{"id":37977,"date":"2026-03-17T17:32:24","date_gmt":"2026-03-17T09:32:24","guid":{"rendered":"http:\/\/192.168.10.115\/?p=37977"},"modified":"2026-03-17T17:32:24","modified_gmt":"2026-03-17T09:32:24","slug":"2026-03-17-navsim%e5%8f%8c%e6%a6%9csota%ef%bc%81last-vla%ef%bc%9a%e7%94%a8%e6%bd%9c%e5%9c%a8%e6%97%b6%e7%a9%bacot%e9%87%8d%e6%9e%84vla%e6%8e%a8%e7%90%86%ef%bc%88%e6%b8%85%e5%8d%8e%e5%b0%8f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/17\/37977\/","title":{"rendered":"2026-03-17 NAVSIM\u53cc\u699cSOTA\uff01LaST-VLA\uff1a\u7528\u6f5c\u5728\u65f6\u7a7aCoT\u91cd\u6784VLA\u63a8\u7406\uff08\u6e05\u534e&amp;\u5c0f\u7c73\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/DUaKz2bRLnZtidfHD6XWWA\">https:\/\/mp.weixin.qq.com\/s\/DUaKz2bRLnZtidfHD6XWWA<\/a><\/p>\n\n\n\n<p>\u867d\u7136\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\uff08VLA\uff09\u6a21\u578b\u901a\u8fc7\u7edf\u4e00\u611f\u77e5\u548c\u89c4\u5212\u5f7b\u5e95\u6539\u53d8\u4e86\u81ea\u52a8\u9a7e\u9a76\uff0c\u4f46\u5b83\u4eec\u5bf9\u663e\u5f0f\u6587\u672c\u601d\u7ef4\u94fe\uff08CoT\uff09\u7684\u4f9d\u8d56\u5bfc\u81f4\u4e86\u8bed\u4e49-\u611f\u77e5\u89e3\u8026\u548c\u611f\u77e5-\u7b26\u53f7\u51b2\u7a81 \u3002\u6700\u8fd1\u5411\u9690\u5f0f\uff08\u6f5c\u5728\uff09\u63a8\u7406\u7684\u8f6c\u53d8\u8bd5\u56fe\u901a\u8fc7\u5728\u8fde\u7eed\u7684\u9690\u85cf\u7a7a\u95f4\u4e2d\u601d\u8003\u6765\u7ed5\u8fc7\u8fd9\u4e9b\u74f6\u9888 \u3002\u7136\u800c\uff0c\u5982\u679c\u6ca1\u6709\u663e\u5f0f\u7684\u4e2d\u95f4\u7ea6\u675f\uff0c\u6807\u51c6\u7684\u9690\u5f0f CoT \u901a\u5e38\u4f1a\u8868\u73b0\u4e3a\u4e00\u79cd\u4e0e\u7269\u7406\u89c4\u5f8b\u65e0\u5173\u7684\u8868\u793a\u5f62\u5f0f\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6e05\u534e\u8054\u5408\u5c0f\u7c73\u7b49\u7814\u7a76\u56e2\u961f\u63d0\u51fa\u4e86\u201c\u9690\u5f0f\u65f6\u7a7a VLA\u201d\uff08LaST-VLA\uff09\uff0c\u8fd9\u662f\u4e00\u4e2a\u5c06\u63a8\u7406\u8303\u5f0f\u4ece\u79bb\u6563\u7b26\u53f7\u5904\u7406\u8f6c\u53d8\u4e3a\u5177\u6709\u7269\u7406\u57fa\u7840\u7684\u9690\u5f0f\u65f6\u7a7a CoT \u7684\u5168\u65b0\u6846\u67b6 \u3002\u901a\u8fc7\u5b9e\u73b0\u53cc\u7279\u5f81\u5bf9\u9f50\u673a\u5236\uff0c\u6211\u4eec\u5c06 3D \u57fa\u7840\u6a21\u578b\u7684\u51e0\u4f55\u7ea6\u675f\u548c\u4e16\u754c\u6a21\u578b\u7684\u52a8\u6001\u9884\u89c1\u80fd\u529b\u76f4\u63a5\u63d0\u53d6\uff08\u84b8\u998f\uff09\u5230\u9690\u5f0f\u7a7a\u95f4\u4e2d \u3002\u8be5\u65b9\u6cd5\u7ed3\u5408\u4e86\u4ece\u7279\u5f81\u5bf9\u9f50\u8fc7\u6e21\u5230\u8f68\u8ff9\u751f\u6210\u7684\u6e10\u8fdb\u5f0f\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u8bad\u7ec3\u7b56\u7565\uff0c\u5e76\u901a\u8fc7\u5e26\u6709\u7ec4\u76f8\u5bf9\u7b56\u7565\u4f18\u5316\uff08GRPO\uff09\u7684\u5f3a\u5316\u5b66\u4e60\u8fdb\u884c\u6539\u8fdb\uff0c\u4ee5\u786e\u4fdd\u9a7e\u9a76\u7684\u5b89\u5168\u6027\u548c\u89c4\u5219\u5408\u89c4\u6027\u3002LaST-VLA \u5728 NAVSIM v1\uff0891.3 PDMS\uff09\u548c NAVSIM v2\uff0887.1 EPDMS\uff09\u4e0a\u521b\u9020\u4e86\u65b0\u7eaa\u5f55\uff0c\u540c\u65f6\u5728 SURDS \u548c NuDynamics \u57fa\u51c6\u6d4b\u8bd5\u7684\u65f6\u7a7a\u63a8\u7406\u4e2d\u4e5f\u8868\u73b0\u51fa\u8272\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>\uff1aLaST-VLA: Thinking in Latent Spatio-Temporal Space for Vision-Language-Action in Autonomous Driving<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>\uff1ahttps:\/\/arxiv.org\/pdf\/2603.01928<\/li>\n\n\n\n<li><strong>\u9879\u76ee\u4e3b\u9875<\/strong>\uff1ahttps:\/\/github.com\/luo-yc17\/LaST-VLA<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5f53\u524d\u95ee\u9898\uff1a<\/strong><\/p>\n\n\n\n<p>\u5f53\u524d\u6700\u5148\u8fdb\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\uff0c\u5df2\u7ecf\u80fd\u591f\u7406\u89e3\u201c\u5de6\u8f6c\u201d\u3001\u201c\u907f\u8ba9\u884c\u4eba\u201d\u8fd9\u6837\u7684\u590d\u6742\u6307\u4ee4\u3002\u4f46\u5b83\u4eec\u5b9e\u73b0\u201c\u7406\u89e3\u201d\u7684\u65b9\u5f0f\uff0c\u5374\u5b58\u5728\u4e24\u5927\u786c\u4f24\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u663e\u5f0f\u6587\u672c\u94fe\u7684\u201c\u5e7b\u89c9\u201d\u4e0e\u89e3\u8026<\/strong>\uff1a\u4e3a\u4e86\u8ba9\u63a8\u7406\u8fc7\u7a0b\u53ef\u89e3\u91ca\uff0c\u8bb8\u591a\u6a21\u578b\u4f1a\u751f\u6210\u7c7b\u4f3c\u4eba\u7c7b\u201c\u5185\u5fc3\u72ec\u767d\u201d\u7684\u6587\u672c\u94fe\uff08\u5982\uff1a\u201c\u6211\u770b\u5230\u524d\u65b9\u6709\u8f66\uff0c\u6240\u4ee5\u51cf\u901f\u201d\uff09\u3002\u4f46\u5c06\u5bc6\u96c6\u3001\u8fde\u7eed\u7684\u89c6\u89c9\u4fe1\u606f\u5f3a\u884c\u538b\u7f29\u6210\u79bb\u6563\u7684\u6587\u5b57\uff0c\u4f1a\u4ea7\u751f\u8bed\u4e49\u9e3f\u6c9f\u3002\u6a21\u578b\u53ef\u80fd\u201c\u8111\u8865\u201d\u51fa\u4e0e\u753b\u9762\u4e0d\u7b26\u7684\u6587\u672c\uff0c\u5bfc\u81f4\u89c4\u5212\u5668\u5ffd\u89c6\u771f\u5b9e\u89c6\u89c9\u8bc1\u636e\uff0c\u9075\u5faa\u6709\u7f3a\u9677\u7684\u201c\u8bed\u8a00\u6307\u5bfc\u201d\uff0c\u917f\u6210\u5371\u9669\u51b3\u7b56\u3002<\/li>\n\n\n\n<li><strong>\u9690\u5f0f\u63a8\u7406\u7684\u201c\u65e0\u6839\u201d\u4e0e\u4e0d\u7a33\u5b9a<\/strong>\uff1a\u4e3a\u4e86\u7ed5\u8fc7\u6587\u672c\u74f6\u9888\uff0c\u8fd1\u671f\u7814\u7a76\u8f6c\u5411\u5728\u8fde\u7eed\u7684<strong>\u9690\u7a7a\u95f4<\/strong>\u4e2d\u8fdb\u884c\u63a8\u7406\u3002\u8fd9\u867d\u7136\u9ad8\u6548\uff0c\u4f46\u7f3a\u4e4f\u4e2d\u95f4\u76d1\u7763\u3002\u5c31\u50cf\u4e00\u4e2a\u5b66\u751f\u53ea\u88ab\u544a\u77e5\u6700\u7ec8\u7b54\u6848\uff0c\u5374\u4e0d\u77e5\u9053\u89e3\u9898\u6b65\u9aa4\uff0c\u8bad\u7ec3\u8fc7\u7a0b\u6781\u4e0d\u7a33\u5b9a\uff0c\u6a21\u578b\u5bb9\u6613\u201c\u5b66\u6b6a\u201d\uff0c\u751f\u6210\u4e0e\u7269\u7406\u73b0\u5b9e\u65e0\u5173\u7684\u8868\u793a\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u95ee\u9898\u7684\u6839\u6e90\u5728\u4e8e\uff1a\u63a8\u7406\u8fc7\u7a0b\u4e0e\u7269\u7406\u4e16\u754c\u8131\u8282\u4e86\u3002<\/strong>&nbsp;\u65e0\u8bba\u662f\u79bb\u6563\u7684\u7b26\u53f7\u8fd8\u662f\u65e0\u76d1\u7763\u7684\u8fde\u7eed\u5411\u91cf\uff0c\u90fd\u6ca1\u6709\u88ab\u201c\u951a\u5b9a\u201d\u5728\u771f\u5b9e\u76843D\u51e0\u4f55\u548c\u65f6\u7a7a\u52a8\u6001\u4e2d\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u5982\u4f55\u8ba9VLA\u6a21\u578b\u5177\u59073D\/WM\u80fd\u529b\uff0c\u540c\u65f6\uff0c\u76f4\u63a5\u4f5c\u7528\u5230\u540e\u9762\u7684Answer\u4e0a\u53bb\u3002<\/p>\n\n\n\n<p><strong>3 \u65b9\u6cd5\uff1a<\/strong><\/p>\n\n\n\n<p>LaST-VLA\u901a\u8fc7<strong>\u9690\u5f0f\u65f6\u7a7a\u94fe\u5f0f\u63a8\u7406\uff08Latent Spatio-Temporal CoT\uff09<\/strong>\uff0c\u5c06\u63a8\u7406\u8fc7\u7a0b\u4ece\u79bb\u6563\u7b26\u53f7\u5904\u7406\u8f6c\u79fb\u5230\u7269\u7406\u7ea6\u675f\u7684\u8fde\u7eed\u9690\u7a7a\u95f4\uff0c\u7ed3\u5408\u51e0\u4f55\u5148\u9a8c\u548c\u52a8\u6001\u5148\u9a8c\u63d0\u5347\u89c4\u5212\u7a33\u5b9a\u6027\u4e0e\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"504\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-181-1024x504.png\" alt=\"\" class=\"wp-image-38052\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-181-1024x504.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-181-300x148.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-181-768x378.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-181.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>3.1\u95ee\u9898\u5efa\u6a21 (Preliminaries)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"55\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/031701.png\" alt=\"\" class=\"wp-image-38053\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031701.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031701-300x24.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u521b\u65b0\u70b9 1\uff1a\u9690\u5f0f\u63a8\u7406\u4e0e\u6982\u7387\u89e3\u8026<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"219\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/031702.png\" alt=\"\" class=\"wp-image-38054\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031702.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031702-300x97.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>3.2 \u9690\u5f0f\u65f6\u7a7a\u601d\u7ef4\u94fe (Latent Spatio-Temporal CoT)<\/strong><\/p>\n\n\n\n<p><strong>\u521b\u65b0\u70b9 2\uff1a\u7279\u5f81\u7ea7\u77e5\u8bc6\u84b8\u998f\uff08\u6452\u5f03\u50cf\u7d20\u7ea7\u91cd\u5efa\uff09<\/strong><\/p>\n\n\n\n<p>\u4f20\u7edf\u65b9\u6cd5\u901a\u5e38\u4f9d\u8d56\u5bc6\u96c6\u7684\u50cf\u7d20\u7ea7\u91cd\u5efa\uff08\u5982\u9884\u6d4b\u6df1\u5ea6\u56fe\u6216\u672a\u6765\u89c6\u9891\u5e27\uff09\u6765\u5b66\u4e60\u7269\u7406\u89c4\u5f8b\uff0c\u8fd9\u4f1a\u5e26\u6765\u5de8\u5927\u7684\u8ba1\u7b97\u5f00\u9500\u5e76\u5f15\u5165\u5927\u91cf\u65e0\u5173\u7684\u7eb9\u7406\u7ec6\u8282 \u3002LaST-VLA \u521b\u65b0\u6027\u5730\u5f15\u5165\u4e86\u5916\u90e8\u57fa\u7840\u6a21\u578b\u4f5c\u4e3a<strong>\u7279\u5f81\u7ea7\u6559\u5e08<\/strong>\uff0c\u76f4\u63a5\u5728\u9690\u5f0f\u7279\u5f81\u7a7a\u95f4\u4e2d\u5bf9\u9f50\u51e0\u4f55\u548c\u52a8\u6001\u5148\u9a8c \u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"779\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-182-1024x779.png\" alt=\"\" class=\"wp-image-38055\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-182-1024x779.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-182-300x228.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-182-768x585.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-182.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"416\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/031703.png\" alt=\"\" class=\"wp-image-38056\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031703.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031703-300x182.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>3.3 \u6e10\u8fdb\u5f0f\u4e24\u9636\u6bb5\u76d1\u7763\u5fae\u8c03 (Progressive Two-Stage SFT)<\/strong><\/p>\n\n\n\n<p><strong>\u521b\u65b0\u70b9 3\uff1a\u7ed3\u6784\u5316\u56e0\u679c\u63a9\u7801\u4e0e\u6e10\u8fdb\u5f0f\u5b66\u4e60<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"691\" height=\"424\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/031704.png\" alt=\"\" class=\"wp-image-38057\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031704.png 691w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031704-300x184.png 300w\" sizes=\"(max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<p><strong>3.4 \u57fa\u4e8e GRPO \u7684\u9690\u5f0f\u57fa\u7840\u8f68\u8ff9\u4f18\u5316 (Trajectory Refinement via GRPO)<\/strong><\/p>\n\n\n\n<p><strong>\u521b\u65b0\u70b9 4\uff1a\u7a33\u5b9a\u5148\u9a8c\u4e0b\u7684\u5f3a\u5316\u5b66\u4e60\u5b89\u5168\u62a4\u680f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"473\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/031705.png\" alt=\"\" class=\"wp-image-38058\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031705.png 683w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/031705-300x208.png 300w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure>\n\n\n\n<p><strong>4. \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>4.1 \u4e3b\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u5728Navsimv1\u4e0eNavsimv2\u4e0a\uff0cLaST-VLA-2B\u4e0eLaST-VLA-8B\u5747\u80fd\u5b9e\u73b0\u5f88\u597d\u7684\u6548\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"466\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-183-1024x466.png\" alt=\"\" class=\"wp-image-38059\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-183-1024x466.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-183-300x137.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-183-768x350.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-183.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>LaST-VLA-8B\u8fbe\u523091.3 PDMS<\/strong>\uff0c\u8d85\u8d8a\u4e4b\u524d\u6700\u4f73\u7eaf\u89c6\u89c9\u65b9\u6cd50.5\u5206\u3002<\/li>\n\n\n\n<li><strong>\u8f7b\u91cf\u5316\u76842B\u7248\u672c\u8fbe\u523091.1 PDMS<\/strong>\uff0c\u4ee5\u66f4\u5c11\u7684\u53c2\u6570\u5b9e\u73b0\u4e86\u4f18\u4e8e\u4e4b\u524d2B\u6a21\u578b\uff08Recogdrive-2B\uff09\u7684\u6027\u80fd\u3002<\/li>\n\n\n\n<li><strong>\u5b89\u5168\u6027\u6307\u6807\u663e\u8457\u63d0\u5347<\/strong>\uff1aNC\u4e0eDAC\u7684\u9ad8\u5206\uff0c\u9a8c\u8bc1\u4e86\u51e0\u4f55\u9690\u5f0f\u601d\u8003\u5e26\u6765\u7684\u7cbe\u786e\u7a7a\u95f4\u611f\u77e5\uff1bTTC\u7684\u9ad8\u5206\uff0c\u5219\u9a8c\u8bc1\u4e86\u52a8\u6001\u9690\u5f0f\u601d\u8003\u5e26\u6765\u7684\u524d\u77bb\u9884\u6d4b\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5728RL\u9636\u6bb5\uff0c\u6211\u4eec\u4ec5\u4f7f\u7528Navsim v1\u7684PDMS\u4f5c\u4e3aReward Model\uff0c\u540c\u6837\u5728Navsim v2\u7684EPDMS\u4e0a\u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u6027\u80fd\uff0c\u8bc1\u660eLaST-VLA\u4e0d\u662f\u4ec5\u4ec5\u53ea\u80fd\u62df\u5408PDMS\uff0c\u8fd8\u80fd\u591f\u5728EPDMS\u8868\u73b0\u5f88\u597d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"250\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-184-1024x250.png\" alt=\"\" class=\"wp-image-38060\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-184-1024x250.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-184-300x73.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-184-768x188.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-184.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=\"341\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-185-1024x341.png\" alt=\"\" class=\"wp-image-38061\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-185-1024x341.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-185-300x100.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-185-768x256.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-185.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>4.2 \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u6574\u4f53\u4f18\u52bf<\/strong>\uff1a\u4ec5\u4ec5\u901a\u8fc7\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\uff0cLaST-VLA\u7684 8B \u548c 2B \u7248\u672c\u5c31\u7a33\u5b9a\u8d85\u8d8a\u4e86\u5b83\u4eec\u5bf9\u5e94\u7684 InternVL3 \u57fa\u7ebf\u6a21\u578b \u3002<\/p>\n\n\n\n<p><strong>\u7a7a\u95f4\u4e0e\u51e0\u4f55\u63a8\u7406\uff08SURDS \u57fa\u51c6\uff09<\/strong>\uff1a8B \u6a21\u578b\u7684\u603b\u5206\u76f8\u6bd4 SURDS-3B \u65b9\u6cd5\u548c\u57fa\u7ebf\u6a21\u578b\u5206\u522b\u5927\u5e45\u63d0\u5347\u4e86 43.49% \u548c 7.68%\uff0c2B \u6a21\u578b\u4e5f\u63d0\u5347\u4e86 8.17% \u3002<\/p>\n\n\n\n<p><strong>\u7edd\u5bf9\u5b9a\u4f4d<\/strong>\uff1a\u5728\u504f\u822a\u89d2\u786e\u5b9a\u548c\u50cf\u7d20\u4f30\u8ba1\u4efb\u52a1\u4e0a\u51c6\u786e\u7387\u5747\u8d85\u8fc7 70%\uff0c\u5c55\u73b0\u4e86\u6781\u5f3a\u7684\u5185\u5728\u51e0\u4f55\u63a8\u7406\u80fd\u529b \u3002<\/p>\n\n\n\n<p><strong>\u76f8\u5bf9\u5173\u7cfb<\/strong>\uff1a\u5728\u5224\u65ad\u5de6\u53f3\uff0890.27%\uff09\u548c\u524d\u540e\uff0888.00%\uff09\u7b49\u7a7a\u95f4\u5173\u7cfb\u4efb\u52a1\u4e0a\u8868\u73b0\u6781\u4e3a\u4f18\u5f02\uff0c\u8fd9\u8bc1\u660e\u4e86\u5176\u5f3a\u5927\u7684\u7a7a\u95f4\u7ec4\u5408\u63a8\u7406\u80fd\u529b\uff0c\u6709\u6548\u7f13\u89e3\u4e86\u4ee5\u5f80 VLM\uff08\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff09\u4e2d\u5e38\u89c1\u7684\u7a7a\u95f4\u8ff7\u5931\u95ee\u9898 \u3002<\/p>\n\n\n\n<p><strong>\u52a8\u6001\u573a\u666f\u7406\u89e3\uff08NuDynamics benchmark\uff09<\/strong>\uff1a8B \u548c 2B \u6a21\u578b\u7684\u8fd0\u52a8\u5f97\u5206\uff08Motion scores\uff09\u5206\u522b\u8fbe\u5230\u4e86 81.19% \u548c 71.80% \u3002\u8fd9\u4e00\u6210\u7ee9\u4e0d\u4ec5\u8d85\u8d8a\u4e86\u5fae\u8c03\u540e\u7684\u57fa\u7ebf\u6a21\u578b\uff0c\u751a\u81f3\u51fb\u8d25\u4e86\u53c2\u6570\u91cf\u5de8\u5927\u7684\u901a\u7528\u5927\u6a21\u578b Qwen2.5-VL-72B \u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"443\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-186-1024x443.png\" alt=\"\" class=\"wp-image-38062\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-186-1024x443.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-186-300x130.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-186-768x332.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-186.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=\"720\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-187-1024x720.png\" alt=\"\" class=\"wp-image-38063\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-187-1024x720.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-187-300x211.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-187-768x540.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/03\/\u56fe\u7247-187.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6587\u672c CoT \u5b58\u5728\u8bed\u4e49\u5c40\u9650<\/strong>\uff1a\u5f15\u5165\u663e\u5f0f\u7684\u6587\u672c CoT \u867d\u80fd\u5e26\u6765\u6027\u80fd\u589e\u76ca\uff08+1.2 PDMS\uff09\u5e76\u8f85\u52a9\u4efb\u52a1\u5206\u89e3\uff0c\u4f46\u5176\u4e0a\u9650\u53d7\u5236\u4e8e\u6587\u672c\u4e0e\u89c6\u89c9\u4e4b\u95f4\u7684\u8bed\u4e49\u9e3f\u6c9f \u3002<strong>\u65e0\u76d1\u7763\u9690\u5f0f CoT \u9677\u5165\u201c\u9ed1\u7bb1\u201d\u56f0\u5883<\/strong>\uff1a\u867d\u7136\u65e0\u76d1\u7763\u7684\u9690\u5f0f CoT \u6210\u529f\u7ed5\u8fc7\u4e86\u6587\u672c\u74f6\u9888\uff08\u8fbe\u5230 89.8 PDMS\uff09\uff0c\u4f46\u56e0\u7f3a\u4e4f\u7269\u7406\u7ea6\u675f\uff0c\u5bfc\u81f4\u8bad\u7ec3\u8fc7\u7a0b\u6781\u4e0d\u7a33\u5b9a\uff08\u5373\u4f7f\u5728\u8bad\u7ec3\u540e\u671f\u4e5f\u4f1a\u51fa\u73b0\u5267\u70c8\u7684\u6027\u80fd\u6ce2\u52a8\uff09 \u3002<strong>\u7269\u7406\u76d1\u7763\u9690\u5f0f CoT \u517c\u987e\u6027\u80fd\u4e0e\u7a33\u5b9a<\/strong>\uff1a\u5bf9\u9690\u5f0f\u7279\u5f81\u65bd\u52a0\u663e\u5f0f\u7684\u7269\u7406\u76d1\u7763\u8fbe\u5230\u4e86\u6700\u4f73\u8868\u73b0\uff08\u6bd4\u65e0\u76d1\u7763\u7248\u672c\u9ad8\u51fa 1.5 PDMS\uff09\uff0c\u4e0d\u4ec5\u6027\u80fd\u6700\u4f18\uff0c\u800c\u4e14\u5728\u6a21\u578b\u6536\u655b\u65f6\u6781\u5176\u7a33\u5065 \u3002<strong>\u7269\u7406\u5148\u9a8c\u76f4\u63a5\u8f6c\u5316\u4e3a\u884c\u9a76\u5b89\u5168<\/strong>\uff1a\u8fd9\u79cd\u7269\u7406\u7ea6\u675f\u5207\u5b9e\u5e26\u6765\u4e86\u5173\u952e\u7684\u5b89\u5168\u63d0\u5347\uff08\u5c06 DAC \u63d0\u5347\u81f3 97.9\uff0cTTC \u63d0\u5347\u81f3 95.6\uff09 \u3002\u8fd9\u8bc1\u660e\u4e86\u5c06\u9690\u5f0f CoT \u4e0e\u7269\u7406\u5148\u9a8c\u5bf9\u9f50\uff0c\u80fd\u6210\u529f\u628a\u4e0d\u7a33\u5b9a\u7684\u7279\u5f81\u8f6c\u5316\u4e3a\u4e00\u4e2a\u5f3a\u5927\u4e14\u6709\u4f9d\u636e\u7684\u63a8\u7406\u5f15\u64ce \u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&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-37977","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\/37977"}],"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=37977"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37977\/revisions"}],"predecessor-version":[{"id":38064,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37977\/revisions\/38064"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=37977"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=37977"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=37977"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}