{"id":38533,"date":"2026-04-01T17:42:34","date_gmt":"2026-04-01T09:42:34","guid":{"rendered":"http:\/\/192.168.10.115\/?p=38533"},"modified":"2026-04-01T17:42:34","modified_gmt":"2026-04-01T09:42:34","slug":"2026-04-01-%e7%90%86%e6%83%b3%e8%bf%99%e7%af%87uni-world-vla%ef%bc%8c%e5%9c%a8%e5%b0%9d%e8%af%95%e8%a7%a3%e5%86%b3%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e5%86%bb%e7%bb%93%e5%b9%bb%e8%a7%89%e7%9a%84","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/04\/01\/38533\/","title":{"rendered":"2026-04-01 \u7406\u60f3\u8fd9\u7bc7Uni-World VLA\uff0c\u5728\u5c1d\u8bd5\u89e3\u51b3\u4e16\u754c\u6a21\u578b\u51bb\u7ed3\u5e7b\u89c9\u7684\u95ee\u9898&#8230;&#8230;"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/y-G0MHuGh_To6mtTHcoFlg\">https:\/\/mp.weixin.qq.com\/s\/y-G0MHuGh_To6mtTHcoFlg<\/a><\/p>\n\n\n\n<p>\u957f\u5b89\u7684 DreamerAD\uff0c\u662f\u628a\u4e16\u754c\u6a21\u578b\u7684\u8868\u5f81\u5d4c\u5165\u5230\u7aef\u5230\u7aef\/VLA\u7684\u8bad\u7ec3\u4e2d\u3001\u5c0f\u9e4f\u7684 X-World \u504f\u4e91\u7aef\u4e16\u754c\u6a21\u578b\u591a\u4e00\u4e9b\u3001\u7406\u60f3\u7684StreetForward\u805a\u7126\u662f\u5219\u662f\u524d\u9988\u6846\u67b6\u4e0b\u7684\u573a\u666f\u91cd\u5efa\u3002<\/p>\n\n\n\n<p>\u4ed6\u4eec\u90fd\u5728\u505a\u4e16\u754c\u6a21\u578b\uff0c\u4f46\u53d1\u529b\u70b9\u4e0d\u4e00\u6837\uff1a<strong>\u53ef\u63a7\u573a\u666f\u751f\u6210\u3001\u95ed\u73af\u4eff\u771f or \u91cd\u5efa \u53ca \u8f85\u52a9\u8bad\u7ec3\u3002<\/strong><\/p>\n\n\n\n<p>\u4eca\u5929\u548c\u5927\u5bb6\u5206\u4eab\u7684\u662f\u590d\u65e6\u5927\u5b66\u3001\u4e0a\u6d77\u521b\u667a\u5b66\u9662\u3001\u7406\u60f3\u6c7d\u8f66\u548c\u8428\u91cc\u5927\u5b66\u8054\u5408\u5b8c\u6210\u7684\u65b0\u5de5\u4f5c\u2014\u2014<strong>Uni-World VLA<\/strong>\uff0c\u4e5f\u5c5e\u4e8e\u8f85\u52a9\u8bad\u7ec3\u7684\u8303\u5f0f\u3002\u8fd9\u7bc7\u5de5\u4f5c\u63a2\u7d22\u4e86\u4e00\u4e2a\u5173\u952e\u95ee\u9898\uff1a<strong>\u5728\u590d\u6742\u57ce\u5e02\u573a\u666f\u4e2d\uff0c\u4e16\u754c\u6a21\u578b\u5e94\u8be5\u5982\u4f55\u8bbe\u8ba1\u5efa\u6a21\u4e0e\u89c4\u5212\u4e4b\u95f4\u7684\u4ea4\u4e92\uff0c\u624d\u80fd\u505a\u51fa\u66f4\u5b89\u5168\u3001\u66f4\u5408\u7406\u7684\u9a7e\u9a76\u51b3\u7b56\uff1f<\/strong><\/p>\n\n\n\n<p>\u73b0\u6709\u7684\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u901a\u5e38\u91c7\u7528&#8221;\u9884\u6d4b\u5e76\u89c4\u5212&#8221;\u6216&#8221;\u5148\u9884\u6d4b\u540e\u89c4\u5212&#8221;\u7684\u8303\u5f0f\u3002\u524d\u8005\u867d\u7136\u5728\u7edf\u4e00\u67b6\u6784\u4e2d\u8fdb\u884c\u4e16\u754c\u5efa\u6a21\u548c\u89c4\u5212\uff0c\u4f46\u4e24\u4e2a\u4efb\u52a1\u5728\u529f\u80fd\u4e0a\u662f\u89e3\u8026\u7684\uff0c\u89c4\u5212\u5668\u5e76\u672a\u663e\u5f0f\u5229\u7528\u5b66\u4e60\u5230\u7684\u73af\u5883\u52a8\u529b\u5b66\uff1b\u540e\u8005\u5148\u9884\u6d4b\u5b8c\u6574\u7684\u672a\u6765\u82e5\u5e72\u79d2\u7684\u573a\u666f\u540e\u518d\u8fdb\u884c\u89c4\u5212\uff0c\u4f46\u9690\u542b\u5047\u8bbe\u4e86\u73af\u5883\u662f\u9759\u6001\u7684\uff0c\u5ffd\u89c6\u4e86\u81ea\u8f66\u4e0e\u5468\u56f4\u4eba\u8f66\u4e4b\u95f4\u7684\u6301\u7eed\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p><strong>\u66f4\u5173\u952e\u7684\u95ee\u9898\u5728\u4e8e\uff1a<\/strong>\u5f53\u4e16\u754c\u6a21\u578b\u57fa\u4e8e\u521d\u59cb\u610f\u56fe\u751f\u62104\u79d2\u7684\u672a\u6765\u9884\u6d4b\u65f6\uff0c\u5b83\u5b9e\u9645\u4e0a\u4ea7\u751f\u4e86\u4e00\u4e2a&#8221;<strong>\u51bb\u7ed3\u7684\u5e7b\u89c9\uff08frozen hallucination\uff09<\/strong>&#8220;\u3002\u8fd9\u6bb5\u9884\u6d4b\u4ece\u751f\u6210\u90a3\u4e00\u523b\u4fbf\u88ab\u9501\u4f4f\u2014\u2014\u5b83\u9ed8\u8ba4\u73af\u5883\u4f1a\u5bf9\u4e00\u4e2a\u56fa\u5b9a\u4e0d\u53d8\u7684\u8ba1\u5212\u505a\u51fa\u54cd\u5e94\uff0c\u800c\u4e0d\u4f1a\u968f\u5b9e\u9645\u52a8\u4f5c\u66f4\u65b0\u3002\u771f\u5b9e\u7684\u9a7e\u9a76\u5e76\u975e\u5982\u6b64\u3002\u611f\u77e5\u3001\u9884\u5224\u548c\u64cd\u4f5c\u662f\u6301\u7eed\u4ea4\u7ec7\u7684\u2014\u2014\u6bcf\u4e00\u6b21\u7ec6\u5fae\u7684\u65b9\u5411\u8c03\u6574\uff0c\u90fd\u5728\u5b9e\u65f6\u6539\u53d8\u5bf9\u540e\u7eed\u8def\u9762\u72b6\u6001\u7684\u5224\u65ad\u3002\u5c06&#8221;\u60f3\u8c61\u672a\u6765&#8221;\u548c&#8221;\u51b3\u5b9a\u884c\u52a8&#8221;\u5207\u5206\u4e3a\u4e24\u4e2a\u72ec\u7acb\u6b65\u9aa4\uff0c\u6070\u6070\u7834\u574f\u4e86\u8fd9\u79cd\u95ed\u73af\u3002<\/p>\n\n\n\n<p>\u548c DreamerAD \u4e0d\u540c\uff0cUni-World VLA \u663e\u5f0f\u5229\u7528\u672a\u6765\u7684\u751f\u6210\u5e27\u8f85\u52a9VLA\u8bad\u7ec3\u3002\u4f46\u4e0d\u662f\u4ee5\u5f80 &#8220;\u5148\u60f3\u8c61\u540e\u884c\u52a8&#8221;\u7684\u6a21\u5f0f\uff0c\u8fd9\u7bc7\u5de5\u4f5c\u7684\u65b9\u5f0f\u662f<strong>\u9010\u6b65\u4ea4\u66ff\u751f\u6210\u672a\u6765\u5e27\u548c\u81ea\u8f66\u52a8\u4f5c<\/strong>&nbsp;\u2014\u2014 \u6bcf\u9884\u6d4b\u4e00\u5e27\u672a\u6765\u753b\u9762\uff0c\u7acb\u5373\u751f\u6210\u5bf9\u5e94\u65f6\u523b\u7684\u81ea\u8f66\u52a8\u4f5c\uff0c\u7136\u540e\u5c06\u8fd9\u4e2a\u52a8\u4f5c\u53cd\u9988\u5230\u4e0b\u4e00\u5e27\u7684\u9884\u6d4b\u4e2d\u3002<\/p>\n\n\n\n<p>\u8fd9\u79cd\u9010\u5e27\u4ea4\u66ff\u7684\u4ea4\u4e92\u5f62\u6210\u4e86\u4e16\u754c\u5efa\u6a21\u4e0e\u89c4\u5212\u4e4b\u95f4\u7684\u95ed\u73af\u53cd\u9988\uff0c\u4f7f\u5f97\u6bcf\u4e00\u6b65\u51b3\u7b56\u90fd\u80fd\u591f\u57fa\u4e8e\u6700\u65b0\u7684\u9884\u6d4b\u7ed3\u679c\u4e0d\u65ad\u8c03\u6574\uff0c\u66f4\u8d34\u8fd1\u4eba\u7c7b\u9a7e\u9a76\u65f6&#8221;\u8fb9\u89c2\u5bdf\u8fb9\u8c03\u6574&#8221;\u7684\u8ba4\u77e5\u8fc7\u7a0b\u3002\u6b64\u5916\uff0c\u6a21\u578b\u8fd8\u5f15\u5165<strong>\u5355\u76ee\u6df1\u5ea6\u4fe1\u606f<\/strong>\uff0c\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u878d\u5408\u5230\u5386\u53f2\u5e27\u4e2d\uff0c\u4e3a\u4e16\u754c\u5efa\u6a21\u63d0\u4f9b\u66f4\u5f3a\u7684\u51e0\u4f55\u7ebf\u7d22\uff0c\u6539\u5584\u957f\u65f6\u95f4\u8de8\u5ea6\u7684\u573a\u666f\u9884\u6d4b\u8d28\u91cf\u3002<\/p>\n\n\n\n<p>\u5728NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cUni-World VLA\u5728camera-only\u65b9\u6cd5\u4e2d\u5b9e\u73b0\u4e86<strong>PDMS 89.4<\/strong>\u7684\u4f18\u79c0\u6027\u80fd\uff0c\u5e76\u5728\u5173\u952e\u7684\u524d\u8fdb\u8fdb\u5ea6\uff08EP\uff09\u548c\u78b0\u649e\u65f6\u95f4\uff08TTC\uff09\u6307\u6807\u4e0a\u53d6\u5f97\u6700\u4f73\u5206\u6570\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u89c6\u9891\u751f\u6210\u8d28\u91cf\uff08FVD 141.8\uff09\uff0c\u8bc1\u660e\u4e86\u4ea4\u66ff\u5f0f\u9884\u6d4b-\u89c4\u5212\u7b56\u7565\u5728\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898\uff1a<\/strong>\u00a0Uni-World VLA: Interleaved World Modeling and Planning for Autonomous Driving<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5\uff1a<\/strong>\u00a0https:\/\/arxiv.org\/abs\/2603.27287<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e00\u3001\u7814\u7a76\u80cc\u666f<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6838\u5fc3\u80fd\u529b\u4e4b\u4e00\uff0c\u662f\u7406\u89e3\u73af\u5883\u5982\u4f55\u53d8\u5316\uff0c\u5e76\u636e\u6b64\u505a\u51fa\u51b3\u7b56\u3002\u6362\u53e5\u8bdd\u8bf4\uff0c\u5b83\u4e0d\u4ec5\u8981\u201c\u770b\u61c2\u73b0\u5728\u201d\uff0c\u8fd8\u8981\u201c\u60f3\u8c61\u672a\u6765\u201d\uff0c\u5e76\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\u4e0d\u65ad\u8c03\u6574\u81ea\u5df1\u7684\u884c\u4e3a\u3002\u8fd9\u542c\u8d77\u6765\u76f4\u89c2\uff0c\u4f46\u5728\u771f\u5b9e\u7684\u57ce\u5e02\u9a7e\u9a76\u4e2d\uff0c\u8fd9\u5176\u5b9e\u662f\u4e00\u4e2a\u6781\u5177\u6311\u6218\u7684\u95ee\u9898\uff1a\u73af\u5883\u662f\u52a8\u6001\u7684\u3001\u5145\u6ee1\u4e0d\u786e\u5b9a\u6027\u7684\u2014\u2014\u8f66\u8f86\u3001\u884c\u4eba\u3001\u4ea4\u901a\u4fe1\u53f7\u90fd\u5728\u4e0d\u65ad\u53d8\u5316\uff0c\u800c\u4e14\u4f1a\u5bf9\u81ea\u8f66\u7684\u884c\u4e3a\u4ea7\u751f\u53cd\u9988\u3002<\/p>\n\n\n\n<p><strong>\u4ece\u7aef\u5230\u7aef\u5230\u4e16\u754c\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u968f\u7740\u591a\u6a21\u6001\u5927\u6a21\u578b\uff08MLLM\uff09\u548c\u751f\u6210\u6a21\u578b\u7684\u53d1\u5c55\uff0c\u81ea\u52a8\u9a7e\u9a76\u9010\u6e10\u4ece\u4f20\u7edf\u7684\u7aef\u5230\u7aef\u6a21\u4eff\u5b66\u4e60\uff0c\u8d70\u5411\u4e24\u6761\u66f4\u5177\u6f5c\u529b\u7684\u6280\u672f\u8def\u7ebf\uff1a\u4e00\u7c7b\u662f<strong>Vision-Language-Action\uff08VLA\uff09\u6a21\u578b<\/strong>\uff1a\u5f3a\u8c03\u8bed\u4e49\u7406\u89e3\u80fd\u529b\uff0c\u76f4\u63a5\u4ece\u611f\u77e5\u8f93\u5165\u9884\u6d4b\u81ea\u8f66\u672a\u6765\u8f68\u8ff9\uff1b\u53e6\u4e00\u7c7b\u662f<strong>\u4e16\u754c\u6a21\u578b\uff08World Model\uff09<\/strong>\uff1a\u5b66\u4e60\u73af\u5883\u7684\u6f14\u5316\u89c4\u5f8b\uff0c\u5bf9\u672a\u6765\u573a\u666f\u8fdb\u884c\u751f\u6210\u5f0f\u9884\u6d4b\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e24\u7c7b\u65b9\u6cd5\u5404\u6709\u4f18\u52bf\uff1a\u524d\u8005\u66f4\u64c5\u957f\u201c\u51b3\u7b56\u201d\uff0c\u540e\u8005\u66f4\u64c5\u957f\u201c\u5efa\u6a21\u4e16\u754c\u201d\u3002\u4f46\u5728\u5927\u591a\u6570\u73b0\u6709\u5de5\u4f5c\u4e2d\uff0c\u8fd9\u4e24\u79cd\u80fd\u529b\u5f80\u5f80\u662f\u5272\u88c2\u7684\u2014\u2014\u8f68\u8ff9\u9884\u6d4b\u548c\u73af\u5883\u5efa\u6a21\u5206\u522b\u4f18\u5316\uff0c\u7f3a\u4e4f\u6709\u6548\u7684\u4fe1\u606f\u5171\u4eab\u4e0e\u534f\u540c\u3002<\/p>\n\n\n\n<p><strong>\u4f20\u7edf\u65b9\u6cd5\u7684\u5c40\u9650\u6027<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u6253\u901a&#8221;\u770b\u4e16\u754c&#8221;\u548c&#8221;\u505a\u51b3\u7b56&#8221;\u4e4b\u95f4\u7684\u8054\u7cfb\uff0c\u4e00\u4e9b\u5de5\u4f5c\u5f00\u59cb\u5c1d\u8bd5\u5728<strong>\u4e16\u754c\u6a21\u578b<\/strong>\u6846\u67b6\u5185\u540c\u65f6\u5b8c\u6210\u73af\u5883\u5efa\u6a21\u4e0e\u8f68\u8ff9\u89c4\u5212\u3002\u8fd9\u7c7b\u5de5\u4f5c\u5927\u81f4\u53ef\u4ee5\u5f52\u4e3a\u4e24\u79cd\u505a\u6cd5\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>&#8220;\u9884\u6d4b\u5e76\u89c4\u5212&#8221;\uff08Predict-and-Plan\uff09<\/strong>\u00a0\u8303\u5f0f\uff1a\u4e16\u754c\u5efa\u6a21\u548c\u89c4\u5212\u5728\u540c\u4e00\u4e2a\u81ea\u56de\u5f52\u67b6\u6784\u4e2d\u8fdb\u884c\uff0c\u4f46\u4e24\u4e2a\u4efb\u52a1\u5728\u529f\u80fd\u4e0a\u662f\u89e3\u8026\u7684\u3002\u4e16\u754c\u5efa\u6a21\u4e13\u6ce8\u4e8e\u57fa\u4e8e\u52a8\u4f5c\u7684\u9ad8\u4fdd\u771f\u4e0b\u4e00\u5e27\u9884\u6d4b\uff0c\u800c\u8f68\u8ff9\u89c4\u5212\u5c06\u89c6\u89c9\u89c2\u5bdf\u6620\u5c04\u5230\u63a7\u5236\u8f93\u51fa\uff0c\u4f46\u5e76\u672a\u663e\u5f0f\u5229\u7528\u5b66\u4e60\u5230\u7684\u52a8\u529b\u4fe1\u606f\u3002<\/li>\n\n\n\n<li><strong>&#8220;\u5148\u9884\u6d4b\u540e\u89c4\u5212&#8221;\uff08Predict-then-Plan\uff09<\/strong>\u00a0\u8303\u5f0f\uff1a\u9996\u5148\u9884\u6d4b\u672a\u6765\u573a\u666f\uff0c\u7136\u540e\u57fa\u4e8e\u9884\u6d4b\u7684\u573a\u666f\u751f\u6210\u81ea\u8f66\u8f68\u8ff9\u3002\u8fd9\u79cd\u65b9\u6cd5\u7684\u4e00\u4e2a\u5173\u952e\u9650\u5236\u662f\u9690\u542b\u5047\u8bbe\u73af\u5883\u662f\u9759\u6b62\u7684\uff0c\u800c\u73b0\u5b9e\u4e16\u754c\u7684\u4ea4\u901a\u672c\u8d28\u4e0a\u662f\u975e\u9759\u6001\u7684\uff0c\u81ea\u8f66\u4e0e\u5468\u56f4\u8f66\u8f86\u4e4b\u95f4\u5b58\u5728\u6301\u7eed\u7684\u4ea4\u4e92\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u65e0\u8bba\u91c7\u7528\u54ea\u79cd\u8303\u5f0f\uff0c\u4e24\u8005\u90fd\u5b58\u5728\u4e00\u4e2a\u5171\u540c\u7684\u9650\u5236\uff1a\u5728\u590d\u6742\u7684\u57ce\u5e02\u573a\u666f\u4e2d\uff0c\u4ea4\u901a\u72b6\u51b5\u77ac\u606f\u4e07\u53d8\u3002\u5982\u679c\u4e16\u754c\u6a21\u578b\u57fa\u4e8e\u521d\u59cb\u610f\u56fe\u751f\u6210\u591a\u79d2\u7684\u9884\u6d4b\u5e8f\u5217\uff08\u4f8b\u59824\u79d2\uff09\uff0c\u5b83\u5b9e\u9645\u4e0a\u4ea7\u751f\u4e86\u4e00\u4e2a&#8221;\u51bb\u7ed3\u7684\u5e7b\u89c9&#8221;\u3002\u5b83\u9ed8\u8ba4\u81ea\u8f66\u4f1a\u6309\u7167\u4e00\u4e2a\u56fa\u5b9a\u8ba1\u5212\u884c\u9a76\uff0c\u73af\u5883\u4f1a\u5bf9\u8fd9\u4e2a\u201c\u56fa\u5b9a\u8ba1\u5212\u201d\u505a\u51fa\u54cd\u5e94\uff0c\u800c\u8fd9\u4e2a\u8ba1\u5212\u5728\u9884\u6d4b\u8fc7\u7a0b\u4e2d\u4e0d\u4f1a\u66f4\u65b0\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5728\u73b0\u5b9e\u4e2d\u7684\u9a7e\u9a76\u4e2d\uff0c\u54ea\u6015\u57280.5\u79d2\u65f6\u505a\u51fa\u4e00\u6b21\u8f7b\u5fae\u5239\u8f66\u6216\u8f6c\u5411\uff0c\u4e5f\u53ef\u80fd\u6539\u53d8\u63a5\u4e0b\u6765\u51e0\u79d2\u7684\u6574\u4e2a\u4ea4\u901a\u6f14\u5316\u3002\u56e0\u6b64\uff0c\u5f53\u89c4\u5212\u5668\u4f9d\u8d56\u8f83\u8fdc\u65f6\u523b\uff08\u4f8b\u5982\u7b2c3\u79d2\uff09\u7684\u9884\u6d4b\u7ed3\u679c\u65f6\uff0c\u8fd9\u4e9b\u4fe1\u606f\u5f88\u53ef\u80fd\u5df2\u7ecf\u5931\u6548\u2014\u2014\u5b83\u5e76\u6ca1\u6709\u53cd\u6620\u81ea\u8f66\u5728\u66f4\u65e9\u65f6\u523b\u505a\u51fa\u7684\u8c03\u6574\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"664\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-1024x664.png\" alt=\"\" class=\"wp-image-38534\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-1024x664.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-300x194.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-768x498.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540c\u7684\u4e16\u754c\u6a21\u578b\u751f\u6210\u8303\u5f0f\u5bf9\u6bd4<\/p>\n\n\n\n<p>\u9664\u4e86\u201c\u9884\u6d4b\u4e0e\u89c4\u5212\u5982\u4f55\u4ea4\u4e92\u201d\uff0c\u8fd8\u6709\u4e00\u4e2a\u540c\u6837\u5173\u952e\u3001\u4f46\u5e38\u88ab\u5ffd\u7565\u7684\u95ee\u9898\uff1a\u6a21\u578b\u5230\u5e95\u6709\u6ca1\u6709\u771f\u6b63\u7406\u89e3\u4e09\u7ef4\u4e16\u754c\uff1f<\/p>\n\n\n\n<p>\u76ee\u524d\u5927\u591a\u6570\u57fa\u4e8ecamera-only\u7684\u4e16\u754c\u6a21\u578b\uff0c\u672c\u8d28\u4e0a\u662f\u5728\u505a2D\u56fe\u50cf\u5e8f\u5217\u5efa\u6a21\u3002\u5b83\u4eec\u53ef\u4ee5\u5f88\u597d\u5730\u751f\u6210\u201c\u770b\u8d77\u6765\u5408\u7406\u201d\u7684\u753b\u9762\uff0c\u4f46\u8fd9\u5e76\u4e0d\u610f\u5473\u7740\u6a21\u578b\u771f\u7684\u638c\u63e1\u4e86\u573a\u666f\u4e2d\u7684\u51e0\u4f55\u7ed3\u6784\u3002\u7136\u800c\uff0c\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\u7cbe\u786e\u76843D\u7a7a\u95f4\u63a8\u7406\u80fd\u529b\u2014\u2014\u7406\u89e3\u5468\u56f4\u7269\u4f53\u7684\u6df1\u5ea6\u3001\u8ddd\u79bb\u3001\u76f8\u5bf9\u4f4d\u7f6e\u4ee5\u53ca\u573a\u666f\u7684\u51e0\u4f55\u7ed3\u6784\u3002\u8fd9\u4e9b\u95ee\u9898\uff0c\u672c\u8d28\u4e0a\u90fd\u4e0e\u6df1\u5ea6\uff08\u8ddd\u79bb\uff09\u548c\u7a7a\u95f4\u7ed3\u6784\u5bc6\u5207\u76f8\u5173\u3002<\/p>\n\n\n\n<p><strong>\u4e8c\u3001\u6838\u5fc3\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u9488\u5bf9\u524d\u9762\u63d0\u5230\u7684\u4e24\u4e2a\u6838\u5fc3\u95ee\u9898\u2014\u2014**&#8221;\u51bb\u7ed3\u5e7b\u89c9&#8221;\u5bfc\u81f4\u7684\u9884\u6d4b\u4e0e\u89c4\u5212\u8131\u8282<strong>\uff0c\u4ee5\u53ca<\/strong>camera-only\u6a21\u578b\u7f3a\u4e4f\u4e09\u7ef4\u51e0\u4f55\u7406\u89e3<strong>\u2014\u2014\u672c\u6587\u63d0\u51fa\u4e86<\/strong>Uni-World VLA**\uff1a\u4e00\u4e2a\u7edf\u4e00\u7684\u89c6\u89c9-\u8bed\u8a00-\u884c\u52a8\uff08VLA\uff09\u6a21\u578b\uff0c\u5728\u540c\u4e00\u4e2a\u6846\u67b6\u4e2d\u540c\u65f6\u5efa\u6a21\u4e16\u754c\u6f14\u5316\u4e0e\u9a7e\u9a76\u51b3\u7b56\u3002<\/p>\n\n\n\n<p><strong>1. \u603b\u4f53\u6846\u67b6<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe\u6240\u793a\uff0cUni-World VLA \u7684\u8f93\u5165\u5305\u62ec\u5386\u53f2\u81ea\u8f66\u89c6\u89d2\u56fe\u50cf\u3001\u8f85\u52a9\u81ea\u8f66\u72b6\u6001\u4fe1\u606f\uff0c\u4ee5\u53ca\u6587\u672c\u63d0\u793a\u3002\u5176\u4e2d\uff0c\u56fe\u50cf\u9996\u5148\u88ab\u7f16\u7801\u4e3a\u79bb\u6563\u7684\u89c6\u89c9token\uff0c\u81ea\u8f66\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u548c\u9ad8\u5c42\u9a7e\u9a76\u6307\u4ee4\u5219\u88ab\u7ec4\u7ec7\u4e3aego token\u3002\u968f\u540e\uff0c\u8fd9\u4e9b\u5386\u53f2\u4fe1\u606f\u4e00\u8d77\u8f93\u5165\u5230\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\u4e2d\uff0c\u7531\u5176\u8fdb\u884c\u81ea\u56de\u5f52\u5f0f\u751f\u6210\u3002<\/p>\n\n\n\n<p>\u6a21\u578b\u6700\u7ec8\u8f93\u51fa\u4e24\u7c7b\u7ed3\u679c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u672a\u6765\u5e27<\/strong>\uff1a\u7528\u4e8e\u523b\u753b\u573a\u666f\u6f14\u5316\uff1b<\/li>\n\n\n\n<li><strong>\u52a8\u4f5c\u5e8f\u5217<\/strong>\uff1a\u7528\u4e8e\u8868\u793a\u81ea\u8f66\u672a\u6765\u8f68\u8ff9\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"863\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-1-1024x863.png\" alt=\"\" class=\"wp-image-38535\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-1-1024x863.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-1-300x253.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-1-768x647.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-1.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Uni-World VLA\u65b9\u6cd5\u6982\u89c8<\/p>\n\n\n\n<p><strong>2. \u8f93\u5165\u4e0e\u8f93\u51fa<\/strong><\/p>\n\n\n\n<p>\u6a21\u578b\u63a5\u6536\u8fc7\u53bb\u4e00\u6bb5\u65f6\u95f4\u5185\u7684\u81ea\u8f66\u89c6\u89d2\u56fe\u50cf\u5e8f\u5217\u3001\u6587\u672c\u63d0\u793a\u8bcd\u3001\u4ee5\u53ca\u5f53\u524d\u65f6\u523b\u7684\u8f85\u52a9\u72b6\u6001\u4fe1\u606f\u4f5c\u4e3a\u8f93\u5165\u4fe1\u606f\u3002\u4e3a\u4e86\u540c\u65f6\u6355\u6349\u573a\u666f\u8bed\u4e49\u548c\u77ed\u65f6\u8fd0\u52a8\u53d8\u5316\uff0c\u5386\u53f2\u89c6\u89c9\u4fe1\u606f\u88ab\u7ec4\u7ec7\u6210\u4e24\u90e8\u5206\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Contextual tokens<\/strong>\uff1a\u6765\u81ea\u8f83\u9ad8\u5206\u8fa8\u7387\u7684\u5386\u53f2\u5e27\uff0c\u4e3b\u8981\u4fdd\u7559\u573a\u666f\u7ed3\u6784\u548c\u8bed\u4e49\u4fe1\u606f\uff1b<\/li>\n\n\n\n<li><strong>Dynamic tokens<\/strong>\uff1a\u4ee5\u8f83\u4f4e\u5206\u8fa8\u7387\u300110Hz\u91c7\u6837\u7684\u65b9\u5f0f\u63d0\u53d6\uff0c\u66f4\u5173\u6ce8\u7ec6\u7c92\u5ea6\u8fd0\u52a8\u53d8\u5316\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6b64\u5916\uff0c\u7cfb\u7edf\u63d0\u793a\u8bcd\u548c\u4efb\u52a1\u63d0\u793a\u8bcd\u4e5f\u4f1a\u88ab\u4e00\u5e76\u7f16\u7801\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u66f4\u6e05\u695a\u5730\u7406\u89e3\u5f53\u524d\u4efb\u52a1\u76ee\u6807\u3002<\/p>\n\n\n\n<p>\u6574\u4f53\u4e0a\uff0c\u8f93\u5165\u53ef\u4ee5\u5199\u6210\u7c7b\u4f3c\u4e0b\u9762\u7684\u5f62\u5f0f\uff1a<\/p>\n\n\n\n<p><code>[System Prompt | Dynamic &amp; Contextual Tokens | User Prompt | Ego Tokens]<\/code><\/p>\n\n\n\n<p>\u5176\u4e2d\uff0cEgo tokens\u8868\u793a\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u548c\u9ad8\u5c42\u9a7e\u9a76\u6307\u4ee4\u7684\u7ec4\u5408\uff0c\u53cd\u6620\u5f53\u524d\u81ea\u8f66\u72b6\u6001\u4e0e\u5bfc\u822a\u610f\u56fe\u3002<\/p>\n\n\n\n<p>\u5728\u8f93\u51fa\u90e8\u5206\uff0c\u751f\u6210\u5f97\u5230\u7684\u672a\u6765\u89c6\u89c9token\uff0c\u4f1a\u901a\u8fc7MagVIT-v2\u7684\u89e3\u7801\u5668\u8fd8\u539f\u6210\u5bf9\u5e94\u7684RGB\u672a\u6765\u5e27\u3002 \u800c\u52a8\u4f5ctoken\u5219\u4f1a\u7ecf\u8fc7\u4e00\u4e2aMLP\u5934\uff0c\u56de\u5f52\u51fa\u5bf9\u5e94\u65f6\u523b\u7684\u81ea\u8f66\u4f4d\u7f6e\uff0c\u6700\u7ec8\u5f62\u6210\u4e00\u6bb5\u5b8c\u6574\u7684\u672a\u6765\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>3. \u4ea4\u66ff\u5f0f\u5e27-\u52a8\u4f5c\u751f\u6210<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"691\" height=\"258\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040101.png\" alt=\"\" class=\"wp-image-38536\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040101.png 691w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040101-300x112.png 300w\" sizes=\"(max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<p><strong>4. \u8bad\u7ec3\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"437\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040102.png\" alt=\"\" class=\"wp-image-38537\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040102.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040102-300x191.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<p><strong>5. \u63a8\u7406\u65b9\u5f0f<\/strong><\/p>\n\n\n\n<p>\u5728\u63a8\u7406\u9636\u6bb5\uff0c\u6a21\u578b\u6309\u7167\u81ea\u56de\u5f52\u65b9\u5f0f\u9010\u6b65\u751f\u6210\u672a\u6765\u5e27\u548c\u52a8\u4f5c\u3002\u5148\u57fa\u4e8e\u5f53\u524d\u65f6\u523b\u89c6\u9891\u5e27\u751f\u6210\u4e0b\u4e00\u5e27\u672a\u6765\u573a\u666f\uff0c\u518d\u5c06\u8be5\u65f6\u523b\u5bf9\u5e94\u7684\u52a8\u4f5cquery\u8f93\u5165\u6a21\u578b\u4e2d\u9884\u6d4b\u5bf9\u5e94\u52a8\u4f5c\uff1b\u968f\u540e\u628a\u65b0\u751f\u6210\u7684\u89c6\u89c9token\u7ee7\u7eed\u52a0\u5165\u4e0a\u4e0b\u6587\uff0c\u63a8\u52a8\u4e0b\u4e00\u6b65\u89c6\u89c9\u9884\u6d4b\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u540c\u65f6\u5efa\u6a21\u65f6\u5e8f\u4f9d\u8d56\u548c\u5e27\u5185\u7a7a\u95f4\u5173\u7cfb\uff0c\u672c\u6587\u91c7\u7528\u4e86\u56e0\u679c\u7ea6\u675f\u4e0b\u7684\u6df7\u5408\u6ce8\u610f\u529b\u8bbe\u8ba1\uff1a\u5728\u65f6\u95f4\u7ef4\u5ea6\u4e0a\uff0c\u6a21\u578b\u53ea\u80fd\u770b\u5230\u5f53\u524d\u65f6\u523b\u4e4b\u524d\u7684\u5386\u53f2\u4fe1\u606f\uff0c\u4fdd\u8bc1\u672a\u6765\u4fe1\u606f\u4e0d\u4f1a\u6cc4\u6f0f\uff1b\u800c\u5728\u540c\u4e00\u5e27\u5185\u90e8\uff0ctoken\u4e4b\u95f4\u5219\u5141\u8bb8\u5145\u5206\u4ea4\u4e92\uff0c\u4ee5\u6355\u6349\u56fe\u50cf\u5185\u90e8\u7684\u7a7a\u95f4\u5173\u8054\u3002<\/p>\n\n\n\n<p>\u4e3a\u63d0\u9ad8\u6548\u7387\uff0c\u6a21\u578b\u8fd8\u4f1a\u590d\u7528\u524d\u4e00\u6b65\u7684KV-cache\uff0c\u907f\u514d\u91cd\u590d\u8ba1\u7b97\u6574\u6bb5\u5386\u53f2\u5e8f\u5217\u3002\u56e0\u6b64\uff0c\u6574\u4e2a\u63a8\u7406\u8fc7\u7a0b\u672c\u8d28\u4e0a\u5c31\u662f\u4e00\u4e2a\u6301\u7eed\u66f4\u65b0\u7684\u4ea4\u66ff\u95ed\u73af\uff1a\u6a21\u578b\u4e00\u8fb9\u9884\u6d4b\u73af\u5883\uff0c\u4e00\u8fb9\u66f4\u65b0\u51b3\u7b56\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"667\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-2-1024x667.png\" alt=\"\" class=\"wp-image-38538\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-2-1024x667.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-2-300x196.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-2-768x501.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-2.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8bad\u7ec3\u548c\u63a8\u7406\u8fc7\u7a0b\u793a\u610f\u56fe<\/p>\n\n\n\n<p><strong>6. \u6df1\u5ea6\u4fe1\u606f\u878d\u5165<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"472\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040103.png\" alt=\"\" class=\"wp-image-38539\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040103.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040103-300x206.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u4e09\u3001\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u57fa\u51c6<strong>NAVSIM v1<\/strong>\u4e0a\u5bf9\u65b9\u6cd5\u8fdb\u884c\u4e86\u7cfb\u7edf\u8bc4\u4f30\u3002\u8be5\u6570\u636e\u96c6\u63d0\u4f9b\u9ad8\u4fdd\u771f\u7684\u7b2c\u4e00\u89c6\u89d2\u56fe\u50cf\u5e8f\u5217\u4ee5\u53ca\u7ed3\u6784\u5316\u89c4\u5212\u6807\u6ce8\uff0c\u80fd\u591f\u540c\u65f6\u8bc4\u4f30\u201c\u770b\u4e16\u754c\u201d\u548c\u201c\u505a\u51b3\u7b56\u201d\u7684\u80fd\u529b\u3002\u6a21\u578b\u4ee52\u79d2\u5386\u53f2\u89c2\u6d4b\u4e3a\u8f93\u5165\uff0c\u9884\u6d4b\u672a\u67654\u79d2\uff088\u5e27\uff09\u7684\u573a\u666f\u4e0e\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>\u5728NAVSIM\u57fa\u51c6\u6d4b\u8bd5\u96c6\u4e0a\u7684\u6027\u80fd\u5bf9\u6bd4\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"792\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-3-1024x792.png\" alt=\"\" class=\"wp-image-38540\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-3-1024x792.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-3-300x232.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-3-768x594.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-3.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Uni-World VLA \u5728\u6838\u5fc3\u6307\u6807<strong>PDMS<\/strong>\u4e0a\u8fbe\u5230<strong>89.4<\/strong>\uff0c\u6574\u4f53\u6027\u80fd\u9886\u5148\u6240\u6709\u5bf9\u6bd4\u65b9\u6cd5\u3002<\/li>\n\n\n\n<li>\u5728\u5173\u952e\u5b89\u5168\u4e0e\u6548\u7387\u6307\u6807\u4e0a\u8868\u73b0\u7a81\u51fa\uff1a\n<ul class=\"wp-block-list\">\n<li>EP\u66f4\u9ad8 \u2192 \u884c\u9a76\u66f4\u9ad8\u6548\uff1b<\/li>\n\n\n\n<li>TTC\u66f4\u4f18 \u2192 \u66f4\u5b89\u5168\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u5728\u4ec5\u4f7f\u7528\u00a0<strong>\u524d\u5411\u5355\u76ee\u76f8\u673a\uff08front-camera-only\uff09<\/strong>\u00a0\u7684\u6761\u4ef6\u4e0b\uff0c\u4f9d\u7136\u53d6\u5f97\u9886\u5148\u7ed3\u679c\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u89c6\u9891\u751f\u6210\u8d28\u91cf\u5bf9\u6bd4\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"313\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-4-1024x313.png\" alt=\"\" class=\"wp-image-38541\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-4-1024x313.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-4-300x92.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-4-768x235.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-4.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Uni-World VLA\u5728\u89c6\u9891\u751f\u6210\u6307\u6807<strong>FVD<\/strong>\u4e0a\u8fbe\u5230<strong>141.8<\/strong>\uff0c\u7565\u4f18\u4e8eDrivingGPT\uff0c\u540c\u65f6\u5728\u89c4\u5212\u6027\u80fd\u4e0a\u663e\u8457\u66f4\u4f18\uff08PDMS 89.4 vs 82.4\uff09\u3002<\/p>\n\n\n\n<p><strong>\u9884\u6d4b\u5e27\u548cBEV\u8f68\u8ff9\u53ef\u89c6\u5316\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"772\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-5-1024x772.png\" alt=\"\" class=\"wp-image-38542\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-5-1024x772.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-5-300x226.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-5-768x579.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-5.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u53ef\u89c6\u5316\u7ed3\u679c\u663e\u793a\uff0c\u9884\u6d4b\u7684\u672a\u6765\u5e27\u5728\u65f6\u95f4\u4e0a\u4fdd\u6301\u826f\u597d\u7684\u8fde\u8d2f\u6027\uff1bBEV\u56fe\u4e2d\u4e5f\u5c55\u793a\u51fa\u89c4\u5212\u8f68\u8ff9\u4e0e\u771f\u5b9e\u8f68\u8ff9\u4e4b\u95f4\u826f\u597d\u7684\u8d34\u5408\u5ea6\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>(1) \u9884\u8bad\u7ec3\u3001\u672a\u6765\u5e27\u548c\u6df1\u5ea6\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"307\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-6-1024x307.png\" alt=\"\" class=\"wp-image-38543\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-6-1024x307.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-6-300x90.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-6-768x230.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-6.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u9884\u8bad\u7ec3\u5e26\u6765\u6700\u5927\u63d0\u5347\uff08PDMS\u4ece82.1\u63d0\u5347\u523088.2\uff09\uff0c\u8bf4\u660e\u57fa\u7840\u6a21\u578b\u672c\u8eab\u7684\u8868\u5f81\u80fd\u529b\u975e\u5e38\u5173\u952e\uff1b\u542f\u7528\u672a\u6765\u5e27\u751f\u6210\u8fdb\u4e00\u6b65\u63d0\u5347\u6027\u80fd\uff08PDMS\u4ece88.2\u63d0\u5347\u523089.2\uff09\uff0c\u663e\u5f0f\u5efa\u6a21\u201c\u672a\u6765\u4e16\u754c\u201d\uff0c\u786e\u5b9e\u80fd\u4e3a\u8f68\u8ff9\u89c4\u5212\u63d0\u4f9b\u66f4\u6709\u6548\u7684\u4e0a\u4e0b\u6587\uff1b\u6dfb\u52a0\u6df1\u5ea6\u4fe1\u606f\u663e\u8457\u6539\u5584\u89c6\u9891\u8d28\u91cf\uff08FVD\u4ece164.2\u964d\u81f3141.8\uff09\uff0c\u7565\u5fae\u63d0\u5347\u89c4\u5212\u8868\u73b0\uff0889.2\u523089.4\uff09\u3002<\/p>\n\n\n\n<p><strong>\u6df1\u5ea6\u878d\u5408\u53ef\u89c6\u5316\u5bf9\u6bd4\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"656\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-7-1024x656.png\" alt=\"\" class=\"wp-image-38544\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-7-1024x656.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-7-300x192.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-7-768x492.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-7.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4ece\u53ef\u89c6\u5316\u53ef\u4ee5\u66f4\u76f4\u89c2\u5730\u770b\u51fa\u5dee\u522b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57282.0\u79d2\u65f6\uff0c\u4e24\u8005\u5dee\u522b\u4e0d\u5927\uff1b<\/li>\n\n\n\n<li>\u52303.0\u79d2\uff0c\u65e0\u6df1\u5ea6\u6a21\u578b\u5f00\u59cb\u51fa\u73b0\u7ed3\u6784\u6a21\u7cca\uff08\u5c24\u5176\u662f\u9ad8\u901f\u573a\u666f\uff09\uff1b<\/li>\n\n\n\n<li>\u52304.0 \u79d2\uff0c\u5c24\u5176\u662f\u8f6c\u5f2f\u573a\u666f\u5dee\u5f02\u660e\u663e\uff1a\n<ul class=\"wp-block-list\">\n<li>\u65e0\u6df1\u5ea6\uff1a\u7ed3\u6784\u53d1\u6563\u3001\u51e0\u4f55\u4e0d\u7a33\u5b9a\uff1b<\/li>\n\n\n\n<li>\u6709\u6df1\u5ea6\uff1a\u7a7a\u95f4\u5e03\u5c40\u66f4\u6e05\u6670\u3001\u9884\u6d4b\u66f4\u8fde\u8d2f\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>(2) \u4e0d\u540c\u4ea4\u66ff\u751f\u6210\u65b9\u6848\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"322\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-8-1024x322.png\" alt=\"\" class=\"wp-image-38545\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-8-1024x322.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-8-300x94.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-8-768x242.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-8.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u8bbe\u8ba1\u4e865\u79cd\u4e0d\u540c\u7684\u751f\u6210\u65b9\u5f0f\uff08A\u2013E\uff09\uff0c\u672c\u8d28\u533a\u522b\u5728\u4e8e\u5e27\u548c\u52a8\u4f5c\u7684\u751f\u6210\u9891\u7387\uff0c\u53ca\u5176\u5bf9\u9f50\u65b9\u5f0f\u3002\u5176\u5177\u4f53\u7684\u4ea4\u66ff\u9884\u6d4b\u903b\u8f91\u5982\u4e0b\u56fe\u6240\u793a\uff08F\u8868\u793a\u89c6\u9891\u5e27\uff0cA\u8868\u793a\u52a8\u4f5c\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"170\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-9-1024x170.png\" alt=\"\" class=\"wp-image-38546\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-9-1024x170.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-9-300x50.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-9-768x127.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-9.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u65b9\u6848E\u76f4\u63a5\u57282Hz\u8bc4\u4f30\u9891\u7387\u4e0b\u5bf9\u9f50\u5e27\u548c\u52a8\u4f5c\u751f\u6210\uff0c\u91c7\u7528\u4e25\u683c\u7684F\u2192A\uff08\u5e27\u5230\u52a8\u4f5c\uff09\u4ea4\u66ff\uff0c\u53d6\u5f97\u6700\u4f73\u6574\u4f53\u6027\u80fd\uff0c\u8868\u660e\u5c06\u751f\u6210\u9891\u7387\u4e0e\u89c4\u5212\/\u8bc4\u4f30\u534f\u8bae\u5339\u914d\u53ef\u4ee5\u63d0\u9ad8\u65f6\u95f4\u4e00\u81f4\u6027\u548c\u89c4\u5212\u8d28\u91cf\u3002\u800c\u65b9\u6848B\u3001D \u8fd9\u79cd\u201c\u770b\u8d77\u6765\u66f4\u7ec6\u81f4\u201d\u7684\u65b9\u6848\u53cd\u800c\u66f4\u5dee\u3002\u8fd9\u53ef\u80fd\u662f\u7531\u4e8e\u751f\u6210\u7684\u65f6\u95f4\u9891\u7387\u548c\u8bc4\u4f30\/\u89c4\u5212\u7684\u9891\u7387\u4e0d\u4e00\u81f4\u3002\u5982\u679c\u8bad\u7ec3\u65f6\u662f10Hz\uff0c\u4f46\u8bc4\u4f30\u662f2Hz\uff0c\u5c31\u4f1a\u51fa\u73b0\u201c\u5b66\u5f97\u5f88\u7ec6\uff0c\u4f46\u5b66\u4e0d\u7cbe\u201d\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>(3) \u5386\u53f2\u89c6\u89c9\u4fe1\u606f\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"284\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-10-1024x284.png\" alt=\"\" class=\"wp-image-38547\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-10-1024x284.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-10-300x83.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-10-768x213.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-10.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8868\u4e2d\u6bd4\u8f83\u4e86\u4e0d\u540c\u5386\u53f2\u89c6\u89c9\u4fe1\u606f\u914d\u7f6e\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u75282.0 s\u7684Contextual + Dynamic tokens\uff08\u5b8c\u6574\u914d\u7f6e\uff09\u65f6\uff0c\u6574\u4f53\u6027\u80fd\u6700\u4f73\uff08PDMS 89.2\uff0cEP 82.9\uff0cFVD 164.2\uff09\uff1b<\/li>\n\n\n\n<li>\u5c06\u5386\u53f2\u957f\u5ea6\u7f29\u77ed\u81f31.0 s\uff0cNC \u548c TTC \u7565\u6709\u63d0\u5347\uff0c\u4f46PDMS\uff0888.8\uff09\u548c FVD\uff08170.7\uff09\u4e0b\u964d\uff1b<\/li>\n\n\n\n<li>\u4ec5\u4f7f\u7528Contextual tokens\u65f6\uff0c\u4ecd\u80fd\u4fdd\u6301\u8f83\u9ad8\u6027\u80fd\uff08PDMS 89.1\uff09\uff0c\u4e14DAC \u6700\u4f18\uff0896.8\uff09\uff1b<\/li>\n\n\n\n<li>\u4ec5\u4f7f\u7528Dynamic tokens\u65f6\uff0c\u6027\u80fd\u663e\u8457\u4e0b\u964d\uff08PDMS 81.7\uff0cFVD 203.6\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u8868\u660eContextual\u6240\u63d0\u4f9b\u7684\u66f4\u9ad8\u6e05\u6670\u5ea6\u7684\u5386\u53f2\u4fe1\u606f\u76f8\u6bd4\u4f4e\u6e05\u4f46\u9ad8\u9891\u7684Dynamic\u66f4\u91cd\u8981\u3002\u4e14\u5728\u8f83\u957f\u5386\u53f2\u65f6\u95f4\uff082.0 s\uff09\u4e0a\u7ed3\u5408\u4e8c\u8005\u6240\u53d6\u5f97\u7684\u6574\u4f53\u6548\u679c\u6700\u4f73\u3002<\/p>\n\n\n\n<p>\u8868\u4e2d\u6bd4\u8f83\u4e86\u4e0d\u540c\u5386\u53f2\u89c6\u89c9\u4fe1\u606f\u914d\u7f6e\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u75282.0 s\u7684Contextual + Dynamic tokens\uff08\u5b8c\u6574\u914d\u7f6e\uff09\u65f6\uff0c\u6574\u4f53\u6027\u80fd\u6700\u4f73\uff08PDMS 89.2\uff0cEP 82.9\uff0cFVD 164.2\uff09\uff1b<\/li>\n\n\n\n<li>\u5c06\u5386\u53f2\u957f\u5ea6\u7f29\u77ed\u81f31.0 s\uff0cNC \u548c TTC \u7565\u6709\u63d0\u5347\uff0c\u4f46PDMS\uff0888.8\uff09\u548c FVD\uff08170.7\uff09\u4e0b\u964d\uff1b<\/li>\n\n\n\n<li>\u4ec5\u4f7f\u7528Contextual tokens\u65f6\uff0c\u4ecd\u80fd\u4fdd\u6301\u8f83\u9ad8\u6027\u80fd\uff08PDMS 89.1\uff09\uff0c\u4e14DAC \u6700\u4f18\uff0896.8\uff09\uff1b<\/li>\n\n\n\n<li>\u4ec5\u4f7f\u7528Dynamic tokens\u65f6\uff0c\u6027\u80fd\u663e\u8457\u4e0b\u964d\uff08PDMS 81.7\uff0cFVD 203.6\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u8868\u660eContextual\u6240\u63d0\u4f9b\u7684\u66f4\u9ad8\u6e05\u6670\u5ea6\u7684\u5386\u53f2\u4fe1\u606f\u76f8\u6bd4\u4f4e\u6e05\u4f46\u9ad8\u9891\u7684Dynamic\u66f4\u91cd\u8981\u3002\u4e14\u5728\u8f83\u957f\u5386\u53f2\u65f6\u95f4\uff082.0 s\uff09\u4e0a\u7ed3\u5408\u4e8c\u8005\u6240\u53d6\u5f97\u7684\u6574\u4f53\u6548\u679c\u6700\u4f73\u3002<\/p>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u7684&nbsp;<strong>Uni-World VLA<\/strong>&nbsp;\u662f\u4e00\u4e2a\u7edf\u4e00\u7684VLA\u6a21\u578b\uff0c\u901a\u8fc7\u4ea4\u66ff\u751f\u6210\u8303\u5f0f\u7d27\u5bc6\u8026\u5408\u4e16\u754c\u9884\u6d4b\u548c\u8f68\u8ff9\u89c4\u5212\u3002\u4e3b\u8981\u521b\u65b0\u70b9\u5305\u62ec\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4ea4\u66ff\u5f0f\u5efa\u6a21\u4e0e\u89c4\u5212<\/strong>\uff1a\u91c7\u7528\u9010\u6b65\u53cd\u9988\u8303\u5f0f\uff0c\u7d27\u5bc6\u8026\u5408\u4e16\u754c\u5efa\u6a21\u548c\u8f68\u8ff9\u89c4\u5212\uff0c\u4f7f\u89c4\u5212\u51b3\u7b56\u80fd\u591f\u6839\u636e\u65b0\u9884\u6d4b\u7684\u89c2\u5bdf\u6301\u7eed\u4f18\u5316\uff1b<\/li>\n\n\n\n<li><strong>\u6df1\u5ea6\u878d\u5408\u7b56\u7565<\/strong>\uff1a\u5f15\u5165\u5355\u76ee\u6df1\u5ea6\u56fe\u5e76\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u4e0e\u5386\u53f2\u5e27\u878d\u5408\uff0c\u4e3a\u672a\u6765\u5e27\u9884\u6d4b\u63d0\u4f9b\u4e92\u8865\u7684\u7a7a\u95f4\u7ebf\u7d22\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8fd9\u79cd\u4ea4\u66ff\u5f0f\u9884\u6d4b-\u89c4\u5212\u7b56\u7565\u662f\u6709\u6548\u7684\uff1a\u5728 NAVSIM \u57fa\u51c6\u4e0a\uff0cUni-World VLA \u5728 camera-only \u6761\u4ef6\u4e0b\u53d6\u5f97\u4e86&nbsp;<strong>PDMS 89.4<\/strong>&nbsp;\u7684\u6210\u7ee9\uff0c\u5e76\u5728&nbsp;<strong>EP<\/strong>&nbsp;\u548c&nbsp;<strong>TTC<\/strong>&nbsp;\u7b49\u5173\u952e\u6307\u6807\u4e0a\u8868\u73b0\u7a81\u51fa\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u89c6\u9891\u751f\u6210\u8d28\u91cf\uff08<strong>FVD 141.8<\/strong>\uff09\u3002\u8fd9\u4e5f\u8bf4\u660e\uff0c\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u4e16\u754c\u6a21\u578b\uff0c\u771f\u6b63\u91cd\u8981\u7684\u4e0d\u53ea\u662f\u201c\u9884\u6d4b\u5f97\u50cf\u4e0d\u50cf\u201d\uff0c\u8fd8\u5305\u62ec<strong>\u80fd\u4e0d\u80fd\u5728\u9884\u6d4b\u8fc7\u7a0b\u4e2d\u6301\u7eed\u4fee\u6b63\u51b3\u7b56<\/strong>\u3002\u4ece\u8fd9\u4e2a\u89d2\u5ea6\u770b\uff0cUni-World VLA \u63d0\u4f9b\u4e86\u4e00\u79cd\u66f4\u8d34\u8fd1\u771f\u5b9e\u9a7e\u9a76\u8fc7\u7a0b\u7684\u5efa\u6a21\u601d\u8def\u3002<\/p>\n\n\n\n<p>\u8fdb\u4e00\u6b65\u6765\u770b\uff0c\u8fd9\u79cd\u201c\u9884\u6d4b\u2014\u51b3\u7b56\u4ea4\u66ff\u8fdb\u884c\u201d\u7684\u6846\u67b6\uff0c\u5e76\u4e0d\u5c40\u9650\u4e8e\u81ea\u52a8\u9a7e\u9a76\u3002\u5728\u5f53\u524d\u5feb\u901f\u53d1\u5c55\u7684\u5177\u8eab\u667a\u80fd\uff08Embodied AI \/ Robotics\uff09\u9886\u57df\uff0c\u667a\u80fd\u4f53\u540c\u6837\u9700\u8981\u5728\u4e0e\u73af\u5883\u7684\u6301\u7eed\u4ea4\u4e92\u4e2d\u5b8c\u6210\u611f\u77e5\u3001\u9884\u6d4b\u548c\u63a7\u5236\u3002\u5982\u679c\u5c06\u4e16\u754c\u5efa\u6a21\u4e0e\u52a8\u4f5c\u51b3\u7b56\u89e3\u8026\uff0c\u5f80\u5f80\u96be\u4ee5\u5e94\u5bf9\u771f\u5b9e\u73af\u5883\u4e2d\u7684\u52a8\u6001\u53d8\u5316\u3002Uni-World VLA\u8fd9\u79cd\u4ea4\u66ff\u5f0f\u95ed\u73af\u673a\u5236\uff0c\u8ba9\u6a21\u578b\u5728\u6267\u884c\u8fc7\u7a0b\u4e2d\u53ef\u4ee5\u4e0d\u65ad\u6839\u636e\u65b0\u7684\u89c2\u6d4b\u8c03\u6574\u81ea\u8eab\u51b3\u7b56\uff0c\u4e5f\u7c7b\u4f3c\u4e8e\u771f\u5b9e\u673a\u5668\u4eba\u201c\u611f\u77e5\u2014\u884c\u52a8\u2014\u518d\u611f\u77e5\u201d\u7684\u5de5\u4f5c\u65b9\u5f0f\u3002\u56e0\u6b64\uff0c\u8fd9\u4e00\u601d\u8def\u4e5f\u4e3a\u5177\u8eab\u667a\u80fd\u7cfb\u7edf\u4e2d\u5982\u4f55\u7edf\u4e00\u5efa\u6a21\u4e0e\u63a7\u5236\u63d0\u4f9b\u4e86\u4e00\u79cd\u503c\u5f97\u63a2\u7d22\u7684\u65b9\u5411\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-38533","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38533"}],"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=38533"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38533\/revisions"}],"predecessor-version":[{"id":38548,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38533\/revisions\/38548"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=38533"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=38533"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=38533"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}