{"id":123548,"date":"2026-11-07T17:01:39","date_gmt":"2026-11-07T09:01:39","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/123548.html"},"modified":"2026-11-07T17:01:39","modified_gmt":"2026-11-07T09:01:39","slug":"%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e5%9c%a8%e7%ba%bf%e8%b7%91%e6%89%8d%e5%a4%9a-3-2-%e4%b8%aa%e7%82%b9%ef%bc%9a%e5%a4%9a%e6%99%ba%e8%83%bd%e4%bd%93%e5%af%bc%e8%88%aa%e7%94%a8-18-%e5%80%8d%e5%bb%b6","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/123548.html","title":{"rendered":"\u4e16\u754c\u6a21\u578b\u5728\u7ebf\u8dd1\u624d\u591a 3.2 \u4e2a\u70b9\uff1a\u591a\u667a\u80fd\u4f53\u5bfc\u822a\u7528 18 \u500d\u5ef6\u8fdf\u6362 77.4% \u5230 80.6%"},"content":{"rendered":"

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arXiv 2611.07730v1 \u8fd9\u7bc7\u300aSeeing Beyond the Next Step: World-Model-Guided Human-Like Navigation in Multi-Agent Scenes\u300b\u8ba4\u4e3a\u8fd9\u4e2a\u4e8c\u9009\u4e00\u662f\u5047\u7684\u3002\u5b83\u7684\u4e3b\u5f20\u53ef\u4ee5\u538b\u6210\u4e00\u53e5\u8bdd：\u4e16\u754c\u6a21\u578b\u5728\u4eba\u7fa4\u5bfc\u822a\u91cc\u7684\u6b63\u786e\u4f4d\u7f6e\u662f\u8bad\u7ec3\u671f，\u5f53\u4e00\u4e2a\u7ed9\u5019\u9009\u52a8\u4f5c\u6253\u5206\u7684\u504f\u597d\u88c1\u5224，\u800c\u4e0d\u662f\u63a8\u7406\u671f，\u5f53\u4e00\u4e2a\u5728\u7ebf\u89c4\u5212\u5668\u3002 \u8bad\u5b8c\u4e4b\u540e\u4e24\u4e2a\u4e16\u754c\u6a21\u578b\u5168\u90e8\u6254\u6389，\u90e8\u7f72\u65f6\u7b56\u7565\u53ea\u505a\u4e00\u6b21\u524d\u5411，65 \u6beb\u79d2\u9009\u51fa\u4e00\u4e2a\u52a8\u4f5c\u951a\u70b9\u3002<\/p>\n

\u4f5c\u8005\u6765\u81ea\u9ad8\u4e3d\u5927\u5b66\u4e0e NC AI，\u8bba\u6587\u662f NeurIPS 2026 \u7684\u63a5\u6536\u7a3f，\u5168\u6587 37 \u9875\u3002\u5b83\u7ed9\u51fa\u7684\u4e09\u4e2a\u6570\u5b57\u662f：\u4e94\u4e2a\u7559\u51fa\u573a\u666f\u4e0a\u5e73\u5747\u76ee\u6807\u6210\u529f\u7387 77.4%，\u6bd4"\u9884\u6d4b\u5668 + MPC"\u8fd9\u4e00\u6574\u7c7b\u7ba1\u7ebf\u91cc\u6700\u597d\u7684\u4e00\u4e2a\u8fd8\u9ad8 20 \u591a\u4e2a\u70b9；\u5e73\u5747\u793e\u4ea4\u533a\u57df\u8fdd\u89c4\u7387 4.0%，\u800c\u5728\u540c\u4e00\u5957\u76d1\u7763\u4e0b\u53bb\u6389\u4e24\u4e2a\u4e16\u754c\u6a21\u578b，\u8fd9\u4e2a\u6570\u5b57\u4f1a\u56de\u5230 19.5%；\u63a8\u7406\u4e00\u6b21 65 \u6beb\u79d2，\u800c\u628a\u4e24\u4e2a\u4e16\u754c\u6a21\u578b\u642c\u5230\u7ebf\u4e0a\u6bcf\u4e00\u6b65\u90fd\u8dd1\u7684\u7248\u672c\u8981 1.2 \u79d2\u3002<\/p>\n

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\u4e00\u53e5\u8bdd\u7248\u672c<\/h4>\n

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  • \u628a\u4e16\u754c\u6a21\u578b\u7684\u89d2\u8272\u4ece"\u89c4\u5212\u5668"\u6539\u6210"\u88c1\u5224"\u3002 \u4e16\u754c\u6a21\u578b\u4e0d\u63a7\u5236\u667a\u80fd\u4f53，\u53ea\u5bf9\u5019\u9009\u52a8\u4f5c\u6253\u5206；\u6253\u5206\u7ed3\u679c\u7ecf GRPO \u53d8\u6210\u7b56\u7565\u53c2\u6570\u7684\u4e00\u90e8\u5206\u3002\u8fd9\u6761\u662f\u5168\u6587\u7684\u9aa8\u67b6\u3002<\/li>\n
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    \u4ec0\u4e48\u53eb reactive<\/h4>\n

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      \n
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    • \u524d\u9762\u7684\u4eba\u6d41\u6709\u4e00\u4e2a\u7f1d，\u4f60\u5207\u8fdb\u53bb，\u6b63\u597d\u628a\u4e00\u652f\u5df2\u7ecf\u4f5c\u4e3a\u4e00\u4e2a\u6574\u4f53\u5728\u79fb\u52a8\u7684\u961f\u4f0d\u5288\u5f00\u3002<\/li>\n
    • \u4e00\u6761\u7a84\u901a\u9053\u5f53\u524d\u4e0d\u5835，\u4f60\u8d70\u8fdb\u53bb，\u6b63\u597d\u5835\u4f4f\u95e8\u540e\u8981\u51fa\u6765\u7684\u4eba\u3002<\/li>\n<\/ul>\n

      \u8fd9\u4e09\u4e2a\u52a8\u4f5c\u5728\u51e0\u4f55\u4e0a\u5408\u6cd5\u3001\u5728\u793a\u8303\u5206\u5e03\u5185\u4e5f\u5408\u7406，\u4f46\u5b83\u4eec\u5728"\u52a8\u4f5c\u5bfc\u81f4\u4ec0\u4e48"\u8fd9\u4e2a\u610f\u4e49\u4e0a\u662f\u574f\u7684\u3002\u8bba\u6587\u628a\u8fd9\u7c7b\u9519\u8bef\u7684\u5171\u6027\u8bf4\u5f97\u5f88\u51c6：\u5b83\u4eec\u7531\u6240\u9009\u52a8\u4f5c\u4f1a\u5f15\u8d77\u4ec0\u4e48\u51b3\u5b9a，\u800c\u4e0d\u662f\u7531\u5b83\u5f53\u524d\u907f\u5f00\u4e86\u4ec0\u4e48\u51b3\u5b9a\u3002<\/p>\n

      \u4e3a\u4ec0\u4e48\u9884\u5224\u8fd9\u4e48\u8d35<\/h4>\n

      \u4e00\u4e2a\u8bda\u5b9e\u7684\u4e16\u754c\u6a21\u578b\u8981\u5728\u6bcf\u4e00\u6b65\u5bf9\u5019\u9009\u52a8\u4f5c\u505a\u6761\u4ef6\u63a8\u6f14\u3002\u8bba\u6587\u91cc\u7684\u5019\u9009\u8bcd\u8868\u662f 100 \u4e2a\u52a8\u4f5c\u951a\u70b9，\u5c31\u7b97\u53ea\u5bf9\u5176\u4e2d\u51e0\u5341\u4e2a\u505a\u63a8\u6f14，\u6bcf\u4e2a\u63a8\u6f14\u8fd8\u8981\u8dd1\u4e00\u6b21\u53bb\u566a\u5f0f\u7684\u8bed\u4e49\u9884\u6d4b，\u5355\u5019\u9009 0.115 \u79d2\u3002\u4eba\u7fa4\u4eff\u771f\u3001\u5177\u8eab\u4ea4\u4e92\u667a\u80fd\u4f53\u3001\u673a\u5668\u4eba\u672c\u4f53\u4e0a\u7684\u5bfc\u822a\u8fd9\u4e09\u7c7b\u7cfb\u7edf\u7684\u51b3\u7b56\u56de\u8def\u90fd\u5403\u4e0d\u4e0b\u8fd9\u4e2a\u5f00\u9500\u3002<\/p>\n

      \u6240\u4ee5\u9886\u57df\u505a\u4e86\u4e00\u4e2a\u4ea4\u6362：\u653e\u5f03\u524d\u77bb，\u6362\u5b9e\u65f6\u3002\u8bba\u6587\u7684\u7acb\u573a\u662f，\u8fd9\u4e2a\u4ea4\u6362\u4e0d\u5fc5\u8981\u2014\u2014\u524d\u77bb\u53ef\u4ee5\u5728\u8bad\u7ec3\u65f6\u4e00\u6b21\u6027\u644a\u9500\u8fdb\u53c2\u6570\u91cc\u3002<\/p>\n

      \u65b9\u6cd5\u603b\u89c8：\u4e24\u6bb5\u5f0f，\u4e16\u754c\u6a21\u578b\u53ea\u6d3b\u5728\u7b2c\u4e8c\u9636\u6bb5<\/h3>\n

      \u8f93\u5165\u4e0e\u8f93\u51fa<\/h4>\n

      \u6bcf\u4e00\u6b65 t，\u53d7\u63a7\u667a\u80fd\u4f53\u62ff\u5230\u7684\u89c2\u6d4b\u662f<\/p>\n

      ot={It,\u00a0gt,\u00a0vt,\u00a0vt\u22121,\u00a0Nt,\u00a0Dt}o_t=\\\\{I_t,\\\\ g_t,\\\\ v_t,\\\\ v_{t-1},\\\\ \\\\mathcal{N}_t,\\\\ \\\\mathcal{D}_t\\\\}<\/span><\/span>o<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>{<\/span>I<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span>\u00a0<\/span><\/span>g<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span>\u00a0<\/span><\/span>v<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span>\u00a0<\/span><\/span>v<\/span><\/span>t<\/span>\u2212<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span>\u00a0<\/span><\/span>N<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span>\u00a0<\/span><\/span>D<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>}<\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

      \u5176\u4e2d I_t \u662f RGB \u89c2\u6d4b，g_t \u662f\u81ea\u8f66\u5750\u6807\u7cfb\u4e0b\u7684\u76ee\u6807\u70b9，v_t \u4e0e v_{t-1} \u662f\u5f53\u524d\u4e0e\u4e0a\u4e00\u5e27\u7684\u81ea\u8f66\u901f\u5ea6，N_t \u4e0e D_t \u662f\u9644\u8fd1\u884c\u4eba\u4e0e\u52a8\u6001\u7269\u4f53\u7684\u96c6\u5408\u3002\u6bcf\u4e2a\u5468\u56f4\u5b9e\u4f53\u5e26\u4e00\u4e2a\u81ea\u8f66\u7cfb\u76f8\u5bf9\u4f4d\u7f6e p \u548c\u76f8\u5bf9\u901f\u5ea6 u\u3002<\/p>\n

      \u7b56\u7565\u8f93\u51fa\u7684\u662f\u52a8\u4f5c\u8bcd\u8868 A={a_1,\u2026,a_K} \u4e0a\u7684\u4e00\u4e2a\u7c7b\u522b\u5206\u5e03，K=100\u3002\u6bcf\u4e2a\u951a\u70b9 a_k \u662f\u4e00\u6761\u77ed\u7684\u3001\u81ea\u8f66\u7cfb\u4e0b\u7684\u4f4d\u79fb\u8f68\u8ff9，20 \u6b65\u3002<\/p>\n

      \u4e24\u9636\u6bb5\u5404\u81ea\u7684\u635f\u5931<\/h4>\n

      \u7b2c\u4e00\u9636\u6bb5\u662f\u7eaf\u76d1\u7763：\u628a\u6bcf\u6761\u793a\u8303\u8f68\u8ff9\u5728\u65f6\u523b t \u6700\u8fd1\u7684\u90a3\u4e2a\u951a\u70b9\u5f53\u4f5c\u6807\u7b7e，\u6700\u5c0f\u5316\u4ea4\u53c9\u71b5<\/p>\n

      LSFT=\u2212E(ot,at\u22c6)[log\u2061\u03c0\u03b8(at\u22c6\u2223ot)]\\\\mathcal{L}_{\\\\mathrm{SFT}}=-\\\\mathbb{E}_{(o_t,a_t^{\\\\star})}\\\\left[\\\\log \\\\pi_{\\\\theta}(a_t^{\\\\star}\\\\mid o_t)\\\\right]<\/span><\/span>L<\/span><\/span>SFT<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>\u2212<\/span>E<\/span><\/span>(<\/span>o<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span>a<\/span><\/span>t<\/span><\/span><\/span><\/span>\u22c6<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>[<\/span>log<\/span><\/span><\/span>\u03c0<\/span><\/span>\u03b8<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>a<\/span><\/span>t<\/span><\/span><\/span><\/span>\u22c6<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2223<\/span><\/span>o<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>]<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

      \u7b2c\u4e8c\u9636\u6bb5\u51bb\u7ed3\u4e24\u4e2a\u4e16\u754c\u6a21\u578b，\u53ea\u7528\u5b83\u4eec\u7b97\u51fa\u7684\u5206\u6570\u505a GRPO\u3002\u8fd9\u4e24\u4e2a\u9636\u6bb5\u4e4b\u95f4\u6ca1\u6709\u7b2c\u4e09\u4e2a\u9636\u6bb5，\u4e5f\u6ca1\u6709\u63a8\u7406\u671f\u7684\u91cd\u6392\u3002<\/p>\n

      \u90e8\u7f72\u65f6\u5269\u4e0b\u4ec0\u4e48<\/h4>\n

      \u90e8\u7f72\u65f6\u88ab\u4e22\u6389\u7684\u4e1c\u897f\u6e05\u5355\u503c\u5f97\u5355\u72ec\u5217\u51fa\u6765，\u56e0\u4e3a\u5b83\u51b3\u5b9a\u4e86\u8fd9\u5957\u65b9\u6cd5\u7684\u5de5\u7a0b\u6210\u672c：<\/p>\n

        \n
      • \u4e24\u4e2a\u4e16\u754c\u6a21\u578b\u672c\u8eab（\u4e00\u4e2a 31.1 TFLOPs，\u4e00\u4e2a 6.8 GFLOPs）<\/li>\n
      • \u5019\u9009\u7ec4\u6784\u9020（\u6bcf\u6b21\u51b3\u7b56\u8981\u51d1 10 \u4e2a\u5019\u9009）<\/li>\n
      • \u4e94\u9879\u5206\u6570\u51fd\u6570\u4e0e\u5b83\u7684\u5168\u90e8\u8d85\u53c2<\/li>\n
      • \u8bed\u4e49\u5206\u5272\u7684\u7c7b\u522b\u4f53\u7cfb\u4e0e\u9608\u503c\u89c4\u5219<\/li>\n<\/ul>\n

        \u7559\u4e0b\u7684\u662f\u4e00\u4e2a Qwen3-VL-2B-Instruct \u52a0 LoRA \u7684\u5206\u7c7b\u5934，\u4e00\u6b21\u524d\u5411 65 \u6beb\u79d2\u3002<\/p>\n

        # \u4ec5\u793a\u610f：\u8bad\u7ec3\u671f\u504f\u597d\u84b8\u998f\u7684\u4e00\u6b21\u8fed\u4ee3（\u4f2a\u4ee3\u7801，\u4e0d\u662f\u539f\u6587\u4ee3\u7801）
        \nfor o_t in rollout_buffer:
        \n anchors = top5(policy(o_t)) + uniform5(A \\\\ top5) # \u4ece K=100 \u91cc\u51d1 10 \u4e2a\u5019\u9009
        \n for a in anchors:
        \n dstate = f_state(h_t, a, P_t, U_t) # \u4e0b\u4e00\u6b65\u76f8\u5bf9\u4f4d\u7f6e\u4e0e\u901f\u5ea6
        \n S_next = f_sem(h_t, a, D_t) # \u4e0b\u4e00\u6b65\u5bfc\u822a\u8bed\u4e49\u5206\u5272
        \n r[a] = G(a) – C(a) – P_cur(a) – P_fut(dstate, a) + M(S_next, a)
        \n adv = (r – mean(r)) \/ std(r) # \u7ec4\u5185\u76f8\u5bf9\u4f18\u52bf
        \n loss = -sum(log policy(a | o_t) * adv) # GRPO \u98ce\u683c\u66f4\u65b0
        \n update(policy, loss) # \u4e24\u4e2a\u4e16\u754c\u6a21\u578b\u5168\u7a0b\u51bb\u7ed3
        \n# \u90e8\u7f72：\u4e22\u6389 f_state\u3001f_sem\u3001\u5019\u9009\u7ec4\u3001\u6253\u5206\u51fd\u6570，\u53ea\u7559 policy
        \na_star = argmax policy(o_t) # \u4e00\u6b21\u524d\u5411，65 ms<\/p>\n

        \"\u56fe
        \n\u56fe 1｜\u8bad\u7ec3\u6d41\u6c34\u7ebf\u7684\u4e24\u6bb5\u5f0f\u7ed3\u6784：\u4e0a\u9762\u662f\u89c2\u6d4b\u7684\u4e94\u4e2a\u7ec4\u6210\u90e8\u5206，\u5de6\u4e0b Stage 1 \u628a VLM \u8bad\u6210\u951a\u70b9\u5206\u7c7b\u5668，\u4e2d\u4e0b Stage 2 \u7528\u5019\u9009\u7ec4\u52a0\u53cc\u4e16\u754c\u6a21\u578b\u505a\u504f\u597d\u5f15\u5bfc\u7684 GRPO；\u53f3\u5217\u662f\u53cc\u4e16\u754c\u6a21\u578b\u7684\u9884\u6d4b\u76ee\u6807（\u76f8\u5bf9\u901f\u5ea6\u4e0e\u4f4d\u7f6e\u3001\u8bed\u4e49\u56fe）\u548c\u4e94\u9879\u6253\u5206\u9879\u3002<\/p>\n

        \u52a8\u4f5c\u7a7a\u95f4：100 \u4e2a\u951a\u70b9，\u628a\u8fd0\u52a8\u9009\u62e9\u53d8\u6210\u5206\u7c7b<\/h3>\n

        \u951a\u70b9\u600e\u4e48\u5207\u51fa\u6765\u7684<\/h4>\n

        \u8bba\u6587\u7528 25 FPS \u7684\u793a\u8303\u8f68\u8ff9，\u5207\u6210 20 \u5e27\u4e00\u6bb5\u3001\u6b65\u957f 10 \u5e27\u7684\u7247\u6bb5，\u6bcf\u6bb5\u5c55\u5f00\u6210 40 \u7ef4\u7684\u4f4d\u79fb\u5411\u91cf，\u7136\u540e\u5728\u8fd9\u4e2a 40 \u7ef4\u7a7a\u95f4\u91cc\u8dd1 K-means，K=100\u3002\u6bcf\u4e2a\u805a\u7c7b\u4e2d\u5fc3\u8fd8\u539f\u6210 20 \u4e2a\u4e8c\u7ef4\u70b9，\u5c31\u662f\u4e00\u4e2a\u951a\u70b9\u3002<\/p>\n

        \u8fd9\u4e2a\u8bbe\u8ba1\u628a"\u8fde\u7eed\u8f68\u8ff9\u56de\u5f52"\u6362\u6210\u4e86"100 \u7c7b\u5206\u7c7b"\u3002\u4f5c\u8005\u7ed9\u7684\u7406\u7531\u6709\u4e24\u6761：\u4e00\u662f\u5019\u9009\u52a8\u4f5c\u4ece\u4e00\u5f00\u59cb\u5c31\u843d\u5728\u4eba\u7c7b\u4f1a\u8d70\u7684\u6d41\u5f62\u4e0a，\u4e8c\u662f\u8ba9"\u6bd4\u8f83\u5019\u9009\u52a8\u4f5c\u7684\u540e\u679c"\u8fd9\u4ef6\u4e8b\u5728\u8ba1\u7b97\u4e0a\u53ef\u884c\u2014\u2014\u6bd4\u8f83 10 \u4e2a\u7c7b\u522b\u7684\u5206\u6570，\u6bd4\u5728\u8fde\u7eed\u7a7a\u95f4\u91cc\u505a\u4f18\u5316\u4fbf\u5b9c\u5f97\u591a\u3002<\/p>\n

        \u4e3a\u4ec0\u4e48\u662f 100<\/h4>\n

        \u8bba\u6587\u5728\u9644\u5f55 D \u91cc\u505a\u4e86\u4e00\u4e2a\u7ecf\u9a8c\u6027\u68c0\u67e5：\u4ece\u6570\u636e\u96c6\u91cc\u968f\u673a\u62bd 20 \u6761\u771f\u5b9e\u8f68\u8ff9，\u5404\u81ea\u627e\u6700\u8fd1\u7684\u951a\u70b9\u505a\u91cd\u5efa\u3002\u7ed3\u8bba\u662f 100 \u4e2a\u951a\u70b9\u4fdd\u4f4f\u4e86\u77ed\u65f6\u8fd0\u52a8\u7684\u4e3b\u65b9\u5411\u3001\u5c3a\u5ea6\u548c\u7ec8\u70b9\u8d8b\u52bf，\u53ea\u5728\u7f55\u89c1\u6216\u7a81\u53d8\u7684\u52a8\u4f5c\u4e0a\u51fa\u73b0\u660e\u663e\u504f\u5dee\u3002<\/p>\n

        \u4f5c\u8005\u5bf9\u8bcd\u8868\u5927\u5c0f\u7684\u6743\u8861\u8bf4\u5f97\u5f88\u76f4\u767d：\u66f4\u5c0f\u7684\u8bcd\u8868\u4f1a\u628a\u76f4\u884c\u3001\u6a2a\u79fb\u3001\u8f6c\u5f2f\u3001\u53d8\u901f\u8fd9\u4e9b\u4e0d\u540c\u884c\u4e3a\u5e76\u6210\u8fc7\u7c97\u7684\u539f\u8bed；\u66f4\u5927\u7684\u8bcd\u8868\u4f1a\u8ba9\u76d1\u7763\u53d8\u7a00\u758f\u3001\u5019\u9009\u6bd4\u8f83\u53d8\u8d35\u3002100 \u662f\u8fd9\u4e24\u7aef\u4e4b\u95f4\u7684\u6298\u4e2d\u3002<\/p>\n

        \u8fd9\u4e00\u6b65\u4e70\u5230\u4e86\u4ec0\u4e48，\u4ee3\u4ef7\u662f\u4ec0\u4e48<\/h4>\n

        \u4e70\u5230\u7684\u662f\u4e00\u6574\u5957\u65b9\u6cd5\u7684\u5730\u57fa：\u6ca1\u6709\u79bb\u6563\u8bcd\u8868，\u5c31\u6ca1\u6709"10 \u4e2a\u5019\u9009"\u8fd9\u79cd\u6bd4\u8f83\u7ed3\u6784，\u4e5f\u5c31\u6ca1\u6709\u7ec4\u5185\u76f8\u5bf9\u504f\u597d\u3002<\/p>\n

        \u4ee3\u4ef7\u5199\u5728\u5c40\u9650\u91cc：\u8bcd\u8868\u4e4b\u5916\u7684\u52a8\u4f5c\u53ea\u80fd\u88ab\u8fd1\u4f3c\u3002 \u6025\u505c\u3001\u4fa7\u8eab\u6324\u8fc7\u3001\u7a81\u7136\u6298\u8fd4\u8fd9\u7c7b\u52a8\u4f5c\u5982\u679c\u4e0d\u5728 100 \u4e2a\u951a\u70b9\u91cc，\u7b56\u7565\u53ea\u80fd\u9009\u4e00\u4e2a\u6700\u63a5\u8fd1\u7684，\u800c"\u6700\u63a5\u8fd1"\u5728\u62e5\u6324\u573a\u666f\u91cc\u53ef\u80fd\u6b63\u597d\u610f\u5473\u7740\u649e\u4e0a\u3002<\/p>\n

        \u4e24\u4e2a\u4e16\u754c\u6a21\u578b：\u4e00\u4e2a\u9884\u6d4b\u8c01\u5f80\u54ea\u8d70，\u4e00\u4e2a\u9884\u6d4b\u5730\u5f52\u8c01<\/h3>\n

        \u72b6\u6001\u8f6c\u79fb\u4e16\u754c\u6a21\u578b：\u7ed9"\u8c01\u671d\u8c01\u8d70"\u5355\u72ec\u52a0\u4e00\u9879<\/h4>\n

        \u7b2c\u4e00\u4e2a\u5206\u652f f_state \u7684\u8f93\u5165\u662f 4 \u5e27\u89c6\u89c9\u4e0a\u4e0b\u6587 h_t\u3001\u5019\u9009\u951a\u70b9 a_k，\u4ee5\u53ca\u67d0\u4e2a\u5468\u56f4\u5b9e\u4f53\u7684\u5f53\u524d\u76f8\u5bf9\u4f4d\u7f6e\u4e0e\u901f\u5ea6；\u8f93\u51fa\u662f\u8fd9\u4e2a\u5b9e\u4f53\u5728\u4e0b\u4e00\u6b65\u7684\u76f8\u5bf9\u4f4d\u7f6e\u589e\u91cf\u548c\u76f8\u5bf9\u901f\u5ea6：<\/p>\n

        \u0394p^t,j(ak),\u00a0u^t+1,j(ak)=fstate(ht,ak,pt,j,ut,j)\\\\Delta\\\\hat{p}_{t,j}(a_k),\\\\ \\\\hat{u}_{t+1,j}(a_k)=f_{\\\\mathrm{state}}(h_t,a_k,p_{t,j},u_{t,j})<\/span><\/span>\u0394<\/span><\/span>p<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>t<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>a<\/span><\/span>k<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>,<\/span>\u00a0<\/span><\/span><\/span>u<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>t<\/span>+<\/span>1<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>a<\/span><\/span>k<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span>=<\/span><\/span><\/span><\/span>f<\/span><\/span>state<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>h<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>a<\/span><\/span>k<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>p<\/span><\/span>t<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>u<\/span><\/span>t<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

        \u9884\u8bad\u7ec3\u635f\u5931\u662f<\/p>\n

        Ldyn=Et,j[\u2225\u0394p^t,j\u2212\u0394pt,j\u222522+\u03bbu\u2225u^t+1,j\u2212ut+1,j\u222522+\u03bbdir(1\u2212cos\u2061(u^t+1,j,ut+1,j))]
        \n\\\\mathcal{L}_{\\\\mathrm{dyn}}=\\\\mathbb{E}_{t,j}\\\\left[\\\\|\\\\Delta\\\\hat{p}_{t,j}-\\\\Delta p_{t,j}\\\\|_2^2\\\\right.
        \n\\\\left.+\\\\lambda_u\\\\|\\\\hat{u}_{t+1,j}-u_{t+1,j}\\\\|_2^2\\\\right.
        \n\\\\left.+\\\\lambda_{\\\\mathrm{dir}}\\\\left(1-\\\\cos(\\\\hat{u}_{t+1,j},u_{t+1,j})\\\\right)\\\\right]
        \n<\/span><\/span>L<\/span><\/span>dyn<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>E<\/span><\/span>t<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>[<\/span><\/span>\u2225\u0394<\/span><\/span>p<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>t<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span>\u0394<\/span>p<\/span><\/span>t<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span><\/span>2<\/span><\/span><\/span><\/span>2<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>+<\/span>\u03bb<\/span><\/span>u<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span><\/span>u<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>t<\/span>+<\/span>1<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span>u<\/span><\/span>t<\/span>+<\/span>1<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2225<\/span><\/span>2<\/span><\/span><\/span><\/span>2<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>+<\/span>\u03bb<\/span><\/span>dir<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>1<\/span><\/span>\u2212<\/span><\/span>cos<\/span>(<\/span><\/span>u<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>t<\/span>+<\/span>1<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>u<\/span><\/span>t<\/span>+<\/span>1<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>)<\/span><\/span>]<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

        \u7b2c\u4e09\u9879\u662f\u8fd9\u7bc7\u8bba\u6587\u91cc\u6211\u8ba4\u4e3a\u6700\u503c\u5f97\u8bb0\u7684\u4e00\u5904\u8bbe\u8ba1\u3002\u5b83\u662f\u4e00\u4e2a\u65b9\u5411\u9879，\u6743\u91cd \u03bb_dir=2.0，\u6bd4\u901f\u5ea6\u9879\u7684 \u03bb_u=1.0 \u8fd8\u5927\u3002\u4f5c\u8005\u7684\u89e3\u91ca\u662f：\u8fd9\u4e2a\u5206\u652f\u5bf9\u6392\u5e8f\u4ea4\u4e92\u98ce\u9669\u7684\u7528\u5904，\u4e3b\u8981\u6765\u81ea\u9884\u5224"\u8c01\u6b63\u5728\u671d\u8c01\u8d70\u6765"，\u800c\u4e0d\u53ea\u662f\u9884\u5224\u901f\u5ea6\u5927\u5c0f\u3002\u4e24\u4e2a\u901f\u5ea6\u5411\u91cf\u7684\u6a21\u957f\u53ef\u80fd\u4e00\u6837，\u65b9\u5411\u76f8\u53cd\u5219\u610f\u5473\u7740\u5b8c\u5168\u4e0d\u540c\u7684\u98ce\u9669\u3002<\/p>\n

        \u5206\u652f\u672c\u8eab\u7684\u7cbe\u5ea6\u5728\u9644\u5f55 E：\u4f4d\u7f6e ADE 0.1846 \u7c73，\u4f4d\u7f6e RMSE 0.2481 \u7c73，\u901f\u5ea6 MAE 0.3354 \u7c73\u6bcf\u79d2，\u901f\u5ea6 RMSE 0.4414 \u7c73\u6bcf\u79d2，\u901f\u7387 MAE 0.2096 \u7c73\u6bcf\u79d2，\u671d\u5411\u8bef\u5dee 20.77 \u5ea6\u3002<\/p>\n

        \u8bed\u4e49\u8f6c\u79fb\u4e16\u754c\u6a21\u578b：\u9884\u6d4b\u5206\u5272，\u4e0d\u9884\u6d4b RGB<\/h4>\n

        \u7b2c\u4e8c\u4e2a\u5206\u652f f_sem \u9884\u6d4b\u7684\u662f"\u7ed9\u5b9a\u8fd9\u4e2a\u951a\u70b9\u4e4b\u540e，\u4e0b\u4e00\u6b65\u7684\u5bfc\u822a\u8bed\u4e49\u5206\u5272\u56fe"：<\/p>\n

        S^t+1(ak)=fsem(ht,ak,Dt)\\\\hat{S}_{t+1}(a_k)=f_{\\\\mathrm{sem}}(h_t,a_k,\\\\mathcal{D}_t)<\/span><\/span><\/span>S<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>t<\/span>+<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>a<\/span><\/span>k<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span>=<\/span><\/span><\/span><\/span>f<\/span><\/span>sem<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>h<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>a<\/span><\/span>k<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>D<\/span><\/span>t<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

        \u4e0d\u662f RGB \u5e27\u3002\u4f5c\u8005\u7684\u7406\u7531\u5f88\u5e72\u8106：\u5206\u6570\u51fd\u6570\u53ea\u9700\u8981\u77e5\u9053\u667a\u80fd\u4f53\u5373\u5c06\u5360\u636e\u54ea\u4e00\u7c7b\u8bed\u4e49\u533a\u57df，\u9884\u6d4b RGB \u4f1a\u628a\u5bb9\u91cf\u82b1\u5728\u7b56\u7565\u6839\u672c\u4e0d\u8bfb\u7684\u7eb9\u7406\u4e0a\u3002\u7c7b\u522b\u662f\u4e03\u7c7b\u52a0\u4e00\u4e2a\u5ffd\u7565\u7c7b：\u4eba\u884c\u9053\u3001\u4eba\u884c\u6a2a\u9053\u3001\u8f66\u9053\u3001\u8f66\u8f86\u3001\u5efa\u7b51\u3001\u969c\u788d\u7269\u3001\u8349\u5730\u3002<\/p>\n

        \u5b9e\u73b0\u662f\u4e00\u4e2a EDM \u98ce\u683c\u7684\u6761\u4ef6\u53bb\u566a\u5668，\u6bcf\u6b21\u5019\u9009\u6253\u5206\u8dd1 25 \u6b65\u53bb\u566a，\u635f\u5931\u662f\u5e26 EDM \u566a\u58f0\u6743\u91cd\u7684\u91cd\u5efa\u9879\u52a0\u4e00\u9879 LPIPS \u611f\u77e5\u9879（\u03bb_LPIPS=0.1）\u3002\u5206\u5272\u7cbe\u5ea6：\u50cf\u7d20\u51c6\u786e\u7387 99.2848%\u3001mIoU 87.0020%\u3001Dice\/F1 89.0814%\u3001\u9891\u7387\u52a0\u6743 IoU 98.6099%；\u4f5c\u4e3a\u5bf9\u7167\u7684 DDPM \u53d8\u4f53\u662f 97.7863% \/ 86.5421% \/ 88.2132% \/ 95.4289%\u3002<\/p>\n

        \"\u56fe
        \n\u56fe 2｜\u8bed\u4e49\u5206\u652f\u5728 Zara01 \u4e0a\u8fde\u7eed\u56db\u5e27\u7684\u9884\u6d4b：\u7b2c\u4e00\u884c\u662f\u7b2c\u4e09\u4eba\u79f0\u8f93\u5165，\u7b2c\u4e8c\u884c\u662f\u771f\u503c\u5206\u5272，\u7b2c\u4e09\u884c\u662f\u4e16\u754c\u6a21\u578b\u9884\u6d4b；\u7ea2\u8272\u8f6e\u5ed3\u662f\u53d7\u63a7\u667a\u80fd\u4f53，\u5176\u4ed6\u884c\u4eba\u88ab\u6392\u9664\u5728\u5206\u5272\u76ee\u6807\u4e4b\u5916\u3002<\/p>\n

        \u4e3a\u4ec0\u4e48\u628a\u884c\u4eba\u4ece\u5206\u5272\u76ee\u6807\u91cc\u5220\u6389<\/h4>\n

        \u8fd9\u662f\u5168\u6587\u7b2c\u4e8c\u4e2a\u6211\u8ba4\u4e3a\u503c\u5f97\u8bb0\u4f4f\u7684\u8bbe\u8ba1\u3002\u884c\u4eba\u4f1a\u51fa\u73b0\u5728\u8f93\u5165\u56fe\u50cf\u91cc，\u4f46\u4ed6\u4eec\u7684\u50cf\u7d20\u5728\u5206\u5272\u76ee\u6807\u91cc\u88ab\u8d4b\u6210\u5ffd\u7565\u6807\u7b7e\u3002<\/p>\n

        \u7406\u7531\u662f：\u884c\u4eba\u53ea\u662f"\u4e34\u65f6\u7684\u906e\u6321\u7269"，\u4e0d\u6539\u53d8\u90a3\u5757\u5730\u9762\u7684\u53ef\u901a\u884c\u6027\u3002\u5982\u679c\u884c\u4eba\u88ab\u5f53\u6210\u666e\u901a\u5206\u5272\u76ee\u6807，\u8fd9\u4e2a\u5206\u652f\u5c31\u5f97\u540c\u65f6\u89e3\u51b3\u4e24\u4e2a\u95ee\u9898\u2014\u2014\u9884\u6d4b\u6301\u4e45\u7684\u573a\u666f\u5e03\u5c40，\u548c\u9884\u6d4b\u6bcf\u4e00\u4e2a\u884c\u4eba\u7684\u672a\u6765\u63a9\u7801\u3002\u540e\u8005\u662f\u72b6\u6001\u5206\u652f\u7684\u6d3b，\u786c\u585e\u8fdb\u6765\u4f1a\u5f15\u5165\u566a\u58f0\u76d1\u7763：\u884c\u4eba\u4f4d\u7f6e\u7684\u5c0f\u8bef\u5dee\u4f1a\u4e3b\u5bfc\u5206\u5272\u635f\u5931，\u5374\u5bf9"\u8fd9\u53ea\u811a\u5373\u5c06\u8e29\u5230\u54ea\u7c7b\u5730\u9762"\u8fd9\u4e2a\u5224\u65ad\u6beb\u65e0\u5e2e\u52a9\u3002<\/p>\n

        \u5220\u6389\u4e4b\u540e\u4e24\u4e2a\u5206\u652f\u7684\u5206\u5de5\u5c31\u5e72\u51c0\u4e86：\u72b6\u6001\u5206\u652f\u7ba1\u8c01\u5f80\u54ea\u8d70，\u8bed\u4e49\u5206\u652f\u7ba1\u573a\u666f\u5f52\u8c01\u3002（f_state \u4e0e f_sem）\u4f5c\u8005\u628a\u8fd9\u4e2a\u5206\u5de5\u79f0\u4e3a"\u4e24\u4e2a\u4e0d\u91cd\u53e0\u7684\u524d\u77bb\u6765\u6e90"\u3002<\/p>\n

        \u4ece\u9884\u6d4b\u5230\u504f\u597d：10 \u4e2a\u5019\u9009\u3001\u4e00\u4e2a\u6807\u91cf\u5206\u6570\u3001\u4e00\u6b21 GRPO<\/h3>\n

        \u5019\u9009\u7ec4：5 \u4e2a\u8d2a\u5fc3\u52a0 5 \u4e2a\u968f\u673a<\/h4>\n

        \u6bcf\u6b21\u51b3\u7b56\u51d1 10 \u4e2a\u5019\u9009：5 \u4e2a\u662f\u5f53\u524d\u7b56\u7565\u4e0b\u6982\u7387\u6700\u9ad8\u7684\u951a\u70b9（\u5229\u7528\u76d1\u7763\u5148\u9a8c），5 \u4e2a\u4ece\u5269\u4e0b 95 \u4e2a\u91cc\u5747\u5300\u968f\u673a\u91c7（\u63a2\u7d22\u5148\u9a8c\u4e4b\u5916\u7684\u52a8\u4f5c）\u3002<\/p>\n

        \u8fd9\u4e2a\u8bbe\u8ba1\u5728\u6d88\u878d\u91cc\u88ab\u8bc1\u660e\u4e0d\u662f\u53ef\u6709\u53ef\u65e0\u7684\u3002\u53ea\u53d6\u524d 10 \u4e2a（\u7eaf\u5229\u7528）\u5728 Zara01_Group \u4e0a\u5d29\u5230 14.8% \u6210\u529f\u7387；\u7eaf\u968f\u673a 10 \u4e2a\u5728 ETH_Intersection \u4e0a\u53ea\u6709 44.4%\u3002\u4f5c\u8005\u7684\u89e3\u91ca\u662f\u4e24\u79cd\u6781\u7aef\u4ee5\u76f8\u53cd\u7684\u65b9\u5f0f\u5931\u8d25：\u5168\u53d6\u9ad8\u5206\u5019\u9009\u5f7c\u6b64\u592a\u50cf，\u5b66\u4e0d\u5230\u4e1c\u897f；\u5168\u968f\u673a\u5019\u9009\u592a\u4e0d\u76f8\u5173，\u4fe1\u53f7\u6ca1\u7528\u3002<\/p>\n

        \u5206\u6570\u51fd\u6570：\u4e94\u9879\u76f8\u52a0<\/h4>\n

        \u6bcf\u4e2a\u5019\u9009\u62ff\u5230\u4e00\u4e2a\u6807\u91cf\u5206\u6570：<\/p>\n

        rt(i)=Gt(i)\u2212Ct(i)\u2212Pcur,t(i)\u2212Pfut,t(i)+Mt(i)r_t^{(i)}=G_t^{(i)}-C_t^{(i)}-P_{\\\\mathrm{cur},t}^{(i)}-P_{\\\\mathrm{fut},t}^{(i)}+M_t^{(i)}<\/span><\/span>r<\/span><\/span>t<\/span><\/span><\/span><\/span>(<\/span>i<\/span>)<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>G<\/span><\/span>t<\/span><\/span><\/span><\/span>(<\/span>i<\/span>)<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>C<\/span><\/span>t<\/span><\/span><\/span><\/span>(<\/span>i<\/span>)<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>P<\/span><\/span>cur<\/span><\/span>,<\/span>t<\/span><\/span><\/span><\/span><\/span>(<\/span>i<\/span>)<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>P<\/span><\/span>fut<\/span><\/span>,<\/span>t<\/span><\/span><\/span><\/span><\/span>(<\/span>i<\/span>)<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>+<\/span><\/span><\/span><\/span>M<\/span><\/span>t<\/span><\/span><\/span><\/span>(<\/span>i<\/span>)<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

        \u4e94\u9879\u5206\u522b\u662f：\u76ee\u6807\u8fdb\u5c55 G（\u671d\u76ee\u6807\u70b9\u9760\u8fd1\u7684\u5f52\u4e00\u5316\u91cf）\u3001\u5e73\u6ed1\u4ee3\u4ef7 C（\u7b2c\u4e00\u6b65\u901f\u5ea6\u4e0e\u4e0a\u4e00\u5e27\u901f\u5ea6\u7684\u5dee，\u53cc\u5411\u5f52\u4e00\u5316）\u3001\u5f53\u524d\u4ea4\u4e92\u98ce\u9669 P_cur\u3001\u9884\u6d4b\u7684\u672a\u6765\u4ea4\u4e92\u98ce\u9669 P_fut\u3001\u8bed\u4e49\u6709\u6548\u6027 M\u3002<\/p>\n

        P \u7531\u4e09\u90e8\u5206\u6784\u6210，\u6bcf\u4e00\u9879\u90fd\u5728\u9644\u5f55 B \u7ed9\u4e86\u95ed\u5f0f：<\/p>\n

          \n
        • \u4eba\u7fa4\u538b\u529b：\u4ee5 \u03c3_\u03c1=2.5 \u7c73\u7684\u9ad8\u65af\u6838\u52a0\u6743\u7684\u4eba\u6570\u5bc6\u5ea6，\u4e58\u4e00\u4e2a\u901f\u5ea6\u79bb\u6563\u5ea6\u9879，\u4e0a\u9650 N_max=15\u3002<\/li>\n
        • \u8fd1\u8eab\u8ddd\u79bb\u4ee3\u4ef7：\u4ee5 \u03c3_p=1.25 \u7c73\u7684\u9ad8\u65af\u6838\u52a0\u6743，\u540c\u7ec4\u7684\u884c\u4eba\u6743\u91cd\u53d6 0.5，\u975e\u540c\u7ec4\u53d6 1.0\u2014\u2014\u540c\u4e00\u7fa4\u4f53\u5185\u7684\u8d34\u8eab\u662f\u88ab\u5141\u8bb8\u7684\u3002<\/li>\n
        • \u78b0\u649e\u98ce\u9669：\u7528\u65f6\u95f4\u5230\u78b0\u649e\u7684\u4ee3\u7406\u91cf，\u03c4=2.0，\u884c\u4eba\u6743\u91cd 1，\u52a8\u6001\u7269\u4f53\u6743\u91cd 1.2\u3002<\/li>\n<\/ul>\n

          M \u662f\u4e00\u7ec4\u624b\u5199\u89c4\u5219：\u5c40\u90e8\u4e09\u89d2\u8db3\u8ff9\u91cc，\u4eba\u884c\u9053\u52a0\u4eba\u884c\u6a2a\u9053\u7684\u50cf\u7d20\u5360\u6bd4\u8d85\u8fc7 70% \u5f97 +1，\u8f66\u9053\u7684\u5360\u6bd4\u8d85\u8fc7 70% \u5f97 \u22122，\u8349\u5730\u8d85\u8fc7 25% \u5f97 \u22121，\u8f66\u8f86\u3001\u5efa\u7b51\u3001\u969c\u788d\u7269\u8d85\u8fc7 5% \u5404\u5f97 \u221210，\u6700\u540e\u9664\u4ee5 34 \u5f52\u4e00\u5316\u3002\u60e9\u7f5a\u7684\u4e25\u91cd\u7a0b\u5ea6\u6709\u4e00\u4e2a\u660e\u786e\u7684\u5c42\u7ea7：\u8f66\u8f86\u3001\u5efa\u7b51\u3001\u969c\u788d\u7269 \u9ad8\u4e8e \u8f66\u9053 \u9ad8\u4e8e \u8349\u5730\u3001\u4eba\u884c\u9053\u3001\u4eba\u884c\u6a2a\u9053\u3002<\/p>\n

          GRPO \u5728\u8fd9\u91cc\u505a\u4ec0\u4e48<\/h4>\n

          GRPO \u505a\u7684\u4e8b\u53ea\u6709\u4e00\u4ef6：\u5728\u540c\u4e00\u7ec4\u7684 10 \u4e2a\u5019\u9009\u91cc，\u504f\u597d\u90a3\u4e9b\u5206\u6570\u9ad8\u4e8e\u7ec4\u5747\u503c\u7684\u3002\u5b83\u4e0d\u9700\u8981\u4e00\u4e2a\u4ef7\u503c\u7f51\u7edc，\u4e5f\u4e0d\u9700\u8981\u628a\u5206\u6570\u8f6c\u6210\u7edd\u5bf9\u56de\u62a5\u2014\u2014\u8fd9\u6b63\u662f\u7ec4\u5185\u76f8\u5bf9\u65b9\u6cd5\u7684\u597d\u5904，\u56e0\u4e3a\u5206\u6570\u51fd\u6570\u7684\u4e94\u9879\u90fd\u662f\u4eba\u5de5\u5b9a\u4e49\u7684\u91cf\u7eb2，\u7edd\u5bf9\u503c\u6ca1\u6709\u610f\u4e49，\u6392\u5e8f\u624d\u6709\u3002<\/p>\n

          \u4e94\u9879\u6743\u91cd\u5168\u90e8\u53d6 1，\u4f5c\u8005\u660e\u786e\u8bf4\u662f"\u523b\u610f\u907f\u514d\u6309\u573a\u666f\u8c03\u5956\u52b1"\u3002\u8fd9\u53e5\u8bdd\u5728\u6d88\u878d\u91cc\u88ab\u9a8c\u8bc1\u4e86：\u4e00\u4e2a\u6743\u91cd\u90fd\u4e0d\u8c03，\u4e94\u4e2a\u573a\u666f\u5168\u90e8\u7b2c\u4e00\u3002<\/p>\n

          \u4e00\u4e2a\u5bb9\u6613\u8bef\u8bfb\u7684\u70b9<\/h4>\n

          \u4e16\u754c\u6a21\u578b\u4e0d\u63a7\u5236\u667a\u80fd\u4f53\u3002\u5b83\u4eec\u4e0d\u8f93\u51fa\u52a8\u4f5c\u3001\u4e0d\u505a MPC\u3001\u4e5f\u4e0d\u4ea7\u751f\u60f3\u8c61\u4e2d\u7684\u8f68\u8ff9\u8ba9\u7b56\u7565\u53bb\u6a21\u4eff\u3002\u5b83\u4eec\u53ea\u56de\u7b54\u4e00\u4e2a\u95ee\u9898：\u8fd9\u4e2a\u5019\u9009\u52a8\u4f5c\u4e4b\u540e，\u522b\u4eba\u4f1a\u600e\u4e48\u52a8\u3001\u5730\u9762\u4f1a\u53d8\u6210\u4ec0\u4e48\u7c7b\u522b\u3002 \u7b54\u6848\u88ab\u538b\u7f29\u6210\u4e00\u4e2a\u6807\u91cf，\u6807\u91cf\u88ab\u538b\u7f29\u6210\u4e00\u4e2a\u7ec4\u5185\u4f18\u52bf，\u4f18\u52bf\u88ab\u538b\u8fdb\u53c2\u6570\u3002<\/p>\n

          \u8fd9\u5c42\u5c42\u7684"\u538b\u7f29"\u5c31\u662f"\u644a\u9500"\u7684\u5177\u4f53\u542b\u4e49：\u4e16\u754c\u6a21\u578b\u7684\u524d\u77bb\u80fd\u529b\u88ab\u644a\u8fdb\u4e86\u7b56\u7565\u7684\u6743\u91cd\u91cc，\u4ee3\u4ef7\u4e00\u6b21\u6027\u4ed8\u5728\u8bad\u7ec3\u65f6\u3002<\/p>\n

          \u4e3b\u5b9e\u9a8c：\u4e94\u4e2a\u573a\u666f，\u8fdd\u89c4\u7387\u6389\u4e00\u4e2a\u6570\u91cf\u7ea7<\/h3>\n

          \u573a\u666f\u3001\u8bad\u7ec3\u6570\u636e\u4e0e\u57fa\u7ebf<\/h4>\n

          \u7b56\u7565\u548c\u4e24\u4e2a\u4e16\u754c\u6a21\u578b\u90fd\u5728 ETH\/UCY \u7684\u56db\u4e2a\u573a\u666f\u4e0a\u8bad\u7ec3：ETH_Hotel\u3001Zara01\u3001ETH\u3001Students003，\u5168\u90e8\u91cd\u5efa\u6210 Unity \u573a\u666f\u3002Zara01 \u4e0e Students003 \u6309 8:1:1 \u5207\u5206\u8bad\u7ec3\u3001\u9a8c\u8bc1\u3001\u6d4b\u8bd5，\u53ea\u7528\u8bad\u7ec3\u96c6\u505a\u4f18\u5316\u3002<\/p>\n

          \u8bc4\u4f30\u7528\u4e94\u4e2a\u573a\u666f，\u5404\u6709\u5206\u5de5：<\/p>\n

            \n
          • Zara01 \u4e0e Students003：\u8bad\u7ec3\u573a\u666f\u3001\u7559\u51fa\u8f68\u8ff9\u3002<\/li>\n
          • ETH_Hallway \u4e0e ETH_Intersection：\u7528 ETH \u7684\u573a\u666f\u8d44\u4ea7\u65b0\u642d\u7684\u5e03\u5c40，\u8bad\u7ec3\u65f6\u4ece\u672a\u89c1\u8fc7\u3002\u524d\u8005\u5f3a\u8c03\u53d7\u9650\u901a\u9053，\u540e\u8005\u5f3a\u8c03\u4ea4\u53c9\u4eba\u6d41\u3002<\/li>\n
          • Zara01_Group：\u5728 Zara01 \u4e0a\u52a0\u5927\u7fa4\u4f53\u89c4\u6a21，\u6d4b\u7fa4\u4f53\u89c4\u6a21\u7684\u6cdb\u5316\u3002<\/li>\n<\/ul>\n

            \u57fa\u7ebf\u662f\u4e09\u4e2a\u4eba\u7fa4\u5bfc\u822a\u8303\u5f0f：GBM（\u57fa\u4e8e\u89c6\u89c9\u7684\u68af\u5ea6\u8f6c\u5411）\u3001CCP（\u53ef\u914d\u7f6e\u7684\u5f3a\u5316\u5b66\u4e60 profile \u6a21\u578b）\u3001CEDRL（example-driven \u7684\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5）\u3002\u6bcf\u4e2a\u573a\u666f\u4e09\u6b21\u8fd0\u884c\u53d6\u5e73\u5747\u3002<\/p>\n

            \"\u56fe
            \n\u56fe 3｜\u516d\u4e2a\u573a\u666f\u7684\u91cd\u5efa\u753b\u9762：Students003\u3001ETH_Hotel\u3001Zara01\u3001ETH\u3001ETH_Hallway \u4e0e ETH_Intersection；\u540e\u4e24\u4e2a\u662f\u7528 ETH \u8d44\u4ea7\u65b0\u642d\u3001\u8bad\u7ec3\u65f6\u4ece\u672a\u89c1\u8fc7\u7684\u5e03\u5c40\u3002<\/p>\n

            \u4e09\u4e2a\u6307\u6807<\/h4>\n
              \n
            • GSR：\u76ee\u6807\u6210\u529f\u7387，\u65e0\u78b0\u649e\u5230\u8fbe\u76ee\u7684\u5730\u7684\u667a\u80fd\u4f53\u6bd4\u4f8b\u3002\u8d8a\u9ad8\u8d8a\u597d\u3002<\/li>\n
            • SRVR：\u793e\u4ea4\u533a\u57df\u8fdd\u89c4\u7387，\u5f85\u5728\u8bed\u4e49\u4e0d\u5f53\u533a\u57df（\u6bd4\u5982\u8f66\u9053）\u7684\u65f6\u95f4\u6b65\u6bd4\u4f8b\u3002\u8d8a\u4f4e\u8d8a\u597d\u3002<\/li>\n
            • GD：\u7fa4\u4f53\u8ddd\u79bb，\u5230\u88ab\u5206\u914d\u7fa4\u4f53\u8d28\u5fc3\u7684\u5e73\u5747\u8ddd\u79bb\u3002\u8d8a\u4f4e\u8d8a\u597d\u3002<\/li>\n<\/ul>\n

              \u4e09\u4e2a\u6307\u6807\u5bf9\u5e94\u4e09\u4ef6\u4e8b：\u80fd\u4e0d\u80fd\u5230\u3001\u5b88\u4e0d\u5b88\u89c4\u77e9\u3001\u8ddf\u4e0d\u8ddf\u5f97\u4f4f\u961f\u4f0d\u3002<\/p>\n

              \u4e3b\u7ed3\u679c<\/h4>\n\n\u573a\u666fGSR \u57fa\u7ebf\u2192\u672c\u6587SRVR \u57fa\u7ebf\u2192\u672c\u6587GD（\u672c\u6587）<\/tr>\n\n\n\n\n\n\n
              Zara01<\/td>\n55.6 \u2192 72.2<\/td>\n15.6 \u2192 7.0<\/td>\n0.6<\/td>\n<\/tr>\n
              Zara01_Group<\/td>\n38.9 \u2192 77.8<\/td>\n17.4 \u2192 1.2<\/td>\n2.1<\/td>\n<\/tr>\n
              Students003<\/td>\n64.0 \u2192 66.0<\/td>\n15.2 \u2192 7.2<\/td>\n0.7<\/td>\n<\/tr>\n
              ETH_Intersection<\/td>\n72.2 \u2192 83.3<\/td>\n13.0 \u2192 3.9<\/td>\n0.9<\/td>\n<\/tr>\n
              ETH_Hallway<\/td>\n68.8 \u2192 87.5<\/td>\n7.5 \u2192 0.9<\/td>\n0.8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

              \u8868\u91cc GSR \u90a3\u4e00\u5217\u7684\u6700\u5f3a\u57fa\u7ebf，\u4e94\u4e2a\u573a\u666f\u90fd\u662f GBM；SRVR \u90a3\u4e00\u5217\u5728 Zara01 \u4e0e Zara01_Group \u4e0a\u662f CEDRL，\u5728 Students003 \u662f GBM，\u5728\u4e24\u4e2a ETH \u573a\u666f\u4e0a\u662f CCP\u3002\u4e0b\u9762\u6d88\u878d\u8868\u91cc\u7684"\u7fa4\u4f53"\u4e24\u5217，\u6307\u7684\u662f Zara01_Group \u8fd9\u4e2a\u573a\u666f\u3002<\/p>\n

              \u8fd9\u5f20\u8868\u91cc\u6709\u51e0\u4ef6\u4e8b\u503c\u5f97\u5355\u72ec\u8bf4\u3002<\/p>\n

              \u7b2c\u4e00，\u8fdd\u89c4\u7387\u7684\u4e0b\u964d\u4e0d\u662f\u9760\u4fdd\u5b88\u6362\u6765\u7684\u3002 \u4e00\u4e2a\u53ea\u6c42\u4e0d\u8fdd\u89c4\u7684\u7b56\u7565\u53ef\u4ee5\u7ad9\u7740\u4e0d\u52a8，SRVR \u4f1a\u5f88\u4f4e，GSR \u4e5f\u4f1a\u5f88\u4f4e\u3002\u672c\u6587\u5728\u4e94\u4e2a\u573a\u666f\u4e0a GSR \u5168\u90e8\u9ad8\u4e8e\u6700\u5f3a\u57fa\u7ebf，\u540c\u65f6 SRVR \u5168\u90e8\u66f4\u4f4e\u2014\u2014\u4e24\u4e2a\u65b9\u5411\u540c\u65f6\u6539\u5584，\u8fd9\u624d\u662f"\u9884\u5224"\u8be5\u6709\u7684\u6837\u5b50\u3002<\/p>\n

              \u7b2c\u4e8c，\u7fa4\u4f53\u573a\u666f\u7684\u5dee\u8ddd\u6700\u5927\u3002 Zara01_Group \u4e0a SRVR \u4ece 17.4 \u6389\u5230 1.2，\u662f 14.5 \u500d；GSR \u4ece 38.9 \u6da8\u5230 77.8，\u6b63\u597d\u7ffb\u500d\u3002\u7fa4\u4f53\u573a\u666f\u96be\u5728"\u4e2a\u4f53\u53ef\u884c"\u548c"\u7fa4\u4f53\u53ef\u884c"\u7ecf\u5e38\u51b2\u7a81：\u4f60\u63d2\u8fdb\u961f\u4f0d\u4e2d\u95f4，\u81ea\u5df1\u7701\u4e86\u4e24\u79d2，\u6574\u652f\u961f\u4f0d\u7684\u5f62\u6001\u88ab\u6253\u6563\u3002\u53ea\u770b\u5f53\u524d\u72b6\u6001\u7684\u7b56\u7565\u6ca1\u6709\u5de5\u5177\u53bb\u533a\u5206\u8fd9\u4e24\u79cd\u3002<\/p>\n

              \u7b2c\u4e09，ETH_Hallway \u662f\u8bed\u4e49\u5206\u652f\u7684\u4e3b\u573a\u3002 SRVR \u4ece 7.5 \u6389\u5230 0.9\u3002\u53d7\u9650\u901a\u9053\u91cc，"\u8fd9\u53ea\u811a\u4f1a\u8e29\u5230\u54ea\u7c7b\u5730\u9762"\u6bd4"\u9694\u58c1\u90a3\u4e2a\u4eba\u4e0b\u4e00\u6b65\u5f80\u54ea\u504f"\u66f4\u51b3\u5b9a\u6210\u8d25\u3002<\/p>\n

              \u7b2c\u56db，Students003 \u7684 GSR \u53ea\u6da8\u4e86 2 \u4e2a\u70b9（64.0 \u5230 66.0），\u662f\u4e94\u4e2a\u573a\u666f\u91cc\u6700\u5c0f\u7684\u3002\u8fd9\u4e2a\u573a\u666f\u884c\u4eba\u5bc6\u5ea6\u9ad8\u4f46\u5e03\u5c40\u7b80\u5355，\u57fa\u7ebf\u672c\u6765\u5c31\u4e0d\u5dee；\u63d0\u5347\u4e3b\u8981\u843d\u5728 SRVR（15.2 \u5230 7.2）\u548c GD（1.4 \u5230 0.7）\u3002<\/p>\n

              \u5b9a\u6027\u4f8b\u5b50：\u4eba\u884c\u6a2a\u9053<\/h4>\n

              \u8bba\u6587 Figure 3 \u7ed9\u4e86\u4e00\u4e2a\u8fc7\u8857\u573a\u666f：\u6709\u753b\u7ebf\u4eba\u884c\u6a2a\u9053，\u56db\u4e2a\u65b9\u6cd5\u5404\u8dd1\u4e00\u904d，\u7ea2\u8272\u66f2\u7ebf\u662f\u8fc7\u53bb 60 \u5e27\u7684\u8f68\u8ff9\u3002\u57fa\u7ebf\u4eec\u666e\u904d\u79bb\u5f00\u4eba\u884c\u6a2a\u9053\u3001\u76f4\u63a5\u4ece\u8f66\u9053\u533a\u57df\u7a7f\u8fc7\u53bb；\u672c\u6587\u7684\u65b9\u6cd5\u6574\u4e2a\u8fc7\u7a0b\u7559\u5728\u6a2a\u9053\u5185，\u5176\u4e2d\u4e00\u5e27\u8fd8\u6cbf\u7740\u6a2a\u9053\u8fb9\u7f18\u7ed5\u5f00\u4e00\u4e2a\u8fce\u9762\u884c\u4eba\u2014\u2014\u7ed5\u884c\u6ca1\u6709\u79bb\u5f00\u6a2a\u9053\u3002<\/p>\n

              \u8fd9\u4e2a\u4f8b\u5b50\u5bf9\u5e94\u7684\u5c31\u662f M \u9879\u91cc\u7684\u89c4\u5219：\u8f66\u9053\u5360\u6bd4\u8d85\u8fc7 70% \u6263 2 \u5206，\u4eba\u884c\u9053\u52a0\u4eba\u884c\u6a2a\u9053\u8d85\u8fc7 70% \u52a0 1 \u5206\u3002\u89c4\u5219\u5f88\u571f，\u4f46\u5b83\u628a"\u4ec0\u4e48\u662f\u5408\u6cd5\u5730\u9762"\u8fd9\u4ef6\u4e8b\u5199\u8fdb\u4e86\u8bad\u7ec3\u4fe1\u53f7\u3002<\/p>\n

              \"\u56fe
              \n\u56fe 4｜\u8fc7\u8857\u5bf9\u6bd4：\u84dd\u8272\u6846\u6807\u51fa CCP\u3001CEDRL\u3001GBM \u79bb\u5f00\u4eba\u884c\u6a2a\u9053\u3001\u76f4\u63a5\u7a7f\u8fc7\u8f66\u9053\u533a\u57df\u7684\u5e27；\u672c\u6587（\u53f3\u4e0b）\u6574\u6bb5\u8fc7\u8857\u90fd\u7559\u5728\u6a2a\u9053\u5185，\u7b2c\u4e8c\u5e27\u8fd8\u6cbf\u6a2a\u9053\u8fb9\u7f18\u7ed5\u5f00\u8fce\u9762\u884c\u4eba\u3002<\/p>\n

              \u7fa4\u4f53\u573a\u666f\u7684\u4e09\u4e2a\u5bf9\u6bd4\u753b\u9762<\/h4>\n

              \"\u56fe
              \n\u56fe 5｜\u7fa4\u4f53\u5bfc\u822a\u5bf9\u6bd4：CCP \u51fa\u73b0\u6389\u961f\u3001CEDRL \u4e0e\u8f66\u8f86\u8d34\u5f97\u8fc7\u8fd1\u3001GBM \u628a\u961f\u4f0d\u62c9\u6563\u5230\u8f66\u9053，\u672c\u6587（\u53f3\u5217）\u5728\u540c\u6837\u4e09\u5e27\u91cc\u4fdd\u6301\u66f4\u7d27\u51d1\u7684\u961f\u5f62\u5e76\u907f\u5f00\u8f66\u8f86\u3002<\/p>\n

              \u540c\u4e00\u7ec4\u5bf9\u7167\u5728\u7fa4\u4f53\u573a\u666f\u91cc\u66f4\u76f4\u89c2：\u4e09\u5e27\u65f6\u95f4\u5e8f\u5217\u4e0a，CCP \u7684\u961f\u4f0d\u88ab\u62c9\u6210\u4e00\u957f\u4e32，CEDRL \u6709\u4e00\u5e27\u548c\u8f66\u8f86\u8d34\u5230\u51e0\u4e4e\u91cd\u53e0，GBM \u628a\u6574\u652f\u961f\u4f0d\u63a8\u5230\u4e86\u8f66\u9053\u8fb9\u7f18；\u672c\u6587\u90a3\u4e00\u5217\u5728\u540c\u6837\u4e09\u5e27\u91cc\u961f\u5f62\u66f4\u7d27\u51d1，\u4e5f\u6ca1\u6709\u8fdb\u5165\u8f66\u9053\u3002<\/p>\n

              \u8fd9\u4e5f\u89e3\u91ca\u4e86 GD \u8fd9\u4e2a\u6307\u6807\u4e3a\u4ec0\u4e48\u503c\u5f97\u5355\u72ec\u62a5：\u5b83\u91cf\u7684\u4e0d\u662f"\u6709\u6ca1\u6709\u649e\u4e0a"，\u800c\u662f"\u8fd8\u50cf\u4e0d\u50cf\u4e00\u4e2a\u7fa4\u4f53"\u3002\u5728 Zara01_Group \u4e0a，\u672c\u6587\u7684 GD \u662f 2.1，CCP \u662f 4.8\u3001CEDRL \u662f 5.9\u3001GBM \u662f 1.9\u2014\u2014GBM \u7684\u961f\u5f62\u6bd4\u672c\u6587\u8fd8\u7d27，\u4f46\u5b83\u7684\u6210\u529f\u7387\u53ea\u6709 38.9%\u3001\u8fdd\u89c4\u7387 17.5%，\u4e5f\u5c31\u662f\u8bf4\u5b83\u662f\u9760"\u8d34\u7740\u961f\u4f0d\u6162\u6162\u632a"\u6362\u6765\u7684\u7d27\u51d1\u3002\u53ea\u770b GD \u4f1a\u628a\u8fd9\u4e2a\u7b56\u7565\u8bef\u5224\u6210\u597d\u7b56\u7565\u3002<\/p>\n

              \u6d88\u878d\u4e0e\u5bf9\u7167：\u5220\u6389\u4e16\u754c\u6a21\u578b\u6389 40 \u4e2a\u70b9，\u5728\u7ebf\u8dd1\u4e16\u754c\u6a21\u578b\u53ea\u591a 3 \u4e2a\u70b9<\/h3>\n

              \u5220\u6389\u53cc\u4e16\u754c\u6a21\u578b<\/h4>\n\n\u53d8\u4f53\u5e73\u5747 GSR\u5e73\u5747 SRVR\u7fa4\u4f53 GSR\u7fa4\u4f53 SRVR<\/tr>\n\n\n\n\n\n\n\n\n
              \u672c\u6587<\/td>\n77.4<\/td>\n4.0<\/td>\n77.8<\/td>\n1.2<\/td>\n<\/tr>\n
              \u53bb\u6389\u53cc\u4e16\u754c\u6a21\u578b<\/td>\n37.3<\/td>\n19.5<\/td>\n16.7<\/td>\n47.0<\/td>\n<\/tr>\n
              \u53bb\u6389\u72b6\u6001\u5206\u652f<\/td>\n45.9<\/td>\n12.4<\/td>\n27.8<\/td>\n22.3<\/td>\n<\/tr>\n
              \u53bb\u6389\u8bed\u4e49\u5206\u652f<\/td>\n56.8<\/td>\n11.1<\/td>\n38.9<\/td>\n17.5<\/td>\n<\/tr>\n
              \u53bb\u6389 VLM \u4e3b\u5e72<\/td>\n53.5<\/td>\n10.6<\/td>\n29.6<\/td>\n7.4<\/td>\n<\/tr>\n
              \u7eaf top-10 \u5019\u9009<\/td>\n47.7<\/td>\n17.3<\/td>\n14.8<\/td>\n42.7<\/td>\n<\/tr>\n
              \u7eaf\u968f\u673a 10 \u5019\u9009<\/td>\n42.6<\/td>\n14.8<\/td>\n18.5<\/td>\n18.5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

              \u8868\u91cc\u9664"\u672c\u6587"\u548c"\u53bb\u6389\u53cc\u4e16\u754c\u6a21\u578b"\u4e24\u884c\u5916，\u5e73\u5747\u503c\u662f\u6211\u6309\u539f\u6587\u4e94\u4e2a\u573a\u666f\u7684\u6570\u503c\u6c42\u7684\u7b97\u672f\u5e73\u5747，\u8bba\u6587\u53ea\u62a5\u4e86\u8fd9\u4e24\u884c\u7684\u5747\u503c；\u5355\u573a\u666f\u6570\u5b57\u90fd\u6765\u81ea\u539f\u6587\u8868 2\u3002<\/p>\n

              \u53bb\u6389\u53cc\u4e16\u754c\u6a21\u578b\u662f\u5168\u6587\u6700\u5927\u7684\u4e00\u6b21\u584c\u65b9：\u5e73\u5747 GSR \u4ece 77.4 \u6389\u5230 37.3，\u5e73\u5747 SRVR \u4ece 4.0 \u6da8\u5230 19.5\u3002 \u8fd9\u4e2a\u5bf9\u7167\u5f88\u91cd\u8981，\u56e0\u4e3a\u5b83\u53bb\u6389\u7684\u53ea\u662f\u7b2c\u4e8c\u9636\u6bb5\u2014\u2014\u7b2c\u4e00\u9636\u6bb5\u90a3\u4e2a\u6a21\u4eff\u4eba\u7c7b\u7684\u76d1\u7763\u5148\u9a8c\u8fd8\u5728，100 \u4e2a\u951a\u70b9\u8fd8\u5728，VLM \u4e3b\u5e72\u8fd8\u5728\u3002\u4e5f\u5c31\u662f\u8bf4：\u5149\u6709\u4e00\u4e2a"\u50cf\u4eba"\u7684\u6a21\u4eff\u5148\u9a8c，\u4e0d\u8db3\u4ee5\u533a\u5206\u5c40\u90e8\u53ef\u884c\u4f46\u540e\u679c\u4e0d\u540c\u7684\u52a8\u4f5c\u3002 \u8fd9\u53e5\u8bdd\u662f\u5168\u6587\u5bf9"\u50cf\u4eba"\u8fd9\u4e2a\u76ee\u6807\u6700\u950b\u5229\u7684\u4e00\u6b21\u9650\u5b9a\u3002<\/p>\n

              \u4e24\u4e2a\u5206\u652f\u5404\u7ba1\u4e00\u7c7b\u9519<\/h4>\n
                \n
              • \u72b6\u6001\u5206\u652f\u7ba1\u4ea4\u4e92\u98ce\u9669\u3002 ETH_Intersection \u4e0a\u53bb\u6389\u5b83，GSR \u4ece 83.3 \u6389\u5230 51.9，\u6bd4\u53bb\u6389\u8bed\u4e49\u5206\u652f（66.7）\u66f4\u60e8\u3002\u4ea4\u53c9\u4eba\u6d41\u91cc，\u80dc\u8d1f\u624b\u662f"\u8c01\u6b63\u5728\u671d\u8c01\u8d70\u6765"\u3002<\/li>\n
              • \u8bed\u4e49\u5206\u652f\u7ba1\u5e03\u5c40\u7ea6\u675f\u3002 ETH_Hallway \u4e0a\u53bb\u6389\u5b83，SRVR \u4ece 0.9 \u6da8\u5230 13.7，\u6bd4\u53bb\u6389\u72b6\u6001\u5206\u652f（8.7）\u66f4\u7cdf\u3002\u53d7\u9650\u901a\u9053\u60e9\u7f5a\u7684\u662f\u8bed\u4e49\u4e0a\u4e0d\u6210\u7acb\u7684\u8db3\u8ff9\u3002<\/li>\n
              • \u4f46\u4e24\u8fb9\u90fd\u4e0d\u662f\u53ea\u5f71\u54cd\u81ea\u5df1\u90a3\u4e00\u8f74：\u53bb\u6389\u4efb\u4e00\u5206\u652f，\u4e94\u4e2a\u573a\u666f\u7684 GSR \u90fd\u964d\u3001SRVR \u90fd\u5347\u3002\u6240\u4ee5\u4f5c\u8005\u8bf4\u4e24\u4e2a\u5206\u652f\u4e92\u8865，\u4e14\u72b6\u6001\u5206\u652f\u5728\u591a\u6570\u573a\u666f\u91cc\u5f71\u54cd\u66f4\u5927\u3002<\/li>\n<\/ul>\n

                \u548c"\u9884\u6d4b + \u89c4\u5212"\u8fd9\u4e00\u6574\u7c7b\u6bd4<\/h4>\n\n\u65b9\u6cd5GSR \u2191SRVR \u2193GD \u2193<\/tr>\n\n\n\n\n\n\n\n\n
                \u5728\u7ebf\u53cc\u4e16\u754c\u6a21\u578b（OnlineWM）<\/td>\n80.6<\/td>\n3.2<\/td>\n0.9<\/td>\n<\/tr>\n
                \u5300\u901f + MPC<\/td>\n56.1<\/td>\n15.6<\/td>\n2.2<\/td>\n<\/tr>\n
                Social-LSTM + MPC<\/td>\n51.9<\/td>\n15.0<\/td>\n2.1<\/td>\n<\/tr>\n
                Social-GAN + MPC<\/td>\n53.2<\/td>\n15.0<\/td>\n2.2<\/td>\n<\/tr>\n
                Trajectron++ + MPC<\/td>\n54.4<\/td>\n17.0<\/td>\n2.1<\/td>\n<\/tr>\n
                Gen-Safe-Nav<\/td>\n42.9<\/td>\n14.1<\/td>\n2.3<\/td>\n<\/tr>\n
                \u672c\u6587（\u84b8\u998f\u540e）<\/td>\n77.4<\/td>\n4.0<\/td>\n1.0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                \u8fd9\u5f20\u8868\u56de\u7b54\u7684\u662f"\u8981\u4e0d\u8981\u4e16\u754c\u6a21\u578b"\u8fd9\u4e2a\u66f4\u6839\u672c\u7684\u95ee\u9898\u3002\u56db\u4e2a\u8f68\u8ff9\u9884\u6d4b\u5668（\u5305\u62ec Trajectron++ \u8fd9\u79cd\u5f3a\u9884\u6d4b\u5668）\u914d MPC，\u6700\u597d\u7684\u4e00\u4e2a\u4e5f\u53ea\u6709 56.1%；Gen-Safe-Nav \u7528\u4fdd\u5f62\u9884\u6d4b\u5904\u7406\u9884\u6d4b\u4e0d\u786e\u5b9a\u6027，\u53ea\u6709 42.9%\u3002\u66f4\u597d\u7684\u9884\u6d4b\u672c\u8eab\u5e76\u4e0d\u5e26\u6765\u66f4\u5b89\u5168\u7684\u5bfc\u822a\u2014\u2014\u8fd9\u4e00\u70b9\u548c\u6b64\u524d\u4e00\u4e9b\u5de5\u4f5c\u7684\u7ed3\u8bba\u4e00\u81f4\u3002<\/p>\n

                \u800c\u5728\u7ebf\u8dd1\u53cc\u4e16\u754c\u6a21\u578b\u7684 OnlineWM \u62ff\u5230 80.6%，\u662f\u5168\u573a\u6700\u9ad8\u3002\u672c\u6587\u7684\u84b8\u998f\u7248\u672c 77.4%，\u5dee 3.2 \u4e2a\u70b9\u3002\u8fd9 3.2 \u4e2a\u70b9\u5c31\u662f"\u628a\u524d\u77bb\u644a\u9500\u8fdb\u53c2\u6570"\u7684\u4ef7\u683c\u3002<\/p>\n

                \u6210\u672c\u8868<\/h4>\n\n\u7ec4\u4ef6\u8ba1\u7b97\u91cf\u5355\u6b21\u8017\u65f6\u90e8\u7f72\u65f6\u662f\u5426\u4fdd\u7559<\/tr>\n\n\n\n\n\n
                \u8bed\u4e49\u8f6c\u79fb\u4e16\u754c\u6a21\u578b<\/td>\n31.1 TFLOPs<\/td>\n0.115 s<\/td>\n\u5426<\/td>\n<\/tr>\n
                \u72b6\u6001\u8f6c\u79fb\u4e16\u754c\u6a21\u578b<\/td>\n6.8 GFLOPs<\/td>\n1.904 ms<\/td>\n\u5426<\/td>\n<\/tr>\n
                \u7b56\u7565（Qwen3-VL-2B + LoRA）<\/td>\n23.6 TFLOPs<\/td>\n65 ms<\/td>\n\u662f<\/td>\n<\/tr>\n
                \u5728\u7ebf\u53cc\u4e16\u754c\u6a21\u578b\u89c4\u5212<\/td>\n\u4e09\u4e2a\u7ec4\u4ef6\u9010\u5019\u9009\u53e0\u52a0<\/td>\n1.2 s<\/td>\n\u2014<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                \u8bed\u4e49\u5206\u652f\u662f\u8bad\u7ec3\u671f\u7b97\u529b\u7684\u5927\u5934，\u56e0\u4e3a\u5b83\u8981\u5728 25 \u6b65\u53bb\u566a\u91cc\u4ea7\u51fa\u4e00\u5f20\u7a20\u5bc6\u5206\u5272\u56fe；\u72b6\u6001\u5206\u652f\u53ea\u6709 6.8 GFLOPs，\u56e0\u4e3a\u5b83\u53ea\u56de\u5f52\u4f4e\u7ef4\u7684\u76f8\u5bf9\u4f4d\u7f6e\u548c\u901f\u5ea6\u3002\u8fd9\u4e24\u4e2a\u6210\u672c\u53ea\u5728\u751f\u6210\u504f\u597d\u76d1\u7763\u65f6\u4ed8\u4e00\u6b21\u3002<\/p>\n

                \u8f93\u5165\u6d88\u878d：\u89c6\u89c9\u548c\u72b6\u6001\u8c01\u4e5f\u66ff\u4e0d\u4e86\u8c01<\/h4>\n

                \u8bba\u6587\u9644\u5f55 N \u628a\u8f93\u5165\u62c6\u5f00：State only \u53bb\u6389\u56fe\u50cf，Vision only \u4fdd\u7559\u56fe\u50cf\u548c\u76ee\u6807\u70b9\u3001\u53bb\u6389\u5176\u4f59\u624b\u5de5\u72b6\u6001\u3002Zara01 \u4e0a\u5206\u522b\u662f 44.4% \u548c 61.2%，\u5b8c\u6574\u7248 72.2%；ETH_Hallway \u4e0a\u662f 62.5% \u548c 68.8%，\u5b8c\u6574\u7248 87.5%\u3002\u4f5c\u8005\u7684\u8bfb\u6cd5\u662f：\u89c6\u89c9\u4e3b\u8981\u6539\u5584 GSR \u4e0e SRVR，\u72b6\u6001\u7279\u5f81\u4e3b\u8981\u5e2e\u7fa4\u4f53\u4e00\u81f4\u6027（GD）\u3002<\/p>\n

                \u4e00\u4e2a\u4e0d\u8be5\u88ab\u5ffd\u7565\u7684\u5bf9\u7167：\u6807\u51c6 ETH\/UCY \u9884\u6d4b\u57fa\u51c6<\/h4>\n

                \u9644\u5f55 O \u628a\u65b9\u6cd5\u653e\u56de\u6807\u51c6 ETH\/UCY \u9884\u6d4b\u534f\u8bae（\u7559\u4e00\u573a\u666f）\u8dd1\u4e86\u4e00\u904d：\u672c\u6587\u5e73\u5747 ADE\/FDE \u662f 0.51\/1.10（most-likely）\u4e0e 0.31\/0.53（best-of-20）\u3002Trajectron++ \u662f 0.53\/1.11 \u4e0e 0.31\/0.54，Social-LSTM \u662f 0.72\/1.54\u3002\u57fa\u672c\u6253\u5e73，\u4e0d\u662f SOTA：Hotel \u573a\u666f\u4e0a\u672c\u6587 0.37\/0.68 \u660e\u663e\u4e0d\u5982 Trajectron++ \u7684 0.33\/0.62\u3002<\/p>\n

                \u4f5c\u8005\u81ea\u5df1\u5199\u5f97\u5f88\u6e05\u695a：\u76ee\u6807\u4e0d\u662f\u5237\u9884\u6d4b\u7cbe\u5ea6，\u8fd9\u4e2a\u7ed3\u679c\u53ea\u8bf4\u660e\u6846\u67b6\u5728 Unity \u91cd\u5efa\u4e4b\u5916\u4e5f\u7ad9\u5f97\u4f4f\u3002\u6211\u8ba4\u4e3a\u8fd9\u53e5\u8bdd\u8be5\u88ab\u8ba4\u771f\u5bf9\u5f85\u2014\u2014\u5b83\u540c\u65f6\u8bf4\u660e\u8fd9\u5957\u65b9\u6cd5\u7684\u4ef7\u503c\u4e0d\u5728\u9884\u6d4b\u5668\u672c\u8eab\u6709\u591a\u5f3a，\u800c\u5728\u9884\u6d4b\u88ab\u600e\u4e48\u7528\u3002<\/p>\n

                \"\u56fe
                \n\u56fe 6｜\u6d88\u878d\u7684\u5b9a\u6027\u5bf9\u7167：\u5de6\u4fa7\u662f\u5b8c\u6574\u65b9\u6cd5\u7684\u4e09\u5e27，\u53f3\u4fa7\u662f\u53bb\u6389\u53cc\u4e16\u754c\u6a21\u578b\u540e\u7684\u540c\u6837\u4e09\u5e27；\u540e\u8005\u5bf9\u5468\u56f4\u884c\u4eba\u7684\u53cd\u5e94\u66f4\u8fdf\u3001\u8f68\u8ff9\u66f4\u8d34\u8f66\u9053\u8fb9\u7f18\u3002<\/p>\n

                \u50cf\u4eba\u4e00\u6837\u8d70\u8def\u662f\u4e0d\u662f\u4f2a\u9700\u6c42<\/h3>\n

                \u8fd9\u662f\u6211\u6700\u60f3\u5728\u672c\u6587\u91cc\u5355\u72ec\u62c6\u7684\u4e00\u8282，\u56e0\u4e3a\u5b83\u51b3\u5b9a\u8fd9\u5957\u65b9\u6cd5\u8be5\u4e0d\u8be5\u88ab\u6284\u3002<\/p>\n

                \u4e24\u4e2a"\u50cf\u4eba"\u7684\u5ea6\u91cf，\u6da8\u5e45\u5dee\u4e86\u4e00\u4e2a\u6570\u91cf\u7ea7<\/h4>\n

                \u8bba\u6587\u7528\u4e86\u4e24\u628a\u5c3a\u5b50\u91cf"\u50cf\u4eba"\u3002<\/p>\n

                \u7b2c\u4e00\u628a\u662f\u51e0\u4f55\u4fdd\u771f\u5ea6：\u628a\u751f\u6210\u7684\u8f68\u8ff9\u548c\u7559\u51fa\u7684\u4eba\u7c7b\u8f68\u8ff9\u6bd4 ADE \u4e0e FDE，\u5355\u4f4d\u7c73，\u8d8a\u4f4e\u8d8a\u50cf\u3002<\/p>\n\n\u573a\u666f\u65b9\u6cd5ADE \u2193FDE \u2193<\/tr>\n\n\n\n\n\n\n\n\n\n
                Zara01<\/td>\nGBM<\/td>\n0.3057<\/td>\n0.5203<\/td>\n<\/tr>\n
                Zara01<\/td>\nCCP<\/td>\n0.2406<\/td>\n0.4524<\/td>\n<\/tr>\n
                Zara01<\/td>\nCEDRL<\/td>\n0.3629<\/td>\n0.6817<\/td>\n<\/tr>\n
                Zara01<\/td>\n\u672c\u6587<\/td>\n0.2064<\/td>\n0.3897<\/td>\n<\/tr>\n
                Students003<\/td>\nGBM<\/td>\n0.2147<\/td>\n0.4194<\/td>\n<\/tr>\n
                Students003<\/td>\nCCP<\/td>\n0.2053<\/td>\n0.3873<\/td>\n<\/tr>\n
                Students003<\/td>\nCEDRL<\/td>\n0.2338<\/td>\n0.4382<\/td>\n<\/tr>\n
                Students003<\/td>\n\u672c\u6587<\/td>\n0.1994<\/td>\n0.3948<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                Zara01 \u4e0a ADE \u6bd4\u6700\u597d\u7684\u57fa\u7ebf\u4f4e 14.2%（0.2406 \u5230 0.2064），FDE \u4f4e 13.9%\u3002Students003 \u4e0a ADE \u53ea\u4f4e 2.9%（0.2053 \u5230 0.1994），FDE \u53cd\u800c\u6bd4 CCP \u5dee（0.3948 \u5bf9 0.3873）\u3002<\/p>\n

                \u7b2c\u4e8c\u628a\u5c3a\u5b50\u662f 20 \u540d\u88ab\u8bd5\u7684 7 \u7ea7\u91cf\u8868，\u8bc4\u4e09\u4e2a\u7ef4\u5ea6：\u52a8\u4f5c\u8d28\u91cf\u3001\u81ea\u7136\u5ea6\u3001\u5e73\u6ed1\u5ea6\u3002<\/p>\n\n\u65b9\u6cd5\u7efc\u5408\u52a8\u4f5c\u8d28\u91cf\u81ea\u7136\u5ea6\u5e73\u6ed1\u5ea6<\/tr>\n\n\n\n\n\n
                \u672c\u6587<\/td>\n4.94 \u00b1 0.44<\/td>\n4.91<\/td>\n4.88<\/td>\n5.05<\/td>\n<\/tr>\n
                CCP<\/td>\n3.54 \u00b1 0.34<\/td>\n3.48<\/td>\n3.45<\/td>\n3.68<\/td>\n<\/tr>\n
                GBM<\/td>\n3.19 \u00b1 0.34<\/td>\n3.14<\/td>\n3.13<\/td>\n3.32<\/td>\n<\/tr>\n
                CEDRL<\/td>\n3.14 \u00b1 0.34<\/td>\n3.04<\/td>\n3.07<\/td>\n3.31<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                \"\u56fe
                \n\u56fe 7｜20 \u540d\u88ab\u8bd5\u5728\u52a8\u4f5c\u8d28\u91cf\u3001\u81ea\u7136\u5ea6\u3001\u5e73\u6ed1\u5ea6\u4e09\u4e2a\u7ef4\u5ea6\u4e0a\u7684\u5747\u503c：\u672c\u6587\u4e3a 4.91\u30014.88\u30015.05，\u4e09\u4e2a\u57fa\u7ebf\u90fd\u5728 3.0 \u5230 3.7 \u4e4b\u95f4；\u62ec\u53f7\u662f Holm \u6821\u6b63\u540e\u7684\u914d\u5bf9 Wilcoxon \u68c0\u9a8c，\u661f\u53f7\u8868\u793a\u663e\u8457\u3002<\/p>\n

                \u7efc\u5408\u5206 4.94 \u5bf9 3.54，\u5dee 1.4 \u5206，\u5728 7 \u7ea7\u91cf\u8868\u4e0a\u662f\u5f88\u5927\u7684\u5dee\u8ddd；Friedman \u68c0\u9a8c \u03c7\u00b2(3)=20.84，p<.01；\u4e09\u4e2a\u7ef4\u5ea6\u5206\u522b\u663e\u8457；\u4e8b\u540e\u914d\u5bf9 Wilcoxon \u52a0 Holm \u6821\u6b63，\u5bf9 GBM \u4e0e CEDRL \u90fd\u662f p<.01，\u5bf9 CCP \u662f p<.05\u3002<\/p>\n

                \u4e8e\u662f\u8fd9\u91cc\u51fa\u73b0\u4e00\u4e2a\u9519\u4f4d：\u51e0\u4f55\u4e0a\u53ea\u597d\u4e86 3% \u5230 14%，\u611f\u77e5\u4e0a\u597d\u4e86 40%\u3002 \u4e24\u4e2a\u90fd\u5728\u8bf4"\u50cf\u4eba"，\u91cf\u7ea7\u5b8c\u5168\u4e0d\u540c\u3002<\/p>\n

                \u4efb\u52a1\u6307\u6807\u6da8\u4e86，\u4f46\u4e0d\u662f\u56e0\u4e3a"\u50cf\u4eba"<\/h4>\n

                \u8fd9\u4e00\u70b9\u5f88\u5173\u952e，\u800c\u4e14\u8bba\u6587\u81ea\u5df1\u7684\u6d88\u878d\u7ed9\u51fa\u4e86\u8bc1\u636e\u3002<\/p>\n

                \u5982\u679c"\u50cf\u4eba"\u662f\u4efb\u52a1\u6536\u76ca\u7684\u6765\u6e90，\u90a3\u4e48\u4fdd\u7559\u6a21\u4eff\u5148\u9a8c\u3001\u53bb\u6389\u4e16\u754c\u6a21\u578b\u7684\u53d8\u4f53\u5e94\u8be5\u8fd8\u80fd\u4fdd\u4f4f\u5927\u90e8\u5206\u6210\u7ee9\u3002\u5b9e\u9645\u4e0a\u5b83\u6389\u5230\u5e73\u5747 37.3% GSR\u3002\u6309\u539f\u6587\u4e94\u4e2a\u573a\u666f\u7684\u6570\u503c\u6c42\u5e73\u5747，\u4e09\u4e2a\u57fa\u7ebf\u91cc\u6700\u597d\u7684 GBM \u662f 59.9%，\u4e5f\u5c31\u662f\u8bf4\u53bb\u6389\u4e16\u754c\u6a21\u578b\u4e4b\u540e\u8fde\u57fa\u7ebf\u90fd\u4e0d\u5982\u3002\u6362\u53e5\u8bdd\u8bf4：<\/p>\n

                  \n
                • \u76d1\u7763\u5148\u9a8c\u8d1f\u8d23"\u63d0\u51fa\u50cf\u4eba\u7684\u5019\u9009"；<\/li>\n
                • \u4e16\u754c\u6a21\u578b\u8d1f\u8d23"\u5728\u8fd9\u4e9b\u50cf\u4eba\u7684\u5019\u9009\u91cc\u6311\u51fa\u540e\u679c\u6700\u597d\u7684\u90a3\u4e2a"；<\/li>\n
                • \u4efb\u52a1\u6536\u76ca\u51e0\u4e4e\u5168\u90e8\u6765\u81ea\u540e\u534a\u53e5\u3002<\/li>\n<\/ul>\n

                  "\u50cf\u4eba"\u5728\u8fd9\u91cc\u4e0d\u662f\u4e00\u4e2a\u76ee\u6807\u51fd\u6570，\u800c\u662f\u4e00\u4e2a\u5019\u9009\u7a7a\u95f4\u7684\u7ea6\u675f\u3002 \u8fd9\u4e2a\u533a\u522b\u51b3\u5b9a\u4e86\u4f60\u600e\u4e48\u7528\u5b83：\u5982\u679c\u4f60\u60f3\u8981\u7684\u662f\u4efb\u52a1\u6307\u6807，\u4f60\u9700\u8981\u7684\u662f\u540e\u679c\u6253\u5206；\u5982\u679c\u4f60\u60f3\u8981\u7684\u662f"\u770b\u8d77\u6765\u50cf\u4eba"，\u76d1\u7763\u5148\u9a8c\u5c31\u591f\u4e86，\u800c\u4e14\u4f60\u4e0d\u9700\u8981\u4e16\u754c\u6a21\u578b\u3002<\/p>\n

                  \u7528\u6237\u7814\u7a76\u7684\u4e09\u4e2a\u95ee\u9898\u5176\u5b9e\u5728\u95ee\u540c\u4e00\u4ef6\u4e8b<\/h4>\n

                  \u6211\u5bf9\u8fd9\u628a\u5c3a\u5b50\u6301\u4fdd\u7559\u610f\u89c1，\u7406\u7531\u6709\u4e09\u6761，\u90fd\u57fa\u4e8e\u539f\u6587\u62a5\u544a\u7684\u6570\u5b57：<\/p>\n

                • \u4e09\u4e2a\u7ef4\u5ea6\u7684\u5206\u6570\u51e0\u4e4e\u662f\u540c\u4e00\u4e2a\u6570\u3002 \u672c\u6587 4.91 \/ 4.88 \/ 5.05，CCP 3.48 \/ 3.45 \/ 3.68，\u56db\u7ec4\u6570\u636e\u91cc\u6bcf\u4e00\u7ec4\u7684\u4e09\u9879\u5dee\u8ddd\u90fd\u5728 0.2 \u4ee5\u5185\u3002\u52a8\u4f5c\u8d28\u91cf\u3001\u81ea\u7136\u5ea6\u3001\u5e73\u6ed1\u5ea6\u5728\u611f\u77e5\u4e0a\u662f\u9ad8\u5ea6\u76f8\u5173\u7684\u2014\u2014\u53d7\u8bd5\u8005\u770b\u7684\u662f\u540c\u4e00\u6bb5\u89c6\u9891\u3001\u8bc4\u7684\u662f\u540c\u4e00\u4e2a\u6574\u4f53\u5370\u8c61\u3002\u628a\u5b83\u4eec\u5f53\u6210\u4e09\u6761\u72ec\u7acb\u8bc1\u636e\u4f1a\u9ad8\u4f30\u8bc1\u636e\u91cf\u3002<\/li>\n
                • \u552f\u4e00\u4e00\u4e2a\u4e0d\u663e\u8457\u7684\u5bf9\u7167\u6070\u597d\u662f\u6700\u5f3a\u7684\u57fa\u7ebf\u3002 \u5e73\u6ed1\u5ea6\u4e0a\u672c\u6587\u5bf9 CCP \u7684\u5dee\u5f02\u5728 Holm \u6821\u6b63\u540e\u4e0d\u663e\u8457\u3002\u4e5f\u5c31\u662f\u8bf4 4.94 \u5bf9 3.54 \u8fd9\u4e2a\u603b\u5dee\u8ddd\u91cc，\u6709\u4e00\u90e8\u5206\u662f"\u672c\u6587\u6bd4 GBM\u3001CEDRL \u5e73\u6ed1\u5f97\u591a"，\u800c\u4e0d\u662f"\u672c\u6587\u6bd4\u6240\u6709\u57fa\u7ebf\u90fd\u66f4\u50cf\u4eba"\u3002<\/li>\n
                • \u6837\u672c\u662f 20 \u4eba\u300140 \u6bb5\u89c6\u9891（\u6bcf\u4e2a\u65b9\u6cd5 10 \u6bb5，\u4e94\u4e2a\u573a\u666f\u5747\u5300\u91c7\u6837），\u6bcf\u4eba\u6bcf\u9898\u770b 10 \u6bb5\u3002\u8fd9\u4e2a\u89c4\u6a21\u8db3\u4ee5\u652f\u6301"\u5dee\u5f02\u5b58\u5728"，\u4e0d\u8db3\u4ee5\u652f\u6301"\u5dee\u5f02\u6709\u591a\u5927"\u3002<\/li>\n

                  \u4e00\u4e2a\u5185\u5728\u5f20\u529b：\u50cf\u4eba，\u8fd8\u662f\u50cf\u5b88\u89c4\u77e9\u7684\u4eba<\/h4>\n

                  \u8fd8\u6709\u4e00\u5904\u6211\u8ba4\u4e3a\u4f5c\u8005\u6ca1\u6709\u5c55\u5f00\u7684\u77db\u76fe\u3002<\/p>\n

                  SRVR \u60e9\u7f5a\u7684\u662f"\u5f85\u5728\u8bed\u4e49\u4e0d\u5f53\u533a\u57df"，\u6700\u5178\u578b\u7684\u5c31\u662f\u8f66\u9053\u3002\u4f46\u771f\u5b9e\u7684\u4eba\u7c7b\u8f68\u8ff9\u91cc，\u6a2a\u7a7f\u9a6c\u8def\u662f\u5e38\u6001；ETH\/UCY \u7684\u6570\u636e\u672c\u8eab\u5c31\u662f\u4ece\u771f\u5b9e\u4eba\u884c\u9053\u4e0e\u8857\u53e3\u91c7\u7684，\u91cc\u9762\u5305\u542b\u5927\u91cf\u4e0d\u8d70\u6a2a\u9053\u7684\u884c\u4e3a\u3002\u5f53\u4f60\u7528 ADE \u5bf9\u9f50"\u4eba\u7c7b\u8f68\u8ff9"\u3001\u53c8\u7528 SRVR \u60e9\u7f5a"\u8fdb\u5165\u8f66\u9053"\u65f6，\u8fd9\u4e24\u4e2a\u76ee\u6807\u5728\u67d0\u4e9b\u573a\u666f\u4e0b\u662f\u4e92\u76f8\u62c9\u626f\u7684\u3002<\/p>\n

                  \u8bba\u6587\u7684 M \u9879\u7528\u4e00\u7ec4\u624b\u5199\u9608\u503c（\u8f66\u9053\u5360\u6bd4\u8d85\u8fc7 70% \u6263 2 \u5206）\u628a\u8fd9\u4ef6\u4e8b\u5b9a\u6b7b\u4e86：\u5b83\u8981\u7684"\u50cf\u4eba"，\u662f"\u50cf\u5b88\u89c4\u77e9\u7684\u884c\u4eba"\u3002 \u8fd9\u5728\u5de5\u7a0b\u4e0a\u662f\u5408\u7406\u7684\u2014\u2014\u670d\u52a1\u673a\u5668\u4eba\u4e0d\u8be5\u5b66\u4eba\u95ef\u7ea2\u706f\u2014\u2014\u4f46\u628a\u5b83\u53eb\u4f5c"human-like"\u4f1a\u8ba9\u8bfb\u8005\u8bef\u4ee5\u4e3a\u5b83\u5bf9\u9f50\u4e86\u4eba\u7c7b\u884c\u4e3a\u7684\u5168\u90e8\u3002\u66f4\u51c6\u786e\u7684\u8bf4\u6cd5\u662f"\u4eba\u7c7b\u53ef\u884c\u4e14\u793e\u4f1a\u53ef\u63a5\u53d7"\u3002<\/p>\n

                  \u6211\u7684\u5224\u65ad<\/h4>\n

                  \u4e0d\u662f\u4f2a\u9700\u6c42，\u4f46\u4e0d\u80fd\u628a"\u4eba\u7c7b\u76f8\u4f3c\u5ea6"\u5f53\u6210\u4e3b KPI\u3002<\/p>\n

                  \u4e09\u6761\u7406\u7531：<\/p>\n

                    \n
                  • \u5b83\u6da8\u5f97\u5c11（ADE 3% \u5230 14%），\u800c\u4e14\u5728 Students003 \u7684 FDE \u4e0a\u8fd8\u4e0d\u5982 CCP，\u7528\u5b83\u5f53\u9a8c\u6536\u7ebf\u4f1a\u628a\u4e00\u4e2a\u6709\u6548\u65b9\u6cd5\u5224\u6b7b\u3002<\/li>\n
                  • \u5b83\u548c\u4efb\u52a1\u6307\u6807\u4e0d\u540c\u6e90\u3002\u4efb\u52a1\u6307\u6807\u7684\u5927\u5934（SRVR \u4e00\u4e2a\u6570\u91cf\u7ea7\u3001GSR \u7ffb\u500d）\u6765\u81ea\u540e\u679c\u6253\u5206，\u4e0d\u6765\u81ea\u6a21\u4eff\u3002<\/li>\n
                  • \u5b83\u5bb9\u6613\u88ab"\u5e73\u6ed1"\u5192\u5145\u3002\u7528\u6237\u7814\u7a76\u91cc\u5e73\u6ed1\u5ea6\u5bf9\u6700\u5f3a\u57fa\u7ebf\u4e0d\u663e\u8457，\u8bf4\u660e\u611f\u77e5\u5206\u6570\u91cc\u6709\u4e00\u90e8\u5206\u662f\u8fd0\u52a8\u5e73\u6ed1\u6027，\u800c\u4e0d\u662f\u793e\u4f1a\u6027\u3002<\/li>\n<\/ul>\n

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                      \n
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                        \n
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                        \u516d\u6b65\u81ea\u67e5<\/h4>\n

                        \u5982\u679c\u4f60\u51b3\u5b9a\u5728\u81ea\u5df1\u573a\u666f\u91cc\u8bd5\u4e00\u6b21，\u6211\u4f1a\u6309\u8fd9\u4e2a\u987a\u5e8f：<\/p>\n

                      • \u5148\u786e\u8ba4\u4f60\u7684\u5931\u8d25\u662f"\u770b\u4e0d\u89c1\u540e\u679c"\u8fd8\u662f"\u611f\u77e5\u4e0d\u51c6"\u3002 \u5982\u679c\u662f\u540e\u8005，\u5148\u4fee\u611f\u77e5；\u8fd9\u5957\u65b9\u6cd5\u5047\u8bbe\u4e16\u754c\u6a21\u578b\u672c\u8eab\u662f\u51c6\u7684（\u8bed\u4e49 87 mIoU\u3001\u72b6\u6001 0.18 \u7c73 ADE）\u3002<\/li>\n
                      • \u67e5\u4f60\u7684\u52a8\u4f5c\u7a7a\u95f4\u80fd\u4e0d\u80fd\u79bb\u6563\u5316\u3002 100 \u4e2a 20 \u5e27\u951a\u70b9\u662f\u4e00\u4e2a\u5177\u4f53\u7684\u5148\u9a8c，\u4f60\u7684\u673a\u5668\u4eba\u5982\u679c\u662f\u5168\u5411\u5e95\u76d8\u6216\u8005\u6709\u673a\u68b0\u81c2，\u52a8\u4f5c\u7a7a\u95f4\u5f62\u72b6\u5b8c\u5168\u4e0d\u540c\u3002<\/li>\n
                      • \u628a SRVR \u548c GSR \u4e00\u8d77\u62a5\u3002 \u53ea\u62a5\u4e00\u4e2a\u90fd\u4f1a\u88ab\u53e6\u4e00\u79cd\u7b56\u7565\u94bb\u7a7a\u5b50：\u53ea\u62a5 GSR \u4f1a\u5956\u52b1\u5192\u9669，\u53ea\u62a5 SRVR \u4f1a\u5956\u52b1\u7ad9\u7740\u4e0d\u52a8\u3002<\/li>\n
                      • \u5148\u8dd1"\u53bb\u6389\u4e16\u754c\u6a21\u578b"\u8fd9\u4e2a\u5bf9\u7167\u3002 \u8fd9\u662f\u5168\u6587\u6700\u4fbf\u5b9c\u4e5f\u6700\u6709\u4fe1\u606f\u91cf\u7684\u4e00\u4e2a\u6d88\u878d\u2014\u2014\u5982\u679c\u53bb\u6389\u4e4b\u540e\u4f60\u7684\u6210\u7ee9\u6ca1\u6389，\u8bf4\u660e\u4f60\u7684\u4efb\u52a1\u4e0d\u9700\u8981\u540e\u679c\u6253\u5206\u3002<\/li>\n
                      • \u6d4b\u4e00\u6b21\u5728\u7ebf\u7248\u672c\u5f53\u4e0a\u754c\u3002 OnlineWM \u7684 80.6% \u662f\u8fd9\u5957\u65b9\u6cd5\u7684\u5929\u82b1\u677f\u3002\u5982\u679c\u4f60\u7684\u84b8\u998f\u7248\u672c\u79bb\u5b83\u592a\u8fdc，\u95ee\u9898\u5728\u84b8\u998f\u800c\u4e0d\u5728\u4e16\u754c\u6a21\u578b\u3002<\/li>\n
                      • \u628a\u7528\u6237\u7814\u7a76\u5f53\u53c2\u8003，\u4e0d\u5f53\u8bc1\u636e\u3002 20 \u4eba\u3001\u4e09\u4e2a\u9ad8\u5ea6\u76f8\u5173\u7684\u7ef4\u5ea6\u3001\u5bf9\u6700\u5f3a\u57fa\u7ebf\u6709\u4e00\u9879\u4e0d\u663e\u8457\u3002\u5b83\u8bc1\u660e"\u611f\u77e5\u4e0a\u66f4\u597d"，\u4e0d\u8bc1\u660e"\u597d\u591a\u5c11"\u3002<\/li>\n

                        \u4e00\u53e5\u8bdd<\/h4>\n

                        \u8fd9\u7bc7\u8bba\u6587\u771f\u6b63\u7684\u8d21\u732e\u4e0d\u662f"\u4e16\u754c\u6a21\u578b\u6709\u7528"，\u800c\u662f\u4e00\u53e5\u66f4\u7cbe\u786e\u7684\u8bdd：\u4e16\u754c\u6a21\u578b\u7684\u4ef7\u503c\u53d6\u51b3\u4e8e\u4f60\u628a\u5b83\u653e\u5728\u54ea\u3002 \u653e\u5728\u63a8\u7406\u671f，\u5b83\u662f\u6bcf\u6b65 1.2 \u79d2\u7684\u89c4\u5212\u5668；\u653e\u5728\u8bad\u7ec3\u671f，\u5b83\u662f 65 \u6beb\u79d2\u7b56\u7565\u80cc\u540e\u7684\u4e00\u6b21\u6027\u6559\u5e08\u3002\u540c\u4e00\u4e2a\u6a21\u578b，\u4e24\u79cd\u5de5\u7a0b\u547d\u8fd0\u3002<\/p>\n

                        \u5b83\u7ed9\u51fa\u7684\u6700\u786c\u7684\u4e00\u6761\u8d1f\u9762\u7ed3\u8bba\u540c\u6837\u503c\u5f97\u8bb0\u4f4f：\u4e00\u4e2a\u6a21\u4eff\u4eba\u7c7b\u7684\u5148\u9a8c，\u5355\u72ec\u5b58\u5728\u65f6\u53ea\u6709 37.3% \u7684\u6210\u529f\u7387\u2014\u2014\u6bd4\u6700\u5f3a\u7684\u57fa\u7ebf\u4f4e 22 \u4e2a\u70b9\u3002\u50cf\u4eba，\u4e0d\u7b49\u4e8e\u4f1a\u8d70\u8def\u3002<\/p>\n

                        \u672f\u8bed\u901f\u67e5<\/h4>\n\n\u672f\u8bed\u539f\u6587\u4e00\u53e5\u8bdd\u89e3\u91ca<\/tr>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
                        \u951a\u70b9<\/td>\nanchor<\/td>\n\u4e00\u6761 20 \u6b65\u3001\u81ea\u8f66\u7cfb\u4e0b\u7684\u77ed\u4f4d\u79fb\u8f68\u8ff9，100 \u4e2a\u951a\u70b9\u6784\u6210\u79bb\u6563\u52a8\u4f5c\u8bcd\u8868<\/td>\n<\/tr>\n
                        \u52a8\u4f5c\u5148\u9a8c<\/td>\naction prior<\/td>\n\u7b2c\u4e00\u9636\u6bb5\u7528\u793a\u8303\u8f68\u8ff9\u76d1\u7763\u51fa\u7684\u951a\u70b9\u5206\u7c7b\u5668，\u672c\u6587\u7684\u4e3b\u5e72\u662f Qwen3-VL-2B \u52a0 LoRA<\/td>\n<\/tr>\n
                        \u72b6\u6001\u8f6c\u79fb\u4e16\u754c\u6a21\u578b<\/td>\nState Transition World Model<\/td>\n\u9884\u6d4b\u6bcf\u4e2a\u5468\u56f4\u5b9e\u4f53\u4e0b\u4e00\u6b65\u7684\u76f8\u5bf9\u4f4d\u7f6e\u589e\u91cf\u4e0e\u76f8\u5bf9\u901f\u5ea6，\u5e26\u65b9\u5411\u9879\u635f\u5931<\/td>\n<\/tr>\n
                        \u8bed\u4e49\u8f6c\u79fb\u4e16\u754c\u6a21\u578b<\/td>\nSemantic Transition World Model<\/td>\n\u9884\u6d4b\u4e0b\u4e00\u6b65\u7684\u5bfc\u822a\u8bed\u4e49\u5206\u5272\u56fe（7 \u7c7b），\u884c\u4eba\u50cf\u7d20\u88ab\u8d4b\u5ffd\u7565\u6807\u7b7e<\/td>\n<\/tr>\n
                        EDM<\/td>\nElucidating the Design Space of Diffusion<\/td>\n\u4e00\u79cd\u6269\u6563\u6a21\u578b\u8bad\u7ec3\/\u91c7\u6837\u6846\u67b6，\u672c\u6587\u7528\u5b83\u505a\u6761\u4ef6\u5206\u5272\u53bb\u566a，\u6bcf\u5019\u9009 25 \u6b65<\/td>\n<\/tr>\n
                        \u504f\u597d\u84b8\u998f<\/td>\npreference distillation<\/td>\n\u628a\u4e16\u754c\u6a21\u578b\u7b97\u51fa\u7684\u7ec4\u5185\u76f8\u5bf9\u504f\u597d，\u7528 GRPO \u538b\u8fdb\u7b56\u7565\u53c2\u6570<\/td>\n<\/tr>\n
                        GRPO<\/td>\nGroup Relative Policy Optimization<\/td>\n\u7ec4\u5185\u76f8\u5bf9\u7b56\u7565\u4f18\u5316，\u53ea\u6bd4\u8f83\u540c\u7ec4\u5019\u9009\u7684\u76f8\u5bf9\u9ad8\u4f4e，\u4e0d\u9700\u8981\u4ef7\u503c\u7f51\u7edc<\/td>\n<\/tr>\n
                        \u540e\u679c\u5206<\/td>\nconsequence score<\/td>\n\u4e94\u9879\u52a0\u6743：\u76ee\u6807\u8fdb\u5c55\u51cf\u5e73\u6ed1\u4ee3\u4ef7\u3001\u5f53\u524d\u98ce\u9669\u3001\u672a\u6765\u98ce\u9669，\u52a0\u8bed\u4e49\u6709\u6548\u6027<\/td>\n<\/tr>\n
                        GSR<\/td>\nGoal Success Rate<\/td>\n\u76ee\u6807\u6210\u529f\u7387，\u65e0\u78b0\u649e\u5230\u8fbe\u76ee\u7684\u5730\u7684\u6bd4\u4f8b<\/td>\n<\/tr>\n
                        SRVR<\/td>\nSocial Region Violation Rate<\/td>\n\u793e\u4ea4\u533a\u57df\u8fdd\u89c4\u7387，\u5f85\u5728\u8bed\u4e49\u4e0d\u5f53\u533a\u57df（\u5982\u8f66\u9053）\u7684\u65f6\u95f4\u6b65\u6bd4\u4f8b<\/td>\n<\/tr>\n
                        GD<\/td>\nGroup Distance<\/td>\n\u5230\u88ab\u5206\u914d\u7fa4\u4f53\u8d28\u5fc3\u7684\u5e73\u5747\u8ddd\u79bb，\u8861\u91cf\u7fa4\u4f53\u4e00\u81f4\u6027<\/td>\n<\/tr>\n
                        ADE \/ FDE<\/td>\nAverage \/ Final Displacement Error<\/td>\n\u4e0e\u4eba\u7c7b\u8f68\u8ff9\u7684\u5e73\u5747\u9010\u70b9\u504f\u5dee\u4e0e\u7ec8\u70b9\u504f\u5dee，\u5355\u4f4d\u7c73<\/td>\n<\/tr>\n
                        \u8fd1\u8eab\u4ee3\u4ef7<\/td>\nproxemic cost<\/td>\n\u4ee5 1.25 \u7c73\u9ad8\u65af\u6838\u52a0\u6743\u7684\u8d34\u8eab\u60e9\u7f5a，\u540c\u7ec4\u884c\u4eba\u6743\u91cd\u51cf\u534a<\/td>\n<\/tr>\n
                        \u5728\u7ebf\u53cc\u4e16\u754c\u6a21\u578b<\/td>\nOnlineWM<\/td>\n\u6bcf\u4e00\u6b65\u90fd\u8dd1\u4e24\u4e2a\u4e16\u754c\u6a21\u578b\u7684\u5728\u7ebf\u89c4\u5212\u5668，\u672c\u6587\u7528\u5b83\u5f53\u6027\u80fd\u4e0a\u754c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"excerpt":{"rendered":"

                        \u5728\u4eba\u7fa4\u91cc\u8d70\u8def，\u96be\u7684\u4ece\u6765\u4e0d\u662f\u8eb2\u5f00\u773c\u524d\u90a3\u4e2a\u4eba\u3002\u96be\u7684\u662f\u4f60\u6b64\u523b\u9009\u7684\u90a3\u6761\u8def，\u4e24\u79d2\u4e4b\u540e\u4f1a\u4e0d\u4f1a\u6b63\u597d\u5207\u8fdb\u4e00\u652f\u6b63\u5728\u8fc7\u8857\u7684\u4eba\u6d41\u3001\u4f1a\u4e0d\u4f1a\u538b\u5230\u8f66\u9053\u8fb9\u7f18\u3001\u4f1a\u4e0d\u4f1a\u5835\u4f4f\u522b\u4eba\u6b63\u8981\u63a8\u5f00\u7684\u95e8\u3002\u8fd9\u4e09\u79cd\u52a8\u4f5c\u5728\u5f53\u524d\u8fd9\u4e00\u5e27\u5168\u90fd\u5408\u6cd5：\u4e0d\u78b0\u649e\u3001\u4e0d\u8d8a\u754c\u3001\u548c\u4f60\u89c1\u8fc7\u7684\u793a\u8303\u4e5f\u957f\u5f97\u50cf\u3002\u5b83\u4eec\u9519\u5728\u522b\u7684\u5730\u65b9\u2014\u2014\u9519\u5728\\”\u63a5\u4e0b\u6765\u4f1a\u53d1\u751f\u4ec0\u4e48\\”\u3002
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