{"id":36884,"date":"2026-02-05T17:33:58","date_gmt":"2026-02-05T09:33:58","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36884"},"modified":"2026-02-05T17:33:58","modified_gmt":"2026-02-05T09:33:58","slug":"2026-02-05-%e8%8b%b1%e4%bc%9f%e8%be%be%e6%9c%80%e6%96%b0fastdrivecot%ef%bc%81cot%e6%80%9d%e7%bb%b4%e9%93%be%e6%8e%a8%e7%90%86%e5%8a%a0%e9%80%9f3-4%e5%80%8d","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/02\/05\/36884\/","title":{"rendered":"2026-02-05 \u82f1\u4f1f\u8fbe\u6700\u65b0FastDriveCoT\uff01CoT\u601d\u7ef4\u94fe\u63a8\u7406\u52a0\u901f3-4\u500d&#8230;"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/gQGTnTg5Q983UNR1c1PCCw\">https:\/\/mp.weixin.qq.com\/s\/gQGTnTg5Q983UNR1c1PCCw<\/a><\/p>\n\n\n\n<p><strong>\u82f1\u4f1f\u8fbe\u56e2\u961f\u7684\u4e00\u7bc7\u65b0\u5de5\u4f5c \u2014 FastDriveCoT\uff0c\u628a\u601d\u7ef4\u94fe\u7684\u8fc7\u7a0b\u52a0\u901f\u4e863-4\u500d\u3002<\/strong>\u505aVLA\u90e8\u7f72\u7684\u516c\u53f8\u548c\u540c\u5b66\u53ef\u4ee5\u91cd\u70b9\u5173\u6ce8\u4e0b\uff0c\u4e3b\u8981\u5b9e\u73b0\u65b9\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul 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class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aAccelerating Structured Chain-of-Thought in Autonomous Vehicles<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2602.02864<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"260\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/02\/image-1024x260.png\" alt=\"\" class=\"wp-image-36885\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-1024x260.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-768x195.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u4e00\u3001\u80cc\u666f\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u8bed\u8a00\u5df2\u6210\u4e3a\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u5173\u952e\u6a21\u6001\uff0c\u63a8\u52a8\u4e86\u5177\u8eab\u64cd\u4f5c\u548c\u81ea\u52a8\u9a7e\u9a76\u7b49\u9886\u57df\u7684\u53d1\u5c55\u3002\u968f\u7740\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u548c\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u7684\u5feb\u901f\u8fdb\u6b65\uff0c\u8bed\u8a00\u5df2\u8d8a\u6765\u8d8a\u591a\u5730\u878d\u5165\u611f\u77e5\u548c\u51b3\u7b56\u6d41\u7a0b\uff0c\u5c06\u89c6\u89c9-\u52a8\u4f5c\uff08VA\uff09\u6a21\u578b\u8f6c\u53d8\u4e3a\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u3002\u4e0e\u4f20\u7edfVA\u6a21\u578b\u76f8\u6bd4\uff0cVLA\u6a21\u578b\u53d7\u76ca\u4e8e\u8bed\u8a00\u63a5\u5730\u80fd\u529b\uff0c\u80fd\u591f\u66f4\u597d\u5730\u89e3\u8bfb\u7528\u6237\u610f\u56fe\u3001\u5206\u89e3\u4efb\u52a1\uff0c\u5e76\u8fd0\u7528\u5e38\u8bc6\u63a8\u7406\u5b9e\u73b0\u66f4\u7c7b\u4eba\u7684\u884c\u4e3a\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e00\u65b9\u5411\u7684\u4ee3\u8868\u6027\u6280\u672f\u662f\u601d\u7ef4\u94fe\uff08CoT\uff09\u63d0\u793a\u6cd5\uff0c\u8be5\u65b9\u6cd5\u4ee5\u727a\u7272\u90e8\u5206\u63a8\u7406\u6548\u7387\u4e3a\u4ee3\u4ef7\u6362\u53d6\u63a8\u7406\u51c6\u786e\u6027\u7684\u63d0\u5347\u3002\u901a\u8fc7\u9f13\u52b1VLA\u6a21\u578b\u5c06\u590d\u6742\u95ee\u9898\u5206\u89e3\u4e3a\u4e00\u7cfb\u5217\u7b80\u5355\u5b50\u95ee\u9898\uff0c\u601d\u7ef4\u94fe\u5229\u7528\u63a8\u7406\u65f6\u7684\u7f29\u653e\u7279\u6027\u6539\u5584\u7b56\u7565\u6027\u80fd\u3002\u9664\u63d0\u793a\u6cd5\u5916\uff0c\u601d\u7ef4\u94fe\u8fd8\u88ab\u6574\u5408\u5230\u8bad\u7ec3\u6d41\u7a0b\u4e2d\uff0c\u4f8b\u5982\u5728\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u4e2d\u4f7f\u7528\u7cbe\u5fc3\u6784\u5efa\u7684\u601d\u7ef4\u94fe\u6570\u636e\u96c6\u3002\u968f\u7740DeepSeek 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class=\"wp-block-list\">\n<li>\u8be5\u65b9\u6cd5\u5f15\u5165\u4e86\u4e00\u79cd\u7cfb\u7edf\u5316\u7684\u65b9\u5f0f\uff0c\u5c06\u601d\u7ef4\u94fe\u8f68\u8ff9\u683c\u5f0f\u5316\u4e3a\u7ed3\u6784\u5316\u6a21\u677f\u3002\u4e3a\u6700\u5927\u5316\u5e76\u884c\u5316\u7a0b\u5ea6\uff0c\u672c\u6587\u91c7\u7528\u4e00\u79cd\u4f18\u5316\u7b97\u6cd5\uff0c\u57fa\u4e8e\u901a\u7528\u4f9d\u8d56\u56fe\u52a8\u6001\u8bc6\u522b\u53ef\u5e76\u884c\u751f\u6210\u7684\u5b57\u6bb5\uff1b<\/li>\n\n\n\n<li>\u6b64\u5916\u9488\u5bf9\u5e76\u884c\u89e3\u7801\u7b56\u7565\u4f18\u5316\u4e86\u5927\u8bed\u8a00\u6a21\u578b\u7684\u63a8\u7406\u8fc7\u7a0b\uff0c\u5c24\u5176\u5173\u6ce8\u5b57\u6bb5\u7684\u6392\u5217\u548c\u5408\u5e76\u65b9\u5f0f\u3002\u5b9e\u9a8c\u8868\u660e\uff0cFastDriveCoT\u663e\u8457\u52a0\u901f\u4e86\u601d\u7ef4\u94fe\u751f\u6210\uff0c\u4e0e\u81ea\u56de\u5f52\u89e3\u7801\u76f8\u6bd4\u5b9e\u73b0\u4e863.1\u81f34.1\u500d\u7684\u52a0\u901f\u6bd4\uff0c\u540c\u65f6\u4fdd\u7559\u4e86\u601d\u7ef4\u94fe\u63a8\u7406\u5e26\u6765\u7684\u4e0b\u6e38\u4efb\u52a1\u6027\u80fd\u63d0\u5347\uff1b<\/li>\n\n\n\n<li>\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u8fd9\u4e9b\u53d1\u73b0\u9002\u7528\u4e8e\u591a\u79cd\u573a\u666f\uff0c\u5305\u62ec\u81ea\u56de\u5f52\u6846\u67b6\u548cTransfusion\u6846\u67b6\u4e0b\u7684\u5143\u52a8\u4f5c\u9884\u6d4b\u548c\u8f68\u8ff9\u751f\u6210\u4efb\u52a1\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e8c\u3001FastDriveCoT\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u4e2d\u7684\u6807\u51c6\u81ea\u56de\u5f52\u751f\u6210\u5728\u73b0\u4ee3GPU\u4e0a\u53d7\u5185\u5b58\u9650\u5236\uff08\u6e90\u4e8eKV\u7f13\u5b58\u64cd\u4f5c\uff09\uff0c\u56e0\u6b64\u5355\u6b21\u524d\u5411\u4f20\u64ad\u4ec5\u751f\u6210\u4e00\u4e2atoken\u7684\u65b9\u5f0f\u65e0\u6cd5\u5145\u5206\u5229\u7528\u786c\u4ef6\u7684\u8ba1\u7b97\u80fd\u529b\u3002\u8fd9\u79cdGPU\u5229\u7528\u7387\u4e0d\u8db3\u4e3a\u5e76\u884c\u89e3\u7801\u521b\u9020\u4e86\u673a\u4f1a\u2014\u2014\u5e76\u884c\u89e3\u7801\u6280\u672f\u53ef\u540c\u65f6\u751f\u6210\u591a\u4e2atoken\u4ee5\u63d0\u5347\u6548\u7387\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u5df2\u6709\u7814\u7a76\u63a2\u7d22\u4e86\u901a\u8fc7\u4efb\u52a1\u5206\u89e3\u5b9e\u73b0\u5e76\u884c\u89e3\u7801\uff0c\u4f46\u8fd9\u4e9b\u5de5\u4f5c\u4e3b\u8981\u96c6\u4e2d\u5728\u6570\u5b66\u3001\u7f16\u7a0b\u7b49\u901a\u7528\u63a8\u7406\u9886\u57df\u3002\u8fd9\u4e9b\u9886\u57df\u901a\u5e38\u9700\u8981\u590d\u6742\u7684\u3001\u7279\u5b9a\u4e8e\u4efb\u52a1\u7684\u5206\u89e3\u7b56\u7565\uff0c\u4e14\u672c\u8eab\u53ef\u5e76\u884c\u5316\u7684\u7a0b\u5ea6\u6709\u9650\uff0c\u5bfc\u81f4\u52a0\u901f\u6548\u679c\u4e0d\u4f73\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u81ea\u52a8\u9a7e\u9a76\uff08AV\uff09\u4efb\u52a1\u901a\u5e38\u9075\u5faa\u6807\u51c6\u5316\u7684\u601d\u7ef4\u94fe\uff08CoT\uff09\u6a21\u5f0f\uff0c\u4ece\u73af\u5883\u63cf\u8ff0\u9010\u6b65\u8fc7\u6e21\u5230\u5173\u952e\u76ee\u6807\u8bc6\u522b\uff0c\u6700\u7ec8\u5b9e\u73b0\u5143\u52a8\u4f5c\u9884\u6d4b\u3002\u8fd9\u79cd\u7ed3\u6784\u5316\u7684\u63a8\u7406\u8fc7\u7a0b\u5929\u7136\u9002\u5408\u7ec6\u7c92\u5ea6\u7684\u4efb\u52a1\u5206\u89e3\uff0c\u4ece\u800c\u4f7f\u601d\u7ef4\u94fe\u751f\u6210\u5177\u5907\u9ad8\u5ea6\u5e76\u884c\u5316\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u4e3a\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u7684\u63a8\u7406\u6548\u7387\uff0c\u63d0\u51fa\u4e86FastDriveCoT \u2014 \u4e00\u79cd\u5229\u7528\u4e0a\u8ff0\u7ed3\u6784\u5316\u63a8\u7406\u8fc7\u7a0b\u7684\u5e76\u884c\u89e3\u7801\u65b9\u6cd5\u3002\u9996\u5148\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u6807\u51c6\u5316\u601d\u7ef4\u94fe\u6a21\u5f0f\u7684\u6a21\u677f\u5316\u601d\u7ef4\u94fe\uff1b\u5176\u6b21\uff0c\u4e3a\u7ba1\u7406\u5e76\u6700\u5927\u5316\u5e76\u884c\u5316\u7a0b\u5ea6\uff0c\u672c\u6587\u6784\u5efa\u4e86\u4f9d\u8d56\u56fe\u548c\u52a8\u6001\u89c4\u5212\u7b97\u6cd5\uff0c\u4ee5\u9002\u5e94\u4e0d\u540c\u5b57\u6bb5\u957f\u5ea6\u7684\u53d8\u5316\uff1b\u6700\u540e\uff0c\u672c\u6587\u8be6\u7ec6\u9610\u8ff0\u4e86\u6ce8\u610f\u529b\u63a9\u7801\u3001\u4f4d\u7f6eID\u3001\u586b\u5145\u548cKV\u7f13\u5b58\u7684\u5904\u7406\u65b9\u6848\uff0c\u8be5\u5b9e\u73b0\u5145\u5206\u8003\u8651\u4e86\u5927\u8bed\u8a00\u6a21\u578b\u63a8\u7406\u4e2d\u7684\u5173\u952e\u74f6\u9888\uff0c\u4ee5\u786e\u4fdd\u6700\u4f18\u6027\u80fd\u3002FastDriveCoT\u7684\u6574\u4f53\u6846\u67b6\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<figure 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CoT\uff09<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u7684\u601d\u7ef4\u94fe\u6a21\u677f\u5c06\u81ea\u52a8\u9a7e\u9a76\u63a8\u7406\u4efb\u52a1\u5206\u89e3\u4e3a\u4e00\u7cfb\u5217\u7279\u5b9a\u5b57\u6bb5\u3002\u521d\u59cb\u5b57\u6bb5\u7528\u4e8e\u6355\u6349\u9a7e\u9a76\u73af\u5883\u53ca\u5176\u4e2d\u7684\u5173\u952e\u5b9e\u4f53\uff0c\u5305\u62ec\u5149\u7167\u3001\u9053\u8def\u6761\u4ef6\u3001\u5929\u6c14\u3001\u8def\u53e3\u7c7b\u578b\u3001\u9053\u8def\u7c7b\u578b\u3001\u8f66\u9053\u3001\u5173\u952e\u76ee\u6807\u3001\u4ea4\u901a\u706f\u3001\u4ea4\u901a\u6807\u5fd7\u548c\u5176\u4ed6\u4ea4\u901a\u89c4\u5219\u3002\u5176\u4e2d\uff0c\u201c\u5173\u952e\u76ee\u6807\u201d\u5b57\u6bb5\u4e13\u95e8\u6db5\u76d6\u8f66\u8f86\u3001\u884c\u4eba\u3001\u9a91\u884c\u8005\u3001\u969c\u788d\u7269\u6216\u5176\u4ed6\u4e0e\u9a7e\u9a76\u5b89\u5168\u76f8\u5173\u7684\u7269\u4f53\uff0c\u4e14\u6bcf\u4e2a\u5173\u952e\u76ee\u6807\u9700\u989d\u5916\u6807\u6ce8\u76f8\u5bf9\u4f4d\u7f6e\u3001\u7269\u4f53\u7c7b\u578b\u548c\u76f8\u5173\u8bf4\u660e\u3002\u540e\u7eed\u5b57\u6bb5\u7528\u4e8e\u5bf9\u573a\u666f\u8fdb\u884c\u7ed3\u6784\u5316\u603b\u7ed3\uff0c\u5305\u62ec\u4ea4\u901a\u89c4\u5219\u6458\u8981\u3001\u975e\u4ea4\u4e92\u5143\u7d20\u548c\u4ea4\u4e92\u5143\u7d20\u6458\u8981\u3002\u6a21\u677f\u6700\u7ec8\u4ee5\u81ea\u8f66\uff08ego 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"840\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/02\/image-3-1024x840.png\" alt=\"\" class=\"wp-image-36888\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-3-1024x840.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-3-300x246.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-3-768x630.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-3.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-image-36889\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-4-1024x520.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-4-300x152.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-4-768x390.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-4.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u672c\u6587\u91c7\u7528\u52a8\u6001\u89c4\u5212\uff08DP\uff09\u7b97\u6cd5\u57fa\u4e8e\u4f9d\u8d56\u56fe\u5168\u81ea\u52a8\u8c03\u5ea6\u5e76\u884c\u89e3\u7801\u8fc7\u7a0b\uff1a<\/p>\n\n\n\n<ol 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class=\"wp-block-list\">\n<li>\u5bf9\u5c31\u7eea\u96c6\u4e2d\u7684\u6240\u6709\u5b57\u6bb5\uff0c\u5728\u5927\u8bed\u8a00\u6a21\u578b\u7684\u5355\u6b21\u524d\u5411\u4f20\u64ad\u4e2d\u5e76\u884c\u751f\u6210\u4e00\u4e2atoken\uff1b<\/li>\n\n\n\n<li>\u5f53\u67d0\u4e2a\u5b57\u6bb5\u751f\u6210\u5b8c\u6210\u65f6\uff0c\u5176\u5bf9\u5e94\u8282\u70b9\u5411\u6240\u6709\u4f9d\u8d56\u5b83\u7684\u8282\u70b9\u53d1\u9001\u4fe1\u53f7\uff1b<\/li>\n\n\n\n<li>\u5f53\u4e00\u4e2a\u8282\u70b9\u6536\u5230\u6240\u6709\u524d\u7f6e\u8282\u70b9\u7684\u4fe1\u53f7\u540e\uff0c\u7acb\u5373\u52a0\u5165\u5c31\u7eea\u96c6\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u7b97\u6cd51\u7ed9\u51fa\u4e86\u8be5\u8fc7\u7a0b\u7684\u4f2a\u4ee3\u7801\u3002\u672c\u6587\u7684\u8c03\u5ea6\u7b97\u6cd5\u5728\u524d\u7f6e\u4f20\u64ad\u6b21\u6570\u65b9\u9762\u5177\u6709\u6700\u4f18\u6027\u2014\u2014\u80fd\u591f\u4ee5\u6700\u5c11\u7684\u524d\u7f6e\u4f20\u64ad\u6b21\u6570\u5b8c\u6210\u6240\u6709\u5b57\u6bb5\u7684\u751f\u6210\uff0c\u8be5\u6700\u5c0f\u503c\u7b49\u4e8e\u5173\u952e\u8def\u5f84\u7684\u957f\u5ea6\uff08\u5373\u4f9d\u8d56\u56fe\u4e2d\u4efb\u610f\u4f9d\u8d56\u94fe\u4e0atoken\u7d2f\u79ef\u6570\u91cf\u7684\u6700\u5927\u503c\uff09\u3002\u540e\u7eed\u5b9e\u9a8c\u5c06\u8bc1\u660e\uff0c\u8fd9\u79cd\u6700\u5c0f\u5316\u524d\u7f6e\u4f20\u64ad\u6b21\u6570\u7684\u6700\u4f18\u6027\u76f4\u63a5\u8f6c\u5316\u4e3a\u8c03\u5ea6\u7b97\u6cd5\u7684\u6700\u5927\u5316\u52a0\u901f\u6bd4\u3002<\/p>\n\n\n\n<p><strong>\u8bed\u8a00\u6a21\u578b\u63a8\u7406<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"858\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/02\/020501.png\" alt=\"\" class=\"wp-image-36890\" style=\"width:887px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/020501.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/020501-240x300.png 240w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u4e09\u3001\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p><strong>\u6a21\u578b\uff1a<\/strong>\u672c\u6587\u5728\u4e09\u79cd\u4e0d\u540c\u67b6\u6784\u548c\u89c4\u6a21\u7684\u57fa\u7840\u6a21\u578b\u4e0a\u8bc4\u4f30FastDriveCoT\uff1aQwen2-0.5B\u3001Qwen3-1.7B\u548cQwen2.5-VL-3B\u3002\u5bf9\u4e8e\u672c\u8eab\u4e0d\u652f\u6301\u89c6\u89c9\u8f93\u5165\u7684Qwen2-0.5B\u548cQwen3-1.7B\uff0c\u672c\u6587\u4f7f\u7528DINOv2\u4ece\u8f93\u5165\u5e27\u4e2d\u63d0\u53d6\u7279\u5f81\uff0c\u5e76\u5c06\u5176\u4f5c\u4e3a\u8fde\u7eed\u8f93\u5165\u63d0\u4f9b\u7ed9\u8bed\u8a00\u6a21\u578b\uff1b\u540c\u65f6\uff0c\u901a\u8fc7\u5c0f\u578bMLP\u5c061.6\u79d2\u7684\u8f68\u8ff9\u5386\u53f2\u7f16\u7801\u4e3a\u5355\u4e2a\u5d4c\u5165\uff0c\u4f5c\u4e3a\u5927\u8bed\u8a00\u6a21\u578b\u7684\u989d\u5916\u8f93\u5165\u3002<\/p>\n\n\n\n<p>\u5728\u601d\u7ef4\u94fe\u8f93\u51fa\u540e\uff0c\u672c\u6587\u8fdb\u4e00\u6b65\u751f\u6210\u5143\u52a8\u4f5c\u548c\u672a\u6765\u8f68\u8ff9\u4ee5\u8bc4\u4f30\u6a21\u578b\u7684\u9a7e\u9a76\u6027\u80fd\uff0c\u5e76\u63a2\u7d22\u4e86\u4e24\u79cd\u67b6\u6784\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u7eaf\u81ea\u56de\u5f52Transformer\uff08VLA-AR\uff09\uff1a\u5c06\u601d\u7ef4\u94fe\u3001\u5143\u52a8\u4f5c\u548c\u672a\u6765\u8f68\u8ff9token\u5316\u4e3a\u79bb\u6563\u5e8f\u5217\uff0c\u91c7\u7528\u4e0b\u4e00\u4e2atoken\u9884\u6d4b\u635f\u5931\u8fdb\u884c\u8bad\u7ec3\uff0c\u5e76\u901a\u8fc7\u81ea\u56de\u5f52\u65b9\u5f0f\u89e3\u7801\uff1b<\/li>\n\n\n\n<li>Transfusion\uff1a\u601d\u7ef4\u94fe\u548c\u5143\u52a8\u4f5c\u7684\u5904\u7406\u65b9\u5f0f\u4e0eVLA-AR\u4e00\u81f4\uff0c\u4f46\u672a\u6765\u8f68\u8ff9\u901a\u8fc7\u6d41\u5339\u914d\uff08flow matching\uff09\u5efa\u6a21\uff0c\u4e14\u5171\u4eab\u76f8\u540c\u7684Transformer\u9aa8\u5e72\u7f51\u7edc\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u5bf9\u4e8e\u67b6\u67841\u7684\u8f68\u8ff9\u8868\u793a\uff0c\u672c\u6587\u91c7\u7528\u81ea\u7f16\u7801\u9884\u8bad\u7ec3\u5206\u8bcd\u5668\u5c06\u6bcf\u4e2a6.4\u79d2\u7684\u672a\u6765\u8f68\u8ff9\u538b\u7f29\u4e3a6\u4e2a\u79bb\u6563token\uff1b\u5bf9\u4e8e\u67b6\u67842\u7684\u8f68\u8ff9\u8868\u793a\uff0c\u9996\u5148\u5c06\u672a\u6765\u8f68\u8ff9\u8f6c\u6362\u4e3a64\u4e2a10Hz\u7684\uff08\u2206x, \u2206y, \u2206yaw\uff09\u52a8\u4f5c\uff0c\u901a\u8fc7\u6b63\u5f26\u4f4d\u7f6e\u7f16\u7801\u548cMLP\u8fdb\u884c\u5d4c\u5165\uff0c\u751f\u621064\u4e2a\u8fde\u7eed\u5d4c\u5165\uff0c\u6700\u540e\u901a\u8fc7\u8f7b\u91cf\u7ea7MLP\u5c06\u5d4c\u5165\u89e3\u7801\u56de\uff08\u2206x, \u2206y, \u2206yaw\uff09\u52a8\u4f5c\u7a7a\u95f4\u3002<\/p>\n\n\n\n<p>\u4e3a\u8bc4\u4f30\u8be5\u65b9\u6cd5\u7684\u6709\u6548\u6027\uff0c\u672c\u6587\u8bbe\u7f6e\u4e86\u4e24\u4e2a\u57fa\u7ebf\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u65e0\u601d\u7ef4\u94fe\uff08No CoT\uff09\uff1a\u7aef\u5230\u7aef\u8bad\u7ec3\u7684\u6a21\u578b\uff0c\u4e0d\u751f\u6210\u4e2d\u95f4\u601d\u7ef4\u94fe\uff0c\u7528\u4e8e\u8861\u91cf\u5f15\u5165\u601d\u7ef4\u94fe\u5bf9\u6574\u4f53\u6027\u80fd\u7684\u8d21\u732e\uff1b<\/li>\n\n\n\n<li>\u81ea\u56de\u5f52\u601d\u7ef4\u94fe\uff08Autoregressive CoT\uff09\uff1a\u4f7f\u7528\u5b8c\u6574\u7684\u601d\u7ef4\u94fe\u6a21\u677f\uff0c\u4f46\u901a\u8fc7\u6807\u51c6\u81ea\u56de\u5f52\u89e3\u7801\u4e32\u884c\u751f\u6210\u5b57\u6bb5\uff0c\u7528\u4e8e\u5355\u72ec\u91cf\u5316\u5e76\u884c\u89e3\u7801\u5e26\u6765\u7684\u6548\u7387\u63d0\u5347\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u6570\u636e\uff1a<\/strong>\u4e3a\u8bc4\u4f30FastDriveCoT\u7684\u6548\u7387\u548c\u4efb\u52a1\u6027\u80fd\uff0c\u672c\u6587\u4f7f\u7528\u4e86\u5927\u578b\u5185\u90e8\u6570\u636e\u96c6\uff0c\u5305\u542b\u6765\u81ea25\u4e2a\u56fd\u5bb6\u30012500\u591a\u4e2a\u57ce\u5e02\u7684\u591a\u8f86\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u768420,000\u5c0f\u65f6\u9a7e\u9a76\u6570\u636e\u00b9\u3002\u8be5\u6570\u636e\u96c6\u6db5\u76d6\u591a\u79cd\u9053\u8def\u6761\u4ef6\u3001\u5929\u6c14\u72b6\u51b5\u3001\u663c\u591c\u573a\u666f\u548c\u4ea4\u901a\u6d41\u91cf\uff0c\u672c\u6587\u4f7f\u7528\u8f68\u8ff9\u6570\u636e\u548c\u524d\u540e\u89c6\u6444\u50cf\u5934\u7684\u540c\u6b65\u8bb0\u5f55\uff08\u4e0b\u91c7\u6837\u81f3320\u00d7512\u5206\u8fa8\u7387\uff09\u8fdb\u884c\u8bad\u7ec3\u548c\u6d4b\u8bd5\u3002\u672c\u6587\u91c7\u7528\u5305\u542bQwen2.5-VL-72B\u7684\u81ea\u52a8\u6807\u6ce8\u6d41\u6c34\u7ebf\u751f\u6210\u7ed3\u6784\u5316\u601d\u7ef4\u94fe\u6570\u636e\uff1a\u5bf9\u6bcf\u4e2a\u6570\u636e\u70b9\uff0c\u968f\u673a\u91c7\u6837\u4e00\u4e2a\u65f6\u95f4\u6233\uff0c\u5411\u6a21\u578b\u8f93\u5165\u5bf9\u5e94\u76842Hz\u524d\u89c6\u89c6\u9891\u548c\u8f68\u8ff9\u5386\u53f2\uff0c\u901a\u8fc7\u7ea6\u675f\u89e3\u7801\u786e\u4fdd\u8f93\u51fa\u4e25\u683c\u9075\u5faa\u9884\u5b9a\u4e49\u6a21\u677f\u3002\u8be5\u6d41\u6c34\u7ebf\u6700\u7ec8\u751f\u6210717,344\u4e2a\u9ad8\u8d28\u91cf\u8bad\u7ec3\u6837\u672c\u548c950\u4e2a\u6d4b\u8bd5\u6837\u672c\u3002<\/p>\n\n\n\n<p><strong>\u8bc4\u4f30\u6307\u6807\uff1a<\/strong>\u4e3a\u9a8c\u8bc1FastDriveCoT\u5728\u63d0\u5347\u8ba1\u7b97\u6548\u7387\u7684\u540c\u65f6\u4fdd\u6301\u9ad8\u4efb\u52a1\u6027\u80fd\u7684\u80fd\u529b\uff0c\u672c\u6587\u91c7\u7528\u4ee5\u4e0b\u8bc4\u4f30\u6307\u6807\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u601d\u7ef4\u94fe\u751f\u6210\u65f6\u95f4\uff08CoT Time\uff09\uff1a\u4ece\u6a21\u578b\u63a5\u6536\u8f93\u5165\u5230\u601d\u7ef4\u94fe\u751f\u6210\u5b8c\u6210\u7684\u5ef6\u8fdf\uff0c\u76f4\u63a5\u8861\u91cfFastDriveCoT\u9488\u5bf9\u6838\u5fc3\u63a8\u7406\u7ec4\u4ef6\u7684\u52a0\u901f\u6548\u679c\uff1b<\/li>\n\n\n\n<li>\u603b\u65f6\u95f4\uff08Overall Time\uff09\uff1a\u4ece\u6a21\u578b\u8f93\u5165\u5230\u6700\u7ec8\u8f68\u8ff9\u8f93\u51fa\u7684\u603b\u5ef6\u8fdf\uff0c\u8861\u91cf\u5b9e\u9645\u5e94\u7528\u4e2d\u7684\u7aef\u5230\u7aef\u6548\u7387\u63d0\u5347\uff1b<\/li>\n\n\n\n<li>\u5143\u52a8\u4f5c\u4ea4\u5e76\u6bd4\uff08Meta-Action IOU\uff09\uff1a\u6a21\u578b\u9884\u6d4b6.4\u79d2\u65f6\u95f4\u8303\u56f4\u5185\u7684\u5143\u52a8\u4f5c\u5e8f\u5217\uff0c\u901a\u8fc7\u8ba1\u7b97\u6bcf\u4e2a0.1\u79d2\u65f6\u95f4\u95f4\u9694\u5185\u9884\u6d4b\u52a8\u4f5c\u4e0e\u771f\u5b9e\u52a8\u4f5c\u7684\u4ea4\u5e76\u6bd4\uff08IOU\uff09\u8bc4\u4f30\uff0c\u53cd\u6620\u6a21\u578b\u7684\u573a\u666f\u7406\u89e3\u80fd\u529b\u548c\u9ad8\u5c42\u51b3\u7b56\u8d28\u91cf\uff1b<\/li>\n\n\n\n<li>\u8f68\u8ff9\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08Trajectory ADE\uff09\uff1a\u901a\u8fc7\u8ba1\u7b97\u9884\u6d4b\u8f68\u8ff9\u4e0e\u771f\u5b9e\u8f68\u8ff9\u7684\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08ADE\uff09\uff0c\u8bc4\u4f30\u6700\u7ec8\u8fd0\u52a8\u89c4\u5212\u7684\u51c6\u786e\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u8bad\u7ec3\u4e0e\u63a8\u7406\u914d\u7f6e\uff1a<\/strong>\u6a21\u578b\u4ece\u9884\u8bad\u7ec3 checkpoint \u521d\u59cb\u5316\uff0c\u6839\u636e\u9700\u8981\u6dfb\u52a0\u968f\u673a\u521d\u59cb\u5316\u7684\u5d4c\u5165\u5c42\u548c\u7f51\u7edc\u5c42\uff1b\u5728717,344\u4e2a\u6837\u672c\u7684\u6570\u636e\u96c6\u4e0a\u8bad\u7ec350,000\u6b65\uff0c\u91c7\u7528\u6279\u6b21\u5927\u5c0f64\u3001AdamW\u4f18\u5316\u5668\uff0c\u5b66\u4e60\u7387\u8bbe\u7f6e\u4e3a3\u00d710\u207b\u2075\uff0c\u91c7\u7528\u4f59\u5f26\u8870\u51cf\u8c03\u5ea6\u3002<\/p>\n\n\n\n<p>\u6240\u6709\u63a8\u7406\u5b9e\u9a8c\u5747\u5728\u5355\u5757NVIDIA A100 80GB SXM GPU\u4e0a\u8fdb\u884c\uff0c\u5927\u90e8\u5206\u8ba1\u7b97\u91c7\u7528BFloat16\u7cbe\u5ea6\uff0c\u8f93\u5165\u8f68\u8ff9\u5386\u53f2\u5904\u7406\u548c\u6700\u7ec8\u8f93\u51fa\u5bf9\u6570\u6982\u7387\uff08logits\uff09\u8ba1\u7b97\u91c7\u7528Float32\u7cbe\u5ea6\u3002\u5b9e\u73b0\u57fa\u4e8ePyTorch\u7684\u7f29\u653e\u70b9\u79ef\u6ce8\u610f\u529b\uff08SPDA\uff09\uff1a\u57fa\u7ebf\u6a21\u578b\u7684\u6807\u51c6\u56e0\u679c\u63a9\u7801\u4f7f\u7528FlashAttention-2\uff0c\u5e76\u884c\u89e3\u7801\u6240\u9700\u7684\u81ea\u5b9a\u4e49\u63a9\u7801\u4f7f\u7528xFormers\u3002\u4e3a\u786e\u4fdd\u5ef6\u8fdf\u6d4b\u91cf\u7684\u51c6\u786e\u6027\uff0c\u91c7\u7528CUDA\u4e8b\u4ef6\u8ba1\u65f6\u5668\uff0c\u5e76\u4e22\u5f03\u6bcf\u6b21\u8fd0\u884c\u7684\u524d10\u6b21\u8fed\u4ee3\u4ee5\u6d88\u9664\u5185\u6838\u9884\u70ed\u6548\u5e94\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u6548\u7387\uff1a<\/strong>\u5982\u88681\u6240\u793a\uff0c\u4e0e\u6807\u51c6\u81ea\u56de\u5f52\u57fa\u7ebf\u76f8\u6bd4\uff0cFastDriveCoT\u5b9e\u73b0\u4e863.1-4.1\u500d\u7684\u601d\u7ef4\u94fe\u751f\u6210\u52a0\u901f\u6bd4\uff0c\u7aef\u5230\u7aef\u63a8\u7406\u603b\u65f6\u95f4\u7684\u52a0\u901f\u6bd4\u4e3a1.9-3.1\u500d\uff08\u5177\u4f53\u53d6\u51b3\u4e8e\u540e\u7eed\u5143\u52a8\u4f5c\u548c\u8f68\u8ff9\u751f\u6210\u6240\u5360\u7684\u65f6\u95f4\u6bd4\u4f8b\uff09\u3002<\/p>\n\n\n\n<p>\u8fd9\u79cd\u663e\u8457\u7684\u52a0\u901f\u6548\u679c\u901a\u8fc7\u7f13\u89e3\u81ea\u56de\u5f52\u63a8\u7406\u7684\u9ad8\u6602\u5ef6\u8fdf\uff0c\u4f7f\u601d\u7ef4\u94fe\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u5177\u5907\u53ef\u884c\u6027\u3002\u6b64\u5916\uff0c\u8be5\u6027\u80fd\u63d0\u5347\u5728\u6240\u6709\u6d4b\u8bd5\u7684\u6a21\u578b\u67b6\u6784\u548c\u89c4\u6a21\u4e2d\u5747\u4fdd\u6301\u4e00\u81f4\uff0c\u8bc1\u660e\u4e86FastDriveCoT\u5728\u591a\u79cd\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLMs\uff09\u548c\u5927\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u4e2d\u7684\u901a\u7528\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"523\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/02\/image-5-1024x523.png\" alt=\"\" class=\"wp-image-36892\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-5-1024x523.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-5-300x153.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-5-768x393.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/02\/image-5.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u4efb\u52a1\u6027\u80fd\uff1a<\/strong>\u88681\u8fdb\u4e00\u6b65\u8868\u660e\uff0c\u5f15\u5165\u601d\u7ef4\u94fe\u5bf9\u5143\u52a8\u4f5c\u548c\u8f68\u8ff9\u751f\u6210\u5747\u5e26\u6765\u663e\u8457\u6536\u76ca\uff1a\u5728Qwen2.5-VL 3B\u6a21\u578b\u76843\u79d2\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u4e2d\uff0c\u6027\u80fd\u63d0\u5347\u6700\u4e3a\u660e\u663e\u2014\u2014\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08ADE\uff09\u4ece\u65e0\u601d\u7ef4\u94fe\u57fa\u7ebf\u76840.617\u964d\u81f3\u81ea\u56de\u5f52\u601d\u7ef4\u94fe\u76840.511\uff0cFastDriveCoT\u7684\u5e76\u884c\u89e3\u7801\u601d\u7ef4\u94fe\u8fdb\u4e00\u6b65\u964d\u81f30.482\uff1b\u5728Qwen2 0.5B\u3001Qwen3 1.7B\u7b49\u5176\u4ed6\u6a21\u578b\u7684\u957f\u65f6\uff086.4\u79d2\uff09\u8f68\u8ff9\u9884\u6d4b\u4efb\u52a1\u4e2d\uff0c\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08ADE\uff09\u4e5f\u5b9e\u73b0\u4e86\u663e\u8457\u964d\u4f4e\uff0c\u8bc1\u5b9e\u4e86\u601d\u7ef4\u94fe\u5728\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\u7684\u666e\u904d\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p>\u5c06\u5e76\u884c\u89e3\u7801\u65b9\u6cd5\u4e0e\u81ea\u56de\u5f52\u601d\u7ef4\u94fe\u57fa\u7ebf\u5bf9\u6bd4\u53d1\u73b0\uff0cFastDriveCoT\u4fdd\u6301\u4e86\u6781\u5177\u7ade\u4e89\u529b\u7684\u6027\u80fd\uff1a\u5728VLA-AR\u67b6\u6784\u5b9e\u9a8c\u4e2d\uff0c\u5e76\u884c\u65b9\u6cd5\u7684\u6027\u80fd\u7565\u4f18\u4e8e\u81ea\u56de\u5f52\u57fa\u7ebf\uff08\u672c\u6587\u63a8\u6d4b\u8fd9\u662f\u7531\u4e8e\u7ed3\u6784\u5316\u89e3\u7801\u8fc7\u7a0b\u5929\u7136\u4fc3\u8fdb\u4e86\u5bf9\u6a21\u677f\u683c\u5f0f\u7684\u4e25\u683c\u9075\u5faa\uff09\uff1b\u5728Transfusion\u67b6\u6784\u5b9e\u9a8c\u4e2d\uff0c\u5c3d\u7ba1\u8f68\u8ff9\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08ADE\uff09\u8f83\u81ea\u56de\u5f52\u601d\u7ef4\u94fe\u7565\u6709\u4e0b\u964d\uff0c\u4f46FastDriveCoT\u4ecd\u663e\u8457\u4f18\u4e8e\u65e0\u601d\u7ef4\u94fe\u57fa\u7ebf\u3002\u7efc\u4e0a\uff0cFastDriveCoT\u5728\u6240\u6709\u5b9e\u9a8c\u4e2d\u5747\u5b9e\u73b0\u4e86\u8ba1\u7b97\u6548\u7387\u7684\u663e\u8457\u63d0\u5347\uff0c\u540c\u65f6\u6301\u7eed\u4fdd\u7559\u4e86\u601d\u7ef4\u94fe\u5e26\u6765\u7684\u4efb\u52a1\u51c6\u786e\u6027\u6539\u5584\u3002<\/p>\n\n\n\n<p><strong>Inference\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u4e3a\u6df1\u5165\u7406\u89e3FastDriveCoT\u7684\u52a0\u901f\u6765\u6e90\uff0c\u672c\u6587\u57fa\u4e8eQwen2 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