{"id":104394,"date":"2026-09-12T13:25:21","date_gmt":"2026-09-12T05:25:21","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/104394.html"},"modified":"2026-09-12T13:25:21","modified_gmt":"2026-09-12T05:25:21","slug":"sv-wam%ef%bc%9a%e7%94%a8%e4%ba%8e%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%9a%84%e9%ab%98%e6%95%88%e7%8e%af%e8%a7%86%e4%b8%96%e7%95%8c-%e5%8a%a8%e4%bd%9c%e6%a8%a1%e5%9e%8b","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/104394.html","title":{"rendered":"SV-WAM\uff1a\u7528\u4e8e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u9ad8\u6548\u73af\u89c6\u4e16\u754c-\u52a8\u4f5c\u6a21\u578b"},"content":{"rendered":"

26\u5e749\u6708\u6765\u81ea\u81ea\u52a8\u5316\u6240\u3001\u91cd\u5e86\u957f\u5b89\u79d1\u6280\u3001\u4e2d\u56fd\u6c11\u7528\u822a\u7a7a\u5927\u5b66\u3001\u5317\u822a\u548c\u6842\u7535\u7684\u8bba\u6587\u201cSV-WAM: An Efficient Surround-View World-Action Model for End-to-End Autonomous Driving\u201d\u3002<\/p>\n

\u8bba\u6587\u6838\u5fc3\u89e3\u51b3\u81ea\u52a8\u9a7e\u9a76\u4e16\u754c\u6a21\u578b\u7684\u77db\u76fe：\u73af\u89c6\u591a\u76f8\u673a\u8f93\u5165\u5e26\u6765\u5b89\u5168\u6536\u76ca，\u4f46\u63a8\u7406\u65f6\u751f\u6210\u591a\u89c6\u89d2\u672a\u6765\u89c6\u9891\u4f1a\u5e26\u6765\u5de8\u5927\u8ba1\u7b97\u5f00\u9500；\u73b0\u6709\u65b9\u6848\u4e3a\u964d\u5ef6\u8fdf\u53ea\u80fd\u4f7f\u7528\u5355\u524d\u89c6\u76f8\u673a，\u5728\u53d8\u9053\u3001\u6c47\u5165\u3001\u8f6c\u5f2f\u7b49\u573a\u666f\u5b58\u5728\u76f2\u533a\u98ce\u9669\u3002\u5176\u6838\u5fc3\u8303\u5f0f\u662f：\u672a\u6765\u89c6\u9891\u53ea\u505a\u8bad\u7ec3\u76d1\u7763\u4fe1\u53f7，\u63a8\u7406\u9636\u6bb5\u5b8c\u5168\u820d\u5f03\u89c6\u9891\u751f\u6210\u5206\u652f，\u4fdd\u7559\u5b8c\u6574 6 \u76f8\u673a\u73af\u89c6\u8f93\u5165\u505a\u52a8\u4f5c\u89c4\u5212\u3002<\/p>\n

\u5982\u56fe 1 \u6240\u793a\u5728\u5355\u4e2a NVIDIA H20 GPU \u4e0a\u8fdb\u884c\u6548\u7387\u6027\u80fd\u6982\u8ff0（\u9884\u5904\u7406\u8f93\u5165\u5230\u8f68\u8ff9\u7684\u5ef6\u8fdf）\u3002\u5c3d\u7ba1\u4f7f\u7528\u516d\u4e2a\u6444\u50cf\u5934\u7684\u8f93\u5165，SV-WAM \u4ecd\u4ee5\u6700\u4f4e\u7684\u5ef6\u8fdf\u8fbe\u5230\u6700\u4f73\u7684 NAVSIMv2 EPDMS \u6027\u80fd\u3002
\n\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\n

\u5982\u56fe 2 \u6240\u793a\u91c7\u7528\u73af\u89c6\u89c4\u5212\u7684\u52a8\u673a\u3002\u4f8b\u5982，\u5728\u6ca1\u6709\u4fe1\u53f7\u706f\u7684\u4ea4\u53c9\u8def\u53e3，\u4ec5\u4f9d\u9760\u6b63\u9762\u89c6\u89d2\u8fdb\u884c\u89c4\u5212\u7684\u4eba\u5458\u53ef\u80fd\u7f3a\u4e4f\u8db3\u591f\u7684\u4fa7\u5411\u4fe1\u606f，\u4ece\u800c\u5728\u590d\u6742\u7684\u4ea4\u901a\u73af\u5883\u4e2d\u505a\u51fa\u4e0d\u5b89\u5168\u7684\u51b3\u7b56\u3002<\/p>\n

\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\u4e00\u3001\u7b97\u6cd5\u6574\u4f53\u6846\u67b6<\/h3>\n

\u6574\u4f53\u7531\u8f93\u5165 Token \u5316\u3001\u73af\u89c6\u4e16\u754c\u2011\u52a8\u4f5c\u6a21\u578b\u3001\u53ef\u5fae\u5206\u53ef\u884c\u9a76\u533a\u57df\u6b63\u5219\u3001\u4ec5\u52a8\u4f5c\u9ad8\u6548\u63a8\u7406\u56db\u5927\u6a21\u5757\u6784\u6210\u3002<\/p>\n

\u5982\u56fe3\u6240\u793aSV-WAM\u6982\u8ff0\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d，SV-WAM\u57fa\u4e8e\u516d-\u89c6\u56fe\u5386\u53f2\u89c2\u6d4b\u6570\u636e，\u8054\u5408\u5bf9\u672a\u6765\u52a8\u4f5c\u548c\u672a\u6765\u89c6\u9891\u6f5c\u53d8\u91cf\u8fdb\u884c\u53bb\u566a\u3002\u4ee5\u52a8\u4f5c\u4e3a\u4e2d\u5fc3\u7684\u56e0\u679c\u63a9\u7801\u963b\u6b62\u52a8\u4f5ctokens\u5bf9\u672a\u6765\u89c6\u9891tokens\u7684\u5173\u6ce8，\u800c\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u6027\u6b63\u5219\u5316\u5668\u5219\u4fc3\u8fdb\u7b26\u5408\u9053\u8def\u89c4\u8303\u7684\u89c4\u5212\u3002\u5728\u63a8\u7406\u9636\u6bb5，\u79fb\u9664\u672a\u6765\u89c6\u9891\u5206\u652f，\u4ece\u800c\u80fd\u591f\u5229\u7528\u5b8c\u6574\u7684\u516d-\u89c6\u56fe\u4e0a\u4e0b\u6587\u8fdb\u884c\u9ad8\u6548\u7684\u7eaf\u52a8\u4f5c\u89c4\u5212\u3002
\n\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

1. \u8f93\u5165 Tokenization（\u8f93\u5165\u7f16\u7801）<\/h4>\n

\u73af\u89c6\u89c6\u9891\u7f16\u7801：6 \u8def\u76f8\u673a\u56fe\u50cf\u6309\u5bbd\u5ea6\u62fc\u63a5\u6210\u4e00\u5f20\u5927\u56fe；\u4f7f\u7528\u51bb\u7ed3\u7684 3D\u2011Causal VAE \u5f97\u5230\u89c6\u9891\u9690\u53d8\u91cf，\u62c6\u5206\u4e3a\u5386\u53f2\u53c2\u8003\u9690\u53d8\u91cf（\u63a8\u7406\u4e00\u76f4\u4f7f\u7528）\u3001\u672a\u6765\u89c6\u9891\u9690\u53d8\u91cf（\u4ec5\u8bad\u7ec3\u9636\u6bb5\u4f7f\u7528）；\u518d\u8f6c\u4e3a\u89c6\u9891 token\u3002<\/p>\n

\u72b6\u6001\u4e0e\u52a8\u4f5c\u7f16\u7801：\u81ea\u8f66\u5386\u53f2\u72b6\u6001（8 \u7ef4\u5411\u91cf：\u9a7e\u9a76\u6307\u4ee4\u3001\u901f\u5ea6\u3001\u52a0\u901f\u5ea6）\u901a\u8fc7 MLP \u6620\u5c04\u4e3a\u72b6\u6001 token；\u672a\u6765\u52a8\u4f5c\u5e8f\u5217（\u6bcf\u6b65\u81ea\u8f66\u76f8\u5bf9\u589e\u91cf(Delta x,Delta y,Delta psi）\u901a\u8fc7 MLP \u7f16\u7801\u4e3a\u52a8\u4f5c token\u3002<\/p>\n

2. \u73af\u89c6\u4e16\u754c\u2011\u52a8\u4f5c\u6a21\u578b（\u6838\u5fc3）<\/h4>\n

\u9aa8\u5e72\u7f51\u7edc\u57fa\u4e8e Wan2.2\u20115B Diffusion\u2011Transformer（DiT），\u91c7\u7528Flow\u2011Matching \u6d41\u5339\u914d\u8054\u5408\u53bb\u566a\u672a\u6765\u52a8\u4f5c\u3001\u672a\u6765\u89c6\u9891\u9690\u53d8\u91cf\u3002<\/p>\n

  • \u52a8\u4f5c\u4e2d\u5fc3\u56e0\u679c\u63a9\u7801（Action\u2011Centered Causal Mask，\u6838\u5fc3\u521b\u65b0）<\/li>\n

    \u8bad\u7ec3\u9636\u6bb5：token \u5e8f\u5217 = \u72b6\u6001 token + \u5386\u53f2\u89c2\u6d4b\u89c6\u9891 token + \u566a\u58f0\u52a8\u4f5c token + \u566a\u58f0\u672a\u6765\u89c6\u9891 token\u3002
    \n\u63a9\u7801\u89c4\u5219：\u52a8\u4f5c token \u4e0d\u80fd\u770b\u5230\u672a\u6765\u89c6\u9891 token；\u672a\u6765\u89c6\u9891 token \u53ef\u4ee5\u770b\u5230\u52a8\u4f5c token；\u72b6\u6001\u3001\u5386\u53f2\u89c2\u6d4b\u4f5c\u4e3a\u6761\u4ef6\u524d\u7f00\u4e92\u76f8\u53ef\u89c1\u3002
    \n\u6982\u7387\u5206\u89e3：p_theta(A_0, Z_0fut<\/sup> | Omega) = p_theta(A_0 | Omega) p _theta (Z_0fut<\/sup> | Omega,A_0)\u3002
    \n\u6548\u679c：\u672a\u6765\u89c6\u9891\u9690\u53d8\u91cf\u7684\u8054\u5408\u8bad\u7ec3\u4f9d\u7136\u66f4\u65b0\u5171\u4eab\u4e3b\u5e72\u53c2\u6570，\u628a\u573a\u666f\u52a8\u529b\u5b66\u77e5\u8bc6\u6ce8\u5165\u6a21\u578b；\u4f46\u662f\u52a8\u4f5c\u9884\u6d4b\u4e0d\u4f9d\u8d56\u672a\u6765\u89c6\u9891 token，\u63a8\u7406\u65f6\u53ef\u4ee5\u76f4\u63a5\u5220\u6389\u672a\u6765\u89c6\u9891\u5206\u652f，\u4e0d\u9700\u8981\u751f\u6210\u672a\u6765\u89c6\u9891\u5c31\u8f93\u51fa\u8f68\u8ff9\u3002<\/p>\n

    \u5982\u56fe 4\u6240\u793a\u4ee5\u52a8\u4f5c\u4e3a\u4e2d\u5fc3\u7684\u56e0\u679c\u63a9\u7801\u3002\u52a8\u4f5ctoken\u503e\u5411\u4e8e\u5173\u6ce8\u81ea\u6211\u72b6\u6001\u548c\u53c2\u8003\u89c6\u9891token，\u4f46\u65e0\u6cd5\u5173\u6ce8\u672a\u6765\u89c6\u9891token；\u800c\u672a\u6765\u89c6\u9891token\u53ef\u4ee5\u5173\u6ce8\u52a8\u4f5ctoken\u3002\u8fd9\u79cd\u4e0d\u5bf9\u79f0\u4f9d\u8d56\u6027\u652f\u6301\u672a\u6765\u89c6\u9891\u7684\u534f\u540c\u8bad\u7ec3，\u800c\u65e0\u9700\u5728\u63a8\u7406\u9636\u6bb5\u5c06\u52a8\u4f5c\u9884\u6d4b\u4f9d\u8d56\u4e8e\u672a\u6765\u89c6\u9891token\u3002
    \n\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

  • \n

    \u6d41\u5339\u914d\u8054\u5408\u635f\u5931 L_fm\u3002\u540c\u65f6\u4f18\u5316\u52a8\u4f5c\u5206\u652f\u901f\u5ea6\u573a\u3001\u672a\u6765\u89c6\u9891\u9690\u53d8\u91cf\u901f\u5ea6\u573a；\u89c6\u9891\u5206\u652f\u53ea\u5728\u8bad\u7ec3\u8d77\u4f5c\u7528\u3002<\/p>\n<\/li>\n

  • \n

    \u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4\u6b63\u5219\u5668(L_dac)（\u8bad\u7ec3\u65f6\u9644\u52a0\u635f\u5931，\u63a8\u7406\u65e0\u5f00\u9500）<\/p>\n<\/li>\n

    \u89e3\u51b3\u6d41\u5339\u914d\u53ea\u6a21\u4eff\u8f68\u8ff9，\u4e0d\u7ea6\u675f\u8f66\u8f86\u4e0d\u80fd\u8d8a\u51fa\u53ef\u884c\u9a76\u533a\u57df\u7684\u95ee\u9898\u3002
    \n\u5c06\u9884\u6d4b\u52a8\u4f5c\u5e8f\u5217\u9001\u5165 LQR \u8ddf\u8e2a\u5668 + \u8fd0\u52a8\u5b66\u81ea\u884c\u8f66\u6a21\u578b，\u6eda\u52a8\u4eff\u771f\u5f97\u5230\u81ea\u8f66\u4f4d\u59ff；
    \n\u63d0\u53d6\u8f66\u8f86\u56db\u4e2a\u89d2\u70b9，\u5728\u81ea\u8f66\u5750\u6807\u7cfb\u7b26\u53f7\u8ddd\u79bb\u573a SDF \u505a\u53cc\u7ebf\u6027\u63d2\u503c；
    \n\u4f7f\u7528 softplus \u5e73\u6ed1 margin \u60e9\u7f5a + log\u2011mean\u2011exp \u805a\u5408（\u5bf9\u9ad8\u98ce\u9669\u8d8a\u754c\u7ed9\u4e88\u66f4\u5927\u6743\u91cd）；
    \n\u603b\u635f\u5931：L = L_fm + lambda_dac L_dac\u3002
    \n\u5168\u90e8\u5728 PyTorch \u4e2d\u5b9e\u73b0\u53ef\u5fae\u5206，\u68af\u5ea6\u53ef\u4ee5\u56de\u4f20\u5230\u52a8\u4f5c\u9884\u6d4b\u7f51\u7edc，\u63a8\u7406\u65e0\u4efb\u4f55\u989d\u5916\u8ba1\u7b97\u5f00\u9500\u3002<\/p>\n

  • \u63a8\u7406\u9636\u6bb5：\u4ec5\u52a8\u4f5c\u9ad8\u6548\u63a8\u7406<\/li>\n

    \u76f4\u63a5\u4e22\u5f03\u672a\u6765\u89c6\u9891 token \u4e0e\u89c6\u9891\u89e3\u7801\u5206\u652f，\u8f93\u5165\u5e8f\u5217\u4ec5\u4fdd\u7559\u72b6\u6001 token + \u5386\u53f2\u73af\u89c6\u89c6\u9891 token + \u566a\u58f0\u52a8\u4f5c token；
    \n\u5bf9\u6761\u4ef6\u524d\u7f00（\u5386\u53f2\u89c2\u6d4b\u3001\u72b6\u6001）\u505a KV \u7f13\u5b58\u590d\u7528，\u4ec5\u5bf9\u52a8\u4f5c token \u505a\u6d41\u5339\u914d\u53bb\u566a；\u4ec5\u9700\u8981 2 \u6b65\u53bb\u566a\u5373\u53ef\u8f93\u51fa\u8f68\u8ff9；
    \n\u5355 H20 GPU \u4e0a，\u9884\u5904\u7406\u8f93\u5165\u5230\u8f68\u8ff9\u8f93\u51fa\u5ef6\u8fdf341.6\u00b12.1ms，\u8fdc\u4f4e\u4e8e Epona\u3001DriveLaW\u3001PWM \u7b49\u4e16\u754c\u6a21\u578b\u57fa\u7ebf\u3002<\/p>\n

    \u4e8c\u3001\u6838\u5fc3\u89c2\u70b9\u4e0e\u4e3b\u8981\u7ed3\u8bba<\/h3>\n

    \u4e16\u754c\u6a21\u578b\u7684\u6536\u76ca\u4e3b\u8981\u6765\u81ea\u8bad\u7ec3\u9636\u6bb5\u7684\u672a\u6765\u89c6\u9891\u76d1\u7763，\u800c\u4e0d\u662f\u63a8\u7406\u65f6\u663e\u5f0f\u751f\u6210\u672a\u6765\u89c6\u9891\u3002 \u4e0d\u9700\u8981\u5728\u63a8\u7406\u9636\u6bb5 \u201c\u60f3\u8c61\u672a\u6765\u753b\u9762\u201d，\u901a\u8fc7\u8054\u5408\u8bad\u7ec3\u628a\u573a\u666f\u52a8\u529b\u5b66\u77e5\u8bc6\u5d4c\u5165\u4e3b\u5e72\u53c2\u6570，\u63a8\u7406\u53ea\u8f93\u51fa\u52a8\u4f5c\u5c31\u53ef\u4ee5\u83b7\u5f97\u4e16\u754c\u6a21\u578b\u5e26\u6765\u7684\u89c4\u5212\u6536\u76ca，\u517c\u987e\u73af\u89c6\u8f93\u5165\u4e0e\u4f4e\u5ef6\u8fdf\u3002<\/p>\n

  • 6 \u76f8\u673a\u73af\u89c6\u8f93\u5165\u5bf9\u5b89\u5168\u5173\u952e\u9a7e\u9a76\u52a8\u4f5c\u81f3\u5173\u91cd\u8981\u3002 \u5355\u524d\u89c6\u76f8\u673a\u5728\u53d8\u9053\u3001\u8f6c\u5f2f\u3001\u65e0\u4fe1\u53f7\u8def\u53e3\u4f1a\u4e22\u5931\u4fa7\u540e\u65b9\u969c\u788d\u7269；\u6d88\u878d\u5b9e\u9a8c：C\u00d71\u2192C\u00d73\u2192C\u00d76，EPDMS \u6301\u7eed\u4e0a\u6da8；\u6ce8\u610f\u529b\u53ef\u89c6\u5316\u8bc1\u660e\u52a8\u4f5c token \u4f1a\u91cd\u70b9\u5173\u6ce8\u5de6\u524d\u3001\u540e\u5411\u76f8\u673a\u6765\u5904\u7406\u6362\u9053\u4ea4\u4e92\u3002<\/li>\n
  • \u53ef\u5fae\u5206\u53ef\u884c\u9a76\u533a\u57df\u6b63\u5219\u80fd\u663e\u8457\u63d0\u5347\u8fb9\u754c\u5b89\u5168\u3002 \u8be5\u6b63\u5219\u5c06 DAC（\u53ef\u884c\u9a76\u533a\u57df\u5408\u89c4）\u6307\u6807\u5927\u5e45\u63d0\u5347，\u964d\u4f4e\u8f66\u8f86\u538b\u8fb9\u754c\u3001\u9a76\u51fa\u9053\u8def\u98ce\u9669，\u63a8\u7406\u96f6\u5f00\u9500\u3002<\/li>\n
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  • \u5b9e\u9a8c\u4e3b\u8981\u7ed3\u679c
    \nNAVSIMv2 \u95ed\u73af：C\u00d76 \u8f93\u5165 EPDMS \u8fbe\u523091.0，SOTA；
    \n\u6d88\u878d：\u672a\u6765\u89c6\u9891\u5171\u8bad\u7ec3\u3001DAC \u6b63\u5219\u3001\u6700\u7ec8\u5fae\u8c03\u4e09\u4e2a\u7ec4\u4ef6\u5171\u540c\u8d21\u732e\u6027\u80fd；\u5e26\u56e0\u679c\u63a9\u7801\u65f6\u4ec5 2 \u6b65\u63a8\u7406\u5373\u53ef\u8fbe\u5230\u6700\u4f18，\u66f4\u591a\u53bb\u566a\u6b65\u9aa4\u4e0d\u4f1a\u63d0\u5347\u6027\u80fd\u3002<\/li>\n

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  • \u4f9d\u7136\u5b58\u5728\u5178\u578b\u5931\u6548\u573a\u666f<\/li>\n

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  • \u8bc4\u4f30\u5c40\u9650<\/li>\n

    \u4e3b\u8981\u4f9d\u8d56\u4eff\u771f\u57fa\u51c6 NAVSIMv2\u3001nuScenes \u5f00\u73af\u8bc4\u4f30，\u6ca1\u6709\u5b9e\u8f66\u95ed\u73af\u6d4b\u8bd5；
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  • \u8303\u5f0f\u672c\u8eab\u56fa\u6709\u7684\u77ed\u677f（WAM \u5171\u6027）<\/li>\n

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    \u4f20\u7edf WAM（Epona\u3001DriveLaW）：\u63a8\u7406\u4e5f\u8981\u751f\u6210\u672a\u6765\u89c6\u9891，\u8ba1\u7b97\u91cd，\u4e3a\u901f\u5ea6\u53ea\u80fd\u7528\u5355\u524d\u89c6； Fast\u2011WAM\/GigaWorld\u2011Policy：\u63a8\u7406\u4e22\u5f03\u89c6\u9891\u5206\u652f，\u4f46\u6ca1\u6709\u505a\u591a\u73af\u89c6\u81ea\u52a8\u9a7e\u9a76\u573a\u666f； SV\u2011WAM：\u628a\u8fd9\u5957\u9ad8\u6548 WAM \u8303\u5f0f\u62d3\u5c55\u52306 \u76f8\u673a\u73af\u89c6\u81ea\u52a8\u9a7e\u9a76\u573a\u666f，\u5e76\u4e14\u589e\u52a0\u53ef\u884c\u9a76\u533a\u57df\u5b89\u5168\u6b63\u5219，\u9762\u5411\u771f\u5b9e\u81ea\u52a8\u9a7e\u9a76\u5b89\u5168\u9700\u6c42\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

    26\u5e749\u6708\u6765\u81ea\u81ea\u52a8\u5316\u6240\u3001\u91cd\u5e86\u957f\u5b89\u79d1\u6280\u3001\u4e2d\u56fd\u6c11\u7528\u822a\u7a7a\u5927\u5b66\u3001\u5317\u822a\u548c\u6842\u7535\u7684\u8bba\u6587\u201cSV-WAM: An Efficient Surround-View World-Action Model for End-to-End Autonomous Driving\u201d\u3002
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