{"id":37619,"date":"2026-03-06T17:20:00","date_gmt":"2026-03-06T09:20:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=37619"},"modified":"2026-03-07T08:42:47","modified_gmt":"2026-03-07T00:42:47","slug":"2026-03-06-%e6%8a%8a%e6%89%a9%e6%95%a3%e6%a8%a1%e5%9e%8b%e5%b9%b2%e4%b8%8a%e8%bd%a6%ef%bc%81%e6%b8%85%e5%8d%8e%e5%b0%8f%e7%b1%b3hdp%ef%bc%9a%e5%ae%9e%e8%bd%a6%e9%aa%8c%e8%af%81%ef%bc%8c%e7%ab%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/06\/37619\/","title":{"rendered":"2026-03-06 \u628a\u6269\u6563\u6a21\u578b\u5e72\u4e0a\u8f66\uff01\u6e05\u534e&\u5c0f\u7c73HDP\uff1a\u5b9e\u8f66\u9a8c\u8bc1\uff0c\u7aef\u5230\u7aef\u95ed\u73af\u6027\u80fd\u63d0\u534710\u500d……"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/qhO_v66mqX5bhWv3zsbVvg<\/a><\/p>\n\n\n\n

\u672c\u6587\u4ecb\u7ecd\u6e05\u534eAIR\u548c\u5c0f\u7c73\u6c7d\u8f66\u7684\u56e2\u961f<\/strong>\u6700\u65b0\u5de5\u4f5c\u00a0Hyper Diffusion Planner<\/strong>\u00a0(HDP)\uff1a\u4e00\u4e2a\u9762\u5411\u771f\u5b9e\u9053\u8def\u90e8\u7f72\u7684\u6269\u6563\u6a21\u578b\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u6846\u67b6\u3002\u4e0d\u540c\u4e8e\u5927\u91cf\u505c\u7559\u5728\u5f00\u73af\u6307\u6807\u6216\u4eff\u771f\u7ed3\u679c\u7684\u65b9\u6cd5\uff0cHDP\u76f4\u63a5\u9762\u5411\u5b9e\u8f66\u8868\u73b0 \u4ece\u6a21\u578b\u8bbe\u8ba1\u3001\u8bad\u7ec3\u8303\u5f0f\u90fd\u505a\u4e86\u7cfb\u7edf\u6027\u63a2\u7d22\uff0c\u76ee\u6807\u662f\u56de\u7b54\u4e00\u4e2a\u5173\u952e\u95ee\u9898\uff1a<\/p>\n\n\n\n

\u6269\u6563\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u4e2d\u7684\u6f5c\u529b\uff0c\u662f\u5426\u88ab\u771f\u6b63\u53d1\u6325\u51fa\u6765\u4e86\uff1f<\/p>\n\n\n\n

\u5728\u8fd9\u9879\u7814\u7a76\u4e2d\uff0c\u6e05\u534eAIR\u548c\u5c0f\u7c73\u6c7d\u8f66\u7684\u56e2\u961f<\/strong>\u7cfb\u7edf\u5730\u63a2\u7d22\u4e86\u5982\u4f55\u8bad\u7ec3\u548c\u8bbe\u8ba1\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u6a21\u578b\uff0c\u5e76\u6210\u529f\u5728 Xiaomi SU7 \u4e0a\u5b8c\u6210\u90e8\u7f72\u5e76\u8fdb\u884c\u4e86\u5b9e\u8f66\u9a8c\u8bc1\u3002<\/p>\n\n\n\n

HDP\u7684\u76ee\u6807\u662f\u5145\u5206\u53d1\u6325\u6269\u6563\u6a21\u578b\u672c\u8eab\u7684\u80fd\u529b\uff0c\u56e0\u6b64\u6452\u5f03\u4e86\u8bf8\u5982 goal\u3001anchor \u7b49\u5f3a\u5148\u9a8c\u8bbe\u8ba1\uff0c\u800c\u662f\u57fa\u4e8e\u201c\u7eaf\u201d\u6269\u6563\u6a21\u578b\uff0c\u7cfb\u7edf\u7814\u7a76\u4e86 \u6269\u6563\u6a21\u578b\u7684 loss \u8bbe\u8ba1\u548c\u8f68\u8ff9\u8868\u793a\u65b9\u6cd5\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\u3002\u5728\u4f01\u4e1a\u7ea7\u89c4\u6a21\u6570\u636e\u7684\u652f\u6301\u4e0b\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u6a21\u578b\u6027\u80fd\u7684 scaling \u7279\u6027\uff0c\u5e76\u53d1\u73b0\u53ea\u6709\u5728\u6570\u636e\u89c4\u6a21\u8db3\u591f\u5927\u65f6\uff0c\u6269\u6563\u6a21\u578b\u7684 \u591a\u6a21\u6001\u80fd\u529b<\/strong> \u624d\u80fd\u88ab\u5145\u5206\u6fc0\u53d1\uff0c\u800c\u8fd9\u4e00\u80fd\u529b\u5728\u73b0\u6709 benchmark \u7684\u6570\u636e\u89c4\u6a21\u4e0b\u5f80\u5f80\u96be\u4ee5\u4f53\u73b0\u3002<\/p>\n\n\n\n

\u6b64\u5916\uff0cHDP\u8fd8\u5f15\u5165 \u5f3a\u5316\u5b66\u4e60 \u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u80fd\u529b\uff0c\u5e76\u540c\u6837\u901a\u8fc7\u5b9e\u8f66\u5b9e\u9a8c\u8fdb\u884c\u4e86\u9a8c\u8bc1\u3002\u7ecf\u8fc7 200 km \u7684\u5b9e\u8f66\u6d4b\u8bd5\uff0c\u7ed3\u679c\u8868\u660e\uff0c\u76f8\u6bd4\u4e8e\u6700\u57fa\u7840\u7684\u6a21\u578b\uff0c\u6211\u4eec\u7684\u6846\u67b6\u5728\u771f\u5b9e\u9053\u8def\u73af\u5883\u4e2d\u7684\u6027\u80fd\u63d0\u5347\u8fbe\u5230 10 \u500d\uff0c\u9a8c\u8bc1\u4e86 \u6269\u6563\u6a21\u578b\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u7cfb\u7edf\u7684\u53ef\u884c\u6027\u4e0e\u6f5c\u529b\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2602.22801<\/p>\n\n\n\n

\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/zhengyinan-air.github.io\/Hyper-Diffusion-Planner\/<\/p>\n\n\n\n

\u80cc\u666f\uff1a\u4e3a\u4ec0\u4e48\u6211\u4eec\u8fd8\u9700\u8981\u91cd\u65b0\u5ba1\u89c6\u201c\u6269\u6563 + \u81ea\u52a8\u9a7e\u9a76\u201d\uff1f<\/strong><\/p>\n\n\n\n

\u6269\u6563\u6a21\u578b\u5728\u751f\u6210\u4e0e\u51b3\u7b56\u4efb\u52a1\u4e2d\u5df2\u7ecf\u5c55\u73b0\u51fa\u5f3a\u5927\u80fd\u529b\uff0c\u4f46\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u5f88\u591a\u5de5\u4f5c\u4ecd\u7136\u5c40\u9650\u5728\u5f00\u73af\u56de\u653e\u6216\u4eff\u771f\u73af\u5883\u3002
\u8981\u771f\u6b63\u8dd1\u5230\u5b9e\u8f66\u4e0a\uff0c\u6311\u6218\u5e76\u4e0d\u5c0f\uff1a<\/p>\n\n\n\n

    \n
  • \u80fd\u529b\u4e0e\u6548\u7387\u8981\u540c\u65f6\u6ee1\u8db3<\/strong>\uff1a\u65e2\u8981\u7406\u89e3\u590d\u6742\u573a\u666f\uff0c\u53c8\u8981\u6ee1\u8db3\u8f66\u7aef\u5b9e\u65f6\u8981\u6c42\uff1b<\/li>\n\n\n\n
  • \u95ed\u73af\u8bef\u5dee\u4f1a\u7d2f\u79ef\u653e\u5927<\/strong>\uff1a\u4e00\u70b9\u504f\u5dee\u53ef\u80fd\u5728\u8fde\u7eed\u51b3\u7b56\u4e2d\u6f14\u5316\u4e3a\u660e\u663e\u98ce\u9669\uff1b<\/li>\n\n\n\n
  • \u8fc7\u5ea6\u5de5\u7a0b\u63a9\u76d6\u6a21\u578b\u80fd\u529b<\/strong>\uff1a\u73b0\u6709\u7684\u5de5\u7a0b\u843d\u5730\u65b9\u6848\u4f9d\u8d56\u951a\u70b9\u3001\u76ee\u6807\u70b9\u7b49\u989d\u5916\u5148\u9a8c\u6761\u4ef6\u6216\u91cd\u540e\u5904\u7406\uff0c\u96be\u4ee5\u9a8c\u8bc1\u6269\u6563\u6a21\u578b\u672c\u4f53\u4e0a\u9650\u3002<\/li>\n<\/ul>\n\n\n\n

    \u6211\u4eec\u5e0c\u671b\u8d70\u4e00\u6761\u66f4\u201c\u5e72\u51c0\u201d\u7684\u8def\u7ebf\uff1a\u5728\u4e0d\u8fc7\u5ea6\u5806\u53e0\u5148\u9a8c\u7684\u524d\u63d0\u4e0b\uff0c\u7cfb\u7edf\u91ca\u653e\u6269\u6563\u6a21\u578b\u5728\u7aef\u5230\u7aef\u89c4\u5212\u4e2d\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n

    \u65b9\u6cd5\u603b\u89c8\uff1aHDP \u505a\u4e86\u4ec0\u4e48\uff1f<\/strong><\/p>\n\n\n\n

    1) \u91cd\u65b0\u5ba1\u89c6\u6269\u6563\u635f\u5931\u7a7a\u95f4\uff1a\u89c4\u5212\u4efb\u52a1\u8981\u7528\u201c\u5bf9\u7684\u76ee\u6807\u201d\u8bad\u7ec3<\/strong><\/p>\n\n\n\n

    \u6269\u6563\u6a21\u578b\u5e38\u89c1\u7684\u8bad\u7ec3\u76ee\u6807\u6765\u81ea\u56fe\u50cf\u751f\u6210\u8303\u5f0f\uff0c\u4f46\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u548c\u56fe\u50cf\u751f\u6210\u6709\u672c\u8d28\u5dee\u5f02\uff1a\u89c4\u5212\u8f68\u8ff9\u662f\u4f4e\u7ef4\u3001\u5f3a\u7ea6\u675f\u3001\u5f3a\u65f6\u5e8f\u76f8\u5173\u7684\u51b3\u7b56\u8f93\u51fa\u3002\u5982\u679c\u76f4\u63a5\u6cbf\u7528\u201c\u901a\u7528\u914d\u7f6e\u201d\uff0c\u5f88\u5bb9\u6613\u51fa\u73b0\u8bad\u7ec3\u4e0d\u7a33\u5b9a\u3001\u8f68\u8ff9\u6296\u52a8\u548c\u95ed\u73af\u8868\u73b0\u9000\u5316\u3002<\/p>\n\n\n\n

    \u4e3a\u6b64\u6211\u4eec\u7cfb\u7edf\u6bd4\u8f83\u4e86 9 \u79cd prediction-loss \u7ec4\u5408\uff08tau0<\/code> \/ v<\/code> \/ epsilon<\/code> \u9884\u6d4b\u4e0e\u76d1\u7763\u7684\u5168\u7ec4\u5408\uff09\uff0c\u7ed3\u8bba\u975e\u5e38\u660e\u786e\uff1a<\/p>\n\n\n\n

      \n
    • \u5728\u89c4\u5212\u4efb\u52a1\u4e2d\uff0ctau0-pred + tau0-loss<\/code>\u00a0\u7684\u6536\u655b\u901f\u5ea6\u548c\u7a33\u5b9a\u6027\u660e\u663e\u66f4\u597d\uff1b<\/li>\n\n\n\n
    • \u751f\u6210\u8f68\u8ff9\u66f4\u5e73\u6ed1\uff0c\u672b\u6bb5\u6296\u52a8\u66f4\u5c11\uff0c\u51e0\u4f55\u8d28\u91cf\u66f4\u9ad8\uff1b<\/li>\n\n\n\n
    • \u8fd9\u4e00\u914d\u7f6e\u66f4\u7b26\u5408\u201c\u8f68\u8ff9\u6570\u636e\u6d41\u5f62\u672c\u8eab\u201d\u7684\u5b66\u4e60\u89c4\u5f8b\uff0c\u800c\u4e0d\u662f\u88ab\u566a\u58f0\u7a7a\u95f4\u7275\u7740\u8d70\u3002<\/li>\n<\/ul>\n\n\n\n

      \u8fd9\u4e00\u6b65\u7684\u610f\u4e49\u5728\u4e8e\uff1a\u5148\u628a\u6269\u6563\u6a21\u578b\u7684\u201c\u57fa\u7840\u8bad\u7ec3\u5750\u6807\u7cfb\u201d\u8c03\u51c6\uff0c\u540e\u7eed\u7684\u8868\u5f81\u8bbe\u8ba1\u4e0e\u6570\u636e\u6269\u5c55\u624d\u80fd\u771f\u6b63\u8d77\u6548\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n
      \"\"<\/figure>\n\n\n\n

      2) \u8f68\u8ff9\u8868\u793a\u53cc\u4f18\u878d\u5408\uff1aHybrid Loss \u540c\u65f6\u517c\u987e\u51e0\u4f55\u4e0e\u52a8\u529b\u5b66<\/strong><\/p>\n\n\n\n

      \u5728\u8f68\u8ff9\u8868\u793a\u4e0a\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\u4e00\u4e2a\u975e\u5e38\u5178\u578b\u7684 trade-off\uff1a<\/p>\n\n\n\n

        \n
      • waypoint \u8868\u793a\u66f4\u5229\u4e8e\u51e0\u4f55\u5bf9\u9f50\uff0c\u4f46\u901f\u5ea6\u66f2\u7ebf\u5bb9\u6613\u6296\u52a8\uff1b<\/li>\n\n\n\n
      • velocity \u8868\u793a\u66f4\u5e73\u6ed1\uff0c\u4f46\u5bf9\u5168\u5c40\u8f68\u8ff9\u5f62\u72b6\u6062\u590d\u4e0d\u591f\u5145\u5206\u3002<\/li>\n<\/ul>\n\n\n\n
        \"\"<\/figure>\n\n\n\n
        \"\"<\/figure>\n\n\n\n

        \u5982\u679c\u53ea\u9009\u4e00\u8fb9\uff0c\u5c31\u4f1a\u5728\u201c\u8f68\u8ff9\u5f62\u72b6\u201d\u4e0e\u201c\u52a8\u529b\u5b66\u5e73\u987a\u201d\u4e4b\u95f4\u505a\u59a5\u534f\u3002\u56e0\u6b64\u6211\u4eec\u63d0\u51fa Hybrid Loss<\/strong>\uff1a\u6a21\u578b\u4ecd\u7136\u8f93\u51fa\u901f\u5ea6\uff0c\u4f46\u8bad\u7ec3\u65f6\u540c\u65f6\u65bd\u52a0\u4e24\u7c7b\u76d1\u7763\uff1a<\/p>\n\n\n\n

          \n
        • \u76f4\u63a5\u76d1\u7763\u901f\u5ea6\u8bef\u5dee\uff0c\u4fdd\u8bc1\u5c40\u90e8\u52a8\u529b\u5b66\u4e00\u81f4\u6027\uff1b<\/li>\n\n\n\n
        • \u901a\u8fc7\u79ef\u5206\u540e\u7684 waypoint \u76d1\u7763\u5168\u5c40\u51e0\u4f55\u8d8b\u52bf\uff0c\u907f\u514d\u8f68\u8ff9\u504f\u5f62\u3002<\/li>\n<\/ul>\n\n\n\n

          \u7406\u8bba\u4e0a\uff0c\u6211\u4eec\u8bc1\u660e\u4e86Hybrid Loss \u4ecd\u7136\u5bf9\u5e94\u6709\u6548\u7684\u6269\u6563\u5b66\u4e60\u76ee\u6807\uff1b<\/p>\n\n\n\n

          \"\"<\/figure>\n\n\n\n

          \u5de5\u7a0b\u4e0a\uff0c\u5728\u5b9e\u8f66\u95ed\u73af\u6d4b\u8bd5\u4e2d\u5b83\u663e\u8457\u62c9\u5347\u6210\u529f\u7387\u4e0e\u7a33\u5b9a\u6027\uff0c\u662f\u4ece\u201c\u80fd\u8dd1\u201d\u5230\u201c\u8dd1\u5f97\u7a33\u201d\u7684\u5173\u952e\u4e00\u6b65\u3002<\/p>\n\n\n\n

          \"\"<\/figure>\n\n\n\n

          3) \u6570\u636e\u89c4\u6a21\u5e26\u6765\u201c\u6d8c\u73b0\u201d\uff1a\u8fd1\u4ebf\u7ea7\u771f\u5b9e\u5e27\u7684\u7cfb\u7edf\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n

          \u6211\u4eec\u505a\u4e86\u4ece 10M \u5230 70M \u5e27\u7684\u53d7\u63a7\u6269\u5c55\u5b9e\u9a8c\uff0c\u91cd\u70b9\u56de\u7b54\u4e00\u4e2a\u95ee\u9898\uff1a\u771f\u5b9e\u6570\u636e\u89c4\u6a21\u5230\u5e95\u80fd\u5e26\u6765\u4ec0\u4e48\uff1f<\/p>\n\n\n\n

          \u5b9e\u9a8c\u7ed3\u679c\u663e\u793a\uff1a<\/p>\n\n\n\n

            \n
          • \u5c0f\u6570\u636e\u4e0b\u6269\u6563\u89c4\u5212\u5bb9\u6613\u6a21\u5f0f\u584c\u7f29\uff1b<\/li>\n\n\n\n
          • \u6570\u636e\u89c4\u6a21\u4e0a\u6765\u540e\uff0c\u591a\u6a21\u6001\u884c\u4e3a\u80fd\u529b\u660e\u663e\u589e\u5f3a\uff1b<\/li>\n<\/ul>\n\n\n\n
            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n

            \u5f00\u73af\u4e0e\u95ed\u73af\u6307\u6807\u5747\u6301\u7eed\u63d0\u5347\uff0c\u9a8c\u8bc1\u771f\u5b9e\u573a\u666f\u4e2d\u7684 scaling \u7279\u6027\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n

            \u66f4\u91cd\u8981\u7684\u662f\uff0c\u6570\u636e\u6269\u5c55\u4e0d\u4ec5\u63d0\u5347\u201c\u5e73\u5747\u5206\u201d\uff0c\u8fd8\u63d0\u5347\u4e86\u6a21\u578b\u5bf9\u957f\u5c3e\u4ea4\u901a\u4ea4\u4e92\u7684\u8986\u76d6\u80fd\u529b\uff1a\u540c\u4e00\u573a\u666f\u4e0b\u53ef\u4ee5\u751f\u6210\u66f4\u5408\u7406\u7684\u591a\u79cd\u53ef\u884c\u884c\u4e3a\uff0c\u800c\u4e0d\u662f\u5355\u4e00\u50f5\u5316\u7b56\u7565\u3002\u8fd9\u8bf4\u660e\u6269\u6563\u89c4\u5212\u5728\u5de5\u4e1a\u7ea7\u6570\u636e\u6761\u4ef6\u4e0b\u5177\u5907\u7a33\u5b9a\u3001\u6301\u7eed\u7684\u53ef\u6269\u5c55\u6f5c\u529b\u3002<\/p>\n\n\n\n

            4) RL \u540e\u8bad\u7ec3\uff1a\u8fdb\u4e00\u6b65\u5f3a\u5316\u5b89\u5168\u80fd\u529b<\/strong><\/p>\n\n\n\n

            \u6a21\u4eff\u5b66\u4e60\u53ef\u4ee5\u5b66\u5230\u201c\u50cf\u4eba\u5f00\u8f66\u201d\uff0c\u4f46\u5728\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\uff0c\u4ecd\u7136\u9700\u8981\u66f4\u76f4\u63a5\u7684\u76ee\u6807\u4f18\u5316\u3002\u56e0\u6b64\u5728 IL \u9884\u8bad\u7ec3\u4e4b\u540e\uff0c\u6211\u4eec\u52a0\u5165\u4e0e Hybrid Loss \u517c\u5bb9\u7684 RL \u540e\u8bad\u7ec3\u7b56\u7565\uff0c\u91cd\u70b9\u9488\u5bf9\u5b89\u5168\u76f8\u5173\u884c\u4e3a\u505a\u5f3a\u5316\u3002<\/p>\n\n\n\n

            \u5982\u679c\u7528\u4e00\u4e2a\u66f4\u201c\u516c\u5f0f\u5316\u201d\u7684\u65b9\u5f0f\u6765\u63cf\u8ff0\uff0c\u6211\u4eec\u5148\u5728\u65e7\u7b56\u7565\u57fa\u7840\u4e0a\u5199\u51fa\u4e00\u4e2a\u5e26 KL \u6b63\u5219\u7684\u79bb\u7ebf RL \u4f18\u5316\u76ee\u6807\uff0c\u7528\u6765\u7ea6\u675f\u65b0\u7b56\u7565\u4e0d\u8981\u504f\u79bb\u539f\u6765\u7684\u6a21\u4eff\u7b56\u7565\uff1a<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u8fd9\u4e2a\u76ee\u6807\u7684\u95ed\u5f0f\u6700\u4f18\u89e3\u53ef\u4ee5\u5199\u6210\u4e00\u6761\u7b80\u5355\u7684\u201c\u52a0\u6743\u91cd\u91c7\u6837\u201d\u5f62\u5f0f\uff1a\u5728\u539f\u7b56\u7565\u7684\u57fa\u7840\u4e0a\uff0c\u7528 (\\exp(\\beta r)) \u5bf9\u9ad8\u56de\u62a5\u8f68\u8ff9\u8fdb\u884c\u653e\u5927\uff1a<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u5728\u5177\u4f53\u5b9e\u73b0\u4e0a\uff0c\u6211\u4eec\u5e76\u4e0d\u663e\u5f0f\u91c7\u6837\u8fd9\u6761\u65b0\u7b56\u7565\uff0c\u800c\u662f\u628a\u5b83\u201c\u6298\u53e0\u201d\u8fdb\u6269\u6563\u8bad\u7ec3\uff0c\u5f97\u5230\u4e00\u4e2a\u5e26\u6743\u91cd\u7684\u6df7\u5408\u56de\u5f52\u635f\u5931\uff1a\u56de\u62a5\u8d8a\u9ad8\u7684\u6837\u672c\uff0c\u5bf9\u5e94\u7684\u6269\u6563\u76d1\u7763\u6743\u91cd\u8d8a\u5927\uff1a<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u8fd9\u91cc\u7684\u8303\u6570\u4e0e\u524d\u6587 Hybrid Loss \u4f7f\u7528\u7684\u662f\u540c\u4e00\u4e2a\u52a0\u6743\u8303\u6570\uff0c\u8fd9\u6837\u5c31\u628a\u201c\u66f4\u5b89\u5168\u201d\u7684\u504f\u597d\u81ea\u7136\u6ce8\u5165\u5230\u4e86\u540c\u4e00\u5957\u6269\u6563 + \u6df7\u5408\u635f\u5931\u6846\u67b6\u4e2d\uff0c\u6211\u4eec\u5728\u8bba\u6587\u4e2d\u7ed9\u51fa\u4e86\u8be6\u7ec6\u7684\u8bc1\u660e\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5f88\u591a\u9488\u5bf9\u6269\u6563\u6a21\u578b\u7684 RL \u65b9\u6cd5\u4f1a\u628a\u6574\u4e2a\u53bb\u566a\u8fc7\u7a0b\u5f53\u6210\u4e00\u4e2a\u591a\u6b65 MDP\uff1a\u5c06\u6bcf\u4e2a denoise step \u62c6\u6210\u4e00\u4e2a\u65f6\u95f4\u6b65\uff0c\u518d\u7528 PPO \u7b49 RL \u7b97\u6cd5\u53bb\u4f18\u5316\u6574\u6761\u201c\u53bb\u566a\u8f68\u8ff9\u201d\u3002\u8fd9\u7c7b\u65b9\u6cd5\u4e00\u65b9\u9762\u5b9e\u73b0\u590d\u6742\uff08\u9700\u8981\u5728\u91c7\u6837\u8fc7\u7a0b\u4e2d\u663e\u5f0f\u5efa\u6a21\u4e2d\u95f4\u72b6\u6001\uff09\uff0c\u53e6\u4e00\u65b9\u9762\u5fc5\u987b\u4f7f\u7528\u8db3\u591f\u7ec6\u7684\u65f6\u95f4\u79bb\u6563\u624d\u80fd\u4fdd\u8bc1\u9ad8\u65af\u8fd1\u4f3c\u6210\u7acb\uff0c\u5bfc\u81f4\u8ba1\u7b97\u91cf\u548c\u663e\u5b58\u5f00\u9500\u90fd\u663e\u8457\u589e\u52a0\u3002\u6211\u4eec\u7684\u505a\u6cd5\u53ea\u662f\u5728\u539f\u672c\u7684 IL diffusion loss \u5916\u9762\u4e58\u4e0a\u4e00\u4e2a\u7b80\u5355\u7684\u56de\u62a5\u6743\u91cd\uff0c\u76f8\u5f53\u4e8e\u201c\u52a0\u6743\u76d1\u7763\u5b66\u4e60\u201d\uff0c\u65e2\u517c\u5bb9\u73b0\u6709\u8bad\u7ec3\u7ba1\u7ebf\uff0c\u53c8\u80fd\u5728\u51e0\u4e4e\u4e0d\u589e\u52a0\u5de5\u7a0b\u590d\u6742\u5ea6\u7684\u524d\u63d0\u4e0b\uff0c\u8ba9\u6269\u6563\u89c4\u5212\u5668\u671d\u7740\u66f4\u5b89\u5168\u7684\u65b9\u5411\u504f\u79fb\u3002<\/p>\n\n\n\n

            \u6700\u7ec8\u6211\u4eec\u5f97\u5230 HDP-RL<\/strong>\uff1a\u5728\u771f\u5b9e\u95ed\u73af\u573a\u666f\u4e2d\uff0c\u6a21\u578b\u5728\u5b89\u5168\u76f8\u5173\u4efb\u52a1\u4e0a\u7684\u8868\u73b0\u8fdb\u4e00\u6b65\u63d0\u5347\uff0c\u5b9e\u73b0\u4ece\u201c\u80fd\u5f00\u201d\u5230\u201c\u5f00\u5f97\u66f4\u7a33\u3001\u66f4\u5b89\u5168\u201d\u7684\u6301\u7eed\u8fdb\u5316\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            safety-related success rate improvement<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            closed-loop scenario success case 1<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            losed-loop scenario success case 2<\/p>\n\n\n\n

            \u6ce8\uff1a\u7ea2\u8272\u8f68\u8ff9\u8868\u793a HDP\uff0c\u84dd\u8272\u8f68\u8ff9\u8868\u793a HDP-RL\u3002<\/strong><\/p>\n\n\n\n

            \u5b9e\u8f66\u7ed3\u679c\uff1a\u4e0d\u662f\u4eff\u771f\u66f4\u4f18\uff0c\u800c\u662f\u771f\u8def\u66f4\u5f3a<\/strong><\/p>\n\n\n\n

            HDP \u5728\u771f\u5b9e\u9053\u8def\u95ed\u73af\u6d4b\u8bd5\u4e2d\u8986\u76d6\u591a\u7c7b\u57ce\u5e02\u573a\u666f\uff0c\u53d6\u5f97\u4e86\u663e\u8457\u6536\u76ca\uff1a<\/p>\n\n\n\n

            \u76f8\u6bd4\u57fa\u7840\u6269\u6563\u89c4\u5212\u5668\uff0c\u95ed\u73af\u6027\u80fd\u63d0\u5347\u7ea6 10x<\/strong>\uff1b<\/p>\n\n\n\n

            \u5728\u4ec5\u4f7f\u7528\u8f7b\u91cf\u540e\u5904\u7406\u7684\u60c5\u51b5\u4e0b\uff0c\u4f9d\u7136\u4fdd\u6301\u9ad8\u8d28\u91cf\u8868\u73b0\uff1b<\/p>\n\n\n\n

            \u9a8c\u8bc1\u4e86\u6269\u6563\u6a21\u578b\u5728\u771f\u5b9e\u590d\u6742\u4ea4\u901a\u4e2d\u7684\u53ef\u90e8\u7f72\u6027\u4e0e\u53ef\u6269\u5c55\u6027\u3002<\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n

            \u4e00\u53e5\u8bdd\u603b\u7ed3<\/strong><\/p>\n\n\n\n

            HDP\u901a\u8fc7\u5145\u5206\u7684\u5b9e\u8f66\u5b9e\u9a8c\u8bc1\u660e\u4e86\u7ecf\u8fc7\u7cbe\u5fc3\u8bbe\u8ba1\u548c\u8bad\u7ec3\u7684\u6269\u6563\u6a21\u578b\uff0c\u53ef\u4ee5\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u5f3a\u5927\u4e14\u53ef\u6269\u5c55\u7684Planner\u3002<\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"

            \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. […]<\/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-37619","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\/37619"}],"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=37619"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37619\/revisions"}],"predecessor-version":[{"id":37643,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37619\/revisions\/37643"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=37619"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=37619"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=37619"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}