{"id":38087,"date":"2026-03-18T17:32:00","date_gmt":"2026-03-18T09:32:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=38087"},"modified":"2026-03-19T08:34:38","modified_gmt":"2026-03-19T00:34:38","slug":"2026-03-18-cvpr-2026-%e5%8c%97%e8%88%aax%e6%b8%85%e5%8d%8e%e6%8f%90%e5%87%bacuriousvla%ef%bc%9a%e9%a6%96%e4%b8%aa%e9%87%8a%e6%94%be%e5%a4%9a%e6%a8%a1%e6%80%81%e5%a4%a7%e6%a8%a1%e5%9e%8b%e8%87%aa","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/18\/38087\/","title":{"rendered":"2026-03-18 CVPR 2026 | \u5317\u822ax\u6e05\u534e\u63d0\u51faCuriousVLA\uff1a\u9996\u4e2a\u91ca\u653e\u591a\u6a21\u6001\u5927\u6a21\u578b\u81ea\u52a8\u9a7e\u9a76Scaling\u6f5c\u529b\u7684VLA\u6846\u67b6"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.163.com\/dy\/article\/KO9PM5BB0511CQLG.html<\/a><\/p>\n\n\n\n

CuriousVLA \u63ed\u793a\u4e86 MLLM \u81ea\u56de\u5f52\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u63a2\u7d22\u574d\u584c\u95ee\u9898\uff0c\u5e76\u901a\u8fc7\u591a\u6837\u6027\u9a71\u52a8\u8bad\u7ec3\u91ca\u653e\u591a\u6a21\u6001\u5927\u6a21\u578b\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684 Scaling \u6f5c\u529b\u3002<\/p>\n\n\n\n

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

\u8bba\u6587\u9898\u76ee\uff1a Devil is in Narrow Policy: Unleashing Exploration in Driving VLA Models \u6587\u7ae0\u94fe\u63a5\uff1a https:\/\/arxiv.org\/abs\/2603.06049 \u9879\u76ee\u4e3b\u9875\uff1a https:\/\/github.com\/Mashiroln\/curious_vla.git<\/p>\n<\/blockquote>\n\n\n\n

\u4e00\u3001\u81ea\u52a8\u9a7e\u9a76VLA\u7684\u4e00\u4e2a\u9690\u85cf\u95ee\u9898<\/p>\n\n\n\n

\u8fc7\u53bb\u4e00\u5e74\uff0c\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u6b63\u5728\u5feb\u901f\u8f6c\u5411\u4e00\u79cd\u65b0\u7684\u6280\u672f\u8303\u5f0f\uff1aVision-Language-Action\uff08VLA\uff09\u6a21\u578b<\/strong>\u3002\u5728\u8fd9\u4e00\u6846\u67b6\u4e0b\uff0c\u81ea\u52a8\u9a7e\u9a76\u88ab\u91cd\u65b0\u5efa\u6a21\u4e3a\u4e00\u4e2a\u7edf\u4e00\u7684\u751f\u6210\u95ee\u9898\u2014\u2014\u6a21\u578b\u63a5\u6536\u591a\u6a21\u6001\u73af\u5883\u4fe1\u606f\uff08\u6444\u50cf\u5934\u56fe\u50cf\u3001\u8f66\u8f86\u72b6\u6001\u3001\u5bfc\u822a\u6307\u4ee4\u7b49\uff09\uff0c\u7136\u540e\u76f4\u63a5\u751f\u6210\u672a\u6765\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002\u4ece DriveGPT\u3001EMMA\uff0c\u5230 AutoVLA\u3001Orion\u3001ReCogDrive\uff0c\u4e00\u7cfb\u5217\u5de5\u4f5c\u90fd\u5728\u63a2\u7d22\u5982\u4f55\u5229\u7528\u591a\u6a21\u6001\u5927\u6a21\u578b\u627f\u62c5\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u51b3\u7b56\u4e0e\u89c4\u5212\u4efb\u52a1\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u5982\u679c\u4ed4\u7ec6\u89c2\u5bdf\u5f53\u524d\u4e3b\u6d41VLA\u7cfb\u7edf\u7684\u6280\u672f\u8def\u7ebf\uff0c\u4f1a\u53d1\u73b0\u4e00\u4e2a\u975e\u5e38\u666e\u904d\u7684\u8bbe\u8ba1\u6a21\u5f0f\uff1a\u4ee5\u591a\u6a21\u6001\u5927\u6a21\u578b\uff08MLLM\uff09\u4f5c\u4e3a\u8bed\u4e49\u7406\u89e3\u4e0e\u63a8\u7406\u5e95\u5ea7\uff0c\u5728\u5176\u4e4b\u4e0a\u5f80\u5f80\u5916\u6302\u4e00\u4e2a\u4e13\u95e8\u7684\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\uff0c\u4f8b\u5982 Diffusion Planner \u6216\u5176\u4ed6\u751f\u6210\u5f0f\u89c4\u5212\u5668<\/strong>\u3002<\/strong>\u8fd9\u79cd\u7ed3\u6784\u80fd\u591f\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u5f25\u8865\u8bed\u8a00\u6a21\u578b\u5728\u8fde\u7eed\u63a7\u5236\u4e0a\u7684\u4e0d\u8db3\uff0c\u4f46\u540c\u65f6\u4e5f\u589e\u52a0\u4e86\u7cfb\u7edf\u590d\u6742\u5ea6\uff0c\u5e76\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u9650\u5236\u4e86\u6a21\u578b\u80fd\u529b\u968f\u89c4\u6a21\u6269\u5c55\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n

\u76f8\u6bd4\u4e4b\u4e0b\uff0cCurious-VLA\u9009\u62e9\u4e86\u4e00\u6761\u66f4\u52a0\u6fc0\u8fdb\u7684\u6280\u672f\u8def\u5f84\uff1a\u5b8c\u5168\u4f9d\u8d56MLLM\u7684\u81ea\u56de\u5f52\u751f\u6210\u80fd\u529b\u6765\u5b8c\u6210\u8f68\u8ff9\u89c4\u5212\uff0c\u800c\u4e0d\u5f15\u5165\u989d\u5916\u7684Action Token\u8bbe\u8ba1\uff0c\u4e5f\u4e0d\u4f9d\u8d56Diffusion Planner\u7b49\u590d\u6742\u89c4\u5212\u6a21\u5757\u3002<\/strong>\u4ee4\u4eba\u60ca\u8bb6\u7684\u662f\uff0c\u5728\u8fd9\u79cd\u66f4\u52a0\u7b80\u6d01\u7684\u6a21\u578b\u7ed3\u6784\u4e0b\uff0c\u8be5\u65b9\u6cd5\u4f9d\u7136\u80fd\u591f\u5728Navsim\u57fa\u51c6\u4e0a\u53d6\u5f97VLA\u81ea\u52a8\u9a7e\u9a76\u7684SOTA\u6027\u80fd\u3002<\/p>\n\n\n\n

\u6309\u7406\u8bf4\uff0c\u5728\u8fd9\u79cd\u201c\u7eafMLLM\u81ea\u56de\u5f52\u89c4\u5212\u201d\u7684VLA\u6a21\u578b\u4e2d\uff0c\u5f3a\u5316\u5b66\u4e60\u5e94\u8be5\u80fd\u591f\u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u7684\u7b56\u7565\u8d28\u91cf\uff0c\u5e76\u5e2e\u52a9\u6a21\u578b\u63a2\u7d22\u66f4\u52a0\u4f18\u8d8a\u7684\u9a7e\u9a76\u884c\u4e3a\u3002\u7136\u800c\u5728\u8bb8\u591a\u76f8\u5173\u5de5\u4f5c\u4e2d\uff0c\u5f3a\u5316\u5b66\u4e60\u5e26\u6765\u7684\u63d0\u5347\u5374\u975e\u5e38\u6709\u9650\u3002\u6709\u4e9b\u6a21\u578b\u5728\u52a0\u5165RL\u4e4b\u540e\u53ea\u83b7\u5f97\u4e86\u6781\u5c0f\u7684\u6027\u80fd\u6539\u8fdb\uff0c\u751a\u81f3\u6027\u80fd\u51fa\u73b0\u4e86\u4e0b\u964d\u3002<\/p>\n\n\n\n

\u8fd9\u5c31\u5f15\u51fa\u4e86\u4e00\u4e2a\u5173\u952e\u95ee\u9898\uff1a\u4e3a\u4ec0\u4e48\u5728\u81ea\u56de\u5f52VLA\u6a21\u578b\u4e2d\uff0c\u5f3a\u5316\u5b66\u4e60\u51e0\u4e4e\u6ca1\u6709\u53d1\u6325\u4f5c\u7528\uff1f<\/strong><\/p>\n\n\n\n

\u5728\u8bba\u6587\u300aDevil is in Narrow Policy: Unleashing Exploration in Driving VLA Models\u300b\u4e2d\uff0c\u4f5c\u8005\u7ed9\u51fa\u4e86\u4e00\u4e2a\u975e\u5e38\u5173\u952e\u7684\u89e3\u91ca\u2014\u2014\u95ee\u9898\u4e0d\u5728\u5f3a\u5316\u5b66\u4e60\u672c\u8eab\uff0c\u800c\u5728\u4e8e\u7b56\u7565\u5df2\u7ecf\u5728\u6a21\u4eff\u5b66\u4e60\u9636\u6bb5\u201c\u584c\u7f29\u201d\u4e86<\/strong>\u3002 \u6362\u53e5\u8bdd\u8bf4\uff0c\u5f53RL\u5f00\u59cb\u8bad\u7ec3\u65f6\uff0c\u6a21\u578b\u5176\u5b9e\u5df2\u7ecf\u53ea\u4f1a\u4e00\u79cd\u9a7e\u9a76\u65b9\u5f0f\u3002<\/p>\n\n\n\n


VLA\u5e94\u7528\u672c\u6587\u63d0\u51fa\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5ADAS\uff08ADAS val\/reward\uff09\u4e0e\u76f4\u63a5\u5e94\u7528GRPO\uff08Random val\/reward\uff09\u5f3a\u5316\u5b66\u4e60\u7684\u6548\u679c\u5bf9\u6bd4\u56fe\uff08\u6765\u6e90\uff1a\u8bba\u6587 \u8865\u5145\u6750\u6599Figure 6\uff09 \u4e8c\u3001\u4e00\u4e2a\u88ab\u5ffd\u89c6\u7684\u95ee\u9898\uff1aNarrow Policy<\/p>\n\n\n\n

\u5728\u5206\u6790\u81ea\u52a8\u9a7e\u9a76VLA\u8bad\u7ec3\u6d41\u7a0b\u65f6\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u4e2a\u6b64\u524d\u51e0\u4e4e\u6ca1\u6709\u88ab\u7cfb\u7edf\u8ba8\u8bba\u7684\u95ee\u9898\uff1aNarrow Policy\uff08\u7b56\u7565\u8fc7\u7a84\uff09<\/strong>\u3002\u7b80\u5355\u6765\u8bf4\uff0cNarrow Policy\u6307\u7684\u662f\u6a21\u578b\u5728\u51b3\u7b56\u65f6\u53ea\u4f1a\u751f\u6210\u975e\u5e38\u5355\u4e00\u7684\u4e00\u7c7b\u9a7e\u9a76\u8f68\u8ff9<\/strong>\uff0c\u7f3a\u4e4f\u5fc5\u8981\u7684\u7b56\u7565\u591a\u6837\u6027\u3002<\/p>\n\n\n\n

\u4e3a\u4e86\u9a8c\u8bc1\u8fd9\u4e00\u73b0\u8c61\uff0c\u8bba\u6587\u5bf9\u73b0\u6709\u4e24\u7c7b\u4ee3\u8868\u6027VLA\u6a21\u578b\u8fdb\u884c\u4e86\u5b9e\u9a8c\u5206\u6790\uff0c\u5305\u62ec\u57fa\u4e8e\u8f68\u8ff9token\u751f\u6210\u7684Qwen2.5-VL<\/strong>\uff0c\u4ee5\u53ca\u5e26\u5916\u90e8\u89c4\u5212\u5668\u7684ReCogDrive<\/strong>\u3002\u7814\u7a76\u8005\u5bf9\u540c\u4e00\u4e2a\u9a7e\u9a76\u573a\u666f\u591a\u6b21\u91c7\u6837\u6a21\u578b\u8f93\u51fa\u8f68\u8ff9\uff0c\u5e76\u7edf\u8ba1\u8fd9\u4e9b\u8f68\u8ff9\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u7ed3\u679c\u53d1\u73b0\uff0c\u65e0\u8bba\u662f\u54ea\u4e00\u7c7b\u65b9\u6cd5\uff0c\u751f\u6210\u7684\u8f68\u8ff9\u90fd\u9ad8\u5ea6\u76f8\u4f3c\uff0c\u51e0\u4e4e\u96c6\u4e2d\u5728\u540c\u4e00\u4e2a\u6a21\u5f0f\u4e0a\u3002\u5373\u4f7f\u65e8\u5728\u751f\u6210Multimodal\u8f68\u8ff9\u7aef\u5230\u7aef\u6a21\u578bDiffusionDrive\uff0c\u5176\u6700\u9ad8\u7f6e\u4fe1\u5ea6\u7684\u201c\u9009\u4e2d\u8f68\u8ff9\u201d\u4e5f\u51fa\u73b0\u591a\u6837\u6027\u582a\u5fe7<\/p>\n\n\n\n


Narrow Policy\u95ee\u9898\u793a\u610f\u56fe\uff08\u6765\u6e90\uff1a\u8bba\u6587 Figure 1(b)\uff09<\/p>\n\n\n\n

\u8fd9\u610f\u5473\u7740\uff0c\u5373\u4f7f\u5728\u4e00\u4e2a\u5b58\u5728\u591a\u79cd\u5408\u7406\u9a7e\u9a76\u7b56\u7565\u7684\u573a\u666f\u4e2d\uff0c\u6a21\u578b\u4ecd\u7136\u503e\u5411\u4e8e\u7ed9\u51fa\u51e0\u4e4e\u76f8\u540c\u7684\u51b3\u7b56\u3002\u8bba\u6587\u5c06\u8fd9\u79cd\u73b0\u8c61\u79f0\u4e3a\u63a2\u7d22\u584c\u7f29\uff08exploration collapse\uff09<\/strong>\u3002\u66f4\u76f4\u89c2\u5730\u8bf4\uff0c\u5f53\u6a21\u578b\u9762\u5bf9\u4e00\u4e2a\u8def\u53e3\u65f6\uff0c\u4eba\u7c7b\u9a7e\u9a76\u5458\u53ef\u80fd\u4f1a\u5b58\u5728\u591a\u79cd\u5408\u7406\u7b56\u7565\uff0c\u6bd4\u5982\u7565\u5fae\u63d0\u524d\u51cf\u901f\u3001\u7a0d\u5fae\u665a\u4e00\u70b9\u5239\u8f66\u3001\u6216\u8005\u9009\u62e9\u4e0d\u540c\u7684\u901a\u8fc7\u8f68\u8ff9\u3002\u4f46\u5728\u5f53\u524dVLA\u6a21\u578b\uff08\u4ee5\u53ca\u90e8\u5206\u7aef\u5230\u7aef\u6a21\u578b\uff09\u4e2d\uff0c\u591a\u6b21\u63a8\u7406\u5f97\u5230\u7684\u8f68\u8ff9\u5f80\u5f80\u51e0\u4e4e\u91cd\u5408\u3002<\/p>\n\n\n\n

\u8fd9\u79cd\u73b0\u8c61\u5728\u8bba\u6587\u7684\u53ef\u89c6\u5316Figure 1\u7ed3\u679c\u4e2d\u975e\u5e38\u660e\u663e\uff1a\u57fa\u7ebf\u6a21\u578b\u751f\u6210\u7684\u591a\u6761\u8f68\u8ff9\u51e0\u4e4e\u91cd\u53e0\uff0c\u800c\u4f5c\u8005\u65b9\u6cd5\u751f\u6210\u7684\u8f68\u8ff9\u5219\u5448\u73b0\u51fa\u660e\u663e\u7684\u591a\u6837\u6027\u3002 \u4e3a\u4e86\u7cfb\u7edf\u5206\u6790\u8fd9\u4e00\u95ee\u9898\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u7ec4Behavioral Diagnostics \u6307\u6807<\/strong>\u6765\u91cf\u5316\u7b56\u7565\u63a2\u7d22\u80fd\u529b\uff1a<\/p>\n\n\n\n

\u7b2c\u4e00\u662fDiversity<\/strong>\uff0c\u7528\u4e8e\u8861\u91cf\u6a21\u578b\u751f\u6210\u8f68\u8ff9\u4e4b\u95f4\u7684\u5dee\u5f02\u7a0b\u5ea6\uff1b<\/p>\n\n\n\n

\u7b2c\u4e8c\u662fQuality<\/strong>\uff0c\u8868\u793a\u91c7\u6837\u8f68\u8ff9\u4e2d\u4e0e\u771f\u5b9e\u8f68\u8ff9\u6700\u63a5\u8fd1\u7684\u4e00\u6761\uff1b<\/p>\n\n\n\n

\u7b2c\u4e09\u662fPerformance<\/strong>\uff0c\u5373\u6574\u4f53\u9a7e\u9a76\u6027\u80fd\u6307\u6807\uff08\u4f8b\u5982 Navsim \u7684 PDMS\uff09\u3002<\/p>\n\n\n\n

\u7406\u60f3\u60c5\u51b5\u4e0b\uff0c\u4e00\u4e2a\u4f18\u79c0\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u5e94\u8be5\u540c\u65f6\u5177\u5907\u4e09\u4e2a\u7279\u5f81\uff1a\u65e2\u80fd\u591f\u751f\u6210\u591a\u6837\u5316\u7684\u5019\u9009\u8f68\u8ff9<\/strong>\uff0c\u53c8\u80fd\u591f\u5728\u8fd9\u4e9b\u8f68\u8ff9\u4e2d\u627e\u5230\u9ad8\u8d28\u91cf\u7684\u9a7e\u9a76\u7b56\u7565<\/strong>\uff0c\u6700\u7ec8\u5b9e\u73b0\u6574\u4f53\u9a7e\u9a76\u6027\u80fd\u7684\u63d0\u5347\u3002\u4f46\u73b0\u5b9e\u60c5\u51b5\u662f\uff0c\u5927\u591a\u6570\u73b0\u6709VLA\u6a21\u578b\u5728Diversity \u6307\u6807\u4e0a\u90fd\u975e\u5e38\u4f4e<\/strong>\uff0c\u8bf4\u660e\u7b56\u7565\u7a7a\u95f4\u5df2\u7ecf\u4e25\u91cd\u6536\u7f29\u3002<\/p>\n\n\n\n


Narrow Policy\u5206\u6790\uff08\u6765\u6e90\uff1a\u8bba\u6587 Figure 1(a)\uff09<\/p>\n\n\n\n

\u800c\u8fd9\u4e00\u95ee\u9898\u7684\u6839\u6e90\uff0c\u5176\u5b9e\u6765\u81ea\u8bad\u7ec3\u6d41\u7a0b\u4e2d\u7684\u7b2c\u4e00\u9636\u6bb5\u2014\u2014\u6a21\u4eff\u5b66\u4e60\uff08Imitation Learning\uff09<\/strong>\u3002<\/p>\n\n\n\n

\u4e09\u3001\u4e3a\u4ec0\u4e48\u6a21\u4eff\u5b66\u4e60\u4f1a\u5bfc\u81f4\u7b56\u7565\u584c\u7f29<\/p>\n\n\n\n

\u5982\u679c\u8fdb\u4e00\u6b65\u8ffd\u6eaf Narrow Policy \u7684\u6765\u6e90\uff0c\u95ee\u9898\u5176\u5b9e\u51fa\u73b0\u5728\u8bad\u7ec3\u6d41\u7a0b\u7684\u7b2c\u4e00\u9636\u6bb5\u2014\u2014\u6a21\u4eff\u5b66\u4e60\uff08Imitation Learning, IL\uff09<\/strong>\u3002\u4f5c\u8005\u4ece\u4e24\u4e2a\u65b9\u9762\u5c55\u5f00\u4e86\u5206\u6790\uff1a<\/p>\n\n\n\n

1. \u6a21\u4eff\u5b66\u4e60\u7684\u76d1\u7763\u4fe1\u53f7\u8fc7\u5f3a\uff1a<\/strong>\u5728\u5f53\u524d\u4e3b\u6d41VLA\u65b9\u6cd5\u4e2d\uff0c\u6a21\u578b\u901a\u5e38\u901a\u8fc7\u76d1\u7763\u5fae\u8c03\uff08SFT\uff09\u5b66\u4e60\u4eba\u7c7b\u9a7e\u9a76\u6570\u636e\u3002\u8bad\u7ec3\u76ee\u6807\u975e\u5e38\u7b80\u5355\uff1a\u7ed9\u5b9a\u73af\u5883\u8f93\u5165\uff0c\u8ba9\u6a21\u578b\u9884\u6d4b\u4e0e\u6570\u636e\u96c6\u4e2d\u771f\u5b9e\u9a7e\u9a76\u8f68\u8ff9\uff08Ground Truth trajectory\uff09<\/strong>\u4e00\u81f4\u7684\u8f68\u8ff9token\u3002\u4ece\u4f18\u5316\u89d2\u5ea6\u6765\u770b\uff0c\u8fd9\u4e00\u8fc7\u7a0b\u672c\u8d28\u4e0a\u662f\u5728\u6700\u5c0f\u5316Cross-Entropy loss<\/strong>\uff1a<\/p>\n\n\n\n

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

\u4e5f\u5c31\u662f\u8bf4\uff0c\u6a21\u578b\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4f1a\u88ab\u6301\u7eed\u9f13\u52b1\u53bb\u751f\u6210\u552f\u4e00\u6b63\u786e\u7684\u8f68\u8ff9<\/strong>\u3002 \u95ee\u9898\u5728\u4e8e\uff0c\u81ea\u52a8\u9a7e\u9a76\u5e76\u4e0d\u662f\u4e00\u4e2a\u53ea\u6709\u5355\u4e00\u6b63\u786e\u7b54\u6848\u7684\u4efb\u52a1\u3002\u5728\u5927\u591a\u6570\u771f\u5b9e\u9a7e\u9a76\u573a\u666f\u4e2d\uff0c\u5f80\u5f80\u5b58\u5728\u591a\u79cd\u540c\u6837\u5b89\u5168\u3001\u5408\u7406\u7684\u9a7e\u9a76\u7b56\u7565\u3002\u4f8b\u5982\u5728\u4e00\u4e2a\u8def\u53e3\u51cf\u901f\u65f6\uff0c\u7a0d\u5fae\u65e9\u4e00\u70b9\u5239\u8f66\u6216\u665a\u4e00\u70b9\u5239\u8f66\uff0c\u90fd\u53ef\u80fd\u662f\u5b8c\u5168\u5408\u7406\u7684\u884c\u4e3a\u3002\u4f46\u5728\u6a21\u4eff\u5b66\u4e60\u6846\u67b6\u4e0b\uff0c\u8bad\u7ec3\u6570\u636e\u53ea\u63d0\u4f9b\u4e86\u4e00\u6761\u8f68\u8ff9\uff0c\u5176\u5b83\u7b56\u7565\u90fd\u4f1a\u88ab\u5f53\u4f5c\u201c\u9519\u8bef\u7b54\u6848\u201d\u3002\u8fd9\u5c31\u5bfc\u81f4\u6a21\u578b\u9010\u6e10\u5b66\u5230\u4e00\u79cd\u6781\u7aef\u884c\u4e3a\uff1a\u5bf9\u6570\u636e\u4e2d\u7684\u90a3\u6761\u8f68\u8ff9\u4ea7\u751f\u9ad8\u5ea6\u81ea\u4fe1\uff0c\u800c\u5ffd\u7565\u6240\u6709\u5176\u5b83\u53ef\u80fd\u7b56\u7565<\/strong>\u3002\u8bba\u6587\u5c06\u8fd9\u79cd\u73b0\u8c61\u79f0\u4e3aoptimization objective mismatch<\/strong>\u2014\u2014\u4f18\u5316\u76ee\u6807\u4e0e\u771f\u5b9e\u9a7e\u9a76\u7b56\u7565\u7a7a\u95f4\u4e4b\u95f4\u5b58\u5728\u660e\u663e\u4e0d\u5339\u914d\u3002<\/p>\n\n\n\n

2. \u8f68\u8ff9\u8868\u793a\u7684\u65f6\u95f4\u5c3a\u5ea6\u4e0d\u5747\u8861\u95ee\u9898\uff1a<\/strong>\u9664\u4e86\u76d1\u7763\u76ee\u6807\u672c\u8eab\uff0c\u4f5c\u8005\u8fd8\u6307\u51fa\u4e86\u53e6\u4e00\u4e2a\u5bb9\u6613\u88ab\u5ffd\u7565\u7684\u95ee\u9898\uff1a\u8f68\u8ff9\u65f6\u95f4\u5c3a\u5ea6\u7684\u4e0d\u5747\u8861\uff08horizon scale mismatch\uff09<\/strong>\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\uff0c\u6a21\u578b\u901a\u5e38\u9884\u6d4b\u672a\u6765\u51e0\u79d2\u7684\u591a\u4e2awaypoints\u3002\u7531\u4e8e\u9884\u6d4b\u91c7\u7528\u81ea\u8f66\u5750\u6807\u7cfb\uff0c\u8d8a\u8fdc\u7684\u65f6\u95f4\u6b65\uff0c\u5176\u4f4d\u7f6e\u5206\u5e03\u7684\u65b9\u5dee\u5c31\u8d8a\u5927\u3002\u4f8b\u5982\u8bba\u6587\u4e2d\u6307\u51fa\uff0c4\u79d2\u540e\u7684\u8f68\u8ff9\u4f4d\u7f6e\u53d8\u5316\u53ef\u80fd\u6bd40.5\u79d2\u540e\u7684\u53d8\u5316\u5927\u51e0\u4e2a\u6570\u91cf\u7ea7\u3002\u7ed3\u679c\u662f\uff0c\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u8fdc\u8ddd\u79bb\u8f68\u8ff9\u7684\u8bef\u5dee\u4f1a\u4e3b\u5bfc\u6574\u4f53loss\uff0c\u800c\u8fd1\u8ddd\u79bb\u8f68\u8ff9\uff08\u771f\u6b63\u51b3\u5b9a\u8f6c\u5411\u4e0e\u63a7\u5236\u7cbe\u5ea6\u7684\u90e8\u5206\uff09\u53cd\u800c\u8d21\u732e\u8f83\u5c0f\u3002 \u8fd9\u8fdb\u4e00\u6b65\u524a\u5f31\u4e86\u6a21\u578b\u5bf9\u9a7e\u9a76\u884c\u4e3a\u7ec6\u8282\u7684\u5b66\u4e60\u80fd\u529b\uff0c\u4e5f\u51cf\u5c11\u4e86\u7b56\u7565\u7684\u591a\u6837\u6027\u3002\u5f53\u8fd9\u6837\u7684\u7b56\u7565\u8fdb\u5165\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\u65f6\uff0c\u95ee\u9898\u5c31\u4f1a\u8fdb\u4e00\u6b65\u653e\u5927\u3002\u5f3a\u5316\u5b66\u4e60\u901a\u5e38\u901a\u8fc7\u91c7\u6837\u591a\u6761\u8f68\u8ff9\u6765\u4f30\u8ba1\u7b56\u7565\u68af\u5ea6\u3002\u5982\u679c\u6a21\u578b\u5df2\u7ecf\u53ea\u4f1a\u751f\u6210\u4e00\u79cd\u51e0\u4e4e\u76f8\u540c\u7684\u8f68\u8ff9\uff0c\u90a3\u4e48\u8fd9\u4e9b\u6837\u672c\u7684\u5956\u52b1\u4e5f\u4f1a\u975e\u5e38\u63a5\u8fd1\u3002\u6b64\u65f6\u5956\u52b1\u65b9\u5dee\u4f1a\u8d8b\u8fd1\u4e8e\u96f6\uff0cGRPO\u4f18\u52bf\u51fd\u6570\u4e5f\u4f1a\u968f\u4e4b\u6d88\u5931\uff1a<\/p>\n\n\n\n

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

\u5f53 \u65f6\uff0c \uff0c\u6700\u7ec8\u5bfc\u81f4\u7b56\u7565\u68af\u5ea6\u51e0\u4e4e\u6d88\u5931\u3002 \u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48\u5f88\u591a\u81ea\u52a8\u9a7e\u9a76VLA\u5de5\u4f5c\u5728\u52a0\u5165\u5f3a\u5316\u5b66\u4e60\u540e\u51e0\u4e4e\u6ca1\u6709\u660e\u663e\u63d0\u5347\u2014\u2014\u56e0\u4e3a\u6a21\u578b\u5728\u8fdb\u5165RL\u9636\u6bb5\u4e4b\u524d\uff0c\u5176\u7b56\u7565\u7a7a\u95f4\u5176\u5b9e\u5df2\u7ecf\u88ab\u6a21\u4eff\u5b66\u4e60\u4e25\u91cd\u538b\u7f29\u3002\u6362\u53e5\u8bdd\u8bf4\uff0c\u5f3a\u5316\u5b66\u4e60\u5e76\u6ca1\u6709\u771f\u6b63\u7684\u201c\u63a2\u7d22\u7a7a\u95f4\u201d\u3002<\/p>\n\n\n\n

\u56db\u3001Curious-VLA\uff1a\u8ba9\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u91cd\u65b0\u5b66\u4f1a\u63a2\u7d22<\/p>\n\n\n\n

\u65e2\u7136\u95ee\u9898\u51fa\u5728\u7b56\u7565\u63a2\u7d22\u80fd\u529b\u4e0d\u8db3\uff0c\u90a3\u4e48\u89e3\u51b3\u601d\u8def\u5176\u5b9e\u5c31\u975e\u5e38\u660e\u786e\uff1a\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u91cd\u65b0\u5f15\u5165\u63a2\u7d22\u80fd\u529b<\/strong>\u3002\u57fa\u4e8e\u8fd9\u4e00\u601d\u8def\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u7684\u8bad\u7ec3\u6846\u67b6Curious-VLA<\/strong>\u3002\u4e0e\u73b0\u6709\u65b9\u6cd5\u4e0d\u540c\uff0c\u8fd9\u4e00\u6846\u67b6\u5e76\u6ca1\u6709\u6539\u53d8VLA\u6a21\u578b\u7684\u7ed3\u6784\uff0c\u800c\u662f\u4ece\u8bad\u7ec3\u6d41\u7a0b\u5165\u624b\uff0c\u7cfb\u7edf\u6027\u5730\u63d0\u5347\u7b56\u7565\u591a\u6837\u6027\u3002<\/p>\n\n\n\n

\u6574\u4e2a\u65b9\u6cd5\u53ef\u4ee5\u6982\u62ec\u4e3a\u4e00\u53e5\u8bdd\uff1a\u5728\u6a21\u4eff\u5b66\u4e60\u9636\u6bb5\u589e\u52a0\u8f68\u8ff9\u591a\u6837\u6027\uff0c\u5728\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\u9f13\u52b1\u7b56\u7565\u63a2\u7d22\u3002<\/strong>\u5177\u4f53\u6765\u8bf4\uff0cCurious-VLA\u5305\u542b\u4e24\u4e2a\u5173\u952e\u90e8\u5206\u3002<\/p>\n\n\n\n


CuriousVLA\u6574\u4f53\u6846\u67b6\u56fe\uff08\u6765\u6e90\uff1a\u8bba\u6587 Figure 2\uff09<\/p>\n\n\n\n

    \n

  • \u7b2c\u4e00\u90e8\u5206\u662fFeasib<\/strong>le Trajectory Expansion\uff08FTE\uff09<\/strong>\uff0c\u7528\u4e8e\u6539\u9020\u6a21\u4eff\u5b66\u4e60\u9636\u6bb5\u7684\u6570\u636e\u5206\u5e03\u3002\u4f20\u7edf\u6a21\u4eff\u5b66\u4e60\u53ea\u4f7f\u7528\u4e00\u6761\u771f\u5b9e\u9a7e\u9a76\u8f68\u8ff9\u4f5c\u4e3a\u76d1\u7763\u4fe1\u53f7\uff0c\u800cFTE\u7684\u6838\u5fc3\u601d\u60f3\u662f\uff1a\u5c06\u771f\u5b9e\u8f68\u8ff9\u89c6\u4e3a\u4f17\u591a\u5408\u7406\u9a7e\u9a76\u884c\u4e3a\u4e2d\u7684\u4e00\u79cd\uff0c\u5e76\u4e3b\u52a8\u751f\u6210\u66f4\u591a\u201c\u53ef\u884c\u8f68\u8ff9\u201d\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u6a21\u578b\u5728\u8bad\u7ec3\u65f6\u80fd\u591f\u770b\u5230\u591a\u79cd\u5408\u7406\u9a7e\u9a76\u7b56\u7565\uff0c\u4ece\u800c\u907f\u514d\u7b56\u7565\u8fc7\u5ea6\u96c6\u4e2d\u3002<\/li>\n\n\n\n
  • \u7b2c\u4e8c\u90e8\u5206\u662fDiversity-Aware Reinforcement Learning<\/strong>\uff0c\u7528\u4e8e\u63d0\u5347\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\u7684\u63a2\u7d22\u80fd\u529b\u3002\u8bba\u6587\u901a\u8fc7\u65b0\u7684\u91c7\u6837\u7b56\u7565\u548c\u5956\u52b1\u8bbe\u8ba1\uff0c\u4f7f\u5f3a\u5316\u5b66\u4e60\u66f4\u5173\u6ce8\u5177\u6709\u591a\u6837\u6027\u7684\u7b56\u7565\u6837\u672c\uff0c\u4ece\u800c\u6301\u7eed\u63a8\u52a8\u6a21\u578b\u63a2\u7d22\u65b0\u7684\u9a7e\u9a76\u884c\u4e3a\u3002<\/li>\n<\/ul>\n\n\n\n

    \u8fd9\u4e24\u4e2a\u90e8\u5206\u5206\u522b\u5bf9\u5e94\u8bad\u7ec3\u6d41\u7a0b\u4e2d\u7684\u4e24\u4e2a\u9636\u6bb5\uff1a\u5728\u6a21\u4eff\u5b66\u4e60\u9636\u6bb5<\/strong>\uff0c\u91cd\u70b9\u89e3\u51b3\u6570\u636e\u5c42\u9762\u7684\u7b56\u7565\u5355\u4e00\u95ee\u9898\uff1b\u5728\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5<\/strong>\uff0c\u91cd\u70b9\u89e3\u51b3\u7b56\u7565\u66f4\u65b0\u4e2d\u7684\u63a2\u7d22\u4e0d\u8db3\u95ee\u9898\u3002\u8fd9\u79cd\u8bbe\u8ba1\u80cc\u540e\u7684\u903b\u8f91\u5176\u5b9e\u975e\u5e38\u7b80\u5355\u3002\u5982\u679c\u6a21\u4eff\u5b66\u4e60\u9636\u6bb5\u5c31\u5df2\u7ecf\u628a\u7b56\u7565\u538b\u7f29\u5230\u4e00\u4e2a\u975e\u5e38\u7a84\u7684\u5206\u5e03\uff0c\u90a3\u4e48\u5f3a\u5316\u5b66\u4e60\u51e0\u4e4e\u4e0d\u53ef\u80fd\u518d\u91cd\u65b0\u6269\u5c55\u7b56\u7565\u7a7a\u95f4\u3002\u56e0\u6b64\uff0cCurious-VLA\u9996\u5148\u901a\u8fc7\u6570\u636e\u6269\u5c55\u8ba9\u6a21\u578b\u770b\u5230\u66f4\u591a\u5408\u7406\u8f68\u8ff9\uff0c\u7136\u540e\u518d\u901a\u8fc7\u5f3a\u5316\u5b66\u4e60\u9010\u6b65\u4f18\u5316\u8fd9\u4e9b\u7b56\u7565\u3002<\/p>\n\n\n\n

    \u5728\u63a5\u4e0b\u6765\u7684\u4e24\u8282\u4e2d\uff0c\u6211\u4eec\u5206\u522b\u6765\u770b\u8fd9\u4e24\u4e2a\u5173\u952e\u6a21\u5757\u662f\u5982\u4f55\u5b9e\u73b0\u7684\u3002<\/p>\n\n\n\n

    \u4e94\u3001Feasible Trajectory Expansion \uff08FTE\uff09<\/p>\n\n\n\n

    \u4e3a\u4e86\u4ece\u6839\u672c\u4e0a\u7f13\u89e3 Narrow Policy \u95ee\u9898\uff0c\u8bba\u6587\u9996\u5148\u4ece\u8bad\u7ec3\u6570\u636e\u5165\u624b\uff0c\u63d0\u51fa\u4e86 Feasible Trajectory Expansion\uff08FTE\uff09\u3002<\/p>\n\n\n\n

    \u5176\u6838\u5fc3\u601d\u60f3\u975e\u5e38\u76f4\u63a5\uff1a\u4e0d\u8981\u53ea\u5b66\u4e60\u4e00\u6761\u771f\u5b9e\u9a7e\u9a76\u8f68\u8ff9\uff0c\u800c\u662f\u5b66\u4e60\u4e00\u7ec4\u5408\u7406\u7684\u9a7e\u9a76\u8f68\u8ff9\u3002<\/p>\n\n\n\n

    \u5728\u4f20\u7edf\u6a21\u4eff\u5b66\u4e60\u4e2d\uff0c\u6bcf\u4e2a\u8bad\u7ec3\u6837\u672c\u53ea\u5305\u542b\u4e00\u6761\u4eba\u7c7b\u9a7e\u9a76\u8f68\u8ff9\uff0c\u8fd9\u4f1a\u4f7f\u6a21\u578b\u9010\u6e10\u6536\u655b\u5230\u4e00\u4e2a\u6781\u5176\u72ed\u7a84\u7684\u7b56\u7565\u5206\u5e03\u3002\u800c\u5728\u771f\u5b9e\u9a7e\u9a76\u73af\u5883\u4e2d\uff0c\u540c\u4e00\u4e2a\u573a\u666f\u5f80\u5f80\u5b58\u5728\u591a\u79cd\u5408\u7406\u7684\u9a7e\u9a76\u884c\u4e3a\uff0c\u4f8b\u5982\u4e0d\u540c\u7684\u51cf\u901f\u65f6\u673a\u3001\u7565\u5fae\u4e0d\u540c\u7684\u8f6c\u5411\u8def\u5f84\u7b49\u3002<\/p>\n\n\n\n

    \u56e0\u6b64\uff0c\u8bba\u6587\u5c06\u771f\u5b9e\u8f68\u8ff9\u89c6\u4e3a\u4f17\u591a\u53ef\u884c\u9a7e\u9a76\u7b56\u7565\u4e2d\u7684\u4e00\u4e2a\u6837\u672c\uff0c\u5e76\u901a\u8fc7\u6570\u636e\u751f\u6210\u7684\u65b9\u5f0f\u6269\u5c55\u7b56\u7565\u7a7a\u95f4\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4f5c\u8005\u9996\u5148\u4ece Navsim \u8bad\u7ec3\u96c6\u7ea610\u4e07\u6761\u6570\u636e\u4e2d\u7b5b\u9009\u51fa\u7ea6 1.2\u4e07\u6bb5\u5177\u6709\u6311\u6218\u6027\u7684\u9a7e\u9a76\u7247\u6bb5\uff0c\u4f8b\u5982\u591a\u8f66\u9053\u573a\u666f\u3001\u590d\u6742\u8def\u53e3\u4ee5\u53ca\u906e\u6321\u73af\u5883\u7b49\u3002\u968f\u540e\u5229\u7528\u57fa\u4e8e diffusion \u7684\u89c4\u5212\u6a21\u578b\u751f\u6210\u591a\u4e2a\u5019\u9009\u8f68\u8ff9\uff0c\u5e76\u901a\u8fc7 PDMS \u5b89\u5168\u8bc4\u5206\u8fdb\u884c\u8fc7\u6ee4\uff0c\u786e\u4fdd\u8fd9\u4e9b\u8f68\u8ff9\u5728\u5b89\u5168\u548c\u4ea4\u901a\u89c4\u5219\u4e0a\u662f\u53ef\u884c\u7684\u3002\u6700\u7ec8\uff0c\u8bad\u7ec3\u6570\u636e\u88ab\u6269\u5c55\u4e3a \u7ea614.2\u4e07\u6761\u591a\u6837\u5316\u8f68\u8ff9\u6837\u672c\u3002<\/p>\n\n\n\n

    \u4e0d\u8fc7\uff0c\u5f53\u8bad\u7ec3\u6570\u636e\u4e2d\u5305\u542b\u5927\u91cf\u4e0d\u540c\u8f68\u8ff9\u65f6\uff0c\u53c8\u4f1a\u51fa\u73b0\u4e00\u4e2a\u65b0\u7684\u95ee\u9898\uff1a\u4e0d\u540c\u65f6\u95f4\u6b65\u7684\u8f68\u8ff9\u5c3a\u5ea6\u5dee\u5f02\u975e\u5e38\u5927\u3002\u8fdc\u8ddd\u79bb\u9884\u6d4b\u70b9\u7684\u5750\u6807\u53d8\u5316\u8fdc\u5927\u4e8e\u8fd1\u8ddd\u79bb\u9884\u6d4b\u70b9\uff0c\u5bfc\u81f4\u8bad\u7ec3\u65f6\u7684\u68af\u5ea6\u4e3b\u8981\u6765\u81ea\u8fdc\u7aef\u8f68\u8ff9\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u8bba\u6587\u63d0\u51fa\u4e86 Step-wise Normalization\uff08SN\uff09\u3002\u8be5\u65b9\u6cd5\u5bf9\u6bcf\u4e2a\u65f6\u95f4\u6b65\u7684\u8f68\u8ff9\u5750\u6807\u5206\u522b\u8fdb\u884c\u6807\u51c6\u5316\u5904\u7406\uff0c\u4f7f\u4e0d\u540c\u65f6\u95f4\u6b65\u7684\u8bef\u5dee\u5904\u4e8e\u76f8\u4f3c\u7684\u6570\u503c\u5c3a\u5ea6\uff0c\u4ece\u800c\u907f\u514d\u8fdc\u7aef\u8f68\u8ff9\u4e3b\u5bfc\u8bad\u7ec3\u8fc7\u7a0b\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4f5c\u8005\u9996\u5148\u7edf\u8ba1\u4e86NAVISM\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u4e00\u6761\u8f68\u8ff9\u57281-T\u6bcf\u4e00\u4e2a\u65f6\u95f4\u6b65\u4e0a\u52a8\u4f5c\u7684\u5e73\u5747\u503c\u548c\u65b9\u5dee \uff0c\u63a5\u4e0b\u6765\u5bf9\u8bad\u7ec3VLA\u6240\u4f7f\u7528\u7684\u6bcf\u4e00\u6761\u8f68\u8ff9\u7684\u6bcf\u4e00\u4e2a\u65f6\u95f4\u6b65\u7684\u52a8\u4f5c\u6267\u884c\u5982\u4e0b\u6807\u51c6\u5316\u64cd\u4f5c\uff0c\u5982\u679c\u7b2c \u6b65\u7684\u8f68\u8ff9\u52a8\u4f5c\u4e3a , \u90a3\u4e48\u6807\u51c6\u5316\u540e\u5219\u8868\u793a\u4e3a\uff1a<\/p>\n\n\n\n

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

    VLA\u7684\u9884\u6d4b\u5bf9\u8c61\u5c31\u4ece \u53d8\u6210\u4e86 ,\u800c\u5728\u6d4b\u8bd5\u7684\u65f6\u5019\uff0c\u518d\u91cd\u65b0\u5229\u7528 \u8ba1\u7b97\u56de\u975e\u6807\u51c6\u5316\u7684\u5c3a\u5ea6\u3002\u901a\u8fc7\u8fd9\u4e09\u4e2a\u8bbe\u8ba1\u2014\u2014\u6570\u636e\u6269\u5c55\u3001\u63a8\u7406\u7ed3\u6784\u5316\u4ee5\u53ca\u9010\u6b65\u5f52\u4e00\u5316\u2014\u2014\u6a21\u578b\u5728\u6a21\u4eff\u5b66\u4e60\u9636\u6bb5\u80fd\u591f\u63a5\u89e6\u5230\u66f4\u52a0\u4e30\u5bcc\u7684\u9a7e\u9a76\u7b56\u7565\uff0c\u4ece\u800c\u663e\u8457\u7f13\u89e3\u7b56\u7565\u584c\u7f29\u95ee\u9898\u3002\u4f5c\u8005\u8fd8\u8fdb\u4e00\u6b65\u53d1\u73b0\u65f6\u95f4\u8f68\u8ff9\u7684\u8c03\u6574\u5bf9\u4e8e\u591a\u6837\u6027\u63d0\u5347\u6709\u7740\u76f8\u5f53\u660e\u663e\u7684\u5e2e\u52a9\u3002<\/p>\n\n\n\n


    Step-wise Normliaztion\u6548\u679c\u56fe\uff1a\u7edf\u8ba1Navtrain\u6570\u636e\u96c6\u7684\u8f68\u8ff9\u5206\u5e03\u53d8\u5316<\/p>\n\n\n\n

    \uff08\u6765\u6e90\uff1a\u8bba\u6587 Figure 3\uff09<\/p>\n\n\n\n

    \u4f46\u5373\u4fbf\u5982\u6b64\uff0c\u5982\u679c\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\u4ecd\u7136\u53ea\u5173\u6ce8\u5c11\u6570\u7b56\u7565\u6837\u672c\uff0c\u63a2\u7d22\u80fd\u529b\u4f9d\u7136\u4f1a\u53d7\u5230\u9650\u5236\u3002\u56e0\u6b64\uff0c\u8bba\u6587\u5728\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\u53c8\u8fdb\u4e00\u6b65\u63d0\u51fa\u4e86\u4e00\u5957\u65b0\u7684\u63a2\u7d22\u673a\u5236\u3002<\/p>\n\n\n\n

    \u516d\u3001Adaptive Diversity-Aware Sampling\uff08ADAS\uff09<\/p>\n\n\n\n

    \u5373\u4fbf\u5728\u6a21\u4eff\u5b66\u4e60\u9636\u6bb5\u5f15\u5165\u4e86\u66f4\u591a\u8f68\u8ff9\u6570\u636e\uff0c\u5982\u679c\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\u4ecd\u7136\u4f7f\u7528\u4f20\u7edf\u8bad\u7ec3\u65b9\u5f0f\uff0c\u7b56\u7565\u63a2\u7d22\u80fd\u529b\u4f9d\u7136\u53ef\u80fd\u5f88\u5feb\u518d\u6b21\u584c\u7f29\u3002<\/p>\n\n\n\n

    \u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u8bba\u6587\u5728\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\u63d0\u51fa\u4e86\u4e00\u5957Diversity-Aware Reinforcement Learning<\/strong>\u673a\u5236\uff0c\u5176\u4e2d\u5305\u542b\u4e24\u4e2a\u5173\u952e\u8bbe\u8ba1\uff1aAdaptive Diversity-Aware Sampling\uff08ADAS\uff09<\/strong>\u548cSpanning Driving Reward\uff08SDR\uff09<\/strong>\u3002<\/p>\n\n\n\n

    \u9996\u5148\u6765\u770bADAS\uff08Adaptive Diversity-Aware Sampling\uff09<\/strong>\u3002\u5728\u4f20\u7edf\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u4e2d\uff0c\u8bad\u7ec3\u6570\u636e\u901a\u5e38\u662f\u968f\u673a\u91c7\u6837\u7684\u3002\u4f46\u5728\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e2d\uff0c\u4e0d\u540c\u573a\u666f\u7684\u63a2\u7d22\u6f5c\u529b\u5176\u5b9e\u5dee\u5f02\u5f88\u5927\u3002\u6709\u4e9b\u573a\u666f\u65e0\u8bba\u5982\u4f55\u91c7\u6837\uff0c\u6a21\u578b\u751f\u6210\u7684\u8f68\u8ff9\u51e0\u4e4e\u5b8c\u5168\u76f8\u540c\uff1b\u800c\u5728\u53e6\u4e00\u4e9b\u590d\u6742\u573a\u666f\u4e2d\uff0c\u7b56\u7565\u7a7a\u95f4\u5219\u66f4\u52a0\u4e30\u5bcc\u3002\u5982\u679c\u5927\u91cf\u8bad\u7ec3\u6b65\u9aa4\u90fd\u53d1\u751f\u5728\u90a3\u4e9b\u201c\u6ca1\u6709\u63a2\u7d22\u7a7a\u95f4\u201d\u7684\u573a\u666f\u4e0a\uff0c\u90a3\u4e48\u7b56\u7565\u66f4\u65b0\u5c31\u4f1a\u975e\u5e38\u4f4e\u6548\u3002<\/p>\n\n\n\n

    \u4e3a\u6b64\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u5956\u52b1\u5206\u5e03\u7684\u573a\u666f\u7b5b\u9009\u673a\u5236\u3002\u5728\u6bcf\u4e00\u8f6e\u8bad\u7ec3\u5f00\u59cb\u524d\uff0c\u6a21\u578b\u4f1a\u5bf9\u6bcf\u4e2a\u573a\u666f\u8fdb\u884c\u591a\u6b21\u79bb\u7ebf\u91c7\u6837\uff0c\u5e76\u7edf\u8ba1\u8fd9\u4e9b\u8f68\u8ff9\u7684\u5956\u52b1\u5206\u5e03\u3002\u5982\u679c\u67d0\u4e2a\u573a\u666f\u4e2d\u6240\u6709\u8f68\u8ff9\u7684\u5956\u52b1\u90fd\u975e\u5e38\u63a5\u8fd1\uff0c\u8bf4\u660e\u8be5\u573a\u666f\u51e0\u4e4e\u6ca1\u6709\u7b56\u7565\u591a\u6837\u6027\uff0c\u6b64\u65f6\u8be5\u6837\u672c\u5c31\u4f1a\u88ab\u6682\u65f6\u79fb\u51fa\u8bad\u7ec3\u96c6\u5408\u3002\u4ece\u6570\u5b66\u89d2\u5ea6\u6765\u770b\uff0cADAS \u7684\u6838\u5fc3\u76ee\u6807\u662f\u4fdd\u8bc1\u6bcf\u4e2a\u8bad\u7ec3\u573a\u666f\u80fd\u591f\u4ea7\u751f\u8db3\u591f\u7684\u5956\u52b1\u5206\u5e03\u65b9\u5dee<\/strong>\uff0c\u4ece\u800c\u907f\u514d\u5f3a\u5316\u5b66\u4e60\u4e2d\u7684 advantage collapse\u3002<\/p>\n\n\n\n

    \u5177\u4f53\u6765\u8bf4\uff0c\u5bf9\u4e8e\u4e00\u4e2a\u9a7e\u9a76\u8f93\u5165 \uff0c\u6a21\u578b\u4f1a\u4ece\u5f53\u524d\u7b56\u7565 \u4e2d\u91c7\u6837 \u6761\u8f68\u8ff9 \uff0c\u5e76\u8ba1\u7b97\u5bf9\u5e94\u7684\u5956\u52b1 \u3002\u901a\u8fc7\u8fd9\u4e9b\u6837\u672c\u53ef\u4ee5\u4f30\u8ba1\u8be5\u573a\u666f\u7684\u5956\u52b1\u7edf\u8ba1\u91cf\uff0c\u5305\u62ec\u5e73\u5747\u5956\u52b1 \u4e0e\u6807\u51c6\u5dee \u3002<\/p>\n\n\n\n

    \u4e3a\u4e86\u523b\u753b\u8be5\u573a\u666f\u7684\u7b56\u7565\u591a\u6837\u6027\uff0c\u8bba\u6587\u5c06\u8f68\u8ff9\u7ed3\u679c\u7b80\u5316\u4e3a\u4e00\u4e2aBernoulli\u8fc7\u7a0b<\/strong>\uff1a\u6bcf\u6761\u8f68\u8ff9\u8981\u4e48\u6210\u529f\uff08\u9ad8PDMS\uff09\uff0c\u8981\u4e48\u5931\u8d25\uff08\u4f4ePDMS\uff09\u3002\u5982\u679c\u6210\u529f\u6982\u7387\u4e3a \uff0c\u5219\u5728\u4e00\u4e2a\u5927\u5c0f\u4e3a \u7684\u91c7\u6837\u7ec4\u4e2d\uff0c\u6240\u6709\u7ed3\u679c\u5b8c\u5168\u4e00\u81f4\uff08\u5168\u90e8\u6210\u529f\u6216\u5168\u90e8\u5931\u8d25\uff09\u7684\u6982\u7387\u4e3a\uff1a<\/p>\n\n\n\n

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

    \u5982\u679c\u8fd9\u4e2a\u6982\u7387\u8fc7\u9ad8\uff0c\u5c31\u8bf4\u660e\u8be5\u573a\u666f\u51e0\u4e4e\u4e0d\u4f1a\u4ea7\u751f\u7b56\u7565\u5dee\u5f02\uff0c\u56e0\u6b64\u63a2\u7d22\u4ef7\u503c\u5f88\u4f4e\u3002<\/p>\n\n\n\n

    \u56e0\u6b64\uff0cADAS\u53ea\u4f1a\u9009\u62e9\u6ee1\u8db3\u4ee5\u4e0b\u6761\u4ef6\u7684\u573a\u666f\u8fdb\u5165\u8bad\u7ec3\u96c6\uff1a<\/p>\n\n\n\n

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

    \u8fd9\u4e00\u6761\u4ef6\u4fdd\u8bc1\u5728\u5f3a\u5316\u5b66\u4e60\u91c7\u6837\u65f6\uff0c\u4e0d\u540c\u8f68\u8ff9\u4e4b\u95f4\u5177\u6709\u8db3\u591f\u7684\u7b56\u7565\u5dee\u5f02\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u4e3a\u4e86\u907f\u514d\u5956\u52b1\u4f30\u8ba1\u4e0d\u7a33\u5b9a\uff0c\u8bba\u6587\u8fd8\u589e\u52a0\u4e86\u4e00\u4e2a\u7edf\u8ba1\u4e00\u81f4\u6027\u7ea6\u675f\uff1a<\/p>\n\n\n\n

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

    \u5176\u4e2d \u8868\u793a\u5956\u52b1\u8303\u56f4\uff0c\u8be5\u7ea6\u675f\u7528\u4e8e\u786e\u4fdd\u5b9e\u9645\u5956\u52b1\u5206\u5e03\u4e0e\u7406\u8bba Bernoulli \u65b9\u5dee\u4fdd\u6301\u4e00\u81f4\u3002\u901a\u8fc7\u8fd9\u4e24\u4e2a\u6761\u4ef6\uff0cADAS \u80fd\u591f\u81ea\u52a8\u7b5b\u9009\u51fa\u5177\u6709\u9ad8\u63a2\u7d22\u6f5c\u529b\u7684\u8bad\u7ec3\u573a\u666f<\/strong>\uff0c\u4ece\u800c\u7ef4\u6301\u5f3a\u5316\u5b66\u4e60\u4e2d\u7684\u5956\u52b1\u65b9\u5dee\uff0c\u5e76\u907f\u514d\u7b56\u7565\u68af\u5ea6\u6d88\u5931\u95ee\u9898\u3002<\/p>\n\n\n\n

    \u90a3\u4e9b\u80fd\u591f\u4ea7\u751f\u660e\u663e\u5956\u52b1\u5dee\u5f02\u7684\u573a\u666f\u4f1a\u88ab\u4f18\u5148\u7528\u4e8e\u5f3a\u5316\u5b66\u4e60\u8bad\u7ec3\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u8bad\u7ec3\u8fc7\u7a0b\u4f1a\u81ea\u52a8\u96c6\u4e2d\u5728\u5177\u6709\u66f4\u9ad8\u63a2\u7d22\u4ef7\u503c\u7684\u9a7e\u9a76\u573a\u666f\u4e0a<\/strong>\uff0c\u4ece\u800c\u4fdd\u6301\u5956\u52b1\u5206\u5e03\u7684\u65b9\u5dee\uff0c\u5e76\u907f\u514d\u5f3a\u5316\u5b66\u4e60\u4e2d\u7684\u68af\u5ea6\u6d88\u5931\u95ee\u9898\u3002 \u9664\u4e86\u91c7\u6837\u7b56\u7565\u4e4b\u5916\uff0c\u8bba\u6587\u8fd8\u91cd\u65b0\u8bbe\u8ba1\u4e86\u5f3a\u5316\u5b66\u4e60\u4e2d\u7684\u5956\u52b1\u51fd\u6570\u3002\u5728 Navsim \u57fa\u51c6\u4e2d\uff0c\u81ea\u52a8\u9a7e\u9a76\u6027\u80fd\u901a\u5e38\u901a\u8fc7PDMS \u6307\u6807<\/strong>\u8ba1\u7b97\uff0c\u8be5\u6307\u6807\u7efc\u5408\u8003\u8651\u5b89\u5168\u6027\u3001\u6548\u7387\u4ee5\u53ca\u8212\u9002\u5ea6\u7b49\u591a\u4e2a\u56e0\u7d20\u3002\u4f46\u539f\u59cb\u5956\u52b1\u51fd\u6570\u7684\u6570\u503c\u5dee\u5f02\u5f80\u5f80\u6bd4\u8f83\u5c0f\uff0c\u8fd9\u4f1a\u524a\u5f31\u5f3a\u5316\u5b66\u4e60\u5bf9\u4e0d\u540c\u7b56\u7565\u8d28\u91cf\u7684\u533a\u5206\u80fd\u529b\u3002\u56e0\u6b64\u8bba\u6587\u63d0\u51faSpanning Driving Reward\uff08SDR\uff09<\/strong>\uff0c\u901a\u8fc7\u7c7b\u4f3c focal loss \u7684\u5f62\u5f0f\u5bf9\u5956\u52b1\u8fdb\u884c\u975e\u7ebf\u6027\u53d8\u6362\uff1a<\/p>\n\n\n\n

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

    \u8fd9\u79cd\u8bbe\u8ba1\u4f1a\u653e\u5927\u9ad8\u8d28\u91cf\u8f68\u8ff9\u4e0e\u666e\u901a\u8f68\u8ff9\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u4f7f\u5956\u52b1\u51fd\u6570\u5bf9\u9a7e\u9a76\u8d28\u91cf\u66f4\u52a0\u654f\u611f\uff0c\u4ece\u800c\u589e\u5f3a\u5f3a\u5316\u5b66\u4e60\u7684\u4f18\u5316\u4fe1\u53f7\u3002\u901a\u8fc7\u591a\u6837\u6027\u91c7\u6837\u7b56\u7565\uff08ADAS\uff09<\/strong>\u4e0e\u8de8\u5ea6\u5956\u52b1\u51fd\u6570\uff08SDR\uff09<\/strong>\u7684\u7ed3\u5408\uff0c\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\u80fd\u591f\u6301\u7eed\u4fdd\u6301\u8db3\u591f\u7684\u7b56\u7565\u63a2\u7d22\u7a7a\u95f4\uff0c\u5e76\u9010\u6b65\u4f18\u5316\u6a21\u578b\u7684\u9a7e\u9a76\u884c\u4e3a<\/p>\n\n\n\n

    \u5728\u4e0b\u4e00\u8282\u4e2d\uff0c\u6211\u4eec\u6765\u770b\u8fd9\u4e9b\u8bbe\u8ba1\u5728\u5b9e\u9a8c\u4e2d\u7684\u5b9e\u9645\u6548\u679c\u3002<\/p>\n\n\n\n

    \u4e03\u3001\u5b9e\u9a8c\u7ed3\u679c\uff1aCurious-VLA\u5982\u4f55\u91ca\u653e\u63a2\u7d22\u80fd\u529b<\/p>\n\n\n\n

    \u4e3a\u4e86\u9a8c\u8bc1 Curious-VLA \u7684\u6709\u6548\u6027\uff0c\u8bba\u6587\u5728\u591a\u4e2a\u81ea\u52a8\u9a7e\u9a76\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u7cfb\u7edf\u5b9e\u9a8c\uff0c\u5176\u4e2d\u6700\u4e3b\u8981\u7684\u8bc4\u4f30\u5e73\u53f0\u662fNavsim benchmark<\/strong>\u4e0e\u8001\u724c\u7684n<\/strong>u<\/strong>Scene benchmark<\/strong>\u3002<\/p>\n\n\n\n

    \u5728 Navsim v1 \u57fa\u51c6\u4e0a\uff0cCurious-VLA \u5728\u4ec5\u4f7f\u7528\u5355\u524d\u5411\u6444\u50cf\u5934\u8f93\u5165<\/strong>\u7684\u60c5\u51b5\u4e0b\u53d6\u5f97\u4e86PDMS 90.3 \u7684\u6210\u7ee9<\/strong>\uff0c\u8fbe\u5230\u4e86\u5f53\u524dVLA\u65b9\u6cd5\u4e2d\u7684SOTA\u6c34\u5e73\u3002\u76f8\u6bd4\u6b64\u524d\u4f7f\u7528\u76f8\u540c\u57fa\u7840\u6a21\u578b\u7684 AutoVLA\uff08PDMS 89.1\uff09\uff0c\u8be5\u65b9\u6cd5\u63d0\u5347\u4e861.2 PDMS<\/strong>\u3002 \u5728nuScene\u57fa\u51c6\u4e0a\uff0cCurious-VLA\u5219\u5b9e\u73b0\u4e860.33%\u7684\u78b0\u649e\u7387\uff0c\u5b89\u5168\u7cfb\u6570\u76f8\u6bd4\u4e8e\u4e1a\u5185SOTA\u5927\u5e45\u5ea6\u63d0\u534713%\uff080.38 0.33\uff09\u3002<\/p>\n\n\n\n

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

    \u66f4\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728 Best-of-N \u8bc4\u4f30\u8bbe\u7f6e\u4e0b\uff08\u5373\u4ece\u591a\u4e2a\u5019\u9009\u8f68\u8ff9\u4e2d\u9009\u62e9\u6700\u4f18\u8f68\u8ff9\uff09\uff0cCurious-VLA \u7684 PDMS \u8fbe\u5230\u4e8694.8<\/strong>\uff0c\u51e0\u4e4e\u4e0eHuman Ground Truth \u7684 94.8<\/strong>\u6301\u5e73\u3002 \u8fd9\u4e00\u7ed3\u679c\u8bf4\u660e\uff0c\u5f53\u6a21\u578b\u80fd\u591f\u751f\u6210\u591a\u6837\u5316\u7684\u5019\u9009\u7b56\u7565\u65f6\uff0c\u5b83\u5b9e\u9645\u4e0a\u5df2\u7ecf\u5177\u5907\u4e86\u63a5\u8fd1\u4eba\u7c7b\u6c34\u5e73\u7684\u9a7e\u9a76\u51b3\u7b56\u80fd\u529b\u3002<\/p>\n\n\n\n

    \u9664\u4e86\u6574\u4f53\u6027\u80fd\u6307\u6807\u4e4b\u5916\uff0c\u8bba\u6587\u8fd8\u91cd\u70b9\u5206\u6790\u4e86\u7b56\u7565\u63a2\u7d22\u80fd\u529b\u7684\u53d8\u5316\u3002\u901a\u8fc7\u524d\u6587\u63d0\u51fa\u7684 Behavioral Diagnostics \u6307\u6807\u53ef\u4ee5\u770b\u5230\uff0c\u5728\u5f15\u5165 Curious-VLA \u540e\uff0c\u6a21\u578b\u5728\u8f68\u8ff9\u591a\u6837\u6027\uff08Diversity\uff09<\/strong>\u548c\u8f68\u8ff9\u8d28\u91cf\uff08Quality\uff09<\/strong>\u4e24\u4e2a\u7ef4\u5ea6\u4e0a\u90fd\u53d6\u5f97\u4e86\u660e\u663e\u63d0\u5347\u3002<\/p>\n\n\n\n

    \u4f8b\u5982\u5728\u8f68\u8ff9\u591a\u6837\u6027\u6307\u6807\u4e0a\uff0c\u5e73\u5747 pairwise FDE \u4ece\u539f\u59cb\u6a21\u578b\u7684\u7ea60.20\u20130.33m<\/strong>\u63d0\u5347\u5230\u4e861.41m<\/strong>\uff0c\u8bf4\u660e\u6a21\u578b\u786e\u5b9e\u80fd\u591f\u751f\u6210\u66f4\u52a0\u5206\u6563\u4e14\u591a\u6837\u7684\u5019\u9009\u8f68\u8ff9\u3002\u540c\u65f6\uff0c\u5728\u8d28\u91cf\u6307\u6807\u4e0a\uff0c\u6700\u4f73\u8f68\u8ff9\u4e0e\u771f\u5b9e\u8f68\u8ff9\u4e4b\u95f4\u7684\u8bef\u5dee\u4e5f\u663e\u8457\u4e0b\u964d\u3002<\/p>\n\n\n\n

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

    \u8bba\u6587\u7684\u6d88\u878d\u5b9e\u9a8c\u8fdb\u4e00\u6b65\u8bf4\u660e\u4e86\u4e0d\u540c\u6a21\u5757\u7684\u4f5c\u7528\u3002\u5728\u6a21\u4eff\u5b66\u4e60\u9636\u6bb5\uff0c\u4ec5\u4ec5\u589e\u52a0\u6570\u636e\u6269\u5c55\u5e76\u4e0d\u80fd\u5e26\u6765\u660e\u663e\u63d0\u5347\uff1b\u53ea\u6709\u5728\u52a0\u5165Step-wise Normalization<\/strong>\u4e4b\u540e\uff0c\u6a21\u578b\u624d\u80fd\u771f\u6b63\u6709\u6548\u5229\u7528\u8fd9\u4e9b\u591a\u6837\u5316\u8f68\u8ff9\u6570\u636e\u3002\u800c\u5728\u5f3a\u5316\u5b66\u4e60\u9636\u6bb5\uff0c\u82e5\u91c7\u7528\u968f\u673a\u91c7\u6837\u7b56\u7565\uff0c\u8bad\u7ec3\u5f88\u5bb9\u6613\u51fa\u73b0\u6027\u80fd\u5d29\u6e83\uff0c\u53ea\u6709ADAS \u91c7\u6837\u673a\u5236<\/strong>\u80fd\u591f\u7a33\u5b9a\u63d0\u5347\u6a21\u578b\u8868\u73b0\u3002<\/p>\n\n\n\n


    \u6a21\u4eff\u5b66\u4e60\u6d88\u878d\u5b9e\u9a8c\uff08\u6765\u6e90\uff1a\u8bba\u6587 Table 5\uff09<\/p>\n\n\n\n

    \u8fd9\u4e9b\u5b9e\u9a8c\u7ed3\u679c\u5171\u540c\u8868\u660e\uff1a\u7b56\u7565\u63a2\u7d22\u80fd\u529b\u786e\u5b9e\u662f\u81ea\u52a8\u9a7e\u9a76VLA\u6027\u80fd\u63d0\u5347\u7684\u5173\u952e\u56e0\u7d20<\/strong>\u3002\u5f53\u6a21\u578b\u80fd\u591f\u751f\u6210\u66f4\u52a0\u591a\u6837\u5316\u7684\u5019\u9009\u9a7e\u9a76\u7b56\u7565\u65f6\uff0c\u5f3a\u5316\u5b66\u4e60\u624d\u80fd\u771f\u6b63\u53d1\u6325\u4f5c\u7528\uff0c\u4ece\u800c\u4e0d\u65ad\u4f18\u5316\u9a7e\u9a76\u51b3\u7b56\u8d28\u91cf\u3002<\/p>\n\n\n\n

    \u516b\u3001\u7ed3\u8bed<\/p>\n\n\n\n

    \u957f\u671f\u4ee5\u6765\uff0c\u5927\u591a\u6570\u81ea\u52a8\u9a7e\u9a76VLA\u6a21\u578b\u90fd\u91c7\u7528\u591a\u6a21\u6001\u5927\u6a21\u578b\u5e95\u5ea7\u5916\u6302Diffusion Planenr\u6a21\u5757\u7684\u65b9\u5f0f\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u3002\u7136\u800c\uff0cCurious-VLA\u5219\u5728\u4e0d\u4f9d\u8d56\u989d\u5916Action Token\u3001\u4e0d\u5f15\u5165Diffusion Planner\u7b49\u590d\u6742\u89c4\u5212\u6a21\u5757\u7684\u60c5\u51b5\u4e0b\uff0c\u4ec5\u4f9d\u8d56MLLM\u7684\u81ea\u56de\u5f52\u751f\u6210\u80fd\u529b\uff0c\u5c31\u80fd\u591f\u5b9e\u73b0VLA\u81ea\u52a8\u9a7e\u9a76\u7684SOTA\u6027\u80fd\u3002\u4f5c\u8005\u7684\u72ec\u7279\u8d21\u732e\u5728\u4e8e\u4eceSFT\u548cRL\u4e24\u4e2a\u65b9\u9762\u5206\u522b\u6d88\u9664\u4e86\u8fd9\u6761\u6280\u672f\u8def\u5f84\u4e0a\u7684\u969c\u788d\uff0c\u4f7f\u5f97\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u53ef\u4ee5\u5b8c\u5168\u5229\u7528MLLM\u65f6\u4ee3\u7684\u6240\u6709\u7ea2\u5229\u3002\u8fd9\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684Scaling\u6709\u83ab\u5927\u7684\u610f\u4e49\u548c\u597d\u5904\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

    \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.163.co […]<\/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-38087","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\/38087"}],"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=38087"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38087\/revisions"}],"predecessor-version":[{"id":38088,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38087\/revisions\/38088"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=38087"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=38087"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=38087"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}