VLA的Action到底是个啥？谈谈Diffusion：从图像生成到端到端轨迹规划~

Core Viewpoint - The article discusses the principles and applications of diffusion models in the context of autonomous driving, highlighting their advantages over generative adversarial networks (GANs) and detailing specific use cases in the industry. Group 1: Diffusion Model Principles - Diffusion models are generative models that focus on denoising, learning and simulating data distributions through a forward diffusion process and a reverse generation process [2][4]. - The forward diffusion process adds noise to the initial data distribution, while the reverse generation process aims to remove noise to recover the original data [5][6]. - The models typically utilize a Markov chain to describe the state transitions during the noise addition and removal processes [8]. Group 2: Comparison with Generative Adversarial Networks - Both diffusion models and GANs involve noise addition and removal processes, but they differ in their core mechanisms: diffusion models rely on probabilistic modeling, while GANs use adversarial training between a generator and a discriminator [20][27]. - Diffusion models are generally more stable during training and produce higher quality samples, especially at high resolutions, compared to GANs, which can suffer from mode collapse and require training multiple networks [27][28]. Group 3: Applications in Autonomous Driving - Diffusion models are applied in various areas of autonomous driving, including synthetic data generation, scene prediction, perception enhancement, and path planning [29]. - They can generate realistic driving scene data to address the challenges of data scarcity and high annotation costs, particularly for rare scenarios like extreme weather [30][31]. - In scene prediction, diffusion models can forecast dynamic changes in driving environments and generate potential behaviors of traffic participants [33]. - For perception tasks, diffusion models enhance data quality by denoising bird's-eye view (BEV) images and improving sensor data consistency [34][35]. - In path planning, diffusion models support multimodal path generation, enhancing safety and adaptability in complex driving conditions [36]. Group 4: Notable Industry Implementations - Companies like Haomo Technology and Horizon Robotics are developing advanced algorithms based on diffusion models for real-world applications, achieving state-of-the-art performance in various driving scenarios [47][48]. - The integration of diffusion models with large language models (LLMs) and other technologies is expected to drive further innovations in the autonomous driving sector [46].