\u53d6\u201c\u50cf\u5b9a\u4f4d\u4e00\u6837\u201d\u7684\u72b6\u6001\u8868\u5f81\uff0c\u5e76\u628a\u5b83\u951a\u5b9a\u5230\u771f\u5b9e\u5c3a\u5ea6\u3002<\/li>\n\n\n\n<li><strong>\u7a7a\u95f4<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=268610332&amp;content_type=Article&amp;match_order=1&amp;q=%E5%87%A0%E4%BD%95%E8%AE%B0%E5%BF%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u51e0\u4f55\u8bb0\u5fc6<\/a><\/strong><\/li>\n<\/ul>\n\n\n\n<p><strong>\uff1a<\/strong>\u5229\u7528\u5386\u53f2\u4fe1\u606f\u91cd\u5efa\u5468\u56f4\u7684\u5c40\u90e8\u51e0\u4f55\uff08\u6bd4\u5982\u70b9\u4e91\/\u51e0\u4f55\u7ed3\u6784\uff09\uff0c\u8ba9\u7b56\u7565\u5bf9\u969c\u788d\u5206\u5e03\u66f4\u654f\u611f\uff0c\u907f\u969c\u66f4\u7a33\u3002<strong>\u89c4\u5212\u5bfc\u5411(Planning-oriented)\uff1a<\/strong>\u91c7\u7528\u57fa\u4e8e\u67e5\u8be2\uff08query-based\uff09\u7684\u8bbe\u8ba1\uff0c\u628a\u4e0a\u8ff0\u9690\u5f0f\u72b6\u6001\u548c\u51e0\u4f55\u8bb0\u5fc6\u4f5c\u4e3a\u6761\u4ef6\u8f93\u5165\uff0c\u53bb\u751f\u6210\u8f68\u8ff9\u6216\u63a7\u5236\u6307\u4ee4\uff0c\u4ece\u800c\u51cf\u5c11\u201c\u4e0a\u6e38\u5b9a\u4f4d\u9519\u4e00\u70b9\uff0c\u4e0b\u6e38\u89c4\u5212\u5168\u5d29\u201d\u7684\u8fde\u9501\u53cd\u5e94\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"600\" height=\"338\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-89.png\" alt=\"\" class=\"wp-image-36294\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-89.png 600w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-89-300x169.png 300w\" sizes=\"(max-width: 600px) 100vw, 600px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1991647877865440725_1\"><strong><em>02 \u6280\u672f\u4eae\u70b9<\/em><\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1991647877865440725_2\"><strong>Metric-aware visual geometry\uff0c\u628a\u201c\u771f\u5b9e\u5c3a\u5ea6\u201d\u5b66\u8fdb\u6765<\/strong><\/h3>\n\n\n\n<p><strong>\u5f88\u591a\u89c6\u89c9\u5bfc\u822asim-to-real\u4e4b\u95f4\u7684\u5dee\u8ddd\uff0c\u5e38\u89c1\u539f\u56e0\u4e4b\u4e00\u5c31\u662f\u201c\u5c3a\u5ea6\u611f\u4e0d\u9760\u8c31\u201d<\/strong>\uff1a\u5230\u5e95\u79bb\u969c\u788d\u8fd8\u6709\u591a\u5c11\u7c73\u3001\u62d0\u5f2f\u534a\u5f84\u80fd\u4e0d\u80fd\u8fc7\uff0c\u7b56\u7565\u5fc3\u91cc\u6ca1\u6570\uff0c\u53ea\u80fd\u4ece\u89c6\u89c9\u4e0a\u201c\u770b\u4e2a\u5927\u6982\u201d\u3002<\/p>\n\n\n\n<p><strong>LoGoPlanner \u5f3a\u8c03 metric-aware\uff08\u771f\u5b9e\u5c3a\u5ea6\u611f\u77e5\uff09\uff1a<\/strong>\u5b83\u4e0d\u4ec5\u63d0\u53d6\u89c6\u89c9\u7279\u5f81\uff0c\u8fd8\u628a\u89c6\u89c9\u51e0\u4f55\u8868\u5f81\u548c\u771f\u5b9e\u5c3a\u5ea6\u5bf9\u9f50\uff0c\u8ba9\u540e\u7eed\u89c4\u5212\u66f4\u50cf\u5728\u7a7a\u95f4\u4e2d\u201c\u91cf\u5c3a\u5b50\u201d\u800c\u4e0d\u662f\u89c6\u89c9\u4e0a\u201c\u51ed\u611f\u89c9\u7ed5\u201d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-c0f4f14e11d0bb61bb37d50daa6f1d28_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe2\uff5cMetric-aware visual geometry\u53ef\u89c6\u5316\uff1a\u56fe\u4e2d\u7b2c\u4e00\u884c\u662f\u771f\u503c\uff08ground truth\uff09\u7684\u573a\u666f\u70b9\u4e91\uff0c\u7b2c\u4e8c\u884c\u662f LoGoPlanner \u9884\u6d4b\u5f97\u5230\u7684\u573a\u666f\u70b9\u4e91\u3002\u8fd9\u91cc\u7684\u70b9\u4e91\u662f\u5728\u771f\u5b9e\u5c3a\u5ea6\u4e0b\u9884\u6d4b\u7684\uff0c\u5e76\u4e14\u4ee5\u6700\u540e\u4e00\u5e27\u7684\u5e95\u76d8\u4f4d\u7f6e\u4f5c\u4e3a\u5750\u6807\u7cfb\u539f\u70b9\uff0c\u4ece\u56fe\u4e2d\u53ef\u4ee5\u770b\u5230\u673a\u5668\u4eba\u7684\u611f\u77e5\u80fd\u529b\u975e\u5e38\u5f3a\u5927\uff0c\u57fa\u672c\u4e0a\u80fd\u591f\u9ad8\u5ea6\u8fd8\u539f\u771f\u5b9e\u573a\u666f\u7684\u70b9\u4e91\u5e03\u5c40<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1991647877865440725_3\"><strong>\u7528\u957f\u65f6\u5e8f\u89c2\u6d4b\u505a\u9690\u5f0f\u72b6\u6001\u4f30\u8ba1\uff0c\u7f13\u89e3\u6f02\u79fb<\/strong><\/h3>\n\n\n\n<p><strong>\u53ea\u770b\u5355\u5e27\u6216\u77ed\u7247\u6bb5\uff0c\u5bb9\u6613\u8ba9\u673a\u5668\u4eba\u201c\u8bb0\u4e0d\u4f4f\u81ea\u5df1\u521a\u521a\u600e\u4e48\u8d70\u8fc7\u6765\u7684\u201d<\/strong>\uff0c\u5c24\u5176\u662f\u8d70\u5eca\u3001\u91cd\u590d\u7eb9\u7406\u3001\u8f6c\u89d2\u8fd9\u4e9b\u5730\u65b9\uff0c\u72b6\u6001\u4f1a\u6f02\u3002<\/p>\n\n\n\n<p><strong>LoGoPlanner \u7684\u505a\u6cd5\u662f\u8ba9\u9aa8\u5e72\u7f51\u7edc\u5904\u7406\u66f4\u957f\u7684\u89c2\u6d4b\u5e8f\u5217\uff0c\u4ece\u5386\u53f2\u91cc\u6c47\u603b\u51fa\u66f4\u7a33\u5b9a\u7684\u72b6\u6001\u8868\u5f81\u3002<\/strong><\/p>\n\n\n\n<p><strong>\u8fd9\u91cc\u7684\u5173\u952e\u8bcd\u662f implicit state estimation\uff08\u9690\u5f0f\u72b6\u6001\u4f30\u8ba1\uff09\uff1a<\/strong>\u4e0d\u663e\u5f0f\u8dd1SLAM\uff0c\u4f46\u5b66\u5230\u4e00\u79cd\u80fd\u652f\u6301\u51b3\u7b56\u7684\u201c\u4f4d\u7f6e\u76f8\u5173\u8868\u793a\u201d\uff0c\u6709\u4e86\u8fd9\u79cd\u9690\u5f0f\u7684\u72b6\u6001\u4f30\u8ba1\uff0c\u673a\u5668\u4eba\u5c31\u53ef\u4ee5\u66f4\u597d\u7684\u5efa\u6a21\u957f\u7a0b\u4efb\u52a1\uff0c\u51cf\u5c11\u8bef\u5dee\u7684\u7d2f\u79ef\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-86afcf170d4b085eb4c3198a28fee0da_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe3\uff5c\u65b9\u6cd5\u7ed3\u6784\u603b\u89c8\u3002<\/figcaption><\/figure>\n\n\n\n<p><strong>LoGoPlanner \u7684\u9aa8\u67b6\u53ef\u4ee5\u7406\u89e3\u4e3a\u4e09\u6b65\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Step1\uff1a\u5c3a\u5ea6\u5148\u9a8c\u6ce8\u5165\uff1a<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u5728\u628a\u56fe\u50cf\u5207\u6210\u5c0f\u5757\uff08patch\uff09\u5e76\u9001\u5165 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=268610332&amp;content_type=Article&amp;match_order=1&amp;q=ViT&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ViT<\/a><\/p>\n\n\n\n<p>\uff08Vision Transformer\uff0c\u89c6\u89c9\u7f16\u7801\u7f51\u7edc\uff09\u4e4b\u524d\uff0c\u5148\u628a\u6df1\u5ea6\u56fe\u7f16\u7801\u540e\u7684\u201c\u5c3a\u5ea6\u76f8\u5173\u5148\u9a8c\u4fe1\u606f\u201d\u6ce8\u5165\u5230\u8fd9\u4e9b\u56fe\u50cf\u5757\u91cc\uff1b<\/p>\n\n\n\n<p>\u540c\u65f6\u5fae\u8c03\u4e00\u4e2a\u89c6\u9891\u51e0\u4f55\u6a21\u578b\uff0c\u4f7f\u5176\u80fd\u591f\u9884\u6d4b\u771f\u5b9e\u5c3a\u5ea6\u4e0b\u7684\u51e0\u4f55\u4fe1\u606f\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Step2\uff1aQuery \u65b9\u5f0f\u505a\u4fe1\u606f\u6c47\u603b\uff1a<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u628a\u673a\u5668\u4eba\u81ea\u8eab\u72b6\u6001\uff08\u6bd4\u5982\u4f4d\u59ff\u3001\u901f\u5ea6\u7b49\uff09\u548c\u73af\u5883\u51e0\u4f55\uff08\u969c\u788d\u5206\u5e03\u7b49\uff09\u5728\u7f51\u7edc\u5185\u90e8\u9690\u5f0f\u805a\u5408\uff0c\u800c\u4e0d\u662f\u663e\u5f0f\u62fc\u4e00\u5806\u624b\u5de5\u6a21\u5757\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Step3\uff1a\u6269\u6563\u7b56\u7565\u8f93\u51fa\u8f68\u8ff9\uff1a<\/strong><\/li>\n<\/ul>\n\n\n\n<p>\u6700\u540e\u63a5\u4e00\u4e2a\u6269\u6563\u7b56\u7565\u5934\uff08\u9010\u6b65\u751f\u6210\u52a8\u4f5c\/\u8f68\u8ff9\u7684\u6a21\u578b\uff09\uff0c\u751f\u6210\u53ef\u6267\u884c\u3001\u5c3d\u91cf\u4e0d\u649e\u7684\u5bfc\u822a\u8f68\u8ff9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"600\" height=\"337\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-90.png\" alt=\"\" class=\"wp-image-36295\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-90.png 600w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-90-300x169.png 300w\" sizes=\"(max-width: 600px) 100vw, 600px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1991647877865440725_4\"><strong>\u51e0\u4f55\u8bb0\u5fc6 + \u5c40\u90e8\u70b9\u4e91\uff0c\u8ba9\u907f\u969c\u66f4\u50cf\u201c\u770b\u61c2\u7a7a\u95f4\u201d<\/strong><\/h3>\n\n\n\n<p><strong>\u7b56\u7565\u4e0d\u662f\u53ea\u770b\u4e00\u5f20\u56fe\u53bb\u731c\u8def\u5728\u54ea\uff0c\u800c\u662f\u6301\u7eed\u7d2f\u79ef\u5bf9\u5468\u56f4\u969c\u788d\u7684\u51e0\u4f55\u8ba4\u8bc6\u3002<\/strong><\/p>\n\n\n\n<p><strong>\u8fd9\u79cd geometry memory\uff08\u51e0\u4f55\u8bb0\u5fc6\uff09 \u5728\u975e\u7ed3\u6784\u5316\u73af\u5883\u91cc\u5c24\u5176\u5173\u952e\uff1a<\/strong><\/p>\n\n\n\n<p>\u56e0\u4e3a\u969c\u788d\u7269\u7684\u5f62\u72b6\u3001\u5206\u5e03\u3001\u53ef\u901a\u884c\u95f4\u9699\uff0c\u51b3\u5b9a\u4e86\u8f68\u8ff9\u80fd\u4e0d\u80fd\u8d70\u5f97\u5b89\u5168\u3001\u8d70\u5f97\u987a\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u7814\u7a76\u65b9\u6cd5\u6446\u8131\u4e86\u96f7\u8fbe\u7b49\u591a\u4f20\u611f\u5668\u7684\u4f9d\u8d56\uff0c\u4ec5\u4ec5\u4f9d\u8d56\u76f8\u673a\u7684\u89c6\u9891\u8f93\u5165\uff0c\u5bf9\u975e\u7ed3\u6784\u5316\u73af\u5883\u8fdb\u884c\u7ec6\u7c92\u5ea6\u91cd\u5efa\uff0c\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u7a7a\u95f4\u51e0\u4f55\u611f\u77e5\u4fe1\u606f\u3002<\/p>\n\n\n\n<p><strong>\u8fd9\u79cd\u663e\u5f0f\u51e0\u4f55\u611f\u77e5+\u9690\u5f0f\u7b56\u7565\u5efa\u6a21\u7684\u5e03\u5c40\u53ef\u4ee5\u53d6\u957f\u8865\u77ed\uff0c\u8ba9\u673a\u5668\u4eba\u5728\u590d\u6742\u7a7a\u95f4\u4e2d\u66f4\u52a0\u7a7f\u68ad\u81ea\u5982\u3002<\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1991647877865440725_5\"><strong><em>03 \u5b9e\u9a8c\u4e0e\u8868\u73b0<\/em><\/strong><\/h2>\n\n\n\n<p>\u5b9e\u9a8c\u56f4\u7ed5\u4e24\u6761\u4e3b\u7ebf\u8fdb\u884c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e00\u6761\u662f\u5728\u5927\u89c4\u6a21\u4eff\u771f\u6570\u636e\u4e0a\u8bad\u7ec3\u4e0e\u8bc4\u6d4b\uff1b<\/li>\n\n\n\n<li>\u53e6\u4e00\u6761\u662f\u5728\u771f\u5b9e\u673a\u5668\u4eba\u4e0a\u8dd1\u4e09\u79cd\u5e73\u53f0\uff08\u8f6e\u5f0f\u79fb\u52a8\u673a\u5668\u4eba\u3001\u56db\u8db3\u673a\u5668\u4eba\u3001\u4eba\u5f62\u673a\u5668\u4eba\uff09\u3001\u4e09\u7c7b\u73af\u5883\uff08\u529e\u516c\u5ba4\u3001\u5bb6\u5ead\u3001\u5de5\u4e1a\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u800c\u4e14\uff0c\u7814\u7a76\u5728\u8bad\u7ec3\u65f6\u505a\u4e86\u591a\u79cd\u968f\u673a\u5316\uff08\u6bd4\u5982\u673a\u5668\u4eba\u9ad8\u5ea6\u548c\u76f8\u673a\u4fef\u4ef0\u89d2\uff09\uff0c\u76ee\u7684\u5c31\u662f\u903c\u7740\u7b56\u7565\u201c\u522b\u8bb0\u6b7b\u4e00\u79cd\u5b89\u88c5\u59ff\u6001\u201d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-7027911b06fd339edc3aadc04441b996_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe4\uff5c\u771f\u5b9e\u673a\u5668\u4eba\u6548\u679c\u53ef\u89c6\u5316\uff1a\u4e0d\u540c\u5e73\u53f0\u4e0a\u89c4\u5212\u8f68\u8ff9\u957f\u4ec0\u4e48\u6837\uff1f\u56fe\u4e2d\u7eff\u8272\u66f2\u7ebf\u662f LoGoPlanner \u89c4\u5212\u51fa\u6765\u7684\u8f68\u8ff9\u3002\u84dd\u8272\u70b9\u4e91\u8868\u793a\u5f53\u524d\u5e27\u89c2\u6d4b\u5230\u7684\u969c\u788d\u7269\uff0c\u7070\u8272\u70b9\u4e91\u8868\u793a\u4e0a\u4e00\u5e27\u7684\u969c\u788d\u7269\uff08\u53ef\u4ee5\u7406\u89e3\u4e3a\u201c\u5386\u53f2\u51e0\u4f55\u4fe1\u606f\u201d\uff09\u3002\u53ef\u89c1\u5728\u771f\u5b9e\u73af\u5883\u91cc\u3001\u4e0d\u540c\u673a\u5668\u4eba\u5e73\u53f0\u4e0a\uff0cLoGoPlanner \u4f9d\u7136\u80fd\u8f93\u51fa\u8fde\u8d2f\u7684\u53ef\u884c\u8f68\u8ff9<\/figcaption><\/figure>\n\n\n\n<p><strong>\u4ece\u7ed3\u679c\u8d8b\u52bf\u770b\uff0cLoGoPlanner \u7684\u4f18\u52bf\u4e3b\u8981\u4f53\u73b0\u5728\u4e24\u70b9\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8de8\u5e73\u53f0\u66f4\u7a33\uff1a<\/strong>\u6362\u5e73\u53f0\u3001\u6362\u5b89\u88c5\u89d2\u5ea6\u65f6\uff0c\u6027\u80fd\u4e0b\u964d\u6ca1\u90a3\u4e48\u5267\u70c8\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"712\" height=\"134\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-91.png\" alt=\"\" class=\"wp-image-36296\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-91.png 712w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-91-300x56.png 300w\" sizes=\"(max-width: 712px) 100vw, 712px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u907f\u969c\u66f4\u53ef\u9760\uff1a<\/strong>\u5728\u5ba4\u5185\u5bb6\u5c45\u4e0e\u5546\u4e1a\u573a\u666f\u91cc\uff0c\u66f4\u80fd\u4fdd\u6301\u8fde\u7eed\u7684\u8f68\u8ff9\u8d28\u91cf\uff0c\u4e0d\u5bb9\u6613\u51fa\u73b0\u72b9\u8c6b\u6216\u8d34\u969c\u8d70\u7684\u60c5\u51b5\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-289bb32564a974a86e94f0269410ab41_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u25b2\u56fe5\uff5c\u591a\u5e73\u53f0\u591a\u573a\u666f\u771f\u5b9e\u73af\u5883\u8bd5\u9a8c\u7ed3\u679c\u3002\u53ef\u4ee5\u770b\u5230LOGOPlanner\u5728\u4e0d\u540c\u7684\u673a\u5668\u4eba\u5e73\u53f0\u90fd\u5927\u5e45\u5ea6\u9886\u5148\u5bf9\u6bd4\u65b9\u6cd5\uff0c\u5e76\u4e14\u8fd9\u79cd\u9886\u5148\u80fd\u591f\u8de8\u8d8a\u591a\u573a\u666f\uff0c\u7531\u6b64\u53ef\u89c1LoGoPlanner\u8de8\u5e73\u53f0\u53ca\u8de8\u573a\u666f\u90e8\u7f72\u7684\u7a33\u5065\u6027<\/figcaption><\/figure>\n\n\n\n<p>\u4e0e\u5e26\u6709\u201c\u771f\u503c\u5b9a\u4f4d\u201d\u4fe1\u606f\u7684\u5148\u8fdb\u5bf9\u6bd4\u65b9\u6cd5\uff0cLoGoPlanner\u4f9d\u65e7\u5b9e\u73b0\u4e86\u6574\u4f53\u6027\u80fd\u63d0\u5347\u8d85\u8fc7 27.3%\u3002<\/p>\n\n\n\n<p><strong>\u8fd9\u4e5f\u8bc1\u660e\u4e86\uff1a\u5b9a\u4f4d\u4fe1\u606f\u4e0d\u4e00\u5b9a\u8981\u4ee5SLAM\u7684\u5f62\u5f0f\u51fa\u73b0\uff0c\u7b56\u7565\u4e5f\u53ef\u4ee5\u81ea\u5df1\u5b66\u51fa\u53ef\u7528\u7684\u7a7a\u95f4\u4f4d\u7f6e\u611f\uff0c\u5e76\u628a\u5b83\u7528\u5230\u89c4\u5212\u91cc\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-9a1bc853473da7b8777acae6803fd05b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u25b2\u56fe6\uff5c\u771f\u5b9e\u73af\u5883\u7ed3\u679c\u53ef\u89c6\u5316\u3002\u4e0a\u6392\uff1a\u89c4\u5212\u8f68\u8ff9\u9ed1\u8272\u8f68\u8ff9\u662f\u771f\u503c\uff08ground truth\uff09\uff0c\u9ec4\u8272\u548c\u7d2b\u8272\u662f\u9884\u6d4b\u8f68\u8ff9\uff0c\u7eff\u8272\u661f\u6807\u662f\u76ee\u6807\u70b9\u3002\u7528\u8fd9\u6392\u56fe\u4e3b\u8981\u770b\uff1a\u9884\u6d4b\u8f68\u8ff9\u662f\u5426\u80fd\u8d34\u8fd1\u771f\u503c\u8d8b\u52bf\uff0c\u80fd\u5426\u987a\u5229\u6307\u5411\u76ee\u6807\u3002\u4e0b\u6392\uff1a\u5b9a\u4f4d\u7ed3\u679c\u3002\u84dd\u70b9\u662f\u771f\u503c\u5b9a\u4f4d\uff0c\u7ea2\u70b9\u662f\u9884\u6d4b\u5b9a\u4f4d\uff1b\u7eff\u8272\u7bad\u5934\u662f\u771f\u503c\u76ee\u6807\u65b9\u5411\uff0c\u7070\u8272\u7bad\u5934\u662f\u9884\u6d4b\u76ee\u6807\u65b9\u5411\u3002\u7528\u8fd9\u6392\u56fe\u4e3b\u8981\u770b\uff1a\u7b56\u7565\u5185\u90e8\u5b66\u5230\u7684\u201c\u7a7a\u95f4\u4f4d\u7f6e\u611f\u201d\u662f\u5426\u80fd\u8ddf\u4e0a\u771f\u5b9e\u8fd0\u52a8\uff0c\u5e76\u628a\u76ee\u6807\u65b9\u5411\u4f30\u8ba1\u5f97\u8db3\u591f\u7a33\u5b9a<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1991647877865440725_6\"><strong><em>04 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href=\"https:\/\/zhida.zhihu.com\/search?content_id=268610332&amp;content_type=Article&amp;match_order=1&amp;q=%E5%85%B7%E8%BA%AB%E6%99%BA%E8%83%BD&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5177\u8eab\u667a\u80fd<\/a><\/strong><\/p>\n\n\n\n<p><strong>\u5bfc\u822a\u6b63\u4ece \u201c\u4f2a\u7aef\u5230\u7aef\u201d \u8fc8\u5411 \u201c\u771f\u95ed\u73af\u201d<\/strong>\u3002\u4f46\u5b83\u5e76\u975e\u5b8c\u7f8e\uff1a\u6781\u7aef\u52a8\u6001\u573a\u666f\u3001\u8d85\u8fdc\u8ddd\u79bb\u5bfc\u822a\u7684\u9c81\u68d2\u6027\uff0c\u4ee5\u53ca\u8fb9\u7f18\u8bbe\u5907\u90e8\u7f72\u4f18\u5316\uff0c\u4ecd\u662f\u5f85\u89e3\u96be\u9898\u3002<\/p>\n\n\n\n<p>LoGoPlanner \u6253\u901a\u4e86\u8def\u5f84\uff0c<strong>\u5f53\u5b9a\u4f4d\u4e0d\u518d\u662f\u72ec\u7acb\u524d\u7f6e\u4efb\u52a1<\/strong>\u3001\u4e0d\u518d\u90a3\u4e48\u5f3a\u4f9d\u8d56\u7cbe\u7ec6\u6807\u5b9a\u4e0e\u663e\u5f0f\u5b9a\u4f4d\u6a21\u5757\u3001\u6362\u5e73\u53f0\u65f6\u66f4\u7701\u5fc3\u65f6\uff0c\u4e5f\u66f4\u6709\u673a\u4f1a\u628a\u7aef\u5230\u7aef\u65b9\u6cd5\u63a8\u5230\u590d\u6742\u771f\u5b9e\u73af\u5883\u91cc<\/p>\n\n\n\n<p><em>Ref\uff1a<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u9898\u76ee\uff1aLoGoPlanner: Localization Grounded Navigation Policy with Metric-aware Visual Geometry<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u4f5c\u8005\uff1aJiaqi Peng, Wenzhe Cai, Yuqiang Yang, Tai Wang, Yuan Shen, Jiangmiao Pang<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u5730\u5740\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2512.19629\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2512.19629<\/a><\/em><\/p>\n\n\n\n<p><em>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/steinate.github.io\/logoplanner.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/steinate.github.io\/logoplanner.github.io\/<\/a><\/em><\/p>\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-36287","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\/36287"}],"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=36287"}],"version-history":[{"count":3,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36287\/revisions"}],"predecessor-version":[{"id":36297,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36287\/revisions\/36297"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=36287"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=36287"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=36287"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}