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用六层技术结构串起自动驾驶论文精读：先建立感知地基，再走向端到端、世界模型、生成式规划与 VLA。
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从采样、reward、advantage 到 loss 与 LoRA 梯度，追踪 Flow-GRPO 训练链路中每一步到底发生了什么。- Published on
从 L1、Focal、KL 到扩散、碰撞约束与 GRPO，理解每一种目标函数为驾驶系统引入了什么偏好。