{"id":37680,"date":"2026-03-07T17:31:45","date_gmt":"2026-03-07T09:31:45","guid":{"rendered":"http:\/\/192.168.10.115\/?p=37680"},"modified":"2026-03-07T17:31:45","modified_gmt":"2026-03-07T09:31:45","slug":"2026-03-07-%e7%aa%81%e7%a0%b4%e5%bc%ba%e5%8c%96%e5%ad%a6%e4%b9%a0%e7%93%b6%e9%a2%88%ef%bc%81-%e6%b8%85%e5%8d%8eelf-vla%ef%bc%9a%e9%80%9a%e8%bf%87%e6%98%be%e5%bc%8f%e9%94%99%e8%af%af%e5%ad%a6%e4%b9%a0","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/07\/37680\/","title":{"rendered":"2026-03-07 \u7a81\u7834\u5f3a\u5316\u5b66\u4e60\u74f6\u9888\uff01 \u6e05\u534eELF-VLA\uff1a\u901a\u8fc7\u663e\u5f0f\u9519\u8bef\u5b66\u4e60\u91ca\u653e\u81ea\u9a7eVLA\u6f5c\u80fd (CVPR&#8217;26)"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/hg4dCFAf_Apk-coXw9PLcw\">https:\/\/mp.weixin.qq.com\/s\/hg4dCFAf_Apk-coXw9PLcw<\/a><\/p>\n\n\n\n<p>\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c (VLA) \u6a21\u578b\u5728\u5f3a\u5316\u5b66\u4e60 (RL) \u4f18\u5316\u8fc7\u7a0b\u4e2d\u7ecf\u5e38\u4f1a\u9047\u5230\u6027\u80fd\u74f6\u9888\u3002\u8fd9\u79cd\u505c\u6ede\u6e90\u4e8e\u5148\u524d\u76d1\u7763\u5fae\u8c03 (SFT) \u9650\u5236\u4e86\u6a21\u578b\u7684\u63a2\u7d22\u80fd\u529b\uff0c\u5bfc\u81f4\u5728\u957f\u5c3e\u573a\u666f\u4e2d\u201c\u6301\u7eed\u6027\u5931\u8d25\u201d\u3002\u5728\u8fd9\u4e9b\u5173\u952e\u60c5\u51b5\u4e0b\uff0c\u6240\u6709\u63a2\u7d22\u7684\u52a8\u4f5c\u90fd\u53ea\u4f1a\u4ea7\u751f\u96f6\u503c\u7684\u9a7e\u9a76\u5f97\u5206\u3002\u8fd9\u79cd\u4fe1\u606f\u7a00\u758f\u7684\u5956\u52b1\u867d\u7136\u8868\u660e\u6a21\u578b\u51fa\u73b0\u5931\u8d25\uff0c\u4f46\u5374\u65e0\u6cd5\u8bc6\u522b\u5176\u6839\u672c\u539f\u56e0\u2014\u2014\u65e0\u8bba\u662f\u9519\u8bef\u7684\u89c4\u5212\u3001\u9519\u8bef\u7684\u63a8\u7406\uff0c\u8fd8\u662f\u7cdf\u7cd5\u7684\u8f68\u8ff9\u6267\u884c\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u5c40\u9650\u6027\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4ece\u663e\u5f0f\u5931\u8d25\u4e2d\u5b66\u4e60\u7684VLA\u6846\u67b6(<strong>ELF-VLA<\/strong>)\uff0c\u8be5\u6846\u67b6\u901a\u8fc7\u7ed3\u6784\u5316\u7684\u8bca\u65ad\u53cd\u9988\u6765\u589e\u5f3a RL\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4e0d\u4f9d\u8d56\u4e8e\u6a21\u7cca\u7684\u6807\u91cf\u5956\u52b1\uff0c\u800c\u662f\u751f\u6210\u8be6\u7ec6\u4e14\u53ef\u89e3\u91ca\u7684\u62a5\u544a\uff0c\u4ece\u800c\u8bc6\u522b\u5177\u4f53\u7684\u5931\u8d25\u6a21\u5f0f\u3002VLA \u7b56\u7565\u968f\u540e\u5229\u7528\u8fd9\u4e9b\u663e\u5f0f\u53cd\u9988\u6765\u751f\u6210\u53cd\u9988\u5f15\u5bfc\u7684\u6539\u8fdb\u7b56\u7565\u3002\u901a\u8fc7\u5c06\u8fd9\u4e9b\u7ecf\u8fc7\u4fee\u6b63\u7684\u9ad8\u5956\u52b1\u6837\u672c\u91cd\u65b0\u6ce8\u5165\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u6279\u6b21\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6709\u9488\u5bf9\u6027\u7684\u68af\u5ea6\uff0c\u4f7f\u5f97\u7b56\u7565\u80fd\u591f\u89e3\u51b3\u65e0\u5f15\u5bfc\u63a2\u7d22\u65e0\u6cd5\u89e3\u51b3\u7684\u5173\u952e\u573a\u666f\u3002\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u91ca\u653e\u4e86VLA\u6a21\u578b\u7684\u6f5c\u5728\u80fd\u529b\uff0c\u5728\u516c\u5f00\u7684NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0c\u9488\u5bf9\u6574\u4f53PDMS\u3001EPDMS\u548c\u9ad8\u7ea7\u89c4\u5212\u7cbe\u5ea6\uff0c\u5747\u8fbe\u5230\u4e86\u76ee\u524d\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aUnleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failures<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"984\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-113-1024x984.png\" alt=\"\" class=\"wp-image-37681\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-113-1024x984.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-113-300x288.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-113-768x738.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-113-1040x1000.png 1040w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-113.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>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u53d1\u5c55\u6b63\u7ecf\u5386\u7740\u4ece\u4f20\u7edf\u6a21\u5757\u5316\u67b6\u6784\u5411\u7aef\u5230\u7aef\u6846\u67b6\u7684\u8303\u5f0f\u8f6c\u53d8\u3002\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u5904\u4e8e\u8fd9\u4e00\u8f6c\u53d8\u7684\u524d\u6cbf\u3002\u8fd9\u4e9b\u6a21\u578b\u901a\u8fc7\u5bf9\u5927\u578b\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u5e94\u7528\u76d1\u7763\u5f0f\u5fae\u8c03\uff08SFT\uff09\u548c\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\uff0c\u5c06\u539f\u59cb\u6444\u50cf\u5934\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u5230\u8fde\u8d2f\u7684\u8f66\u8f86\u8fd0\u52a8\u6307\u4ee4\u3002\u8fd9\u79cd\u96c6\u6210\u8bbe\u8ba1\u6d88\u9664\u4e86\u4eba\u5de5\u8bbe\u8ba1\u7684\u63a5\u53e3\uff0c\u5e76\u652f\u6301\u5927\u89c4\u6a21\u3001\u6570\u636e\u9a71\u52a8\u7684\u7b56\u7565\u5b66\u4e60\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cVLA\u6a21\u578b\u53ef\u4ee5\u901a\u8fc7\u201c\u601d\u8003\u201d\u6a21\u5757\u751f\u6210\u4e2d\u95f4\u63a8\u7406\u8f68\u8ff9\uff0c\u6a21\u62df\u4eba\u7c7b\u7684\u95ee\u9898\u89e3\u51b3\u7b56\u7565\uff0c\u4e3a\u5b9e\u73b0\u53ef\u89e3\u91ca\u4e14\u503c\u5f97\u4fe1\u8d56\u7684\u81ea\u52a8\u9a7e\u9a76\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6709\u524d\u666f\u7684\u65b9\u5411\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fd9\u4e9b\u8fdb\u5c55\uff0c\u5f3a\u5316\u5b66\u4e60\u5fae\u8c03\u4ecd\u7136\u9762\u4e34\u6027\u80fd\u74f6\u9888\uff1a\u6211\u4eec\u89c2\u5bdf\u5230\uff0c\u5728SFT\u4e4b\u540e\uff0c\u6a21\u578b\u7684\u7b56\u7565\u63a2\u7d22\u80fd\u529b\u53d7\u5230SFT\u6570\u636e\u96c6\u5c40\u9650\u6027\u7684\u4e25\u91cd\u7ea6\u675f\uff0c\u5176\u4e2d\u5e38\u89c1\u573a\u666f\u975e\u5e38\u666e\u904d\uff0c\u800c\u80fd\u591f\u4e25\u683c\u6d4b\u8bd5\u81ea\u4e3b\u7cfb\u7edf\u80fd\u529b\u7684\u5b89\u5168\u5173\u952e\u573a\u666f\u5374\u5f88\u5c11\u89c1\u3002\u56e0\u6b64\uff0c\u5728\u5b89\u5168\u5173\u952e\u4e14\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u4e0b\uff0c\u6240\u6709\u63a2\u7d22\u6027\u89c4\u5212\u5747\u5931\u8d25\uff0c\u5bfc\u81f4\u9a7e\u9a76\u5f97\u5206\u4e3a\u96f6\uff0c\u5982\u56fe1\u9876\u90e8\u6240\u793a\u3002\u73b0\u6709\u7684VLA-RL\u65b9\u6cd5\u5c06\u8bad\u7ec3\u671f\u95f4\u7684\u6027\u80fd\u8bc4\u4f30\u7b80\u5316\u4e3a\u5355\u4e00\u6807\u91cf\u5956\u52b1\uff08\u4f8b\u5982\uff0cPDMS\uff09\u3002\u5f53\u6a21\u578b\u5931\u8d25\u65f6\uff0c\u8fd9\u79cd\u4fe1\u606f\u7a00\u758f\u7684\u5956\u52b1\u4e0d\u8db3\u4ee5\u7cbe\u786e\u5b9a\u4f4d\u9519\u8bef\u7684\u6839\u672c\u539f\u56e0\uff0c\u56e0\u6b64\u65e0\u6cd5\u786e\u5b9a\u5931\u8d25\u662f\u6e90\u4e8e\u201c\u601d\u8003\u201d\u6a21\u5757\u4e2d\u9ad8\u5c42\u89c4\u5212\u7684\u7d2f\u79ef\u8bef\u5dee\u3001\u5bf9\u5173\u952e\u76ee\u6807\u7684\u8ba4\u77e5\u63a8\u7406\u7f3a\u9677\uff0c\u8fd8\u662f\u5e95\u5c42\u8f68\u8ff9\u7684\u52a8\u6001\u7f3a\u9677\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e9b\u5c40\u9650\u6027\u5e76\u5b9e\u73b0\u6301\u7eed\u5b66\u4e60\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u578b\u7684VLA\u8bad\u7ec3\u6846\u67b6\uff0c\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\uff0c\u8be5\u6846\u67b6\u80fd\u591f\u8854\u63a5\u5931\u8d25\u8bca\u65ad\u548c\u7b56\u7565\u4fee\u6b63\u3002<\/p>\n\n\n\n<p>\u5982\u56fe1\u5e95\u90e8\u6240\u793a\uff0c\u5176\u6838\u5fc3\u601d\u60f3\u662f\u63d0\u4f9b\u7ed3\u6784\u5316\u7684\u5931\u8d25\u5206\u6790\u53cd\u9988\uff0c\u4ee5\u5e2e\u52a9VLA\u8fd0\u7528\u5176\u201c\u5148\u601d\u8003\u540e\u884c\u52a8\u201d\u7684\u67b6\u6784\uff0c\u800c\u4e0d\u662f\u4f9d\u8d56\u7b80\u5355\u7684\u6807\u91cf\u5956\u52b1\u3002\u8be5\u65b9\u6cd5\u5305\u542b\u4e24\u9879\u6838\u5fc3\u521b\u65b0\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>VLA\u80fd\u529b\u5339\u914d\u53cd\u9988\uff1a\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u6559\u5e08\u6a21\u578b\u7684\u53cd\u9988\u673a\u5236\uff0c\u5f53VLA\u9047\u5230\u6301\u7eed\u6027\u5931\u8d25\u65f6\uff0c\u8be5\u673a\u5236\u4f1a\u88ab\u89e6\u53d1\u3002\u8be5\u6a21\u578b\u4f1a\u751f\u6210\u4e00\u4efd\u4e0eVLA\u80fd\u529b\u76f8\u5339\u914d\u7684\u7ed3\u6784\u5316\u8bca\u65ad\u62a5\u544a\uff0c\u7cbe\u786e\u6307\u51faVLA\u5728\u89c4\u5212\u3001\u63a8\u7406\u6216\u6267\u884c\u5c42\u9762\u7684\u5177\u4f53\u9519\u8bef\u3002<\/li>\n\n\n\n<li>\u53cd\u9988\u5f15\u5bfc\u7684\u6539\u8fdb\u548c\u91cd\u65b0\u6ce8\u5165\uff1aVLA\u7b56\u7565\u6a21\u578b\uff08Student\uff09\u5229\u7528\u8be5\u8bca\u65ad\u62a5\u544a\u751f\u6210\u4fee\u6b63\u540e\u7684\u8f68\u8ff9\u3002\u7136\u540e\uff0c\u5c06\u8fd9\u4e2a\u9ad8\u5956\u52b1\u7684\u4fee\u6b63\u6837\u672c\u91cd\u65b0\u6ce8\u5165\u5230GRPO\u8bad\u7ec3Batch\u4e2d\u3002\u8be5\u8fc7\u7a0b\u63d0\u4f9b\u4e86\u4e00\u79cd\u76ee\u6807\u5bfc\u5411\u7684\u68af\u5ea6\u4fe1\u53f7\uff0c\u800c\u8fd9\u79cd\u4fe1\u53f7\u5728\u4e4b\u524d\u7684Rollout batch\u4e2d\u5e76\u4e0d\u5b58\u5728\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u901a\u8fc7\u5728 Navsim \u57fa\u51c6\u6d4b\u8bd5\u96c6\u4e0a\u7684\u5e7f\u6cdb\u8bc4\u4f30\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u76f8\u6bd4\u73b0\u6709\u7684 VLA Baseline\u5c55\u73b0\u51fa\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6574\u4f53\u9a7e\u9a76\u6307\u6807 (PDMS\u3001EPDMS) \u548c\u9ad8\u7ea7\u89c4\u5212\u7cbe\u5ea6\u65b9\u9762\u5747\u8fbe\u5230\u4e86 SOTA \u6c34\u5e73\u3002\u901a\u8fc7\u5c06\u53ef\u89e3\u91ca\u53cd\u9988\u4e0e\u7b56\u7565\u4fee\u6b63\u76f8\u7ed3\u5408\uff0c\u6211\u4eec\u7684\u5de5\u4f5c\u4e3a VLA \u6a21\u578b\u514b\u670d\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u6027\u80fd\u74f6\u9888\u63d0\u4f9b\u4e86\u4e00\u6761\u5207\u5b9e\u53ef\u884c\u7684\u9014\u5f84\u3002<\/p>\n\n\n\n<p><strong>\u4e8c\u3001ELF-VLA\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"398\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-114-1024x398.png\" alt=\"\" class=\"wp-image-37682\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-114-1024x398.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-114-300x117.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-114-768x299.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-114.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\uff0c\u5b83\u4e3b\u8981\u5305\u542b\u4e24\u4e2a\u7ec4\u6210\u90e8\u5206\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff081\uff09\u4e24\u9636\u6bb5\u7684\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u8fc7\u7a0b\uff1b<\/li>\n\n\n\n<li>\uff082\uff09\u4e00\u79cd\u901a\u8fc7\u5931\u8d25\u53cd\u9988\u589e\u5f3a\u7684\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u6846\u67b6 \u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>VLA \u8f93\u5165\u5b9a\u4e49<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"677\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030701.png\" alt=\"\" class=\"wp-image-37683\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030701.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030701-300x296.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>\u7528\u4e8e\u8ba4\u77e5\u548c\u4f18\u5316\u7684\u4e24\u9636\u6bb5SFT<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"402\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030702.png\" alt=\"\" class=\"wp-image-37684\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030702.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030702-300x176.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u5e26\u6709\u5931\u8d25\u53cd\u9988\u7684\u5f3a\u5316\u5b66\u4e60<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"472\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030703.png\" alt=\"\" class=\"wp-image-37685\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030703.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030703-300x206.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"532\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-115-1024x532.png\" alt=\"\" class=\"wp-image-37686\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-115-1024x532.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-115-300x156.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-115-768x399.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-115.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"732\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-116-732x1024.png\" alt=\"\" class=\"wp-image-37687\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-116-732x1024.png 732w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-116-215x300.png 215w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-116-768x1074.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-116-715x1000.png 715w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-116.png 1080w\" sizes=\"(max-width: 732px) 100vw, 732px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"684\" height=\"283\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030705.png\" alt=\"\" class=\"wp-image-37688\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030705.png 684w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030705-300x124.png 300w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u65bd\u7ec6\u8282<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"261\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030706.png\" alt=\"\" class=\"wp-image-37689\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030706.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030706-300x114.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>\u6027\u80fd\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<p><strong>Navsim Benchmark\u3002<\/strong><\/p>\n\n\n\n<p>\u8868 1 \u5c55\u793a\u4e86 ELF-VLA \u4e0e\u5f53\u524d\u9886\u5148\u65b9\u6cd5\u5728 NAVSIMv1 \u57fa\u51c6\u6d4b\u8bd5\u4e0a\u7684\u6027\u80fd\u6bd4\u8f83\u3002\u5728\u7eaf\u89c6\u89c9\uff08vision-only\uff09\u8bbe\u7f6e\u4e0b\uff0cELF-VLA \u83b7\u5f97\u4e86 91.0 \u7684 PDMS\uff0c\u786e\u7acb\u4e86\u65b0\u7684\u6700\u5148\u8fdb\u6c34\u5e73\uff08SOTA\uff09\u3002\u8fd9\u4e00\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u4e4b\u524d\u6700\u597d\u7684\u7eaf\u89c6\u89c9\u65b9\u6cd5 DriveVLA \u76f8\u6bd4\uff0c\u5176 PDMS \u53d6\u5f97\u4e86 0.7 \u7684\u663e\u8457\u63d0\u5347\u3002\u6b64\u5916\uff0cELF-VLA \u5206\u522b\u4ee5 3.6 \u548c 2.0 \u7684 PDMS \u4f18\u52bf\u8d85\u8d8a\u4e86\u4ec5\u4f7f\u7528\u76d1\u7763\u5fae\u8c03\uff08SFT-only\uff0cInternVL3-8B-SFT\uff09\u548c\u4f20\u7edf\u5f3a\u5316\u5b66\u4e60\uff08traditional RL\uff0cInternVL3-8B-RL\uff09\u7684baseline\u6a21\u578b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"426\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-117-1024x426.png\" alt=\"\" class=\"wp-image-37690\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-117-1024x426.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-117-300x125.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-117-768x319.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-117.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728 NAVSIMv2 \u57fa\u51c6\u6d4b\u8bd5\uff08\u88682\uff09\u4e2d\uff0cELF-VLA \u5ef6\u7eed\u4e86\u5176\u5f3a\u52b2\u7684\u8868\u73b0\uff0c\u4ee5 87.1 \u7684 EPDMS \u521b\u4e0b\u4e86\u65b0\u7684 SOTA\u3002\u8fd9\u4e00\u5f97\u5206\u6bd4\u4e4b\u524d\u7531 DriveVLA-W0 \u521b\u4e0b\u7684\u6700\u4f73\u6210\u7ee9\u9ad8\u51fa\u4e86 1.0 \u4e2a EPDMS\u3002\u8fd9\u4e9b\u53d1\u73b0\u8868\u660e\uff0c\u4e0e\u4f20\u7edf\u7684\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5 ELF-VLA \u663e\u8457\u589e\u5f3a\u4e86\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u80fd\u529b\uff0c\u7279\u522b\u662f\u5728\u5e94\u5bf9\u5177\u6709\u6311\u6218\u6027\u7684\u590d\u6742\u9a7e\u9a76\u573a\u666f\u65f6\u3002\u6b64\u5916\uff0c\u5728\u4e24\u4e2a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u7684\u51fa\u8272\u8868\u73b0\u8bc1\u5b9e\uff0cELF-VLA \u5e76\u975e\u4ec5\u4ec5\u662f\u5bf9 PDMS \u6307\u6807\u7684\u8fc7\u62df\u5408\uff1b\u76f8\u53cd\uff0c\u5b83\u5728\u622a\u7136\u4e0d\u540c\u4e14\u66f4\u4e3a\u5168\u9762\u7684 EPDMS \u6307\u6807\u4e0a\u540c\u6837\u8868\u73b0\u4f18\u5f02\uff0c\u5c55\u73b0\u51fa\u4e86\u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"246\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-118-1024x246.png\" alt=\"\" class=\"wp-image-37691\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-118-1024x246.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-118-300x72.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-118-768x184.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-118.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u91cf\u8bc4\u4f30<\/strong>\u3002 \u6211\u4eec\u5c06 ELF-VLA\uff08\u8868 3\uff09\u7684\u6027\u80fd\u4e0e\u51e0\u79cd\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u6d88\u878d\u6a21\u578b\u8fdb\u884c\u4e86\u6bd4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>SFT\uff08baseline\uff09\uff1a\u4ec5\u901a\u8fc7\u76d1\u7763\u5fae\u8c03\u8bad\u7ec3\u7684\u57fa\u7840\u6a21\u578b\u3002<\/li>\n\n\n\n<li>GRPO\uff1a\u4f7f\u7528\u4f20\u7edf\u7684 GRPO \u7b97\u6cd5\u5bf9 SFT \u6a21\u578b\u8fdb\u884c\u8fdb\u4e00\u6b65\u5fae\u8c03\u3002<\/li>\n\n\n\n<li>GT-GRPO\uff1a\u5728\u6dfb\u52a0\u4e86\u771f\u5b9e\u8f68\u8ff9 (GT) \u7684\u54cd\u5e94\u96c6\u4e0a\u5bf9 SFT \u6a21\u578b\u8fdb\u884c\u5fae\u8c03\uff0c\u8fd9\u4e9b\u771f\u5b9e\u8f68\u8ff9\u662f\u76f4\u63a5\u6dfb\u52a0\u7684\u3002<\/li>\n\n\n\n<li>Rule-GRPO\uff1a\u5728\u6dfb\u52a0\u4e86\u65b0\u54cd\u5e94\u7684\u54cd\u5e94\u96c6\u4e0a\u5bf9 SFT \u6a21\u578b\u8fdb\u884c\u5fae\u8c03\uff0c\u8fd9\u4e9b\u65b0\u54cd\u5e94\u662f\u57fa\u4e8e\u9884\u5b9a\u4e49\u89c4\u5219\u7684\u53cd\u9988\u91cd\u65b0\u751f\u6210\u7684\u3002<\/li>\n\n\n\n<li>ELF-VLA\uff1aSFT\u6a21\u578b\u57fa\u4e8e\u4e00\u4e2a\u5305\u542b\u65b0\u7684\u3001\u6539\u8fdb\u7684\u54cd\u5e94\u96c6\u8fdb\u884c\u5fae\u8c03\uff0c\u8fd9\u4e9b\u54cd\u5e94\u96c6\u662f\u6839\u636e\u6211\u4eec\u6559\u5e08\u6a21\u578b\u7684\u7ed3\u6784\u5316\u53cd\u9988\u91cd\u65b0\u751f\u6210\u7684\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"470\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-119-1024x470.png\" alt=\"\" class=\"wp-image-37692\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-119-1024x470.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-119-300x138.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-119-768x353.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-119.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cELF-VLA \u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u6574\u4f53\u6027\u80fd\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u6bd4\u4f20\u7edf\u7684GRPO\u65b9\u6cd5\u9ad8\u51fa 2.0 PDMS\u3002\u8fd9\u8868\u660e\uff0c\u901a\u8fc7\u5f15\u5165\u7ed3\u6784\u5316\u53cd\u9988\u548c\u91cd\u65b0\u751f\u6210\u66f4\u597d\u7684\u5206\u5e03\u5185\u7684\u8f68\u8ff9\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u89e3\u51b3\u4e86\u6301\u7eed\u6027\u5931\u8d25\u95ee\u9898\u3002\u6b64\u5916\uff0cELF-VLA \u5206\u522b\u8d85\u8fc7\u4e86 GT-GRPO \u548c Rule-GRPO 1.8 \u548c 1.4 PDMS\u3002\u8fd9\u51f8\u663e\u4e86\u8fd9\u4e24\u4e2abaseline\u7684\u660e\u663e\u5c40\u9650\u6027\u3002\u5bf9\u4e8e GT-GRPO\uff0cGT \u8f68\u8ff9\u8868\u73b0\u51fa\u4e0e\u539f\u59cb VLA \u751f\u6210\u7684\u54cd\u5e94\u6709\u663e\u8457\u7684\u5206\u5e03\u504f\u79fb\u3002\u8fd9\u4e9b\u4f4e\u6982\u7387\u6027\u7684GT\u54cd\u5e94\u4f7f\u5f97\u4f18\u5316\u53d8\u5f97\u56f0\u96be\u3002\u5bf9\u4e8e Rule-GRPO\uff0c\u9884\u5b9a\u4e49\u89c4\u5219\u7684\u53cd\u9988\u5bf9\u6a21\u578b\u7684\u5f71\u54cd\u6709\u9650\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u7c7b\u4f3c\u4e8e\u7b80\u5355\u7684\u81ea\u6211\u4fee\u6b63\uff0c\u7f3a\u4e4f\u7ec6\u7c92\u5ea6\u7684\u6307\u5bfc\uff0c\u5bfc\u81f4\u6a21\u578b\u65e0\u6cd5\u4ece\u5982\u6b64\u7b80\u5355\u7684\u53cd\u9988\u4e2d\u5b66\u4e60\u5230\u6709\u6548\u7684\u8f68\u8ff9\u6821\u6b63\u3002\u76f8\u53cd\uff0cELF-VLA \u5229\u7528\u6559\u5e08\u6a21\u578b\u5e7f\u6cdb\u7684\u901a\u7528\u77e5\u8bc6\u5bf9\u539f\u59cb\u54cd\u5e94\u8fdb\u884c\u6df1\u5165\u7684\u7ed3\u6784\u5316\u5206\u6790\u3002VLA \u6a21\u578b\u63a5\u6536\u8fd9\u79cd\u5168\u9762\u7684\u53cd\u9988\uff0c\u4f7f\u5176\u80fd\u591f\u4ece\u9519\u8bef\u4e2d\u5b66\u4e60\u5e76\u5fae\u8c03\u8f68\u8ff9\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4ea7\u751f\u4e86\u4e00\u4e2a\u5353\u8d8a\u7684\u3001\u66f4\u5bb9\u6613\u4f18\u5316\u7684\u5fae\u8c03\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>\u603b\u5931\u8d25\u7387\u5206\u6790<\/strong>\u3002 \u6211\u4eec\u5206\u6790\u4e86\u8fd9\u4e9b\u6a21\u578b\u5728\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u9636\u6bb5\u7684\u5931\u8d25\u7387\uff0c\u5982\u56fe 4 \u6240\u793a\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u6d4b\u91cf\u4e86\u6240\u6709\u5c55\u5f00\u8f68\u8ff9\u5728\u4ee5\u4e0b\u5173\u952e\u6307\u6807\u4e0a\u540c\u65f6\u5931\u8d25\u7684\u6837\u672c\u6bd4\u4f8b\uff1aPDMS\u3001DAC \u548c NC\u3002\u5982\u56fe\u6240\u793a\uff0c\u867d\u7136\u50cf GT-GRPO \u548c Rule-GRPO \u8fd9\u6837\u7684\u4e2d\u95f4\u7b56\u7565\u6709\u52a9\u4e8e\u964d\u4f4e\u5931\u8d25\u7387\uff0c\u4f46 ELF-VLA 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-120-1024x817.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-120-300x239.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-120-768x613.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-120.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Meta Action\u8bc4\u4f30<\/strong>\u3002 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85k \u6570\u636e\u96c6\uff0889.1 PDMS\uff09\u6216\u968f\u673a\u62bd\u53d6\u7684 24k \u5b50\u96c6\uff0888.9 PDMS\uff09\u5747\u672a\u83b7\u5f97\u6700\u4f18\u7ed3\u679c\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u6839\u636e\u7b2c 3.3 \u8282\u7684\u6307\u5bfc\u7cbe\u5fc3\u6574\u7406\u7684 24k \u6570\u636e\u96c6 (24k*) \u53d6\u5f97\u4e86 91.0 PDMS \u7684\u6700\u4f73\u6027\u80fd\u3002\u8fd9\u8868\u660e\u5b8c\u6574\u7684 85k 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-122-1024x383.png\" alt=\"\" class=\"wp-image-37695\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-122-1024x383.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-122-300x112.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-122-768x287.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-122.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"135\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/030707.png\" alt=\"\" class=\"wp-image-37696\" style=\"width:889px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030707.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/030707-300x59.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"418\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-123-1024x418.png\" alt=\"\" class=\"wp-image-37697\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-123-1024x418.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-123-300x123.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-123-768x314.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-123.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ec6\u5316\u8fc7\u7a0b\u7684\u53ef\u89c6\u5316<\/strong><\/p>\n\n\n\n<p>\u56fe 5 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