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\"\u65f6\u9694\u5341\u5e74\uff0cAI\u5927\u725b\u7f72\u540d\u65b0\u8bba\u6587\"\/<\/div><\/figure>\n
\"\u65f6\u9694\u5341\u5e74\uff0cAI\u5927\u725b\u7f72\u540d\u65b0\u8bba\u6587\"\/<\/div><\/figure>\n
\"\u65f6\u9694\u5341\u5e74\uff0cAI\u5927\u725b\u7f72\u540d\u65b0\u8bba\u6587\"\/<\/div><\/figure>\n
\"\u65f6\u9694\u5341\u5e74\uff0cAI\u5927\u725b\u7f72\u540d\u65b0\u8bba\u6587\"\/<\/div><\/figure>\n

\u6770\u897f\u5361 \u53d1\u81ea ROBO-\u4eba<\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u518d\u51fa\u4e00\u7bc7\u539f\u521b\u7814\u7a76\u8bba\u6587\u3002<\/p>\n

\u8fd9\u7bc7\u6700\u65b0\u8bba\u6587\uff0c\u8ba9\u81ea\u52a8\u9a7e\u9a76\u80fd\u201c\u8d70\u4e00\u6b65\u60f3\u5341\u6b65\u201d\uff0c\u66f4\u50cf\u8001\u53f8\u673a\u4e86\uff01<\/p>\n

\u6700\u8fd1\uff0c\u4efb\u5c11\u537f\u6307\u5bfc\u53d1\u5e03\u8bba\u6587\u300aMM-Future: Multi-Mode Joint World\u2013Action Modeling for Autonomous Driving\u300b\uff0c\u63d0\u51fa\u4e00\u79cd\u65b0\u7684\u591a\u6a21\u5f0f\u4e16\u754c\u2014\u52a8\u4f5c\u8054\u5408\u6a21\u578b\u3002<\/p>\n

\u516c\u5f00\u5b66\u672f\u8bb0\u5f55\u4e2d\uff0c\u4ed6\u7684\u4ee3\u8868\u6027\u7814\u7a76\u4e3b\u8981\u96c6\u4e2d\u57282014\u20142016\u5e74\uff0c\u5305\u62ecFaster R-CNN\u3001ResNet\u7b49\u4e00\u7cfb\u5217\u8ba1\u7b97\u673a\u89c6\u89c9\u7ecf\u5178\u5de5\u4f5c\u3002<\/p>\n

\u8fd9\u4e00\u6b21\uff0c\u4ed6\u91cd\u65b0\u4ee5\u901a\u8baf\u4f5c\u8005\u8eab\u4efd\u51fa\u73b0\u5728\u81ea\u52a8\u9a7e\u9a76\u8bba\u6587\u4e2d\u3002\u8bba\u6587\u7b2c\u4e00\u673a\u6784\u4e3aNIO\uff0c\u591a\u4f4d\u4f5c\u8005\u6765\u81ea\u851a\u6765\uff0c\u7814\u7a76\u65b9\u5411\u4e5f\u76f4\u63a5\u6307\u5411\u4e16\u754c\u6a21\u578b\u548c\u89c4\u5212\u3002<\/p>\n

\u8fd9\u7bc7\u8bba\u6587\u8981\u89e3\u51b3\u7684\u6838\u5fc3\u95ee\u9898\u5f88\u660e\u786e\uff1a\u540c\u4e00\u4e2a\u9a7e\u9a76\u573a\u666f\u4e0b\uff0c\u7cfb\u7edf\u9700\u8981\u5904\u7406\u7684\u4e0d\u53ea\u662f\u4e00\u6761\u8f68\u8ff9\uff0c\u4e5f\u4e0d\u53ea\u662f\u4e00\u4e2a\u786e\u5b9a\u7684\u672a\u6765\u3002<\/p>\n

\u56e2\u961f\u7684\u601d\u8def\u662f\uff1a\u8ba9\u6a21\u578b\u4e00\u6b21\u751f\u6210\u591a\u7ec4\u573a\u666f\u2014\u52a8\u4f5c\u5047\u8bbe\uff0c\u8f66\u8f86\u8f68\u8ff9\u4e0e\u5bf9\u5e94\u7684\u672a\u6765\u573a\u666f\u5171\u540c\u6f14\u5316\uff0c\u6700\u540e\u518d\u4ece\u4e2d\u9009\u62e9\u3002<\/p>\n

\u7b80\u5355\u6765\u8bf4\uff0c\u81ea\u52a8\u9a7e\u9a76\u4e0d\u4ec5\u80fd\u770b\u6e05\u5468\u56f4\u73af\u5883\uff0c\u8fd8\u80fd\u9884\u6f14\u591a\u79cd\u53ef\u80fd\u7684\u672a\u6765\uff0c\u6700\u7ec8\u9009\u62e9\u6700\u5b89\u5168\u7684\u8def\u5f84\u6267\u884c\u3002<\/p>\n

\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u57fa\u672c\u903b\u8f91\uff0c\u662f\u5c06\u4f20\u611f\u5668\u89c2\u6d4b\u76f4\u63a5\u6620\u5c04\u4e3a\u81ea\u8f66\u8f68\u8ff9\u6216\u63a7\u5236\u6307\u4ee4\u3002<\/p>\n

World\u2013Action Model\u5219\u8fdb\u4e00\u6b65\u589e\u52a0\u4e86\u672a\u6765\u573a\u666f\u5efa\u6a21\uff0c\u8ba9\u89c4\u5212\u4e0d\u4ec5\u4f9d\u636e\u5f53\u524d\u73af\u5883\uff0c\u4e5f\u53c2\u8003\u52a8\u4f5c\u53ef\u80fd\u5e26\u6765\u7684\u540e\u679c\u3002<\/p>\n

\u73b0\u6709\u7684World\u2013Action Model\u5927\u81f4\u5b58\u5728\u4e24\u7c7b\u8def\u7ebf\uff1a<\/p>\n

\u4e00\u7c7b\u662f\u7ea7\u8054\u5f0f\u65b9\u6848\u3002\u4f8b\u5982\u5148\u751f\u6210\u51e0\u6761\u5019\u9009\u8f68\u8ff9\uff0c\u518d\u5206\u522b\u9884\u6d4b\u6bcf\u6761\u8f68\u8ff9\u5bf9\u5e94\u7684\u672a\u6765\u573a\u666f\uff1b\u6216\u8005\u5148\u9884\u6d4b\u672a\u6765\u573a\u666f\uff0c\u518d\u57fa\u4e8e\u573a\u666f\u5b8c\u6210\u89c4\u5212\u3002\u8fd9\u79cd\u65b9\u5f0f\u53ef\u4ee5\u751f\u6210\u591a\u4e2a\u5019\u9009\u7ed3\u679c\u3002<\/p>\n

\u4f46\u8fd9\u79cd\u65b9\u6cd5\u7684\u95ee\u9898\u4e5f\u5f88\u660e\u786e\uff1a\u4fe1\u606f\u6309\u5355\u5411\u4f20\u9012\uff0c\u540e\u751f\u6210\u7684\u53d8\u91cf\u65e0\u6cd5\u56de\u5934\u4fee\u6b63\u524d\u9762\u7684\u51b3\u7b56\u3002<\/p>\n

\u5047\u5982\u6a21\u578b\u5df2\u7ecf\u5148\u786e\u5b9a\u81ea\u8f66\u5411\u524d\u901a\u8fc7\u8def\u53e3\uff0c\u968f\u540e\u624d\u9884\u6d4b\u5230\u5bf9\u5411\u8f66\u8f86\u6ca1\u6709\u51cf\u901f\uff0c\u8fd9\u4e2a\u672a\u6765\u7ed3\u679c\u5f88\u96be\u91cd\u65b0\u53c2\u4e0e\u524d\u9762\u7684\u52a8\u4f5c\u751f\u6210\u8fc7\u7a0b\u3002<\/p>\n

\u53e6\u4e00\u7c7b\u662f\u8054\u5408\u5f0f\u65b9\u6848\u3002\u573a\u666f\u548c\u52a8\u4f5c\u653e\u5728\u540c\u4e00\u4e2a\u751f\u6210\u8fc7\u7a0b\u4e2d\uff0c\u4e24\u8005\u53ef\u4ee5\u76f8\u4e92\u5f71\u54cd\u3002<\/p>\n

\u8f66\u8f86\u52a8\u4f5c\u53d8\u5316\uff0c\u9884\u6d4b\u73af\u5883\u968f\u4e4b\u8c03\u6574\uff1b\u73af\u5883\u4e00\u65e6\u53d8\u5316\uff0c\u4e5f\u4f1a\u53cd\u8fc7\u6765\u5f71\u54cd\u8f66\u8f86\u8f68\u8ff9\u3002\u73b0\u6709\u8fd9\u7c7b\u65b9\u6cd5\u901a\u5e38\u53ea\u751f\u6210\u4e00\u7ec4\u573a\u666f\u2014\u52a8\u4f5c\u7ed3\u679c\u3002<\/p>\n

\u8bba\u6587\u6307\u51fa\u4e86\u5176\u4e2d\u7684\u7a7a\u767d\uff1a\u7ea7\u8054\u5f0f\u6a21\u578b\u53ef\u4ee5\u8986\u76d6\u591a\u79cd\u9a7e\u9a76\u7ed3\u679c\uff0c\u4f46\u573a\u666f\u548c\u52a8\u4f5c\u4e4b\u95f4\u7f3a\u4e4f\u53cc\u5411\u4ea4\u4e92\uff1b\u8054\u5408\u6a21\u578b\u5177\u5907\u53cc\u5411\u4ea4\u4e92\u80fd\u529b\uff0c\u4f46\u901a\u5e38\u53ea\u751f\u6210\u5355\u7ec4\u7ed3\u679c\u3002<\/p>\n

\u4f46\u771f\u5b9e\u9053\u8def\u5f80\u5f80\u9700\u8981\u540c\u65f6\u5904\u7406\u8fd9\u4e24\u4ef6\u4e8b\u3002<\/p>\n

MM-Future\u7ed9\u51fa\u7684\u65b9\u6848\u662f\uff1a\u4e00\u6b21\u751f\u6210\u591a\u7ec4\u573a\u666f\u2014\u52a8\u4f5c\u5047\u8bbe\uff0c\u6bcf\u4e00\u7ec4\u5185\u90e8\u7684\u573a\u666f\u548c\u52a8\u4f5c\u7ee7\u7eed\u5171\u540c\u6f14\u5316\u3002<\/p>\n

\u6bcf\u4e00\u7ec4\u7ed3\u679c\u53eb\u505apaired scene\u2013action hypothesis\uff08\u914d\u5bf9\u573a\u666f-\u52a8\u4f5c\u5047\u8bbe\uff09\u3002<\/p>\n

\u5047\u8bbe\u6a21\u578b\u540c\u65f6\u751f\u6210\u51e0\u5341\u7ec4\u5019\u9009\uff0c\u5176\u4e2d\u4e00\u7ec4\u53ef\u80fd\u662f\u81ea\u8f66\u52a0\u901f\u3001\u5bf9\u5411\u8f66\u8f86\u8ba9\u884c\uff0c\u53e6\u4e00\u7ec4\u662f\u81ea\u8f66\u51cf\u901f\u3001\u5bf9\u5411\u8f66\u8f86\u5148\u884c\uff0c\u8fd8\u6709\u5176\u4ed6\u4e0d\u540c\u7a0b\u5ea6\u7684\u5236\u52a8\u3001\u901a\u8fc7\u65b9\u5f0f\u4ee5\u53ca\u573a\u666f\u53d8\u5316\u3002<\/p>\n

\u8fd9\u4e9b\u7ed3\u679c\u4e0d\u518d\u53ea\u6709\u8f68\u8ff9\u5dee\u5f02\uff0c\u6bcf\u6761\u8f68\u8ff9\u5bf9\u5e94\u7684\u672a\u6765\u73af\u5883\u4e5f\u5404\u4e0d\u76f8\u540c\u3002\u7531\u6b64\uff0c\u591a\u79cd\u53ef\u80fd\u7684\u672a\u6765\u8fdb\u5165\u89c4\u5212\u8fc7\u7a0b\u3002<\/p>\n

\u8bba\u6587\u628a\u591a\u6a21\u5f0f\u8054\u5408\u5efa\u6a21\u7684\u96be\u70b9\u62c6\u6210\u4e86\u4e09\u9879\uff1a<\/p>\n

*\u591a\u6837\u6027\u4ece\u54ea\u91cc\u4ea7\u751f\uff0c\u591a\u7ec4\u672a\u6765\u5982\u4f55\u63a7\u5236\u8ba1\u7b97\u6210\u672c\uff0c\u4ee5\u53ca\u751f\u6210\u591a\u4e2a\u5019\u9009\u540e\u5982\u4f55\u7b5b\u9009\u3002MM-Future\u7684\u6838\u5fc3\u8bbe\u8ba1\u4e5f\u662f\u56f4\u7ed5\u8fd9\u4e09\u4e2a\u95ee\u9898\u5c55\u5f00\u3002<\/p>\n

\u9996\u5148\u662f\u591a\u6837\u6027\u95ee\u9898\u3002<\/p>\n

\u771f\u5b9e\u9a7e\u9a76\u6570\u636e\u6709\u5929\u7136\u5c40\u9650\uff0c\u4e00\u6bb5\u5f55\u50cf\u53ea\u8bb0\u5f55\u4e00\u79cd\u5df2\u7ecf\u53d1\u751f\u7684\u7ed3\u679c\u3002\u53f8\u673a\u6700\u7ec8\u51cf\u901f\uff0c\u6570\u636e\u4e2d\u5c31\u4e0d\u4f1a\u540c\u65f6\u7559\u4e0b\u540c\u4e00\u65f6\u523b\u9009\u62e9\u52a0\u901f\u540e\u7684\u771f\u5b9e\u573a\u666f\u3002\u6a21\u578b\u9700\u8981\u5728\u5355\u7ed3\u679c\u76d1\u7763\u4e0b\u5b66\u51fa\u591a\u79cd\u5408\u7406\u7ed3\u679c\u3002<\/p>\n

MM-Future\u5728\u52a8\u4f5c\u7aef\u6839\u636e\u8bad\u7ec3\u8f68\u8ff9\u5206\u5e03\u5efa\u7acb\u4e86Gaussian Mixture Noise\uff0c\u4ece\u4e0d\u540c\u52a8\u4f5c\u5148\u9a8c\u51fa\u53d1\uff1b\u573a\u666f\u7aef\u5219\u4f7f\u7528\u72ec\u7acb\u566a\u58f0\u3002<\/p>\n

\u52a8\u4f5c\u4e0e\u573a\u666f\u7684\u521d\u59cb\u72b6\u6001\u4e24\u4e24\u914d\u5bf9\uff0c\u6784\u6210\u4e86\u4e0d\u540c\u9a7e\u9a76\u7ed3\u679c\u7684\u72ec\u7acb\u8d77\u70b9\u3002<\/p>\n

\u8bad\u7ec3\u65f6\u53c8\u52a0\u5165Best-of-Many\u76d1\u7763\u3002\u6a21\u578b\u4e00\u6b21\u751f\u6210\u591a\u7ec4\u5019\u9009\uff0c\u5148\u627e\u51fa\u4e0e\u771f\u5b9e\u8f68\u8ff9\u6700\u63a5\u8fd1\u7684\u4e00\u7ec4\uff0c\u518d\u7528\u540c\u4e00\u4e2a\u8d62\u5bb6\u7d22\u5f15\u76d1\u7763\u52a8\u4f5c\u6d41\u548c\u573a\u666f\u6d41\u3002<\/p>\n

\u8fd9\u6837\u53ef\u4ee5\u907f\u514d\u6240\u6709\u5019\u9009\u88ab\u540c\u4e00\u6761\u771f\u503c\u8f68\u8ff9\u62c9\u5411\u76f8\u4f3c\u7ed3\u679c\uff0c\u4e5f\u80fd\u4fdd\u6301\u4e00\u6761\u8f68\u8ff9\u548c\u5b83\u5bf9\u5e94\u7684\u672a\u6765\u573a\u666f\u59cb\u7ec8\u914d\u5bf9\u3002<\/p>\n

\u5176\u6b21\u662f\u8ba1\u7b97\u6210\u672c\u3002\u591a\u89c6\u89d2\u89c6\u9891\u5982\u679c\u6309\u6bcf\u79cd\u5019\u9009\u5b8c\u6574\u5c55\u5f00\uff0c\u6a21\u5f0f\u6570\u91cf\u548c\u9884\u6d4b\u65f6\u95f4\u4e00\u589e\u52a0\uff0c\u8ba1\u7b97\u91cf\u4f1a\u8fc5\u901f\u4e0a\u5347\u3002<\/p>\n

\u4f5c\u8005\u63d0\u51fa\u4e86MM-Tokens\uff0c\u5c06\u591a\u6444\u50cf\u5934\u3001\u591a\u65f6\u95f4\u5e27\u7684\u89c6\u89c9\u7279\u5f81\u538b\u7f29\u4e3a\u9762\u5411\u89c4\u5212\u7684\u7d27\u51d1\u8868\u793a\u3002<\/p>\n

MM-Tokens\u4e0d\u627f\u62c5RGB\u56fe\u50cf\u91cd\u5efa\uff0c\u4e5f\u4e0d\u9700\u8981\u6062\u590d\u5b8c\u6574BEV\u3002\u6709\u9650\u7684Token\u9884\u7b97\u4e3b\u8981\u4fdd\u7559\u4e0e\u672a\u6765\u6f14\u5316\u548c\u9a7e\u9a76\u89c4\u5212\u76f8\u5173\u7684\u4fe1\u606f\u3002<\/p>\n

\u4ece\u8bba\u6587\u7ed9\u51fa\u7684\u6ce8\u610f\u529b\u53ef\u89c6\u5316\u6765\u770b\uff0cMM-Tokens\u5173\u6ce8\u7684\u4fe1\u606f\u4e3b\u8981\u96c6\u4e2d\u5728\u9053\u8def\u7ed3\u6784\u3001\u8def\u53e3\u3001\u524d\u8f66\u4ee5\u53ca\u5468\u56f4\u4ea4\u901a\u53c2\u4e0e\u8005\u7b49\u533a\u57df\u3002<\/p>\n

\u6a21\u578b\u7531\u6b64\u65e0\u9700\u4e3a\u51e0\u5341\u79cd\u5019\u9009\u5206\u522b\u751f\u6210\u5b8c\u6574\u7684\u9ad8\u6e05\u672a\u6765\u89c6\u9891\uff0c\u5185\u90e8\u4fdd\u7559\u7684\u662f\u4e00\u7ec4\u9762\u5411\u89c4\u5212\u7684\u7d27\u51d1\u672a\u6765\u573a\u666f\u8868\u5f81\u3002<\/p>\n

\u7b2c\u4e09\u9879\u662f\u573a\u666f\u4e0e\u52a8\u4f5c\u5982\u4f55\u5171\u540c\u6f14\u5316\uff0c\u4ee5\u53ca\u591a\u7ec4\u5019\u9009\u5982\u4f55\u7b5b\u9009\u3002MM-Future\u4f7f\u7528\u4e86modality-aware Transformer\u540c\u65f6\u5904\u7406\u52a8\u4f5c\u6d41\u548c\u573a\u666f\u6d41\u3002<\/p>\n

\u5171\u4eab\u6ce8\u610f\u529b\u8d1f\u8d23\u4e24\u7c7b\u4fe1\u606f\u7684\u4ea4\u4e92\uff0c\u6a21\u6001\u4e13\u5c5e\u5206\u652f\u4fdd\u7559\u4e24\u7c7b\u6570\u636e\u5404\u81ea\u7684\u7edf\u8ba1\u7279\u5f81\u3002<\/p>\n

\u6bcf\u4e00\u7ec4\u5019\u9009\u5171\u4eab\u6a21\u578b\u53c2\u6570\uff0c\u4f46\u4e0d\u540c\u6a21\u5f0f\u4e4b\u95f4\u4e0d\u4ea4\u6362Token\u3002<\/p>\n

\u56e0\u6b64\uff0c\u52a8\u4f5c\u8f68\u8ff9\u4f1a\u968f\u7740\u914d\u5bf9\u573a\u666f\u7684\u53d8\u5316\u7ee7\u7eed\u66f4\u65b0\uff0c\u573a\u666f\u9884\u6d4b\u4e5f\u4f1a\u6839\u636e\u81ea\u8f66\u52a8\u4f5c\u91cd\u65b0\u8c03\u6574\u3002\u591a\u8f68\u8ff9\u89c4\u5212\u7531\u6b64\u5f15\u5165\u4e86\u52a8\u4f5c\u4e0e\u73af\u5883\u7684\u53cc\u5411\u8026\u5408\u3002<\/p>\n

\u751f\u6210\u7ed3\u675f\u540e\uff0cFuture-Conditioned Proposal Scorer\u8d1f\u8d23\u5b8c\u6210\u6700\u540e\u7b5b\u9009\u3002<\/p>\n

\u5b83\u8bc4\u4f30\u4e00\u6761\u5019\u9009\u8f68\u8ff9\u65f6\uff0c\u540c\u65f6\u8bfb\u53d6\u5386\u53f2\u4fe1\u606f\u548c\u8fd9\u6761\u8f68\u8ff9\u4e13\u5c5e\u7684\u9884\u6d4b\u672a\u6765\uff0c\u518d\u7ed9\u51fa\u5206\u6570\u3002\u6bcf\u4e2a\u5019\u9009\u53ea\u80fd\u8bfb\u53d6\u81ea\u5df1\u914d\u5bf9\u7684\u672a\u6765\uff0c\u4e0d\u80fd\u501f\u7528\u5176\u4ed6\u6a21\u5f0f\u7684\u573a\u666f\u7ed3\u679c\u3002<\/p>\n

\u8bba\u6587\u8fd8\u5bf9\u8f68\u8ff9\u548c\u672a\u6765Token\u4f7f\u7528stop-gradient\uff0c\u907f\u514d\u751f\u6210\u5668\u4e3a\u4e86\u63d0\u9ad8\u8bc4\u5206\u800c\u6539\u53d8\u8f93\u51fa\u5206\u5e03\u3002<\/p>\n

\u6700\u7ec8\u63a8\u7406\u8fc7\u7a0b\u53ef\u4ee5\u538b\u7f29\u6210\u56db\u6b65\uff1a\u7f16\u7801\u5386\u53f2\u89c2\u6d4b\uff0c\u751f\u6210\u591a\u7ec4\u573a\u666f\u2014\u52a8\u4f5c\u7ed3\u679c\uff0c\u4f7f\u7528\u5386\u53f2\u4e0e\u914d\u5bf9\u672a\u6765\u7ed9\u5019\u9009\u8bc4\u5206\uff0c\u518d\u8f93\u51fa\u5f97\u5206\u6700\u9ad8\u7684\u8f68\u8ff9\u3002<\/p>\n

MM-Future\u6700\u7ec8\u5e26\u6765\u4e86\u591a\u5927\u63d0\u5347\u5462\uff1f<\/p>\n

\u8bba\u6587\u4f7f\u7528NAVSIM\u548cHUGSIM\u4e24\u5957\u57fa\u51c6\u8fdb\u884c\u4e86\u6d4b\u8bd5\uff1a<\/p>\n

\u5728NAVSIM-v1 navtest\u4e0a\uff0c\u4f7f\u7528trainval\u6570\u636e\u8bad\u7ec3\u7684MM-Future\u83b7\u5f9794.0 PDMS\u3002\u540c\u4e00\u5f20\u7ed3\u679c\u8868\u4e2d\uff0cWAM\u65b9\u6848DriveFuture\u4e3a90.7\uff0cE2E\u65b9\u6848DrivoR trainval\u4e3a93.7\u3002<\/p>\n

NAVSIM-v2\u4e0a\uff0cMM-Future\u83b7\u5f9791.5 EPDMS\uff0c\u9ad8\u4e8e\u8bba\u6587\u5217\u51fa\u7684UniTeD 90.1\u548cDriveFuture 89.9\u3002<\/p>\n

\u66f4\u80fd\u8bf4\u660e\u65b9\u6cd5\u6548\u679c\u7684\u662f\u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n

\u53ea\u751f\u6210\u52a8\u4f5c\u3001\u4ec5\u4fdd\u7559\u4e00\u79cd\u6a21\u5f0f\u65f6\uff0cPDMS\u4e3a84.1\uff1b\u628a\u52a8\u4f5c\u5019\u9009\u589e\u52a0\u523032\u79cd\u540e\u63d0\u5347\u523092.3\u3002<\/p>\n

\u52a0\u5165\u573a\u666f\u2014\u52a8\u4f5c\u8054\u5408\u751f\u6210\u540e\uff0c\u5355\u6a21\u5f0f\u4e3a85.1\uff0c32\u6a21\u5f0f\u8fbe\u523092.9\u3002\u6700\u540e\u8ba9\u8bc4\u5206\u5668\u8bfb\u53d6\u6bcf\u6761\u8f68\u8ff9\u5bf9\u5e94\u7684\u9884\u6d4b\u672a\u6765\uff0cPDMS\u7ee7\u7eed\u63d0\u5347\u523093.3\u3002<\/p>\n

\u51e0\u7ec4\u5bf9\u7167\u5206\u522b\u9a8c\u8bc1\u4e86\u4e09\u4e2a\u73af\u8282\uff1a\u589e\u52a0\u6a21\u5f0f\u6570\u91cf\u5e26\u6765\u4e3b\u8981\u589e\u76ca\uff1b\u573a\u666f\u548c\u52a8\u4f5c\u8054\u5408\u751f\u6210\u8fd8\u80fd\u7ee7\u7eed\u63d0\u5347\uff1b\u914d\u5bf9\u672a\u6765\u53c2\u4e0e\u5019\u9009\u8bc4\u5206\u540e\uff0c\u89c4\u5212\u6307\u6807\u518d\u6b21\u6539\u5584\u3002<\/p>\n

\u8bc4\u5206\u5668\u5e26\u6765\u7684\u63d0\u5347\u5728TTC\u6307\u6807\u4e0a\u6700\u660e\u663e\uff0c\u8bba\u6587\u636e\u6b64\u8ba4\u4e3a\uff1a\u5019\u9009\u4e13\u5c5e\u672a\u6765\u4e3b\u8981\u5e2e\u52a9\u6a21\u578b\u6392\u9664\u4ea4\u4e92\u98ce\u9669\u8f83\u9ad8\u7684\u8f68\u8ff9\u3002<\/p>\n

\u591a\u6a21\u5f0f\u8bad\u7ec3\u8fd8\u8868\u73b0\u51fa\u66f4\u5feb\u7684\u6536\u655b\u901f\u5ea6\u300216\u6a21\u5f0f\u548c32\u6a21\u5f0f\u8fbe\u52300.80\u9a8c\u8bc1PDM\u5206\u6570\u5927\u7ea6\u9700\u89813.8k steps\uff0c\u5355\u6a21\u5f0f\u9700\u898117.5k steps\u3002<\/p>\n

\u8fd9\u4e2a\u7ed3\u679c\u8bf4\u660e\uff0c\u591a\u79cd\u5047\u8bbe\u4e0d\u4ec5\u589e\u52a0\u4e86\u63a8\u7406\u5206\u652f\uff0c\u5728\u8bba\u6587\u8bbe\u5b9a\u4e0b\u4e5f\u6539\u5584\u4e86\u8bad\u7ec3\u6548\u7387\u548c\u6700\u7ec8\u6307\u6807\u3002<\/p>\n

\u4e0d\u8fc7\uff0c\u591a\u7ec4\u672a\u6765\u5047\u8bbe\u4e5f\u5e26\u6765\u4e86\u989d\u5916\u7684\u8ba1\u7b97\u6210\u672c\u3002<\/p>\n

\u8bba\u6587\u4e3b\u6a21\u578b\u4e00\u6b21\u91c7\u683764\u7ec4\u573a\u666f\u2014\u52a8\u4f5c\u5019\u9009\uff0c\u5728\u5355\u5f20NVIDIA H800\u3001batch size\u4e3a1\u3001bf16\u6761\u4ef6\u4e0b\uff0c\u7aef\u5230\u7aef\u524d\u5411\u5ef6\u8fdf\u7ea6\u4e3a233ms\u3002<\/p>\n

16\u79cd\u5019\u9009\u7684\u5ef6\u8fdf\u548c\u5355\u6a21\u5f0f\u65b9\u6848\u8f83\u4e3a\u63a5\u8fd1\uff0c\u589e\u52a0\u523032\u79cd\u540e\u5ef6\u8fdf\u660e\u663e\u63d0\u9ad8\u3002\u5019\u9009\u8986\u76d6\u8303\u56f4\u548c\u8ba1\u7b97\u6210\u672c\u4e4b\u95f4\u4ecd\u9700\u8981\u5e73\u8861\u3002<\/p>\n

\u95ed\u73af\u6d4b\u8bd5\u4e5f\u5b58\u5728\u7c7b\u4f3c\u7684\u5c40\u9650\u3002<\/p>\n

MM-Future\u6ca1\u6709\u9488\u5bf9HUGSIM\u7ee7\u7eed\u5fae\u8c03\uff0c\u5728436\u4e2a\u573a\u666f\u4e0a\u53d6\u5f9732.3\u5e73\u5747HD-Score\uff0c\u9ad8\u4e8e\u8bba\u6587\u5217\u51fa\u7684Latent-WAM 28.9\u548cUniAD 28.6\u3002<\/p>\n

\u5e73\u5747Route Completion\u4e3a44.5\uff0c\u7565\u4f4e\u4e8eLatent-WAM\u768445.9\uff1bExtreme\u96be\u5ea6\u4e0bHD-Score\u4e3a8.6\uff0cLatent-WAM\u8fbe\u523018.1\u3002<\/p>\n

\u8bba\u6587\u4e5f\u4e3b\u52a8\u6307\u51fa\u4e86\u53ef\u89e3\u91ca\u6027\u95ee\u9898\u3002MM-Tokens\u5c5e\u4e8e\u9690\u5f0f\u573a\u666f\u8868\u5f81\uff0c\u6a21\u578b\u5230\u5e95\u4fdd\u7559\u4e86\u54ea\u4e9b\u89c4\u5212\u4fe1\u606f\uff0c\u76ee\u524d\u4ecd\u96be\u76f4\u63a5\u89c2\u5bdf\u3002<\/p>\n

\u4f5c\u8005\u8ba1\u5212\u589e\u52a0\u8f85\u52a9\u611f\u77e5\u6a21\u5757\uff0c\u628a\u4e0e\u89c4\u5212\u76f8\u5173\u7684\u573a\u666f\u7ed3\u6784\u8fdb\u4e00\u6b65\u53ef\u89c6\u5316\uff0c\u4ee5\u63d0\u5347\u6a21\u578b\u900f\u660e\u5ea6\u5e76\u8f85\u52a9\u6545\u969c\u8bca\u65ad\u3002<\/p>\n

\u56e0\u6b64\uff0cMM-Future\u76ee\u524d\u5c55\u793a\u51fa\u7684\u4ef7\u503c\uff0c\u66f4\u9002\u5408\u653e\u5728\u65b9\u6cd5\u5c42\u9762\u7406\u89e3\uff1a<\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u7684\u89d2\u8272\u6b63\u5728\u4ece\u672a\u6765\u9884\u6d4b\u8fdb\u4e00\u6b65\u8d70\u5411\u89c4\u5212\uff0c\u6a21\u578b\u4e0d\u4ec5\u9700\u8981\u4f30\u8ba1\u573a\u666f\u4f1a\u600e\u6837\u53d8\u5316\uff0c\u8fd8\u8981\u6bd4\u8f83\u4e0d\u540c\u52a8\u4f5c\u5bf9\u5e94\u7684\u4e0d\u540c\u573a\u666f\u7ed3\u679c\u3002<\/p>\n

\u66f4\u5173\u952e\u7684\u53d8\u5316\u53d1\u751f\u5728\u591a\u6a21\u5f0f\u7684\u5b9a\u4e49\u4e0a\u3002\u4ee5\u5f80\u591a\u6a21\u5f0f\u89c4\u5212\u4e3b\u8981\u56de\u7b54\u53ef\u4ee5\u8d70\u54ea\u51e0\u6761\u8f68\u8ff9\uff0cMM-Future\u628a\u95ee\u9898\u6269\u5c55\u5230\u91c7\u53d6\u4e0d\u540c\u8f68\u8ff9\u540e\uff0c\u73af\u5883\u5206\u522b\u53ef\u80fd\u600e\u6837\u53d8\u5316\u3002\u4e16\u754c\u6a21\u578b\u5f00\u59cb\u627f\u62c5\u52a8\u4f5c\u540e\u679c\u5efa\u6a21\u7684\u4e00\u90e8\u5206\u529f\u80fd\u3002<\/p>\n

\u8fd9\u6761\u8def\u7ebf\u4ecd\u5904\u4e8e\u516c\u5f00\u6570\u636e\u96c6\u548c\u4eff\u771f\u9a8c\u8bc1\u9636\u6bb5\uff0c\u8ba1\u7b97\u5f00\u9500\u3001\u9690\u5f0f\u8868\u5f81\u3001\u6781\u7aef\u573a\u666f\u7a33\u5b9a\u6027\u90fd\u9700\u8981\u7ee7\u7eed\u9a8c\u8bc1\u3002<\/p>\n

\u8bba\u6587\u5f53\u524d\u80fd\u591f\u652f\u6301\u7684\u7ed3\u8bba\u66f4\u660e\u786e\uff1a\u5728\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u4e2d\uff0c\u540c\u65f6\u8986\u76d6\u591a\u79cd\u53ef\u80fd\u7ed3\u679c\uff0c\u5e76\u8ba9\u573a\u666f\u4e0e\u52a8\u4f5c\u4fdd\u6301\u53cc\u5411\u4ea4\u4e92\uff0c\u80fd\u591f\u5e26\u6765\u7a33\u5b9a\u7684\u6307\u6807\u589e\u76ca\u3002<\/p>\n

\u771f\u5b9e\u9053\u8def\u59cb\u7ec8\u5b58\u5728\u591a\u79cd\u5408\u7406\u7ed3\u679c\u3002\u968f\u7740\u4e16\u754c\u6a21\u578b\u7ee7\u7eed\u8fdb\u5165\u89c4\u5212\u73af\u8282\uff0c\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\u5904\u7406\u7684\u5bf9\u8c61\uff0c\u4e5f\u6b63\u5728\u4ece\u4e00\u6761\u5019\u9009\u8f68\u8ff9\uff0c\u6269\u5c55\u5230\u4e00\u7ec4\u52a8\u4f5c\u4e0e\u672a\u6765\u7684\u8054\u5408\u7ed3\u679c\u3002<\/p>\n

MM-Future\u80cc\u540e\u7684\u7814\u7a76\u56e2\u961f\uff0c\u4e3b\u8981\u6765\u81ea\u851a\u6765\u667a\u80fd\u9a7e\u9a76\u57fa\u7840\u6a21\u578b\u9884\u7814\u56e2\u961f\u3002<\/p>\n

\u7b2c\u4e00\u4f5c\u8005Shuai Liu\u540c\u65f6\u7f72\u540dNIO\u548c\u4e2d\u5c71\u5927\u5b66\u8ba1\u7b97\u673a\u5b66\u9662\u3002\u4ed6\u6b64\u524d\u5df2\u7ecf\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u5411\u6709\u8fc7\u7814\u7a76\u79ef\u7d2f\uff0c2025\u5e74\u66fe\u4ee5\u7b2c\u4e00\u4f5c\u8005\u53d1\u8868GaussianFusion\uff0c\u5c1d\u8bd5\u7528\u7d27\u51d1\u7684\u9ad8\u65af\u8868\u793a\u5b8c\u6210\u591a\u4f20\u611f\u5668\u878d\u5408\uff0c\u5e76\u88abNeurIPS 2025\u63a5\u6536\u3002<\/p>\n

\u8bba\u6587\u53e6\u5916\u51e0\u4f4d\u4f5c\u8005\u4e2d\uff0cHechangle Gong\u540c\u65f6\u7f72\u540dNIO\u548c\u5317\u4eac\u822a\u7a7a\u822a\u5929\u5927\u5b66\uff0cHao Jiang\u3001Runlin He\u3001Junxiang Zhan\u3001Sheng Yang\u5747\u7f72\u540dNIO\uff0cKai Huang\u6765\u81ea\u4e2d\u5c71\u5927\u5b66\u3002<\/p>\n

\u4efb\u5c11\u537f\u62c5\u4efb\u8bba\u6587\u901a\u8baf\u4f5c\u8005\uff0c\u540c\u65f6\u7f72\u540d\u851a\u6765\u548c\u4e2d\u56fd\u79d1\u5b66\u6280\u672f\u5927\u5b66AGI\u7814\u7a76\u9662\u3002<\/p>\n

\u5bf9\u4e8e\u4efb\u5c11\u537f\uff0c\u5927\u5bb6\u5e94\u8be5\u5df2\u7ecf\u5f88\u719f\u6089\u4e86\u2014\u2014<\/p>\n

\u4ed6\u662f\u56fd\u5185\u81ea\u52a8\u9a7e\u9a76\u6df1\u5ea6\u5b66\u4e60\u5316\u6700\u5173\u952e\u7684\u90a3\u6279\u63a8\u624b\u4e4b\u4e00\uff0c\u76ee\u524d\u4e3a\u4e2d\u56fd\u79d1\u5b66\u6280\u672f\u5927\u5b66\u8bb2\u5e2d\u6559\u6388\uff0c\u4e2d\u79d1\u5927\u5b98\u7f51\u663e\u793a\u5176\u62c5\u4efb\u901a\u7528\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u6240\u6240\u957f\uff1b\u4e5f\u4ecd\u662f\u851a\u6765\u667a\u80fd\u9a7e\u9a76\u4e1a\u52a1\u8d1f\u8d23\u4eba\u3002<\/p>\n

\u800cMM-Future\u653e\u5728\u851a\u6765\u7684\u6280\u672f\u6f14\u8fdb\u91cc\u770b\uff0c\u4e5f\u6709\u53e6\u4e00\u5c42\u610f\u4e49\u3002<\/p>\n

2024\u5e74\uff0c\u851a\u6765\u53d1\u5e03NIO WorldModel\u548cNADArch 2.0\uff0c\u5c06\u667a\u80fd\u9a7e\u9a76\u67b6\u6784\u8fdb\u4e00\u6b65\u8f6c\u5411\u4e16\u754c\u6a21\u578b\u9a71\u52a8\u7684\u7aef\u5230\u7aef\u4f53\u7cfb\uff1b2025\u5e74\u53c8\u52a0\u5165\u5168\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\uff0c2026\u5e74\u521d\u6700\u65b0\u7248NWM\u5f00\u59cb\u5927\u89c4\u6a21\u63a8\u9001\u3002<\/p>\n

\u851a\u6765\u6700\u65b0\u62ab\u9732\uff0c\u622a\u81f3\u4eca\u5e749\u6708\uff0c\u8fd9\u5957\u57fa\u4e8e\u4e16\u754c\u6a21\u578b\u548c\u5168\u95ed\u73af\u5f3a\u5316\u5b66\u4e60\u7684\u667a\u9a7e\u7cfb\u7edf\u5df2\u7ecf\u90e8\u7f72\u5230\u8d85\u8fc795\u4e07\u8f86\u8f66\u3002<\/p>\n

\u4eceNWM\u5230MM-Future\uff0c\u53ef\u4ee5\u770b\u5230\u851a\u6765\u4e16\u754c\u6a21\u578b\u8def\u7ebf\u7684\u4e00\u6761\u6f14\u8fdb\u7ebf\u7d22\uff1a<\/p>\n

\u5148\u8ba9\u6a21\u578b\u9884\u6d4b\u672a\u6765\uff0c\u518d\u8ba9\u672a\u6765\u8fdb\u5165\u89c4\u5212\uff1b\u4ece\u751f\u6210\u591a\u6761\u8f68\u8ff9\uff0c\u7ee7\u7eed\u8d70\u5411\u540c\u65f6\u751f\u6210\u591a\u7ec4\u52a8\u4f5c\u4e0e\u672a\u6765\u3002<\/p>\n

\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/pdf\/2609.20377<\/p>\n

\n

\u7248\u6743\u58f0\u660e\uff1a<\/strong><\/p>\n

\u672c\u535a\u5ba2\u90e8\u5206\u5185\u5bb9\u4e3a\u8f6c\u8f7d\u6587\u7ae0\uff0c\u65e8\u5728\u5206\u4eab\u6709\u4ef7\u503c\u7684\u4fe1\u606f\uff0c\u7248\u6743\u5f52\u539f\u4f5c\u8005\u6240\u6709\u3002<\/p>\n

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\u5982\u6d89\u53ca\u7248\u6743\u95ee\u9898\uff0c\u8bf7\u8054\u7cfb\u672c\u4eba\u5220\u9664\u3002<\/p>\n<\/blockquote>\n","protected":false},"excerpt":{"rendered":"

\u6770\u897f\u5361 \u53d1\u81ea ROBO-\u4eba<\/p>\n

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\u6700\u8fd1\uff0c\u4efb\u5c11\u537f\u6307\u5bfc\u53d1\u5e03\u8bba\u6587\u300aMM-Future: Multi-Mode Joint World\u2013Action Modeling for Autonomous Driving\u300b\uff0c\u63d0\u51fa\u4e00\u79cd\u65b0\u7684\u591a\u6a21\u5f0f\u4e16\u754c\u2014\u52a8\u4f5c\u8054\u5408\u6a21\u578b\u3002<\/p>\n

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