{"id":37825,"date":"2026-03-12T17:35:42","date_gmt":"2026-03-12T09:35:42","guid":{"rendered":"http:\/\/192.168.10.115\/?p=37825"},"modified":"2026-03-12T17:35:42","modified_gmt":"2026-03-12T09:35:42","slug":"2026-03-12-9ms%e5%88%b7%e6%96%b0nuplan-sota%ef%bc%81%e4%b8%8a%e4%ba%a4%e7%90%86%e6%83%b3%e6%9c%80%e6%96%b0vec-qmdp","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/12\/37825\/","title":{"rendered":"2026-03-12 9ms\u5237\u65b0NuPlan SOTA\uff01\u4e0a\u4ea4&amp;\u7406\u60f3\u6700\u65b0Vec-QMDP"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/5jOQHHeLFpfdIPIzGn2uqg\">https:\/\/mp.weixin.qq.com\/s\/5jOQHHeLFpfdIPIzGn2uqg<\/a><\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u6700\u96be\u7684\uff0c\u5176\u5b9e\u4e0d\u662f\u201c\u770b\u8def\u201d\uff0c\u800c\u662f\u201c\u505a\u51b3\u7b56\u201d<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6bcf\u4e00\u79d2\u90fd\u5728\u75af\u72c2\u81ea\u95ee\uff1a<strong>\u201c\u6211\u63a5\u4e0b\u6765\u7684 5 \u79d2\u949f\u8be5\u600e\u4e48\u5f00\uff1f\u201d<\/strong><\/p>\n\n\n\n<p>\u8fd9\u770b\u4f3c\u7b80\u5355\uff0c\u5b9e\u5219\u6697\u85cf\u6740\u673a\u3002\u524d\u8f66\u4f1a\u4e0d\u4f1a\u7a81\u7136\u52a0\u585e\uff1f\u884c\u4eba\u662f\u5426\u6b63\u51c6\u5907\u6a2a\u7a7f\u9a6c\u8def\uff1f\u4fa7\u65b9\u8f66\u8f86\u6709\u6ca1\u6709\u53d8\u9053\u610f\u56fe\uff1f\u8fd9\u4e9b\u73af\u5883\u610f\u56fe\u5e76\u975e\u786e\u5b9a\u9879\uff0c\u800c\u662f\u5206\u88c2\u6210\u6210\u5343\u4e0a\u4e07\u79cd\u53ef\u80fd\u7684<strong>\u672a\u6765\u573a\u666f\uff08Scenarios\uff09<\/strong>\u3002<\/p>\n\n\n\n<p>\u771f\u6b63\u7684\u667a\u80fd\u4f53\u5fc5\u987b\u5728\u6beb\u79d2\u7ea7\u65f6\u95f4\u5185\uff0c\u5728\u201c\u4fe1\u5ff5\u7a7a\u95f4\uff08Belief Space\uff09\u201d\u4e2d\u6743\u8861\u8fd9\u4e9b\u4e0d\u786e\u5b9a\u6027\uff0c\u627e\u5230\u90a3\u6761\u6700\u5b89\u5168\u3001\u6700\u6d41\u7545\u7684\u8def\u5f84\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u201c\u4e0d\u786e\u5b9a\u6027\u89c4\u5212\u201d\u957f\u671f\u4ee5\u6765\u9762\u4e34\u4e09\u5927\u5929\u654c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u89c4\u6a21\u7206\u70b8\uff1a<\/strong>\u00a0\u4ea4\u4e92\u5bf9\u8c61\u8d8a\u591a\uff0c\u672a\u6765\u53ef\u80fd\u6027\u7684\u7ec4\u5408\u5448\u6307\u6570\u7ea7\u589e\u957f\u3002<\/li>\n\n\n\n<li><strong>\u51b3\u7b56\u957f\u7a0b\uff1a<\/strong>\u00a0\u89c4\u5212 1 \u79d2\u5bb9\u6613\uff0c\u4f46\u9884\u6d4b 5 \u79d2\u540e\u7684\u535a\u5f08\uff0c\u7b97\u529b\u5f00\u9500\u4f1a\u77ac\u95f4\u201c\u7206\u8868\u201d\u3002<\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u74f6\u9888\uff1a<\/strong>\u00a0\u4f20\u7edf\u7b97\u6cd5\u6162\u5982\u8717\u725b\uff0c\u5bfc\u81f4\u673a\u5668\u4eba\u5728\u9762\u5bf9\u5e76\u7ebf\u535a\u5f08\u65f6\u72b9\u8c6b\u4e0d\u51b3\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"252\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/image-114-1024x252.png\" alt=\"\" class=\"wp-image-37826\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-114-1024x252.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-114-300x74.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-114-768x189.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-114.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7834\u89e3\u4e4b\u9053\uff1aVec-QMDP \u7684\u201c\u66b4\u529b\u7f8e\u5b66\u201d<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u7834\u89e3\u7b97\u529b\u74f6\u9888\uff0c\u6765\u81ea\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u3001\u4e0a\u6d77\u521b\u667a\u5b66\u9662\u53ca\u7406\u60f3\u6c7d\u8f66\u7684\u7814\u7a76\u56e2\u961f\u63d0\u51fa\u4e86\u00a0<strong>Vec-QMDP<\/strong>\u00a0\u6846\u67b6\u3002\u5176\u6838\u5fc3\u601d\u60f3\u7b80\u5355\u800c\u7c97\u66b4\uff1a<strong>\u4e0d\u518d\u7ea0\u7ed3\u4e8e\u7b97\u6cd5\u7684\u7cbe\u7b80\uff0c\u800c\u662f\u76f4\u63a5\u628a\u201c\u4e0d\u786e\u5b9a\u6027\u89c4\u5212\u201d\u91cd\u6784\u6210\u8d85\u7ea7\u5e76\u884c\u8ba1\u7b97\u95ee\u9898\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"776\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/image-115-1024x776.png\" alt=\"\" class=\"wp-image-37827\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-115-1024x776.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-115-300x227.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-115-768x582.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-115.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>1. \u7406\u8bba\u56de\u5f52\uff1a\u7528 POMDP \u5904\u7406\u201c\u4e0d\u786e\u5b9a\u6027\u201d<\/strong><\/p>\n\n\n\n<p>\u56e2\u961f\u91c7\u7528\u4e86\u673a\u5668\u4eba\u5b66\u4e2d\u5904\u7406\u4e0d\u786e\u5b9a\u6027\u7684\u7ecf\u5178\u6846\u67b6\u2014\u2014<strong>POMDP\uff08\u90e8\u5206\u53ef\u89c2\u6d4b\u9a6c\u5c14\u53ef\u592b\u51b3\u7b56\u8fc7\u7a0b\uff09<\/strong>\u3002\u4f46\u662f\u4f20\u7edf POMDP \u89c4\u5212\u5668\u5f88\u96be\u5e76\u884c\u5316\uff0c\u4e14\u8ba1\u7b97\u901f\u5ea6\u6162\u3002\u4e8e\u662f\uff0c\u7814\u7a76\u8005\u5f15\u5165\u4e86\u00a0<strong>QMDP \u8fd1\u4f3c<\/strong>\uff0c\u5b83\u5141\u8bb8\u4e0d\u540c\u7684\u672a\u6765\u60c5\u5f62\u8fdb\u884c\u72ec\u7acb\u641c\u7d22\uff0c\u4e3a\u5927\u89c4\u6a21\u5e76\u884c\u8ba1\u7b97\u6253\u5f00\u4e86\u5927\u95e8\u3002<\/p>\n\n\n\n<p><strong>2. \u786c\u4ef6\u5bf9\u9f50\uff1aSIMD \u6307\u4ee4\u7ea7\u52a0\u901f<\/strong><\/p>\n\n\n\n<p>Vec-QMDP \u5f7b\u5e95\u629b\u5f03\u4e86\u4f20\u7edf\u7684\u9762\u5411\u5bf9\u8c61\uff08OOP\uff09\u4ee3\u7801\uff0c\u91c7\u7528\u4e86<strong>\u9762\u5411\u6570\u636e\u8bbe\u8ba1\uff08DOD\uff09<\/strong>\u3002\u901a\u8fc7\u5c06\u5185\u5b58\u5e03\u5c40\u4ece\u201c\u7ed3\u6784\u4f53\u6570\u7ec4\uff08AoS\uff09\u201d\u8f6c\u4e3a\u201c\u6570\u7ec4\u7ed3\u6784\u4f53\uff08SoA\uff09\u201d\uff0c\u5b9e\u73b0\u4e86\u5b8c\u5168\u5411\u91cf\u5316\u7684\u6570\u636e\u7ed3\u6784\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4e00\u53d8\u591a\uff1a<\/strong>\u00a0\u539f\u672c\u4e00\u6b21\u53ea\u80fd\u7b97 1 \u4e2a\u573a\u666f\uff0c\u73b0\u5728\u5229\u7528\u73b0\u4ee3 CPU \u7684\u00a0<strong>SIMD\uff08\u5355\u6307\u4ee4\u591a\u6570\u636e\u6d41\uff09<\/strong>\u00a0\u5355\u5143\uff0c\u4e00\u6b21\u6027\u5904\u7406\u51e0\u5341\u751a\u81f3\u4e0a\u767e\u4e2a\u573a\u666f\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u4e24\u5c42\u5411\u91cf\u5316\uff1a\u69a8\u5e72 CPU \u6bcf\u4e00\u6ef4\u6027\u80fd<\/strong><\/p>\n\n\n\n<p><strong>\u5168\u5c40\u5411\u91cf\u5316\uff08Global\uff09\uff1a<\/strong>\u00a0\u5728\u591a\u4e2a\u201c\u5e73\u884c\u65f6\u7a7a\u201d\u91cc\u540c\u65f6\u6a21\u62df\u672a\u6765\u7684\u52a8\u6001\u6f14\u5316\u4e0e\u8f68\u8ff9\u9884\u6d4b\u3002<\/p>\n\n\n\n<p><strong>\u5c40\u90e8\u5411\u91cf\u5316\uff08Local\uff09\uff1a<\/strong>\u00a0\u5728\u5355\u4e2a\u573a\u666f\u5185\uff0c\u5c06\u6700\u8017\u65f6\u7684<strong>\u78b0\u649e\u68c0\u6d4b<\/strong>\u4efb\u52a1\u5e76\u884c\u5316\uff08\u5982\uff1a\u8f66 vs \u8f66\u8f86\u3001\u8f66 vs \u884c\u4eba\u540c\u65f6\u8ba1\u7b97\uff09\uff0c\u6548\u7387\u500d\u589e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"925\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/image-116-925x1024.png\" alt=\"\" class=\"wp-image-37828\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-116-925x1024.png 925w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-116-271x300.png 271w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-116-768x850.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-116-903x1000.png 903w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-116.png 1080w\" sizes=\"(max-width: 925px) 100vw, 925px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\uff1a\u96f6\u8bad\u7ec3\uff0c\u5374\u66f4\u5f3a\uff01<\/strong><\/p>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u6743\u5a01\u57fa\u51c6\u6d4b\u8bd5&nbsp;<strong>nuPlan<\/strong>&nbsp;\u4e0a\uff0cVec-QMDP \u4ea4\u51fa\u4e86\u4e00\u4efd\u4ee4\u4eba\u9707\u60ca\u7684\u7b54\u5377\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6781\u81f4\u901f\u5ea6\uff1a<\/strong>\u00a0\u4ec5\u9700\u00a0<strong>9ms<\/strong>\u00a0\u8ba1\u7b97\u65f6\u95f4\uff0c\u5c31\u8fbe\u5230\u4e86 SOTA\uff08\u884c\u4e1a\u6700\u9ad8\u6c34\u5e73\uff09\u7684\u51b3\u7b56\u6027\u80fd\u3002<\/li>\n\n\n\n<li><strong>\u6050\u6016\u541e\u5410\uff1a<\/strong>\u00a0\u5728\u5904\u7406 10,000 \u4e2a\u573a\u666f\u65f6\uff0c\u5ef6\u8fdf\u4ec5\u4e3a 14ms\uff0c\u6811\u6784\u9020\u541e\u5410\u91cf\u76f8\u6bd4\u4ee5\u5f80\u65b9\u6848\u63d0\u5347\u4e86\u00a0<strong>227x \u81f3 1073x<\/strong>\u3002<\/li>\n\n\n\n<li><strong>\u964d\u7ef4\u6253\u51fb\uff1a<\/strong>\u00a0\u6700\u4ee4\u4eba\u632f\u594b\u7684\u662f\uff0c\u8fd9\u662f\u4e00\u4e2a<strong>\u96f6\u8bad\u7ec3\uff08No Learning\uff09<\/strong>\u7684\u7eaf\u7b97\u6cd5\u89c4\u5212\u5668\u3002\u5b83\u7684\u8868\u73b0\u4e0d\u4ec5\u8d85\u8d8a\u4e86\u4f20\u7edf\u4e32\u884c\u6a21\u578b\uff0c\u751a\u81f3\u4f18\u4e8e\u8bb8\u591a\u7ecf\u8fc7\u5927\u89c4\u6a21\u6570\u636e\u8bad\u7ec3\u7684\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"413\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/image-117-1024x413.png\" alt=\"\" class=\"wp-image-37829\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-117-1024x413.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-117-300x121.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-117-768x310.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-117.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=\"1024\" height=\"604\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/image-118-1024x604.png\" alt=\"\" class=\"wp-image-37830\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-118-1024x604.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-118-300x177.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-118-768x453.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/image-118.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5347\u534e\uff1a\u901a\u5411\u901a\u7528\u673a\u5668\u4eba\u65f6\u4ee3\u7684\u201c\u5b89\u5168\u9632\u7ebf\u201d<\/strong><\/p>\n\n\n\n<p>Vec-QMDP \u7684\u610f\u4e49\u8fdc\u4e0d\u6b62\u4e8e\u81ea\u52a8\u9a7e\u9a76\uff0c\u5b83\u4e3a\u5177\u8eab\u667a\u80fd\u9886\u57df\u5e26\u6765\u4e86\u4e24\u70b9\u6df1\u523b\u542f\u793a\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8de8\u9886\u57df\u901a\u7528\u6027\uff1a<\/strong>\u00a0\u8fd9\u79cd\u5e76\u884c\u89c4\u5212\u80fd\u529b\u53ef\u4ee5\u65e0\u7f1d\u8fc1\u79fb\u81f3\u5de5\u4e1a\u534f\u4f5c\u673a\u68b0\u81c2\u3001\u79fb\u52a8\u673a\u5668\u4eba\u7b49\u4efb\u4f55\u9700\u8981\u5728\u590d\u6742\u4e0d\u786e\u5b9a\u73af\u5883\u4e0b\u5feb\u901f\u51b3\u7b56\u7684\u573a\u666f\u3002<\/li>\n\n\n\n<li><strong>\u5927\u6a21\u578b\u7684\u201c\u5b89\u5168\u7d27\u7b8d\u5492\u201d\uff1a<\/strong>\u00a0\u5b83\u53ef\u4ee5\u4f5c\u4e3a\u7aef\u5230\u7aef\u6a21\u578b\u6216 VLA\uff08\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff09\u5927\u6a21\u578b\u7684<strong>\u5b9e\u65f6\u9c81\u68d2\u6821\u9a8c\u5668<\/strong>\u3002\u7aef\u5230\u7aef\u6a21\u578b\u7ed9\u7b56\u7565\uff0cVec-QMDP \u5728\u6beb\u79d2\u5185\u5b8c\u6210\u4e07\u6b21\u63a8\u6f14\u8fdb\u884c\u6821\u9a8c\uff0c\u4e3a\u9ed1\u76d2\u6a21\u578b\u5957\u4e0a\u4e00\u5c42\u9ad8\u6027\u80fd\u3001\u53ef\u89e3\u91ca\u7684\u5b89\u5168\u9632\u7ebf\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u603b\u7ed3\u800c\u8a00\uff1a<\/strong>&nbsp;\u5e76\u4e0d\u662f\u6240\u6709\u95ee\u9898\u90fd\u8981\u4ea4\u7ed9\u201c\u5927\u6570\u636e\u201d\u3002\u901a\u8fc7\u6b63\u786e\u7684\u51b3\u7b56\u7406\u8bba\u7ed3\u5408\u6781\u81f4\u7684\u786c\u4ef6\u5e95\u5c42\u4f18\u5316\uff0c\u7ecf\u5178\u89c4\u5212\u7b97\u6cd5\u4f9d\u7136\u80fd\u7206\u53d1\u60ca\u4eba\u7684\u5de5\u4e1a\u4ef7\u503c\u3002<\/p>\n\n\n\n<p><strong>\u66f4\u591a\u4fe1\u606f<\/strong><\/p>\n\n\n\n<p>\u8be5\u9879\u76ee\u76ee\u524d\u6b63\u5904\u4e8e\u5f00\u6e90\u7b79\u5907\u9636\u6bb5\uff0c\u4ee3\u7801\u4e0e\u4e3b\u9875\u5373\u5c06\u4e0a\u7ebf\uff0c\u6b22\u8fce\u6301\u7eed\u5173\u6ce8\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\ud83c\udf10 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