{"id":38551,"date":"2026-04-02T17:25:00","date_gmt":"2026-04-02T09:25:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=38551"},"modified":"2026-04-03T08:46:00","modified_gmt":"2026-04-03T00:46:00","slug":"2026-04-02-%e4%b8%ad%e7%a7%91%e9%99%a2%e9%95%bf%e5%ae%89%e6%b1%bd%e8%bd%a6%e6%8f%90%e5%87%balatent-wam%ef%bc%9a%e9%9a%90%e5%bc%8f%e4%b8%96%e7%95%8c%e5%8a%a8%e4%bd%9c%e5%bb%ba%e6%a8%a13d%e5%87%a0","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/04\/02\/38551\/","title":{"rendered":"2026-04-02 \u4e2d\u79d1\u9662&amp;\u957f\u5b89\u6c7d\u8f66\u63d0\u51faLatent-WAM\uff1a\u9690\u5f0f\u4e16\u754c\u52a8\u4f5c\u5efa\u6a21+3D\u51e0\u4f55\u611f\u77e5\u84b8\u998f\u5b9e\u73b0\u53cc\u699cSOTA"},"content":{"rendered":"\n<p>\u81ea\u52a8\u9a7e\u9a76\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/jCS8ngsAbf4DfnTMiFq1Pw\">https:\/\/mp.weixin.qq.com\/s\/jCS8ngsAbf4DfnTMiFq1Pw<\/a><\/p>\n\n\n\n<p>\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff08End-to-End Autonomous Driving\uff09\u9886\u57df\uff0c\u4e16\u754c\u6a21\u578b\u65b9\u6cd5\u901a\u8fc7\u65f6\u5e8f\u81ea\u76d1\u7763\u5b66\u4e60\u573a\u666f\u8868\u793a\uff0c\u4e3a\u8f68\u8ff9\u89c4\u5212\u63d0\u4f9b\u4e86\u5bc6\u96c6\u76d1\u7763\u4fe1\u53f7\u3002\u8fd1\u65e5\uff0c\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u6240\u3001\u957f\u5b89\u6c7d\u8f66\u3001\u5317\u4eac\u4e2d\u5173\u6751\u5b66\u9662\u7b49\u8054\u5408\u53d1\u8868\u540d\u4e3a Latent-WAM \u7684\u6700\u65b0\u7814\u7a76\u6210\u679c\uff0c\u63d0\u51fa\u4e86<strong>\u7a7a\u95f4\u611f\u77e5\u538b\u7f29\u4e16\u754c\u7f16\u7801\u5668<\/strong>\u4e0e<strong>\u52a8\u6001\u9690\u4e16\u754c\u6a21\u578b<\/strong>\uff0c\u4ee5\u4ec5 104M \u53c2\u6570\u5b9e\u73b0NAVSIM v2&nbsp;<strong>89.3 EPDMS<\/strong>&nbsp;\u65b0 SOTA\uff0c\u8d85\u8d8a\u6b64\u524d\u6700\u4f73\u65e0\u611f\u77e5\u6807\u6ce8\u65b9\u6cd5&nbsp;<strong>3.2\u5206\u3002<\/strong><\/p>\n\n\n\n<p>\u8fd1\u671f\u5177\u8eab\u9886\u57df\u4e00\u4e9b\u7814\u7a76\u5de5\u4f5c\u53d1\u73b0\u73b0\u9636\u6bb5World Action Model (WAM) \u5bf9\u4e8e\u52a8\u4f5c\u89c4\u5212\u80fd\u529b\u7684\u63d0\u5347\uff0c\u5173\u952e\u5728\u4e8e<strong>\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u6765\u81ea\u672a\u6765\u89c6\u9891\u9884\u6d4b\u7684\u5bc6\u96c6\u76d1\u7763\u4fe1\u53f7<\/strong>\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u4e2d\uff0c\u6211\u4eec\u4e5f\u53d1\u73b0\u4e86\u76f8\u540c\u7684\u7ed3\u8bba\uff0c\u81ea\u52a8\u9a7e\u9a76\u7684\u8f68\u8ff9\u89c4\u5212\u6027\u80fd\u7684\u63d0\u5347\u4e5f\u66f4\u591a\u4f9d\u8d56<strong>\u8bad\u7ec3\u65f6\u5bf9\u672a\u6765\u72b6\u6001\u9884\u6d4b\u63d0\u4f9b\u7684\u5bc6\u96c6\u76d1\u7763\u4fe1\u53f7\uff0c\u8ba9 backbone \u80fd\u591f\u83b7\u5f97\u5bf9\u573a\u666f\u52a8\u6001\u8fdb\u884c\u5efa\u6a21\u7684\u80fd\u529b\u4e0e\u573a\u666f\u4fe1\u606f\u7684\u8868\u5f81\u80fd\u529b<\/strong>\uff1b\u6d4b\u8bd5\u65f6\u4ec5\u9760 backbone \u83b7\u5f97\u7684\u52a8\u6001\u5efa\u6a21\u80fd\u529b\u5c31\u80fd\u5b9e\u73b0 SOTA \u7684\u8f68\u8ff9\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aLatent-WAM: Latent World Action Modeling for End-to-End Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2603.24581<\/li>\n<\/ul>\n\n\n\n<p><strong>\u75db\u70b9\u4e0e\u6311\u6218\uff1a\u73b0\u6709\u4e16\u754c\u6a21\u578b\u65b9\u6cd5\u7684\u4e09\u5927\u5c40\u9650<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u56e0\u5176\u6570\u636e\u9a71\u52a8\u7279\u6027\u548c\u53ef\u6269\u5c55\u6027\u53d7\u5230\u5e7f\u6cdb\u5173\u6ce8\u3002\u4f20\u7edf\u7684\u611f\u77e5-\u9884\u6d4b-\u89c4\u5212\u4e00\u4f53\u5316\u65b9\u6cd5\u4f9d\u8d56\u590d\u6742\u8f85\u52a9\u4efb\u52a1\u8bbe\u8ba1\u548c\u611f\u77e5\u6807\u6ce8\uff0c\u9650\u5236\u4e86\u7b97\u6cd5\u7684\u8fdb\u4e00\u6b65\u89c4\u6a21\u5316\u5e94\u7528\u3002<\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u7684\u65b9\u6cd5\u901a\u8fc7\u65f6\u5e8f\u81ea\u76d1\u7763\u5b66\u4e60\u573a\u666f\u8868\u793a\uff0c\u5728\u51cf\u5c11\u611f\u77e5\u6807\u6ce8\u4f9d\u8d56\u65b9\u9762\u5c55\u73b0\u51fa\u4f18\u52bf\u3002\u8fd9\u7c7b\u65b9\u6cd5\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a\u7b2c\u4e00\u7c7b\u901a\u8fc7\u663e\u5f0f\u89c6\u9891\u751f\u6210\u5b66\u4e60\u89c4\u5212\uff0c\u4f46\u8ba1\u7b97\u5f00\u9500\u5927\u4e14\u5b66\u5230\u7684\u8868\u793a\u503e\u5411\u4e8e\u5173\u6ce8\u4e0e\u89c4\u5212\u65e0\u5173\u7684\u89c6\u89c9\u7ec6\u8282\uff1b\u7b2c\u4e8c\u7c7b\u901a\u8fc7\u9690\u5f0f\u672a\u6765\u8868\u5f81\u9884\u6d4b\u5b66\u4e60\u89c4\u5212\u76f8\u5173\u8868\u793a\uff0c\u8868\u793a\u76f8\u5bf9\u8f7b\u91cf\u4e14\u80fd\u901a\u8fc7\u65f6\u5e8f\u81ea\u76d1\u7763\u6355\u83b7\u52a8\u6001\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u73b0\u6709\u9690\u5f0f\u8868\u5f81\u9884\u6d4b\u65b9\u6cd5\u4ecd\u5b58\u5728\u663e\u8457\u5c40\u9650\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u89c6\u89c9\u8868\u5f81\u538b\u7f29\u4e0d\u8db3<\/strong>\uff1a\u573a\u666f\u4fe1\u606f\u538b\u7f29\u7a0b\u5ea6\u6709\u9650\uff0c\u5bfc\u81f4\u540e\u7eed\u4e16\u754c\u6a21\u578b\u8bad\u7ec3\u548c\u8f68\u8ff9\u89c4\u5212\u8ba1\u7b97\u5f00\u9500\u8f83\u5927\uff1b<\/li>\n\n\n\n<li><strong>\u7a7a\u95f4\u7406\u89e3\u80fd\u529b\u6b20\u7f3a<\/strong>\uff1a\u7f3a\u4e4f\u7a7a\u95f4\u7406\u89e3\u80fd\u529b\uff0c\u6216\u5728\u63a8\u7406\u65f6\u4f9d\u8d56\u5916\u90e8\u6df1\u5ea6\u4f30\u8ba1\u6a21\u578b\uff0c\u5f15\u5165\u989d\u5916\u5ef6\u8fdf\uff1b<\/li>\n\n\n\n<li><strong>\u65f6\u5e8f\u52a8\u6001\u4fe1\u606f\u5229\u7528\u4e0d\u5145\u5206<\/strong>\uff1a\u4ec5\u4ece\u7b2c T \u5e27\u9884\u6d4b\u7b2c T+1 \u5e27\u8868\u793a\uff0c\u5386\u53f2\u548c\u52a8\u6001\u4fe1\u606f\u5229\u7528\u4e0d\u8db3\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u8fd9\u5f15\u51fa\u4e86\u4e00\u4e2a\u5173\u952e\u95ee\u9898\uff1a\u6211\u4eec\u5982\u4f55\u6784\u5efa\u9ad8\u5ea6\u538b\u7f29\u4e14\u7a7a\u95f4\u611f\u77e5\u7684\u4e16\u754c\u8868\u5f81\uff0c\u540c\u65f6\u6709\u6548\u5efa\u6a21\u65f6\u5e8f\u52a8\u6001\u4fe1\u606f\uff0c\u5b9e\u73b0\u9ad8\u6548\u7cbe\u51c6\u7684\u8f68\u8ff9\u89c4\u5212\uff1f<\/p>\n\n\n\n<p><strong>\u6280\u672f\u8109\u7edc<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76 world model \u8fd9\u6761\u7ebf\uff0c\u4e00\u4e2a\u5f88\u6e05\u695a\u7684\u8d8b\u52bf\u662f\uff1a<strong>\u5927\u5bb6\u5df2\u7ecf\u4e0d\u518d\u6ee1\u8db3\u4e8e\u201c\u5b66\u4e00\u4e2a\u672a\u6765 latent\u201d\uff0c\u800c\u662f\u5f00\u59cb\u8ffd\u95ee\uff0c\u4ec0\u4e48\u6837\u7684\u8868\u5f81\u624d\u5bf9\u89c4\u5212\u771f\u6b63\u6709\u7528\u3002<\/strong>Latent-WAM \u5728\u4e24\u4e2a\u5173\u952e\u7684\u524d\u5e8f\u5de5\u4f5c\u4e0a\u5b9e\u73b0\u4e86\u66f4\u8fdb\u4e00\u6b65\u7a81\u7834\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>World4Drive<\/strong>\uff1a\u6838\u5fc3\u662f\u628a\u81ea\u52a8\u9a7e\u9a76\u4ece\u5927\u91cf\u611f\u77e5\u6807\u6ce8\u91cc\u89e3\u653e\u51fa\u6765\uff0c\u5f15\u5165\u89c6\u89c9\u57fa\u7840\u6a21\u578b\u63d0\u4f9b\u7684\u6df1\u5ea6\u548c\u8bed\u4e49\u4fe1\u53f7\uff0c\u8ba9 latent world model \u5e26\u4e0a\u66f4\u5f3a\u7684\u7269\u7406\u548c\u7a7a\u95f4\u5148\u9a8c\u3002<\/li>\n\n\n\n<li><strong>WorldRFT<\/strong>\uff1a\u8fdb\u4e00\u6b65\u63d0\u5347\u4ee5\u89c4\u5212\u4e3a\u4e2d\u5fc3\u7684\u8868\u5f81\u3002\u5b83\u4e00\u8fb9\u505a RL \u5fae\u8c03\uff0c\u4e00\u8fb9\u5728\u8868\u5f81\u5c42\u9762\u660e\u786e\u6307\u51fa\uff0c\u50cf VGGT \u8fd9\u6837\u7684\u51e0\u4f55\u57fa\u7840\u6a21\u578b\uff0c\u5bf9\u6784\u5efa\u9a7e\u9a76\u573a\u666f\u8868\u5f81\u662f\u975e\u5e38\u6709\u4ef7\u503c\u7684\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>Latent-WAM<\/strong>&nbsp;\u7684\u6838\u5fc3\u6539\u8fdb\u5728\u4e8e\uff1a<strong>\u5b83\u6ca1\u6709\u628a\u51e0\u4f55\u6a21\u578b\u5f53\u6210\u5916\u6302\uff0c\u800c\u662f\u628a\u51e0\u4f55\u80fd\u529b\u84b8\u998f\u8fdb world representation \u672c\u8eab\uff0c\u8bd5\u56fe\u56de\u7b54\u201d\u600e\u4e48\u8ba9\u8fd9\u4e9b\u989d\u5916\u5148\u9a8c\uff0c\u771f\u6b63\u9ad8\u6548\u5730\u670d\u52a1\u4e8e\u7aef\u5230\u7aef\u89c4\u5212\uff1f\u201c\u8fd9\u4e2a\u95ee\u9898\u3002<\/strong><\/p>\n\n\n\n<p><strong>\u7b2c\u4e00\uff0cworld representation \u5e94\u8be5\u662f planning-oriented \u7684\u3002<\/strong><\/p>\n\n\n\n<p>\u4e5f\u5c31\u662f\u8bf4\uff0c\u8868\u5f81\u7684\u4ef7\u503c\u4e0d\u5728\u4e8e\u662f\u4e0d\u662f\u91cd\u5efa\u5f97\u66f4\u50cf\u3001\u662f\u4e0d\u662f\u9884\u6d4b\u5f97\u66f4\u5168\uff0c\u800c\u5728\u4e8e\u5b83\u662f\u4e0d\u662f\u66f4\u9002\u5408\u540e\u7eed\u51b3\u7b56\u4f18\u5316\u3002<\/p>\n\n\n\n<p><strong>\u7b2c\u4e8c\uff0c\u50cf VGGT \u8fd9\u7c7b3D\u51e0\u4f55\u57fa\u7840\u6a21\u578b\u5f88\u91cd\u8981\u3002<\/strong><\/p>\n\n\n\n<p>WorldRFT \u5728\u8868\u5f81\u5c42\u9762\u5df2\u7ecf\u5f88\u660e\u786e\u5730\u8868\u660e\uff1a\u51e0\u4f55\u57fa\u7840\u6a21\u578b\u5e26\u6765\u7684\u7a7a\u95f4\u7ed3\u6784\u5148\u9a8c\uff0c\u5bf9\u81ea\u52a8\u9a7e\u9a76\u975e\u5e38\u5173\u952e\u3002\u8fd9\u4e00\u70b9\u5176\u5b9e\u5f88\u7b26\u5408\u76f4\u89c9\uff0c\u56e0\u4e3a\u89c4\u5212\u672c\u6765\u5c31\u4e0d\u662f\u7eaf\u8bed\u4e49\u95ee\u9898\uff0c\u800c\u662f\u9ad8\u5ea6\u4f9d\u8d563D\u51e0\u4f55\u5173\u7cfb\u3001\u53ef\u884c\u9a76\u533a\u57df\u3001\u969c\u788d\u7269\u5e03\u5c40\u548c\u7a7a\u95f4\u8fb9\u754c\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u4e0d\u8fc7\uff0cWorldRFT \u4ecd\u7136\u7559\u4e0b\u4e86\u4e00\u4e2a\u6ca1\u6709\u5b8c\u5168\u89e3\u51b3\u7684\u95ee\u9898\uff1a<\/p>\n\n\n\n<p><strong>\u51e0\u4f55\u4fe1\u606f\u5f88\u6709\u4ef7\u503c\uff0c\u4f46\u5230\u5e95\u5e94\u8be5\u600e\u4e48\u5e76\u5165 world model\uff0c\u624d\u80fd\u65e2\u4e0d\u751f\u786c\u3001\u53c8\u4e0d\u62d6\u6162\u7cfb\u7edf\uff0c\u8fd8\u80fd\u771f\u6b63\u548c\u89c4\u5212\u76ee\u6807\u5bf9\u9f50\uff1f<\/strong><\/p>\n\n\n\n<p><strong>Latent-WAM \u7684\u6838\u5fc3\u4ef7\u503c\uff1a\u4ece\u201c\u5229\u7528\u51e0\u4f55\u5148\u9a8c\u201d\uff0c\u8d70\u5411\u201c\u84b8\u998f\u51e0\u4f55\u8868\u5f81\u201d<\/strong><\/p>\n\n\n\n<p>\u8fd9\u6b63\u662f Latent-WAM \u6700\u503c\u5f97\u770b\u7684\u5730\u65b9\uff0c\u5b83\u66f4\u8fdb\u4e00\u6b65\u5730\u89e3\u51b3\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u89c6\u89c9 token \u5982\u4f55\u538b\u7f29\uff0c\u624d\u80fd\u65e2\u8f7b\u91cf\u53c8\u4e0d\u5f71\u54cd\u89c4\u5212\u7684\u6027\u80fd<\/li>\n\n\n\n<li>\u51e0\u4f55\u4fe1\u606f\u5982\u4f55\u6ce8\u5165\u8868\u5f81\uff0c\u800c\u4e0d\u662f\u53d8\u6210\u989d\u5916 runtime \u4f9d\u8d56<\/li>\n\n\n\n<li>latent world model \u5982\u4f55\u5efa\u6a21\u5f97\u66f4\u50cf\u201c\u4e16\u754c\u72b6\u6001\u6f14\u5316\u201d\uff0c\u800c\u4e0d\u53ea\u662f\u4e00\u6b65 latent prediction<\/li>\n<\/ul>\n\n\n\n<p>\u6362\u53e5\u8bdd\u8bf4\uff0cLatent-WAM \u4e0d\u662f\u5728\u7ee7\u7eed\u5806\u6a21\u578b\u53c2\u6570\u91cf\uff0c\u800c\u662f\u628a\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\u7684\u51e0\u4f55\u7406\u89e3\u548c\u52a8\u6001\u7406\u89e3\uff0c\u5185\u5316\u6210\u4e00\u79cd\u7d27\u51d1\u7684 world representation\u3002<\/p>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\uff1aLatent-WAM \u7684\u4e24\u5927\u5173\u952e\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0cLatent-WAM\u63d0\u51fa\u4e86\u4e24\u5927\u6838\u5fc3\u6a21\u5757\uff1a<strong>\u7a7a\u95f4\u611f\u77e5\u538b\u7f29\u4e16\u754c\u7f16\u7801\u5668\uff08SCWE\uff09<\/strong>\u00a0\u548c\u00a0<strong>\u52a8\u6001\u9690\u4e16\u754c\u6a21\u578b\uff08DLWM\uff09<\/strong>\uff0c\u9488\u5bf9\u89c4\u5212\u6700\u76f8\u5173\u7684\u7a7a\u95f4\u7406\u89e3\u548c\u52a8\u6001\u6f14\u5316\u4e24\u5927\u4efb\u52a1\uff0c\u6784\u5efa\u9ad8\u5ea6\u538b\u7f29\u7684\u4e16\u754c\u72b6\u6001\u8868\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"513\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-11-1024x513.png\" alt=\"\" class=\"wp-image-38554\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-11-1024x513.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-11-300x150.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-11-768x385.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-11.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7a7a\u95f4\u611f\u77e5\u538b\u7f29\u4e16\u754c\u7f16\u7801\u5668\uff08SCWE\uff09<\/strong><\/p>\n\n\n\n<p>SCWE \u7684\u76ee\u6807\u662f\u5c06\u4e30\u5bcc\u7684\u89c6\u89c9\u4fe1\u606f\u538b\u7f29\u4e3a\u7d27\u51d1\u7684\u573a\u666f\u8868\u793a\uff0c\u540c\u65f6\u4fdd\u6301\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\u573a\u666f\u538b\u7f29\uff08Scene Compression\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"308\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040201.png\" alt=\"\" class=\"wp-image-38555\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040201.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040201-300x135.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u51e0\u4f55\u5bf9\u9f50\uff08Geometric Alignment\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"238\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040202.png\" alt=\"\" class=\"wp-image-38556\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040202.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040202-300x104.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u52a8\u6001\u9690\u4e16\u754c\u6a21\u578b\uff08DLWM\uff09<\/strong><\/p>\n\n\n\n<p>DLWM \u91c7\u7528\u6807\u51c6\u7684\u56e0\u679c Transformer \u5728\u9690\u7a7a\u95f4\u4ee5\u81ea\u56de\u5f52\u7684\u65b9\u5f0f\u9884\u6d4b\u672a\u6765\u65f6\u523b\u7684\u4e16\u754c\u72b6\u6001\u3002<\/p>\n\n\n\n<p><strong>\u4e16\u754c\u72b6\u6001\u8868\u5f81\u805a\u5408<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"186\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040203.png\" alt=\"\" class=\"wp-image-38557\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040203.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040203-300x81.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>\u56e0\u679c\u4e16\u754c\u6a21\u578b\u9884\u6d4b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"156\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040204.png\" alt=\"\" class=\"wp-image-38558\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040204.png 683w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040204-300x69.png 300w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure>\n\n\n\n<p><strong>Teacher Forcing \u6ce8\u610f\u529b\u63a9\u7801<\/strong><\/p>\n\n\n\n<p>\u8bad\u7ec3\u4e2d\u91c7\u7528 teacher forcing \u7b56\u7565\uff1a\u771f\u5b9e token \u4f5c\u4e3a\u4e0a\u4e0b\u6587\u9884\u6d4b\u540e\u7eed token\uff0c\u9632\u6b62\u65f6\u5e8f\u95f4\u8bef\u5dee\u7d2f\u79ef\u3002\u5e27\u95f4\u6ce8\u610f\u529b\u63a9\u7801\u5b9e\u73b0\u56e0\u679c\u9884\u6d4b\uff1aframe block \u5185\u7684 \u00a0token \u80fd\u591f\u5b9e\u73b0\u53cc\u5411\u6ce8\u610f\uff0c\u8de8\u5e27 token \u4ec5\u80fd\u5173\u6ce8\u5230\u5e8f\u5217\u4e2d\u66f4\u65e9\u51fa\u73b0\u7684 token\u3002\u8fd9\u79cd\u8bbe\u8ba1\u5728\u4fdd\u6301\u56e0\u679c\u4e00\u81f4\u6027\u7684\u540c\u65f6\uff0c\u5b9e\u73b0\u6240\u6709\u672a\u6765\u4e16\u754c\u72b6\u6001\u7684\u5e76\u884c\u9884\u6d4b\uff0c\u663e\u8457\u63d0\u5347\u8bad\u7ec3\u6548\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1019\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-12-1019x1024.png\" alt=\"\" class=\"wp-image-38559\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-12-1019x1024.png 1019w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-12-300x300.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-12-150x150.png 150w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-12-768x772.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-12-995x1000.png 995w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-12.png 1080w\" sizes=\"(max-width: 1019px) 100vw, 1019px\" \/><\/figure>\n\n\n\n<p><strong>3D-RoPE \u4f4d\u7f6e\u7f16\u7801<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"167\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040205.png\" alt=\"\" class=\"wp-image-38560\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040205.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040205-300x73.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>\u81ea\u8f66\u72b6\u6001\u76d1\u7763<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"691\" height=\"171\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040206.png\" alt=\"\" class=\"wp-image-38561\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040206.png 691w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040206-300x74.png 300w\" sizes=\"(max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<p><strong>\u8f68\u8ff9\u89c4\u5212<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"123\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040207.png\" alt=\"\" class=\"wp-image-38562\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040207.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040207-300x54.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"281\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040208.png\" alt=\"\" class=\"wp-image-38563\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040208.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040208-300x124.png 300w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n\n\n\n<p><strong>\u63a8\u7406<\/strong><\/p>\n\n\n\n<p>\u63a8\u7406\u65f6\u4ec5\u9700\u7a7a\u95f4\u611f\u77e5\u538b\u7f29\u7f16\u7801\u5668\u548c\u8f68\u8ff9\u89e3\u7801\u5668\uff0c\u65e0\u9700\u4efb\u4f55\u989d\u5916\u6a21\u5757\uff0c\u4e5f\u4e0d\u9700\u8981\u300c\u5148\u60f3\u8c61\uff0c\u540e\u884c\u52a8\u300d\u7684 WAM \u8303\u5f0f\uff0c\u4fbf\u80fd\u591f\u5b9e\u73b0\u9ad8\u6548\u7684\u8f68\u8ff9\u89c4\u5212\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"320\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-13-1024x320.png\" alt=\"\" class=\"wp-image-38564\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-13-1024x320.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-13-300x94.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-13-768x240.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-13.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>NAVSIM v2<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"599\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-14-1024x599.png\" alt=\"\" class=\"wp-image-38565\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-14-1024x599.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-14-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-14-768x449.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-14.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Latent-WAM \u5728 NAVSIM v2 \u4e0a\u53d6\u5f97&nbsp;<strong>89.3 EPDMS<\/strong>\uff0c\u4f18\u4e8e\u6240\u6709\u65b9\u6cd5\uff08\u5305\u62ec\u4f9d\u8d56\u611f\u77e5\u6807\u6ce8\u7684\u65b9\u6cd5\uff09\uff0c\u5728 DDC\u3001TLC\u3001LK \u7b49\u89c4\u5219\u5408\u89c4\u6307\u6807\u4e0a\u6392\u540d\u524d\u5217\u3002<\/p>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cLatent-WAM \u4f5c\u4e3a perception-free \u65b9\u6cd5\uff0c\u5728 NC\uff0898.1\uff09\u3001DAC\uff0897.3\uff09\u7b49\u5b89\u5168\u6307\u6807\u4e0a\u4e0e\u4f9d\u8d56\u611f\u77e5\u6807\u6ce8\u7684 Drive-JEPA\uff08NC 98.4\u3001DAC 98.6\uff09\u63a5\u8fd1\uff0c\u800c EC\uff08\u6269\u5c55\u8212\u9002\u5ea6\uff09\u8fbe\u5230&nbsp;<strong>87.3<\/strong>\uff0c\u663e\u8457\u4f18\u4e8e Drive-JEPA \u768484.8\u3002<\/p>\n\n\n\n<p><strong>HUGSIM \u95ed\u73af\u8bc4\u4f30<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"463\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-15-1024x463.png\" alt=\"\" class=\"wp-image-38566\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-15-1024x463.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-15-300x136.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-15-768x347.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-15.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>HUGSIM \u662f\u5305\u542b KITTI-360\u3001nuScenes\u3001PandaSet\u3001Waymo \u573a\u666f\u7684\u95ed\u73af\u8bc4\u4f30\u57fa\u51c6\u3002Latent-WAM \u9075\u5faa\u4e25\u683c\u7684\u96f6\u6837\u672c\u6cdb\u5316\u8bbe\u5b9a\uff1a\u4ec5\u5728 NAVSIM \u4e0a\u8bad\u7ec3\uff0c\u4e0d\u5728 HUGSIM \u4e0a\u5fae\u8c03\u3002<\/p>\n\n\n\n<p>\u7ed3\u679c\u663e\u793a\uff0cLatent-WAM \u8fbe\u5230\u00a0<strong>45.9 RC<\/strong>\uff08\u9053\u8def\u5b8c\u6210\u7387\uff09\u548c\u00a0<strong>28.9 HD-Score<\/strong>\uff0cRC \u6392\u540d\u7b2c\u4e00\uff0cHD-Score \u4e0e UniAD \u6301\u5e73\uff0c\u8bc1\u660e Latent-WAM \u662f\u5177\u6709\u8de8\u6570\u636e\u96c6\u6cdb\u5316\u80fd\u529b\u7684\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u901a\u8fc7\u6e10\u8fdb\u5f0f\u6d88\u878d\u5b9e\u9a8c\u9a8c\u8bc1\u5404\u6a21\u5757\u6709\u6548\u6027\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"483\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-16-1024x483.png\" alt=\"\" class=\"wp-image-38567\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-16-1024x483.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-16-300x141.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-16-768x362.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-16.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u573a\u666f\u8868\u793a<\/strong>\uff1a\u4e3a\u652f\u6301\u4e16\u754c\u6a21\u578b\u7684\u957f\u65f6\u9884\u6d4b\uff0c\u5c06\u56fe\u50cf patch \u538b\u7f29\u4e3a\u7d27\u51d1\u573a\u666f token\uff0c\u4ec5\u5e26\u6765 0.2 \u7684\u8f7b\u5fae\u4e0b\u964d\u3002\u6ce8\u5165\u51e0\u4f55\u4fe1\u606f\u540e\u6027\u80fd\u63d0\u5347\u81f3 88.6\uff0c\u8bc1\u660e\u51e0\u4f55\u611f\u77e5\u5bf9\u7cbe\u51c6\u8f68\u8ff9\u89c4\u5212\u81f3\u5173\u91cd\u8981\u3002<\/li>\n\n\n\n<li><strong>\u52a8\u6001\u4e16\u754c\u5efa\u6a21<\/strong>\uff1a\u5728\u538b\u7f29\u573a\u666f token \u57fa\u7840\u4e0a\uff0cDLWM \u901a\u8fc7\u6355\u83b7\u672a\u6765\u52a8\u6001\u5c06\u6027\u80fd\u4ece 87.7 \u63d0\u5347\u81f3 88.0\u3002\u52a0\u5165\u81ea\u8f66\u72b6\u6001\u8fdb\u4e00\u6b65\u63d0\u5347\u81f3 88.3\uff0c\u8868\u660e\u81ea\u8f66\u72b6\u6001\u611f\u77e5\u80fd\u591f\u66f4\u597d\u5730\u5f15\u5bfc\u4e16\u754c\u72b6\u6001\u7684\u6b63\u786e\u6f14\u53d8\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6240\u6709\u6a21\u5757\u534f\u540c\u5de5\u4f5c\uff0c\u6700\u7ec8\u5b9e\u73b0 +1.4 \u7684\u6574\u4f53\u63d0\u5347\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u8fdb\u884c\u4e86\u51e0\u7ec4\u5b9e\u9a8c\u53bb\u8bc1\u660e\u51e0\u4f55\u4fe1\u606f\u548c\u4e16\u754c\u6a21\u578b\u7684\u4e00\u4e9b\u6709\u4ef7\u503c\u7684 insight\uff1a<\/p>\n\n\n\n<p><strong>\u5982\u4f55\u6ce8\u5165\u51e0\u4f55\u4fe1\u606f\u5bf9\u89c4\u5212\u6548\u679c\u66f4\u597d\uff1f<\/strong><\/p>\n\n\n\n<p>\u5982\u8868 4 \u6240\u793a\uff0c\u76f4\u63a5\u62fc\u63a5\u51bb\u7ed3\u51e0\u4f55\u7279\u5f81\u53cd\u800c\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u81f3 88.0\uff0c\u53ef\u80fd\u56e0\u4e3a\u51bb\u7ed3\u7279\u5f81\u4e0e\u89c4\u5212\u76ee\u6807\u4e0d\u5339\u914d\uff0c\u5f15\u5165\u51b2\u7a81\u4fe1\u53f7\u3002\u800c\u901a\u8fc7\u84b8\u998f\u5c06\u51e0\u4f55\u77e5\u8bc6\u878d\u5165\u89c6\u89c9\u4e3b\u5e72\uff0c\u7aef\u5230\u7aef\u8bad\u7ec3\u4f7f\u6a21\u578b\u5b66\u4e60\u4e0e\u4e0b\u6e38\u89c4\u5212\u5185\u5728\u5bf9\u9f50\u7684\u7a7a\u95f4\u611f\u77e5\u8868\u793a\uff0c\u76f8\u8f83\u4e24\u79cd\u66ff\u4ee3\u65b9\u6848\u5747\u6709\u663e\u8457\u63d0\u5347\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"328\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-17-1024x328.png\" alt=\"\" class=\"wp-image-38568\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-17-1024x328.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-17-300x96.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-17-768x246.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-17.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5982\u4f55\u9009\u62e9 backbone \u548c\u8bad\u7ec3\u7b56\u7565\u80fd\u5b9e\u73b0\u51e0\u4f55\u80fd\u529b\u7684\u84b8\u998f\uff1f<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9aa8\u5e72\u89c4\u6a21<\/strong>\uff1a\u5982\u8868 5 \u6240\u793a\uff0cDINO-Small \u8fbe\u5230 86.3 EPDMS\uff0c\u4f46\u56e0\u53c2\u6570\u5bb9\u91cf\u4e0d\u8db3\u4ee5\u84b8\u998f\u9ad8\u7ef4\u51e0\u4f55\u7279\u5f81\u800c\u6b21\u4f18\u3002DINO-Base \u5168\u91cf\u5fae\u8c03\u8fbe\u5230\u6700\u4f73\u6027\u80fd 89.3\uff0c\u8868\u660e\u8db3\u591f\u7684 backbone \u5bb9\u91cf\u5bf9\u6709\u6548\u84b8\u998f\u81f3\u5173\u91cd\u8981\u3002<\/li>\n\n\n\n<li><strong>\u8bad\u7ec3\u7b56\u7565<\/strong>\uff1aLoRA \u5fae\u8c03\u4f1a\u5bfc\u81f4\u4e25\u91cd\u9000\u5316\u548c\u4e0d\u7a33\u5b9a\u8bad\u7ec3\uff08DINO-Small-LoRA 84.7\uff0cDINO-Base-LoRA 68.5\uff09\u3002LoRA \u7684\u4f4e\u79e9\u7ea6\u675f\u4e0d\u8db3\u4ee5\u84b8\u998f\u9ad8\u7ef4\u51e0\u4f55\u7279\u5f81\uff0c\u9700\u8981\u5168\u53c2\u6570\u66f4\u65b0\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cDINO-Base-LoRA \u6bd4 DINO-Small-LoRA \u9000\u5316\u66f4\u4e25\u91cd\uff0c\u5728\u76f8\u540c\u7684 LoRA rank\u4e0b\uff0c\u66f4\u5927\u7684\u6a21\u578b\u7ef4\u5ea6\u4f7f\u5f97\u4f4e\u79e9\u66f4\u65b0\u53ef\u8986\u76d6\u7684\u53c2\u6570\u7a7a\u95f4\u6bd4\u4f8b\u66f4\u5c0f\uff0c\u4f4e\u79e9\u5b50\u7a7a\u95f4\u4e0e\u9ad8\u7ef4\u84b8\u998f\u76ee\u6807\u4e4b\u95f4\u7684\u4e0d\u5339\u914d\u88ab\u8fdb\u4e00\u6b65\u653e\u5927\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u901a\u8fc7\u4ee5\u4e0a\u5b9e\u9a8c\u53ef\u4ee5\u5f97\u51fa\u7ed3\u8bba\uff1a\u6709\u6548\u7684\u51e0\u4f55\u84b8\u998f\u9700\u8981\u8db3\u591f\u7684\u6a21\u578b\u5bb9\u91cf\u548c\u5168\u91cf\u8bad\u7ec3\u7b56\u7565\u4fdd\u8bc1\u5bf9\u9f50\u6548\u679c\u3002<\/p>\n\n\n\n<p><strong>\u4e16\u754c\u6a21\u578b\u63d0\u4f9b\u7684\u76d1\u7763\u4fe1\u53f7\u662f\u5426\u8d8a\u5bc6\u96c6\u8d8a\u597d\uff1f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"277\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-18-1024x277.png\" alt=\"\" class=\"wp-image-38569\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-18-1024x277.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-18-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-18-768x208.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-18.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"232\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/040209.png\" alt=\"\" class=\"wp-image-38570\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040209.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/040209-300x101.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u53ef\u89c6\u5316\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u8f68\u8ff9\u5bf9\u6bd4\uff1a\u66f4\u597d\u7684\u4e13\u5bb6\u8f68\u8ff9\u62df\u5408\u80fd\u529b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"547\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-19-1024x547.png\" alt=\"\" class=\"wp-image-38571\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-19-1024x547.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-19-300x160.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-19-768x410.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-19.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5982\u56fe 4 \u6240\u793a\uff0c\u6211\u4eec\u5bf9\u6bd4\u4e86\u4e0d\u540c\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u65b9\u6cd5\u7684\u9884\u6d4b\u8f68\u8ff9\uff08\u7eff\u8272\uff1a\u4eba\u7c7b\u4e13\u5bb6\u6f14\u793a\u8f68\u8ff9\uff0c\u9ec4\u8272\uff1a\u9884\u6d4b\u8f68\u8ff9\uff09\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u66f4\u8d34\u5408\u4eba\u7c7b\u4e13\u5bb6\u6f14\u793a\u8f68\u8ff9\uff0c\u5e76\u4e0e\u5176\u4ed6\u8f66\u8f86\u4fdd\u6301\u66f4\u5b89\u5168\u7684\u8ddd\u79bb\u3002<\/p>\n\n\n\n<p><strong>\u6ce8\u610f\u529b\u5206\u5e03 \uff1a\u66f4\u5f3a\u7684\u573a\u666f\u51e0\u4f55\u4fe1\u606f\u7406\u89e3\u80fd\u529b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"570\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-20-1024x570.png\" alt=\"\" class=\"wp-image-38572\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-20-1024x570.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-20-300x167.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-20-768x427.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2026\/04\/\u56fe\u7247-20.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u53ef\u89c6\u5316\u573a\u666f token \u4e0e\u56fe\u50cf patch \u7684\u6ce8\u610f\u529b\u5206\u5e03\uff0c\u53d1\u73b0\u51e0\u4f55\u84b8\u998f\u5e26\u6765\u7684\u663e\u8457\u6539\u8fdb\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u66f4\u805a\u7126\u7684\u6ce8\u610f\u529b\u5206\u5e03<\/strong>\uff1aLatent-WAM \u4e13\u6ce8\u4e8e\u8f66\u9053\u7ebf\u3001\u573a\u666f\u7ed3\u6784\u548c\u53ef\u884c\u9a76\u533a\u57df\u7b49\u89c4\u5212\u5173\u952e\u533a\u57df\uff1b\u800c\u539f\u59cb\u7684 DINO backbone \u5f97\u5230\u7684\u6ce8\u610f\u529b\u5206\u6563\uff0c\u5927\u91cf\u6743\u91cd\u5206\u914d\u7ed9\u5929\u7a7a\u3001\u8fdc\u5efa\u7b51\u7b49\u65e0\u5173\u80cc\u666f\u3002<\/li>\n\n\n\n<li><strong>\u66f4\u5f3a\u7684\u51e0\u4f55\u7ed3\u6784\u5bf9\u9f50<\/strong>\uff1aLatent-WAM \u4ea7\u751f\u4e25\u683c\u5bf9\u9f50\u51e0\u4f55\u7ed3\u6784\u7684\u6ce8\u610f\u529b\u5206\u5e03\uff0c\u7d27\u5bc6\u8ddf\u968f\u8f66\u9053\u7ebf\u548c\u969c\u788d\u7269\u65c1\u5b89\u5168\u533a\u57df\u7b49\u51e0\u4f55\u8fb9\u754c\u3002<\/li>\n\n\n\n<li><strong>\u9a7e\u9a76\u610f\u56fe\u9ad8\u5ea6\u76f8\u5173\u6027<\/strong>\uff1a\u76f4\u884c\u3001\u5de6\u8f6c\u3001\u53f3\u8f6c\u4e0d\u540c\u610f\u56fe\u4e0b\uff0c\u6ce8\u610f\u529b\u5206\u5e03\u4e0e\u610f\u56fe\u65b9\u5411\u9ad8\u5ea6\u76f8\u5173\u2014\u2014\u6a21\u578b\u4e3b\u8981\u5173\u6ce8\u9884\u671f\u884c\u9a76\u65b9\u5411\u533a\u57df\uff0c\u504f\u79bb\u8f68\u8ff9\u7684\u533a\u57df\u83b7\u5f97\u66f4\u5c11\u7684\u6ce8\u610f\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8d28\u91cf\u66f4\u9ad8\u7684\u6ce8\u610f\u529b\u5206\u5e03\u80fd\u591f\u4f7f\u573a\u666f token \u5728\u538b\u7f29\u573a\u666f\u8868\u5f81\u65f6\u66f4\u52a0\u805a\u7126\u89c4\u5212\u76f8\u5173\u7684\u89c6\u89c9\u4fe1\u606f\uff0c\u907f\u514d\u566a\u58f0\u4fe1\u606f\u5bf9\u538b\u7f29 token 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