{"id":61614,"date":"2026-01-18T07:17:51","date_gmt":"2026-01-17T23:17:51","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/61614.html"},"modified":"2026-01-18T07:17:51","modified_gmt":"2026-01-17T23:17:51","slug":"%e5%9f%ba%e4%ba%8e%e8%a7%86%e8%a7%89%e6%8f%90%e7%a4%ba%e7%9a%84%e8%a7%86%e8%a7%89-%e8%af%ad%e8%a8%80-%e5%8a%a8%e4%bd%9c%e6%a8%a1%e5%9e%8b%e7%94%a8%e4%ba%8e%e8%b6%8a%e9%87%8e%e8%bd%a8%e8%bf%b9%e9%a2%84","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/61614.html","title":{"rendered":"\u57fa\u4e8e\u89c6\u89c9\u63d0\u793a\u7684\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c\u6a21\u578b\u7528\u4e8e\u8d8a\u91ce\u8f68\u8ff9\u9884\u6d4b"},"content":{"rendered":"<p>26\u5e741\u6708\u6765\u81ea\u519b\u4e8b\u79d1\u5b66\u7814\u7a76\u9662\u3001\u5357\u660c\u5927\u5b66\u3001\u897f\u5b89\u4ea4\u5927\u548c\u4e2d\u79d1\u9662\u8ba1\u7b97\u6240\u7684\u8bba\u6587\u201cA Vision\u2013Language\u2013Action Model with Visual Prompt for OFF-Road Trajectory Prediction\u201d\u3002<\/p>\n<p>\u5728\u8d8a\u91ce\u5730\u5f62\u4e2d\u8fdb\u884c\u9ad8\u6548\u7684\u8f68\u8ff9\u89c4\u5212\u5bf9\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u800c\u8a00\u662f\u4e00\u9879\u8270\u5de8\u7684\u6311\u6218&#xff0c;\u901a\u5e38\u9700\u8981\u590d\u6742\u7684\u591a\u6b65\u9aa4\u6d41\u7a0b\u3002\u7136\u800c&#xff0c;\u4f20\u7edf\u65b9\u6cd5\u5728\u52a8\u6001\u73af\u5883\u4e2d\u7684\u9002\u5e94\u6027\u6709\u9650\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e9b\u5c40\u9650\u6027&#xff0c;\u672c\u6587\u63d0\u51fa\u4e00\u79cd\u540d\u4e3aOffEMMA\u7684\u7aef\u5230\u7aef\u591a\u6a21\u6001\u6846\u67b6&#xff0c;\u65e8\u5728\u514b\u670d\u89c6\u89c9-\u8bed\u8a00-\u52a8\u4f5c&#xff08;VLA&#xff09;\u6a21\u578b\u5728\u8d8a\u91ce\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7a7a\u95f4\u611f\u77e5\u4e0d\u8db3\u548c\u63a8\u7406\u4e0d\u7a33\u5b9a\u7684\u7f3a\u9677\u3002\u8be5\u6846\u67b6\u901a\u8fc7\u8bbe\u8ba1\u89c6\u89c9\u63d0\u793a\u6a21\u5757\u5bf9\u8f93\u5165\u56fe\u50cf\u8fdb\u884c\u663e\u5f0f\u6807\u6ce8&#xff0c;\u5e76\u5f15\u5165\u81ea\u6d3d\u7684\u601d\u7ef4\u94fe&#xff08;COT-SC&#xff09;\u63a8\u7406\u7b56\u7565\u6765\u63d0\u9ad8\u8f68\u8ff9\u89c4\u5212\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u3002\u89c6\u89c9\u63d0\u793a\u6a21\u5757\u5229\u7528\u8bed\u4e49\u5206\u5272\u63a9\u7801\u4f5c\u4e3a\u89c6\u89c9\u63d0\u793a&#xff0c;\u589e\u5f3a\u9884\u8bad\u7ec3\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u5728\u590d\u6742\u5730\u5f62\u4e2d\u7684\u7a7a\u95f4\u7406\u89e3\u80fd\u529b\u3002COT-SC\u7b56\u7565\u901a\u8fc7\u591a\u8def\u5f84\u63a8\u7406\u673a\u5236\u6709\u6548\u5730\u964d\u4f4e\u5f02\u5e38\u503c\u5bf9\u89c4\u5212\u6027\u80fd\u7684\u8bef\u5dee\u5f71\u54cd\u3002\u5728 RELLIS-3D \u8d8a\u91ce\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e&#xff0c;OffEMMA \u7684\u6027\u80fd\u660e\u663e\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5&#xff0c;\u5c06 Qwen \u9aa8\u5e72\u6a21\u578b\u7684\u5e73\u5747 L2 \u8bef\u5dee\u964d\u4f4e 13.3%&#xff0c;\u5e76\u5c06\u6545\u969c\u7387\u4ece 16.52% \u964d\u4f4e\u5230 6.56%\u3002<\/p>\n<hr \/>\n<p>\u5982\u56fe\u5c55\u793a OffEMMA \u7684\u6574\u4f53\u67b6\u6784&#xff0c;OffEMMA \u662f\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u8d8a\u91ce\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6&#xff0c;\u5b83\u5229\u7528\u5f00\u6e90\u7684\u9884\u8bad\u7ec3VLM \u6765\u5b9e\u73b0\u8f68\u8ff9\u89c4\u5212\u548c\u573a\u666f\u611f\u77e5\u529f\u80fd\u3002OffEMMA \u4ee5\u5386\u53f2\u9a7e\u9a76\u72b6\u6001\u548c\u9884\u5904\u7406\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\u6765\u9884\u6d4b\u672a\u6765\u7684\u8fd0\u52a8\u8f68\u8ff9\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260117231748-696c189c3f3c6.png\" alt=\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u5728\u6bcf\u4e2a\u63a8\u7406\u5468\u671f\u4e2d&#xff0c;\u9996\u5148\u4f7f\u7528\u89c6\u89c9\u63d0\u793a\u6a21\u5757 (VP-Block) \u5904\u7406\u6765\u81ea RELLIS-3D \u6570\u636e\u96c6\u7684\u524d\u7f6e\u6444\u50cf\u5934\u56fe\u50cf&#xff0c;\u5f97\u5230\u4e00\u4e2a\u5e26\u6807\u7b7e\u7684\u63a9\u7801\u56fe\u50cf&#xff0c;\u7136\u540e\u5c06\u5176\u4e0e\u8f66\u8f86\u7684\u5386\u53f2\u9a7e\u9a76\u6570\u636e\u4e00\u8d77\u8f93\u5165\u5230 VLM \u4e2d\u3002\u4e3a\u4e86\u63d0\u9ad8\u9884\u6d4b\u7ed3\u679c\u7684\u53ef\u89e3\u91ca\u6027\u548c\u7a33\u5b9a\u6027&#xff0c;\u91c7\u7528 COT-SC \u7b56\u7565\u3002\u5728\u540e\u7eed\u9636\u6bb5&#xff0c;VLM \u4f1a\u663e\u5f0f\u8f93\u51fa\u4e00\u7cfb\u5217\u9884\u6d4b\u7684\u672a\u6765\u9a7e\u9a76\u72b6\u6001\u3002\u8fd9\u4e9b\u9884\u6d4b\u7ed3\u679c\u7ecf\u8fc7\u6570\u503c\u79ef\u5206\u540e\u751f\u6210\u9884\u6d4b\u8f68\u8ff9&#xff0c;\u5e76\u5c06\u5176\u4e0e\u771f\u5b9e\u8f68\u8ff9\u8fdb\u884c\u6bd4\u8f83\u3002\u6700\u540e&#xff0c;\u7ecf\u8fc7\u63d2\u503c\u5904\u7406&#xff0c;\u5f97\u5230\u53ef\u89c6\u5316\u7ed3\u679c\u3002<\/p>\n<p>\u4e3a\u4e86\u5728\u590d\u6742\u7684\u8d8a\u91ce\u73af\u5883\u4e2d\u5b9e\u73b0\u66f4\u9ad8\u6548\u7684\u8f68\u8ff9\u89c4\u5212&#xff0c;\u5f15\u5165COT-SC\u7b56\u7565&#xff0c;\u8be5\u7b56\u7565\u662f\u5bf9\u57fa\u4e8eCoT\u63a8\u7406\u4f20\u7edf\u65b9\u6cd5\u7684\u6539\u8fdb\u3002COT-SC\u901a\u8fc7\u591a\u8def\u5f84\u63a8\u7406\u751f\u6210\u7b54\u6848&#xff0c;\u6709\u6548\u964d\u4f4e\u5f02\u5e38\u503c\u5bf9\u63a8\u7406\u7ed3\u679c\u7684\u5f71\u54cd&#xff0c;\u4ece\u800c\u63d0\u9ad8\u9884\u6d4b\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u3002\u5177\u4f53\u800c\u8a00&#xff0c;\u5728\u8f68\u8ff9\u89c4\u5212\u8fc7\u7a0b\u4e2d&#xff0c;\u9996\u5148\u8fdb\u884c\u591a\u8def\u5f84\u63a8\u7406\u4ee5\u83b7\u5f97\u82e5\u5e72\u5019\u9009\u7ed3\u679c&#xff0c;\u7136\u540e\u53bb\u9664\u5f02\u5e38\u503c\u5e76\u5bf9\u5269\u4f59\u7684\u9884\u6d4b\u7ed3\u679c\u53d6\u5e73\u5747\u503c&#xff0c;\u4ece\u800c\u83b7\u5f97\u66f4\u7a33\u5b9a\u3001\u66f4\u7b26\u5408\u5b9e\u9645\u7684\u89c4\u5212\u8f68\u8ff9\u3002<\/p>\n<p>\u672c\u7814\u7a76\u65e8\u5728\u63d0\u5347\u9884\u8bad\u7ec3\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b&#xff08;VLM&#xff09;\u5728\u590d\u6742\u8d8a\u91ce\u73af\u5883\u4e0b\u7684\u8f68\u8ff9\u89c4\u5212\u548c\u63a8\u7406\u80fd\u529b&#xff0c;\u4e3a\u6b64\u63d0\u51fa\u4e00\u79cd\u89c6\u89c9\u63d0\u793a\u6807\u6ce8\u6a21\u5757\u3002\u5c3d\u7ba1\u73b0\u6709VLM\u5728\u8bed\u8a00\u7406\u89e3\u548c\u7b80\u5355\u7684\u89c6\u89c9\u63a8\u7406\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272&#xff0c;\u4f46\u5176\u6709\u9650\u7684\u7a7a\u95f4\u7406\u89e3\u80fd\u529b\u4f7f\u5176\u5728\u5904\u7406\u590d\u6742\u7684\u7a7a\u95f4\u63a8\u7406\u95ee\u9898\u65f6\u96be\u4ee5\u751f\u6210\u9ad8\u8d28\u91cf\u7684\u63a8\u7406\u7ed3\u679c\u3002\u5c24\u5176\u662f\u5728\u590d\u6742\u7684\u8d8a\u91ce\u9a7e\u9a76\u573a\u666f\u4e2d&#xff0c;\u6a21\u578b\u7684\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\u4e0d\u8db3&#xff0c;\u4e25\u91cd\u5f71\u54cd\u5176\u5728\u8f68\u8ff9\u89c4\u5212\u548c\u51b3\u7b56\u751f\u6210\u65b9\u9762\u7684\u6027\u80fd\u3002<\/p>\n<p>\u4e3a\u4e86\u89e3\u51b3\u5b58\u5728\u7684\u5c40\u9650\u6027&#xff0c;\u5e76\u5728\u65e0\u9700\u8fdb\u4e00\u6b65\u5fae\u8c03\u9884\u8bad\u7ec3\u9aa8\u5e72\u7f51\u7edc\u7684\u60c5\u51b5\u4e0b\u63d0\u5347 LLM \u5728\u8d8a\u91ce\u4efb\u52a1\u4e2d\u7684\u6027\u80fd&#xff0c;\u501f\u9274 MPDrive [14] \u548c SoM \u65b9\u6cd5&#xff0c;\u5f15\u5165\u4e00\u4e2a\u4e13\u4e3a\u8d8a\u91ce\u4efb\u52a1\u5b9a\u5236\u7684\u5916\u90e8\u5f00\u6e90\u8bed\u4e49\u5206\u5272\u6a21\u578b OFFSEG [15]&#xff0c;\u5e76\u5c06\u5176\u96c6\u6210\u5230 OffEMMA \u7cfb\u7edf\u4e2d\u3002\u8be5\u6a21\u5757\u5bf9\u8f93\u5165\u7684 RGB \u56fe\u50cf\u8fdb\u884c\u9ad8\u6548\u7684\u8bed\u4e49\u5206\u5272&#xff0c;\u5e76\u4e3a\u4e0d\u540c\u7684\u7c7b\u522b\u5206\u914d\u72ec\u7279\u7684\u989c\u8272\u6807\u7b7e&#xff0c;\u4ece\u800c\u4e3a VLM \u63d0\u4f9b\u6e05\u6670\u7684\u573a\u666f\u7ea7\u63d0\u793a\u3002<\/p>\n<p>OFFSEG \u7684\u5de5\u4f5c\u6d41\u7a0b\u5206\u4e3a\u4e24\u6b65&#xff0c;\u5176\u6982\u89c8\u5982\u56fe\u6240\u793a\u3002\u7b2c\u4e00\u6b65&#xff0c;\u5c06\u5404\u79cd\u6807\u7b7e\u6574\u5408\u4e3a\u56db\u5927\u7c7b&#xff0c;\u5e76\u5e94\u7528\u8bed\u4e49\u5206\u5272\u7f51\u7edc\u3002\u7b2c\u4e8c\u6b65&#xff0c;\u5c06\u5206\u5272\u51fa\u7684\u611f\u5174\u8da3\u533a\u57df\u4f20\u9012\u7ed9\u57fa\u4e8e\u989c\u8272\u7684\u5206\u5272\u6a21\u5757&#xff0c;\u8be5\u6a21\u5757\u8fdb\u4e00\u6b65\u5c06\u5176\u7ec6\u5206\u4e3a\u66f4\u7cbe\u7ec6\u7684\u5b50\u7c7b&#xff08;\u4f8b\u5982\u8349\u5730\u3001\u6ce5\u5730\u6216\u6c34\u5751&#xff09;&#xff0c;\u5e76\u5c06\u8fd9\u4e9b\u8be6\u7ec6\u7684\u6807\u7b7e\u4f5c\u4e3a\u6700\u7ec8\u8f93\u51fa\u3002\u8fd9\u6837&#xff0c;\u539f\u59cb\u56fe\u50cf\u5c31\u88ab\u8f6c\u6362\u6210\u5177\u6709\u6e05\u6670\u7a7a\u95f4\u8bed\u4e49\u7684\u573a\u666f\u7279\u5f81\u56fe&#xff0c;\u4f7f VLM \u80fd\u591f\u66f4\u51c6\u786e\u5730\u7406\u89e3\u4e0d\u540c\u533a\u57df\u7684\u901a\u884c\u6027\u548c\u969c\u788d\u7269\u4fe1\u606f\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260117231749-696c189d9b16c.png\" alt=\"\u8bf7\u6dfb\u52a0\u56fe\u7247\u63cf\u8ff0\" 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