Unverified50% confidenceTradeoffExact time

三种动作生成方案的权衡：自回归方式实现简单但精度受限于离散化粒度；扩散策略表达力强但推理慢（通常需50-100步去噪）；flow matching在精度和速度间取得平衡（通常10-20步积分）

1

Sources

50%

Confidence

Long-term

Relevance

8/6/2026

First Seen

Sources

From π0 to Practice: An Advanced Project Roadmap for VLA Learners

Related Claims

UnverifiedStable Diffusion XL约有34亿参数，推理一张图像需要执行20至50步去噪迭代69% similar Unverified扩散模型步数越多理论上结果越精细，但耗时也成比例增长，20步是速度与质量的经典平衡点68% similar Unverified流匹配（Flow Matching）与一致性模型（Consistency Model）等新一代技术尝试大幅减少去噪步数，在保持生成质量的同时提升推理速度66% similar

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