https://auto-driving-blog.pages.dev/tags/simwam/ Recent content in SimWAM on Elon's AD Insight https://auto-driving-blog.pages.dev/images/share.png https://auto-driving-blog.pages.dev/images/share.png Hugo zh-cn Sun, 06 Sep 2026 00:00:00 +0000 https://auto-driving-blog.pages.dev/posts/thoughts/simwam%E4%BB%A3%E7%A0%81%E5%AE%8C%E6%95%B4%E8%A7%A3%E8%AF%BB/ Sun, 06 Sep 2026 00:00:00 +0000 https://auto-driving-blog.pages.dev/posts/thoughts/simwam%E4%BB%A3%E7%A0%81%E5%AE%8C%E6%95%B4%E8%A7%A3%E8%AF%BB/ 从 configs/model/simwam_navsim.yaml 第 1 行开始，逐层追踪 SimWAM 的完整逻辑链：两个专家怎么协作？Isolated Attention Mask 怎么实现训练时借力、推理时独立？联合 Flow Matching 训练的损失怎么算？FlowGRPO 的 SDE 采样、PDM 奖励、LoRA 微调怎么串起来？每段代码都标注了源文件路径。