{"id":36669,"date":"2026-01-22T17:32:48","date_gmt":"2026-01-22T09:32:48","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36669"},"modified":"2026-01-22T17:32:48","modified_gmt":"2026-01-22T09:32:48","slug":"2026-01-22-%e6%9d%8e%e5%bc%98%e6%89%ac%e5%9b%a2%e9%98%9fplannerrft%ef%bc%9a%e6%89%a9%e6%95%a3%e8%bd%a8%e8%bf%b9%e8%a7%84%e5%88%92%e6%96%b0%e6%96%b9%e6%a1%88%ef%bc%8c%e6%8f%90%e5%8d%87%e5%a4%8d","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/01\/22\/36669\/","title":{"rendered":"2026-01-22 \u674e\u5f18\u626c\u56e2\u961fPlannerRFT\uff1a\u6269\u6563\u8f68\u8ff9\u89c4\u5212\u65b0\u65b9\u6848\uff0c\u63d0\u5347\u590d\u6742\u9a7e\u9a76\u573a\u666f\u6027\u80fd\uff08\u540c\u6d4e&amp;\u6e2f\u5927\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/tGwA_DqfBltq6LkI_D1tvA\">https:\/\/mp.weixin.qq.com\/s\/tGwA_DqfBltq6LkI_D1tvA<\/a><\/p>\n\n\n\n<p>\u540c\u6d4e\u3001\u4e0a\u6d77\u521b\u667a\u5b66\u9662\u3001\u6e2f\u5927OpenDriveLab\u7b49\u56e2\u961f\u7684\u5de5\u4f5c\u3002\u57fa\u4e8e\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\u548c\u9ad8\u6548\u5fae\u8c03\u7684Diffusion Planner &#8211; PlannerRFT\u3002\u63d0\u70bc\u51e0\u4e2a\u5173\u952e\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f00\u53d1\u4e86\u65b0\u7684nuMax\u4eff\u771f\u5668\uff0c\u6bd4nuPlan\u52a0\u901f\u5341\u500d\uff1b<\/li>\n\n\n\n<li>\u4e09\u9636\u6bb5\u8bad\u7ec3\uff1aIL\u9884\u8bad\u7ec3\uff0cIL\u5fae\u8c03\uff0cRL\u5fae\u8c03\uff0cRL\u57fa\u4e8ePPO\u548cGRPO\u5b9e\u73b0\uff1b<\/li>\n\n\n\n<li>\u5728\u53bb\u566a\u7b56\u7565\u548c\u8f68\u8ff9\u91c7\u6837\u4e0a\u505a\u4e86\u4e9b\u4f18\u5316\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u89c4\u5212\u5668\u5df2\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u751f\u6210\u7c7b\u4eba\u8f68\u8ff9\u7684\u4e00\u79cd\u6781\u5177\u6f5c\u529b\u7684\u65b9\u6cd5\u3002\u8fd1\u671f\u7814\u7a76\u901a\u8fc7\u751f\u6210-\u8bc4\u4f30\u5faa\u73af\u4e2d\u7684\u5956\u52b1\u5bfc\u5411\u4f18\u5316\uff0c\u5c06\u5f3a\u5316\u5fae\u8c03\u878d\u5165\u6269\u6563\u89c4\u5212\u5668\u4ee5\u63d0\u5347\u5176\u9c81\u68d2\u6027\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u96be\u4ee5\u751f\u6210\u591a\u6a21\u6001\u3001\u573a\u666f\u81ea\u9002\u5e94\u7684\u8f68\u8ff9\uff0c\u963b\u788d\u4e86\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u4fe1\u606f\u6027\u5956\u52b1\u7684\u5229\u7528\u6548\u7387\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6e2f\u5927OpenDriveLab\u8054\u5408\u540c\u6d4e\u5927\u5b66\u7b49\u7814\u7a76\u56e2\u961f\u63d0\u51faPlannerRFT\u2014\u2014\u4e00\u79cd\u9002\u7528\u4e8e\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u89c4\u5212\u5668\u7684\u6837\u672c\u9ad8\u6548\u5f3a\u5316\u5fae\u8c03\u6846\u67b6\u3002PlannerRFT\u91c7\u7528\u53cc\u5206\u652f\u4f18\u5316\u7b56\u7565\uff0c\u5728\u4e0d\u6539\u53d8\u539f\u59cb\u63a8\u7406\u6d41\u7a0b\u7684\u524d\u63d0\u4e0b\uff0c\u540c\u65f6\u4f18\u5316\u8f68\u8ff9\u5206\u5e03\u5e76\u81ea\u9002\u5e94\u5f15\u5bfc\u53bb\u566a\u8fc7\u7a0b\u671d\u5411\u66f4\u5177\u6f5c\u529b\u7684\u63a2\u7d22\u65b9\u5411\u3002\u4e3a\u652f\u6301\u5927\u89c4\u6a21\u5e76\u884c\u5b66\u4e60\uff0c\u672c\u6587\u5f00\u53d1\u4e86nuMax\u4eff\u771f\u5668\uff0c\u5176\u8f68\u8ff9\u63a8\u6f14\u901f\u5ea6\u8f83\u539f\u751fnuPlan\u5feb10\u500d\u3002\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cPlannerRFT\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u4e14\u5728\u5b66\u4e60\u8fc7\u7a0b\u4e2d\u5c55\u73b0\u51fa\u9c9c\u660e\u7684\u884c\u4e3a\u7279\u5f81\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>\uff1aPlannerRFT: Reinforcing Diffusion Planners through Closed-Loop and Sample-Efficient Fine-Tuning<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>\uff1ahttps:\/\/arxiv.org\/abs\/2601.12901<\/li>\n\n\n\n<li><strong>\u9879\u76ee\u4e3b\u9875<\/strong>\uff1ahttps:\/\/opendrivelab.com\/PlannerRFT<\/li>\n<\/ul>\n\n\n\n<p>PS. 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class=\"wp-block-list\">\n<li>\u63d0\u51faPlannerRFT\uff0c\u4e00\u79cd\u7528\u4e8e\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u89c4\u5212\u5668\u7684\u95ed\u73af\u5f3a\u5316\u5fae\u8c03\u6846\u67b6\uff0c\u901a\u8fc7\u7b56\u7565\u5f15\u5bfc\u53bb\u566a\u63d0\u5347\u5f3a\u5316\u5b66\u4e60\u91c7\u6837\u6548\u7387\u3002<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u63a2\u7d22\u7b56\u7565\uff0c\u80fd\u591f\u8de8\u573a\u666f\u81ea\u9002\u5e94\u8c03\u8282\u8f68\u8ff9\u91c7\u6837\uff0c\u5e76\u4e0e\u5206\u7ec4\u5f3a\u5316\u4f18\u5316\u534f\u540c\u5b9e\u73b0\u7a33\u5b9a\u5fae\u8c03\u3002\u4e3a\u652f\u6301\u5927\u89c4\u6a21\u5728\u7ebf\u8bad\u7ec3\uff0c\u672c\u6587\u8fdb\u4e00\u6b65\u5f00\u53d1\u4e86\u9488\u5bf9nuPlan\u57fa\u51c6\u6570\u636e\u96c6\u6821\u51c6\u7684GPU\u5e76\u884c\u4eff\u771f\u5668nuMax\u3002<\/li>\n\n\n\n<li>\u5728nuPlan\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cPlannerRFT\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u540c\u65f6\u663e\u8457\u63d0\u5347\u4e86\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e0b\u7684\u5b89\u5168\u6027\u548c\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e8c\u3001\u9884\u5907\u77e5\u8bc6\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u4efb\u52a1\u5b9a\u4e49<\/strong><\/p>\n\n\n\n<p>\u8fd0\u52a8\u89c4\u5212\u7684\u76ee\u6807\u662f\u5728\u52a8\u6001\u9a7e\u9a76\u73af\u5883\u4e2d\u4e3a\u81ea\u8f66\u751f\u6210\u5b89\u5168\u53ef\u884c\u7684\u8f68\u8ff9\u3002\u672c\u6587\u91cd\u70b9\u901a\u8fc7\u5f3a\u5316\u5fae\u8c03\u63d0\u5347\u6a21\u4eff\u5b66\u4e60\uff08IL\uff09\u9884\u8bad\u7ec3\u6269\u6563\u89c4\u5212\u5668\u7684\u95ed\u73af\u6027\u80fd\uff0c\u4ece\u800c\u5728\u8fd0\u52a8\u89c4\u5212\u4e2d\u5b9e\u73b0\u66f4\u9ad8\u7684\u5b89\u5168\u6027\u3001\u8212\u9002\u6027\u4e0e\u6548\u7387\u3002<\/p>\n\n\n\n<p><strong>\u89c4\u5212\u5668\u67b6\u6784<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"696\" height=\"253\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012201.png\" alt=\"\" class=\"wp-image-36671\" style=\"width:889px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012201.png 696w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012201-300x109.png 300w\" sizes=\"(max-width: 696px) 100vw, 696px\" \/><\/figure>\n\n\n\n<p><strong>\u4e09\u3001PlannerRFT\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>PlannerRFT\u6982\u8ff0<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\uff0c\u9488\u5bf9\u7ecf\u6a21\u4eff\u5b66\u4e60\u9884\u8bad\u7ec3\u7684\u6269\u6563\u89c4\u5212\u5668\uff0cPlannerRFT\u91c7\u7528\u201c\u751f\u6210-\u8bc4\u4f30\u201d\u8303\u5f0f\u4e0e\u7fa4\u7ec4\u76f8\u5bf9\u7b56\u7565\u4f18\u5316\uff08GRPO\uff09\uff0c\u65e8\u5728\u63d0\u5347\u5176\u95ed\u73af\u89c4\u5212\u6027\u80fd\u3002\u5728\u5f3a\u5316\u5fae\u8c03\uff08RFT\uff09\u9636\u6bb5\uff0c\u5c06\u7ecf\u6a21\u4eff\u5b66\u4e60\u9884\u8bad\u7ec3\u7684\u89c4\u5212\u5668\u590d\u5236\u5e76\u51bb\u7ed3\uff0c\u4f5c\u4e3a\u5168\u5c40\u53c2\u8003\u6a21\u578b\u3002\u4e3a\u63d0\u9ad8\u8f68\u8ff9\u91c7\u6837\u7684\u591a\u6a21\u6001\u6027\u4e0e\u9002\u5e94\u6027\uff0c\u672c\u6587\u5f15\u5165\u7b56\u7565\u5f15\u5bfc\u53bb\u566a\u673a\u5236\uff1a\u5728\u539f\u59cb\u6a21\u578b\u67b6\u6784\u4e2d\u5d4c\u5165\u63a2\u7d22\u7b56\u7565\u6a21\u5757\uff0c\u5e76\u901a\u8fc7\u95ed\u73afRollout\u4e0e\u8fd1\u7aef\u7b56\u7565\u4f18\u5316\uff08PPO\uff09\u5bf9\u8be5\u7b56\u7565\u8fdb\u884c\u4f18\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"588\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-161-1024x588.png\" alt=\"\" class=\"wp-image-36672\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-161-1024x588.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-161-300x172.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-161-768x441.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-161.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7b56\u7565\u5f15\u5bfc\u53bb\u566a<\/strong><\/p>\n\n\n\n<p><strong>\u5f15\u5bfc\u53bb\u566a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"455\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012202.png\" alt=\"\" class=\"wp-image-36673\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012202.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012202-300x198.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u63a2\u7d22\u7b56\u7565\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"244\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012203.png\" alt=\"\" class=\"wp-image-36674\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012203.png 692w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012203-300x106.png 300w\" sizes=\"(max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p><strong>\u8f68\u8ff9\u91c7\u6837<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"159\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012204.png\" alt=\"\" class=\"wp-image-36675\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012204.png 692w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012204-300x69.png 300w\" sizes=\"(max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p><strong>\u95ed\u73afrollout<\/strong><\/p>\n\n\n\n<p><strong>nuMax\u4eff\u771f\u5668<\/strong><\/p>\n\n\n\n<p>\u4e0e\u57fa\u4e8e\u9884\u6536\u96c6\u79bb\u7ebf\u6570\u636e\u96c6\u8bad\u7ec3\u7684\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u4e0d\u540c\uff0c\u5f3a\u5316\u5b66\u4e60\u7684\u8bad\u7ec3\u6570\u636e\u6765\u81ea\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7684\u4eff\u771f\u751f\u6210\u6570\u636e\u3002\u56e0\u6b64\uff0c\u5728\u8ba1\u7b97\u8d44\u6e90\u6709\u9650\u7684\u60c5\u51b5\u4e0b\uff0c\u63d0\u5347\u4eff\u771f\u541e\u5410\u91cf\u5bf9\u4e8e\u52a0\u901f\u6a21\u578b\u8fed\u4ee3\u548c\u5b9e\u73b0\u89c4\u6a21\u5316\u8bad\u7ec3\u81f3\u5173\u91cd\u8981\u3002\u4e3a\u6b64\uff0c\u672c\u6587\u5f00\u53d1\u4e86nuMax\u2014\u2014\u4e00\u6b3eGPU\u5e76\u884c\u4eff\u771f\u5668\uff0c\u5176Rollout\u901f\u5ea6\u8f83\u539f\u751fnuPlan\u4eff\u771f\u5668\u63d0\u534710\u500d\u3002\u8be5\u4eff\u771f\u5668\u57fa\u4e8eWaymax\u548cV-Max\u6784\u5efa\u3002<\/p>\n\n\n\n<p><strong>Rollout\u89c4\u5212<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"145\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012205.png\" alt=\"\" class=\"wp-image-36676\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012205.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012205-300x63.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<p><strong>\u7b56\u7565\u4f18\u5316<\/strong><\/p>\n\n\n\n<p><strong>\u63a2\u7d22\u7b56\u7565\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"691\" height=\"118\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012206.png\" alt=\"\" class=\"wp-image-36677\" style=\"width:889px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012206.png 691w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012206-300x51.png 300w\" sizes=\"(max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<p><strong>\u8f68\u8ff9\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"342\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012207.png\" alt=\"\" class=\"wp-image-36678\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012207.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012207-300x149.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>PlannerRFT\u6700\u4f73\u5b9e\u8df5<\/strong><\/p>\n\n\n\n<p>\u4ee5\u4e0b\u603b\u7ed3\u4f7f\u7528PlannerRFT\u5bf9\u6269\u6563\u578b\u89c4\u5212\u5668\u8fdb\u884c\u6709\u6548\u5fae\u8c03\u7684\u6700\u4f73\u5b9e\u8df5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5fae\u8c03DDIM\u53bb\u566a<\/strong>\uff1a\u91c7\u75285\u6b65DDIM\u53bb\u566a\u65b9\u6848\u3002\u4e0e\u57fa\u4e8e\u5e38\u5fae\u5206\u65b9\u7a0b\uff08ODE\uff09\u7684\u53bb\u566a\u76f8\u6bd4\uff0cDDIM\u5f15\u5165\u7684\u968f\u673a\u6027\u53ef\u589e\u5f3a\u63a2\u7d22\u80fd\u529b\uff0c\u4e14\u6240\u9700\u6b65\u9aa4\u8fdc\u5c11\u4e8eDDPM\uff0c\u80fd\u4fdd\u8bc1\u8f83\u9ad8\u7684\u8bad\u7ec3\u6548\u7387\u3002<\/li>\n\n\n\n<li><strong>\u63a2\u7d22\u7b56\u7565\u96f6\u521d\u59cb\u5316<\/strong>\uff1a\u63a2\u7d22\u7b56\u7565\u521d\u59cb\u5316\u4e3a\u751f\u6210\u6a2a\u5411\u548c\u7eb5\u5411\u96f6\u5747\u503c\u5f15\u5bfc\u5c3a\u5ea6\u3002\u8be5\u521d\u59cb\u5316\u65b9\u5f0f\u786e\u4fdd\u5728\u53c2\u8003\u8f68\u8ff9\u9644\u8fd1\u8fdb\u884c\u65e0\u504f\u63a2\u7d22\uff0c\u7f13\u89e3\u5fae\u8c03\u521d\u671f\u7684\u6027\u80fd\u4e0b\u964d\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>\u5373\u63d2\u5373\u7528\u5fae\u8c03<\/strong>\uff1a\u5f3a\u5316\u5fae\u8c03\u9636\u6bb5\uff0c\u53c2\u8003\u6269\u6563Transformer\u4e0e\u63a2\u7d22\u7b56\u7565\u534f\u540c\u5de5\u4f5c\uff0c\u5f15\u5bfc\u53bb\u566a\u8fc7\u7a0b\uff0c\u4fc3\u8fdb\u63a2\u7d22\u4e0e\u7b56\u7565\u4f18\u5316\uff1b\u90e8\u7f72\u65f6\uff0c\u79fb\u9664\u8fd9\u4e9b\u6a21\u5757\uff0c\u4f7f\u89c4\u5212\u5668\u4fdd\u7559\u539f\u59cb\u6269\u6563\u7ed3\u6784\uff0c\u540c\u65f6\u5b9e\u73b0\u8f68\u8ff9\u6027\u80fd\u63d0\u5347\u3002<\/li>\n\n\n\n<li><strong>\u590d\u6742\u573a\u666f\u5fae\u8c03<\/strong>\uff1a\u7eb3\u5165\u9002\u5ea6\u6bd4\u4f8b\u7684\u590d\u6742\u573a\u666f\u53ef\u663e\u8457\u63d0\u5347\u89c4\u5212\u5668\u7684\u9c81\u68d2\u6027\uff0c\u4f46\u8bad\u7ec3\u96c6\u8fc7\u4e8e\u590d\u6742\u53ef\u80fd\u5bfc\u81f4\u6574\u4f53\u6027\u80fd\u4e0b\u964d\u30025.3\u8282\u5c06\u8fdb\u4e00\u6b65\u5206\u6790\u5fae\u8c03\u6570\u636e\u9009\u62e9\u7684\u5f71\u54cd\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u56db\u3001\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u65e8\u5728\u63a2\u7a76\u4ee5\u4e0b\u7814\u7a76\u95ee\u9898\uff1a1\uff09PlannerRFT\u80fd\u5426\u901a\u8fc7\u5f3a\u5316\u5fae\u8c03\u63d0\u5347\u6269\u6563\u578b\u89c4\u5212\u5668\u7684\u95ed\u73af\u89c4\u5212\u6027\u80fd\uff1f2\uff09\u63a2\u7d22\u7b56\u7565\u662f\u5426\u901a\u8fc7\u7b56\u7565\u5f15\u5bfc\u53bb\u566a\u63d0\u5347\u91c7\u6837\u6548\u7387\uff1f3\uff09\u5fae\u8c03\u540e\u7684\u89c4\u5212\u5668\u662f\u5426\u4f1a\u5448\u73b0\u51fa\u4e0e\u6a21\u4eff\u5b66\u4e60\u4e0d\u540c\u7684\u884c\u4e3a\u6a21\u5f0f\uff1f4\uff09\u5f71\u54cd\u5f3a\u5316\u5fae\u8c03\u8bad\u7ec3\u6709\u6548\u6027\u7684\u5173\u952e\u56e0\u7d20\u6709\u54ea\u4e9b\uff1f<\/p>\n\n\n\n<p><strong>\u8bbe\u7f6e\u4e0e\u534f\u8bae<\/strong><\/p>\n\n\n\n<p><strong>\u57fa\u51c6\u6d4b\u8bd5\u4e0e\u57fa\u7ebf\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u5728\u5927\u89c4\u6a21nuPlan\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u8bc4\u4f30PlannerRFT\u3002\u91c7\u7528Val14\u57fa\u51c6\u6d4b\u8bd5\u8bc4\u4f30\u6a21\u578b\u5728\u901a\u7528\u9a7e\u9a76\u573a\u666f\u4e0b\u7684\u6027\u80fd\uff0cTest14-hard\u57fa\u51c6\u6d4b\u8bd5\u5305\u542b\u66f4\u590d\u6742\u7684\u6311\u6218\u6027\u573a\u666f\uff0c\u7528\u4e8e\u53cd\u6620\u6a21\u578b\u5728\u6781\u7aef\u573a\u666f\u4e0b\u7684\u9c81\u68d2\u6027\u3002\u6240\u6709\u8bc4\u4f30\u5747\u5728nuPlan\u95ed\u73af\u4eff\u771f\u5668\u4e2d\u8fdb\u884c\uff0c\u652f\u6301\u975e\u53cd\u5e94\u5f0f\u548c\u53cd\u5e94\u5f0f\u80cc\u666f\u4ea4\u901a\u8bbe\u7f6e\uff1a\u975e\u53cd\u5e94\u5f0f\u8bbe\u7f6e\u4e2d\uff0c\u5468\u56f4\u8f66\u8f86\u9075\u5faa\u9884\u5f55\u5236\u8f68\u8ff9\uff1b\u53cd\u5e94\u5f0f\u8bbe\u7f6e\u4e2d\uff0c\u91c7\u7528\u667a\u80fd\u9a7e\u9a76\u6a21\u578b\uff08IDM\uff09\uff0c\u5468\u56f4\u8f66\u8f86\u6839\u636e\u81ea\u8f66\u52a8\u4f5c\u52a8\u6001\u8c03\u6574\u884c\u4e3a\uff0c\u66f4\u771f\u5b9e\u5730\u4eff\u771f\u73b0\u5b9e\u4e16\u754c\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u5c06PlannerRFT\u4e0e\u591a\u79cd\u57fa\u7ebf\u65b9\u6cd5\u8fdb\u884c\u5bf9\u6bd4\uff0c\u5305\u62ec\u57fa\u4e8e\u89c4\u5219\u7684\u89c4\u5212\u5668\uff08IDM\u3001PDM-Closed\uff09\u3001\u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\u5668\uff08PlanTF\u3001GameFormer\u3001PLUTO\uff09\u4ee5\u53ca\u8fd1\u671f\u7684\u751f\u6210\u5f0f\u89c4\u5212\u65b9\u6cd5\uff08Diffusion Planner\u3001Flow Planner\uff09\u3002\u6700\u7ec8\u8bc4\u4f30\u5f97\u5206\u4e3a\u6240\u6709\u573a\u666f\u7684\u5e73\u5747\u503c\uff08\u8303\u56f40-100\uff09\uff0c\u5206\u6570\u8d8a\u9ad8\u8868\u793a\u89c4\u5212\u6027\u80fd\u8d8a\u597d\u3002<\/p>\n\n\n\n<p><strong>\u9884\u8bad\u7ec3<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u91c7\u7528Diffusion 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class=\"wp-image-36679\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-162.png 1011w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-162-300x215.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-162-768x552.png 768w\" sizes=\"(max-width: 1011px) 100vw, 1011px\" 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012208.png\" alt=\"\" class=\"wp-image-36680\" style=\"width:889px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012208.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012208-300x72.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"607\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-163-1024x607.png\" alt=\"\" class=\"wp-image-36681\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-163-1024x607.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-163-300x178.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-163-768x455.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-163.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u63a2\u7d22\u7b56\u7565\u6709\u6548\u6027<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"208\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/012209.png\" alt=\"\" class=\"wp-image-36682\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012209.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/012209-300x91.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"229\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-164-1024x229.png\" alt=\"\" class=\"wp-image-36683\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-164-1024x229.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-164-300x67.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-164-768x172.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/01\/\u56fe\u7247-164.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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