{"id":4284,"date":"2025-10-16T19:38:30","date_gmt":"2025-10-16T11:38:30","guid":{"rendered":"https:\/\/www.15zhi.net\/blog\/?p=4284"},"modified":"2025-12-15T20:54:37","modified_gmt":"2025-12-15T12:54:37","slug":"202510-%e8%ae%ba%e6%96%87%e9%98%85%e8%af%bb-tactical-decision-for-multi-ugv-confrontation-with-a-vision-language-model-based-commander","status":"publish","type":"post","link":"https:\/\/www.15zhi.net\/blog\/202510-%e8%ae%ba%e6%96%87%e9%98%85%e8%af%bb-tactical-decision-for-multi-ugv-confrontation-with-a-vision-language-model-based-commander\/","title":{"rendered":"202510 \u8bba\u6587\u7814\u8bfb-Tactical Decision for Multi\u2013UGV Confrontation with a Vision\u2013Language Model\u2013Based Commander"},"content":{"rendered":"\n<p>\u6765\u6e90\uff1aarXiv:2507.11079<\/p>\n\n\n\n<p>\u4f5c\u8005\uff1aLi Wang, Qizhen Wu, Lei Chen<\/p>\n\n\n\n<p>\u5355\u4f4d\uff1a\u5317\u4eac\u7406\u5de5\u5927\u5b66\uff0c\u5317\u4eac\u822a\u7a7a\u822a\u5929\u5927\u5b66<\/p>\n\n\n\n<p><strong>\u4e00\u3001\u80cc\u666f<\/strong><\/p>\n\n\n\n<p>\u5728\u591a\u65e0\u4eba\u5730\u9762\u8f66\u8f86\uff08UGV\uff09\u5bf9\u6297\u4e2d\uff0c\u7cfb\u7edf\u9700\u8981\u6839\u636e\u6218\u573a\u73af\u5883\u81ea\u52a8\u751f\u6210\u534f\u8c03\u7684\u6218\u672f\u51b3\u7b56\u3002\u7136\u800c\u73b0\u6709\u65b9\u6cd5\u5b58\u5728\u663e\u8457\u4e0d\u8db3\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u57fa\u4e8e\u89c4\u5219\u7684\u65b9\u6cd5<\/strong>\uff1a\u867d\u7136\u51b3\u7b56\u903b\u8f91\u53ef\u89e3\u91ca\uff0c\u4f46\u9002\u5e94\u6027\u5dee\uff0c\u89c4\u5219\u5e93\u81a8\u80c0\u5bfc\u81f4\u590d\u6742\u5ea6\u9ad8\u3002<\/li>\n\n\n\n<li><strong>\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5<\/strong>\uff1a\u5177\u5907\u4e00\u5b9a\u81ea\u9002\u5e94\u80fd\u529b\uff0c\u4f46\u7b56\u7565\u9ed1\u7bb1\u5316\uff0c\u96be\u4ee5\u89e3\u91ca\uff0c\u4e14\u591a\u96c6\u4e2d\u4e8e\u52a8\u4f5c\u5c42\u63a7\u5236\u800c\u975e\u6218\u7565\u5c42\u51b3\u7b56\u3002<\/li>\n\n\n\n<li><strong>\u5c42\u7ea7\u5f3a\u5316\u5b66\u4e60<\/strong>\uff1a\u867d\u7ed3\u5408\u89c4\u5212\u4e0e\u63a7\u5236\uff0c\u4f46\u5c42\u95f4\u63a5\u53e3\u521a\u6027\uff0c\u96be\u4ee5\u751f\u6210\u65b0\u6218\u672f\u6a21\u5f0f\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u6587\u7ae0\u63d0\u51fa\u4e00\u79cd\u57fa\u4e8e\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u4e0e\u8f7b\u91cf\u7ea7\u5927\u8bed\u8a00\u6a21\u578b\u7684\u201c\u6307\u6325\u5b98\u201d\u67b6\u6784\uff0c\u6a21\u62df\u4eba\u7c7b\u6307\u6325\u5b98\u7684\u601d\u7ef4\u8fc7\u7a0b\uff0c\u5b9e\u73b0\u4ece\u89c6\u89c9\u611f\u77e5\u5230\u8bed\u8a00\u5316\u63a8\u7406\u518d\u5230\u6218\u672f\u51b3\u7b56\u7684\u5b8c\u6574\u94fe\u6761\u3002<\/p>\n\n\n\n<p><strong>\u4e8c\u3001\u8d21\u732e<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8bed\u4e49\u9a71\u52a8\u7684\u6218\u672f\u63a8\u7406\u5efa\u6a21<\/strong>\uff1a\u5c06\u6218\u672f\u51b3\u7b56\u8fc7\u7a0b\u91cd\u6784\u4e3a\u81ea\u7136\u8bed\u8a00\u8ba4\u77e5\u8fc7\u7a0b\uff0c\u5728\u5171\u4eab\u8bed\u4e49\u7a7a\u95f4\u4e2d\u5b9e\u73b0\u611f\u77e5\u4e0e\u63a8\u7406\u4e00\u4f53\u5316\uff0c\u6a21\u62df\u4eba\u7c7b\u6307\u6325\u5b98\u7684\u601d\u8003\u903b\u8f91\u3002<\/li>\n\n\n\n<li><strong>\u57fa\u4e8eVLM-LLM\u7684\u6307\u6325\u5b98\u67b6\u6784<\/strong>\uff1a\u63d0\u51fa\u4e00\u79cd\u7531\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u548c\u8f7b\u91cf\u7ea7\u8bed\u8a00\u6a21\u578b\u7ec4\u6210\u7684\u5168\u94fe\u5f0f\u7ed3\u6784\uff0c\u5b9e\u73b0\u4ece\u56fe\u50cf\u611f\u77e5\u5230\u6218\u672f\u8c03\u5ea6\u7684\u7aef\u5230\u7aef\u95ed\u73af\u3002<\/li>\n\n\n\n<li><strong>\u4e13\u5bb6\u7cfb\u7edf\u8f85\u52a9\u8bad\u7ec3\u4e0e\u8bed\u4e49\u5bf9\u9f50<\/strong>\uff1a\u8bbe\u8ba1\u4e13\u5bb6\u7cfb\u7edf\u751f\u6210\u9ad8\u8d28\u91cf\u6218\u672f\u6807\u7b7e\u4e0e\u504f\u597d\u6570\u636e\uff0c\u5b9e\u73b0VLM\u4e0eLLM\u4e4b\u95f4\u7684\u8bed\u4e49\u4e00\u81f4\u6027\uff0c\u5e76\u901a\u8fc7DPO\u5bf9\u9f50\u4f18\u5316\u63a8\u7406\u7a33\u5b9a\u6027\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"881\" height=\"424\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-57.png\" alt=\"\" class=\"wp-image-4286\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-57.png 881w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-57-300x144.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-57-768x370.png 768w\" sizes=\"auto, (max-width: 881px) 100vw, 881px\" \/><\/figure>\n\n\n\n<p><strong>\u4e09\u3001\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u6a21\u578b\u6574\u4f53\u5206\u4e3a\u4e09\u90e8\u5206\uff1a\u611f\u77e5\u6a21\u5757\u3001\u51b3\u7b56\u6a21\u5757\u548c\u4e13\u5bb6\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p>1.\u611f\u77e5\u6a21\u5757\uff08VLM\uff09<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8f93\u5165\u4fef\u89c6\u56fe\u56fe\u50cf <strong><em>I<\/em><\/strong> ,\u8f93\u51fa\u7ed3\u6784\u5316\u8bed\u4e49\u4fe1\u606f <strong><em>S = {S<sub>u<\/sub>, S<sub>l<\/sub>, S<sub>r<\/sub> }<\/em><\/strong>:\n<ul class=\"wp-block-list\">\n<li>\u5355\u5143\u5c42 <strong><em>S<sub>u<\/sub><\/em><\/strong> \uff1a\u8bc6\u522b\u5404\u5355\u4f4d\u7684\u4f4d\u7f6e\u3001\u9635\u8425\u3001\u72b6\u6001\uff1b<\/li>\n\n\n\n<li>\u5c40\u90e8\u5c42 <strong><em>S<sub>l<\/sub><\/em><\/strong> \uff1a\u5206\u6790\u90bb\u8fd1\u5355\u4f4d\u95f4\u7684\u7a7a\u95f4\u5173\u7cfb\u4e0e\u53ef\u89c1\u6027\uff1b<\/li>\n\n\n\n<li>\u533a\u57df\u5c42 <strong><em>S<sub>r<\/sub><\/em><\/strong> \uff1a\u603b\u7ed3\u5404\u6218\u533a\u7684\u654c\u6211\u5206\u5e03\u4e0e\u533a\u57df\u6001\u52bf\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u901a\u8fc7\u8fd9\u79cd\u5c42\u6b21\u5316\u8bed\u4e49\u62bd\u8c61\uff0cLLM\u80fd\u591f\u76f4\u63a5\u5728\u8bed\u4e49\u7a7a\u95f4\u8fdb\u884c\u63a8\u7406\uff0c\u65e0\u9700\u590d\u6742\u540e\u5904\u7406\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"722\" height=\"361\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-58.png\" alt=\"\" class=\"wp-image-4287\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-58.png 722w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-58-300x150.png 300w\" sizes=\"auto, (max-width: 722px) 100vw, 722px\" \/><\/figure>\n\n\n\n<p>2.\u51b3\u7b56\u6a21\u5757\uff08LLM\uff09<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63a5\u53d7\u8bed\u4e49\u8f93\u5165 <strong><em>S(t)<\/em><\/strong> \uff0c\u8f93\u51fa\u6218\u672f\u6307\u4ee4\u96c6 <strong><em>U(t)<\/em><\/strong>\uff1a<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"196\" height=\"46\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-56.png\" alt=\"\" class=\"wp-image-4285\" style=\"width:166px;height:auto\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5176\u4e2d \u03c4<sub>i<\/sub> \u4e3a\u52a8\u4f5c\u7c7b\u578b\uff08Attack, Support, Retreat\u7b49\uff09\uff0cp\u200b<sub>i<\/sub>\u200b \u4e3a\u76ee\u6807\u4f4d\u7f6e\u3002<\/li>\n\n\n\n<li>LLM\u8d1f\u8d23\u4efb\u52a1\u5206\u914d\u3001\u51b2\u7a81\u89e3\u51b3\u4e0e\u6218\u672f\u89c4\u5212\uff0c\u53ef\u751f\u6210\u5982\u5305\u6284\u3001\u8bf1\u654c\u3001\u652f\u63f4\u7b49\u590d\u6742\u7b56\u7565\u3002<\/li>\n<\/ul>\n\n\n\n<p>3.\u4e13\u5bb6\u7cfb\u7edf<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6a21\u62df\u4eba\u7c7b\u6307\u6325\u903b\u8f91\uff0c\u8ba1\u7b97\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5a01\u80c1\u503c\uff1a\u8861\u91cf\u654c\u65b9\u6218\u7565\u5f71\u54cd\uff1b<\/li>\n\n\n\n<li>\u5371\u9669\u503c\uff1a\u8bc4\u4f30\u6211\u65b9\u53d7\u5a01\u80c1\u7a0b\u5ea6\uff1b<\/li>\n\n\n\n<li>\u653b\u51fb\u4ee3\u4ef7\uff1a\u7efc\u5408\u8ddd\u79bb\u3001\u671d\u5411\u3001\u5a01\u80c1\u7a0b\u5ea6\u4e0e\u53ef\u89c1\u6027\uff1b<\/li>\n\n\n\n<li>\u534f\u540c\u4ee3\u4ef7\uff1a\u8bc4\u4f30\u591a\u673a\u5305\u6284\u7684\u6548\u679c\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u57fa\u4e8e\u8fd9\u4e9b\u6307\u6807\uff0c\u7cfb\u7edf\u751f\u6210\u201c\u89c4\u5219\u5316\u6218\u672f\u6307\u4ee4\u201d\uff0c\u4f5c\u4e3aLLM\u8bad\u7ec3\u76d1\u7763\u4fe1\u53f7\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u56db\u3001\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5b9e\u9a8c\u73af\u5883\uff1a<\/strong> \n<ul class=\"wp-block-list\">\n<li>\u4eff\u771f\u6218\u573a\uff1a30\u00d716 m\uff0c\u6700\u5927\u6b65\u957f2000\uff0c\u65f6\u95f4\u6b650.1 s\u3002<\/li>\n\n\n\n<li>\u8bad\u7ec3\u573a\u666f\uff1a5v5\uff0c\u6d4b\u8bd5\u6269\u5c55\u81f37v7\u4e0e9v9\u3002<\/li>\n\n\n\n<li>\u8bc4\u4ef7\u6307\u6807\uff1a\u611f\u77e5\u7cbe\u5ea6<strong><em>P<\/em><\/strong>\u3001\u53ec\u56de\u7387<em>R<\/em>\u3001\u5e7b\u89c9\u7387<strong><em>R<sub>H<\/sub><\/em><\/strong>\u3001\u5e73\u5747\u51b3\u7b56\u65f6\u95f4<em><strong>T<sub>c<\/sub><\/strong><\/em>\u3001\u80dc\u7387<em><strong>R<sub>W<\/sub><\/strong><\/em>\u200b\u3001\u751f\u5b58\u7387<strong><em>R<sub>S<\/sub><\/em><\/strong>\u3001\u51b3\u7b56\u589e\u76ca\u6307\u6570<strong><em>I<\/em><\/strong><sub><strong><em>drv<\/em><\/strong>\u200b<\/sub> \u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u57fa\u7ebf\u6a21\u578b\uff1a<\/strong> \u89c4\u5219\u6a21\u578b\uff08Rule\uff09\u3001\u5f3a\u5316\u5b66\u4e60\uff08RL\uff09\u3001\u5355VLM\u6a21\u578b\uff08VLM\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"833\" height=\"370\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-59.png\" alt=\"\" class=\"wp-image-4288\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-59.png 833w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-59-300x133.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-59-768x341.png 768w\" sizes=\"auto, (max-width: 833px) 100vw, 833px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"826\" height=\"513\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-60.png\" alt=\"\" class=\"wp-image-4289\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-60.png 826w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-60-300x186.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/image-60-768x477.png 768w\" sizes=\"auto, (max-width: 826px) 100vw, 826px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7ed3\u679c\u5206\u6790\uff1a<\/strong>\n<ul class=\"wp-block-list\">\n<li>VLM+LLM\u6a21\u578b\u5728<strong>\u611f\u77e5\u7cbe\u5ea6\u3001\u80dc\u7387\u3001\u751f\u5b58\u7387<\/strong>\u7b49\u6307\u6807\u4e0a\u5747\u4f18\u4e8e\u57fa\u7ebf\u3002<\/li>\n\n\n\n<li>\u5e73\u5747\u51b3\u7b56\u65f6\u95f4\u964d\u4f4e\u7ea6 <strong>25%<\/strong>\uff0c\u540c\u65f6\u4fdd\u6301\u66f4\u9ad8\u51b3\u7b56\u8d28\u91cf\u3002<\/li>\n\n\n\n<li>\u5373\u4f7f\u51fa\u73b0\u90e8\u5206\u89c6\u89c9\u5b9a\u4f4d\u8bef\u5dee\uff0cLLM\u4ecd\u80fd\u4fdd\u6301\u5408\u7406\u63a8\u7406\u5e76\u5f62\u6210\u5305\u56f4\u7b49\u9ad8\u9636\u6218\u672f\u3002<\/li>\n\n\n\n<li>\u6d88\u878d\u5b9e\u9a8c\u8868\u660e\uff0c\u53bb\u6389\u4e13\u5bb6\u7cfb\u7edf\u6216LLM\u90fd\u4f1a\u663e\u8457\u964d\u4f4e\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u6269\u5c55\u5230\u66f4\u5927\u89c4\u6a21\uff089v9\uff09\u540e\uff0cVLM+LLM\u7684\u611f\u77e5\u51c6\u786e\u7387\u7a33\u5b9a\u5728\u7ea6 <strong>75%<\/strong>\uff0c\u4f53\u73b0\u51fa\u826f\u597d\u6269\u5c55\u6027\u4e0e\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e94\u3001\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u6587\u7ae0\u63d0\u51fa\u7684\u57fa\u4e8e\u89c6\u89c9-\u8bed\u8a00\u6a21\u578b\u7684\u6307\u6325\u5b98\u67b6\u6784\u5b9e\u73b0\u4e86\u4ece\u56fe\u50cf\u611f\u77e5\u5230\u6218\u672f\u51b3\u7b56\u7684\u7edf\u4e00\u8fc7\u7a0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>VLM \u8d1f\u8d23\u573a\u666f\u7406\u89e3\u4e0e\u8bed\u4e49\u62bd\u8c61\uff1b<\/li>\n\n\n\n<li>\u8f7b\u91cf\u7ea7 LLM \u6267\u884c\u8bed\u8a00\u5316\u6218\u672f\u63a8\u7406\u4e0e\u6307\u4ee4\u751f\u6210\uff1b<\/li>\n\n\n\n<li>\u4e13\u5bb6\u7cfb\u7edf\u63d0\u4f9b\u9ad8\u8d28\u91cf\u8bad\u7ec3\u76d1\u7763\u4e0e\u504f\u597d\u5bf9\u9f50\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\u8be5\u67b6\u6784\u5728\u81ea\u9002\u5e94\u6027\u3001\u53ef\u89e3\u91ca\u6027\u548c\u6269\u5c55\u6027\u4e0a\u5747\u4f18\u4e8e\u4f20\u7edf\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6765\u6e90\uff1aarXiv:2507.11079 \u4f5c\u8005\uff1aLi Wang, Qizhen Wu, Lei Chen \u5355\u4f4d\uff1a [&hellip;]<\/p>\n","protected":false},"author":64,"featured_media":0,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-4284","post","type-post","status-publish","format-standard","hentry","category-events"],"_links":{"self":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/4284","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/users\/64"}],"replies":[{"embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/comments?post=4284"}],"version-history":[{"count":2,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/4284\/revisions"}],"predecessor-version":[{"id":4602,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/4284\/revisions\/4602"}],"wp:attachment":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/media?parent=4284"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/categories?post=4284"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/tags?post=4284"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}