{"id":37532,"date":"2026-03-04T17:32:33","date_gmt":"2026-03-04T09:32:33","guid":{"rendered":"http:\/\/192.168.10.115\/?p=37532"},"modified":"2026-03-04T17:32:33","modified_gmt":"2026-03-04T09:32:33","slug":"2026-03-04-%e7%ab%af%e5%88%b0%e7%ab%af%e6%96%b0%e6%80%9d%e8%b7%af%ef%bc%81%e5%8c%97%e4%ba%a4%e5%b0%8f%e7%b1%b3%e6%8f%90%e5%87%badriveworld-vla%ef%bc%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/04\/37532\/","title":{"rendered":"2026-03-04 \u7aef\u5230\u7aef\u65b0\u601d\u8def\uff01\u5317\u4ea4&amp;\u5c0f\u7c73\u63d0\u51faDriveWorld-VLA\uff1a\u81ea\u52a8\u9a7e\u9a76\u7684VLA\u7edf\u4e00\u4e16\u754c\u5efa\u6a21"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/2010819320008184239\">https:\/\/zhuanlan.zhihu.com\/p\/2010819320008184239<\/a><\/p>\n\n\n\n<p><strong>\u5317\u4eac\u4ea4\u901a\u5927\u5b66\u4e0e\u5c0f\u7c73\u6c7d\u8f66<\/strong>\u8054\u5408\u56e2\u961f\u63d0\u51fa\u7684 <strong>DriveWorld-VLA<\/strong>\uff0c\u76f4\u51fb\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u89c4\u5212\u4e2d<strong>VLA<\/strong>\uff08\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff09\u4e0e<strong>\u4e16\u754c\u6a21\u578b<\/strong>\u878d\u5408\u7684<strong>\u4e24\u5927\u6838\u5fc3\u56f0\u5c40<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u89e3\u8026\u4ea4\u4e92\uff08Disentangled Interaction\uff09\u7684\u77e5\u8bc6\u58c1\u5792\uff1a<\/strong>\u4f20\u7edf\u65b9\u6848\u5e38\u5c06\u4e16\u754c\u6a21\u578b\u89c6\u4e3a\u5916\u90e8\u6a21\u62df\u5668\uff0c\u5bfc\u81f4VLA\u65e0\u6cd5\u771f\u6b63\u5185\u5316\u7269\u7406\u89c4\u5f8b\uff08\u5982\u60ef\u6027\u3001\u78b0\u649e\u903b\u8f91\uff09\uff0c\u51b3\u7b56\u65f6\u5f80\u5f80\u7f3a\u4e4f\u5bf9\u73af\u5883\u672c\u8d28\u7684\u7406\u89e3\uff1b<\/li>\n\n\n\n<li><strong>\u7279\u5f81\u5171\u4eab\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=270742101&amp;content_type=Article&amp;match_order=1&amp;q=Feature-Sharing&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Feature-Sharing<\/a>\uff09\u7684\u56e0\u679c\u7f3a\u5931\uff1a<\/strong>\u90e8\u5206\u65b9\u6848\u867d\u5171\u4eab\u8868\u5f81\uff0c\u5374\u7f3a\u4e4f\u57fa\u4e8e\u52a8\u4f5c\u7684\u201cWhat-if\u201d\u63a8\u6f14\u80fd\u529b\uff0c\u53ea\u80fd\u8fdb\u884c\u53cd\u5e94\u5f0f\u89c4\u5212\uff0c\u96be\u4ee5\u9884\u5224\u957f\u65f6\u57df\u98ce\u9669\uff08\u5982\u8def\u53e3\u4f1a\u8f66\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u9488\u5bf9\u4e0a\u8ff0\u74f6\u9888\uff0cDriveWorld-VLA\u901a\u8fc7\u5728\u6f5c\u5728\u7a7a\u95f4\u5b9e\u73b0VLA\u4e0e\u4e16\u754c\u6a21\u578b\u7684\u6df1\u5ea6\u7ed1\u5b9a\uff0c\u9996\u6b21\u5c06\u573a\u666f\u6f14\u5316\u5efa\u6a21\u4e0e\u52a8\u4f5c\u89c4\u5212\u7eb3\u5165\u7edf\u4e00\u6846\u67b6\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e00\u7a81\u7834\u65e2\u89e3\u51b3\u4e86\u6f5c\u6001\u5171\u4eab\u4e0d\u8db3\u7684\u95ee\u9898\uff0c\u53c8\u5b9e\u73b0\u4e86\u53ef\u63a7\u7684\u524d\u77bb\u6027\u60f3\u8c61\uff0c\u5728\u591a\u4e2a\u6743\u5a01\u57fa\u51c6\u4e0a\u5237\u65b0SOTA\u6027\u80fd\uff0c\u4e3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u51b3\u7b56\u4f18\u5316\u63d0\u4f9b\u4e86\u5168\u65b0\u601d\u8def\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>01 \u4ece\u201c\u677e\u6563\u534f\u540c\u201d\u5230\u201c\u6f5c\u7a7a\u95f4\u7edf\u4e00\u201d<\/strong><\/h2>\n\n\n\n<p>DriveWorld-VLA\u7684\u6838\u5fc3\u521b\u65b0\uff0c\u5728\u4e8e\u6253\u7834\u4e86VLA\u4e0e\u4e16\u754c\u6a21\u578b\u7684\u7ed3\u6784\u8fb9\u754c\uff0c\u6784\u5efa\u4e86<strong>\u201c\u8868\u5f81\u5171\u4eab-\u63a8\u7406\u8054\u52a8-\u51b3\u7b56\u95ed\u73af\u201d<\/strong>\u7684\u4e00\u4f53\u5316\u6846\u67b6\uff0c\u5176\u7a81\u7834\u70b9\u96c6\u4e2d\u5728\u4e09\u4e2a\u7ef4\u5ea6\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-ee7c7a71acf5630f9c209f2408f1f649_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| DriveWorld-VLA \u6d41\u6c34\u7ebf<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>1. \u7279\u5f81\u7ea7\u5171\u4eab\uff1a\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=270742101&amp;content_type=Article&amp;match_order=1&amp;q=LLM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">LLM<\/a>\u6f5c\u6001\u6253\u901a\u611f\u77e5\u4e0e\u60f3\u8c61<\/strong><\/h3>\n\n\n\n<p>\u4e0d\u540c\u4e8e\u4f20\u7edf\u7684\u7279\u5f81\u62fc\u63a5\u6216\u8868\u5c42\u5171\u4eab\uff0cDriveWorld-VLA\u5c06\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u7684\u9690\u85cf\u72b6\u6001\u4f5c\u4e3a\u7edf\u4e00\u6f5c\u5728\u7a7a\u95f4\uff0c\u540c\u65f6\u627f\u8f7d\u672a\u6765\u573a\u666f\u60f3\u8c61\u4e0e\u52a8\u4f5c\u9884\u6d4b\u4e24\u5927\u6838\u5fc3\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u591a\u6a21\u6001\u8f93\u5165\uff08\u591a\u89c6\u56fe\u56fe\u50cf\u3001BEV\u7279\u5f81\u3001\u6587\u672c\u6307\u4ee4\u3001\u5386\u53f2\u52a8\u4f5c\uff09\u7ecf\u8fc7\u4e13\u5c5eTokenizer\u7f16\u7801\u540e\uff0c\u5171\u540c\u9001\u5165VLM\u6a21\u578b\u805a\u5408\u4e3a\u7edf\u4e00\u6f5c\u6001\u8868\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"75\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030401.png\" alt=\"\" class=\"wp-image-37533\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030401.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030401-300x34.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u4e2a\u516c\u5f0f\u7684\u6838\u5fc3\u4ef7\u503c\uff0c\u662f\u8ba9\u7269\u7406\u89c4\u5f8b\uff08\u5982\u8f66\u8f86\u5236\u52a8\u8ddd\u79bb\uff09\u3001\u73af\u5883\u52a8\u529b\u5b66\uff08\u5982\u884c\u4eba\u884c\u8d70\u8f68\u8ff9\uff09\u7b49\u5e95\u5c42\u77e5\u8bc6\uff0c\u901a\u8fc7\u6f5c\u6001\u7a7a\u95f4\u76f4\u63a5\u878d\u5165VLA\u7684\u51b3\u7b56\u8fc7\u7a0b\uff0c\u65e0\u9700\u989d\u5916\u7684\u8de8\u6a21\u5757\u9002\u914d\uff0c\u4ece\u6839\u6e90\u4e0a\u89e3\u51b3\u4e86\u77e5\u8bc6\u4f20\u9012\u6548\u7387\u4f4e\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2. \u52a8\u4f5c\u6761\u4ef6\u7684\u201cWhat-If\u201d\u63a8\u7406\uff1a\u4ece\u53cd\u5e94\u5f0f\u5230\u4e3b\u52a8\u5f0f\u89c4\u5212<\/strong><\/h3>\n\n\n\n<p>\u57fa\u4e8e\u6269\u6563Transformer\uff08DiT\uff09\u67b6\u6784\uff0cDriveWorld-VLA\u5b9e\u73b0\u4e86\u52a8\u4f5c\u6761\u4ef6\u4e0b\u7684\u591a\u8f68\u8ff9\u524d\u77bb\u6027\u63a8\u6f14\u3002\u6a21\u578b\u4e0d\u518d\u5c40\u9650\u4e8e\u9884\u6d4b\u5355\u4e00\u672a\u6765\u72b6\u6001\uff0c\u800c\u662f\u9488\u5bf9\u591a\u4e2a\u5019\u9009\u52a8\u4f5c\u751f\u6210\u5bf9\u5e94\u7684\u672a\u6765\u573a\u666f\u6f14\u5316\uff0c\u901a\u8fc7\u8bc4\u4f30\u4e0d\u540c\u52a8\u4f5c\u7684\u957f\u671f\u540e\u679c\u9009\u62e9\u6700\u4f18\u65b9\u6848\u2014\u2014\u6bd4\u5982\u9762\u5bf9\u524d\u65b9\u6162\u8f66\u65f6\uff0c\u4f1a\u540c\u65f6\u63a8\u6f14\u201c\u51cf\u901f\u8ddf\u8f66\u201d\u201c\u5b89\u5168\u53d8\u9053\u201d\u201c\u7d27\u6025\u5236\u52a8\u201d\u4e09\u79cd\u52a8\u4f5c\u5bf9\u5e94\u7684\u573a\u666f\u53d8\u5316\uff0c\u6700\u7ec8\u9009\u62e9\u517c\u987e\u5b89\u5168\u4e0e\u6548\u7387\u7684\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u8fd9\u79cd\u8bbe\u8ba1\u7684\u5173\u952e\u5728\u4e8e\u52a8\u4f5c\u6761\u4ef6\u7684\u6d41\u5339\u914d\u53bb\u566a\u673a\u5236\uff0c\u901a\u8fc7\u5c06\u672a\u6765\u52a8\u4f5c\u4f5c\u4e3a\u7ea6\u675f\u6761\u4ef6\u6ce8\u5165\u573a\u666f\u751f\u6210\u8fc7\u7a0b\uff0c\u8ba9\u60f3\u8c61\u53d8\u5f97\u201c\u53ef\u63a7\u53ef\u8bc4\u4f30\u201d\uff0c<strong>\u5f7b\u5e95\u6446\u8131\u4e86\u4f20\u7edf\u6a21\u578b\u201c\u89c1\u62db\u62c6\u62db\u201d\u7684\u88ab\u52a8\u5c40\u9762\u3002<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3. \u4e09\u9636\u6bb5\u6e10\u8fdb\u5f0f\u8bad\u7ec3\uff1a\u7a33\u5b9a\u8054\u5408\u4f18\u5316\u7684\u5de5\u7a0b\u65b9\u6848<\/strong><\/h3>\n\n\n\n<p>VLA\u4e0e\u4e16\u754c\u6a21\u578b\u7684\u8054\u5408\u8bad\u7ec3\u5bb9\u6613\u51fa\u73b0<strong>\u6536\u655b\u56f0\u96be\u3001\u6a21\u6001\u5931\u8861\u7b49\u95ee\u9898<\/strong>\u3002DriveWorld-VLA\u8bbe\u8ba1\u4e86\u5faa\u5e8f\u6e10\u8fdb\u7684\u4e09\u9636\u6bb5\u8bad\u7ec3\u8303\u5f0f\uff0c\u65e2\u4fdd\u8bc1\u4e86\u5404\u6a21\u5757\u7684\u4e13\u9879\u4f18\u5316\uff0c\u53c8\u5b9e\u73b0\u4e86\u5168\u5c40\u534f\u540c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7b2c\u4e00\u9636\u6bb5\uff08VLA &amp; WM\u8054\u5408\u8bad\u7ec3\uff09\uff1a<\/strong>\u540c\u6b65\u5b66\u4e60\u672a\u6765BEV\u573a\u666f\u60f3\u8c61\u4e0e\u52a8\u4f5c\u9884\u6d4b\uff0c\u592f\u5b9e\u591a\u6a21\u6001\u611f\u77e5\u4e0e\u6f5c\u6001\u8868\u5f81\u57fa\u7840\uff1b<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-ee10e3775d9851a51ca7faf369638805_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| \u9636\u6bb5 1\uff1a\u5728\u5171\u4eab\u6f5c\u5728\u8868\u5f81\u7a7a\u95f4\u4e2d\uff0c\u8054\u5408\u5b66\u4e60\u672a\u6765\u9e1f\u77b0\u56fe\uff08BEV\uff09\u60f3\u8c61\u4e0e\u52a8\u4f5c\u9884\u6d4b<\/figcaption><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7b2c\u4e8c\u9636\u6bb5\uff08\u52a8\u4f5c\u53ef\u63a7\u6027\u5fae\u8c03\uff09\uff1a<\/strong>\u901a\u8fc7\u6d41\u5339\u914d\u635f\u5931\u8bad\u7ec3<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=270742101&amp;content_type=Article&amp;match_order=1&amp;q=DiT%E6%9E%B6%E6%9E%84&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">DiT\u67b6\u6784<\/a>\uff0c\u8ba9\u6a21\u578b\u5b66\u4f1a\u201c\u52a8\u4f5c-\u573a\u666f\u201d\u7684\u6620\u5c04\u5173\u7cfb\uff0c\u5b9e\u73b0\u53ef\u63a7\u7684\u672a\u6765\u60f3\u8c61\uff1b<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-0e56ddecea394d235f30e7b7ea1155a2_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| \u9636\u6bb5 2\uff1a\u5bf9\u751f\u6210\u5206\u652f\u65bd\u52a0\u672a\u6765\u52a8\u4f5c\u7684\u6761\u4ef6\u7ea6\u675f\uff0c\u5c06\u7ed9\u5b9a\u7684\u52a8\u4f5c\u5e8f\u5217\u6620\u5c04\u5230\u5176\u5bf9\u5e94\u7684\u672a\u6765\u72b6\u6001<\/figcaption><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7b2c\u4e09\u9636\u6bb5\uff08\u672a\u6765\u5f15\u5bfc\u7684\u8bc4\u4f30\u4e0e\u7cbe\u4fee\uff09\uff1a<\/strong>\u6784\u5efa\u95ed\u73af\u53cd\u9988\u673a\u5236\uff0c\u7528\u9884\u6d4b\u52a8\u4f5c\u751f\u6210\u672a\u6765\u573a\u666f\uff0c\u518d\u901a\u8fc7\u5956\u52b1\u51fd\u6570\u8bc4\u4f30\u52a8\u4f5c\u8d28\u91cf\uff0c\u53cd\u5411\u4f18\u5316\u51b3\u7b56\u6a21\u5757\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-822c4ee7332fe010b903806a40bc908f_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| \u9636\u6bb5 3\uff1a\u5f62\u6210\u95ed\u73af\uff1a\u9996\u5148\u9884\u6d4b\u52a8\u4f5c\uff0c\u7136\u540e\u60f3\u8c61\u7531\u6b64\u4ea7\u751f\u7684\u672a\u6765\uff0c\u6700\u540e\u5229\u7528\u5956\u52b1\u53cd\u9988\u6765\u4f18\u5316\u52a8\u4f5c\u9884\u6d4b<\/figcaption><\/figure>\n\n\n\n<p>\u8fd9\u79cd\u201c\u5148\u57fa\u7840\u3001\u518d\u53ef\u63a7\u3001\u540e\u95ed\u73af\u201d\u7684\u8bad\u7ec3\u903b\u8f91\uff0c\u6709\u6548\u907f\u514d\u4e86\u8054\u5408\u8bad\u7ec3\u4e2d\u7684\u68af\u5ea6\u9707\u8361\uff0c\u8ba9\u6a21\u578b\u5728\u611f\u77e5\u7cbe\u5ea6\u3001\u60f3\u8c61\u5408\u7406\u6027\u4e0e\u51b3\u7b56\u5b89\u5168\u6027\u4e4b\u95f4\u627e\u5230\u5e73\u8861\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><em>02 <\/em>\u6838\u5fc3\u8bbe\u8ba1\u62c6\u89e3<\/strong><\/h2>\n\n\n\n<p>DriveWorld-VLA\u7684\u6027\u80fd\u4f18\u52bf\uff0c\u6e90\u4e8e\u5176\u5728<strong>\u8868\u5f81\u8bbe\u8ba1\u3001\u63a8\u7406\u67b6\u6784\u548c\u8bad\u7ec3\u7b56\u7565<\/strong>\u4e0a\u7684\u7cbe\u7ec6\u5316\u6253\u78e8\uff0c\u4e09\u4e2a\u6838\u5fc3\u8bbe\u8ba1\u5171\u540c\u6784\u6210\u4e86\u5176\u6280\u672f\u62a4\u57ce\u6cb3\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>1. \u591a\u6a21\u6001Tokenization\uff1a\u8ba9\u8f93\u5165\u9002\u914d\u7edf\u4e00\u6f5c\u6001\u7a7a\u95f4<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u4e86\u8ba9\u5f02\u8d28\u591a\u6a21\u6001\u6570\u636e\uff08\u56fe\u50cf\u3001BEV\u3001\u6587\u672c\u3001\u52a8\u4f5c\uff09\u80fd\u9ad8\u6548\u878d\u5165LLM\u6f5c\u6001\u7a7a\u95f4\uff0c\u6a21\u578b\u4e3a\u4e0d\u540c\u8f93\u5165\u8bbe\u8ba1\u4e86\u4e13\u5c5eTokenizer\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u56fe\u50cf\u4e0e\u6587\u672c\uff1a<\/strong>\u9075\u5faaInternVL\u7684\u7f16\u7801\u903b\u8f91\uff0c\u901a\u8fc7\u81ea\u9002\u5e94\u5206\u5757\u5c06\u56fe\u50cf\u8f6c\u5316\u4e3a\u6587\u672c\u57df\u89c6\u89c9\u5360\u4f4d\u7b26\u4ee4\u724c\uff0c\u786e\u4fdd\u89c6\u89c9\u4fe1\u606f\u4e0e\u6587\u672c\u6307\u4ee4\u7684\u8bed\u4e49\u5bf9\u9f50\uff1b<\/li>\n\n\n\n<li><strong>BEV\u7279\u5f81\uff1a<\/strong>\u7ecfBEVFormer\u63d0\u53d6\u540e\uff0c\u901a\u8fc7\u7a7a\u95f4\u6241\u5e73\u5316\u6295\u5f71\u81f3VLM\u5d4c\u5165\u7a7a\u95f4\uff0c\u4fdd\u7559\u9e1f\u77b0\u89c6\u89d2\u7684\u5168\u5c40\u73af\u5883\u4fe1\u606f\uff1b<\/li>\n\n\n\n<li><strong>\u5386\u53f2\u52a8\u4f5c\uff1a<\/strong>\u5e8f\u5217\u5316\u4e3a\u51c6\u81ea\u7136\u8bed\u8a00\u63d0\u793a\uff0c\u4e0e\u6587\u672c\u5bfc\u822a\u6307\u4ee4\u62fc\u63a5\u7f16\u7801\uff0c\u8ba9\u52a8\u4f5c\u5386\u53f2\u5177\u5907\u8bed\u4e49\u53ef\u89e3\u91ca\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u79cd\u7edf\u4e00\u7684Tokenization\u7b56\u7565\uff0c\u907f\u514d\u4e86\u591a\u6a21\u6001\u6570\u636e\u878d\u5408\u65f6\u7684\u4fe1\u606f\u4e22\u5931\uff0c\u4e3a\u6f5c\u6001\u7a7a\u95f4\u7684\u77e5\u8bc6\u5171\u4eab\u5960\u5b9a\u4e86\u57fa\u7840\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2. \u53cc\u5206\u652f\u53bb\u566a\u5668\uff1a\u517c\u987e\u5386\u53f2\u4f9d\u8d56\u4e0e\u52a8\u4f5c\u53ef\u63a7<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-4ffa145db14a8d5709d87401828e40c3_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| \u52a8\u4f5c\u6761\u4ef6\u6d41\u5339\u914d\u53bb\u566a\u5668\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p>\u6a21\u578b\u7684\u53bb\u566a\u5668\uff08Denoiser\uff09\u5305\u542b\u4e24\u4e2a\u5206\u652f\uff0c\u5206\u522b\u627f\u62c5\u4e0d\u540c\u529f\u80fd\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5386\u53f2\u6761\u4ef6\u5206\u652f\uff1a<\/strong>\u4ec5\u57fa\u4e8e\u5386\u53f2\u89c2\u6d4b\u8fdb\u884c\u672a\u6765BEV\u9884\u6d4b\uff0c\u63d0\u4f9b\u5bc6\u96c6\u7684\u672a\u6765\u76d1\u7763\u4fe1\u53f7\uff0c\u8f85\u52a9\u591a\u6a21\u6001\u611f\u77e5\u6a21\u5757\u7684\u8bad\u7ec3\uff1b<\/li>\n\n\n\n<li><strong>\u52a8\u4f5c\u6761\u4ef6\u5206\u652f\uff1a<\/strong>\u57fa\u4e8eDiT\u67b6\u6784\u7684\u6d41\u5339\u914d\u53bb\u566a\u5668\uff0c\u4ee5\u5f53\u524dBEV\u72b6\u6001\u548c\u672a\u6765\u52a8\u4f5c\u4f5c\u4e3a\u6761\u4ef6\uff0c\u5b66\u4e60\u201c\u52a8\u4f5c-\u573a\u666f\u201d\u7684\u6620\u5c04\u5173\u7cfb\u3002\u5176\u6838\u5fc3\u635f\u5931\u51fd\u6570\u4e3a\uff1a<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"679\" height=\"72\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030402.png\" alt=\"\" class=\"wp-image-37534\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030402.png 679w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030402-300x32.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><\/figure>\n\n\n\n<p>\u8be5\u516c\u5f0f\u7684\u6838\u5fc3\u4f5c\u7528\uff0c\u662f\u8ba9\u6a21\u578b\u5b66\u4f1a\u6839\u636e\u7279\u5b9a\u52a8\u4f5c\u7cbe\u51c6\u751f\u6210\u5bf9\u5e94\u7684\u672a\u6765\u573a\u666f\u7279\u5f81\uff0c\u4ece\u800c\u5b9e\u73b0\u201c\u8f93\u5165\u52a8\u4f5c\u5e8f\u5217\u2192\u8f93\u51fa\u573a\u666f\u6f14\u5316\u201d\u7684\u53ef\u63a7\u60f3\u8c61\uff0c\u4e3a\u540e\u7eed\u7684\u52a8\u4f5c\u8bc4\u4f30\u63d0\u4f9b\u53ef\u9760\u4f9d\u636e\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3. \u5956\u52b1\u5f15\u5bfc\u7684\u95ed\u73af\u7cbe\u4fee\uff1a\u8ba9\u51b3\u7b56\u5b66\u4f1a\u201c\u53cd\u601d\u201d<\/strong><\/h3>\n\n\n\n<p>\u7b2c\u4e09\u9636\u6bb5\u7684\u95ed\u73af\u673a\u5236\u662fDriveWorld-VLA\u51b3\u7b56\u4f18\u5316\u7684\u5173\u952e\u3002\u6a21\u578b\u9996\u5148\u57fa\u4e8e\u5f53\u524d\u89c2\u6d4b\u9884\u6d4b\u52a8\u4f5c\uff0c\u518d\u901a\u8fc7\u53bb\u566a\u5668\u751f\u6210\u8be5\u52a8\u4f5c\u5bf9\u5e94\u7684\u672a\u6765\u573a\u666f\uff0c\u968f\u540e\u7531\u5956\u52b1\u51fd\u6570R\u8bc4\u4f30\u201c\u52a8\u4f5c-\u573a\u666f\u201d\u7684\u5339\u914d\u5ea6\u2014\u2014\u5956\u52b1\u5206\u6570\u4e0d\u4ec5\u8003\u91cf\u8f68\u8ff9\u7684\u5b89\u5168\u6027\uff08\u5982\u662f\u5426\u78b0\u649e\u3001\u662f\u5426\u504f\u79bb\u8f66\u9053\uff09\uff0c\u8fd8\u517c\u987e\u6548\u7387\uff08\u5982\u884c\u9a76\u8fdb\u5ea6\uff09\u4e0e\u8212\u9002\u6027\u3002<\/p>\n\n\n\n<p>\u6700\u7ec8\uff0c\u6a21\u578b\u5c06\u5956\u52b1\u5206\u6570\u4f5c\u4e3a\u6743\u91cd\uff0c\u5bf9\u52a8\u4f5c\u9884\u6d4b\u635f\u5931\u8fdb\u884c\u52a0\u6743\u4f18\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"69\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030403.png\" alt=\"\" class=\"wp-image-37535\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030403.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030403-300x31.png 300w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u79cd\u8bbe\u8ba1\u8ba9\u6a21\u578b\u5b66\u4f1a\u201c\u53cd\u601d\u201d\uff1a\u5982\u679c\u67d0\u4e2a\u52a8\u4f5c\u4f1a\u5bfc\u81f4\u9ad8\u98ce\u9669\u6216\u4f4e\u6548\u7387\u7684\u672a\u6765\u573a\u666f\uff0c\u5c31\u4f1a\u5728\u8bad\u7ec3\u4e2d\u88ab\u91cd\u70b9\u4fee\u6b63\uff0c\u4ece\u800c\u9010\u6b65\u5f62\u6210\u201c\u9884\u5224-\u8bc4\u4f30-\u4f18\u5316\u201d\u7684\u51b3\u7b56\u95ed\u73af\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><em>03 <\/em>\u591a\u57fa\u51c6SOTA<\/strong><\/h2>\n\n\n\n<p>DriveWorld-VLA\u5728closed-loop\uff08NAVSIMv1\u3001NAVSIMv2\uff09\u548copen-loop\uff08nuScenes\uff09\u4e09\u5927\u6743\u5a01\u57fa\u51c6\u4e0a\u5168\u9762\u7a81\u7834\uff0c\u5176\u6027\u80fd\u8868\u73b0\u4e0d\u4ec5\u9a8c\u8bc1\u4e86\u67b6\u6784\u8bbe\u8ba1\u7684\u6709\u6548\u6027\uff0c\u66f4\u4f53\u73b0\u4e86\u5b9e\u9645\u5e94\u7528\u4ef7\u503c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-15ae467f22fee0138b1614083bd91852_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| NAVSIM \u6570\u636e\u96c6 4 \u79d2\u8f68\u8ff9\u89c4\u5212\u7684\u6838\u5fc3\u53ef\u89c6\u5316\uff0c\u5bf9\u6bd4 Stage2\/Stage3\/GT\uff08\u771f\u5b9e\u8f68\u8ff9\uff09\u7684\u89c4\u5212\u6548\u679c<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>1. NAVSIMv1\uff1a91.3 PDMS\u5237\u65b0\u95ed\u73af\u89c4\u5212\u4e0a\u9650<\/strong><\/h3>\n\n\n\n<p>NAVSIMv1\u662f\u57fa\u4e8eOpenScene\u6570\u636e\u96c6\u6784\u5efa\u7684\u95ed\u73af\u89c4\u5212\u57fa\u51c6\uff0c\u6838\u5fc3\u6307\u6807PDMS\u7efc\u5408\u8003\u91cf\u65e0\u78b0\u649e\uff08NC\uff09\u3001\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\uff08DAC\uff09\u3001\u78b0\u649e\u65f6\u95f4\uff08TTC\uff09\u3001\u884c\u9a76\u8fdb\u5ea6\uff08EP\uff09\u548c\u8212\u9002\u6027\uff08C\uff09\u4e94\u5927\u7ef4\u5ea6\u3002<strong>DriveWorld-VLA\u4ee591.3\u7684PDMS\u6210\u7ee9\u8fdc\u8d85\u6240\u6709\u5bf9\u6bd4\u65b9\u6cd5\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-a73824fe4910b8550931b4b0da158466_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| NAVSIMv1 \u57fa\u51c6\u4e0a\u4e0e\u5404\u7c7b SOTA \u65b9\u6cd5\u7684\u5bf9\u6bd4\u6570\u636e<\/figcaption><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u65e0\u78b0\u649e\u7387\uff08NC\uff09\u8fbe99.1%\uff0c\u4ec5\u7565\u4f4e\u4e8e\u4eba\u7c7b\u9a7e\u9a76\uff08100%\uff09\uff0c\u5c55\u73b0\u4e86\u6781\u5f3a\u7684\u98ce\u9669\u89c4\u907f\u80fd\u529b\uff1b<\/li>\n\n\n\n<li>\u884c\u9a76\u8fdb\u5ea6\uff08EP\uff0985.9%\uff0c\u5728\u4fdd\u969c\u5b89\u5168\u7684\u540c\u65f6\u517c\u987e\u884c\u9a76\u6548\u7387\uff0c\u907f\u514d\u4e86\u201c\u8fc7\u5ea6\u4fdd\u5b88\u201d\u7684\u51b3\u7b56\uff1b<\/li>\n\n\n\n<li>\u8212\u9002\u6027\uff08C\uff09\u6ee1\u5206100%\uff0c\u8bf4\u660e\u6a21\u578b\u80fd\u6709\u6548\u907f\u514d\u6025\u52a0\u901f\u3001\u6025\u5239\u8f66\u548c\u6025\u8f6c\u5f2f\uff0c\u7b26\u5408\u4eba\u7c7b\u9a7e\u9a76\u4e60\u60ef\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cDriveWorld-VLA<strong>\u4ec5\u4f7f\u75283\u4e2a\u524d\u89c6\u6444\u50cf\u5934\u4f5c\u4e3a\u8f93\u5165<\/strong>\uff0c\u800c\u90e8\u5206\u5bf9\u6bd4\u65b9\u6cd5\u4f9d\u8d56LiDAR\u70b9\u4e91\u6216\u591a\u89c6\u89d2\u73af\u7ed5\u6444\u50cf\u5934\uff0c\u5728\u786c\u4ef6\u6210\u672c\u66f4\u4f4e\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u4e86\u66f4\u4f18\u6027\u80fd\uff0c\u5177\u5907\u66f4\u5f3a\u7684\u5de5\u7a0b\u843d\u5730\u6f5c\u529b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2. NAVSIMv2\uff1a86.8 EPDMS\u9886\u8dd1\u590d\u6742\u573a\u666f\u9002\u5e94<\/strong><\/h3>\n\n\n\n<p>NAVSIMv2\u5728PDMS\u57fa\u7840\u4e0a\u65b0\u589e\u4e86\u884c\u9a76\u65b9\u5411\u5408\u89c4\uff08DDC\uff09\u3001\u4ea4\u901a\u706f\u5408\u89c4\uff08TLC\uff09\u3001\u8f66\u9053\u4fdd\u6301\uff08LK\uff09\u7b49\u66f4\u4e25\u683c\u7684\u8bc4\u4f30\u7ef4\u5ea6\uff0c\u66f4\u8d34\u8fd1\u771f\u5b9e\u9053\u8def\u573a\u666f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-d937245dbf4aeb0a5f91e1625d5e2218_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| NAVSIMv2 \u57fa\u51c6\u7684 SOTA \u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p><strong>DriveWorld-VLA\u4ee586.8\u7684EPDMS\u6301\u7eed\u9886\u8dd1\uff0c\u5176\u4e2d\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u884c\u9a76\u65b9\u5411\u5408\u89c4\uff08DDC\uff0999.6%\u3001\u8f66\u9053\u4fdd\u6301\uff08LK\uff0997.0%\uff0c\u8bf4\u660e\u6a21\u578b\u5bf9\u4ea4\u901a\u89c4\u5219\u7684\u7406\u89e3\u4e0e\u6267\u884c\u80fd\u529b\u7a81\u51fa\uff1b<\/li>\n\n\n\n<li>\u65e0\u8fc7\u9519\u78b0\u649e\u7387\uff08NC\uff0998.6%\u3001\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\uff08DAC\uff0999.1%\uff0c\u5728\u591a\u7ea6\u675f\u573a\u666f\u4e0b\u4ecd\u80fd\u4fdd\u6301\u6781\u9ad8\u7684\u5b89\u5168\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3. nuScenes\uff1a0.16%\u78b0\u649e\u7387\u5f70\u663e\u77ed\u65f6\u57df\u89c4\u5212\u4f18\u52bf<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-f8209c7d9a53af192c912fac2898ea25_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| nuScenes \u9a8c\u8bc1\u96c6 3 \u79d2\u89c4\u5212\u7ed3\u679c<\/figcaption><\/figure>\n\n\n\n<p>nuScenes\u662f\u6237\u5916\u81ea\u52a8\u9a7e\u9a76\u7684\u4e3b\u6d41open-loop\u57fa\u51c6\uff0cDriveWorld-VLA\u5728\u7981\u7528 ego-state \u4fe1\u606f\uff08\u8f66\u8f86\u81ea\u8eab\u4f4d\u7f6e\u3001\u901f\u5ea6\u7b49\uff09\u7684\u516c\u5e73\u5bf9\u6bd4\u6761\u4ef6\u4e0b\uff0c\u5b9e\u73b0\u4e860.61m\u7684\u5e73\u5747L2\u8f68\u8ff9\u8bef\u5dee\u548c0.16%\u76843\u79d2\u5e73\u5747\u78b0\u649e\u7387\u2014\u2014<strong>\u8fd9\u4e00\u78b0\u649e\u7387\u4e0d\u4ec5\u5927\u5e45\u4f4e\u4e8eE2E\u548c\u4e16\u754c\u6a21\u578b\u7c7b\u57fa\u51c6\u65b9\u6cd5\uff0c\u751a\u81f3\u8d85\u8fc7\u4e86HERMES-p\u3001FSDrive\u7b49\u4e13\u95e8\u4f18\u5316\u77ed\u65f6\u57df\u89c4\u5212\u7684SOTA\u6a21\u578b<\/strong>\uff0c\u8bc1\u660e\u5176\u51b3\u7b56\u7b56\u7565\u7684\u5b89\u5168\u6027\u5177\u6709\u666e\u9002\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><em>04 <\/em>\u6d88\u878d\u5b9e\u9a8c\u7684\u5173\u952e\u53d1\u73b0<\/strong><\/h2>\n\n\n\n<p>\u56e2\u961f\u901a\u8fc7\u591a\u7ec4\u6d88\u878d\u5b9e\u9a8c\uff0c\u9a8c\u8bc1\u4e86\u6838\u5fc3\u8bbe\u8ba1\u7684\u5fc5\u8981\u6027\uff0c\u5176\u4e2d\u4e09\u4e2a\u7ed3\u8bba\u5c24\u4e3a\u503c\u5f97\u5173\u6ce8\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>1. \u6e10\u8fdb\u5f0f\u8bad\u7ec3\u662f\u6027\u80fd\u4fdd\u969c<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-841bc628e02bda0621fe2e6766740b43_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| \u8bad\u7ec3\u8fc7\u7a0b\u6d88\u878d<\/figcaption><\/figure>\n\n\n\n<p>\u82e5\u8df3\u8fc7\u6e10\u8fdb\u5f0f\u6d41\u7a0b\uff0c\u5728\u7b2c\u4e00\u9636\u6bb5\u540e\u76f4\u63a5\u540c\u65f6\u8bad\u7ec3\u7b2c\u4e8c\u3001\u4e09\u9636\u6bb5\uff0c\u6a21\u578bPDMS\u4f1a\u9aa4\u964d7.7\u5206\uff08\u4ece91.3\u964d\u81f383.6\uff09\u3002\u8fd9\u8bf4\u660e\uff0c\u6a21\u578b\u5fc5\u987b\u5148\u901a\u8fc7\u8054\u5408\u8bad\u7ec3\u592f\u5b9e\u591a\u6a21\u6001\u611f\u77e5\u4e0e\u6f5c\u6001\u8868\u5f81\u57fa\u7840\uff0c\u518d\u9010\u6b65\u89e3\u9501\u52a8\u4f5c\u53ef\u63a7\u4e0e\u95ed\u73af\u4f18\u5316\u80fd\u529b\uff0c\u5426\u5219\u4f1a\u51fa\u73b0\u6a21\u6001\u5931\u8861\u6216\u6536\u655b\u56f0\u96be\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-cf2a377e6dd70f9f81db67ab6aab939e_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| \u8bad\u7ec3\u7b56\u7565\u6d88\u878d<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2. VLM\u7684\u52a8\u6001\u4f18\u5316\u4e0d\u53ef\u5c11<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-1fef2ff3f270a4c050df682cccfe07d8_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| VLM \u7b56\u7565\u6d88\u878d\u5b9e\u9a8c\uff08\u51bb\u7ed3 \/ \u9884\u8bad\u7ec3\u4e0e\u5426\uff09<\/figcaption><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u8868\u660e\uff0c\u4ec5\u51bb\u7ed3VLM\u53c2\u6570\u6216\u7701\u7565\u9884\u8bad\u7ec3\u5fae\u8c03\uff0c\u90fd\u4f1a\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u3002\u6700\u4f18\u7b56\u7565\u662f\u5728\u7b2c\u4e00\u9636\u6bb5\u5141\u8bb8VLM\u53c2\u6570\u53c2\u4e0e\u4f18\u5316\uff0c\u5e76\u7ed3\u54083\u8f6e\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u2014\u2014\u8fd9\u80fd\u8ba9VLM\u66f4\u597d\u5730\u9002\u914d\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u591a\u6a21\u6001\u6570\u636e\uff0c\u7cbe\u51c6\u5efa\u6a21\u5171\u4eab\u6f5c\u6001\u7a7a\u95f4\u7684\u7279\u5f81\u5206\u5e03\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3. \u7279\u5f81\u7ea7\u76d1\u7763\u63d0\u5347\u60f3\u8c61\u7cbe\u5ea6<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-73c0a1f531015b83586fb92eb826b209_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| \u76d1\u7763\u65b9\u5f0f\u6d88\u878d\u5b9e\u9a8c\uff08\u4efb\u52a1\u7ea7 \/ \u7279\u5f81\u7ea7\u76d1\u7763\uff09<\/figcaption><\/figure>\n\n\n\n<p>\u4ec5\u4f9d\u8d56\u4efb\u52a1\u7ea7\u76d1\u7763\uff08\u5982\u8bed\u4e49BEV\u89e3\u7801\u3001\u52a8\u4f5c\u6a21\u4eff\u5b66\u4e60\uff09\u4f1a\u5bfc\u81f4\u6a21\u578b\u7f3a\u4e4f\u7ec6\u7c92\u5ea6\u7279\u5f81 guidance\uff0c\u800c\u5f31\u5316\u7279\u5f81\u7ea7\u76d1\u7763\uff08\u5982\u53bb\u566a\u8fc7\u7a0b\u7684\u6d41\u5339\u914d\u635f\u5931\uff09\u5219\u4f1a\u964d\u4f4e\u672a\u6765\u573a\u666f\u60f3\u8c61\u7684\u51c6\u786e\u6027\u3002\u4e24\u8005\u7684\u4e92\u8865\uff0c\u662f\u5b9e\u73b0\u201c\u7cbe\u51c6\u60f3\u8c61-\u53ef\u9760\u51b3\u7b56\u201d\u7684\u524d\u63d0\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><em>05 <\/em>\u672a\u6765\u5c55\u671b<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-58d19882594c3ad9043e5a6204fbaf8f_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe| nuScenes\u9a8c\u8bc1\u96c6\u7684\u53ef\u89c6\u5316\u793a\u4f8b<\/figcaption><\/figure>\n\n\n\n<p>DriveWorld-VLA\u7684\u6838\u5fc3\u4ef7\u503c\uff0c\u8fdc\u4e0d\u6b62\u4e8e\u5237\u65b0\u5404\u57fa\u51c6\u7684SOTA\u6210\u7ee9\uff0c\u66f4\u5728\u4e8e\u5176\u63d0\u51fa\u4e86\u4e00\u5957VLA\u4e0e\u4e16\u754c\u6a21\u578b\u6df1\u5ea6\u878d\u5408\u7684\u5b8c\u6574\u65b9\u6cd5\u8bba\u3002<\/p>\n\n\n\n<p>\u5b83\u4ee5LLM\u6f5c\u6001\u7a7a\u95f4\u6253\u7834\u8868\u5f81\u58c1\u5792\uff0c\u4f9d\u6258DiT\u67b6\u6784\u5b9e\u73b0\u52a8\u4f5c\u6761\u4ef6\u4e0b\u7684\u53ef\u63a7\u56e0\u679c\u63a8\u7406\uff0c\u901a\u8fc7\u4e09\u9636\u6bb5\u6e10\u8fdb\u5f0f\u8bad\u7ec3\u4fdd\u969c\u8054\u5408\u4f18\u5316\u7a33\u5b9a\u6027\uff0c\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u4ece\u201c\u53cd\u5e94\u5f0f\u201d\u5411\u201c\u524d\u77bb\u5f0f\u201d\u5347\u7ea7\uff0c\u4e5f\u5370\u8bc1\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u51b3\u7b56\u4f18\u5316\uff0c\u53ef\u901a\u8fc7\u67b6\u6784\u521b\u65b0\u5b9e\u73b0\u201c\u611f\u77e5-\u63a8\u7406-\u89c4\u5212\u201d\u7684\u6df1\u5ea6\u534f\u540c\uff0c\u800c\u975e\u5355\u7eaf\u4f9d\u8d56\u590d\u6742\u4f20\u611f\u5668\u6216\u6d77\u91cf\u6807\u6ce8\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u672a\u6765\uff0c\u968f\u7740\u52a8\u6001\u573a\u666f\u9002\u914d\u3001\u7269\u7406\u5148\u9a8c\u878d\u5165\u3001\u8f7b\u91cf\u5316\u6280\u672f\u7b49\u65b9\u5411\u7684\u6280\u672f\u7a81\u7834\uff0c\u8be5\u6a21\u578b\u6240\u6253\u9020\u7684\u201c\u6f5c\u7a7a\u95f4\u7edf\u4e00\u5efa\u6a21\u201d\u601d\u8def\uff0c\u6709\u671b\u6210\u4e3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u4e3b\u6d41\u6846\u67b6\uff0c\u4e3a\u6280\u672f\u843d\u5730\u5960\u5b9a\u6838\u5fc3\u57fa\u7840\u3002<\/p>\n\n\n\n<p><em>Ref\uff1a<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u6807\u9898\uff1aDriveWorld-VLA: Unified Latent-Space World Modeling with Vision\u2013Language\u2013Action for Autonomous Driving<\/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\/2602.06521v1.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2602.06521v1.pdf<\/a><\/em><\/p>\n\n\n\n<p><em>\u4ee3\u7801\u5730\u5740\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/liulin815\/DriveWorld-VLA.git\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/liulin815\/DriveWorld-VLA.git<\/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-37532","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\/37532"}],"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=37532"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37532\/revisions"}],"predecessor-version":[{"id":37536,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37532\/revisions\/37536"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=37532"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=37532"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=37532"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}