{"id":38221,"date":"2025-02-12T03:01:08","date_gmt":"2025-02-11T19:01:08","guid":{"rendered":"https:\/\/17aitech.com\/?p=38221"},"modified":"2025-02-12T03:01:08","modified_gmt":"2025-02-11T19:01:08","slug":"iclr-2025-diffusion-planner-%e5%9f%ba%e4%ba%8e%e6%89%a9%e6%95%a3%e6%a8%a1%e5%9e%8b%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e8%a7%84%e5%88%92%e7%ae%97%e6%b3%95%ef%bc%8cnuplan-sota","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=38221","title":{"rendered":"ICLR 2025 | Diffusion Planner: \u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u7b97\u6cd5\uff0cnuPlan SOTA!"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-02-10-3\" target=\"_blank\">ICLR 2025 | Diffusion Planner: \u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u7b97\u6cd5\uff0cnuPlan SOTA!<\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-ef1fe574c5d7a4dc3dd67fd28ea41c5e.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-ef1fe574c5d7a4dc3dd67fd28ea41c5e.png\"><\/a><\/p>\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u6e05\u534e\u5927\u5b66\u8054\u5408\u6beb\u672b\u667a\u884c\u3001\u81ea\u52a8\u5316\u6240\u3001\u6e2f\u4e2d\u6587\u3001\u4e0a\u6d77\u4ea4\u5927\u3001\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u7684\u53d1\u8868\u4e8e<strong>ICLR 2025<\/strong>\u7684\u6700\u65b0\u7814\u7a76\u6210\u679c\u300aDiffusion-based Planning for Autonomous Driving with Flexible Guidance\u300b\u3002\u8be5\u7b97\u6cd5\u521b\u65b0\u6027\u5730\u8bbe\u8ba1\u4e86<strong>\u57fa\u4e8e Diffusion Transformer \u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u6a21\u578b\u67b6\u6784<\/strong>\uff0c\u9ad8\u6548\u5904\u7406\u590d\u6742\u573a\u666f\u8f93\u5165\uff0c\u5e76\u8054\u5408\u5efa\u6a21\u5468\u8f66\u8fd0\u52a8\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212\u4e2d\u7684\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\uff0c\u5145\u5206\u53d1\u6325\u6269\u6563\u6a21\u578b\u5728\u95ed\u73af\u89c4\u5212\u4e2d\u7684\u6f5c\u529b\uff0c\u89e3\u51b3\u4e86\u73b0\u6709\u57fa\u4e8e\u5b66\u4e60\u7684\u89c4\u5212\u65b9\u6cd5\u5bf9\u540e\u5904\u7406\u7684\u4e25\u91cd\u4f9d\u8d56\u95ee\u9898\u3002\u6b64\u5916\uff0c\u501f\u52a9<strong>\u6269\u6563\u6a21\u578b\u7684\u5f15\u5bfc\u673a\u5236<\/strong>\uff0c\u6a21\u578b\u5728\u90e8\u7f72\u9636\u6bb5\u80fd\u591f\u7075\u6d3b\u9002\u5e94\u4e0d\u540c\u7684\u9a7e\u9a76\u9700\u6c42\uff0c\u63d0\u9ad8\u6cdb\u5316\u80fd\u529b\u4e0e\u5b9e\u7528\u6027\u3002<\/p>\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2501.15564<\/p>\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/zhengyinan-air.github.io\/Diffusion-Planner\/<\/p>\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_85 ez-toc-wrap-left-text counter-hierarchy ez-toc-counter ez-toc-light-blue ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u6587\u7ae0\u76ee\u5f55<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" 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class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/17aitech.com\/?p=38221\/#%E6%A8%A1%E5%9E%8B%E7%BB%93%E6%9E%84%E8%AE%BE%E8%AE%A1\" >\u6a21\u578b\u7ed3\u6784\u8bbe\u8ba1<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/17aitech.com\/?p=38221\/#%E6%9C%89%E5%81%8F%E5%A5%BD%E8%BD%A8%E8%BF%B9%E7%94%9F%E6%88%90\" >\u6709\u504f\u597d\u8f68\u8ff9\u751f\u6210<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/17aitech.com\/?p=38221\/#%E5%AE%9E%E9%AA%8C%E7%BB%93%E6%9E%9C\" >\u5b9e\u9a8c\u7ed3\u679c<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/17aitech.com\/?p=38221\/#nuPlan%E9%97%AD%E7%8E%AF%E4%BB%BF%E7%9C%9F\" >nuPlan\u95ed\u73af\u4eff\u771f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/17aitech.com\/?p=38221\/#%E8%BD%A8%E8%BF%B9%E7%94%9F%E6%88%90%E5%8F%AF%E8%A7%86%E5%8C%96\" >\u8f68\u8ff9\u751f\u6210\u53ef\u89c6\u5316<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/17aitech.com\/?p=38221\/#%E6%AF%AB%E6%9C%AB%E6%99%BA%E8%A1%8C%E7%89%A9%E6%B5%81%E5%B0%8F%E8%BD%A6%E6%95%B0%E6%8D%AE%E9%9B%86\" >\u6beb\u672b\u667a\u884c\u7269\u6d41\u5c0f\u8f66\u6570\u636e\u96c6<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/17aitech.com\/?p=38221\/#%E6%9C%89%E5%81%8F%E5%A5%BD%E8%BD%A8%E8%BF%B9%E7%94%9F%E6%88%90%E6%A1%88%E4%BE%8B\" >\u6709\u504f\u597d\u8f68\u8ff9\u751f\u6210\u6848\u4f8b<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/17aitech.com\/?p=38221\/#%E6%80%BB%E7%BB%93\" >\u603b\u7ed3<\/a><\/li><\/ul><\/nav><\/div>\n<h3><span class=\"ez-toc-section\" id=\"%E8%83%8C%E6%99%AF%E4%BB%8B%E7%BB%8D\"><\/span><strong>\u80cc\u666f\u4ecb\u7ecd<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212<\/strong>\u6b63\u671d\u7740\u66f4\u5b89\u5168\u3001\u9ad8\u6548\u7684\u65b9\u5411\u53d1\u5c55\uff0c\u4f46\u5728\u590d\u6742\u73af\u5883\u4e0b\u5b9e\u73b0\u7c7b\u4eba\u9a7e\u9a76\u4ecd\u5177\u6311\u6218\u3002\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5\u867d\u5728\u5de5\u4e1a\u5e94\u7528\u4e2d\u53d6\u5f97\u6210\u529f\uff0c\u4f46\u9002\u5e94\u6027\u5dee\uff0c\u8c03\u6574\u6210\u672c\u9ad8\uff1b\u6a21\u4eff\u5b66\u4e60\u80fd\u76f4\u63a5\u5b66\u4e60\u4e13\u5bb6\u9a7e\u9a76\u884c\u4e3a\uff0c\u5e76\u968f\u8bad\u7ec3\u6570\u636e\u6269\u5c55\u63d0\u5347\u6027\u80fd\u3002\u7136\u800c\uff0c\u6a21\u4eff\u5b66\u4e60\u65b9\u6cd5\u5728\u591a\u6a21\u6001\u884c\u4e3a\u9002\u5e94\u6027\u3001\u6cdb\u5316\u80fd\u529b\u548c\u9a7e\u9a76\u98ce\u683c\u7075\u6d3b\u8c03\u63a7\u4e0a\u4ecd\u5b58\u6311\u6218\uff0c\u4f9d\u8d56\u540e\u5904\u7406\u6765\u4f18\u5316\u6a21\u578b\u8f93\u51fa\u3002<\/p>\n<p>\u8fd1\u5e74\u6765\uff0c<strong>\u6269\u6563\u6a21\u578b<\/strong>\u5728\u51b3\u7b56\u9886\u57df\u5f97\u5230\u5e7f\u6cdb\u5e94\u7528\uff0c\u4f46\u5728\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u4e2d\u7684\u63a2\u7d22\u4ecd\u6709\u9650\u3002\u73b0\u6709\u7814\u7a76\u591a\u805a\u7126\u4e8e\u8fd0\u52a8\u9884\u6d4b\u548c\u573a\u666f\u751f\u6210\uff0c\u5173\u6ce8\u5f00\u73af\u6027\u80fd\uff0c\u800c\u975e\u95ed\u73af\u89c4\u5212\u3002\u4e00\u4e9b\u65b9\u6cd5\u5c1d\u8bd5\u5c06\u6269\u6563\u6a21\u578b\u5e94\u7528\u4e8e\u89c4\u5212\u4efb\u52a1\uff0c\u4f46\u4ec5\u4ec5\u662f\u6cbf\u7528\u73b0\u6709\u7ed3\u6784\u6216\u6269\u5c55\u6a21\u578b\u53c2\u6570\uff0c\u7f3a\u4e4f\u9488\u5bf9\u6027\u7ed3\u6784\u8bbe\u8ba1\uff0c\u5bfc\u81f4\u4ecd\u7136\u9ad8\u5ea6\u4f9d\u8d56\u540e\u5904\u7406\u3002<\/p>\n<p>\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86<strong>Diffusion Planner<\/strong>\uff0c\u4e00\u79cd\u521b\u65b0\u7684<strong>\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u65b9\u6cd5<\/strong>\u3002\u901a\u8fc7\u6269\u6563\u6a21\u578b\u5f3a\u5927\u7684\u6570\u636e\u5206\u5e03\u62df\u5408\u80fd\u529b\uff0cDiffusion Planner\u80fd\u591f\u7cbe\u51c6\u6355\u6349\u590d\u6742\u573a\u666f\u4e2d\u5468\u8f66\u4e0e\u81ea\u8f66\u7684\u591a\u6a21\u6001\u9a7e\u9a76\u884c\u4e3a\uff0c\u5e76\u5b9e\u73b0\u5468\u8f66\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212\u7684\u8054\u5408\u5efa\u6a21\u3002\u540c\u65f6\uff0c\u57fa\u4e8eTransformer\u7684\u7ed3\u6784\u8bbe\u8ba1\u9ad8\u6548\u5904\u7406\u590d\u6742\u573a\u666f\u8f93\u5165\uff0c\u5b9e\u73b020Hz\u7684\u9ad8\u901f\u5b9e\u65f6\u63a8\u7406\u3002\u6b64\u5916\uff0c\u501f\u52a9\u7075\u6d3b\u7684\u5f15\u5bfc\u673a\u5236\uff0c\u6a21\u578b\u5728\u90e8\u7f72\u9636\u6bb5\u5373\u53ef\u9002\u5e94\u4e0d\u540c\u7684\u9a7e\u9a76\u9700\u6c42\u3002\u5728\u5927\u89c4\u6a21\u771f\u5b9e\u6570\u636e\u96c6 nuPlan \u7684\u95ed\u73af\u8bc4\u4f30\u4e2d\uff0c<strong>Diffusion Planner\u53d6\u5f97\u4e86SOTA\u7ea7\u8868\u73b0\uff0c\u2f24\u5e45\u964d\u4f4e\u4e86\u5bf9\u540e\u5904\u7406\u7684\u4f9d\u8d56<\/strong>\uff0c\u5e76\u5728\u989d\u5916\u6536\u96c6\u7684 200 \u5c0f\u65f6\u7269\u6d41\u5c0f\u8f66\u6570\u636e\u4e0a\u9a8c\u8bc1\u4e86\u5176\u5728\u591a\u79cd\u9a7e\u9a76\u98ce\u683c\u4e0b\u7684\u9c81\u68d2\u6027\u548c\u8fc1\u79fb\u80fd\u529b\u3002<\/p>\n<h3><span class=\"ez-toc-section\" id=\"Diffusion_Planner_%E6%8A%80%E6%9C%AF%E7%BB%86%E8%8A%82\"><\/span><strong>Diffusion Planner \u6280\u672f\u7ec6\u8282<\/strong><span class=\"ez-toc-section-end\"><\/span><\/h3>\n<p><strong>Diffusion Planner\u4e13\u4e3a\u81ea\u52a8\u9a7e\u9a76\u95ed\u73af\u89c4\u5212\u8bbe\u8ba1<\/strong>\uff0c\u5177\u5907\u4ee5\u4e0b\u7279\u70b9\uff1a<\/p>\n<p>&#8211; \u57fa\u4e8eDiT\u67b6\u6784\u878d\u5408\u52a0\u566a\u8f68\u8ff9\u4e0e\u6761\u4ef6\u4fe1\u606f\uff0c\u63a8\u7406\u901f\u5ea6\u53ef\u8fbe20Hz\uff1b<\/p>\n<p>&#8211; \u8054\u5408\u5efa\u6a21\u81ea\u8f66\u4e0e\u5468\u8f66\u7684\u672a\u6765\u8f68\u8ff9\uff0c\u5c06\u8fd0\u52a8\u9884\u6d4b\u4e0e\u95ed\u73af\u89c4\u5212\u7edf\u4e00\u4e3a\u672a\u6765\u8f68\u8ff9\u751f\u6210\uff1b<\/p>\n<p>&#8211; \u91c7\u7528\u6269\u6563\u6a21\u578b\u7684\u5f15\u5bfc\u673a\u5236\uff0c\u5b9e\u73b0\u5177\u6709\u504f\u597d\u7684\u8f68\u8ff9\u751f\u6210\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E6%A8%A1%E5%9E%8B%E7%BB%93%E6%9E%84%E8%AE%BE%E8%AE%A1\"><\/span>\u6a21\u578b\u7ed3\u6784\u8bbe\u8ba1<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u81ea\u8f66\u4e0e\u5468\u56f4\u8f66\u8f86\u4e4b\u95f4\u7684\u7d27\u5bc6\u4e92\u52a8\u4f7f\u5f97\u89c4\u5212\u4e0e\u9884\u6d4b\u4efb\u52a1\u5fc5\u987b\u9ad8\u5ea6\u534f\u540c\u3002\u4e3a\u4e86\u5e94\u5bf9\u590d\u6742\u7684\u4ea4\u901a\u573a\u666f\uff0c\u51c6\u786e\u9884\u6d4b\u90bb\u8fd1\u8f66\u8f86\u7684\u672a\u6765\u8f68\u8ff9\u81f3\u5173\u91cd\u8981\u3002\u8fd9\u4e0d\u4ec5\u63d0\u5347\u4e86\u95ed\u73af\u89c4\u5212\u6a21\u578b\u7684\u80fd\u529b\uff0c\u8fd8\u80fd\u589e\u5f3a\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u548c\u53ef\u63a7\u6027\u3002\u6211\u4eec\u901a\u8fc7<strong>\u8054\u5408\u5efa\u6a21\u5173\u952e\u53c2\u4e0e\u8005\u7684\u72b6\u6001\uff0c\u5c06\u8fd0\u52a8\u9884\u6d4b\u4e0e\u95ed\u73af\u89c4\u5212\u4efb\u52a1\u7edf\u4e00\u4e3a\u4e00\u4e2a\u672a\u6765\u8f68\u8ff9\u751f\u6210\u4efb\u52a1<\/strong>\u3002\u6211\u4eec\u5e0c\u671b\u6a21\u578b\u80fd\u591f\u540c\u65f6\u751f\u6210\u6240\u6709\u5173\u952e\u53c2\u4e0e\u8005\u7684\u672a\u6765\u8f68\u8ff9\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u52a0\u81ea\u7136\u7684\u534f\u540c\u884c\u4e3a\u3002<\/p>\n<p>\u7136\u800c\uff0c\u591a\u8f66\u4ea4\u4e92\u7684\u590d\u6742\u573a\u666f\u4f1a\u4ea7\u751f\u66f4\u52a0\u591a\u6837\u7684\u9a7e\u9a76\u884c\u4e3a\uff0c\u589e\u52a0\u4e86\u8bad\u7ec3\u7684\u96be\u5ea6\u3002\u4e3a\u6b64\uff0c\u6211\u4eec<strong>\u91c7\u7528\u4e86\u6269\u6563\u6a21\u578b\u7684\u6846\u67b6\u8fdb\u884c\u8bad\u7ec3\uff0c\u5e76\u57fa\u4e8eDiffusion 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src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-fab1aa64cde46dbee12f4a7a6f9cdfe7.png\"><\/a><\/p>\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u8003\u8651\u4e86\u5468\u56f4\u8f66\u8f86\u7684\u5386\u53f2\u4fe1\u606f\u3001\u9053\u8def\u4fe1\u606f\u548c\u9759\u6001\u969c\u788d\u7269\uff0c\u8bbe\u8ba1\u4e86\u7b80\u6d01\u7684\u7f16\u7801\u5668\u7ed3\u6784\u7528\u4e8e\u4fe1\u606f\u63d0\u53d6\uff0c\u5e76\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u4e0e\u52a0\u566a\u540e\u7684\u81ea\u8f66\u548c\u5468\u8f66\u8f68\u8ff9\u8fdb\u884c\u4fe1\u606f\u4ea4\u4e92\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5f15\u5165\u4e86\u989d\u5916\u7684\u5bfc\u822a\u4fe1\u606f\u4ee5\u53ca\u6269\u6563\u6a21\u578b\u7279\u6709\u7684\u52a0\u566a\u6b65\u6570\u4fe1\u606f\u3002\u4e3a\u4e86\u907f\u514d\u6a21\u578b\u91cd\u590d\u81ea\u8f66\u5386\u53f2\u884c\u4e3a\u5bfc\u81f4\u95ed\u73af\u6027\u80fd\u4e0b\u964d\uff0c\u6211\u4eec\u4ec5\u8003\u8651\u81ea\u8f66\u5f53\u524d\u65f6\u523b\u7684\u4f4d\u7f6e\u548c\u671d\u5411\uff0c\u5e76\u4e0e\u5468\u8f66\u7684\u5f53\u524d\u72b6\u6001\u4e00\u8d77\u62fc\u63a5\u5230\u52a0\u566a\u8f68\u8ff9\u4e2d\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u8d77\u59cb\u72b6\u6001\u7684\u5f15\u5bfc\u8fd8\u80fd\u8fdb\u4e00\u6b65\u964d\u4f4e\u6a21\u578b\u5bf9\u672a\u6765\u8f68\u8ff9\u751f\u6210\u7684\u96be\u5ea6\u3002<\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E6%9C%89%E5%81%8F%E5%A5%BD%E8%BD%A8%E8%BF%B9%E7%94%9F%E6%88%90\"><\/span>\u6709\u504f\u597d\u8f68\u8ff9\u751f\u6210<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p>\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u5f15\u5bfc\u673a\u5236\uff0c\u6211\u4eec\u53ef\u4ee5\u5728\u6a21\u578b\u7684\u6d4b\u8bd5\u9636\u6bb5\u5f15\u5165\u5b89\u5168\uff0c\u8212\u9002\u7b49\u504f\u597d\uff0c\u540c\u65f6\u4e5f\u53ef\u4ee5\u6839\u636e\u7528\u6237\u9700\u6c42\u7075\u6d3b\u7684\u6539\u53d8\u6a21\u578b\u8f93\u51fa\u7684\u8f68\u8ff9\u7279\u6027\uff0c\u4f8b\u5982\u901f\u5ea6\u7279\u6027\u3002\u6b64\u5916\uff0c\u4e0d\u540c\u7684\u504f\u597d\u53ef\u4ee5\u901a\u8fc7\u52a0\u6743\u6c42\u548c\u8f7b\u677e\u7ec4\u5408\uff0c\u5e76\u4e14\u5728\u90e8\u7f72\u9636\u6bb5\u53ef\u4ee5\u7075\u6d3b\u9009\u62e9\u662f\u5426\u542f\u7528\uff0c\u63d0\u4f9b\u66f4\u5927\u7684\u7075\u6d3b\u6027\u3002<\/p>\n<h3><span class=\"ez-toc-section\" id=\"%E5%AE%9E%E9%AA%8C%E7%BB%93%E6%9E%9C\"><\/span>\n<a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-890b87ba44a1387ac723f5bcebe56735.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-890b87ba44a1387ac723f5bcebe56735.png\"><\/a>\u5b9e\u9a8c\u7ed3\u679c<span class=\"ez-toc-section-end\"><\/span><\/h3>\n<h4><span class=\"ez-toc-section\" id=\"nuPlan%E9%97%AD%E7%8E%AF%E4%BB%BF%E7%9C%9F\"><\/span>nuPlan\u95ed\u73af\u4eff\u771f<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p>\u4e0b\u56fe\u5c55\u793a\u4e86Diffusion Planner\u4e0e\u5176\u4ed6\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u7b97\u6cd5\u5728nuPlan\u6570\u636e\u96c6\u4e0a\u7684\u8868\u73b0\u5bf9\u6bd4\u3002\u6211\u4eec\u5728\u4e09\u4e2a\u5e38\u7528\u6d4b\u8bd5\u57fa\u51c6\u4e0a\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u7ed3\u679c\u663e\u793a<strong>Diffusion Planner\u8fbe\u5230\u4e86SOTA\u6027\u80fd\u6c34\u5e73<\/strong>\u3002\u901a\u8fc7\u5f15\u5165\u73b0\u6709\u7684\u540e\u5904\u7406\u6a21\u5757\uff0c\u7b97\u6cd5\u6027\u80fd\u5f97\u5230\u4e86\u8fdb\u4e00\u6b65\u63d0\u5347\uff0c\u8fd9\u5f97\u76ca\u4e8e\u6a21\u578b\u751f\u6210\u7684\u9ad8\u8d28\u91cf\u8f68\u8ff9\uff0c\u4e3a\u540e\u5904\u7406\u6a21\u5757\u63d0\u4f9b\u4e86\u66f4\u4f18\u7684\u521d\u59cb\u5316\u53c2\u8003\u8f68\u8ff9\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-dc2fbcf122e43d85d99d5c9c291e2c3a.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-dc2fbcf122e43d85d99d5c9c291e2c3a.png\"><\/a><\/p>\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5bf9\u6bd4\u4e86\u73b0\u6709\u57fa\u4e8e\u6269\u6563\u6a21\u578b\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u7b97\u6cd5\u3002\u4e0e\u73b0\u6709\u65b9\u6cd5\u76f8\u6bd4\uff0cDiffusion Planner <strong>\u6709\u6548\u964d\u4f4e\u4e86\u5bf9\u540e\u5904\u7406\u7684\u4f9d\u8d56\uff0c\u540c\u65f6\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u63a8\u7406\u9891\u7387<\/strong>\uff0c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u6211\u4eec\u8bbe\u8ba1\u7ed3\u6784\u7684\u6709\u6548\u6027\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-91e797a61835f26511c7bf16868088e4.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-91e797a61835f26511c7bf16868088e4.png\"><\/a><\/p>\n<p><\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E8%BD%A8%E8%BF%B9%E7%94%9F%E6%88%90%E5%8F%AF%E8%A7%86%E5%8C%96\"><\/span>\u8f68\u8ff9\u751f\u6210\u53ef\u89c6\u5316<span class=\"ez-toc-section-end\"><\/span><\/h4>\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5c55\u793aDiffusion Planner\u5728\u8f68\u8ff9\u751f\u6210\u65b9\u9762\u7684\u4f18\u52bf\uff0c\u6211\u4eec\u9009\u62e9\u4e86\u72ed\u7a84\u8def\u6bb5\u7684\u5de6\u8f6c\u573a\u666f\uff0c\u5e76\u4e0e\u73b0\u6709\u65b9\u6cd5\u7684\u65e0\u540e\u5904\u7406\u7248\u672c\u8fdb\u884c\u4e86\u5bf9\u6bd4\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002Diffusion Planner\u751f\u6210\u4e86\u9ad8\u8d28\u91cf\u7684\u8f68\u8ff9\uff0c<strong>\u4e0d\u4ec5\u51c6\u786e\u9884\u6d4b\u4e86\u5468\u56f4\u8f66\u8f86\u7684\u884c\u4e3a\uff0c\u8fd8\u751f\u6210\u4e86\u5e73\u6ed1\u7684\u81ea\u8f66\u89c4\u5212\u8f68\u8ff9<\/strong>\uff0c\u5408\u7406\u5730\u8003\u8651\u4e86\u524d\u8f66\u7684\u901f\u5ea6\uff0c\u5145\u5206\u4f53\u73b0\u4e86\u9884\u6d4b\u4e0e\u89c4\u5212\u4efb\u52a1\u8054\u5408\u5efa\u6a21\u4ee5\u53ca\u6269\u6563\u6a21\u578b\u751f\u6210\u7684\u4f18\u52bf\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-0cc294de5b98339af949a0c4f941442a.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/02\/frc-0cc294de5b98339af949a0c4f941442a.png\"><\/a><\/p>\n<h4><span class=\"ez-toc-section\" id=\"%E6%AF%AB%E6%9C%AB%E6%99%BA%E8%A1%8C%E7%89%A9%E6%B5%81%E5%B0%8F%E8%BD%A6%E6%95%B0%E6%8D%AE%E9%9B%86\"><\/span>\u6beb\u672b\u667a\u884c\u7269\u6d41\u5c0f\u8f66\u6570\u636e\u96c6<span 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