{"id":38584,"date":"2026-04-03T17:29:48","date_gmt":"2026-04-03T09:29:48","guid":{"rendered":"http:\/\/192.168.10.115\/?p=38584"},"modified":"2026-04-03T17:29:48","modified_gmt":"2026-04-03T09:29:48","slug":"2026-04-03-colavla%ef%bc%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%a4%a7%e6%a8%a1%e5%9e%8b%ef%bc%8c%e4%b8%8d%e4%b8%80%e5%ae%9a%e9%9d%9e%e8%a6%81%e6%8a%8a%e3%80%8c%e6%80%9d%e8%80%83%e8%bf%87%e7%a8%8b","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/04\/03\/38584\/","title":{"rendered":"2026-04-03 ColaVLA\uff1a\u81ea\u52a8\u9a7e\u9a76\u5927\u6a21\u578b\uff0c\u4e0d\u4e00\u5b9a\u975e\u8981\u628a\u300c\u601d\u8003\u8fc7\u7a0b\u300d\u5199\u6210\u6587\u5b57"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.toutiao.com\/article\/7624389659488977414\/?channel=&source=search_tab<\/a><\/p>\n\n\n\n

\u8fc7\u53bb\u4e24\u5e74\uff0c\u81ea\u52a8\u9a7e\u9a76\u548c\u5927\u6a21\u578b\u7684\u7ed3\u5408\u8d8a\u6765\u8d8a\u70ed\u3002\u4e00\u4e2a\u5f88\u81ea\u7136\u7684\u65b9\u5411\u662f\uff1a\u65e2\u7136\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\u5df2\u7ecf\u5177\u5907\u5f88\u5f3a\u7684\u573a\u666f\u7406\u89e3\u548c\u63a8\u7406\u80fd\u529b\uff0c\u90a3\u80fd\u4e0d\u80fd\u8ba9\u5b83\u50cf\u4eba\u7c7b\u53f8\u673a\u4e00\u6837\uff0c\u5148\u7406\u89e3\u73af\u5883\u3001\u518d\u505a\u5224\u65ad\u3001\u6700\u540e\u8f93\u51fa\u8f68\u8ff9\uff1f<\/p>\n\n\n\n

\u8fd9\u6761\u8def\u7ebf\u542c\u8d77\u6765\u5f88\u5408\u7406\uff0c\u4f46\u771f\u6b63\u843d\u5230\u81ea\u52a8\u9a7e\u9a76\u4e0a\uff0c\u5f88\u5feb\u5c31\u4f1a\u9047\u5230\u4e00\u4e2a\u95ee\u9898\uff1a\u5f88\u591a\u65b9\u6cd5\u867d\u7136\u5f15\u5165\u4e86\u5927\u6a21\u578b\uff0c\u5374\u4ecd\u7136\u628a\u300c\u63a8\u7406\u300d\u505a\u6210\u4e86\u6587\u672c\u94fe\u5f0f\u63a8\u7406<\/strong>\u3002\u4e5f\u5c31\u662f\u8bf4\uff0c\u6a21\u578b\u8981\u5148\u751f\u6210\u4e2d\u95f4\u89e3\u91ca\uff0c\u518d\u628a\u8fd9\u4e9b\u89e3\u91ca\u4e00\u6b65\u6b65\u8f6c\u6210\u52a8\u4f5c\u6216\u8f68\u8ff9\u3002\u8fd9\u6837\u505a\u7684\u4f18\u70b9\u662f\u770b\u8d77\u6765 \u300c\u66f4\u4f1a\u601d\u8003\u300d\uff0c\u4f46\u4ee3\u4ef7\u4e5f\u975e\u5e38\u660e\u663e\uff1a\u6587\u672c\u662f\u79bb\u6563 token\uff0c\u800c\u8f68\u8ff9\u662f\u8fde\u7eed\u63a7\u5236\uff1b\u6587\u672c\u63a8\u7406\u8fd8\u4f9d\u8d56\u81ea\u56de\u5f52\u89e3\u7801\uff0c\u901f\u5ea6\u6162\u3001\u94fe\u8def\u957f\uff0c\u4e0d\u592a\u9002\u5408\u5b9e\u65f6\u9a7e\u9a76\u3002<\/p>\n\n\n\n

\u6765\u81ea\u6e05\u534e\u5927\u5b66\u4e0e\u9999\u6e2f\u4e2d\u6587\u5927\u5b66 MMLab \u7684\u7814\u7a76\u56e2\u961f\u63d0\u51fa\u4e86\u5168\u65b0\u7684\u9690\u7a7a\u95f4\u63a8\u7406\u4e0e\u5c42\u6b21\u5316\u8f68\u8ff9\u89c4\u5212\u7684 VLA \u6846\u67b6 —ColaVLA<\/strong>\uff0c\u8bba\u6587\u5df2\u7ecf\u88ab CVPR2026 \u4e3b\u4f1a\u63a5\u6536\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n
    \n
  • \u8bba\u6587\u6807\u9898\uff1aColaVLA: Leveraging Cognitive Latent Reasoning for Hierarchical Parallel Trajectory Planning in Autonomous Driving<\/li>\n\n\n\n
  • \u8bba\u6587\u94fe\u63a5\uff1a https:\/\/arxiv.org\/abs\/2512.22939<\/li>\n\n\n\n
  • \u4ee3\u7801\u94fe\u63a5\uff1a https:\/\/github.com\/pqh22\/ColaVLA<\/li>\n<\/ul>\n\n\n\n

    \u8fd9\u7bc7\u8bba\u6587\u7ed9\u51fa\u7684\u7b54\u6848\u5f88\u76f4\u63a5\uff1a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u63a8\u7406\uff0c\u4e0d\u4e00\u5b9a\u8981\u5199\u6210\u6587\u5b57<\/strong>\u3002<\/p>\n\n\n\n

    \u4e0e\u5176\u8ba9\u6a21\u578b\u300c\u8fb9\u8bf4\u8fb9\u60f3\u300d\uff0c\u4e0d\u5982\u8ba9\u5b83\u5728\u7edf\u4e00\u6f5c\u7a7a\u95f4\u91cc\u5b8c\u6210\u63a8\u7406\uff0c\u518d\u628a\u7ed3\u679c\u76f4\u63a5\u4ea4\u7ed9\u52a8\u4f5c\u89c4\u5212\u5668\u3002\u8fd9\u6837\u65e2\u80fd\u4fdd\u7559 VLM \u7684\u8bed\u4e49\u5148\u9a8c\u548c\u77e5\u8bc6\u80fd\u529b\uff0c\u53c8\u80fd\u7ed5\u5f00\u663e\u5f0f\u6587\u672c\u751f\u6210\u5e26\u6765\u7684\u5ef6\u8fdf\u548c\u8868\u793a\u9519\u4f4d\u3002<\/p>\n\n\n\n

    \u6574\u7bc7\u8bba\u6587\u6700\u91cd\u8981\u7684\u8d21\u732e\uff0c\u5176\u5b9e\u53ef\u4ee5\u6982\u62ec\u6210\u4e24\u53e5\u8bdd\uff1a\u7b2c\u4e00\uff0c\u628a\u63a8\u7406\u4ece\u6587\u672c\u7a7a\u95f4\u642c\u5230\u6f5c\u7a7a\u95f4\uff1b\u7b2c\u4e8c\uff0c\u628a\u8f68\u8ff9\u751f\u6210\u4ece\u4e32\u884c\u8fc7\u7a0b\u6539\u6210\u5206\u5c42\u5e76\u884c\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

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

    \u4e00\u3001\u6838\u5fc3\u601d\u8def\uff1a\u5148\u300c\u60f3\u6e05\u695a\u300d\uff0c\u518d\u300c\u5f00\u51fa\u6765\u300d<\/strong><\/p>\n\n\n\n

    ColaVLA \u7684\u6574\u4f53\u6846\u67b6\u7531\u4e24\u4e2a\u6838\u5fc3\u90e8\u5206\u7ec4\u6210\uff1a<\/p>\n\n\n\n

      \n
    • Cognitive Latent Reasoner<\/strong>\uff1a\u8d1f\u8d23\u5b8c\u6210\u9ad8\u5c42\u9a7e\u9a76\u8ba4\u77e5<\/li>\n\n\n\n
    • Hierarchical Parallel Planner<\/strong>\uff1a\u8d1f\u8d23\u628a\u9ad8\u5c42\u7b56\u7565\u5c55\u5f00\u6210\u8fde\u7eed\u8f68\u8ff9<\/li>\n<\/ul>\n\n\n\n

      \u4f5c\u8005\u7684\u76ee\u6807\u4e0d\u662f\u7b80\u5355\u628a\u4e00\u4e2a\u5927\u6a21\u578b\u63a5\u5230\u89c4\u5212\u5668\u524d\u9762\uff0c\u800c\u662f\u91cd\u65b0\u5b9a\u4e49\u300c\u63a8\u7406\u300d\u548c\u300c\u52a8\u4f5c\u300d\u4e4b\u95f4\u7684\u63a5\u53e3\uff0c\u8ba9\u4e8c\u8005\u771f\u6b63\u5bf9\u9f50\u3002<\/p>\n\n\n\n

      \u5148\u770b\u524d\u534a\u90e8\u5206\uff0c\u4e5f\u5c31\u662f\u6f5c\u7a7a\u95f4\u63a8\u7406\u5668\u3002\u4f5c\u8005\u628a\u5b83\u8bbe\u8ba1\u6210\u4e00\u4e2a\u5f88\u50cf\u4eba\u7c7b\u53f8\u673a\u7684\u56db\u6b65\u8fc7\u7a0b\uff1a<\/p>\n\n\n\n

        \n
      • Understand<\/li>\n\n\n\n
      • Recognize<\/li>\n\n\n\n
      • Rethink<\/li>\n\n\n\n
      • Decide<\/li>\n<\/ul>\n\n\n\n

        \u8fd9\u56db\u6b65\u770b\u4e0a\u53bb\u5f88\u76f4\u89c2\uff0c\u4f46\u771f\u6b63\u5de7\u5999\u7684\u5730\u65b9\u5728\u4e8e\uff0c\u5b83\u4eec\u90fd\u4e0d\u662f\u901a\u8fc7\u81ea\u7136\u8bed\u8a00\u5b8c\u6210\u7684\uff0c\u800c\u662f\u5728\u7edf\u4e00\u6f5c\u7a7a\u95f4\u4e2d\u9690\u5f0f\u5b8c\u6210\u3002<\/p>\n\n\n\n

        \u7b2c\u4e00\u6b65 Understand\uff0c\u662f\u5148\u6574\u4f53\u770b\u61c2\u573a\u666f\u3002\u6a21\u578b\u4f1a\u628a\u591a\u89c6\u89d2\u89c6\u89c9\u4fe1\u606f\u3001\u56fa\u5b9a\u9a7e\u9a76\u63d0\u793a\u548c ego \u8f66\u72b6\u6001\u4e00\u8d77\u9001\u5165\u5171\u4eab VLM\uff0c\u5148\u5efa\u7acb\u4e00\u4e2a\u5168\u5c40\u573a\u666f\u7406\u89e3\uff0c\u800c\u4e0d\u662f\u4e00\u4e0a\u6765\u5c31\u76f4\u63a5\u56de\u5f52\u8f68\u8ff9\u3002<\/p>\n\n\n\n

        \u7b2c\u4e8c\u6b65 Recognize\uff0c\u662f\u4ece\u5927\u91cf\u89c6\u89c9\u4fe1\u606f\u91cc\u7b5b\u51fa\u771f\u6b63\u548c\u5f53\u524d\u9a7e\u9a76\u52a8\u4f5c\u76f8\u5173\u7684\u5173\u952e\u5b9e\u4f53\u3002\u8fd9\u91cc\u8bba\u6587\u8bbe\u8ba1\u4e86\u4e00\u4e2a ego-adaptive router\uff0c\u6839\u636e\u5f53\u524d\u81ea\u8f66\u72b6\u6001\u52a8\u6001\u9009\u62e9\u6700\u91cd\u8981\u7684\u89c6\u89c9 token\uff0c\u4fdd\u7559\u7684\u901a\u5e38\u662f\u8f66\u9053\u3001\u90bb\u8fd1\u8f66\u8f86\u3001\u884c\u4eba\u3001\u4ea4\u901a\u706f\u8fd9\u4e9b\u5b89\u5168\u5173\u952e\u7ebf\u7d22\uff0c\u800c\u4e0d\u662f\u65e0\u5dee\u522b\u5730\u5904\u7406\u6574\u5f20\u56fe\u3002<\/p>\n\n\n\n

        \u7b2c\u4e09\u6b65 Rethink\uff0c\u5219\u662f\u5728\u538b\u7f29\u540e\u7684\u5173\u952e\u4fe1\u606f\u4e0a\u518d\u505a\u4e00\u6b21 \u201c\u590d\u6838\u5f0f\u63a8\u7406\u201d\uff0c\u5e76\u501f\u52a9\u4e00\u7ec4\u53ef\u5b66\u4e60\u7684 meta-query \u6765\u8868\u793a\u4e0d\u540c\u9ad8\u5c42\u9a7e\u9a76\u7b56\u7565\u3002<\/p>\n\n\n\n

        \u6700\u540e\u4e00\u6b65 Decide\uff0c\u8f93\u51fa\u7684\u4e5f\u4e0d\u662f\u4e00\u53e5\u89e3\u91ca\u6587\u672c\uff0c\u800c\u662f\u4e00\u7ec4\u9762\u5411\u52a8\u4f5c\u751f\u6210\u7684\u9ad8\u5c42\u9a7e\u9a76\u5148\u9a8c\u3002\u8fd9\u6837\u4e00\u6765\uff0c\u6a21\u578b\u5c31\u4e0d\u518d\u9700\u8981\u628a\u63a8\u7406\u7ed3\u679c\u5148\u7ffb\u8bd1\u6210\u81ea\u7136\u8bed\u8a00\uff0c\u518d\u4ece\u8bed\u8a00\u7ffb\u8bd1\u56de\u52a8\u4f5c\u7a7a\u95f4\uff0c\u800c\u662f\u76f4\u63a5\u5b8c\u6210\u4ece\u8ba4\u77e5\u5230\u7b56\u7565\u7684\u5185\u90e8\u95ed\u5408\u3002<\/p>\n\n\n\n

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

        \u4e8c\u3001\u771f\u6b63\u843d\u5230\u52a8\u4f5c\u5c42\u9762\uff0c\u5b83\u7684\u89c4\u5212\u5668\u4e3a\u4ec0\u4e48\u66f4\u5408\u7406\uff1f<\/strong><\/p>\n\n\n\n

        \u5f88\u591a\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u7684\u95ee\u9898\uff0c\u4e0d\u53ea\u662f\u4e0a\u6e38\u63a8\u7406\u65b9\u5f0f\u4e0d\u5408\u9002\uff0c\u4e0b\u6e38\u8f68\u8ff9\u751f\u6210\u65b9\u5f0f\u4e5f\u672a\u5fc5\u771f\u6b63\u7b26\u5408\u9a7e\u9a76\u52a8\u4f5c\u7684\u7ed3\u6784\u3002\u6709\u4e9b\u65b9\u6cd5\u4e00\u6b21\u6027\u76f4\u63a5\u56de\u5f52\u6574\u6761\u8f68\u8ff9\uff0c\u867d\u7136\u7b80\u5355\uff0c\u4f46\u7f3a\u5c11\u5c42\u6b21\uff1b\u6709\u4e9b\u65b9\u6cd5\u4f9d\u8d56\u590d\u6742\u751f\u6210\u8fc7\u7a0b\uff0c\u867d\u7136\u8868\u8fbe\u80fd\u529b\u5f3a\uff0c\u4f46\u6548\u7387\u548c\u90e8\u7f72\u7a33\u5b9a\u6027\u4e0d\u4e00\u5b9a\u7406\u60f3\u3002<\/p>\n\n\n\n

        ColaVLA \u8fd9\u91cc\u7684\u601d\u8def\u5f88\u6e05\u6670\uff1a\u9a7e\u9a76\u8f68\u8ff9\u672c\u6765\u5c31\u662f\u5206\u5c42\u7684\uff0c\u6240\u4ee5\u751f\u6210\u8fc7\u7a0b\u4e5f\u5e94\u8be5\u5206\u5c42<\/strong>\u3002<\/p>\n\n\n\n

        \u8bba\u6587\u63d0\u51fa\u7684 Hierarchical Parallel Planner<\/strong> \u6709\u4e09\u4e2a\u5173\u952e\u8bcd\uff1a<\/p>\n\n\n\n

          \n
        • \u5148\u7c97\u540e\u7ec6<\/li>\n\n\n\n
        • \u4fdd\u6301\u56e0\u679c<\/li>\n\n\n\n
        • \u5e76\u884c\u89e3\u7801<\/li>\n<\/ul>\n\n\n\n

          \u5b83\u4e0d\u662f\u628a\u672a\u6765\u8f68\u8ff9\u5f53\u4f5c\u4e00\u4e2a\u6241\u5e73\u8f93\u51fa\uff0c\u800c\u662f\u5148\u786e\u5b9a\u7c97\u7c92\u5ea6\u610f\u56fe\uff0c\u518d\u9010\u6b65\u8865\u8db3\u4e2d\u95f4\u7ec6\u8282\u3002\u8fd9\u66f4\u50cf\u771f\u5b9e\u9a7e\u9a76\u5458\u7684\u51b3\u7b56\u65b9\u5f0f\uff1a\u5148\u60f3\u6e05\u695a\u300c\u5f80\u54ea\u53bb\u300d\uff0c\u518d\u51b3\u5b9a\u300c\u5177\u4f53\u600e\u4e48\u8d70\u300d\u3002<\/p>\n\n\n\n

          \u540c\u65f6\uff0c\u4f5c\u8005\u8fd8\u8bbe\u8ba1\u4e86\u4e00\u4e2a causality-preserving \u7684\u6ce8\u610f\u529b\u673a\u5236\uff0c\u4fdd\u8bc1\u4e0d\u540c\u5c3a\u5ea6\u4e4b\u95f4\u7684\u4fe1\u606f\u6d41\u662f\u4ece\u7c97\u5230\u7ec6\u3001\u9010\u5c42\u7ec6\u5316\u7684\uff0c\u800c\u4e0d\u662f\u76f8\u4e92\u6cc4\u6f0f\u3002\u8fd9\u6837\u4e00\u6765\uff0c\u591a\u5c3a\u5ea6\u7ed3\u6784\u5c31\u4e0d\u53ea\u662f\u5f62\u5f0f\u4e0a\u7684\u5206\u89e3\uff0c\u800c\u662f\u771f\u6b63\u5177\u6709\u56e0\u679c\u7ea6\u675f\u7684\u8f68\u8ff9\u751f\u6210\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

          \u66f4\u91cd\u8981\u7684\u662f\uff0c\u8fd9\u4e2a planner \u53ef\u4ee5\u5728\u5355\u6b21\u524d\u5411\u4f20\u64ad\u4e2d\u5e76\u884c\u5b8c\u6210\u591a\u5c3a\u5ea6\u3001\u591a\u6a21\u5f0f\u8f68\u8ff9\u89e3\u7801<\/strong>\uff0c\u4e0d\u7528\u518d\u50cf\u6587\u672c CoT \u90a3\u6837\u4e00\u6b65\u4e00\u6b65\u4e32\u884c\u751f\u6210\u3002<\/p>\n\n\n\n

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

          \u4e09\u3001\u5b9e\u9a8c\u7ed3\u679c\u8bf4\u660e\u4e86\u4ec0\u4e48\uff1f<\/strong><\/p>\n\n\n\n

          \u4ece\u7ed3\u679c\u4e0a\u770b\uff0cColaVLA \u6700\u6253\u52a8\u4eba\u7684\u5730\u65b9\uff0c\u4e0d\u53ea\u662f\u300c\u6307\u6807\u66f4\u9ad8\u300d\uff0c\u800c\u662f\u5b83\u540c\u65f6\u517c\u987e\u4e86\u7cbe\u5ea6\u3001\u5b89\u5168\u548c\u6548\u7387\u3002<\/p>\n\n\n\n

          1. Open-loop\uff1a\u4e0d\u53ea\u662f\u9884\u6d4b\u66f4\u51c6\uff0c\u800c\u4e14\u66f4\u5b89\u5168<\/strong><\/p>\n\n\n\n

          \u5728 nuScenes \u7684\u5f00\u73af\u8bc4\u6d4b\u4e2d\uff0cColaVLA \u5728\u52a8\u4f5c\u7c7b\u65b9\u6cd5\u91cc\u53d6\u5f97\u4e86\u6700\u4f18\u7efc\u5408\u8868\u73b0\uff0c\u5e73\u5747 L2 \u8bef\u5dee\u4e3a 0.30 m<\/strong>\uff0c\u5e73\u5747\u78b0\u649e\u7387\u4e3a 0.23%<\/strong>\u3002\u76f8\u6bd4\u5f3a\u57fa\u7ebf SOLVE-E2E\uff0cL2 \u8fdb\u4e00\u6b65\u4e0b\u964d\uff0c\u78b0\u649e\u7387\u4e5f\u660e\u663e\u964d\u4f4e\u3002<\/p>\n\n\n\n

          \u8fd9\u8bf4\u660e\u5b83\u8f93\u51fa\u7684\u8f68\u8ff9\u5e76\u4e0d\u53ea\u662f\u6570\u503c\u4e0a\u66f4\u63a5\u8fd1\u771f\u503c\uff0c\u800c\u662f\u5728\u5b89\u5168\u6027\u5c42\u9762\u4e5f\u66f4\u4f18\u3002<\/p>\n\n\n\n

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

          2. Closed-loop\uff1a\u771f\u6b63\u4f53\u73b0\u65b9\u6cd5\u4ef7\u503c\u7684\u90e8\u5206<\/strong><\/p>\n\n\n\n

          \u5728\u66f4\u5173\u952e\u7684\u95ed\u73af\u8bc4\u6d4b NeuroNCAP \u4e2d\uff0cColaVLA \u7684\u5e73\u5747\u5f97\u5206\u8fbe\u5230 3.48<\/strong>\uff0c\u5e73\u5747\u78b0\u649e\u7387\u964d\u5230 36.8%<\/strong>\uff0c\u660e\u663e\u4f18\u4e8e\u591a\u79cd\u524d\u5e8f\u65b9\u6cd5\u3002<\/p>\n\n\n\n

          \u8bba\u6587\u7279\u522b\u6307\u51fa\uff0c\u76f8\u6bd4\u4f9d\u8d56\u6587\u672c\u63a8\u7406\u3001\u5e76\u4f7f\u7528\u989d\u5916\u6570\u636e\u7684 ImpromptuVLA\uff0cColaVLA \u5728\u4e0d\u663e\u5f0f\u751f\u6210\u6587\u672c\u601d\u7ef4\u94fe<\/strong>\u7684\u60c5\u51b5\u4e0b\uff0c\u4f9d\u7136\u53d6\u5f97\u4e86\u66f4\u597d\u7684\u95ed\u73af\u8868\u73b0\u3002<\/p>\n\n\n\n

          \u8fd9\u4e2a\u7ed3\u679c\u5f88\u6709\u8bf4\u670d\u529b\uff0c\u56e0\u4e3a\u5b83\u8bf4\u660e\uff1a\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6765\u8bf4\uff0c\u66f4\u957f\u3001\u66f4\u590d\u6742\u7684\u6587\u5b57\u63a8\u7406\u94fe\uff0c\u5e76\u4e0d\u4e00\u5b9a\u80fd\u5e26\u6765\u66f4\u597d\u7684\u771f\u5b9e\u9a7e\u9a76\u884c\u4e3a\uff1b\u771f\u6b63\u5173\u952e\u7684\uff0c\u8fd8\u662f\u5185\u90e8\u51b3\u7b56\u8868\u5f81\u662f\u5426\u9002\u5408\u52a8\u4f5c\u751f\u6210\uff0c\u4ee5\u53ca\u89c4\u5212\u5668\u662f\u5426\u5177\u6709\u5408\u7406\u7684\u56e0\u679c\u7ed3\u6784\u3002<\/p>\n\n\n\n

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

          3. \u63a8\u7406\u6548\u7387\uff1a\u5b83\u628a\u300c\u843d\u5730\u53ef\u80fd\u6027\u300d\u5f80\u524d\u63a8\u4e86\u4e00\u6b65<\/strong><\/p>\n\n\n\n

          \u6548\u7387\u4e0a\uff0cColaVLA \u4e5f\u7ed9\u51fa\u4e86\u975e\u5e38\u4eae\u773c\u7684\u7ed3\u679c\u3002\u5728\u624e\u5b9e\u7684\u5de5\u7a0b\u4f18\u5316\u540e\uff0c\u5b83\u7684\u5728 H200 \u4e0a\u7684\u7aef\u5230\u7aef\u63a8\u7406\u5ef6\u8fdf\u4e3a 228 ms\/frame<\/strong>\uff0c\u800c\u5bf9\u6bd4\u7684\u6587\u672c\u5f0f\u65b9\u6cd5\u6574\u4f53\u5feb\u4e86 5 \u500d\u5230 10 \u500d\u5de6\u53f3<\/strong>\u3002<\/p>\n\n\n\n

          \u8fd9\u610f\u5473\u7740\uff0c\u628a\u63a8\u7406\u4ece\u6587\u672c\u642c\u5230\u6f5c\u7a7a\u95f4\uff0c\u5e76\u4e0d\u53ea\u662f\u6982\u5ff5\u4e0a\u66f4\u4f18\u96c5\uff0c\u800c\u662f\u771f\u7684\u6362\u6765\u4e86\u5b9e\u6253\u5b9e\u7684\u901f\u5ea6\u6536\u76ca\u3002\u5bf9\u4e8e\u5f3a\u8c03\u95ed\u73af\u548c\u5b9e\u65f6\u6027\u7684\u81ea\u52a8\u9a7e\u9a76\u6765\u8bf4\uff0c\u8fd9\u4e00\u70b9\u5c24\u5176\u5173\u952e\u3002<\/p>\n\n\n\n

          \u56db\u3001\u6d88\u878d\u5b9e\u9a8c\u6700\u503c\u5f97\u8bb0\u4f4f\u7684\u51e0\u70b9<\/strong><\/p>\n\n\n\n

          \u8fd9\u7bc7\u8bba\u6587\u7684\u6d88\u878d\u5b9e\u9a8c\u4e5f\u6bd4\u8f83\u5b8c\u6574\uff0c\u4f46\u6700\u503c\u5f97\u8bb0\u4f4f\u7684\u5176\u5b9e\u53ea\u6709\u56db\u70b9\u3002<\/p>\n\n\n\n

          \u7b2c\u4e00\uff0c\u6f5c\u7a7a\u95f4\u63a8\u7406\u672c\u8eab\u786e\u5b9e\u6709\u6548\u3002\u53ea\u8981\u52a0\u5165 latent reasoning\uff0c\u6a21\u578b\u7684\u8f68\u8ff9\u8bef\u5dee\u5c31\u4f1a\u4e0b\u964d\uff1b\u518d\u52a0\u5165 rethink \u9636\u6bb5\uff0c\u6548\u679c\u8fd8\u4f1a\u8fdb\u4e00\u6b65\u63d0\u5347\u3002\u8fd9\u8bf4\u660e\u300c\u5148\u6293\u5173\u952e\u3001\u518d\u505a\u590d\u6838\u300d\u7684\u8ba4\u77e5\u94fe\u6761\u4e0d\u662f\u53d9\u4e8b\u5305\u88c5\uff0c\u800c\u662f\u771f\u6b63\u6709\u52a9\u4e8e\u51b3\u7b56\u8d28\u91cf\u3002<\/p>\n\n\n\n

          \u7b2c\u4e8c\uff0c\u5206\u5c42\u5e76\u884c\u89c4\u5212\u5668\u672c\u8eab\u4e5f\u5f88\u91cd\u8981\u3002\u5373\u4fbf\u628a reasoning \u6a21\u5757\u53bb\u6389\uff0c\u4f5c\u8005\u7684 planner \u5728\u95ed\u73af\u4e0a\u4f9d\u7136\u660e\u663e\u4f18\u4e8e\u666e\u901a MLP \u5934\u548c diffusion \u5934\uff0c\u8bf4\u660e\u5b83\u786e\u5b9e\u66f4\u7b26\u5408\u771f\u5b9e\u9a7e\u9a76\u52a8\u4f5c\u7684\u751f\u6210\u903b\u8f91\u3002<\/p>\n\n\n\n

          \u7b2c\u4e09\uff0c\u5173\u952e token \u4e0d\u662f\u8d8a\u591a\u8d8a\u597d\uff0c\u800c\u662f\u5e73\u8861\u6700\u597d\u6700\u91cd\u8981\u3002\u4fdd\u7559\u592a\u5c11\u4f1a\u4e22\u4fe1\u606f\uff0c\u4fdd\u7559\u592a\u591a\u53c8\u4f1a\u5f15\u5165\u5197\u4f59\uff0c\u8bba\u6587\u6700\u7ec8\u9009\u62e9\u4e86\u4e00\u4e2a\u5728\u8868\u8fbe\u80fd\u529b\u548c\u6548\u7387\u4e4b\u95f4\u66f4\u5747\u8861\u7684\u914d\u7f6e\u3002<\/p>\n\n\n\n

          \u7b2c\u56db\uff0c\u6700\u4f18\u7684\u8f68\u8ff9\u751f\u6210\u65b9\u5f0f\u4e0d\u662f\u4e00\u6b21\u6027\u56de\u5f52\u6574\u6761\u8f68\u8ff9\uff0c\u800c\u662f\u5148\u786e\u5b9a\u5173\u952e\u70b9\uff0c\u518d\u9010\u5c42\u8865\u9f50\u4e2d\u95f4\u7ec6\u8282\uff0c\u8fd9\u548c\u9a7e\u9a76\u52a8\u4f5c\u672c\u8eab\u7684\u56e0\u679c\u7ed3\u6784\u662f\u5bf9\u5f97\u4e0a\u7684\u3002<\/p>\n\n\n\n

          \u4e94\u3001\u8fd9\u7bc7\u8bba\u6587\u771f\u6b63\u6709\u4ef7\u503c\u7684\u5730\u65b9\u662f\u4ec0\u4e48\uff1f<\/strong><\/p>\n\n\n\n

          \u5982\u679c\u53ea\u628a ColaVLA \u770b\u6210\u300c\u53c8\u4e00\u4e2a\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u300d\uff0c\u5176\u5b9e\u4f4e\u4f30\u4e86\u5b83\u3002<\/p>\n\n\n\n

          \u6211\u89c9\u5f97\u8fd9\u7bc7\u5de5\u4f5c\u7684\u66f4\u5927\u610f\u4e49\u5728\u4e8e\uff0c\u5b83\u63d0\u51fa\u4e86\u4e00\u4e2a\u975e\u5e38\u660e\u786e\u7684\u5224\u65ad\uff1a<\/p>\n\n\n\n

          \u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u63a8\u7406\uff0c\u4e0d\u4e00\u5b9a\u9700\u8981\u663e\u5f0f\u5199\u6210\u6587\u5b57<\/strong>\u3002<\/p>\n\n\n\n

          \u8fc7\u53bb\u5f88\u591a\u5de5\u4f5c\u9ed8\u8ba4\u8ba4\u4e3a\uff0c\u5927\u6a21\u578b\u7684\u4f18\u52bf\u6765\u81ea\u300c\u4f1a\u89e3\u91ca\u300d\u300c\u4f1a\u8bf4\u8bdd\u300d\u300c\u80fd\u8f93\u51fa\u601d\u7ef4\u94fe\u300d\u3002\u4f46 ColaVLA \u7ed9\u51fa\u7684\u7b54\u6848\u662f\uff1a\u5728\u81ea\u52a8\u9a7e\u9a76\u8fd9\u79cd\u8fde\u7eed\u63a7\u5236\u4efb\u52a1\u91cc\uff0c\u66f4\u91cd\u8981\u7684\u4e5f\u8bb8\u4e0d\u662f\u300c\u8ba9\u6a21\u578b\u628a\u601d\u8003\u8bf4\u51fa\u6765\u300d\uff0c\u800c\u662f\u300c\u8ba9\u6a21\u578b\u5728\u5185\u90e8\u771f\u6b63\u60f3\u6e05\u695a\uff0c\u5e76\u7528\u66f4\u9002\u5408\u52a8\u4f5c\u751f\u6210\u7684\u65b9\u5f0f\u8868\u8fbe\u51fa\u6765\u300d\u3002<\/p>\n\n\n\n

          \u4ece\u8fd9\u4e2a\u89d2\u5ea6\u770b\uff0c\u5b83\u4ee3\u8868\u7684\u662f\u4e00\u79cd\u5f88\u503c\u5f97\u91cd\u89c6\u7684\u8303\u5f0f\u53d8\u5316\uff1a<\/p>\n\n\n\n

            \n
          • \u4ece text reasoning<\/strong> \u8f6c\u5411 latent reasoning<\/strong><\/li>\n\n\n\n
          • \u4ece sequential decoding <\/strong>\u8f6c\u5411 parallel decoding<\/li>\n\n\n\n
          • \u4ece\u300c\u5c55\u793a\u63a8\u7406\u8fc7\u7a0b\u300d\u8f6c\u5411\u300c\u517c\u987e\u5b89\u5168\u3001\u6548\u7387\u548c\u95ed\u73af\u8868\u73b0\u300d<\/li>\n<\/ul>\n\n\n\n

            \u8bba\u6587\u6700\u540e\u7684\u7ed3\u8bba\u4e5f\u5f88\u6e05\u695a\uff1a\u628a\u63a8\u7406\u4ece\u6587\u672c\u8fc1\u79fb\u5230\u6f5c\u7a7a\u95f4\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u77e5\u8bc6\u9a71\u52a8\u51b3\u7b56\u63d0\u4f9b\u4e86\u4e00\u6761\u66f4\u53ef\u6269\u5c55\u3001\u4e5f\u66f4\u73b0\u5b9e\u7684\u8def\u5f84\u3002<\/p>\n\n\n\n

            \u516d\u3001\u603b\u7ed3<\/strong><\/p>\n\n\n\n

            \u5982\u679c\u8981\u7528\u4e00\u53e5\u8bdd\u603b\u7ed3 ColaVLA\uff0c\u6211\u4f1a\u8fd9\u6837\u8bf4\uff1a<\/p>\n\n\n\n

            \u5b83\u4e0d\u662f\u8ba9\u81ea\u52a8\u9a7e\u9a76\u5927\u6a21\u578b\u300c\u66f4\u4f1a\u8bf4\u300d\uff0c\u800c\u662f\u8ba9\u5b83\u300c\u66f4\u4f1a\u5728\u5185\u90e8\u60f3\u6e05\u695a\uff0c\u518d\u66f4\u5feb\u5730\u5f00\u51fa\u6765\u300d<\/strong>\u3002<\/p>\n\n\n\n

            \u8fd9\u7bc7\u8bba\u6587\u6700\u6838\u5fc3\u7684\u8d21\u732e\uff0c\u4e0d\u53ea\u662f\u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u6a21\u5757\uff0c\u4e5f\u4e0d\u53ea\u662f\u5237\u65b0\u4e86\u51e0\u9879\u6307\u6807\uff0c\u800c\u662f\u5b83\u8bc1\u660e\u4e86\u4e0b\u9762\u51e0\u4ef6\u4e8b\uff1a<\/p>\n\n\n\n

              \n
            1. \u81ea\u52a8\u9a7e\u9a76\u91cc\u7684\u63a8\u7406\uff0c\u53ef\u4ee5\u4e0d\u4f9d\u8d56\u663e\u5f0f\u6587\u672c\u601d\u7ef4\u94fe\uff1b<\/li>\n\n\n\n
            2. \u6f5c\u7a7a\u95f4\u63a8\u7406\u540c\u6837\u53ef\u4ee5\u4fdd\u7559\u9ad8\u5c42\u9a7e\u9a76\u51b3\u7b56\u80fd\u529b\uff1b<\/li>\n\n\n\n
            3. \u5206\u5c42\u5e76\u884c\u3001\u56e0\u679c\u4e00\u81f4\u7684\u89c4\u5212\u5668\uff0c\u66f4\u9002\u5408\u771f\u5b9e\u9a7e\u9a76\u52a8\u4f5c\u751f\u6210\uff1b<\/li>\n\n\n\n
            4. \u5f53\u63a8\u7406\u5f62\u5f0f\u548c\u52a8\u4f5c\u751f\u6210\u771f\u6b63\u5bf9\u9f50\u65f6\uff0c\u7cfb\u7edf\u624d\u80fd\u540c\u65f6\u83b7\u5f97\u66f4\u597d\u7684\u5b89\u5168\u6027\u3001\u6548\u7387\u548c\u95ed\u73af\u8868\u73b0\u3002<\/li>\n<\/ol>\n\n\n\n

              \u5bf9\u4e8e\u540e\u7eed\u81ea\u52a8\u9a7e\u9a76\u5927\u6a21\u578b\u7684\u53d1\u5c55\u6765\u8bf4\uff0c\u8fd9\u7bc7\u5de5\u4f5c\u5f88\u53ef\u80fd\u4ee3\u8868\u7740\u4e00\u4e2a\u5f88\u503c\u5f97\u7ee7\u7eed\u6df1\u5165\u7684\u65b9\u5411\uff1a<\/p>\n\n\n\n

              \u4e0d\u662f\u628a\u5927\u6a21\u578b\u786c\u585e\u8fdb\u81ea\u52a8\u9a7e\u9a76\uff0c\u800c\u662f\u91cd\u65b0\u8bbe\u8ba1\u4e00\u79cd\u771f\u6b63\u9002\u5408\u81ea\u52a8\u9a7e\u9a76\u7684\u5927\u6a21\u578b\u63a8\u7406\u65b9\u5f0f<\/strong>\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

              \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.toutia […]<\/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-38584","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38584"}],"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=38584"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38584\/revisions"}],"predecessor-version":[{"id":38585,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/38584\/revisions\/38585"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=38584"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=38584"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=38584"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}