{"id":38372,"date":"2026-03-27T17:32:41","date_gmt":"2026-03-27T09:32:41","guid":{"rendered":"http:\/\/192.168.10.115\/?p=38372"},"modified":"2026-03-27T17:32:41","modified_gmt":"2026-03-27T09:32:41","slug":"2026-03-27-%e5%8d%8e%e4%b8%ba%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%9c%80%e6%96%b0%e8%ae%ba%e6%96%87%e8%a7%a3%e8%af%bb%ef%bc%8c%e5%88%b7%e6%96%b0%e5%b0%8f%e7%b1%b3%e6%b1%bd%e8%bd%a6vla%e7%ba%aa","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/27\/38372\/","title":{"rendered":"2026-03-27 \u534e\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6700\u65b0\u8bba\u6587\u89e3\u8bfb\uff0c\u5237\u65b0\u5c0f\u7c73\u6c7d\u8f66VLA\u7eaa\u5f55"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/www.toutiao.com\/article\/7621490846306664966\/?channel=&amp;source=news\">https:\/\/www.toutiao.com\/article\/7621490846306664966\/?channel=&amp;source=news<\/a><\/p>\n\n\n\n<p>\u534e\u4e3a\u6c7d\u8f66\u4e8b\u4e1a\u90e8\u5b9e\u9645\u5df2\u7ecf\u53d8\u4e3a\u6df1\u5733\u5f15\u671b\u667a\u80fd\u6280\u672f\u6709\u9650\u516c\u53f8\uff08\u4ee5\u4e0b\u7b80\u79f0\u4e3a\u201c\u5f15\u671b\u201d\uff09\u3002\u5f15\u671b\u6210\u7acb\u4e8e2024\u5e741\u6708\uff0c\u524d\u8eab\u4e3a\u534e\u4e3a\u57282019\u5e745\u6708\u6210\u7acb\u7684\u667a\u80fd\u6c7d\u8f66\u89e3\u51b3\u65b9\u6848\u4e8b\u4e1a\u90e8\uff08\u8f66BU\uff09\uff0c\u56e0\u534e\u4e3a\u63a8\u8fdb\u6c7d\u8f66\u4e1a\u52a1\u72ec\u7acb\u5316\u53ca\u5f00\u653e\u5e73\u53f0\u6218\u7565\u800c\u8bbe\u7acb\u3002\u5f15\u671b\u57282025\u5e741\u6708\u4ece\u534e\u4e3a\u6b63\u5f0f\u72ec\u7acb\uff0c\u539f\u534e\u4e3a\u8f66BU\u5458\u5de5\u8f6c\u7b7e\u5230\u5f15\u671b\uff087000\u4eba\u5de6\u53f3\uff09\uff0c\u603b\u90e8\u4f4d\u4e8e\u6df1\u5733\u9f99\u534e\u533a\u4e5d\u9f99\u5c71\u5de5\u4e1a\u56ed\uff0c\u4e1a\u52a1\u805a\u7126\u667a\u80fd\u6c7d\u8f66\u5168\u6808\u89e3\u51b3\u65b9\u6848\uff0c\u6db5\u76d6\u667a\u80fd\u9a7e\u9a76\u3001\u667a\u80fd\u5ea7\u8231\u3001\u667a\u80fd\u8f66\u63a7\u7b49\u9886\u57df\u3002\u534e\u4e3a\u8bbe\u6709\u505a\u524d\u77bb\u7814\u7a76\u7684\u534e\u4e3a\u8bfa\u4e9a\u65b9\u821f\u5b9e\u9a8c\u5ba4\uff0c\u4e3b\u8981\u5de5\u4f5c\u5c31\u662f\u53d1\u8bba\u6587\u3002\u5f15\u671b\u5219\u4e0d\u540c\uff0c\u5f15\u671b\u662f\u8981\u8003\u8651\u843d\u5730\u91cf\u4ea7\u7684\uff0c\u56e0\u6b64\u5f15\u671b\u7684\u8bba\u6587\u8fd8\u662f\u6bd4\u8f83\u6709\u5b9e\u9645\u4ef7\u503c\u7684\u3002<\/p>\n\n\n\n<p>\u5f15\u671b\u4e5f\u6709\u4e00\u4e2a\u524d\u77bb\u7814\u53d1\u7684\u5c0f\u90e8\u95e8\u53732030\u5b9e\u9a8c\u5ba4\uff0c\u4ece\u540d\u5b57\u80fd\u770b\u51fa\uff0c2030\u5b9e\u9a8c\u5ba4\u8fd8\u662f\u6bd4\u8bfa\u4e9a\u65b9\u821f\u5b9e\u9a8c\u5ba4\u8981\u66f4\u63a5\u5730\u6c14\u3002\u5f15\u671b\u57282025\u5e74\u4e0b\u534a\u5e74\u5230\u73b0\u5728\u4e3b\u8981\u8bba\u6587\u6709\u51e0\u7bc7\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6700\u91cd\u78c5\u7684\u662f2025\u5e7412\u6708\u7684DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving\uff0c\u4e3b\u8981\u548c\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u7814\u7a76\u6240\u5408\u4f5c\uff0c\u5173\u952e\u7684VLM\u6709\u4e24\u4e2a\uff1a\u4e00\u4e2a\u662f80\u4ebf\u53c2\u6570\u7684EMU3\uff1b\u53e6\u4e00\u4e2a\u662f70\u4ebf\u53c2\u6570\u7684QWEN2.5-VL\u3002<\/li>\n\n\n\n<li>\u5176\u6b21\u662f2026\u5e743\u6708\u7684DynVLA: Learning World Dynamics for Action Reasoning in Autonomous Driving\uff0c\u5173\u952e\u7684VLM\u8fd8\u662f80\u4ebf\u53c2\u6570\u7684EMU3\uff0c\u4e3b\u8981\u8fd8\u662f\u548c\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u7814\u7a76\u6240\u5408\u4f5c\u3002<\/li>\n\n\n\n<li>\u518d\u6b21\u662f2025\u5e74WAM-Diff: A Masked Diffusion VLA Framework with MoE and Online Reinforcement Learning for Autonomous Driving\uff0c\u5173\u952e\u7684VLM\u662fLLADA-V\uff0c\u4e3b\u8981\u5408\u4f5c\u5355\u4f4d\u662f\u590d\u65e6\u5927\u5b66\u3002<\/li>\n\n\n\n<li>\u6700\u540e\u662fDynamicVGGT: Learning Dynamic Point Maps for 4D Scene Reconstruction in Autonomous Driving\uff0c\u662f\u4f20\u7edf\u611f\u77e5\u7b97\u6cd5\u7279\u522b\u662f\u6df1\u5ea6\u56fe\u548c\u70b9\u56fe\u9886\u57df\uff0c\u4e3b\u8981\u5408\u4f5c\u5355\u4f4d\u662f\u590d\u65e6\u5927\u5b66\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5f15\u671b\u8fd8\u6709\u4e00\u7bc7\u5177\u8eab\u667a\u80fd\u7684\u8bba\u6587\uff0c\u5373AtomicVLA: Unlocking the Potential of Atomic Skill Learning in Robots\uff0c\u53d1\u8868\u4e8e2026\u5e743\u6708\uff0c\u5173\u952e\u7684VLM\u662f80\u4ebf\u53c2\u6570\u7684InternVideo2.5\u3002<\/p>\n\n\n\n<p>\u6709\u5173\u4e16\u754c\u6a21\u578b\u7684\u8bba\u6587\u4ec5\u6709\u4e00\u7bc7\uff0c\u5e76\u4e14\u662f2025\u5e748\u6708\u53d1\u8868\u7684\uff0c\u8bba\u6587\u9898\u76ee\u4e3aSTAGE: A Stream-Centric Generative World Model for Long-Horizon Driving-Scene Simulation\uff0c\u4e3b\u8981\u662f\u505a\u4eff\u771f\u7684\uff0c\u5408\u4f5c\u5355\u4f4d\u662f\u4e0a\u6d77\u79d1\u6280\u5927\u5b66\uff0c\u7bc7\u5e45\u5f88\u77ed\u4ec57\u9875\uff0c\u5176\u4ed6\u8bba\u6587\u5747\u8d85\u8fc715\u9875\u3002<\/p>\n\n\n\n<p>\u4ece\u4e2d\u4e0d\u96be\u770b\u51fa\uff0c\u534e\u4e3a\u7684\u7814\u7a76\u96c6\u4e2d\u5728VLA\u9886\u57df\uff0c\u4e14\u9752\u775080\u4ebf\u53c2\u6570\u7684VLM\u3002<\/p>\n\n\n\n<p>2026\u5e743\u6708\uff0c\u5f15\u671b\u8fd8\u6709\u4e00\u7bc7\u8bba\u6587Towards Unified Multimodal Interleaved Generation via Group Relative Policy Optimization\uff0c\u4e3b\u8981\u8bf4\u5f3a\u5316\u5b66\u4e60\uff0c\u5408\u4f5c\u5355\u4f4d\u662f\u590d\u65e6\u5927\u5b66\u6570\u636e\u79d1\u5b66\u7814\u7a76\u9662\u3002<\/p>\n\n\n\n<p>\u9996\u5148\u6765\u770b\u6700\u65b0\u7684\u8bba\u6587DynVLA: Learning World Dynamics for Action Reasoning in Autonomous Driving\uff0c\u8fd9\u7bc7\u8bba\u6587\u7684\u6838\u5fc3\u548c\u5c0f\u7c73\u6c7d\u8f66\u7684LaST-VLA: Thinking in Latent Spatio-Temporal Space for Vision-Language-Action in Autonomous Driving\u8bba\u6587\u6709\u76f8\u4f3c\u7684\u5730\u65b9\uff0c\u90fd\u662f\u5728VLA\u7684\u601d\u7ef4\u94fe\u4e0a\u4e0b\u529f\u592b\u3002\u5c0f\u7c73LaST-VLA\u7684PDMS\u5f97\u520691.3\uff0c\u7565\u4f4e\u4e8e\u534e\u4e3aDynVLA\u768491.7\uff0c\u4e0d\u8fc7VLA\u9886\u57df\u5f97\u5206\u6700\u9ad8\u7684\u662f\u52a0\u5dde\u5927\u5b66\u9999\u69df\u5206\u6821\u7684AutoVLA\uff0c\u9ad8\u8fbe92.1\uff0c\u5e76\u4e14AutoVLA\u7528\u7684VLM\u53c2\u6570\u53ea\u670930\u4ebf\uff0c\u8fdc\u4f4e\u4e8e\u5c0f\u7c73\u548c\u534e\u4e3a\u768480\u4ebf\u53c2\u6570\uff0c\u6548\u7387\u66f4\u9ad8\uff0c\u6027\u80fd\u66f4\u597d\uff0c\u6700\u91cd\u8981\u8fd8\u662f2025\u5e746\u6708\u5c31\u6709\u4e86\u3002<\/p>\n\n\n\n<p><strong>DynVLA\u4e0e\u5176\u4ed6VLA\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-axegupay5k\/dfd1a79f4b3f422c9127ad513d19d505~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=x9L3YFlzeQv6mXRVBSk5H7v2GBA%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>\u534e\u4e3a\u8ba4\u4e3a\u73b0\u6709\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684 CoT \u8bbe\u8ba1\u4ecd\u7136\u5b58\u5728\u660e\u663e\u74f6\u9888\u3002\u76ee\u524d\u4e3b\u6d41\u7684\u63a8\u7406\u65b9\u5f0f\u4e3b\u8981\u6709\u4e24\u7c7b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e00\u7c7b\u662f Textual CoT\uff0c\u5373\u5148\u751f\u6210\u7c7b\u4f3c\u524d\u8f66\u51cf\u901f\u3001\u7ea2\u706f\u4eae\u8d77\uff0c\u56e0\u6b64\u5e94\u51cf\u901f\u7b49\u5f85\u8fd9\u6837\u7684\u6587\u672c reasoning\u63a8\u7406\uff0c\u518d\u8f93\u51fa\u52a8\u4f5c\u3002\u8fd9\u79cd\u65b9\u6cd5\u867d\u5177\u5907\u4e00\u5b9a\u53ef\u89e3\u91ca\u6027\uff0c\u4f46\u8bed\u8a00\u5929\u7136\u96be\u4ee5\u8868\u8fbe\u8fde\u7eed\u7684\u7269\u7406\u52a8\u6001\u548c\u7ec6\u7c92\u5ea6\u65f6\u7a7a\u5173\u7cfb\uff0c\u4e14\u6548\u7387\u4f4e\u4e0b\uff0c\u5ef6\u8fdf\u592a\u957f\u3002\u9a7e\u9a76\u51b3\u7b56\u672c\u8d28\u4e0a\u4f9d\u8d56\u7684\u662f\u8fde\u7eed\u6f14\u5316\u7684\u52a8\u6001\u4e16\u754c\uff0c\u800c\u975e\u79bb\u6563\u8bed\u8a00\u7b26\u53f7\u3002<\/li>\n\n\n\n<li>\u53e6\u4e00\u7c7b\u662fVisual CoT\uff0c\u5373\u5148\u9884\u6d4b\u672a\u6765\u56fe\u50cf\uff0c\u518d\u6839\u636e\u672a\u6765\u56fe\u50cf\u751f\u6210\u52a8\u4f5c\u3002\u8fd9\u7c7b\u65b9\u6cd5\u80fd\u591f\u66f4\u76f4\u63a5\u5730\u5efa\u6a21\u65f6\u7a7a\u53d8\u5316\uff0c\u4f46\u5fc5\u987b\u540c\u65f6\u9884\u6d4b\u5927\u91cf\u80cc\u666f\u7eb9\u7406\u548c\u50cf\u7d20\u7ec6\u8282\uff0c\u5176\u4e2d\u5927\u91cf\u4fe1\u606f\u4e0e\u51b3\u7b56\u65e0\u5173\uff0c\u5bfc\u81f4\u8ba1\u7b97\u5f00\u9500\u5de8\u5927\uff0c\u63a8\u7406 latency \u5f88\u9ad8\u3002\u5c0f\u7c73\u7684\u89e3\u51b3\u529e\u6cd5\u662f\u4f7f\u7528\u8fde\u7eed\u7684\u9690\u53d8\u91cf\u5411\u91cf\uff08Latent Vectors\uff09\u4f5c\u4e3a\u201c\u601d\u8003\u201d\u7684\u8f7d\u4f53\uff0c\u534e\u4e3a\u5219\u662f\u52a8\u6001token\u5316\uff0c\u5b9e\u9645\u4e24\u8005\u5dee\u4e0d\u591a\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>DynVLA\u67b6\u6784<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/6c22e612548b4bdcbb0ecdc32c159d14~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=n%2BpoQMf4RoK%2BuqNpM0bjR37WwhE%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>\u534e\u4e3a\u5c06\u672a\u6765\u52a8\u6001\u538b\u7f29\u6210\u5c11\u91cf\u79bb\u6563token\u3002\u8003\u8651\u5230driving scene\u573a\u666f\u4e2d\u5b58\u5728\u4e24\u7c7b\u5b8c\u5168\u4e0d\u540c\u6765\u6e90\u7684\u53d8\u5316\uff1a\u4e00\u7c7b\u6765\u81ea ego \u81ea\u8eab\u8fd0\u52a8\uff0c\u4f8b\u5982\u52a0\u901f\u3001\u8f6c\u5411\u3001\u5236\u52a8\uff1b\u53e6\u4e00\u7c7b\u6765\u81ea\u73af\u5883\u4e2d\u7684\u5176\u4ed6 agent\uff0c\u4f8b\u5982\u524d\u8f66\u51cf\u901f\u3001\u884c\u4eba\u6a2a\u7a7f\u3001\u65c1\u8f66cut-in\u3002\u5982\u679c\u5c06\u8fd9\u4e24\u7c7b\u52a8\u6001\u6df7\u5408\u5efa\u6a21\uff0c\u4f1a\u51fa\u73b0\u4e25\u91cd ambiguity\u6b67\u4e49\uff0c\u4e5f\u5c31\u662f\u6ca1\u6709\u5bf9\u9f50\uff0c\u4f8b\u5982ego \u524d\u8fdb\u548c\u524d\u8f66\u540e\u9000\u5728\u89c6\u89c9\u4e0a\u53ef\u80fd\u5448\u73b0\u7c7b\u4f3c pattern\u3002\u56e0\u6b64DynVLA\u663e\u5f0f\u6784\u5efa\u4e86\u4e24\u4e2aquery \uff1a\u4e00\u4e2a\u7528\u4e8e ego-centric dynamics\uff0c\u4e00\u4e2a\u7528\u4e8e environment-centric dynamics\u3002\u5c0f\u7c73\u4ea6\u662f\u5982\u6b64\uff0c\u4e00\u4e2a\u67e5\u8be2\u5e8f\u5217\u662f\u8d1f\u8d23\u7406\u89e3\u9759\u6001\u76843D\u7a7a\u95f4\u7ed3\u6784\uff08\u5982\u8f66\u9053\u7ebf\u3001\u53ef\u884c\u9a76\u533a\u57df\u3001\u9759\u6001\u969c\u788d\u7269\uff09\uff0c\u53e6\u4e00\u4e2a\u662f\u8d1f\u8d23\u9884\u6d4b\u52a8\u6001\u7684\u65f6\u7a7a\u6f14\u53d8\uff08\u5982\u5468\u56f4\u8f66\u8f86\u7684\u672a\u6765\u8f68\u8ff9\u3001\u884c\u4eba\u7684\u610f\u56fe\uff09\u3002\u5c0f\u7c73\u591a\u4e863D\u7ed3\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/7491ebe0144e458b8f1ab3a30414cb02~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=Vrec8%2BcWPyfy9Mdu49dV1cKtoIM%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>\u540c\u6837\u5fc5\u987b\u5bf9\u4e24\u4e2a\u67e5\u8be2\u5e8f\u5217\u505a\u7269\u7406\u7ea6\u675f\uff0c\u5c0f\u7c73\u4f7f\u7528\u84b8\u998f\u7684\u4e16\u754c\u6a21\u578b\u548cVGGT\u505a3D\u51e0\u4f55\u5bf9\u9f50\uff1b\u534e\u4e3a\u7b2c\u4e00\u662fego action regularization\uff0c\u8bbe\u8ba1\u4e00\u4e2a\u4e24\u5c42MLP\u52a8\u4f5c\u89e3\u7801\u5668\uff0c\u4f7f\u7528ego dynamics token 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BEV\uff0c\u4ece\u800c\u4fdd\u8bc1\u4e0d\u540c\u89c6\u89d2\u4e0b\u7684 dynamics \u5177\u6709\u7edf\u4e00\u8bed\u4e49\uff0c\u65b9\u6cd5\u4e0e\u7b2c\u4e00\u4e2a\u7ea6\u675f\u7c7b\u4f3c\u3002<\/p>\n\n\n\n<p><strong>DynVLA\u8bad\u7ec3\u73af\u8282<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/f2b369610d0349b8b6f761d6ff4966d9~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=ZcRDpvQ0I4pnrSqDjXxO2wDfwh4%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>DynVLA\u8bad\u7ec3\u73af\u8282\uff0cRFT\u5c31\u662f\u5f3a\u5316\u5b66\u4e60\u5fae\u8c03\uff0cSFT+RL\u662f\u81ea\u52a8\u9a7e\u9a76VLA\u540e\u8bad\u7ec3\u6807\u51c6\u6d41\u7a0b\uff0c\u534e\u4e3a\u591a\u4e86\u4e00\u4e2a\u52a8\u6001Token\u5316\uff0c\u52a8\u6001Token\u5316\u7684\u8bad\u7ec3\u7528\u4e86200K Steps\uff0c\u4f7f\u7528\u4e868\u5f20\u82f1\u4f1f\u8fbeL20\u663e\u5361\uff0cSFT\u8bad\u7ec3\u7528\u4e864k steps\uff0c\u4e5f\u662f8\u5f20\u82f1\u4f1f\u8fbeL20\u663e\u5361\uff0cRFT\u5219\u662f6k steps\uff0c\u7528\u4e866\u5f20\u82f1\u4f1f\u8fbeH800\u663e\u5361\u3002\u5c0f\u7c73\u6c7d\u8f66\u7684LaST-VLA\u601d\u8def\u66f4\u6e05\u6670\u660e\u4e86\uff0c\u534e\u4e3a\u7684PDMS\u6210\u7ee9\u7565\u597d\u3002<\/p>\n\n\n\n<p>DynVLA\u7684\u6838\u5fc3\u6216\u8005\u8bf4\u9aa8\u5e72\u662f\u5317\u4eac\u667a\u6e90\u7684EMU3\uff0c\u8fd9\u662f2024\u5e7410\u6708\u53d1\u5e03\u7684VLM\uff0c\u57fa\u672c\u4e0a\u662f\u4e2d\u56fdVLM\u7684\u9f3b\u7956\uff0c\u5982\u679c\u534e\u4e3a\u6539\u7528Qwen-VL-3\uff0c\u76f8\u4fe1\u6210\u7ee9\u8fd8\u53ef\u4ee5\u518d\u63d0\u5347\u3002EMU3\u53c2\u6570\u91cf\u4e3a8B\uff0880\u4ebf\uff09\uff0c\u53ea\u57fa\u4e8e\u4e0b\u4e00\u4e2atoken\uff08\u8f93\u5165\u6570\u636e\u7684\u57fa\u672c\u5355\u4f4d\uff09\u9884\u6d4b\uff0c\u65e0\u9700\u6269\u6563\u6a21\u578b\u6216\u7ec4\u5408\u5f0f\u65b9\u6cd5\uff0c\u628a\u56fe\u50cf\u3001\u6587\u672c\u548c\u89c6\u9891\u7f16\u7801\u4e3a\u4e00\u4e2a\u79bb\u6563\u7a7a\u95f4\uff0c\u5728\u591a\u6a21\u6001\u6df7\u5408\u5e8f\u5217\u4e0a\u4ece\u5934\u5f00\u59cb\u8054\u5408\u8bad\u7ec3\u4e00\u4e2aTransformer\u6a21\u578b\u3002\u8be5\u6a21\u578b\u5b9e\u73b0\u4e86\u89c6\u9891\u3001\u56fe\u50cf\u3001\u6587\u672c\u4e09\u79cd\u6a21\u6001\u7684\u7edf\u4e00\u7406\u89e3\u4e0e\u751f\u6210\uff0c\u662f\u7eaf\u7cb9\u7684Transformer\uff0c\u4e0d\u50cf\u73b0\u5728\u5927\u591a\u90fd\u662fDiT\u3002<\/p>\n\n\n\n<p>\u534e\u4e3a\u53bb\u5e74\u5e74\u5e95\u7684WAM-Diff\u4e5f\u503c\u5f97\u4e00\u8bf4\uff0c\u5176PDMS\u5f97\u5206\u4e0d\u7b97\u592a\u9ad8\uff0c\u670991.0\uff0c\u4e5f\u5df2\u7ecf\u5f88\u4e0d\u9519\u4e86\uff0c\u5b83\u7684EPDMS\u5f97\u5206\u5f88\u9ad8\uff0c\u9ad8\u8fbe89.7\uff0c\u6bd4\u5c0f\u7c73LaST-VLA\u768487.1\u8fd8\u9ad8\u4e0d\u5c11\uff0c\u8fd9\u91cc\u7ea0\u6b63\u4e00\u4e0b\u4ee5\u524d\u72af\u7684\u9519\u8bef\uff0c\u534e\u4e3a\u7684WAM-Diff\u662f\u76ee\u524dEPDMS\u5f97\u5206\u6700\u9ad8\u7684VLA\u3002<\/p>\n\n\n\n<p><strong>WAM-Diff\u6846\u67b6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/6415dc65d09343a1a61e6e9993532e70~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=qrWidJVEXQ1dEATgh6N4YxfkrZM%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>\u76ee\u524dVLA\u4e3b\u8981\u5206\u4e3a\u4e24\u5927\u6d41\u6d3e\uff1a\u4e00\u7c7b\u662f\u57fa\u4e8e\u81ea\u56de\u5f52\u7684\u5927\u8bed\u8a00\u6a21\u578b\uff0c\u5b83\u4eec\u50cf\u751f\u6210\u6587\u672c\u4e00\u6837\u9010\u4e2atoken\u5730\u751f\u6210\u52a8\u4f5c\u5e8f\u5217\uff1b\u53e6\u4e00\u7c7b\u662f\u5355\u72ec\u589e\u52a0\u4e00\u4e2a\u6269\u6563\u4efb\u52a1\u5934\uff0c\u8fde\u7eed\u6269\u6563\u7b56\u7565\uff0c\u901a\u8fc7\u53bb\u566a\u8fc7\u7a0b\u8fed\u4ee3\u4f18\u5316\u52a8\u4f5c\u9884\u6d4b\uff0c\u4e00\u822c\u53ebaction expert\uff0c\u5177\u8eab\u667a\u80fd\u9886\u57df\u4e5f\u662f\u5982\u6b64\u3002\u81ea\u56de\u5f52\u6a21\u578b\u53d7\u9650\u4e8e\u4ece\u5de6\u5230\u53f3\u7684\u56e0\u679c\u751f\u6210\u987a\u5e8f\uff0c\u8fd9\u5728\u5904\u7406\u9700\u8981\u5168\u5c40\u89c4\u5212\u7684\u9a7e\u9a76\u4efb\u52a1\u65f6\u7565\u663e\u50f5\u5316\u3002\u8fde\u7eed\u6269\u6563\u6a21\u578b\u867d\u7136\u80fd\u6355\u6349\u591a\u6a21\u6001\u5206\u5e03\uff0c\u4f46\u5728\u903b\u8f91\u63a8\u7406\u548c\u79bb\u6563\u51b3\u7b56\u4e0a\u5f80\u5f80\u4e0d\u5982\u81ea\u56de\u5f52\u6a21\u578b\u7075\u6d3b\u3002<\/p>\n\n\n\n<p><strong>\u63a9\u7801\u6269\u6563\u7684\u4e09\u79cd\u65b9\u5f0f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/166ed6fafe75493f9fb675164bf5e389~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=%2B1cg7TKwS89zQIgGzrGtXtjbBGY%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>\u4f20\u7edf\u7684\u81ea\u56de\u5f52\u6a21\u578b\u662f\u4e32\u884c\u7684\u9010\u4e2a\u9884\u6d4b\uff0c\u5fc5\u987b\u6309\u987a\u5e8f\u5199\uff1b\u800cWAM-Diff \u91c7\u7528 Masked Diffusion \u4f5c\u4e3a\u751f\u6210\u9aa8\u5e72\u3002\u4e0e\u9010\u4e2a\u9884\u6d4b\u4e0b\u4e00\u4e2a Token \u7684\u81ea\u56de\u5f52\u6a21\u578b\u4e0d\u540c\uff0cMasked Diffusion 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y&gt;\u3002\u5728\u89e3\u7801\u65f6\uff0c\u53d6\u6bcf\u4e2a\u91cf\u5316\u533a\u95f4\u7684\u4e2d\u5fc3\u503c\uff0c\u6700\u5927\u7edd\u5bf9\u8bef\u5dee\u4ec5\u4e3a0.005\uff0c\u8fd9\u5728\u4fdd\u8bc1\u7cbe\u5ea6\u7684\u540c\u65f6\u5b9e\u73b0\u4e86\u79bb\u6563\u5316\u3002\u5bf9\u4e8e\u8bed\u4e49\u63a7\u5236\u547d\u4ee4\uff08\u5982\u4fdd\u6301\u8f66\u9053\u3001\u8ba9\u884c\uff09\u548c\u9a7e\u9a76\u7406\u7531\uff0c\u76f4\u63a5\u4f7f\u7528\u6587\u672ctoken\u3002\u8fd920,001\u4e2a\u6570\u503ctoken\u88ab\u5408\u5e76\u5230\u73b0\u6709\u7684\u6587\u672c\u8bcd\u8868\u4e2d\uff0c\u5e76\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7aef\u5230\u7aef\u5730\u4f18\u5316\u5b83\u4eec\u7684\u5d4c\u5165\u6295\u5f71\u3002\u8fd9\u79cd\u6df7\u5408\u65b9\u5f0f\u8ba9\u6a21\u578b\u65e2\u80fd\u7406\u89e3\u5411\u5de6\u8f6c\u8fd9\u6837\u7684\u9ad8\u5c42\u6307\u4ee4\uff0c\u53c8\u80fd\u7cbe\u51c6\u8f93\u51fa\u5750\u6807(12.5, 4.3)\u8fd9\u6837\u7684\u5e95\u5c42\u63a7\u5236\u4fe1\u53f7\uff0c\u5b9e\u73b0\u4e86\u53cc\u5411\u6761\u4ef6\u8c03\u8282\u3002<\/p>\n\n\n\n<p>AutoVLA\u6ca1\u6709\u8ba9\u6a21\u578b\u4ee5\u6587\u672c\u5f62\u5f0f\u8f93\u51fa\u8fde\u7eed\u7684\u3001\u4e14\u5e38\u5e38\u5728\u7269\u7406\u4e0a\u4e0d\u5408\u7406\u7684\u822a\u70b9\u5750\u6807\uff0c\u800c\u662f\u521b\u5efa\u4e86\u4e00\u4e2a\u79bb\u6563\u7684\u52a8\u4f5c\u4ee3\u7801\u672c\u3002AutoVLA\u4ece\u5927\u89c4\u6a21\u771f\u5b9e\u9a7e\u9a76\u6570\u636e\uff08\u5982Waymo Open Motion Dataset\uff09\u4e2d\uff0c\u901a\u8fc7K-Disk\u805a\u7c7b\u7b97\u6cd5\uff0c\u6784\u5efa\u4e00\u4e2a\u5305\u542b2048\u4e2a\u79bb\u6563\u201c\u52a8\u4f5c\u57fa\u5143\u201d\u7684\u52a8\u4f5c\u4ee3\u7801\u672c (Action Codebook)\u3002\u6bcf\u4e2a\u52a8\u4f5c\u57fa\u5143\u4ee3\u8868\u4e00\u4e2a\u77ed\u65f6\uff08\u59820.5\u79d2\uff09\u7684\u3001\u7269\u7406\u53ef\u884c\u7684\u8f66\u8f86\u8fd0\u52a8\uff08\u4f4d\u79fb+\u59ff\u6001\u53d8\u5316\uff09\u3002\u5c06\u8fde\u7eed\u7684\u9a7e\u9a76\u8f68\u8ff9\u79bb\u6563\u5316\u4e3a\u4e00\u8fde\u4e32\u7684\u52a8\u4f5cToken\u5e8f\u5217\uff0c\u5c06\u8fd9\u4e9b\u52a8\u4f5cToken\uff08\u5982&lt;action_0&gt;, &lt;action_1&gt;, &#8230;\uff09\u4f5c\u4e3a\u65b0\u7684\u8bcd\u6c47\u52a0\u5165\u5230VLM\u7684\u8bcd\u8868\u4e2d\u3002\u5c06\u8fde\u7eed\u63a7\u5236\u95ee\u9898\u8f6c\u5316\u4e3a\u4e86\u4e00\u4e2a\u4e0b\u4e00Token\u9884\u6d4b\u95ee\u9898\uff0c\u800c\u8fd9\u6b63\u662fLLM\u7684\u539f\u751f\u8bed\u8a00\u3002\u6a21\u578b\u4e0d\u518d\u4ec5\u4ec5\u662f\u63cf\u8ff0\u8981\u505a\u4ec0\u4e48\uff0c\u800c\u662f\u5728\u4ece\u5b83\u7684\u8bcd\u6c47\u8868\u4e2d\u9009\u62e9\u4e00\u4e32\u7ecf\u8fc7\u7269\u7406\u9a8c\u8bc1\u7684\u52a8\u4f5c\u5e8f\u5217\u3002\u8fd9\u4e5f\u662fAutoVLA\u662f\u76ee\u524d\u6700\u5f3a\u81ea\u52a8\u9a7e\u9a76VLA\uff08\u6ca1\u6709\u4e4b\u4e00\uff09\u7684\u4e3b\u8981\u539f\u56e0\u3002\u534e\u4e3a\u7684WAM-Diff\u4e0e\u4e4b\u9ad8\u5ea6\u7c7b\u4f3c\uff0c\u4f46\u534e\u4e3a\u7684\u751f\u6210\u9aa8\u5e72\u662f\u6269\u6563\u800c\u975e\u81ea\u56de\u5f52\uff0c\u6240\u4ee5\u6548\u679c\u4e0d\u5982AutoVLA\u3002<\/p>\n\n\n\n<p><strong>\u51e0\u79cdVLA\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/6b66100cd7c24c339026c788b8f93b34~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=HqUdggPWgBku9FdcevCts1pEptQ%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>WAM-Diff \u6df1\u5165\u63a2\u7d22\u4e86\u56e0\u679c\u5e8f\uff08Causal\uff09\u3001\u53cd\u56e0\u679c\u5e8f\uff08Reverse-Causal\uff09\u548c\u968f\u673a\u5e8f\uff08Random\uff09\u4e09\u79cd\u89e3\u7801\u8c03\u5ea6\u7b56\u7565\u3002\u5b9e\u9a8c\u7ed3\u679c\u63ed\u793a\u4e86\u4e00\u4e2a\u53cd\u76f4\u89c9\u4f46\u6781\u5177\u4ef7\u503c\u7684\u73b0\u8c61\uff1a\u53cd\u56e0\u679c\u5e8f\u7b56\u7565\u5728\u95ed\u73af\u6307\u6807\u4e0a\u8868\u73b0\u6700\u4f73\u3002\u8fd9\u610f\u5473\u7740\uff0c\u5148\u786e\u5b9a\u8fdc\u5904\u7684\u7ec8\u70b9\u72b6\u6001\uff0c\u518d\u5012\u63a8\u8fd1\u5904\u7684\u8f68\u8ff9\u7ec6\u8282\uff0c\u8fd9\u79cd\u300c\u4ee5\u7ec8\u4e3a\u59cb\u300d\u7684\u751f\u6210\u903b\u8f91\u80fd\u663e\u8457\u63d0\u5347\u89c4\u5212\u7684\u4e00\u81f4\u6027\u4e0e\u5b89\u5168\u6027\u3002\u8fd9\u4e00\u53d1\u73b0\u4ece\u6a21\u578b\u5c42\u9762\u9a8c\u8bc1\u4e86\u4eba\u7c7b\u9a7e\u9a76\u5458\u5728\u590d\u6742\u535a\u5f08\u573a\u666f\u4e0b\u7684\u76f4\u89c9\u601d\u7ef4\u3002<\/p>\n\n\n\n<p><strong>\u4e0d\u540c\u573a\u666f\u4e0b\u89c4\u5212\u8f68\u8ff9\u7684 BEV \u53ef\u89c6\u5316\u4e0e\u4e13\u5bb6\u6fc0\u6d3b\u70ed\u529b\u56fe<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/d185a395514e48548be9ca90027bd14a~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=FShDfn87Q3lghEivBrgcxNqsIG4%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>\u9762\u5bf9\u591a\u53d8\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u5355\u4e00\u6a21\u578b\u5f80\u5f80\u96be\u4ee5\u517c\u987e\u5404\u79cd\u6781\u7aef\u60c5\u51b5\u3002WAM-Diff \u901a\u8fc7\u5728\u4e3b\u5e72\u7f51\u7edc\u4e2d\u96c6\u6210 LoRA-MoE\uff08Low-Rank Adaptation Mixture-of-Experts\uff09\u67b6\u6784\u6765\u89e3\u51b3\u8fd9\u4e00\u96be\u9898\u3002\u6a21\u578b\u5305\u542b 64 \u4e2a\u8f7b\u91cf\u7ea7\u4e13\u5bb6\uff0c\u901a\u8fc7\u95e8\u63a7\u7f51\u7edc\u5b9e\u73b0\u52a8\u6001\u8def\u7531\u4e0e\u7a00\u758f\u6fc0\u6d3b\u3002\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\uff0c\u6a21\u578b\u80fd\u591f\u6839\u636e\u5f53\u524d\u573a\u666f\u81ea\u52a8\u6fc0\u6d3b\u6700\u5339\u914d\u7684\u9a7e\u9a76\u4e13\u5bb6\uff0c\u5728\u63a7\u5236\u8ba1\u7b97\u5f00\u9500\u7684\u540c\u65f6\u663e\u8457\u63d0\u5347\u4e86\u6a21\u578b\u7684\u5bb9\u91cf\u4e0e\u9002\u5e94\u6027\u3002\u6b64\u5916\uff0c\u56e2\u961f\u91c7\u7528\u4e86\u591a\u4efb\u52a1\u8054\u5408\u8bad\u7ec3\u7b56\u7565\uff0c\u4f7f\u6a21\u578b\u5728\u5b66\u4e60\u8f68\u8ff9\u9884\u6d4b\u7684\u540c\u65f6\uff0c\u901a\u8fc7\u9a7e\u9a76 VQA \u4efb\u52a1\u7406\u89e3\u573a\u666f\u8bed\u4e49\u3002\u8fd9\u4f7f\u5f97\u4e13\u5bb6\u7f51\u7edc\u4e0d\u4ec5\u638c\u63e1\u4e86\u9a7e\u9a76\u6280\u80fd\uff0c\u66f4\u7406\u89e3\u4e86\u9a7e\u9a76\u51b3\u7b56\u80cc\u540e\u7684\u56e0\u679c\u903b\u8f91\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u89c4\u5212\u7684\u53ef\u89e3\u91ca\u6027\u4e0e\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/017b7103bf3b49a695c66c301093ec02~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1775179659&amp;x-signature=6yCy%2B%2B7AQMWAzPuH8yJnzDTxNko%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u5f15\u671b\u667a\u80fd<\/p>\n\n\n\n<p>WAM-Diff \u5f15\u5165\u4e86\u5206\u7ec4\u5e8f\u5217\u7b56\u7565\u4f18\u5316\uff08GSPO, Group Sequence Policy Optimization\uff09\u7b97\u6cd5\uff0c\u65e8\u5728\u5f25\u5408\u5f00\u73af\u8bad\u7ec3\u4e0e\u95ed\u73af\u6267\u884c\u4e4b\u95f4\u7684\u9e3f\u6c9f\u3002GSPO \u7684\u6838\u5fc3\u601d\u60f3\u662f\u5c06\u4f18\u5316\u7c92\u5ea6\u4ece\u300c\u5355\u6b65 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