{"id":13483,"date":"2026-10-17T00:13:17","date_gmt":"2026-10-16T16:13:17","guid":{"rendered":"https:\/\/infernews.com\/blog\/vira\/"},"modified":"2026-10-17T00:39:09","modified_gmt":"2026-10-16T16:39:09","slug":"vira","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/vira\/","title":{"rendered":"ViRA \u8b93\u8996\u89ba\u8868\u5fb5\u771f\u6b63\u6539\u5584\u81ea\u52d5\u99d5\u99db"},"content":{"rendered":"\n
\"teaser\"\/<\/figure>\n\n\n\n

\u7aef\u5230\u7aef\u81ea\u52d5\u99d5\u99db\u9700\u8981\u7531\u93e1\u982d\u76f4\u63a5\u7522\u751f\u99d5\u99db\u898f\u5283\uff0c\u4f46\u66f4\u5f37\u7684\u8996\u89ba\u8868\u5fb5\u672a\u5fc5\u81ea\u7136\u5e36\u4f86\u66f4\u597d\u6c7a\u7b56\u3002ViRA \u662f\u4e00\u500b planner-agnostic visual representation alignment framework\uff0c\u65bc\u8a13\u7df4\u671f\u9593\u628a\u898f\u5283\u5668\u7279\u5fb5\u5c0d\u9f4a\u81f3\u51cd\u7d50\u7684 visual foundation models (VFMs)\uff0c\u4fdd\u7559\u539f\u6709 planner \u67b6\u69cb\uff0c\u90e8\u7f72\u6642\u4ea6\u4e0d\u589e\u52a0\u63a8\u7406\u6210\u672c\u3002<\/p>\n\n\n\n

\u9805\u76ee\u7531\u9999\u6e2f\u5927\u5b78 OpenDriveLab<\/mark>\u3001\u6771\u5357\u5927\u5b78\u53ca Shenzhen Loop Area Institute\uff08SLAI\uff09\u7b49\u5718\u968a\u5171\u540c\u958b\u767c\u3002\u5b83\u4e3b\u8981\u8655\u7406\u300c\u8996\u89ba\u8868\u5fb5\u5f37\u4e0d\u7b49\u65bc\u99d5\u99db\u8868\u73fe\u5f37\u300d\u7684\u843d\u5dee\u3002\u7814\u7a76\u6e2c\u8a66\u591a\u6b3e end-to-end planners\uff0c\u767c\u73fe VFM \u76ee\u6a19\u7684\u9078\u64c7\u6703\u5f71\u97ff\u898f\u5283\u6548\u679c\uff1b\u52a0\u5165 auxiliary perception supervision \u5f8c\uff0c\u4e94\u500b\u76ee\u6a19\u4e4b\u9593\u7684 EPDMS \u5dee\u8ddd\u7531 2.7 \u5206\u6536\u7a84\u81f3 0.5 \u5206\uff0c\u53cd\u6620\u8a13\u7df4\u8a0a\u865f\u8207\u76ee\u6a19\u6a21\u578b\u9700\u8981\u4e00\u4f75\u8003\u616e\u3002<\/p>\n\n\n\n

ViRA-Diffusion \u4ee5 DINOv3 alignment \u8a13\u7df4\uff0c\u6bcb\u9808 auxiliary perception supervision\uff0c\u5728 NAVSIM v2 navtest \u53d6\u5f97 92.3 EPDMS\uff0c\u8f03\u6bd4\u8f03\u4e2d\u7684\u8fd1\u671f\u65b9\u6cd5\u81f3\u5c11\u9ad8 1.9 \u5206\uff1b\u5728\u8f03\u5177\u6311\u6230\u7684 navhard\uff0cRap* \u914d\u5408 ViRA \u4ea6\u9304\u5f97\u6539\u5584\u3002HUGSIM \u7d50\u679c\u5247\u5c6c zero-shot\uff0c\u898f\u5283\u5668\u53ea\u5728 NAVSIM \u8a13\u7df4\uff0c\u672a\u5728 HUGSIM \u91cd\u65b0\u8a13\u7df4\u3002<\/p>\n\n\n\n

\u9805\u76ee\u7684\u9069\u7528\u7bc4\u570d\uff1a
\n– \u9069\u5408\u7814\u7a76 camera-only \u7aef\u5230\u7aef\u81ea\u52d5\u99d5\u99db\u53ca VFM \u5c0d\u898f\u5283\u7684\u5f71\u97ff\u3002
\n– \u53ef\u5728\u4e0d\u6539\u52d5\u5df2\u90e8\u7f72 planner \u67b6\u69cb\u7684\u524d\u63d0\u4e0b\uff0c\u52a0\u5165\u8a13\u7df4\u671f\u8868\u5fb5\u5c0d\u9f4a\u3002
\n– \u8a55\u6e2c\u6307\u6a19\u5305\u62ec NAVSIM \u7684 EPDMS\uff0c\u4ee5\u53ca HUGSIM \u7684 HD-Score\u3002
\n– \u5132\u5b58\u5eab\u76ee\u524d\u5217\u51fa\u7d50\u679c\u8207\u793a\u7bc4\u5df2\u767c\u5e03\uff0c\u4f46\u7a0b\u5f0f\u78bc\u53ca checkpoints \u4ecd\u5728\u5f85\u8fa6\u6e05\u55ae\uff0c\u672a\u6709\u8db3\u5920\u8cc7\u6599\u652f\u6301\u76f4\u63a5\u5b89\u88dd\u6216\u4e0b\u8f09\u6a21\u578b\u3002<\/p>\n\n\n\n

ViRA \u66f4\u9069\u5408\u4f5c\u70ba\u7814\u7a76\u548c\u6a21\u578b\u8a13\u7df4\u65b9\u6cd5\u95b1\u8b80\uff0c\u800c\u4e0d\u662f\u5373\u6642\u53ef\u7528\u7684\u99d5\u99db\u8edf\u4ef6\uff1b\u5b83\u5c55\u793a\u7684\u662f\u5982\u4f55\u9078\u64c7 VFM \u76ee\u6a19\u53ca\u76e3\u7763\u65b9\u5f0f\uff0c\u4e26\u975e\u4fdd\u8b49\u6240\u6709\u898f\u5283\u5668\u90fd\u6703\u5f97\u5230\u76f8\u540c\u5e45\u5ea6\u7684\u63d0\u5347\u3002<\/p>\n\n\n\n

\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 GitHub<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

ViRA \u628a\u8996\u89ba\u57fa\u790e\u6a21\u578b\u7684\u8868\u5fb5\u5e36\u5165\u7aef\u5230\u7aef\u99d5\u99db\u8a13\u7df4\uff0c\u63d0\u5347\u898f\u5283\u8868\u73fe\u4e4b\u9918\uff0c\u4e0d\u589e\u52a0\u90e8\u7f72\u6642\u7684\u63a8\u7406\u6210\u672c\u3002<\/p>\n","protected":false},"author":8,"featured_media":13482,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"wpai_generated_summary":"","wpai_meta_description":"","footnotes":""},"categories":[133,169,76,127,197,163,24,150,215],"tags":[],"class_list":["post-13483","post","type-post","status-publish","format-standard","hentry","category-133","category-169","category-76","category-127","category-framework","category-163","category-aisoftware","category-150","category-self-driving"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/13483","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/comments?post=13483"}],"version-history":[{"count":1,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/13483\/revisions"}],"predecessor-version":[{"id":13485,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/13483\/revisions\/13485"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/13482"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=13483"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=13483"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=13483"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}