{"id":36445,"date":"2026-01-13T17:31:51","date_gmt":"2026-01-13T09:31:51","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36445"},"modified":"2026-01-13T17:31:51","modified_gmt":"2026-01-13T09:31:51","slug":"2026-01-13-navsim-sota%ef%bc%81latentvla%ef%bc%9a%e9%80%9a%e8%bf%87%e6%bd%9c%e5%9c%a8%e5%8a%a8%e4%bd%9c%e9%a2%84%e6%b5%8b%e6%9e%84%e5%bb%ba%e9%ab%98%e6%95%88%e8%87%aa%e9%a9%bevla%ef%bc%88opendrivelab","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/01\/13\/36445\/","title":{"rendered":"2026-01-13 NAVSIM SOTA\uff01LatentVLA\uff1a\u901a\u8fc7\u6f5c\u5728\u52a8\u4f5c\u9884\u6d4b\u6784\u5efa\u9ad8\u6548\u81ea\u9a7eVLA\uff08OpenDriveLab&amp;\u7406\u60f3\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/09rYGH43GO4oC9afg8WYsA\">https:\/\/mp.weixin.qq.com\/s\/09rYGH43GO4oC9afg8WYsA<\/a><\/p>\n\n\n\n<p>\u7ecf\u8fc7\u77ed\u6682\u7684\u4f11\u6574\uff0c\u81ea\u9a7eVLA\u53c8\u5f00\u5377\u4e86\u3002\u4eca\u5929\u4e0a\u5348\uff0c\u4e0a\u6d77\u521b\u667a\u5b66\u9662\u3001OpenDriveLab\u548c\u7406\u60f3\u6c7d\u8f66\u8054\u5408\u63d0\u51fa\u7684\u65b0\u5de5\u4f5c &#8211; LatentVLA\u300292.4 \u7684 PDMS\u62ff\u4e0bNAVSIM\u7684\u6700\u65b0SOTA\u3002<strong>\u6709\u4e24\u70b9\u503c\u5f97\u5927\u5bb6\u5173\u6ce8\uff1a<\/strong><\/p>\n\n\n\n<ul 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\u5728 NAVSIM \u57fa\u51c6\u6d4b\u8bd5\u4e0a\u4ee5 92.4 \u7684 PDMS \u5f97\u5206\u5efa\u7acb\u4e86\u65b0\u7684SOTA\uff0c\u5e76\u5728 nuScenes \u57fa\u51c6\u6d4b\u8bd5\u4e0a\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u3002<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>: LatentVLA: Efficient Vision-Language Models for Autonomous Driving via Latent Action Prediction<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>: https:\/\/arxiv.org\/pdf\/2601.05611<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e00\u3001\u80cc\u666f\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u5728\u5927\u89c4\u6a21\u4eba\u7c7b\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u540e\u5c55\u73b0\u51fa\u4e86\u4ee4\u4eba\u77a9\u76ee\u7684\u6027\u80fd\u3002\u8fd9\u4e9b\u6a21\u578b\u80fd\u591f\u76f4\u63a5\u5c06\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u5230\u6700\u7ec8\u8f68\u8ff9\uff0c\u6709\u6548\u5b66\u4e60\u7c7b\u4eba\u9a7e\u9a76\u884c\u4e3a\uff0c\u5e76\u5728\u5e7f\u6cdb\u7684\u5e38\u89c1\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u8272\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ecd\u9762\u4e34\u4e00\u4e2a\u6839\u672c\u6027\u6311\u6218\uff1a\u8bad\u7ec3\u6570\u636e\u7684\u573a\u666f\u591a\u6837\u6027\u8fdc\u4f4e\u4e8e\u771f\u5b9e\u4e16\u754c\u4ea4\u901a\u6761\u4ef6\u7684\u590d\u6742\u6027\u548c\u591a\u53d8\u6027\u3002\u4e3a\u5e94\u5bf9\u73b0\u5b9e\u4e2d\u7f55\u89c1\u957f\u5c3e\u573a\u666f\u7684\u6311\u6218\uff0c\u6700\u8fd1\u7684\u7814\u7a76\u5f00\u59cb\u63a2\u7d22\u5229\u7528\u5728\u5927\u89c4\u6a21\u4e92\u8054\u7f51\u6570\u636e\u4e0a\u9884\u8bad\u7ec3\u7684\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u7684\u77e5\u8bc6\u3002\u4e3a\u4e86\u66f4\u597d\u5730\u9002\u5e94\u548c\u5229\u7528VLMs\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u80fd\u529b\uff0c\u8bb8\u591a\u7814\u7a76\u5728\u8bad\u7ec3\u9636\u6bb5\u5c06\u8f68\u8ff9\u89c4\u5212\u6216\u9a7e\u9a76\u65b9\u5411\u5206\u7c7b\u4efb\u52a1\u4e0e\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u76f8\u7ed3\u5408\u3002\u867d\u7136\u4e0a\u8ff0\u65b9\u6cd5\u53d6\u5f97\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u7ed3\u679c\uff0c\u4f46\u5b83\u4eec\u4ecd\u5b58\u5728\u51e0\u4e2a\u5173\u952e\u5c40\u9650:<\/p>\n\n\n\n<p><strong>(1) 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class=\"wp-block-list\">\n<li><strong>Transfuser<\/strong>\uff1a\u5f00\u521b\u4e86\u591a\u4efb\u52a1\u5b66\u4e60\u6846\u67b6\uff0c\u5177\u6709\u5171\u4eab\u7279\u5f81\u63d0\u53d6\u548c\u4efb\u52a1\u7279\u5b9a\u5934\u90e8<\/li>\n\n\n\n<li><strong>UniAD\u548cVAD<\/strong>\uff1a\u4ece\u591a\u6444\u50cf\u5934\u8f93\u5165\u751f\u6210\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u5f81\uff0c\u5e76\u4ee5\u5b8c\u5168\u53ef\u5fae\u7684\u65b9\u5f0f\u987a\u5e8f\u6267\u884c\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212<\/li>\n\n\n\n<li><strong>VADv2\u548cHydra-MDP<\/strong>\uff1a\u5bf9\u9884\u5b9a\u4e49\u7684\u951a\u70b9\u8f68\u8ff9\u8fdb\u884c\u8bc4\u5206\u4ee5\u8fd1\u4f3c\u591a\u6a21\u6001\u89c4\u5212\u5206\u5e03<\/li>\n\n\n\n<li><strong>iPad<\/strong>\uff1a\u901a\u8fc7\u6ce8\u610f\u529b\u5f15\u5bfc\u7684\u7279\u5f81\u63d0\u53d6\u8fed\u4ee3\u7ec6\u5316\u52a8\u6001\u8f68\u8ff9\u63d0\u6848<\/li>\n<\/ul>\n\n\n\n<p>\u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fd9\u4e9b\u8fdb\u5c55\uff0c\u7aef\u5230\u7aef\u6a21\u578b\u4ecd\u53d7\u8bad\u7ec3\u6570\u636e\u8986\u76d6\u8303\u56f4\u7684\u9650\u5236\u3002\u5f53\u9047\u5230\u8bad\u7ec3\u5206\u5e03\u4e4b\u5916\u7684\u957f\u5c3e\u573a\u666f\u65f6\uff0c\u7531\u4e8e\u6709\u9650\u7684\u6cdb\u5316\u548c\u4e0d\u8db3\u7684\u8bed\u4e49\u63a8\u7406\uff0c\u5b83\u4eec\u8868\u73b0\u51fa\u6027\u80fd\u4e0b\u964d\u3002\u8fd9\u4e00\u9650\u5236\u4fc3\u4f7f\u4eba\u4eec\u6574\u5408\u5927\u89c4\u6a21\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u7684\u4e16\u754c\u77e5\u8bc6\uff0c\u4ee5\u589e\u5f3a\u5f00\u653e\u4e16\u754c\u9a7e\u9a76\u73af\u5883\u4e2d\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u7684\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u6574\u5408\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u65f6\uff0c\u5f25\u5408\u8bed\u4e49\u63a8\u7406\u548c\u7269\u7406\u52a8\u4f5c\u751f\u6210\u4e4b\u95f4\u7684\u5dee\u8ddd\u4ecd\u7136\u662f\u4e00\u4e2a\u57fa\u672c\u6311\u6218\u3002\u5148\u524d\u7684\u7814\u7a76\u5df2\u7ecf\u4ece\u57fa\u4e8e\u8bed\u8a00\u7684\u573a\u666f\u89e3\u91ca\u53d1\u5c55\u800c\u6765\uff0c\u5176\u4e2dVLMs\u901a\u8fc7\u5b57\u5e55\u6216\u95ee\u7b54\uff08\u4f8b\u5982DriveGPT4\uff09\u4fc3\u8fdb\u573a\u666f\u7406\u89e3\uff0c\u5230\u6a21\u5757\u5316\u8bed\u8a00\u5230\u52a8\u4f5c\u6846\u67b6\uff0c\u4f7f\u7528VLMs\u4e3a\u4f20\u7edf\u89c4\u5212\u5668\u751f\u6210\u5143\u52a8\u4f5c\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u6a21\u5757\u5316\u65b9\u6cd5\u53d7\u5230\u4e0d\u53ef\u5fae\u63a5\u53e3\u7684\u9650\u5236\uff0c\u963b\u6b62\u4e86\u6709\u6548\u7684\u68af\u5ea6\u53cd\u5411\u4f20\u64ad\u5e76\u9650\u5236\u4e86\u6574\u4f53\u4f18\u5316\u3002\u6700\u8fd1\u7684\u8fdb\u5c55\u96c6\u4e2d\u5728\u7edf\u4e00\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u4e0a\uff0c\u8fd9\u4e9b\u6a21\u578b\u76f4\u63a5\u5c06\u591a\u6a21\u6001\u611f\u5b98\u8f93\u5165\u6620\u5c04\u5230\u9a7e\u9a76\u8f68\u8ff9\uff0c\u4f8b\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>DriveMoE<\/strong>\uff1a\u4e13\u5bb6\u6df7\u5408\u67b6\u6784<\/li>\n\n\n\n<li><strong>AutoVLA<\/strong>\uff1a\u81ea\u56de\u5f52\u52a8\u4f5c\u539f\u8bed\u6807\u8bb0\u5316<\/li>\n\n\n\n<li><strong>ReCogDrive<\/strong>\uff1a\u901a\u8fc7\u6a21\u4eff\u548c\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u7684\u57fa\u4e8e\u6269\u6563\u7684\u89c4\u5212\u5668<\/li>\n<\/ul>\n\n\n\n<p>\u5728\u8fd9\u4e9b\u8303\u5f0f\u7684\u57fa\u7840\u4e0a\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u901a\u8fc7\u9884\u6d4b\u5f53\u524d\u72b6\u6001\u7684\u672a\u6765\u89c6\u89c9\u89c2\u6d4b\u5b66\u4e60\u7684\u6f5c\u5728\u52a8\u4f5c\u7801\u672c\uff0c\u4ece\u800c\u6355\u83b7\u8d85\u8d8a\u4f20\u7edf\u6807\u8bb0\u5316\u65b9\u6cd5\u7684\u7ec6\u5fae\u8f68\u8ff9\u548c\u4e0a\u4e0b\u6587\u4fe1\u606f\u3002\u901a\u8fc7\u77e5\u8bc6\u84b8\u998f\u5c06\u8fd9\u4e2a\u7801\u672c\u96c6\u6210\u5230\u9884\u8bad\u7ec3\u7684VLM\u4e2d\uff0c\u672c\u65b9\u6cd5\u6709\u6548\u5730\u6865\u63a5\u4e86\u8bed\u4e49\u63a8\u7406\u548c\u7269\u7406\u52a8\u4f5c\u7a7a\u95f4\uff0c\u5b9e\u73b0\u4e86\u66f4\u5f3a\u5927\u7684\u51b3\u7b56\u5236\u5b9a\uff0c\u5e76\u663e\u8457\u63d0\u9ad8\u4e86\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u63a8\u7406\u6548\u7387\u3002<\/p>\n\n\n\n<p><strong>\u6f5c\u5728\u52a8\u4f5c\u5b66\u4e60<\/strong><\/p>\n\n\n\n<p>\u673a\u5668\u4eba\u64cd\u4f5c\u9886\u57df\u5e7f\u6cdb\u63a2\u7d22\u4e86\u6f5c\u5728\u52a8\u4f5c\u8868\u5f81\uff0c\u4ee5\u89e3\u51b3\u8de8\u5b9e\u4f53\u6cdb\u5316\u7684\u57fa\u672c\u6311\u6218\u3002\u4e0d\u540c\u7684\u673a\u5668\u4eba\u5f62\u6001\u751f\u6210\u4e0d\u517c\u5bb9\u683c\u5f0f\u548c\u7edf\u8ba1\u7279\u6027\u7684\u52a8\u4f5c\u6570\u636e\uff0c\u9700\u8981\u7edf\u4e00\u7684\u8868\u5f81\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>\u4ee3\u8868\u6027\u5de5\u4f5c<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>VQ-BeT<\/strong>\uff1a\u91c7\u7528\u53d8\u5206\u81ea\u7f16\u7801\u5668\u5c06\u539f\u59cb\u8f68\u8ff9\u538b\u7f29\u4e3a\u7ed3\u6784\u5316\u6f5c\u5728\u7a7a\u95f4\uff0c\u5b9e\u73b0\u8de8\u4efb\u52a1\u8fc1\u79fb\u548c\u7b56\u7565\u9002\u5e94<\/li>\n\n\n\n<li><strong>Genie<\/strong>\uff1a\u901a\u8fc7\u89c6\u9891\u9884\u6d4b\u76ee\u6807\u5b66\u4e60\u52a8\u4f5c\u8868\u5f81\uff0c\u5176\u4e2d\u6f5c\u5728\u7801\u4ece\u5efa\u6a21\u5e27\u8f6c\u6362\u4e2d\u51fa\u73b0<\/li>\n\n\n\n<li><strong>LAPO<\/strong>\uff1a\u5728\u64cd\u4f5c\u573a\u666f\u4e2d\u76f4\u63a5\u4ece\u50cf\u7d20\u89c2\u6d4b\u4e2d\u63d0\u53d6\u52a8\u4f5c<\/li>\n\n\n\n<li><strong>LAPA\u548cUniVLA<\/strong>\uff1a\u5c06\u8fd9\u4e00\u65b9\u6cd5\u6269\u5c55\u5230\u4e92\u8054\u7f51\u89c4\u6a21\u7684\u4eba\u7c7b\u89c6\u9891\uff0c\u4f7fVLAs\u80fd\u591f\u901a\u8fc7\u65e0\u76d1\u7763\u9884\u8bad\u7ec3\u4ece\u672a\u6807\u6ce8\u6570\u636e\u4e2d\u83b7\u53d6\u884c\u4e3a\u5148\u9a8c<\/li>\n<\/ul>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u5448\u73b0\u51fa\u5bf9\u6bd4\u9c9c\u660e\u7684\u7279\u5f81\u3002\u4e0e\u64cd\u4f5c\u9886\u57df\u7684\u5b9e\u4f53\u591a\u6837\u6027\u4e0d\u540c\uff0c\u9a7e\u9a76\u8f68\u8ff9\u5728\u6570\u636e\u96c6\u4e4b\u95f4\u4fdd\u6301\u4e00\u81f4\u7684\u8868\u5f81\u2014\u2014\u4ee5\u81ea\u8f66\u5750\u6807\u7cfb\u8868\u793a\u7684\u8def\u5f84\u70b9\u65e0\u8bba\u6570\u636e\u6765\u6e90\u5982\u4f55\u90fd\u4fdd\u6301\u7ed3\u6784\u7edf\u4e00\u3002\u8fd9\u79cd\u540c\u8d28\u6027\u5bfc\u81f4\u73b0\u6709\u5de5\u4f5c\u503e\u5411\u4e8e\u4ece\u8f68\u8ff9\u805a\u7c7b\u4e2d\u884d\u751f\u7684\u79bb\u6563\u5143\u52a8\u4f5c\u5206\u7c7b\u6cd5\u3002\u7136\u800c\uff0c\u6211\u4eec\u8bc6\u522b\u51fa\u4e00\u4e2a\u5173\u952e\u9650\u5236\uff1a\u8fd9\u4e9b\u5206\u7c7b\u65b9\u6848\u4e22\u5f03\u4e86\u4f20\u611f\u5668\u89c2\u6d4b\u4e2d\u5b58\u5728\u7684\u4e30\u5bcc\u89c6\u89c9\u8bed\u4e49\u3002\u53d7UniVLA\u81ea\u76d1\u7763\u8303\u5f0f\u7684\u542f\u53d1\uff0c\u672c\u6587\u7684LatentVLA\u76f4\u63a5\u4ece\u89c6\u89c9\u89c2\u6d4b\u4e2d\u5b66\u4e60\u6f5c\u5728\u52a8\u4f5c\uff0c\u901a\u8fc7\u4fdd\u7559VLM\u63a8\u7406\u6240\u5fc5\u9700\u7684\u89c6\u89c9\u57fa\u7840\u6765\u5c55\u793a\u4f18\u8d8a\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u4e09\u3001\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>\u673a\u5668\u4eba\u64cd\u4f5c\u9886\u57df\u5e7f\u6cdb\u63a2\u7d22\u4e86\u6f5c\u5728\u52a8\u4f5c\u8868\u5f81\uff0c\u4ee5\u89e3\u51b3\u8de8\u5b9e\u4f53\u6cdb\u5316\u7684\u57fa\u672c\u6311\u6218\u3002\u4e0d\u540c\u7684\u673a\u5668\u4eba\u5f62\u6001\u751f\u6210\u4e0d\u517c\u5bb9\u683c\u5f0f\u548c\u7edf\u8ba1\u7279\u6027\u7684\u52a8\u4f5c\u6570\u636e\uff0c\u9700\u8981\u7edf\u4e00\u7684\u8868\u5f81\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>\u4ee3\u8868\u6027\u5de5\u4f5c<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>VQ-BeT<\/strong>\uff1a\u91c7\u7528\u53d8\u5206\u81ea\u7f16\u7801\u5668\u5c06\u539f\u59cb\u8f68\u8ff9\u538b\u7f29\u4e3a\u7ed3\u6784\u5316\u6f5c\u5728\u7a7a\u95f4\uff0c\u5b9e\u73b0\u8de8\u4efb\u52a1\u8fc1\u79fb\u548c\u7b56\u7565\u9002\u5e94<\/li>\n\n\n\n<li><strong>Genie<\/strong>\uff1a\u901a\u8fc7\u89c6\u9891\u9884\u6d4b\u76ee\u6807\u5b66\u4e60\u52a8\u4f5c\u8868\u5f81\uff0c\u5176\u4e2d\u6f5c\u5728\u7801\u4ece\u5efa\u6a21\u5e27\u8f6c\u6362\u4e2d\u51fa\u73b0<\/li>\n\n\n\n<li><strong>LAPO<\/strong>\uff1a\u5728\u64cd\u4f5c\u573a\u666f\u4e2d\u76f4\u63a5\u4ece\u50cf\u7d20\u89c2\u6d4b\u4e2d\u63d0\u53d6\u52a8\u4f5c<\/li>\n\n\n\n<li><strong>LAPA\u548cUniVLA<\/strong>\uff1a\u5c06\u8fd9\u4e00\u65b9\u6cd5\u6269\u5c55\u5230\u4e92\u8054\u7f51\u89c4\u6a21\u7684\u4eba\u7c7b\u89c6\u9891\uff0c\u4f7fVLAs\u80fd\u591f\u901a\u8fc7\u65e0\u76d1\u7763\u9884\u8bad\u7ec3\u4ece\u672a\u6807\u6ce8\u6570\u636e\u4e2d\u83b7\u53d6\u884c\u4e3a\u5148\u9a8c<\/li>\n<\/ul>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u5448\u73b0\u51fa\u5bf9\u6bd4\u9c9c\u660e\u7684\u7279\u5f81\u3002\u4e0e\u64cd\u4f5c\u9886\u57df\u7684\u5b9e\u4f53\u591a\u6837\u6027\u4e0d\u540c\uff0c\u9a7e\u9a76\u8f68\u8ff9\u5728\u6570\u636e\u96c6\u4e4b\u95f4\u4fdd\u6301\u4e00\u81f4\u7684\u8868\u5f81\u2014\u2014\u4ee5\u81ea\u8f66\u5750\u6807\u7cfb\u8868\u793a\u7684\u8def\u5f84\u70b9\u65e0\u8bba\u6570\u636e\u6765\u6e90\u5982\u4f55\u90fd\u4fdd\u6301\u7ed3\u6784\u7edf\u4e00\u3002\u8fd9\u79cd\u540c\u8d28\u6027\u5bfc\u81f4\u73b0\u6709\u5de5\u4f5c\u503e\u5411\u4e8e\u4ece\u8f68\u8ff9\u805a\u7c7b\u4e2d\u884d\u751f\u7684\u79bb\u6563\u5143\u52a8\u4f5c\u5206\u7c7b\u6cd5\u3002\u7136\u800c\uff0c\u6211\u4eec\u8bc6\u522b\u51fa\u4e00\u4e2a\u5173\u952e\u9650\u5236\uff1a\u8fd9\u4e9b\u5206\u7c7b\u65b9\u6848\u4e22\u5f03\u4e86\u4f20\u611f\u5668\u89c2\u6d4b\u4e2d\u5b58\u5728\u7684\u4e30\u5bcc\u89c6\u89c9\u8bed\u4e49\u3002\u53d7UniVLA\u81ea\u76d1\u7763\u8303\u5f0f\u7684\u542f\u53d1\uff0c\u672c\u6587\u7684LatentVLA\u76f4\u63a5\u4ece\u89c6\u89c9\u89c2\u6d4b\u4e2d\u5b66\u4e60\u6f5c\u5728\u52a8\u4f5c\uff0c\u901a\u8fc7\u4fdd\u7559VLM\u63a8\u7406\u6240\u5fc5\u9700\u7684\u89c6\u89c9\u57fa\u7840\u6765\u5c55\u793a\u4f18\u8d8a\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u4e09\u3001\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>LatentVLA\u7684\u89e3\u51b3\u65b9\u6848<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86<strong>LatentVLA<\/strong>\uff1a\u6574\u5408VLM\u6a21\u578b\u4f18\u52bf\u4e0e\u4f20\u7edf\u89c6\u89c9\u65b9\u6cd5\u6548\u7387\u548c\u7cbe\u5ea6\u7684\u65b0\u578b\u6846\u67b6\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u81ea\u76d1\u7763\u6f5c\u5728\u52a8\u4f5c\u9884\u6d4b<\/strong>\uff1a\u91c7\u7528\u4ee5\u81ea\u8f66\u4e3a\u4e2d\u5fc3\u7684\u6f5c\u5728\u52a8\u4f5c\u9884\u6d4b\u4f5c\u4e3a\u81ea\u76d1\u7763\u5b66\u4e60\u76ee\u6807\u6765\u8bad\u7ec3VLM\u6a21\u578b\uff0c\u65e0\u9700\u5927\u91cf\u8bed\u8a00\u6807\u6ce8\uff0c\u540c\u65f6\u4f7f\u6a21\u578b\u80fd\u591f\u4ece\u672a\u6807\u6ce8\u7684\u8f68\u8ff9\u6570\u636e\u4e2d\u5b66\u4e60\u4e30\u5bcc\u7684\u9a7e\u9a76\u8868\u5f81\u3002\u8fd9\u79cd\u65b9\u6cd5\u51cf\u8f7b\u4e86\u8bed\u8a00\u504f\u5dee\u95ee\u9898\uff0c\u5e76\u663e\u8457\u964d\u4f4e\u4e86\u6807\u6ce8\u8d1f\u62c5\u3002<\/li>\n\n\n\n<li><strong>\u77e5\u8bc6\u84b8\u998f\u673a\u5236<\/strong>\uff1a\u5f15\u5165\u77e5\u8bc6\u84b8\u998f\u673a\u5236\uff0c\u5c06VLM\u6a21\u578b\u5b66\u5230\u7684\u8868\u5f81\u548c\u63a8\u7406\u80fd\u529b\u8fc1\u79fb\u5230\u4f20\u7edf\u7aef\u5230\u7aef\u8f68\u8ff9\u9884\u6d4b\u7f51\u7edc\u3002\u8fd9\u4e00\u84b8\u998f\u8fc7\u7a0b\u4f7f\u5b66\u751f\u6a21\u578b\u80fd\u591f\u7ee7\u627fVLM\u6559\u5e08\u7684\u5e7f\u6cdb\u901a\u7528\u77e5\u8bc6\u548c\u5f3a\u5927\u6cdb\u5316\u80fd\u529b\uff0c\u540c\u65f6\u4fdd\u6301\u4f20\u7edf\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u8ba1\u7b97\u6548\u7387\u3001\u6570\u503c\u7cbe\u5ea6\u548c\u5b9e\u65f6\u6027\u80fd\u7279\u5f81\u3002<\/li>\n\n\n\n<li><strong>\u6027\u80fd\u7a81\u7834<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5728NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u8fbe\u5230<strong>92.4\u7684PDMS\u5206\u6570<\/strong>\uff0c\u521b\u9020\u65b0\u7684\u6700\u4f18\u6027\u80fd\uff08SOTA\uff09<\/li>\n\n\n\n<li>\u5728nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p><strong>\u4ee5\u81ea\u8f66\u4e3a\u4e2d\u5fc3\u7684\u6f5c\u5728\u52a8\u4f5c\u5b66\u4e60<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"777\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/011301.png\" alt=\"\" class=\"wp-image-36450\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/011301.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/011301-266x300.png 266w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>VLM \u8bad\u7ec3<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"684\" height=\"428\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/011302.png\" alt=\"\" class=\"wp-image-36451\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/011302.png 684w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/011302-300x188.png 300w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/figure>\n\n\n\n<p><strong>VLM \u77e5\u8bc6\u96c6\u6210:\u65e0\u7f1d\u878d\u5408\u4f20\u7edf\u7aef\u5230\u7aef\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u8bad\u7ec3\u9884\u6d4b\u6f5c\u5728\u52a8\u4f5c\u540e\uff0cVLM\u5c1a\u4e0d\u80fd\u76f4\u63a5\u751f\u6210\u8f68\u8ff9\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u901a\u8fc7\u4e13\u7528\u878d\u5408\u6a21\u5757\u5c06VLM\u7279\u5f81\u4e0e\u4f20\u7edf\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u7279\u5f81\u878d\u5408\uff0c\u7136\u540e\u4f7f\u7528\u6240\u5f97\u7684\u7ec4\u5408\u8868\u5f81\u8bad\u7ec3\u878d\u5408\u6a21\u578b\u3002\u5982\u56fe2\u6240\u793a\uff0c\u6211\u4eec\u4e3b\u8981\u57fa\u4e8e\u4e24\u4e2a\u7ecf\u5178\u7684\u7aef\u5230\u7aef\u8303\u5f0f\u9a8c\u8bc1\u6709\u6548\u6027\uff1a\u57fa\u4e8e\u56de\u5f52\u7684\u6846\u67b6\uff08TransFuser\uff09\u548c\u57fa\u4e8e\u8bc4\u5206\u7684\u6846\u67b6\uff08iPad\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"646\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-134-646x1024.png\" alt=\"\" class=\"wp-image-36452\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-134-646x1024.png 646w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-134-189x300.png 189w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-134-768x1217.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-134-970x1536.png 970w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-134-631x1000.png 631w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-134.png 1080w\" sizes=\"(max-width: 646px) 100vw, 646px\" \/><\/figure>\n\n\n\n<p>\u56fe2\uff1aLatentVLA\u4e0e\u4f20\u7edf\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u96c6\u6210\u67b6\u6784<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"480\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/011303.png\" alt=\"\" class=\"wp-image-36453\" style=\"width:888px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/011303.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/011303-300x210.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>\u7528\u4e8e VLM \u84b8\u998f\u7684\u89c4\u5212 Transformer<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"980\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-135-1024x980.png\" alt=\"\" class=\"wp-image-36454\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-135-1024x980.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-135-300x287.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-135-768x735.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-135-1044x1000.png 1044w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-135.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe3\uff1a\u901a\u8fc7\u89c4\u5212Transformer\u84b8\u998fLatentVLA<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"401\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/011304.png\" alt=\"\" class=\"wp-image-36455\" style=\"width:888px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/011304.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/011304-300x176.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>\u56db\u3001\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>NAVSIM\u6d4b\u8bd5\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u88681\u603b\u7ed3\u4e86NAVSIM\u6d4b\u8bd5\u7684\u7ed3\u679c\u3002LatentVLA(iPad)\u8fbe\u523092.4\u7684PDMS\uff0c\u5efa\u7acb\u4e86\u65b0\u7684SOTA\uff0c\u901a\u8fc7VLM\u7279\u5f81\u7684\u96c6\u6210\u6bd4\u539f\u751fiPad\u65b9\u6cd5\uff0891.7\uff09\u63d0\u9ad8\u4e860.7\u5206\u3002\u540c\u6837\uff0cLatentVLA(TransFuser)\u8868\u73b0\u51fa\u663e\u8457\u6539\u8fdb\uff0c\u5c06\u5206\u6570\u4ece84.0\u63d0\u9ad8\u523086.6\u3002\u5173\u4e8e\u84b8\u998f\u7b56\u7565\uff0c\u7ed3\u679c\u8bc1\u660e\u77e5\u8bc6\u84b8\u998f\u53ef\u4ee5\u4fdd\u6301\u7ade\u4e89\u6027\u80fd\u3002Distilled LatentVLA(TransFuser)\u8fbe\u523085.7\u7684PDMS\uff0c\u5c3d\u7ba1\u4e0e\u975e\u84b8\u998f\u7248\u76f8\u6bd4\u964d\u4f4e0.9\u5206\uff0c\u4f46\u4ecd\u6bd4\u539f\u59cbTransFuser\u57fa\u7ebf\u63d0\u9ad81.7\u5206\u3002\u66f4\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cDistilled LatentVLA(iPad)\u8fbe\u523092.1\uff0c\u8868\u73b0\u51fa\u5353\u8d8a\u7684\u9c81\u68d2\u6027\uff0c\u4ec5\u964d\u4f4e0.3\u5206\uff08\u6027\u80fd\u4fdd\u6301\u738799.7%\uff09\uff0c\u540c\u65f6\u6bd4\u539f\u751fiPad\u63d0\u9ad80.4\u5206\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"562\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-136-1024x562.png\" alt=\"\" class=\"wp-image-36456\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-136-1024x562.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-136-300x165.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-136-768x422.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-136.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88681\uff1aNAVSIM\u6027\u80fd\u6bd4\u8f83<\/p>\n\n\n\n<p><strong>nuScenes\u96f6\u6837\u672c\u6027\u80fd<\/strong><\/p>\n\n\n\n<p>\u88682\u603b\u7ed3\u4e86nuScenes\u5f00\u73af\u89c4\u5212\u4e0a\u7684\u96f6\u6837\u672c\u5b9e\u9a8c\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86\u7ade\u4e89\u6027\u7684\u96f6\u6837\u672c\u6027\u80fd\uff0c\u5e73\u5747L2\u8bef\u5dee\u4e3a0.33m\uff0c\u5728\u9876\u7ea7VLM\u65b9\u6cd5\u4e2d\u6392\u540d\u9760\u524d\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cLatentVLA(iPad)\u57281s\u65f6\u8fbe\u52300.13m\uff0c\u57282s\u65f6\u8fbe\u52300.28m\uff0c\u5728\u8fd9\u4e9b\u5173\u952e\u77ed\u671f\u65f6\u95f4\u57df\u4e0a\u5339\u914d\u6216\u8d85\u8d8aImpromptuVLA\u7684\u6027\u80fd\u3002\u5c3d\u7ba1ImpromptuVLA\uff08L2\u8bef\u5dee\uff1a0.30\uff09\u548cEMMA+\uff08L2\u8bef\u5dee\uff1a0.29\uff09\u53d6\u5f97\u4e86\u7565\u597d\u7684\u6574\u4f53\u6027\u80fd\uff0c\u4f46\u8003\u8651\u8bad\u7ec3\u6570\u636e\u89c4\u6a21\u548c\u591a\u6837\u6027\u7684\u663e\u8457\u5dee\u5f02\u81f3\u5173\u91cd\u8981\u3002EMMA+\u53d7\u76ca\u4e8e\u663e\u8457\u66f4\u5927\u7684\u5185\u90e8\u6570\u636e\u96c6\uff0c\u5305\u542b\u6765\u81eaWaymo\u7684\u6570\u767e\u4e07\u573a\u666f\uff0c\u4ee3\u8868\u4e0d\u540c\u7684\u5730\u7406\u533a\u57df\u548c\u9a7e\u9a76\u6761\u4ef6\u3002ImpromptuVLA\u5229\u7528nuScenes\u6570\u636e\u96c6\u548cImpromptuVLA\u6570\u636e\u96c6\uff0880K\u7247\u6bb5\uff09\uff0c\u63d0\u4f9b\u5bf9\u76ee\u6807\u57df\u7684\u5e7f\u6cdb\u66b4\u9732\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684VLM\u4e13\u95e8\u5728OpenScene\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\uff0c\u4e0e\u7aef\u5230\u7aef\u67b6\u6784\u96c6\u6210\u540e\uff0c\u4ec5\u5728navtrain\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\uff0c\u800c\u8be5\u6570\u636e\u96c6\u6240\u6db5\u76d6\u7684\u6570\u636e\u591a\u6837\u6027\uff0c\u53ea\u5360\u8fd9\u4e9b\u57fa\u7ebf\u65b9\u6cd5\u53ef\u7528\u6570\u636e\u591a\u6837\u6027\u7684\u4e00\u5c0f\u90e8\u5206\u3002\u5728 nuScenes \u4e0a\u8fdb\u884c\u96f6\u6837\u672c\u8bc4\u4f30\u6240\u53d6\u5f97\u7684\u6709\u7ade\u4e89\u529b\u8868\u73b0\uff0c\u8868\u660e\u6211\u4eec\u7684\u65b9\u6cd5\u5177\u5907\u5f88\u5f3a\u7684\u8de8\u6570\u636e\u96c6\u6cdb\u5316\u80fd\u529b\u3002\u6b64\u5916\uff0c\u5c3d\u7ba1\u5b58\u5728\u57df\u5dee\u5f02\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4ecd\u663e\u8457\u4f18\u4e8e\u901a\u7528\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08\u4f8b\u5982 Qwen-2.5-VL-7B\uff1a1.45m\uff09\uff0c\u5e76\u53d6\u5f97\u4e86\u4e0e\u4e13\u95e8\u7684\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\uff08\u4f8b\u5982 OmniDrive\uff1a0.33m\u3001EMMA\uff1a0.32m\uff09\u76f8\u5f53\u7684\u7ed3\u679c\u3002\u8fd9\u8bf4\u660e\uff0c\u6211\u4eec\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u5bf9VLM\u7684\u96c6\u6210\u80fd\u591f\u6709\u6548\u6355\u83b7\u53ef\u8fc1\u79fb\u7684\u9a7e\u9a76\u77e5\u8bc6\uff0c\u800c\u4e0d\u4f1a\u5bf9\u7279\u5b9a\u7684\u5730\u7406\u73af\u5883\u6216\u4f20\u611f\u5668\u914d\u7f6e\u4ea7\u751f\u8fc7\u62df\u5408\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"525\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-137-525x1024.png\" alt=\"\" class=\"wp-image-36457\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-137-525x1024.png 525w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-137-154x300.png 154w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-137-768x1498.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-137-788x1536.png 788w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-137-1050x2048.png 1050w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-137-513x1000.png 513w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-137.png 1080w\" sizes=\"(max-width: 525px) 100vw, 525px\" \/><\/figure>\n\n\n\n<p>\u88682\uff1anuScenes\u96f6\u6837\u672c\u6027\u80fd<\/p>\n\n\n\n<p><strong>\u5b9a\u6027\u5206\u6790<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"558\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-138-1024x558.png\" alt=\"\" class=\"wp-image-36458\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-138-1024x558.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-138-300x164.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-138-768x419.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-138.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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